version: 66.06
glider: 148
mission: 11
dive: 529
start: 8 26 112 1 41 38
data:
$ID,148
$MISSION,11
$DIVE,529
$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,350
$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,-929526.38
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,013335,2304.475,-15736.315,38,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.1
$GPS2,014043,2304.532,-15736.396,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,0.129
$KALMAN_X,-454839.8,20.6,-254.3,494966.2,-1833.3
$KALMAN_Y,93958.2,199.3,108.0,-63648.7,-681.6
$MHEAD_RNG_PITCHd_Wd,47.9,2354,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.34,-126.5,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,413,1759,3224,0,0,0,0,0,0
$GC,90,-1.34,-126.5,4.1,-6.8,9,115,14.23,2.42,-2.95,0.000,4,0.169,0.034,3022,3264,3397,0,0,0,0,0,0
$GC,143,-0.72,-126.5,23.9,-30.0,16,152,0.60,2.65,0.00,0.000,6,0.085,0.029,3157,1657,3398,0,0,0,0,0,0
$GC,478,-0.72,-126.5,66.0,-10.7,49,485,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1657,3400,0,0,0,0,0,0
$GC,802,-0.72,-126.5,99.3,-10.2,80,803,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1657,3401,0,0,0,0,0,0
$GC,1125,-0.79,-126.5,130.1,-9.5,110,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1657,3402,0,0,0,0,0,0
$GC,1452,-0.87,-126.5,161.7,-9.3,141,1457,0.12,2.53,0.00,0.000,4,0.061,0.023,3088,3264,3404,0,0,0,0,0,0
$GC,1489,-0.87,-126.5,165.9,-10.9,144,1495,0.17,2.58,0.00,0.000,6,0.089,0.028,3130,1655,3404,0,0,0,0,0,0
$GC,1814,-0.87,-126.5,198.1,-10.1,174,1818,0.00,2.40,0.00,0.000,4,0.000,0.043,3130,171,3404,0,0,0,0,0,0
$GC,1874,-0.96,-126.5,204.0,-9.4,177,1878,0.00,2.33,0.00,0.000,6,0.000,0.018,3130,1698,3404,0,0,0,0,0,0
$GC,2192,-0.96,-126.5,230.9,-8.2,185,2196,0.00,2.38,0.00,0.000,4,0.000,0.024,3130,3221,3404,0,0,0,0,0,0
$GC,2233,-1.12,-126.5,234.1,-7.3,185,2240,0.22,2.53,0.00,0.000,6,0.040,0.027,3009,1658,3404,0,0,0,0,0,0
$GC,2565,-0.84,-126.5,280.2,-14.4,194,2572,0.52,2.42,0.00,0.000,4,0.087,0.041,3130,167,3404,0,0,0,0,0,0
$GC,2651,-0.95,-126.5,289.4,-10.0,195,2655,0.00,2.30,0.00,0.000,6,0.000,0.019,3130,1659,3404,0,0,0,0,0,0
$GC,2984,-1.06,-126.5,319.1,-8.9,203,2989,0.17,2.50,0.00,0.000,4,0.048,0.027,3048,3234,3404,0,0,0,0,0,0
$GC,3022,-1.06,-126.5,323.6,-11.1,203,3028,0.17,2.53,0.00,0.000,6,0.092,0.028,3089,1659,3404,0,0,0,0,0,0
$GC,3355,-1.06,-126.5,355.1,-8.9,212,3360,0.00,2.47,0.00,0.000,4,0.000,0.050,3089,164,3403,0,0,0,0,0,0
$GC,3374,-1.06,-126.5,357.2,-9.5,212,3379,0.00,2.33,0.00,0.000,6,0.000,0.020,3089,1659,3403,0,0,0,0,0,0
$GC,3719,-1.06,-126.5,386.1,-8.8,221,3724,0.00,2.55,0.00,0.000,4,0.000,0.031,3089,3227,3402,0,0,0,0,0,0
$GC,3740,-1.06,-126.5,388.1,-9.8,221,3745,0.00,2.55,0.00,0.000,6,0.000,0.033,3089,1660,3401,0,0,0,0,0,0
$GC,4085,-1.06,-126.5,422.6,-10.2,230,4089,0.00,2.58,0.00,0.000,4,0.000,0.061,3089,163,3400,0,0,0,0,0,0
$GC,4108,-1.06,-126.5,425.3,-11.7,230,4113,0.00,2.35,0.00,0.000,6,0.000,0.024,3089,1652,3400,0,0,0,0,0,0
$GC,4451,-1.06,-126.5,458.6,-9.4,239,4455,0.00,2.53,0.00,0.000,4,0.000,0.061,3089,173,3397,0,0,0,0,0,0
$GC,4474,-1.06,-126.5,461.2,-10.8,239,4478,0.00,2.38,0.00,0.000,6,0.000,0.028,3089,1657,3397,0,0,0,0,0,0
