version: 66.06
glider: 148
mission: 11
dive: 139
start: 6 29 112 11 51 14
data:
$ID,148
$MISSION,11
$DIVE,139
$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,-921110.62
$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,3335
$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,1580
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,58
$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
$GPS1,114036,2242.268,-15801.721,33,1.0,37,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.0
$GPS2,115020,2242.252,-15801.570,12,1.2,12,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.015
$KALMAN_X,58299.0,211.4,-88.4,-61519.6,2106.4
$KALMAN_Y,-7255.5,120.0,-35.2,-3475.7,-614.8
$MHEAD_RNG_PITCHd_Wd,263.4,8236,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,100,0.00,0.00,-80.80,0.000,2,0.000,0.000,412,1605,3447,0,0,0,0,0,0
$GC,103,-1.27,-146.0,4.5,-8.9,11,128,13.85,2.50,0.00,0.000,4,0.156,0.025,3051,3147,3450,0,0,0,0,0,0
$GC,272,-1.04,-146.0,48.4,-16.4,30,284,0.25,2.58,0.00,0.000,6,0.097,0.031,3106,1568,3451,0,0,0,0,0,0
$GC,543,-0.90,-146.0,88.3,-13.5,55,548,0.15,2.53,0.00,0.000,4,0.114,0.025,3137,3158,3452,0,0,0,0,0,0
$GC,560,-0.79,-146.0,91.3,-12.7,56,566,0.10,2.55,0.00,0.000,6,0.118,0.027,3161,1578,3452,0,0,0,0,0,0
$GC,825,-0.87,-146.0,115.7,-8.4,80,829,0.00,2.30,0.00,0.000,4,0.000,0.044,3161,174,3453,0,0,0,0,0,0
$GC,855,-0.95,-146.0,118.7,-9.5,82,863,0.10,2.20,0.00,0.000,6,0.030,0.018,3100,1608,3453,0,0,0,0,0,0
$GC,1124,-0.86,-146.0,151.4,-12.8,107,1129,0.20,2.40,0.00,0.000,4,0.095,0.027,3145,3135,3453,0,0,0,0,0,0
$GC,1140,-0.86,-146.0,154.3,-12.4,108,1144,0.00,2.47,0.00,0.000,6,0.000,0.026,3146,1578,3453,0,0,0,0,0,0
$GC,1405,-0.94,-146.0,178.1,-8.9,132,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1578,3454,0,0,0,0,0,0
$GC,1698,-1.03,-146.0,203.3,-7.8,157,1703,0.15,2.45,0.00,0.000,4,0.055,0.025,3077,3132,3455,0,0,0,0,0,0
$GC,1728,-1.03,-146.0,206.2,-10.2,157,1734,0.15,2.47,0.00,0.000,6,0.100,0.028,3110,1584,3455,0,0,0,0,0,0
$GC,1984,-1.03,-146.0,229.9,-9.1,164,1988,0.00,2.33,0.00,0.000,4,0.000,0.044,3111,164,3455,0,0,0,0,0,0
$GC,2012,-1.03,-146.0,232.9,-10.5,164,2016,0.00,2.15,0.00,0.000,6,0.000,0.019,3111,1583,3455,0,0,0,0,0,0
$GC,2272,-1.03,-146.0,254.3,-8.1,171,2276,0.00,2.45,0.00,0.000,4,0.000,0.026,3111,3138,3455,0,0,0,0,0,0
$GC,2305,-1.12,-146.0,257.3,-8.0,171,2310,0.00,2.50,0.00,0.000,6,0.000,0.030,3110,1591,3455,0,0,0,0,0,0
$GC,2555,-1.12,-146.0,277.4,-7.9,177,2559,0.00,2.33,0.00,0.000,4,0.000,0.048,3110,173,3455,0,0,0,0,0,0
$GC,2589,-1.12,-146.0,280.3,-8.3,177,2594,0.00,2.15,0.00,0.000,6,0.000,0.021,3110,1575,3455,0,0,0,0,0,0
$GC,2844,-1.12,-146.0,301.8,-8.3,184,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1577,3454,0,0,0,0,0,0
$GC,3088,-1.12,-146.0,321.4,-7.7,190,3092,0.00,2.50,0.00,0.000,4,0.000,0.030,3110,3156,3454,0,0,0,0,0,0
$GC,3109,-1.20,-146.0,323.0,-8.2,190,3114,0.15,2.58,0.00,0.000,6,0.054,0.031,3026,1574,3454,0,0,0,0,0,0
$GC,3374,-1.01,-146.0,352.7,-11.5,197,3379,0.38,2.35,0.00,0.000,4,0.089,0.053,3109,168,3454,0,0,0,0,0,0
