version: 66.06
glider: 148
mission: 11
dive: 511
start: 8 22 112 17 53 14
data:
$ID,148
$MISSION,11
$DIVE,511
$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,-929210.5
$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,99
$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
$GPS1,174526,2245.216,-15738.479,39,2.2,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-75.4
$GPS2,175219,2245.202,-15738.514,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,0.209
$KALMAN_X,-416970.4,-115.0,-157.9,453521.6,-1353.4
$KALMAN_Y,107049.5,-147.6,-669.9,-111415.8,548.2
$MHEAD_RNG_PITCHd_Wd,20.8,37831,-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,-67.60,0.000,2,0.000,0.000,413,1676,3026,0,0,0,0,0,0
$GC,90,-1.34,-126.5,3.1,-4.6,9,122,13.50,2.42,-7.12,0.000,4,0.147,0.034,3024,3194,3398,0,0,0,0,0,0
$GC,163,-1.00,-126.5,22.5,-20.2,19,172,0.30,2.53,0.00,0.000,6,0.086,0.029,3095,1656,3399,0,0,0,0,0,0
$GC,503,-0.80,-126.5,81.4,-14.8,53,508,0.22,2.45,0.00,0.000,4,0.099,0.047,3143,162,3400,0,0,0,0,0,0
$GC,535,-0.80,-126.5,85.7,-10.8,55,541,0.00,2.20,0.00,0.000,6,0.000,0.017,3143,1636,3401,0,0,0,0,0,0
$GC,863,-0.80,-126.5,119.0,-10.6,86,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1640,3401,0,0,0,0,0,0
$GC,1190,-0.80,-126.5,154.5,-10.5,117,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1640,3402,0,0,0,0,0,0
$GC,1510,-0.80,-126.5,185.4,-9.3,147,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1640,3403,0,0,0,0,0,0
$GC,1839,-0.86,-126.5,213.8,-8.3,167,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1640,3403,0,0,0,0,0,0
$GC,2166,-0.96,-126.5,244.2,-9.9,175,2171,0.15,2.47,0.00,0.000,4,0.054,0.024,3072,3209,3403,0,0,0,0,0,0
$GC,2185,-0.96,-126.5,246.7,-11.2,175,2190,0.17,2.50,0.00,0.000,6,0.089,0.027,3113,1649,3403,0,0,0,0,0,0
$GC,2531,-0.96,-126.5,280.7,-9.1,184,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1650,3403,0,0,0,0,0,0
$GC,2858,-1.02,-126.5,306.9,-7.8,192,2863,0.00,2.50,0.00,0.000,4,0.000,0.027,3113,3210,3403,0,0,0,0,0,0
$GC,2878,-1.09,-126.5,308.9,-8.8,192,2883,0.12,2.50,0.00,0.000,6,0.063,0.028,3043,1654,3403,0,0,0,0,0,0
$GC,3224,-0.95,-126.5,350.5,-12.8,201,3229,0.28,2.50,0.00,0.000,4,0.089,0.028,3108,3209,3403,0,0,0,0,0,0
$GC,3256,-1.07,-126.5,353.7,-8.9,201,3260,0.00,2.50,0.00,0.000,6,0.000,0.032,3109,1666,3403,0,0,0,0,0,0
$GC,3592,-1.15,-126.5,383.8,-9.1,210,3594,0.17,0.00,0.00,0.000,6,0.048,0.000,3028,1666,3402,0,0,0,0,0,0
$GC,3918,-0.99,-126.5,422.5,-11.5,218,3924,0.32,2.55,0.00,0.000,4,0.084,0.067,3106,163,3400,0,0,0,0,0,0
$GC,3957,-1.06,-126.5,426.2,-8.7,218,3963,0.00,2.33,0.00,0.000,6,0.000,0.025,3106,1634,3399,0,0,0,0,0,0
$GC,4289,-1.14,-126.5,449.8,-7.1,227,4291,0.15,0.00,0.00,0.000,6,0.055,0.000,3041,1634,3398,0,0,0,0,0,0
$GC,4616,-1.03,-126.5,485.2,-11.0,235,4623,0.22,2.65,0.00,0.000,4,0.093,0.041,3093,3230,3395,0,0,0,0,0,0
$GC,4647,-1.14,-126.5,488.6,-8.8,235,4652,0.00,2.58,0.00,0.000,6,0.000,0.038,3093,1669,3395,0,0,0,0,0,0
$GC,4984,-1.20,-126.5,516.0,-8.0,244,4989,0.15,2.60,0.00,0.000,4,0.054,0.043,3022,3229,3392,0,0,0,0,0,0
