version: 66.06
glider: 148
mission: 11
dive: 200
start: 7 8 112 10 33 47
data:
$ID,148
$MISSION,11
$DIVE,200
$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,-922537.69
$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,27
$R_STBD_OVSHOOT,103
$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
$GPS1,102306,2250.778,-15737.853,53,1.6,59,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.4
$GPS2,103255,2250.905,-15737.860,35,1.4,35,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.258
$KALMAN_X,55084.3,58.8,-342.7,-17409.3,158.2
$KALMAN_Y,-33483.8,562.2,587.4,37704.4,380.1
$MHEAD_RNG_PITCHd_Wd,356.9,27220,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,95,0.00,0.00,-74.55,0.000,2,0.000,0.000,417,1591,3317,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-7.7,10,122,13.73,2.33,-3.45,0.000,4,0.151,0.036,3057,3064,3518,0,0,0,0,0,0
$GC,170,-1.00,-146.0,28.0,-21.4,20,179,0.25,2.53,0.00,0.000,6,0.081,0.035,3116,1541,3519,0,0,0,0,0,0
$GC,447,-0.81,-146.0,71.2,-15.6,46,456,0.20,0.00,0.00,0.000,6,0.107,0.000,3159,1541,3520,0,0,0,0,0,0
$GC,714,-0.81,-146.0,100.8,-9.9,71,718,0.00,2.40,0.00,0.000,4,0.000,0.024,3158,3069,3521,0,0,0,0,0,0
$GC,765,-0.95,-146.0,105.9,-8.4,75,771,0.12,2.45,0.00,0.000,6,0.062,0.028,3076,1535,3521,0,0,0,0,0,0
$GC,1029,-0.78,-146.0,143.7,-14.9,100,1034,0.38,2.20,0.00,0.000,4,0.088,0.041,3162,170,3522,0,0,0,0,0,0
$GC,1060,-0.86,-146.0,148.2,-11.2,102,1069,0.00,2.05,0.00,0.000,6,0.000,0.018,3162,1520,3522,0,0,0,0,0,0
$GC,1328,-1.00,-146.0,170.9,-8.1,127,1333,0.17,2.47,0.00,0.000,4,0.048,0.024,3084,3096,3524,0,0,0,0,0,0
$GC,1397,-1.00,-146.0,178.8,-10.9,133,1403,0.17,2.50,0.00,0.000,6,0.091,0.028,3124,1532,3523,0,0,0,0,0,0
$GC,1680,-1.00,-146.0,204.3,-8.5,157,1684,0.00,2.45,0.00,0.000,4,0.000,0.024,3124,3091,3524,0,0,0,0,0,0
$GC,1704,-1.08,-146.0,206.4,-7.8,157,1708,0.00,2.50,0.00,0.000,6,0.000,0.028,3124,1539,3524,0,0,0,0,0,0
$GC,1963,-1.08,-146.0,228.2,-8.5,164,1967,0.00,2.22,0.00,0.000,4,0.000,0.045,3124,165,3524,0,0,0,0,0,0
$GC,2020,-1.17,-146.0,233.2,-8.0,165,2025,0.15,2.08,0.00,0.000,6,0.054,0.018,3050,1542,3524,0,0,0,0,0,0
$GC,2299,-1.02,-146.0,265.9,-12.0,172,2304,0.25,2.45,0.00,0.000,4,0.090,0.026,3110,3095,3524,0,0,0,0,0,0
$GC,2349,-1.17,-146.0,270.7,-8.6,173,2354,0.10,2.47,0.00,0.000,6,0.074,0.030,3053,1552,3524,0,0,0,0,0,0
$GC,2632,-1.05,-146.0,302.7,-11.4,180,2637,0.25,2.47,0.00,0.000,4,0.092,0.028,3112,3096,3524,0,0,0,0,0,0
$GC,2663,-1.15,-146.0,305.6,-8.0,180,2667,0.00,2.50,0.00,0.000,6,0.000,0.033,3112,1552,3524,0,0,0,0,0,0
$GC,2918,-1.22,-146.0,323.2,-6.8,187,2920,0.17,0.00,0.00,0.000,6,0.048,0.000,3028,1552,3523,0,0,0,0,0,0
$GC,3161,-1.05,-146.0,351.2,-11.7,193,3166,0.35,2.30,0.00,0.000,4,0.088,0.053,3109,168,3522,0,0,0,0,0,0
$GC,3192,-1.05,-146.0,354.2,-8.3,193,3196,0.00,2.12,0.00,0.000,6,0.000,0.023,3109,1538,3522,0,0,0,0,0,0
$GC,3447,-1.13,-146.0,373.7,-7.6,200,3451,0.00,2.55,0.00,0.000,4,0.000,0.034,3108,3111,3521,0,0,0,0,0,0
