version: 66.06
glider: 148
mission: 11
dive: 135
start: 6 28 112 21 43 38
data:
$ID,148
$MISSION,11
$DIVE,135
$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,-921027.19
$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,3280
$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,1600
$C_ROLL_CLIMB,1520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$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
$GPS1,213516,2244.998,-15800.051,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.3
$GPS2,214246,2245.042,-15759.961,16,99.0,35,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.236,-0.108
$KALMAN_X,49282.0,43.3,-163.2,-49504.9,2057.8
$KALMAN_Y,-3931.4,-417.4,-322.7,-813.6,655.8
$MHEAD_RNG_PITCHd_Wd,235.4,13315,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.07,0.000,2,0.000,0.000,416,1603,3203,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-4.5,10,120,13.55,2.50,-4.62,0.000,4,0.155,0.033,2997,3191,3458,0,0,0,0,0,0
$GC,278,-0.90,-146.0,48.6,-20.9,32,290,0.40,2.62,0.00,0.000,6,0.097,0.031,3083,1580,3459,0,0,0,0,0,0
$GC,549,-0.66,-146.0,95.7,-15.3,57,554,0.25,2.33,0.00,0.000,4,0.100,0.040,3140,161,3460,0,0,0,0,0,0
$GC,581,-0.56,-146.0,101.6,-13.3,59,587,0.00,2.22,0.00,0.000,6,0.000,0.018,3140,1627,3460,0,0,0,0,0,0
$GC,845,-0.56,-146.0,127.4,-9.9,84,854,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1629,3461,0,0,0,0,0,0
$GC,1110,-0.56,-146.0,153.3,-10.1,109,1114,0.00,2.40,0.00,0.000,4,0.000,0.043,3140,170,3461,0,0,0,0,0,0
$GC,1150,-0.56,-146.0,157.4,-11.0,112,1154,0.00,2.17,0.00,0.000,6,0.000,0.018,3140,1602,3461,0,0,0,0,0,0
$GC,1416,-0.56,-146.0,182.8,-9.7,136,1421,0.00,2.42,0.00,0.000,4,0.000,0.024,3140,3161,3462,0,0,0,0,0,0
$GC,1463,-0.70,-146.0,187.4,-9.1,140,1467,0.00,2.53,0.00,0.000,6,0.000,0.028,3140,1590,3462,0,0,0,0,0,0
$GC,1730,-0.78,-146.0,210.0,-7.9,156,1735,0.12,2.35,0.00,0.000,4,0.064,0.044,3074,164,3463,0,0,0,0,0,0
$GC,1764,-0.67,-146.0,213.7,-11.6,156,1769,0.28,2.15,0.00,0.000,6,0.093,0.018,3134,1578,3463,0,0,0,0,0,0
$GC,2016,-0.75,-146.0,232.9,-7.6,162,2020,0.00,2.47,0.00,0.000,4,0.000,0.025,3134,3168,3463,0,0,0,0,0,0
$GC,2040,-0.88,-146.0,235.0,-8.4,162,2045,0.20,2.55,0.00,0.000,6,0.041,0.028,3039,1584,3463,0,0,0,0,0,0
$GC,2301,-0.67,-146.0,268.4,-13.4,169,2307,0.40,2.30,0.00,0.000,4,0.091,0.042,3129,167,3464,0,0,0,0,0,0
$GC,2326,-0.67,-146.0,271.6,-11.0,169,2330,0.00,2.17,0.00,0.000,6,0.000,0.020,3129,1585,3463,0,0,0,0,0,0
$GC,2585,-0.77,-146.0,293.0,-8.1,176,2589,0.00,2.47,0.00,0.000,4,0.000,0.027,3129,3164,3463,0,0,0,0,0,0
$GC,2638,-0.97,-146.0,297.2,-7.3,177,2644,0.25,2.55,0.00,0.000,6,0.035,0.030,3022,1591,3463,0,0,0,0,0,0
$GC,2917,-0.74,-146.0,334.1,-13.7,184,2922,0.40,2.35,0.00,0.000,4,0.093,0.049,3114,167,3463,0,0,0,0,0,0
$GC,3015,-0.83,-146.0,344.3,-10.0,186,3019,0.00,2.20,0.00,0.000,6,0.000,0.023,3113,1573,3463,0,0,0,0,0,0
$GC,3297,-0.91,-146.0,367.2,-7.5,193,3302,0.15,2.60,0.00,0.000,4,0.058,0.033,3055,3176,3463,0,0,0,0,0,0
$GC,3328,-0.91,-146.0,369.6,-8.7,193,3333,0.12,2.60,0.00,0.000,6,0.106,0.034,3083,1590,3463,0,0,0,0,0,0