$GC,5001,-1.20,-126.5,517.7,-8.5,244,5006,0.17,2.60,0.00,0.000,6,0.094,0.045,3061,1663,3393,0,0,0,0,0,0
$GC,5352,-1.20,-126.5,554.1,-10.7,253,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1663,3390,0,0,0,0,0,0
$GC,5677,-1.20,-126.5,591.7,-11.7,261,5681,0.00,2.65,0.00,0.000,4,0.000,0.049,3061,3230,3387,0,0,0,0,0,0
$GC,5697,-1.20,-126.5,594.0,-12.3,261,5701,0.00,2.60,0.00,0.000,6,0.000,0.044,3061,1670,3387,0,0,0,0,0,0
$GC,6042,-1.20,-126.5,632.0,-10.7,270,6047,0.00,2.62,0.00,0.000,4,0.000,0.079,3061,166,3385,0,0,0,0,0,0
$GC,6075,-1.13,-126.5,635.7,-11.7,270,6080,0.00,2.45,0.00,0.000,6,0.000,0.036,3061,1661,3385,0,0,0,0,0,0
$GC,6408,-1.13,-126.5,669.1,-9.9,278,6413,0.00,2.62,0.00,0.000,4,0.000,0.074,3061,166,3383,0,0,0,0,0,0
$GC,6455,-1.13,-126.5,674.4,-11.3,279,6459,0.00,2.47,0.00,0.000,6,0.000,0.044,3061,1668,3383,0,0,0,0,0,0
$GC,6780,-1.13,-126.5,704.5,-9.1,287,6784,0.00,2.65,0.00,0.000,4,0.000,0.074,3061,162,3381,0,0,0,0,0,0
$GC,6836,-1.13,-126.5,710.5,-10.8,288,6840,0.00,2.47,0.00,0.000,6,0.000,0.039,3061,1660,3380,0,0,0,0,0,0
$GC,7150,-1.13,-126.5,739.8,-9.5,296,7154,0.00,2.62,0.00,0.000,4,0.000,0.075,3061,170,3379,0,0,0,0,0,0
$GC,7170,-1.13,-126.5,741.8,-9.8,296,7175,0.00,2.45,0.00,0.000,6,0.000,0.038,3061,1667,3378,0,0,0,0,0,0
$STATE,7269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7269,begin apogee
$GC,7275,-0.31,0.0,751.4,9.3,299,7383,0.85,0.00,104.35,1.045,6,0.079,0.000,3252,1307,2880,0,0,0,0,0,0
$STATE,7384,end apogee,CONTROL_FINISHED_OK
$STATE,7384,begin climb
$GC,7386,1.34,126.5,754.4,0.0,301,7506,1.52,2.10,110.62,1.023,4,0.055,0.082,3609,181,2362,0,0,0,0,0,0
$GC,7578,1.10,126.5,742.3,12.5,305,7583,0.25,1.88,0.00,0.000,6,0.100,0.031,3557,1320,2357,0,0,0,0,0,0
$GC,7930,1.13,155.3,712.3,8.5,314,7957,0.00,0.00,25.05,0.966,6,0.000,0.000,3557,1320,2246,0,0,0,0,0,0
$GC,8253,1.16,177.5,683.4,8.8,322,8281,0.00,2.10,20.88,0.943,4,0.000,0.072,3557,165,2155,0,0,0,0,0,0
$GC,8364,1.16,177.5,671.8,10.5,324,8368,0.00,1.85,0.00,0.000,6,0.000,0.029,3557,1310,2153,0,0,0,0,0,0
$GC,8714,1.18,193.3,638.8,9.2,333,8734,0.00,2.10,14.90,0.898,4,0.000,0.072,3557,170,2092,0,0,0,0,0,0
$GC,8751,1.19,201.0,635.1,9.6,333,8764,0.00,1.85,8.68,0.818,6,0.000,0.029,3557,1309,2060,0,0,0,0,0,0
$GC,9091,1.28,215.9,604.0,9.2,342,9112,0.17,2.78,14.77,0.881,4,0.053,0.053,3622,2891,1998,0,0,0,0,0,0
$GC,9132,1.21,215.9,599.0,10.6,342,9138,0.17,2.72,0.00,0.000,6,0.097,0.047,3585,1311,1995,0,0,0,0,0,0
$GC,9465,1.21,215.9,562.6,10.9,351,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1311,1994,0,0,0,0,0,0
$GC,9788,1.21,215.9,526.0,11.5,359,9789,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1311,1992,0,0,0,0,0,0
$GC,10113,1.21,215.9,486.3,12.2,367,10117,0.00,2.60,0.00,0.000,4,0.000,0.037,3585,2891,1991,0,0,0,0,0,0
$GC,10129,1.21,215.9,484.6,12.2,367,10133,0.00,2.67,0.00,0.000,6,0.000,0.043,3585,1300,1990,0,0,0,0,0,0
$GC,10479,1.21,215.9,445.1,11.3,376,10483,0.00,2.62,0.00,0.000,4,0.000,0.035,3585,2894,1990,0,0,0,0,0,0
$GC,10502,1.27,215.9,442.5,10.1,376,10507,0.00,2.67,0.00,0.000,6,0.000,0.043,3585,1308,1989,0,0,0,0,0,0
