version: 66.06
glider: 148
mission: 11
dive: 403
start: 8 6 112 16 55 25
data:
$ID,148
$MISSION,11
$DIVE,403
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-927079.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3340
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,108
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,163923,2251.050,-15737.168,46,1.8,64,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.3
$GPS2,165433,2251.126,-15737.315,15,2.3,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,0.175
$KALMAN_X,-195836.5,-164.0,-8.4,234331.0,-1934.4
$KALMAN_Y,81892.2,-145.4,-417.4,-75552.8,925.1
$MHEAD_RNG_PITCHd_Wd,37.6,26687,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.30,0.000,2,0.000,0.000,413,1586,3093,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-5.4,9,121,14.27,2.38,-7.82,0.000,4,0.167,0.035,3056,3068,3519,0,0,0,0,0,0
$GC,133,0.02,-146.0,17.4,-34.1,14,142,1.27,2.47,0.00,0.000,6,0.087,0.025,3340,1538,3520,0,0,0,0,0,0
$GC,427,-0.76,-146.0,41.5,-8.8,52,439,0.68,2.22,0.00,0.000,4,0.040,0.043,3160,172,3521,0,0,0,0,0,0
$GC,458,-1.23,-146.0,44.2,-9.5,54,463,0.35,1.98,0.00,0.000,6,0.031,0.018,3032,1557,3521,0,0,0,0,0,0
$GC,722,-0.80,-146.0,98.0,-20.7,78,734,0.57,2.33,0.00,0.000,4,0.091,0.020,3160,3047,3521,0,0,0,0,0,0
$GC,804,-0.93,-146.0,108.0,-9.1,85,811,0.10,2.40,0.00,0.000,6,0.072,0.028,3065,1551,3521,0,0,0,0,0,0
$GC,1068,-0.69,-146.0,148.1,-15.3,110,1080,0.52,2.35,0.00,0.000,4,0.086,0.021,3186,3053,3522,0,0,0,0,0,0
$GC,1096,-0.69,-146.0,151.8,-10.9,112,1101,0.00,2.40,0.00,0.000,6,0.000,0.026,3186,1553,3523,0,0,0,0,0,0
$GC,1359,-0.85,-146.0,172.2,-7.8,137,1361,0.12,0.00,0.00,0.000,6,0.062,0.000,3113,1552,3523,0,0,0,0,0,0
$GC,1645,-0.78,-146.0,205.3,-11.7,161,1650,0.25,2.33,0.00,0.000,4,0.084,0.021,3173,3044,3523,0,0,0,0,0,0
$GC,1702,-1.06,-146.0,210.8,-7.1,162,1708,0.25,2.35,0.00,0.000,6,0.034,0.028,3054,1568,3523,0,0,0,0,0,0
$GC,1978,-0.83,-146.0,248.9,-14.3,169,1984,0.45,2.33,0.00,0.000,4,0.085,0.022,3155,3048,3523,0,0,0,0,0,0
$GC,2013,-1.00,-146.0,252.4,-7.8,169,2018,0.15,2.38,0.00,0.000,6,0.052,0.028,3058,1572,3523,0,0,0,0,0,0
$GC,2264,-0.77,-146.0,285.2,-13.9,175,2270,0.52,2.28,0.00,0.000,4,0.083,0.049,3169,171,3523,0,0,0,0,0,0
$GC,2299,-0.95,-146.0,289.5,-9.1,175,2304,0.15,2.03,0.00,0.000,6,0.051,0.019,3089,1509,3523,0,0,0,0,0,0
$GC,2549,-0.88,-146.0,316.9,-11.4,181,2551,0.25,0.00,0.00,0.000,6,0.084,0.000,3145,1511,3523,0,0,0,0,0,0
$GC,2795,-1.01,-146.0,336.2,-7.6,187,2800,0.10,2.55,0.00,0.000,4,0.075,0.029,3084,3104,3522,0,0,0,0,0,0
$GC,2833,-1.01,-146.0,340.0,-10.0,187,2840,0.15,2.50,0.00,0.000,6,0.094,0.031,3119,1572,3522,0,0,0,0,0,0
$GC,3083,-1.01,-146.0,361.5,-8.7,194,3088,0.00,2.33,0.00,0.000,4,0.000,0.054,3119,171,3521,0,0,0,0,0,0
$GC,3120,-1.01,-146.0,364.7,-9.6,194,3124,0.00,2.15,0.00,0.000,6,0.000,0.021,3119,1565,3521,0,0,0,0,0,0
$GC,3370,-1.07,-146.0,385.1,-7.8,200,3374,0.00,2.45,0.00,0.000,4,0.000,0.031,3119,3105,3519,0,0,0,0,0,0