$GC,3485,-1.29,-146.0,376.7,-7.4,200,3491,0.20,2.53,0.00,0.000,6,0.044,0.038,3035,1569,3521,0,0,0,0,0,0
$GC,3737,-1.15,-146.0,404.5,-11.3,207,3742,0.25,2.38,0.00,0.000,4,0.094,0.060,3093,171,3520,0,0,0,0,0,0
$GC,3781,-1.22,-146.0,408.9,-8.7,208,3785,0.00,2.20,0.00,0.000,6,0.000,0.027,3093,1570,3519,0,0,0,0,0,0
$GC,4069,-1.22,-146.0,433.5,-8.7,215,4074,0.00,2.50,0.00,0.000,4,0.000,0.037,3093,3112,3517,0,0,0,0,0,0
$GC,4089,-1.28,-146.0,435.4,-9.0,215,4094,0.15,2.55,0.00,0.000,6,0.052,0.036,3020,1555,3517,0,0,0,0,0,0
$GC,4354,-1.12,-146.0,469.1,-13.1,222,4356,0.35,0.00,0.00,0.000,6,0.092,0.000,3095,1555,3515,0,0,0,0,0,0
$GC,4599,-1.19,-146.0,491.2,-8.9,228,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1555,3514,0,0,0,0,0,0
$GC,4842,-1.27,-146.0,512.2,-8.4,234,4847,0.12,2.60,0.00,0.000,4,0.064,0.044,3037,3108,3512,0,0,0,0,0,0
$GC,4875,-1.27,-146.0,515.8,-10.8,234,4880,0.12,2.60,0.00,0.000,6,0.102,0.043,3066,1560,3512,0,0,0,0,0,0
$GC,5125,-1.27,-146.0,538.6,-9.0,240,5129,0.00,2.40,0.00,0.000,4,0.000,0.075,3066,170,3511,0,0,0,0,0,0
$GC,5158,-1.27,-146.0,541.9,-10.0,240,5162,0.00,2.25,0.00,0.000,6,0.000,0.036,3065,1549,3510,0,0,0,0,0,0
$GC,5412,-1.27,-146.0,564.9,-9.1,247,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1549,3509,0,0,0,0,0,0
$GC,5658,-1.27,-146.0,587.6,-9.3,253,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,1549,3506,0,0,0,0,0,0
$STATE,5816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5816,begin apogee
$GC,5822,-0.31,0.0,602.0,8.9,257,5943,0.93,0.00,117.85,0.934,6,0.086,0.000,3271,1370,2920,0,0,0,0,0,0
$STATE,5944,end apogee,CONTROL_FINISHED_OK
$STATE,5944,begin climb
$GC,5947,1.27,146.0,605.4,0.0,260,6079,1.45,2.17,123.68,0.913,4,0.041,0.077,3621,178,2323,0,0,0,0,0,0
$GC,6224,0.91,146.0,582.0,14.0,266,6229,0.40,1.95,0.00,0.000,6,0.098,0.031,3538,1381,2317,0,0,0,0,0,0
$GC,6498,0.95,179.5,557.4,8.5,273,6531,0.00,2.17,28.52,0.866,4,0.000,0.069,3538,177,2187,0,0,0,0,0,0
$GC,6602,0.88,179.5,547.0,11.2,275,6606,0.00,1.95,0.00,0.000,6,0.000,0.030,3538,1379,2185,0,0,0,0,0,0
$GC,6875,0.91,203.5,522.4,8.9,282,6903,0.00,2.20,21.85,0.841,4,0.000,0.066,3538,171,2089,0,0,0,0,0,0
$GC,6937,0.91,203.5,516.1,10.6,283,6941,0.00,1.98,0.00,0.000,6,0.000,0.028,3538,1381,2088,0,0,0,0,0,0
$GC,7210,0.92,213.4,489.9,9.5,290,7222,0.00,0.00,9.50,0.752,6,0.000,0.000,3538,1382,2049,0,0,0,0,0,0
$GC,7501,0.93,221.9,461.5,9.6,297,7512,0.00,0.00,8.70,0.732,6,0.000,0.000,3537,1383,2015,0,0,0,0,0,0
$GC,7746,0.96,243.3,439.5,9.0,303,7774,0.00,2.65,20.75,0.804,4,0.000,0.038,3538,2958,1927,0,0,0,0,0,0
$GC,7794,1.07,266.4,435.1,8.9,304,7823,0.15,2.70,22.52,0.796,6,0.054,0.044,3600,1381,1834,0,0,0,0,0,0
$GC,8081,0.97,266.4,399.6,12.8,311,8086,0.22,2.08,0.00,0.000,4,0.092,0.063,3552,165,1827,0,0,0,0,0,0
$GC,8133,0.97,266.4,392.9,11.6,312,8136,0.00,1.92,0.00,0.000,6,0.000,0.025,3552,1389,1827,0,0,0,0,0,0