$GC,4815,-1.06,-126.5,492.0,-8.9,248,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1658,3395,0,0,0,0,0,0
$GC,5141,-1.06,-126.5,519.8,-8.6,256,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1658,3393,0,0,0,0,0,0
$GC,5465,-1.06,-126.5,546.4,-7.9,264,5469,0.00,2.58,0.00,0.000,4,0.000,0.069,3089,172,3391,0,0,0,0,0,0
$GC,5535,-1.06,-126.5,552.5,-8.2,265,5539,0.00,2.38,0.00,0.000,6,0.000,0.032,3089,1646,3391,0,0,0,0,0,0
$GC,5877,-1.06,-126.5,577.8,-7.5,274,5881,0.00,2.55,0.00,0.000,4,0.000,0.069,3089,171,3389,0,0,0,0,0,0
$GC,5929,-1.06,-126.5,582.4,-8.6,275,5933,0.00,2.42,0.00,0.000,6,0.000,0.034,3089,1656,3388,0,0,0,0,0,0
$GC,6247,-1.06,-126.5,606.3,-7.6,283,6251,0.00,2.60,0.00,0.000,4,0.000,0.071,3089,167,3386,0,0,0,0,0,0
$GC,6277,-1.06,-126.5,608.7,-8.2,283,6282,0.00,2.42,0.00,0.000,6,0.000,0.035,3089,1647,3386,0,0,0,0,0,0
$GC,6614,-1.12,-126.5,633.7,-7.3,292,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1647,3384,0,0,0,0,0,0
$GC,6939,-1.18,-126.5,658.5,-7.9,300,6940,0.12,0.00,0.00,0.000,6,0.064,0.000,3034,1647,3382,0,0,0,0,0,0
$GC,7265,-1.09,-126.5,692.9,-10.8,308,7270,0.22,2.60,0.00,0.000,4,0.091,0.074,3084,177,3380,0,0,0,0,0,0
$GC,7317,-1.09,-126.5,698.5,-10.3,309,7321,0.00,2.42,0.00,0.000,6,0.000,0.038,3084,1646,3380,0,0,0,0,0,0
$GC,7637,-1.15,-126.5,724.4,-8.0,317,7642,0.00,2.60,0.00,0.000,4,0.000,0.074,3083,173,3379,0,0,0,0,0,0
$GC,7670,-1.15,-126.5,727.4,-8.3,317,7675,0.00,2.42,0.00,0.000,6,0.000,0.038,3084,1641,3378,0,0,0,0,0,0
$STATE,7999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7999,begin apogee
$GC,8006,-0.31,0.0,750.8,6.8,325,8113,0.75,0.00,104.20,1.048,6,0.077,0.000,3253,1311,2880,0,0,0,0,0,0
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8118,1.34,126.5,752.1,0.0,327,8237,1.52,2.08,110.93,1.022,4,0.051,0.081,3613,178,2362,0,0,0,0,0,0
$GC,8383,1.09,126.5,727.1,13.3,334,8388,0.25,1.88,0.00,0.000,6,0.097,0.031,3559,1317,2355,0,0,0,0,0,0
$GC,8711,1.13,158.3,698.2,8.3,342,8744,0.00,2.10,27.30,0.962,4,0.000,0.073,3559,172,2233,0,0,0,0,0,0
$GC,8799,1.13,160.9,690.5,9.9,343,8807,0.00,1.88,3.90,0.593,6,0.000,0.030,3559,1310,2223,0,0,0,0,0,0
$GC,9137,1.17,195.4,661.7,8.2,352,9178,0.00,2.08,32.65,0.955,4,0.000,0.070,3559,167,2081,0,0,0,0,0,0
$GC,9199,1.19,204.0,656.4,9.5,353,9215,0.00,1.88,9.15,0.825,6,0.000,0.031,3559,1304,2047,0,0,0,0,0,0
$GC,9551,1.27,212.8,623.1,9.5,362,9568,0.15,2.75,9.00,0.821,4,0.058,0.050,3613,2897,2011,0,0,0,0,0,0
$GC,9585,1.20,212.8,619.5,11.0,362,9592,0.15,2.75,0.00,0.000,6,0.097,0.048,3581,1311,2009,0,0,0,0,0,0
$GC,9923,1.20,212.8,583.0,10.7,371,9928,0.00,2.65,0.00,0.000,4,0.000,0.040,3581,2893,2007,0,0,0,0,0,0
$GC,9958,1.28,212.8,579.3,10.8,371,9963,0.00,2.72,0.00,0.000,6,0.000,0.047,3581,1305,2005,0,0,0,0,0,0
$GC,10289,1.28,212.8,542.2,11.3,379,10293,0.00,2.00,0.00,0.000,4,0.000,0.076,3581,165,2005,0,0,0,0,0,0
$GC,10340,1.28,212.8,535.7,14.2,380,10344,0.00,1.85,0.00,0.000,6,0.000,0.028,3581,1320,2005,0,0,0,0,0,0
$GC,10669,1.28,212.8,497.9,11.5,388,10672,0.00,2.00,0.00,0.000,4,0.000,0.064,3581,164,2004,0,0,0,0,0,0