$GC,3485,-1.12,-146.0,362.3,-8.4,199,3489,0.00,2.15,0.00,0.000,6,0.000,0.024,3109,1553,3453,0,0,0,0,0,0
$GC,3754,-1.20,-146.0,381.7,-7.2,206,3759,0.15,2.58,0.00,0.000,4,0.056,0.035,3044,3155,3451,0,0,0,0,0,0
$GC,3788,-1.20,-146.0,385.1,-10.6,206,3793,0.12,2.62,0.00,0.000,6,0.104,0.036,3072,1561,3451,0,0,0,0,0,0
$GC,4039,-1.20,-146.0,409.2,-9.7,212,4043,0.00,2.35,0.00,0.000,4,0.000,0.062,3072,163,3450,0,0,0,0,0,0
$GC,4062,-1.20,-146.0,411.7,-9.6,212,4066,0.00,2.17,0.00,0.000,6,0.000,0.026,3072,1557,3450,0,0,0,0,0,0
$GC,4321,-1.20,-146.0,436.2,-9.5,219,4326,0.00,2.60,0.00,0.000,4,0.000,0.037,3072,3163,3448,0,0,0,0,0,0
$GC,4342,-1.20,-146.0,438.0,-9.3,219,4347,0.00,2.65,0.00,0.000,6,0.000,0.037,3072,1553,3448,0,0,0,0,0,0
$GC,4606,-1.20,-146.0,463.3,-9.6,226,4610,0.00,2.35,0.00,0.000,4,0.000,0.068,3072,170,3447,0,0,0,0,0,0
$GC,4626,-1.20,-146.0,465.3,-10.6,226,4630,0.00,2.20,0.00,0.000,6,0.000,0.030,3072,1558,3446,0,0,0,0,0,0
$GC,4892,-1.20,-146.0,490.6,-9.5,233,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1558,3445,0,0,0,0,0,0
$GC,5135,-1.20,-146.0,512.8,-9.2,239,5140,0.00,2.40,0.00,0.000,4,0.000,0.068,3072,171,3443,0,0,0,0,0,0
$GC,5179,-1.20,-146.0,517.0,-8.6,240,5183,0.00,2.20,0.00,0.000,6,0.000,0.032,3072,1549,3443,0,0,0,0,0,0
$GC,5467,-1.20,-146.0,542.4,-8.7,247,5471,0.00,2.65,0.00,0.000,4,0.000,0.046,3072,3163,3441,0,0,0,0,0,0
$GC,5486,-1.20,-146.0,544.4,-8.8,247,5491,0.00,2.67,0.00,0.000,6,0.000,0.044,3072,1553,3441,0,0,0,0,0,0
$GC,5752,-1.20,-146.0,565.2,-7.9,254,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1553,3439,0,0,0,0,0,0
$GC,5994,-1.20,-146.0,582.5,-7.0,260,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1553,3438,0,0,0,0,0,0
$STATE,6235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6235,begin apogee
$GC,6241,-0.31,0.0,600.1,7.3,266,6361,0.85,0.00,116.55,0.940,6,0.084,0.000,3262,1475,2860,0,0,0,0,0,0
$STATE,6362,end apogee,CONTROL_FINISHED_OK
$STATE,6362,begin climb
$GC,6365,1.27,146.0,602.9,0.0,269,6497,1.48,2.40,123.97,0.917,4,0.050,0.081,3611,168,2263,0,0,0,0,0,0
$GC,6591,0.94,146.0,584.6,13.3,274,6596,0.32,2.17,0.00,0.000,6,0.103,0.033,3543,1488,2260,0,0,0,0,0,0
$GC,6867,0.97,167.0,559.0,9.0,281,6891,0.00,2.40,18.38,0.842,4,0.000,0.070,3542,175,2178,0,0,0,0,0,0
$GC,6969,0.87,167.0,548.0,11.2,283,6973,0.00,2.15,0.00,0.000,6,0.000,0.031,3542,1482,2176,0,0,0,0,0,0
$GC,7248,0.88,169.3,519.6,9.9,290,7252,0.00,2.30,0.00,0.000,4,0.000,0.067,3542,168,2173,0,0,0,0,0,0
$GC,7304,0.80,169.3,513.2,13.0,291,7308,0.15,2.12,0.00,0.000,6,0.105,0.030,3510,1480,2173,0,0,0,0,0,0
$GC,7584,0.93,210.3,490.0,8.1,298,7629,0.12,2.35,38.47,0.854,4,0.066,0.064,3562,178,2002,0,0,0,0,0,0
$GC,7729,0.82,210.3,473.7,12.8,301,7733,0.22,2.08,0.00,0.000,6,0.097,0.028,3516,1462,1999,0,0,0,0,0,0
$GC,8012,0.98,265.8,451.4,7.4,308,8065,0.15,0.00,50.05,0.836,6,0.054,0.000,3564,1464,1776,0,0,0,0,0,0
$GC,8339,0.98,265.8,412.8,12.2,316,8343,0.00,2.22,0.00,0.000,4,0.000,0.059,3565,163,1769,0,0,0,0,0,0
$GC,8367,0.92,265.8,408.9,15.0,316,8371,0.15,2.10,0.00,0.000,6,0.110,0.027,3534,1464,1769,0,0,0,0,0,0
$GC,8627,1.01,265.8,380.8,10.6,323,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1467,1767,0,0,0,0,0,0
