version: 66.06
glider: 148
mission: 11
dive: 517
start: 8 23 112 21 18 47
data:
$ID,148
$MISSION,11
$DIVE,517
$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,-929321.94
$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,27
$R_STBD_OVSHOOT,71
$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
$GPS1,204706,2253.024,-15739.074,42,1.9,42,10.1
$_CALLS,3
$_XMS_NAKs,32
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.3
$GPS2,211748,2253.267,-15739.296,9,1.4,14,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.139,0.200
$KALMAN_X,-428149.4,-440.5,-341.9,463877.8,-999.7
$KALMAN_Y,102473.3,-160.6,-226.5,-92342.6,687.5
$MHEAD_RNG_PITCHd_Wd,24.7,23475,-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,13,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,85,0.00,0.00,-66.97,0.000,2,0.000,0.000,413,1649,3187,0,0,0,0,0,0
$GC,88,-1.34,-126.5,3.3,-4.6,9,113,13.62,2.47,-3.88,0.000,4,0.151,0.033,3022,3217,3396,0,0,0,0,0,0
$GC,143,-0.77,-126.5,20.7,-27.1,16,152,0.55,2.58,0.00,0.000,6,0.084,0.028,3148,1653,3398,0,0,0,0,0,0
$GC,486,-0.68,-126.5,71.6,-14.5,51,494,0.10,0.00,0.00,0.000,6,0.125,0.000,3170,1653,3398,0,0,0,0,0,0
$GC,814,-0.74,-126.5,111.2,-10.4,82,818,0.00,2.42,0.00,0.000,4,0.000,0.042,3170,161,3399,0,0,0,0,0,0
$GC,874,-0.93,-126.5,117.4,-9.6,87,879,0.22,2.28,0.00,0.000,6,0.038,0.017,3067,1664,3399,0,0,0,0,0,0
$GC,1201,-0.71,-126.5,161.8,-14.4,117,1210,0.45,0.00,0.00,0.000,6,0.085,0.000,3163,1667,3399,0,0,0,0,0,0
$GC,1530,-0.82,-126.5,191.6,-8.7,148,1535,0.10,2.47,0.00,0.000,4,0.076,0.042,3098,161,3399,0,0,0,0,0,0
$GC,1550,-0.82,-126.5,194.3,-10.6,149,1556,0.17,2.25,0.00,0.000,6,0.097,0.018,3138,1665,3399,0,0,0,0,0,0
$GC,1893,-0.82,-126.5,224.4,-8.2,162,1898,0.00,2.45,0.00,0.000,4,0.000,0.042,3138,167,3399,0,0,0,0,0,0
$GC,1924,-0.82,-126.5,227.0,-8.9,162,1928,0.00,2.22,0.00,0.000,6,0.000,0.018,3138,1643,3399,0,0,0,0,0,0
$GC,2260,-0.91,-126.5,253.1,-7.9,171,2264,0.00,2.47,0.00,0.000,4,0.000,0.025,3138,3226,3399,0,0,0,0,0,0
$GC,2312,-1.13,-126.5,257.7,-8.7,172,2317,0.25,2.53,0.00,0.000,6,0.035,0.027,3021,1645,3399,0,0,0,0,0,0
$GC,2633,-0.86,-126.5,303.6,-14.5,180,2636,0.55,0.00,0.00,0.000,6,0.085,0.000,3130,1645,3399,0,0,0,0,0,0
$GC,2957,-0.98,-126.5,329.9,-7.2,188,2962,0.10,2.42,0.00,0.000,4,0.074,0.049,3068,177,3399,0,0,0,0,0,0
$GC,2988,-0.87,-126.5,332.8,-10.2,188,2993,0.28,2.25,0.00,0.000,6,0.091,0.019,3128,1646,3398,0,0,0,0,0,0
$GC,3325,-1.00,-126.5,357.2,-7.1,197,3330,0.12,2.47,0.00,0.000,4,0.061,0.052,3055,177,3397,0,0,0,0,0,0
$GC,3352,-0.90,-126.5,359.8,-10.9,197,3357,0.30,2.33,0.00,0.000,6,0.088,0.021,3121,1662,3396,0,0,0,0,0,0
$GC,3694,-1.00,-126.5,385.8,-7.1,206,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1663,3394,0,0,0,0,0,0
$GC,4019,-1.11,-126.5,409.6,-7.5,214,4024,0.17,2.58,0.00,0.000,4,0.048,0.058,3035,173,3392,0,0,0,0,0,0
$GC,4040,-1.03,-126.5,411.8,-10.4,214,4045,0.28,2.33,0.00,0.000,6,0.091,0.025,3096,1654,3391,0,0,0,0,0,0
$GC,4386,-1.03,-126.5,443.6,-9.0,223,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1655,3389,0,0,0,0,0,0
$GC,4712,-1.03,-126.5,472.5,-8.7,231,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1655,3386,0,0,0,0,0,0