$GC,3584,-0.91,-146.0,390.5,-8.1,200,3588,0.00,2.40,0.00,0.000,4,0.000,0.060,3083,170,3462,0,0,0,0,0,0
$GC,3654,-0.91,-146.0,397.2,-9.7,201,3658,0.00,2.22,0.00,0.000,6,0.000,0.025,3084,1579,3461,0,0,0,0,0,0
$GC,3914,-0.91,-146.0,419.6,-8.6,208,3919,0.00,2.60,0.00,0.000,4,0.000,0.036,3083,3180,3460,0,0,0,0,0,0
$GC,3958,-1.02,-146.0,423.4,-8.0,209,3963,0.12,2.62,0.00,0.000,6,0.065,0.037,3012,1588,3459,0,0,0,0,0,0
$GC,4248,-0.81,-146.0,457.9,-12.3,216,4253,0.38,2.42,0.00,0.000,4,0.095,0.067,3097,168,3458,0,0,0,0,0,0
$GC,4300,-0.87,-146.0,463.3,-9.0,217,4305,0.00,2.25,0.00,0.000,6,0.000,0.030,3097,1578,3458,0,0,0,0,0,0
$GC,4585,-0.94,-146.0,483.0,-6.8,224,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1578,3456,0,0,0,0,0,0
$GC,4827,-1.00,-146.0,500.8,-7.5,230,4829,0.15,0.00,0.00,0.000,6,0.058,0.000,3037,1578,3454,0,0,0,0,0,0
$GC,5070,-0.89,-146.0,527.2,-11.2,236,5075,0.22,2.45,0.00,0.000,4,0.095,0.069,3087,173,3452,0,0,0,0,0,0
$GC,5100,-0.89,-146.0,530.6,-10.4,236,5105,0.00,2.30,0.00,0.000,6,0.000,0.034,3087,1588,3452,0,0,0,0,0,0
$GC,5355,-0.89,-146.0,552.7,-8.5,243,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1589,3450,0,0,0,0,0,0
$GC,5599,-0.89,-146.0,572.7,-8.1,249,5603,0.00,2.47,0.00,0.000,4,0.000,0.072,3087,171,3449,0,0,0,0,0,0
$GC,5645,-0.89,-146.0,577.0,-9.5,250,5650,0.00,2.30,0.00,0.000,6,0.000,0.035,3086,1580,3448,0,0,0,0,0,0
$GC,5929,-0.89,-146.0,599.2,-7.7,257,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1580,3446,0,0,0,0,0,0
$STATE,5966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5966,begin apogee
$GC,5972,-0.31,0.0,602.2,7.6,258,6093,0.55,0.00,118.10,0.940,6,0.084,0.000,3210,1505,2860,0,0,0,0,0,0
$STATE,6094,end apogee,CONTROL_FINISHED_OK
$STATE,6094,begin climb
$GC,6098,1.27,146.0,605.7,0.0,261,6232,1.50,2.42,123.62,0.917,4,0.064,0.075,3553,175,2263,0,0,0,0,0,0
$GC,6287,1.11,146.0,592.9,12.2,265,6291,0.15,2.22,0.00,0.000,6,0.108,0.033,3523,1520,2260,0,0,0,0,0,0
$GC,6560,1.16,183.4,569.4,8.3,272,6602,0.00,2.42,32.78,0.877,4,0.000,0.071,3522,179,2111,0,0,0,0,0,0
$GC,6687,1.17,189.9,557.1,9.7,274,6700,0.00,2.20,6.93,0.711,6,0.000,0.032,3523,1513,2085,0,0,0,0,0,0
$GC,6987,1.18,204.0,528.8,9.3,282,7007,0.00,2.40,13.32,0.809,4,0.000,0.067,3522,170,2027,0,0,0,0,0,0
$GC,7074,1.18,204.0,519.6,10.8,283,7080,0.00,2.20,0.00,0.000,6,0.000,0.029,3522,1521,2026,0,0,0,0,0,0
$GC,7325,1.25,206.4,494.6,9.9,290,7329,0.12,2.35,0.00,0.000,4,0.064,0.066,3585,175,2023,0,0,0,0,0,0
$GC,7377,1.07,206.4,487.3,14.5,291,7382,0.32,2.15,0.00,0.000,6,0.096,0.028,3515,1504,2023,0,0,0,0,0,0
$GC,7657,1.19,230.1,460.7,8.9,298,7687,0.10,2.35,24.12,0.826,4,0.076,0.062,3562,168,1921,0,0,0,0,0,0
$GC,7722,1.12,230.1,453.4,12.5,299,7727,0.17,2.15,0.00,0.000,6,0.100,0.028,3524,1490,1921,0,0,0,0,0,0
$GC,7988,1.23,254.1,428.9,8.9,306,8017,0.10,2.35,22.48,0.800,4,0.076,0.062,3572,179,1823,0,0,0,0,0,0
$GC,8063,1.15,254.1,420.3,13.7,307,8067,0.20,2.10,0.00,0.000,6,0.100,0.028,3530,1486,1823,0,0,0,0,0,0
$GC,8327,1.24,254.1,393.5,10.0,314,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1489,1820,0,0,0,0,0,0
