version: 66.06
glider: 148
mission: 11
dive: 509
start: 8 22 112 8 52 52
data:
$ID,148
$MISSION,11
$DIVE,509
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$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,-929180.38
$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,3320
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,084405,2243.144,-15738.589,32,1.2,32,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.7
$GPS2,085154,2243.155,-15738.651,9,1.2,14,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.218
$KALMAN_X,-413909.2,95.5,-127.8,449982.7,-1244.8
$KALMAN_Y,108775.7,-139.3,157.5,-117772.2,-436.2
$MHEAD_RNG_PITCHd_Wd,16.3,41619,-18.9,-10.000
$D_GRID,750
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,92,0.00,0.00,-74.45,0.000,2,0.000,0.000,414,1686,3263,0,0,0,0,0,0
$GC,95,-1.34,-126.5,4.0,-6.4,10,120,13.65,0.00,-2.30,0.000,6,0.153,0.000,3022,1686,3398,0,0,0,0,0,0
$GC,450,-0.96,-126.5,87.4,-18.9,47,458,0.38,2.50,0.00,0.000,4,0.097,0.038,3107,158,3401,0,0,0,0,0,0
$GC,481,-0.78,-126.5,93.3,-16.0,50,486,0.17,2.30,0.00,0.000,6,0.104,0.018,3146,1655,3401,0,0,0,0,0,0
$GC,805,-0.78,-126.5,126.8,-9.5,80,809,0.00,2.47,0.00,0.000,4,0.000,0.024,3146,3233,3402,0,0,0,0,0,0
$GC,835,-0.90,-126.5,129.6,-8.4,82,844,0.00,2.58,0.00,0.000,6,0.000,0.027,3146,1654,3402,0,0,0,0,0,0
$GC,1160,-0.90,-126.5,161.4,-10.1,113,1164,0.00,2.40,0.00,0.000,4,0.000,0.041,3146,170,3403,0,0,0,0,0,0
$GC,1210,-0.97,-126.5,167.0,-11.2,117,1219,0.12,2.30,0.00,0.000,6,0.025,0.018,3075,1662,3403,0,0,0,0,0,0
$GC,1553,-0.84,-126.5,211.2,-12.6,144,1558,0.25,2.45,0.00,0.000,4,0.090,0.040,3135,166,3404,0,0,0,0,0,0
$GC,1577,-0.84,-126.5,214.0,-10.6,144,1581,0.00,2.28,0.00,0.000,6,0.000,0.018,3135,1669,3404,0,0,0,0,0,0
$GC,1918,-0.92,-126.5,242.4,-8.5,153,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1672,3404,0,0,0,0,0,0
$GC,2244,-1.01,-126.5,270.8,-8.9,161,2249,0.15,2.45,0.00,0.000,4,0.054,0.026,3067,3220,3404,0,0,0,0,0,0
$GC,2278,-1.01,-126.5,274.6,-11.1,161,2283,0.15,2.53,0.00,0.000,6,0.096,0.028,3101,1658,3404,0,0,0,0,0,0
$GC,2609,-1.01,-126.5,305.3,-8.8,169,2614,0.00,2.45,0.00,0.000,4,0.000,0.046,3101,164,3404,0,0,0,0,0,0
$GC,2644,-1.01,-126.5,308.4,-9.4,169,2648,0.00,2.28,0.00,0.000,6,0.000,0.020,3101,1647,3404,0,0,0,0,0,0
$GC,2975,-1.01,-126.5,338.4,-9.3,177,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1649,3403,0,0,0,0,0,0
$GC,3300,-1.01,-126.5,369.1,-9.4,185,3304,0.00,2.53,0.00,0.000,4,0.000,0.031,3100,3226,3402,0,0,0,0,0,0
$GC,3335,-1.09,-126.5,372.4,-9.8,185,3340,0.00,2.53,0.00,0.000,6,0.000,0.031,3101,1668,3402,0,0,0,0,0,0
$GC,3667,-1.09,-126.5,402.2,-8.9,193,3671,0.00,2.53,0.00,0.000,4,0.000,0.058,3101,167,3400,0,0,0,0,0,0
$GC,3710,-1.09,-126.5,406.5,-9.8,194,3714,0.00,2.35,0.00,0.000,6,0.000,0.024,3100,1654,3400,0,0,0,0,0,0
$GC,4039,-1.09,-126.5,436.5,-9.2,202,4044,0.00,2.55,0.00,0.000,4,0.000,0.061,3101,167,3398,0,0,0,0,0,0
$GC,4082,-1.09,-126.5,441.0,-10.4,203,4087,0.00,2.35,0.00,0.000,6,0.000,0.027,3101,1659,3398,0,0,0,0,0,0
$GC,4412,-1.16,-126.5,470.3,-8.6,211,4414,0.15,0.00,0.00,0.000,6,0.054,0.000,3037,1658,3396,0,0,0,0,0,0