$GC,8414,0.97,266.4,363.2,10.8,319,8419,0.00,2.55,0.00,0.000,4,0.000,0.035,3552,2959,1825,0,0,0,0,0,0
$GC,8439,0.97,266.4,360.4,10.8,319,8444,0.00,2.67,0.00,0.000,6,0.000,0.041,3552,1371,1823,0,0,0,0,0,0
$GC,8698,0.97,266.4,331.6,11.0,326,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1371,1823,0,0,0,0,0,0
$GC,8942,0.97,266.4,306.5,10.1,332,8945,0.00,2.05,0.00,0.000,4,0.000,0.061,3552,167,1822,0,0,0,0,0,0
$GC,8966,0.97,266.4,304.1,10.4,332,8970,0.00,1.90,0.00,0.000,6,0.000,0.023,3552,1391,1822,0,0,0,0,0,0
$GC,9234,0.99,280.9,278.7,9.3,339,9251,0.00,2.55,12.23,0.657,4,0.000,0.031,3552,2945,1772,0,0,0,0,0,0
$GC,9285,1.15,297.9,273.9,9.2,340,9309,0.15,2.62,16.15,0.673,6,0.054,0.040,3618,1372,1705,0,0,0,0,0,0
$GC,9567,1.05,297.9,236.7,13.6,347,9572,0.22,2.55,0.00,0.000,4,0.091,0.030,3569,2945,1701,0,0,0,0,0,0
$GC,9587,1.05,297.9,233.5,13.2,347,9592,0.00,2.60,0.00,0.000,6,0.000,0.037,3569,1371,1699,0,0,0,0,0,0
$GC,9853,1.05,297.9,204.4,11.0,354,9857,0.00,2.05,0.00,0.000,4,0.000,0.054,3569,162,1700,0,0,0,0,0,0
$GC,9975,1.05,297.9,188.6,13.4,362,9981,0.00,1.90,0.00,0.000,6,0.000,0.021,3569,1391,1699,0,0,0,0,0,0
$GC,10240,1.11,297.9,158.2,12.0,387,10244,0.00,2.47,0.00,0.000,4,0.000,0.033,3570,2941,1699,0,0,0,0,0,0
$GC,10299,1.26,297.9,150.8,11.6,392,10305,0.17,2.58,0.00,0.000,6,0.048,0.035,3630,1377,1697,0,0,0,0,0,0
$GC,10564,1.17,297.9,114.3,13.5,417,10568,0.17,1.98,0.00,0.000,4,0.097,0.050,3592,169,1697,0,0,0,0,0,0
$GC,10623,1.17,297.9,106.2,12.6,422,10632,0.00,1.88,0.00,0.000,6,0.000,0.020,3592,1383,1697,0,0,0,0,0,0
$GC,10890,1.17,297.9,78.1,10.9,447,10894,0.00,2.47,0.00,0.000,4,0.000,0.027,3592,2945,1697,0,0,0,0,0,0
$GC,10941,1.32,297.9,72.6,10.2,451,10946,0.15,2.58,0.00,0.000,6,0.054,0.035,3642,1374,1696,0,0,0,0,0,0
$GC,11207,1.26,297.9,39.3,13.8,475,11211,0.12,2.00,0.00,0.000,4,0.107,0.048,3614,172,1696,0,0,0,0,0,0
$GC,11246,1.26,297.9,33.3,13.9,478,11254,0.00,1.85,0.00,0.000,6,0.000,0.019,3614,1389,1696,0,0,0,0,0,0
$STATE,11497,end climb,SURFACE_DEPTH_REACHED
$STATE,11497,begin surface coast
$FINISH,0.6,1.023718
$STATE,11542,end surface coast,CONTROL_FINISHED_OK
$STATE,11542,begin surface
$SM_CCo,11566,44.78,0.451,0,0,1369,380.21
$SM_GC,1.40,0.00,0.00,44.78,0.000,0.000,0.451,416,1566,1369,-13.45,0.74,380.21
$IRIDIUM_FIX,2241.69,-15736.30,021001,070753
$TT8_MAMPS,0.027612
$HUMID,63.07
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.50
$XPDR_PINGS,4
$24V_AH,23.5,27.438
$10V_AH,9.9,20.294
$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,34.550,130.525,381.750,44.775,0.000,30.050,34.512,365.307,1.000,0.000,37.291,1128.687,7870.778,474.769,1966.446,756.605,33.366,1301.455,0.000,1946.005,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,76.700,934.206,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.906,301.812,375.076,539.355,947.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,41533,524
$CAP_FILE_SIZE,129931,0
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