version: 66.06
glider: 148
mission: 11
dive: 512
start: 8 22 112 22 16 32
data:
$ID,148
$MISSION,11
$DIVE,512
$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,-929223.31
$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,26
$R_STBD_OVSHOOT,100
$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
$GPS1,215906,2247.152,-15738.515,40,1.6,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.7
$GPS2,221537,2247.154,-15738.622,10,1.2,10,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.226
$KALMAN_X,-418765.6,-317.9,-205.2,455382.3,-908.4
$KALMAN_Y,106307.8,23.4,378.5,-108283.0,-736.7
$MHEAD_RNG_PITCHd_Wd,11.4,34285,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.34,-126.5,0.0,0.0,0,96,0.00,0.00,-74.28,0.000,2,0.000,0.000,412,1691,3276,0,0,0,0,0,0
$GC,99,-1.34,-126.5,4.0,-6.7,10,124,13.65,2.42,-2.10,0.000,4,0.153,0.035,3022,3192,3398,0,0,0,0,0,0
$GC,134,0.35,-126.5,18.8,-39.5,14,144,1.67,2.53,0.00,0.000,6,0.091,0.025,3390,1651,3400,0,0,0,0,0,0
$GC,488,-0.49,-126.5,51.7,-10.2,56,501,0.73,2.45,0.00,0.000,4,0.043,0.043,3206,171,3401,0,0,0,0,0,0
$GC,520,-0.97,-126.5,55.1,-9.9,58,529,0.35,2.22,0.00,0.000,6,0.018,0.018,3070,1653,3401,0,0,0,0,0,0
$GC,849,-0.76,-126.5,101.7,-14.3,89,854,0.35,0.00,0.00,0.000,6,0.085,0.000,3152,1653,3401,0,0,0,0,0,0
$GC,1177,-0.76,-126.5,132.6,-9.4,120,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1653,3402,0,0,0,0,0,0
$GC,1508,-0.85,-126.5,161.3,-8.9,151,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1653,3402,0,0,0,0,0,0
$GC,1837,-0.95,-126.5,191.5,-9.3,182,1842,0.17,0.00,0.00,0.000,6,0.048,0.000,3075,1653,3402,0,0,0,0,0,0
$GC,2151,-0.84,-126.5,231.3,-12.6,195,2153,0.28,0.00,0.00,0.000,6,0.084,0.000,3138,1653,3402,0,0,0,0,0,0
$GC,2478,-0.95,-126.5,262.2,-9.4,203,2483,0.10,2.45,0.00,0.000,4,0.074,0.045,3080,168,3402,0,0,0,0,0,0
$GC,2503,-0.89,-126.5,265.1,-11.4,203,2508,0.20,2.17,0.00,0.000,6,0.094,0.018,3125,1610,3402,0,0,0,0,0,0
$GC,2844,-0.97,-126.5,296.6,-8.6,212,2849,0.00,2.53,0.00,0.000,4,0.000,0.026,3125,3218,3402,0,0,0,0,0,0
$GC,2890,-1.17,-126.5,300.0,-6.7,213,2895,0.25,2.50,0.00,0.000,6,0.035,0.028,3015,1655,3402,0,0,0,0,0,0
$GC,3219,-0.92,-126.5,342.7,-13.6,221,3226,0.47,2.45,0.00,0.000,4,0.086,0.048,3115,171,3401,0,0,0,0,0,0
$GC,3257,-1.00,-126.5,346.5,-8.5,221,3261,0.00,2.28,0.00,0.000,6,0.000,0.020,3116,1633,3401,0,0,0,0,0,0
$GC,3593,-1.09,-126.5,370.5,-7.2,230,3595,0.15,0.00,0.00,0.000,6,0.054,0.000,3047,1634,3399,0,0,0,0,0,0
$GC,3918,-0.99,-126.5,406.0,-10.7,238,3923,0.25,2.47,0.00,0.000,4,0.087,0.057,3108,172,3397,0,0,0,0,0,0
$GC,3964,-0.99,-126.5,409.8,-7.7,239,3968,0.00,2.30,0.00,0.000,6,0.000,0.024,3108,1643,3397,0,0,0,0,0,0
$GC,4292,-1.07,-126.5,432.6,-7.0,247,4296,0.00,2.58,0.00,0.000,4,0.000,0.036,3108,3233,3394,0,0,0,0,0,0
$GC,4313,-1.17,-126.5,434.0,-7.3,247,4319,0.17,2.60,0.00,0.000,6,0.047,0.034,3021,1652,3394,0,0,0,0,0,0
$GC,4660,-0.99,-126.5,474.2,-12.0,256,4662,0.38,0.00,0.00,0.000,6,0.084,0.000,3102,1651,3392,0,0,0,0,0,0
$GC,4985,-1.07,-126.5,500.8,-7.8,264,4989,0.00,2.55,0.00,0.000,4,0.000,0.069,3102,172,3389,0,0,0,0,0,0