$GC,5038,-1.03,-126.5,500.0,-8.5,239,5042,0.00,2.53,0.00,0.000,4,0.000,0.066,3096,181,3384,0,0,0,0,0,0
$GC,5071,-1.03,-126.5,503.3,-9.6,239,5075,0.00,2.35,0.00,0.000,6,0.000,0.037,3096,1643,3383,0,0,0,0,0,0
$GC,5403,-1.03,-126.5,533.7,-9.2,247,5407,0.00,2.53,0.00,0.000,4,0.000,0.068,3096,178,3381,0,0,0,0,0,0
$GC,5437,-1.03,-126.5,537.0,-10.0,247,5441,0.00,2.40,0.00,0.000,6,0.000,0.032,3096,1656,3381,0,0,0,0,0,0
$GC,5769,-1.10,-126.5,566.6,-8.6,255,5773,0.00,2.55,0.00,0.000,4,0.000,0.070,3096,180,3379,0,0,0,0,0,0
$GC,5797,-1.10,-126.5,569.3,-9.7,255,5801,0.00,2.38,0.00,0.000,6,0.000,0.033,3096,1649,3379,0,0,0,0,0,0
$GC,6140,-1.17,-126.5,594.0,-6.9,264,6145,0.12,2.58,0.00,0.000,4,0.064,0.071,3038,176,3376,0,0,0,0,0,0
$GC,6165,-1.06,-126.5,596.4,-9.6,264,6170,0.22,2.40,0.00,0.000,6,0.096,0.035,3088,1646,3376,0,0,0,0,0,0
$GC,6508,-1.06,-126.5,620.2,-6.9,273,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1646,3374,0,0,0,0,0,0
$GC,6832,-1.06,-126.5,643.2,-7.1,281,6836,0.00,2.58,0.00,0.000,4,0.000,0.074,3088,181,3372,0,0,0,0,0,0
$GC,6888,-1.06,-126.5,647.8,-8.8,282,6892,0.00,2.38,0.00,0.000,6,0.000,0.035,3088,1638,3371,0,0,0,0,0,0
$GC,7208,-1.06,-126.5,669.0,-6.6,290,7212,0.00,2.55,0.00,0.000,4,0.000,0.074,3087,183,3370,0,0,0,0,0,0
$GC,7255,-1.06,-126.5,672.8,-7.2,291,7259,0.00,2.40,0.00,0.000,6,0.000,0.037,3088,1641,3369,0,0,0,0,0,0
$GC,7578,-1.12,-126.5,694.2,-6.7,299,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1641,3367,0,0,0,0,0,0
$GC,7905,-1.19,-126.5,718.8,-7.9,307,7910,0.12,2.58,0.00,0.000,4,0.065,0.074,3031,175,3365,0,0,0,0,0,0
$GC,7968,-1.04,-126.5,726.0,-12.3,308,7973,0.28,2.40,0.00,0.000,6,0.092,0.038,3091,1631,3365,0,0,0,0,0,0
$STATE,8275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8275,begin apogee
$GC,8284,-0.31,0.0,751.5,8.0,316,8388,0.70,0.00,101.72,1.052,6,0.071,0.000,3251,1314,2880,0,0,0,0,0,0
$STATE,8389,end apogee,CONTROL_FINISHED_OK
$STATE,8389,begin climb
$GC,8392,1.34,126.5,754.5,0.0,318,8512,1.55,2.12,110.75,1.027,4,0.057,0.080,3610,172,2364,0,0,0,0,0,0
$GC,8559,1.09,126.5,746.4,10.8,321,8565,0.25,1.90,0.00,0.000,6,0.100,0.032,3559,1322,2359,0,0,0,0,0,0
$GC,8892,1.16,175.8,721.3,7.4,330,8941,0.00,2.12,43.58,0.994,4,0.000,0.073,3558,174,2163,0,0,0,0,0,0
$GC,9017,1.16,175.8,709.4,10.3,332,9021,0.00,1.88,0.00,0.000,6,0.000,0.030,3559,1313,2160,0,0,0,0,0,0
$GC,9353,1.16,180.0,677.0,9.8,341,9360,0.00,0.00,4.32,0.646,6,0.000,0.000,3558,1314,2145,0,0,0,0,0,0
$GC,9685,1.16,180.0,643.9,10.3,349,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1315,2143,0,0,0,0,0,0
$GC,10009,1.24,191.5,612.2,9.4,357,10026,0.12,2.05,11.62,0.865,4,0.066,0.070,3614,165,2099,0,0,0,0,0,0
$GC,10052,1.07,191.5,607.2,13.6,357,10058,0.28,1.85,0.00,0.000,6,0.094,0.029,3555,1309,2098,0,0,0,0,0,0
$GC,10384,1.17,205.3,575.3,9.3,366,10404,0.00,2.75,13.50,0.864,4,0.000,0.047,3555,2891,2042,0,0,0,0,0,0
$GC,10438,1.36,231.7,570.1,8.6,367,10475,0.25,2.70,26.40,0.901,6,0.040,0.047,3629,1318,1934,0,0,0,0,0,0
$GC,10801,1.27,231.7,518.8,14.6,376,10805,0.15,2.03,0.00,0.000,4,0.108,0.072,3598,158,1929,0,0,0,0,0,0
$GC,10829,1.27,231.7,513.8,15.2,376,10833,0.00,1.85,0.00,0.000,6,0.000,0.026,3598,1332,1929,0,0,0,0,0,0