$GC,8571,1.34,255.5,368.9,9.9,320,8576,0.17,2.28,0.00,0.000,4,0.051,0.060,3580,172,1817,0,0,0,0,0,0
$GC,8664,1.27,255.5,357.4,13.0,322,8669,0.12,2.08,0.00,0.000,6,0.119,0.025,3555,1484,1817,0,0,0,0,0,0
$GC,8956,1.28,257.1,327.6,9.9,329,8960,0.00,2.25,0.00,0.000,4,0.000,0.058,3555,166,1816,0,0,0,0,0,0
$GC,9000,1.28,257.1,322.5,13.4,330,9004,0.00,2.08,0.00,0.000,6,0.000,0.025,3554,1473,1816,0,0,0,0,0,0
$GC,9287,1.28,257.1,292.1,10.2,337,9291,0.00,2.62,0.00,0.000,4,0.000,0.035,3555,3095,1815,0,0,0,0,0,0
$GC,9312,1.37,271.9,289.7,9.3,337,9333,0.10,2.70,15.20,0.686,6,0.077,0.038,3589,1465,1751,0,0,0,0,0,0
$GC,9625,1.37,271.9,251.0,12.8,345,9629,0.00,2.17,0.00,0.000,4,0.000,0.055,3589,172,1748,0,0,0,0,0,0
$GC,9653,1.29,271.9,247.0,13.0,345,9657,0.12,2.05,0.00,0.000,6,0.114,0.024,3563,1479,1748,0,0,0,0,0,0
$GC,9914,1.37,280.5,221.5,9.6,352,9930,0.00,2.20,8.75,0.583,4,0.000,0.052,3562,174,1715,0,0,0,0,0,0
$GC,9976,1.37,280.5,214.6,10.9,353,9980,0.00,2.03,0.00,0.000,6,0.000,0.023,3562,1466,1715,0,0,0,0,0,0
$GC,10237,1.47,297.3,189.4,9.2,367,10265,0.15,2.70,16.42,0.605,4,0.058,0.032,3607,3085,1646,0,0,0,0,0,0
$GC,10281,1.47,297.3,184.2,11.5,371,10287,0.00,2.70,0.00,0.000,6,0.000,0.035,3607,1453,1644,0,0,0,0,0,0
$GC,10544,1.47,297.3,152.9,12.0,396,10548,0.00,2.12,0.00,0.000,4,0.000,0.049,3607,174,1643,0,0,0,0,0,0
$GC,10624,1.41,297.3,142.9,13.5,403,10628,0.00,1.98,0.00,0.000,6,0.000,0.021,3607,1455,1643,0,0,0,0,0,0
$GC,10891,1.41,297.3,109.5,12.2,428,10895,0.00,2.15,0.00,0.000,4,0.000,0.048,3607,167,1643,0,0,0,0,0,0
$GC,10912,1.41,297.3,106.4,14.1,429,10918,0.00,1.98,0.00,0.000,6,0.000,0.021,3607,1451,1643,0,0,0,0,0,0
$GC,11180,1.41,297.3,74.3,11.4,454,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1453,1643,0,0,0,0,0,0
$GC,11445,1.41,297.3,44.7,10.9,479,11449,0.00,2.10,0.00,0.000,4,0.000,0.048,3607,172,1643,0,0,0,0,0,0
$GC,11525,1.41,297.3,35.0,12.0,486,11528,0.00,1.95,0.00,0.000,6,0.000,0.020,3607,1453,1643,0,0,0,0,0,0
$STATE,11811,end climb,SURFACE_DEPTH_REACHED
$STATE,11811,begin surface coast
$FINISH,0.7,1.023646
$STATE,11862,end surface coast,CONTROL_FINISHED_OK
$STATE,11862,begin surface
$SM_CCo,11885,47.12,0.458,0,0,1309,380.21
$SM_GC,1.60,0.00,0.00,47.12,0.000,0.000,0.458,417,1653,1309,-13.17,1.50,380.21
$IRIDIUM_FIX,2237.01,-15758.03,220901,181816
$TT8_MAMPS,0.027612
$HUMID,61.85
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.5,19.239
$10V_AH,9.9,13.174
$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,33.725,139.775,381.725,47.125,0.000,22.443,46.571,223.497,0.750,0.000,37.919,1182.360,7973.574,483.210,2117.519,622.241,33.356,1367.418,0.000,2085.647,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,85.904,940.342,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.788,303.266,383.940,556.146,972.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,41493,537
$CAP_FILE_SIZE,134806,0
$CFSIZE,260165632,170790912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290612,010336,2244.349,-15800.482,23,1.2,23,10.1