$GC,5034,-1.15,-126.5,504.9,-8.7,265,5039,0.15,2.38,0.00,0.000,6,0.054,0.031,3036,1643,3390,0,0,0,0,0,0
$GC,5358,-1.03,-126.5,539.5,-10.8,273,5363,0.25,2.55,0.00,0.000,4,0.088,0.067,3096,174,3387,0,0,0,0,0,0
$GC,5436,-1.10,-126.5,546.6,-8.4,274,5440,0.00,2.38,0.00,0.000,6,0.000,0.032,3097,1649,3386,0,0,0,0,0,0
$GC,5772,-1.17,-126.5,572.6,-7.8,283,5777,0.15,2.70,0.00,0.000,4,0.056,0.050,3035,3247,3383,0,0,0,0,0,0
$GC,5789,-1.17,-126.5,574.2,-8.2,283,5795,0.12,2.70,0.00,0.000,6,0.103,0.043,3063,1638,3383,0,0,0,0,0,0
$GC,6140,-1.17,-126.5,606.8,-9.3,292,6145,0.00,2.55,0.00,0.000,4,0.000,0.076,3063,164,3381,0,0,0,0,0,0
$GC,6203,-1.17,-126.5,612.8,-9.8,293,6207,0.00,2.40,0.00,0.000,6,0.000,0.034,3063,1640,3381,0,0,0,0,0,0
$GC,6554,-1.17,-126.5,641.2,-7.7,302,6559,0.00,2.58,0.00,0.000,4,0.000,0.074,3063,167,3379,0,0,0,0,0,0
$GC,6621,-1.17,-126.5,647.0,-8.4,303,6625,0.00,2.40,0.00,0.000,6,0.000,0.036,3063,1634,3378,0,0,0,0,0,0
$GC,6968,-1.17,-126.5,673.0,-7.5,312,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1634,3377,0,0,0,0,0,0
$GC,7291,-1.17,-126.5,697.5,-7.5,320,7296,0.00,2.58,0.00,0.000,4,0.000,0.075,3063,172,3375,0,0,0,0,0,0
$GC,7329,-1.17,-126.5,700.9,-9.0,320,7335,0.00,2.38,0.00,0.000,6,0.000,0.038,3063,1628,3374,0,0,0,0,0,0
$GC,7662,-1.17,-126.5,728.4,-8.3,329,7667,0.00,2.58,0.00,0.000,4,0.000,0.075,3063,167,3373,0,0,0,0,0,0
$GC,7691,-1.17,-126.5,731.2,-9.0,329,7695,0.00,2.40,0.00,0.000,6,0.000,0.038,3063,1635,3372,0,0,0,0,0,0
$STATE,7943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7943,begin apogee
$GC,7949,-0.31,0.0,752.4,8.2,336,8055,0.82,0.00,102.82,1.049,6,0.074,0.000,3251,1302,2880,0,0,0,0,0,0
$STATE,8056,end apogee,CONTROL_FINISHED_OK
$STATE,8056,begin climb
$GC,8060,1.34,126.5,754.7,0.0,338,8179,1.50,2.08,110.53,1.025,4,0.046,0.081,3610,167,2364,0,0,0,0,0,0
$GC,8214,1.08,126.5,746.0,13.0,340,8219,0.25,1.88,0.00,0.000,6,0.099,0.031,3558,1318,2360,0,0,0,0,0,0
$GC,8551,1.11,148.9,716.0,8.8,349,8575,0.00,2.10,19.70,0.950,4,0.000,0.074,3558,167,2272,0,0,0,0,0,0
$GC,8629,1.05,148.9,708.2,10.6,350,8633,0.00,1.88,0.00,0.000,6,0.000,0.030,3558,1298,2269,0,0,0,0,0,0
$GC,8971,1.06,157.5,676.0,9.5,359,8981,0.00,0.00,8.25,0.830,6,0.000,0.000,3558,1299,2237,0,0,0,0,0,0
$GC,9294,1.06,163.8,644.2,9.7,367,9302,0.00,0.00,6.85,0.782,6,0.000,0.000,3558,1300,2212,0,0,0,0,0,0
$GC,9619,1.09,185.4,614.8,8.9,375,9642,0.00,0.00,21.27,0.917,6,0.000,0.000,3558,1301,2124,0,0,0,0,0,0
$GC,9945,1.10,189.6,583.6,9.8,383,9954,0.00,1.98,4.28,0.617,4,0.000,0.067,3557,174,2108,0,0,0,0,0,0
$GC,9982,1.10,189.6,579.3,10.9,383,9988,0.00,1.85,0.00,0.000,6,0.000,0.028,3558,1312,2108,0,0,0,0,0,0
$GC,10316,1.18,198.6,546.8,9.5,392,10328,0.00,0.00,10.07,0.816,6,0.000,0.000,3558,1313,2070,0,0,0,0,0,0
$GC,10639,1.27,212.0,517.0,9.3,400,10660,0.15,2.08,13.77,0.837,4,0.058,0.064,3613,170,2014,0,0,0,0,0,0
$GC,10693,1.14,212.0,509.9,15.0,401,10698,0.22,1.85,0.00,0.000,6,0.097,0.026,3566,1318,2013,0,0,0,0,0,0
$GC,11014,1.21,212.0,475.6,10.6,409,11018,0.00,2.00,0.00,0.000,4,0.000,0.062,3566,176,2010,0,0,0,0,0,0
$GC,11042,1.21,212.0,472.4,11.4,409,11045,0.00,1.80,0.00,0.000,6,0.000,0.025,3566,1320,2010,0,0,0,0,0,0