$GC,11171,1.27,231.7,473.0,11.7,385,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1334,1927,0,0,0,0,0,0
$GC,11494,1.27,231.7,436.9,10.9,393,11498,0.00,2.55,0.00,0.000,4,0.000,0.038,3598,2877,1925,0,0,0,0,0,0
$GC,11555,1.37,240.4,430.6,9.5,394,11567,0.00,2.62,7.55,0.706,6,0.000,0.042,3598,1308,1900,0,0,0,0,0,0
$GC,11910,1.37,240.4,392.7,10.5,403,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1308,1899,0,0,0,0,0,0
$GC,12233,1.37,244.4,360.5,9.8,411,12246,0.00,2.62,5.55,0.605,4,0.000,0.031,3597,2874,1882,0,0,0,0,0,0
$GC,12258,1.37,244.4,358.2,10.3,411,12262,0.00,2.62,0.00,0.000,6,0.000,0.041,3598,1319,1880,0,0,0,0,0,0
$GC,12603,1.39,260.2,325.9,9.2,420,12624,0.10,2.00,15.75,0.713,4,0.078,0.062,3644,163,1818,0,0,0,0,0,0
$GC,12664,1.27,260.2,318.5,13.6,421,12668,0.22,1.80,0.00,0.000,6,0.097,0.022,3597,1329,1818,0,0,0,0,0,0
$GC,12984,1.34,260.2,285.3,10.6,429,12988,0.00,2.47,0.00,0.000,4,0.000,0.031,3597,2868,1815,0,0,0,0,0,0
$GC,13054,1.50,260.2,277.0,11.9,430,13059,0.20,2.58,0.00,0.000,6,0.044,0.040,3659,1320,1812,0,0,0,0,0,0
$GC,13402,1.41,260.2,229.7,13.1,439,13404,0.15,0.00,0.00,0.000,6,0.106,0.000,3628,1320,1813,0,0,0,0,0,0
$GC,13725,1.41,260.2,196.0,10.2,447,13728,0.00,1.95,0.00,0.000,4,0.000,0.054,3627,156,1813,0,0,0,0,0,0
$GC,13805,1.41,260.2,187.2,10.4,455,13809,0.00,1.83,0.00,0.000,6,0.000,0.021,3627,1342,1813,0,0,0,0,0,0
$GC,14134,1.41,260.2,155.8,10.1,486,14137,0.00,1.98,0.00,0.000,4,0.000,0.051,3627,164,1813,0,0,0,0,0,0
$GC,14150,1.41,260.2,153.8,10.3,487,14156,0.00,1.77,0.00,0.000,6,0.000,0.021,3627,1344,1813,0,0,0,0,0,0
$GC,14474,1.41,260.2,118.3,11.4,518,14478,0.00,1.98,0.00,0.000,4,0.000,0.049,3627,163,1813,0,0,0,0,0,0
$GC,14495,1.41,260.2,115.7,11.4,520,14499,0.00,1.73,0.00,0.000,6,0.000,0.021,3627,1327,1813,0,0,0,0,0,0
$GC,14828,1.43,268.6,80.4,9.6,551,14841,0.00,2.45,8.15,0.452,4,0.000,0.026,3627,2857,1784,0,0,0,0,0,0
$GC,14858,1.57,305.0,77.2,8.1,553,14902,0.10,2.55,33.70,0.511,6,0.028,0.035,3672,1327,1634,0,0,0,0,0,0
$GC,15219,1.57,305.0,38.0,11.5,587,15223,0.00,1.95,0.00,0.000,4,0.000,0.048,3672,165,1632,0,0,0,0,0,0
$GC,15278,1.48,305.0,30.7,13.2,592,15282,0.15,1.73,0.00,0.000,6,0.102,0.019,3640,1326,1632,0,0,0,0,0,0
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15534,begin surface coast
$FINISH,0.7,1.023543
$STATE,15579,end surface coast,CONTROL_FINISHED_OK
$STATE,15579,begin surface
$SM_CCo,15605,25.85,0.433,0,0,1452,350.04
$SM_GC,1.44,0.00,0.00,25.85,0.000,0.000,0.433,416,1712,1452,-13.36,1.44,350.04
$IRIDIUM_FIX,2244.02,-15736.30,171101,212150
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,74
$24V_AH,23.2,67.215
$10V_AH,9.9,55.013
$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,35.300,134.525,382.600,25.850,0.000,67.352,114.078,1371.987,18.500,0.000,16.149,1310.783,11633.373,441.611,2137.411,1950.731,33.376,1345.512,0.000,2137.886,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,79.768,1052.324,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,432.669,333.951,417.383,582.936,1024.341,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,47787,639
$CAP_FILE_SIZE,160864,0
$CFSIZE,260165632,147439616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240812,014044,2254.935,-15738.976,35,1.5,43,10.1