$GC,10705,1.28,212.8,492.9,13.0,388,10709,0.00,1.83,0.00,0.000,6,0.000,0.026,3581,1308,2004,0,0,0,0,0,0
$GC,11040,1.28,212.8,453.8,11.4,397,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1310,2004,0,0,0,0,0,0
$GC,11367,1.28,212.8,418.8,10.9,405,11371,0.00,2.55,0.00,0.000,4,0.000,0.035,3581,2881,2003,0,0,0,0,0,0
$GC,11396,1.36,214.3,415.7,9.9,405,11401,0.15,2.67,0.00,0.000,6,0.058,0.043,3642,1295,2001,0,0,0,0,0,0
$GC,11733,1.25,214.3,373.7,12.5,414,11735,0.22,0.00,0.00,0.000,6,0.096,0.000,3593,1295,2001,0,0,0,0,0,0
$GC,12059,1.25,214.3,339.5,10.5,422,12063,0.00,2.60,0.00,0.000,4,0.000,0.031,3593,2883,2001,0,0,0,0,0,0
$GC,12120,1.34,214.3,333.0,10.3,423,12124,0.00,2.65,0.00,0.000,6,0.000,0.041,3593,1305,1999,0,0,0,0,0,0
$GC,12470,1.34,216.8,298.3,9.9,432,12474,0.00,1.95,0.00,0.000,4,0.000,0.062,3593,170,1999,0,0,0,0,0,0
$GC,12523,1.34,216.8,292.9,11.6,433,12526,0.00,1.80,0.00,0.000,6,0.000,0.022,3593,1327,1999,0,0,0,0,0,0
$GC,12850,1.41,221.6,260.6,9.7,441,12860,0.15,0.00,7.38,0.591,6,0.058,0.000,3652,1330,1976,0,0,0,0,0,0
$GC,13175,1.32,221.6,224.3,10.8,449,13179,0.20,1.98,0.00,0.000,4,0.095,0.053,3608,165,1974,0,0,0,0,0,0
$GC,13226,1.34,235.1,219.4,9.3,450,13247,0.00,1.75,13.90,0.622,6,0.000,0.021,3608,1326,1920,0,0,0,0,0,0
$GC,13565,1.37,260.9,191.8,8.6,465,13595,0.00,1.98,24.08,0.616,4,0.000,0.051,3608,165,1817,0,0,0,0,0,0
$GC,13620,1.37,260.9,185.9,11.4,470,13626,0.00,1.75,0.00,0.000,6,0.000,0.021,3608,1313,1817,0,0,0,0,0,0
$GC,13945,1.46,260.9,152.9,10.6,501,13947,0.12,0.00,0.00,0.000,6,0.064,0.000,3661,1316,1814,0,0,0,0,0,0
$GC,14267,1.46,260.9,115.9,11.0,531,14271,0.12,1.95,0.00,0.000,4,0.107,0.057,3633,162,1814,0,0,0,0,0,0
$GC,14292,1.46,260.9,113.4,10.7,533,14295,0.00,1.73,0.00,0.000,6,0.000,0.021,3634,1311,1814,0,0,0,0,0,0
$GC,14621,1.49,288.3,82.6,8.5,564,14654,0.00,2.50,24.70,0.509,4,0.000,0.025,3634,2845,1703,0,0,0,0,0,0
$GC,14662,1.58,310.0,79.1,8.8,567,14696,0.10,2.60,21.30,0.497,6,0.028,0.041,3704,1299,1614,0,0,0,0,0,0
$GC,15018,1.48,310.0,28.1,14.5,601,15026,0.28,0.00,0.00,0.000,6,0.083,0.000,3639,1299,1612,0,0,0,0,0,0
$STATE,15243,end climb,SURFACE_DEPTH_REACHED
$STATE,15243,begin surface coast
$FINISH,0.9,1.011047
$STATE,15296,end surface coast,CONTROL_FINISHED_OK
$STATE,15296,begin surface
$SM_CCo,15321,26.42,0.433,0,0,1453,350.04
$SM_GC,1.73,0.00,0.00,26.42,0.000,0.000,0.433,412,1683,1453,-13.38,0.65,350.04
$IRIDIUM_FIX,2258.07,-15738.85,191101,212154
$TT8_MAMPS,0.027612
$HUMID,66.69
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,10
$24V_AH,23.2,68.660
$10V_AH,9.8,56.423
$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,33.700,136.225,388.475,26.425,0.000,30.607,40.175,202.883,2.500,0.000,14.682,1311.052,11133.081,456.282,2221.205,649.647,33.378,1391.075,0.000,2224.258,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,80.535,1047.722,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.086,346.861,433.457,600.800,1055.543,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,50924,645
$CAP_FILE_SIZE,136266,0
$CFSIZE,260165632,146661376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260812,055836,2305.385,-15735.835,27,1.6,27,10.1