$GC,10845,1.27,215.9,406.2,10.2,385,10848,0.00,1.95,0.00,0.000,4,0.000,0.067,3585,165,1989,0,0,0,0,0,0
$GC,10972,1.27,215.9,392.3,11.2,387,10976,0.00,1.80,0.00,0.000,6,0.000,0.024,3585,1324,1989,0,0,0,0,0,0
$GC,11314,1.29,229.9,360.4,9.3,396,11334,0.00,2.58,12.73,0.726,4,0.000,0.035,3585,2881,1941,0,0,0,0,0,0
$GC,11350,1.40,248.4,356.8,9.0,396,11375,0.17,2.65,18.62,0.746,6,0.049,0.042,3648,1305,1866,0,0,0,0,0,0
$GC,11689,1.31,248.4,314.3,12.6,405,11695,0.20,2.60,0.00,0.000,4,0.099,0.035,3606,2876,1862,0,0,0,0,0,0
$GC,11729,1.42,256.3,310.0,9.6,405,11742,0.10,2.60,7.57,0.624,6,0.075,0.041,3656,1305,1836,0,0,0,0,0,0
$GC,12069,1.33,256.3,268.3,12.2,414,12075,0.20,2.60,0.00,0.000,4,0.095,0.038,3611,2875,1834,0,0,0,0,0,0
$GC,12084,1.33,256.3,265.9,12.2,414,12089,0.00,2.60,0.00,0.000,6,0.000,0.038,3611,1320,1832,0,0,0,0,0,0
$GC,12434,1.35,268.6,232.8,9.3,423,12454,0.00,2.58,12.30,0.620,4,0.000,0.028,3611,2880,1783,0,0,0,0,0,0
$GC,12489,1.49,268.6,227.4,10.4,424,12494,0.12,2.62,0.00,0.000,6,0.064,0.037,3674,1314,1780,0,0,0,0,0,0
$GC,12814,1.38,268.6,182.2,14.9,438,12818,0.25,1.92,0.00,0.000,4,0.088,0.051,3619,165,1780,0,0,0,0,0,0
$GC,12884,1.38,268.6,172.9,13.5,444,12895,0.00,1.83,0.00,0.000,6,0.000,0.021,3619,1348,1780,0,0,0,0,0,0
$GC,13213,1.38,268.6,138.4,10.1,475,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1349,1780,0,0,0,0,0,0
$GC,13542,1.45,274.5,106.2,9.7,506,13554,0.00,2.00,5.35,0.423,4,0.000,0.048,3619,171,1763,0,0,0,0,0,0
$GC,13619,1.45,274.5,98.4,10.1,513,13622,0.00,1.73,0.00,0.000,6,0.000,0.020,3619,1317,1763,0,0,0,0,0,0
$GC,13951,1.53,286.1,67.8,9.4,544,13976,0.15,2.45,12.85,0.472,4,0.055,0.026,3682,2860,1712,0,0,0,0,0,0
$GC,14005,1.53,286.1,61.9,12.6,548,14010,0.12,2.55,0.00,0.000,6,0.106,0.035,3653,1314,1709,0,0,0,0,0,0
$GC,14336,1.53,286.1,26.6,10.1,580,14344,0.00,1.90,0.00,0.000,4,0.000,0.048,3653,172,1709,0,0,0,0,0,0
$GC,14410,1.53,286.1,18.3,12.0,591,14419,0.00,1.75,0.00,0.000,6,0.000,0.019,3653,1326,1709,0,0,0,0,0,0
$STATE,14544,end climb,SURFACE_DEPTH_REACHED
$STATE,14544,begin surface coast
$FINISH,1.0,1.023467
$STATE,14591,end surface coast,CONTROL_FINISHED_OK
$STATE,14591,begin surface
$SM_CCo,14615,52.20,0.440,0,0,1329,380.21
$SM_GC,1.76,0.00,0.00,52.20,0.000,0.000,0.440,413,1690,1329,-13.37,0.85,380.21
$IRIDIUM_FIX,2234.68,-15740.24,161101,131312
$TT8_MAMPS,0.027612
$HUMID,65.83
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.00
$XPDR_PINGS,14
$24V_AH,23.2,66.272
$10V_AH,9.8,54.253
$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,33.300,135.200,368.675,52.200,0.000,30.380,38.475,192.753,3.500,0.000,14.184,1257.377,10603.292,487.214,2099.833,630.966,33.371,1369.954,0.000,2103.709,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,82.069,1045.421,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,419.443,333.329,416.849,586.832,1032.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,47790,619
$CAP_FILE_SIZE,131612,0
$CFSIZE,260165632,147873792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220812,215906,2247.152,-15738.515,40,1.6,40,10.1