$GC,8870,1.10,265.8,355.6,10.3,329,8875,0.17,2.62,0.00,0.000,4,0.053,0.039,3581,3060,1765,0,0,0,0,0,0
$GC,8899,1.10,265.8,352.1,12.7,329,8903,0.00,2.70,0.00,0.000,6,0.000,0.041,3581,1453,1763,0,0,0,0,0,0
$GC,9153,1.10,265.8,321.7,11.8,336,9157,0.00,2.17,0.00,0.000,4,0.000,0.061,3581,164,1763,0,0,0,0,0,0
$GC,9353,1.10,265.8,294.6,12.9,340,9357,0.00,2.03,0.00,0.000,6,0.000,0.025,3581,1443,1763,0,0,0,0,0,0
$GC,9627,1.10,265.8,263.2,11.4,347,9631,0.00,2.17,0.00,0.000,4,0.000,0.057,3581,165,1762,0,0,0,0,0,0
$GC,9673,1.10,265.8,257.0,13.6,348,9677,0.00,2.00,0.00,0.000,6,0.000,0.023,3581,1436,1762,0,0,0,0,0,0
$GC,9959,1.10,265.8,223.8,11.5,355,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1439,1761,0,0,0,0,0,0
$GC,10203,1.10,265.8,197.6,10.8,361,10207,0.00,2.60,0.00,0.000,4,0.000,0.031,3581,3052,1761,0,0,0,0,0,0
$GC,10232,1.16,265.8,194.6,11.2,363,10240,0.00,2.70,0.00,0.000,6,0.000,0.036,3581,1429,1758,0,0,0,0,0,0
$GC,10498,1.16,265.8,167.2,10.6,388,10501,0.00,2.10,0.00,0.000,4,0.000,0.051,3581,167,1759,0,0,0,0,0,0
$GC,10548,1.16,265.8,161.2,11.8,393,10551,0.00,1.98,0.00,0.000,6,0.000,0.028,3581,1458,1758,0,0,0,0,0,0
$GC,10814,1.16,265.8,133.9,10.7,418,10818,0.00,2.17,0.00,0.000,4,0.000,0.049,3581,162,1758,0,0,0,0,0,0
$GC,10840,1.16,265.8,130.7,12.6,420,10844,0.00,1.95,0.00,0.000,6,0.000,0.021,3581,1429,1758,0,0,0,0,0,0
$GC,11112,1.16,265.8,102.1,10.3,445,11116,0.00,2.12,0.00,0.000,4,0.000,0.057,3581,158,1758,0,0,0,0,0,0
$GC,11150,1.16,265.8,97.2,11.6,448,11159,0.00,1.95,0.00,0.000,6,0.000,0.029,3581,1428,1758,0,0,0,0,0,0
$GC,11419,1.26,283.4,72.8,9.2,473,11445,0.12,2.62,13.95,0.489,4,0.075,0.028,3619,3037,1702,0,0,0,0,0,0
$GC,11483,1.33,283.4,66.2,10.7,478,11488,0.00,2.62,0.00,0.000,6,0.000,0.035,3619,1426,1700,0,0,0,0,0,0
$GC,11752,1.34,289.0,36.4,9.7,502,11766,0.00,2.10,6.60,0.403,4,0.000,0.050,3619,161,1680,0,0,0,0,0,0
$GC,11831,1.34,289.0,26.6,12.3,510,11839,0.00,1.95,0.00,0.000,6,0.000,0.019,3619,1421,1680,0,0,0,0,0,0
$STATE,12022,end climb,SURFACE_DEPTH_REACHED
$STATE,12023,begin surface coast
$FINISH,0.7,0.999722
$STATE,12067,end surface coast,CONTROL_FINISHED_OK
$STATE,12067,begin surface
$SM_CCo,12090,53.62,0.457,0,0,1310,380.21
$SM_GC,1.58,0.00,0.00,53.62,0.000,0.000,0.457,413,1624,1310,-13.44,1.24,380.21
$IRIDIUM_FIX,2232.34,-15813.65,230901,111134
$TT8_MAMPS,0.027612
$HUMID,60.47
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.20
$XPDR_PINGS,9
$24V_AH,23.5,19.711
$10V_AH,9.9,13.608
$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,32.375,140.550,367.975,53.625,0.000,61.532,131.898,198.209,2.250,0.000,13.899,1179.837,8291.350,470.021,2060.294,727.165,33.361,1355.953,0.000,2057.245,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,102.778,940.342,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.715,308.199,394.110,560.751,982.045,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41436,547
$CAP_FILE_SIZE,131389,0
$CFSIZE,260165632,170541056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290612,151551,2241.809,-15802.010,69,3.8,88,10.0