$GC,4735,-1.03,-126.5,507.7,-11.4,219,4737,0.25,0.00,0.00,0.000,6,0.091,0.000,3092,1659,3394,0,0,0,0,0,0
$GC,5060,-1.03,-126.5,533.7,-7.7,227,5064,0.00,2.55,0.00,0.000,4,0.000,0.068,3092,177,3392,0,0,0,0,0,0
$GC,5132,-1.03,-126.5,539.6,-7.9,228,5136,0.00,2.38,0.00,0.000,6,0.000,0.031,3092,1650,3392,0,0,0,0,0,0
$GC,5473,-1.09,-126.5,564.0,-7.3,237,5477,0.00,2.67,0.00,0.000,4,0.000,0.048,3092,3251,3389,0,0,0,0,0,0
$GC,5487,-1.09,-126.5,565.2,-7.6,237,5492,0.00,2.65,0.00,0.000,6,0.000,0.041,3092,1666,3389,0,0,0,0,0,0
$GC,5840,-1.16,-126.5,593.8,-8.4,246,5845,0.10,2.65,0.00,0.000,4,0.077,0.076,3045,167,3387,0,0,0,0,0,0
$GC,5884,-1.05,-126.5,598.7,-10.9,247,5889,0.20,2.42,0.00,0.000,6,0.096,0.034,3089,1669,3387,0,0,0,0,0,0
$GC,6216,-1.11,-126.5,625.3,-7.6,255,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1669,3385,0,0,0,0,0,0
$GC,6538,-1.17,-126.5,648.6,-6.9,263,6543,0.10,2.65,0.00,0.000,4,0.075,0.074,3035,170,3383,0,0,0,0,0,0
$GC,6625,-1.04,-126.5,657.1,-10.7,264,6631,0.25,2.42,0.00,0.000,6,0.097,0.038,3089,1656,3382,0,0,0,0,0,0
$GC,6956,-1.11,-126.5,679.7,-6.7,273,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1656,3381,0,0,0,0,0,0
$GC,7281,-1.18,-126.5,700.6,-6.4,281,7286,0.12,2.62,0.00,0.000,4,0.063,0.075,3032,163,3379,0,0,0,0,0,0
$GC,7345,-1.05,-126.5,706.5,-9.9,282,7350,0.25,2.42,0.00,0.000,6,0.097,0.038,3088,1646,3378,0,0,0,0,0,0
$GC,7696,-1.13,-126.5,729.7,-6.7,291,7701,0.00,2.58,0.00,0.000,4,0.000,0.075,3087,170,3376,0,0,0,0,0,0
$GC,7726,-1.13,-126.5,732.0,-7.9,291,7731,0.00,2.42,0.00,0.000,6,0.000,0.038,3088,1656,3376,0,0,0,0,0,0
$STATE,7978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7978,begin apogee
$GC,7985,-0.31,0.0,750.1,7.0,298,8092,0.73,0.00,103.82,1.052,6,0.078,0.000,3251,1307,2880,0,0,0,0,0,0
$STATE,8093,end apogee,CONTROL_FINISHED_OK
$STATE,8093,begin climb
$GC,8095,1.34,126.5,752.3,0.0,300,8216,1.52,2.10,111.18,1.026,4,0.052,0.081,3609,178,2362,0,0,0,0,0,0
$GC,8292,1.10,126.5,739.0,12.4,305,8297,0.22,1.85,0.00,0.000,6,0.101,0.030,3561,1322,2358,0,0,0,0,0,0
$GC,8644,1.13,151.8,708.1,8.7,314,8673,0.00,2.15,21.65,0.958,4,0.000,0.073,3561,167,2260,0,0,0,0,0,0
$GC,8783,1.13,154.7,694.4,9.8,317,8791,0.00,1.83,3.88,0.600,6,0.000,0.029,3561,1302,2249,0,0,0,0,0,0
$GC,9116,1.16,178.5,664.6,8.7,325,9144,0.00,2.08,22.58,0.947,4,0.000,0.071,3561,176,2151,0,0,0,0,0,0
$GC,9154,1.18,193.0,660.8,9.2,325,9174,0.00,1.85,15.00,0.903,6,0.000,0.029,3561,1301,2093,0,0,0,0,0,0
$GC,9489,1.18,193.0,626.9,10.1,334,9493,0.00,2.00,0.00,0.000,4,0.000,0.071,3561,166,2087,0,0,0,0,0,0
$GC,9521,1.18,193.0,623.1,10.5,334,9525,0.00,1.85,0.00,0.000,6,0.000,0.029,3561,1303,2087,0,0,0,0,0,0
$GC,9863,1.24,193.0,588.8,10.1,343,9868,0.12,2.67,0.00,0.000,4,0.066,0.048,3610,2894,2085,0,0,0,0,0,0
$GC,9883,1.24,193.0,586.4,11.0,343,9887,0.00,2.72,0.00,0.000,6,0.000,0.046,3610,1301,2083,0,0,0,0,0,0
$GC,10228,1.18,193.0,544.5,12.0,352,10233,0.15,1.98,0.00,0.000,4,0.105,0.074,3578,163,2083,0,0,0,0,0,0
$GC,10244,1.18,193.0,542.5,12.3,352,10248,0.00,1.83,0.00,0.000,6,0.000,0.026,3578,1310,2082,0,0,0,0,0,0
$GC,10558,1.18,193.0,509.5,10.5,360,10561,0.00,2.00,0.00,0.000,4,0.000,0.064,3578,163,2082,0,0,0,0,0,0