$GC,3394,-1.16,-146.0,387.1,-7.9,200,3399,0.12,2.53,0.00,0.000,6,0.061,0.035,3041,1572,3519,0,0,0,0,0,0
$GC,3656,-0.97,-146.0,418.8,-13.0,207,3663,0.38,2.50,0.00,0.000,4,0.084,0.034,3123,3106,3517,0,0,0,0,0,0
$GC,3678,-0.97,-146.0,421.5,-9.8,207,3683,0.00,2.53,0.00,0.000,6,0.000,0.036,3123,1575,3517,0,0,0,0,0,0
$GC,3944,-1.07,-146.0,441.9,-7.8,214,3949,0.00,2.50,0.00,0.000,4,0.000,0.036,3123,3100,3516,0,0,0,0,0,0
$GC,3959,-1.16,-146.0,443.3,-8.0,214,3964,0.15,2.53,0.00,0.000,6,0.052,0.036,3042,1572,3516,0,0,0,0,0,0
$GC,4229,-1.01,-146.0,475.8,-12.3,221,4234,0.32,2.40,0.00,0.000,4,0.086,0.068,3118,169,3513,0,0,0,0,0,0
$GC,4260,-1.01,-146.0,479.0,-9.9,221,4264,0.00,2.22,0.00,0.000,6,0.000,0.029,3118,1564,3513,0,0,0,0,0,0
$GC,4515,-1.09,-146.0,499.7,-8.0,228,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3511,0,0,0,0,0,0
$GC,4759,-1.18,-146.0,518.6,-7.6,234,4764,0.15,2.58,0.00,0.000,4,0.054,0.048,3054,3115,3510,0,0,0,0,0,0
$GC,4790,-1.11,-146.0,521.5,-10.7,234,4795,0.20,2.58,0.00,0.000,6,0.085,0.042,3099,1578,3510,0,0,0,0,0,0
$GC,5046,-1.11,-146.0,544.7,-9.1,241,5050,0.00,2.55,0.00,0.000,4,0.000,0.043,3100,3121,3508,0,0,0,0,0,0
$GC,5091,-1.23,-146.0,548.8,-9.3,242,5097,0.12,2.58,0.00,0.000,6,0.062,0.044,3031,1586,3508,0,0,0,0,0,0
$GC,5380,-1.06,-146.0,583.8,-12.3,249,5385,0.32,2.50,0.00,0.000,4,0.087,0.077,3105,163,3505,0,0,0,0,0,0
$GC,5462,-1.14,-146.0,591.8,-8.8,250,5466,0.00,2.30,0.00,0.000,6,0.000,0.034,3105,1577,3504,0,0,0,0,0,0
$STATE,5587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5587,begin apogee
$GC,5595,-0.31,0.0,602.2,8.2,253,5716,0.73,0.00,117.60,0.925,6,0.073,0.000,3272,1370,2920,0,0,0,0,0,0
$STATE,5717,end apogee,CONTROL_FINISHED_OK
$STATE,5717,begin climb
$GC,5720,1.27,146.0,606.4,0.0,256,5851,1.45,2.20,123.03,0.905,4,0.048,0.076,3614,172,2323,0,0,0,0,0,0
$GC,6119,0.97,146.0,574.1,11.2,264,6125,0.30,1.98,0.00,0.000,6,0.098,0.029,3552,1387,2314,0,0,0,0,0,0
$GC,6369,1.05,209.3,555.4,7.1,271,6430,0.00,2.20,54.45,0.875,4,0.000,0.069,3551,181,2065,0,0,0,0,0,0
$GC,6523,1.06,212.5,541.5,9.9,274,6532,0.00,1.95,3.90,0.531,6,0.000,0.028,3551,1377,2053,0,0,0,0,0,0
$GC,6792,1.09,241.0,517.9,8.7,281,6825,0.10,2.72,26.58,0.838,4,0.077,0.049,3596,2962,1937,0,0,0,0,0,0
$GC,6877,1.09,241.0,508.3,11.3,282,6885,0.00,2.67,0.00,0.000,6,0.000,0.043,3596,1382,1932,0,0,0,0,0,0
$GC,7127,1.03,241.0,477.9,12.4,289,7129,0.15,0.00,0.00,0.000,6,0.102,0.000,3564,1381,1930,0,0,0,0,0,0
$GC,7372,1.03,241.0,451.4,10.8,295,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1381,1928,0,0,0,0,0,0
$GC,7614,1.03,241.0,425.8,10.4,301,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1381,1927,0,0,0,0,0,0
$GC,7858,1.03,243.0,401.6,9.9,307,7862,0.00,2.58,0.00,0.000,4,0.000,0.033,3564,2960,1926,0,0,0,0,0,0
$GC,7891,1.11,243.0,398.2,10.0,307,7896,0.00,2.70,0.00,0.000,6,0.000,0.041,3564,1358,1924,0,0,0,0,0,0
$GC,8142,1.11,243.0,371.8,10.7,313,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1358,1924,0,0,0,0,0,0