$GC,11388,1.32,231.7,440.6,8.9,418,11413,0.17,2.65,19.02,0.809,4,0.052,0.044,3634,2872,1934,0,0,0,0,0,0
$GC,11479,1.32,231.7,430.3,11.0,420,11484,0.12,2.65,0.00,0.000,6,0.107,0.042,3608,1313,1930,0,0,0,0,0,0
$GC,11809,1.32,231.7,395.5,10.6,428,11813,0.00,2.60,0.00,0.000,4,0.000,0.035,3608,2881,1928,0,0,0,0,0,0
$GC,11833,1.32,234.2,392.8,9.9,428,11837,0.00,2.62,0.00,0.000,6,0.000,0.042,3608,1314,1927,0,0,0,0,0,0
$GC,12173,1.32,234.2,353.4,12.1,437,12177,0.00,1.95,0.00,0.000,4,0.000,0.062,3608,166,1927,0,0,0,0,0,0
$GC,12203,1.25,234.2,349.7,14.3,437,12206,0.00,1.80,0.00,0.000,6,0.000,0.024,3608,1327,1927,0,0,0,0,0,0
$GC,12547,1.25,234.2,307.0,12.3,446,12551,0.00,2.53,0.00,0.000,4,0.000,0.033,3608,2879,1926,0,0,0,0,0,0
$GC,12580,1.32,234.2,303.4,10.9,446,12585,0.00,2.60,0.00,0.000,6,0.000,0.041,3608,1316,1925,0,0,0,0,0,0
$GC,12913,1.32,234.2,267.2,10.7,454,12917,0.00,1.95,0.00,0.000,4,0.000,0.061,3608,163,1925,0,0,0,0,0,0
$GC,12936,1.32,234.2,264.4,10.6,454,12940,0.00,1.77,0.00,0.000,6,0.000,0.022,3608,1329,1925,0,0,0,0,0,0
$GC,13285,1.34,245.8,229.2,9.4,463,13302,0.00,2.00,12.68,0.621,4,0.000,0.052,3608,165,1877,0,0,0,0,0,0
$GC,13319,1.35,260.3,226.1,9.2,463,13340,0.00,1.77,14.95,0.626,6,0.000,0.021,3608,1330,1817,0,0,0,0,0,0
$GC,13667,1.42,260.3,193.0,10.1,475,13672,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,1330,1813,0,0,0,0,0,0
$GC,13996,1.49,260.3,154.5,12.6,506,14001,0.15,0.00,0.00,0.000,6,0.056,0.000,3676,1330,1813,0,0,0,0,0,0
$GC,14326,1.39,260.3,106.3,14.3,537,14330,0.25,1.95,0.00,0.000,4,0.087,0.048,3616,158,1813,0,0,0,0,0,0
$GC,14396,1.39,260.3,96.8,12.4,543,14400,0.00,1.75,0.00,0.000,6,0.000,0.020,3617,1325,1813,0,0,0,0,0,0
$GC,14730,1.51,280.3,63.5,8.9,574,14756,0.12,1.95,17.95,0.488,4,0.067,0.047,3668,162,1736,0,0,0,0,0,0
$GC,14857,1.44,280.3,49.3,12.4,585,14862,0.15,1.67,0.00,0.000,6,0.099,0.020,3634,1302,1736,0,0,0,0,0,0
$GC,15212,1.52,289.8,16.9,9.5,627,15228,0.00,0.00,9.65,0.417,6,0.000,0.000,3634,1305,1697,0,0,0,0,0,0
$STATE,15347,end climb,SURFACE_DEPTH_REACHED
$STATE,15347,begin surface coast
$FINISH,0.9,1.015396
$STATE,15401,end surface coast,CONTROL_FINISHED_OK
$STATE,15402,begin surface
$SM_CCo,15425,49.97,0.441,0,0,1329,380.21
$SM_GC,1.73,0.00,0.00,49.97,0.000,0.000,0.441,412,1668,1329,-13.38,0.23,380.21
$IRIDIUM_FIX,2237.01,-15737.19,161101,222214
$TT8_MAMPS,0.027612
$HUMID,65.51
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.2,66.412
$10V_AH,9.9,54.382
$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,36.825,123.800,371.800,49.975,0.000,90.641,129.296,463.136,1.250,0.000,12.208,1334.284,11301.694,486.013,2239.732,1100.512,33.372,1385.287,0.000,2242.968,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,80.535,1049.256,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,444.101,358.861,442.465,654.132,1149.161,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,50978,656
$CAP_FILE_SIZE,146004,0
$CFSIZE,260165632,147791872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230812,023535,2248.566,-15738.394,25,1.1,25,10.1