version: 66.06
glider: 148
mission: 11
dive: 140
start: 6 29 112 15 23 26
data:
$ID,148
$MISSION,11
$DIVE,140
$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,-921145.56
$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,25
$R_STBD_OVSHOOT,113
$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
$GPS1,151551,2241.809,-15802.010,69,3.8,88,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.5
$GPS2,152234,2241.764,-15801.922,12,99.0,31,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.243,0.092
$KALMAN_X,60648.4,189.6,92.7,-64624.5,1996.0
$KALMAN_Y,-8316.0,-177.7,241.8,-3300.0,-1412.1
$MHEAD_RNG_PITCHd_Wd,280.7,7352,-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,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.72,0.000,2,0.000,0.000,412,1625,3235,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-6.7,10,120,13.95,2.33,-3.85,0.000,4,0.159,0.035,3052,3096,3457,0,0,0,0,0,0
$GC,279,-1.05,-146.0,44.0,-17.1,32,284,0.25,2.50,0.00,0.000,6,0.096,0.034,3107,1573,3459,0,0,0,0,0,0
$GC,543,-0.91,-146.0,82.7,-12.6,56,552,0.12,0.00,0.00,0.000,6,0.117,0.000,3134,1573,3460,0,0,0,0,0,0
$GC,808,-0.91,-146.0,112.1,-10.4,81,812,0.00,2.38,0.00,0.000,4,0.000,0.024,3134,3091,3460,0,0,0,0,0,0
$GC,836,-0.91,-146.0,115.2,-11.7,83,841,0.00,2.42,0.00,0.000,6,0.000,0.031,3134,1586,3460,0,0,0,0,0,0
$GC,1104,-0.91,-146.0,142.2,-9.3,107,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1585,3461,0,0,0,0,0,0
$GC,1367,-0.91,-146.0,167.3,-9.7,132,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1586,3461,0,0,0,0,0,0
$GC,1621,-0.91,-146.0,191.8,-10.1,156,1625,0.00,2.33,0.00,0.000,4,0.000,0.044,3134,167,3462,0,0,0,0,0,0
$GC,1661,-0.98,-146.0,196.2,-11.1,159,1670,0.00,2.12,0.00,0.000,6,0.000,0.018,3134,1554,3462,0,0,0,0,0,0
$GC,1914,-1.05,-146.0,217.7,-8.2,169,1919,0.12,2.47,0.00,0.000,4,0.064,0.025,3071,3132,3462,0,0,0,0,0,0
$GC,1957,-1.05,-146.0,222.3,-10.6,170,1962,0.15,2.45,0.00,0.000,6,0.103,0.028,3105,1593,3462,0,0,0,0,0,0
$GC,2246,-1.05,-146.0,249.2,-9.3,177,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1593,3462,0,0,0,0,0,0
$GC,2489,-1.05,-146.0,271.6,-9.1,183,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1593,3462,0,0,0,0,0,0
$GC,2732,-1.05,-146.0,292.6,-8.5,189,2736,0.00,2.33,0.00,0.000,4,0.000,0.048,3105,173,3461,0,0,0,0,0,0
$GC,2752,-1.05,-146.0,294.6,-10.0,189,2756,0.00,2.15,0.00,0.000,6,0.000,0.021,3106,1578,3462,0,0,0,0,0,0
$GC,3020,-1.05,-146.0,316.3,-8.1,196,3024,0.00,2.33,0.00,0.000,4,0.000,0.048,3106,170,3462,0,0,0,0,0,0
$GC,3039,-1.05,-146.0,318.3,-9.6,196,3043,0.00,2.20,0.00,0.000,6,0.000,0.022,3106,1592,3462,0,0,0,0,0,0
$GC,3309,-1.05,-146.0,339.5,-8.1,203,3313,0.00,2.38,0.00,0.000,4,0.000,0.051,3105,174,3461,0,0,0,0,0,0
$GC,3371,-1.11,-146.0,345.2,-8.8,204,3376,0.00,2.17,0.00,0.000,6,0.000,0.023,3105,1577,3461,0,0,0,0,0,0