$GC,8385,1.11,245.6,347.7,9.9,319,8388,0.00,2.03,0.00,0.000,4,0.000,0.061,3564,167,1924,0,0,0,0,0,0
$GC,8421,1.11,245.6,343.8,10.9,319,8425,0.00,1.92,0.00,0.000,6,0.000,0.023,3564,1393,1923,0,0,0,0,0,0
$GC,8676,1.18,254.0,319.2,9.6,326,8693,0.15,2.58,10.80,0.676,4,0.058,0.037,3628,2942,1884,0,0,0,0,0,0
$GC,8717,1.11,254.0,314.5,12.1,326,8723,0.22,2.65,0.00,0.000,6,0.090,0.039,3580,1364,1881,0,0,0,0,0,0
$GC,8967,1.12,263.4,290.6,9.6,333,8983,0.00,2.10,9.70,0.643,4,0.000,0.059,3580,168,1846,0,0,0,0,0,0
$GC,9004,1.12,263.4,287.0,10.2,333,9008,0.00,1.88,0.00,0.000,6,0.000,0.022,3580,1373,1845,0,0,0,0,0,0
$GC,9258,1.12,263.4,261.5,10.1,340,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1375,1844,0,0,0,0,0,0
$GC,9502,1.14,282.7,238.6,9.1,346,9526,0.00,2.60,18.15,0.644,4,0.000,0.029,3580,2937,1766,0,0,0,0,0,0
$GC,9553,1.30,312.6,234.2,8.6,347,9591,0.17,2.65,28.27,0.651,6,0.048,0.038,3650,1356,1644,0,0,0,0,0,0
$GC,9836,1.18,312.6,196.9,13.3,354,9838,0.25,0.00,0.00,0.000,6,0.087,0.000,3596,1357,1640,0,0,0,0,0,0
$GC,10092,1.18,312.6,167.2,11.7,378,10096,0.00,2.55,0.00,0.000,4,0.000,0.028,3596,2944,1639,0,0,0,0,0,0
$GC,10128,1.30,312.6,162.6,11.6,381,10133,0.12,2.62,0.00,0.000,6,0.061,0.035,3658,1353,1636,0,0,0,0,0,0
$GC,10392,1.19,312.6,122.8,14.9,405,10398,0.25,2.55,0.00,0.000,4,0.091,0.027,3599,2940,1636,0,0,0,0,0,0
$GC,10429,1.30,312.6,118.0,11.0,408,10434,0.10,2.60,0.00,0.000,6,0.074,0.034,3659,1356,1635,0,0,0,0,0,0
$GC,10690,1.22,312.6,83.7,12.3,432,10694,0.25,1.95,0.00,0.000,4,0.087,0.048,3601,168,1635,0,0,0,0,0,0
$GC,10776,1.30,312.6,74.5,10.1,439,10785,0.00,1.85,0.00,0.000,6,0.000,0.020,3600,1382,1635,0,0,0,0,0,0
$GC,11046,1.44,337.2,53.0,8.9,464,11075,0.22,2.53,21.67,0.480,4,0.041,0.027,3693,2920,1544,0,0,0,0,0,0
$GC,11108,1.36,337.2,44.7,14.4,469,11114,0.25,2.58,0.00,0.000,6,0.081,0.033,3636,1359,1541,0,0,0,0,0,0
$GC,11397,1.36,337.2,10.0,12.6,506,11405,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,1359,1541,0,0,0,0,0,0
$STATE,11449,end climb,SURFACE_DEPTH_REACHED
$STATE,11449,begin surface coast
$FINISH,0.8,1.014001
$STATE,11489,end surface coast,CONTROL_FINISHED_OK
$STATE,11489,begin surface
$SM_CCo,11514,27.15,0.434,0,0,1369,380.21
$SM_GC,1.50,0.00,0.00,27.15,0.000,0.000,0.434,409,1555,1369,-13.49,0.42,380.21
$IRIDIUM_FIX,2244.02,-15734.14,311001,161624
$TT8_MAMPS,0.027612
$HUMID,66.42
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.5,52.960
$10V_AH,9.9,42.280
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,39.575,133.625,414.150,27.150,0.000,53.321,79.946,541.617,1.500,0.000,36.407,1122.911,7805.122,483.876,1992.449,1043.712,33.374,1331.856,0.000,1977.965,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,77.467,925.002,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.572,307.080,378.750,575.392,1010.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41698,520
$CAP_FILE_SIZE,136931,0
$CFSIZE,260165632,154537984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060812,200926,2252.551,-15737.085,37,2.3,56,10.1