$GC,10631,1.18,193.0,500.5,12.9,361,10635,0.00,1.83,0.00,0.000,6,0.000,0.025,3578,1299,2081,0,0,0,0,0,0
$GC,10976,1.20,204.6,465.9,9.4,370,10987,0.00,0.00,9.73,0.770,6,0.000,0.000,3578,1301,2046,0,0,0,0,0,0
$GC,11301,1.24,244.5,439.5,7.9,378,11342,0.00,0.00,38.75,0.838,6,0.000,0.000,3578,1301,1883,0,0,0,0,0,0
$GC,11668,1.31,247.2,404.2,9.9,387,11672,0.12,1.98,0.00,0.000,4,0.067,0.059,3632,163,1877,0,0,0,0,0,0
$GC,11710,1.18,247.2,398.2,14.1,387,11716,0.25,1.77,0.00,0.000,6,0.095,0.025,3579,1298,1877,0,0,0,0,0,0
$GC,12042,1.26,247.2,363.5,10.1,396,12045,0.00,1.95,0.00,0.000,4,0.000,0.058,3578,160,1875,0,0,0,0,0,0
$GC,12090,1.26,247.2,358.2,11.9,397,12094,0.00,1.77,0.00,0.000,6,0.000,0.025,3578,1295,1875,0,0,0,0,0,0
$GC,12422,1.37,260.0,326.8,9.3,405,12443,0.17,2.65,14.00,0.706,4,0.051,0.035,3645,2866,1819,0,0,0,0,0,0
$GC,12494,1.37,260.0,318.5,12.5,406,12499,0.12,2.67,0.00,0.000,6,0.107,0.041,3618,1282,1816,0,0,0,0,0,0
$GC,12840,1.37,260.0,274.7,12.4,415,12843,0.00,1.88,0.00,0.000,4,0.000,0.060,3618,164,1815,0,0,0,0,0,0
$GC,12956,1.37,260.0,259.6,13.2,417,12960,0.00,1.75,0.00,0.000,6,0.000,0.022,3618,1302,1815,0,0,0,0,0,0
$GC,13306,1.37,260.0,221.3,10.6,426,13309,0.00,1.95,0.00,0.000,4,0.000,0.053,3618,163,1815,0,0,0,0,0,0
$GC,13384,1.37,260.0,212.2,12.2,427,13388,0.00,1.70,0.00,0.000,6,0.000,0.021,3618,1295,1815,0,0,0,0,0,0
$GC,13715,1.39,272.9,182.1,9.3,449,13734,0.00,0.00,12.32,0.577,6,0.000,0.000,3618,1297,1765,0,0,0,0,0,0
$GC,14055,1.39,272.9,144.4,11.3,481,14059,0.00,1.90,0.00,0.000,4,0.000,0.051,3618,164,1763,0,0,0,0,0,0
$GC,14193,1.39,272.9,126.8,11.7,494,14202,0.00,1.73,0.00,0.000,6,0.000,0.020,3618,1294,1763,0,0,0,0,0,0
$GC,14521,1.49,303.1,98.7,8.4,525,14554,0.10,1.92,27.98,0.525,4,0.076,0.047,3679,161,1643,0,0,0,0,0,0
$GC,14633,1.37,303.1,84.0,13.6,536,14637,0.28,1.70,0.00,0.000,6,0.085,0.019,3619,1290,1643,0,0,0,0,0,0
$GC,14965,1.48,303.1,52.0,10.1,567,14974,0.10,0.00,0.00,0.000,6,0.077,0.000,3675,1292,1641,0,0,0,0,0,0
$GC,15322,1.48,303.1,6.4,12.9,612,15331,0.15,1.92,0.00,0.000,4,0.098,0.048,3641,157,1641,0,0,0,0,0,0
$STATE,15344,end climb,SURFACE_DEPTH_REACHED
$STATE,15344,begin surface coast
$FINISH,0.9,1.023525
$STATE,15395,end surface coast,CONTROL_FINISHED_OK
$STATE,15395,begin surface
$SM_CCo,15421,42.00,0.439,0,0,1329,380.21
$SM_GC,1.69,0.00,0.00,42.00,0.000,0.000,0.439,416,1664,1329,-13.36,0.11,380.21
$IRIDIUM_FIX,2234.68,-15745.45,161101,040447
$TT8_MAMPS,0.026845
$HUMID,65.43
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.20
$XPDR_PINGS,5
$24V_AH,23.2,66.037
$10V_AH,9.8,54.017
$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,33.350,135.150,380.875,42.000,0.000,23.463,33.630,257.982,1.250,0.000,16.153,1302.789,11272.244,484.798,2186.552,685.610,33.363,1415.557,0.000,2182.644,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,81.302,1051.557,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.770,322.839,402.881,547.248,960.862,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,47863,623
$CAP_FILE_SIZE,139920,0
$CFSIZE,260165632,147996672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220812,131200,2244.595,-15738.334,40,1.0,40,10.1