$GC,3640,-1.17,-146.0,366.3,-7.6,211,3645,0.12,2.55,0.00,0.000,4,0.067,0.034,3049,3164,3460,0,0,0,0,0,0
$GC,3698,-1.17,-146.0,371.4,-9.1,212,3704,0.12,2.58,0.00,0.000,6,0.109,0.035,3077,1594,3460,0,0,0,0,0,0
$GC,3973,-1.17,-146.0,393.7,-8.1,219,3977,0.00,2.42,0.00,0.000,4,0.000,0.059,3077,163,3458,0,0,0,0,0,0
$GC,4025,-1.17,-146.0,398.4,-9.4,220,4029,0.00,2.22,0.00,0.000,6,0.000,0.026,3077,1583,3458,0,0,0,0,0,0
$GC,4303,-1.17,-146.0,422.2,-8.7,227,4307,0.00,2.42,0.00,0.000,4,0.000,0.061,3077,163,3456,0,0,0,0,0,0
$GC,4327,-1.17,-146.0,424.5,-9.4,227,4331,0.00,2.25,0.00,0.000,6,0.000,0.028,3077,1591,3456,0,0,0,0,0,0
$GC,4587,-1.17,-146.0,446.6,-8.6,234,4592,0.00,2.55,0.00,0.000,4,0.000,0.038,3077,3158,3455,0,0,0,0,0,0
$GC,4606,-1.17,-146.0,448.5,-8.8,234,4611,0.00,2.58,0.00,0.000,6,0.000,0.038,3077,1582,3455,0,0,0,0,0,0
$GC,4871,-1.17,-146.0,469.8,-8.0,241,4875,0.00,2.42,0.00,0.000,4,0.000,0.068,3077,172,3453,0,0,0,0,0,0
$GC,4918,-1.17,-146.0,474.2,-9.5,242,4923,0.00,2.25,0.00,0.000,6,0.000,0.031,3077,1584,3453,0,0,0,0,0,0
$GC,5201,-1.17,-146.0,497.9,-8.4,249,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1584,3451,0,0,0,0,0,0
$GC,5444,-1.17,-146.0,519.1,-8.8,255,5449,0.00,2.45,0.00,0.000,4,0.000,0.069,3077,168,3449,0,0,0,0,0,0
$GC,5474,-1.17,-146.0,522.0,-10.0,255,5478,0.00,2.28,0.00,0.000,6,0.000,0.033,3077,1583,3449,0,0,0,0,0,0
$GC,5733,-1.17,-146.0,543.8,-8.3,262,5738,0.00,2.60,0.00,0.000,4,0.000,0.046,3077,3165,3447,0,0,0,0,0,0
$GC,5752,-1.17,-146.0,545.6,-8.5,262,5757,0.00,2.65,0.00,0.000,6,0.000,0.044,3077,1584,3448,0,0,0,0,0,0
$GC,6018,-1.17,-146.0,565.9,-7.7,269,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1584,3445,0,0,0,0,0,0
$GC,6260,-1.17,-146.0,583.7,-7.4,275,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1584,3444,0,0,0,0,0,0
$STATE,6501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6501,begin apogee
$GC,6508,-0.31,0.0,602.8,7.9,281,6629,0.85,0.00,118.43,0.945,6,0.085,0.000,3267,1476,2860,0,0,0,0,0,0
$STATE,6630,end apogee,CONTROL_FINISHED_OK
$STATE,6630,begin climb
$GC,6634,1.27,146.0,606.3,0.0,284,6769,1.45,2.38,124.15,0.923,4,0.047,0.080,3615,169,2263,0,0,0,0,0,0
$GC,6844,0.92,146.0,591.0,13.6,288,6850,0.38,2.17,0.00,0.000,6,0.100,0.033,3538,1487,2260,0,0,0,0,0,0
$GC,7094,0.96,177.7,568.9,8.5,295,7127,0.00,2.38,28.15,0.874,4,0.000,0.071,3537,165,2134,0,0,0,0,0,0
$GC,7187,0.88,177.7,559.8,11.6,297,7191,0.00,2.17,0.00,0.000,6,0.000,0.032,3537,1484,2132,0,0,0,0,0,0
$GC,7469,0.89,184.9,532.3,9.7,304,7478,0.00,0.00,6.72,0.709,6,0.000,0.000,3537,1485,2106,0,0,0,0,0,0
$GC,7714,0.90,191.4,508.4,9.7,310,7726,0.00,2.35,7.15,0.719,4,0.000,0.067,3537,177,2079,0,0,0,0,0,0
$GC,7764,0.90,191.4,502.9,12.0,311,7768,0.00,2.12,0.00,0.000,6,0.000,0.028,3537,1484,2078,0,0,0,0,0,0
$GC,8046,0.92,210.4,476.5,9.1,318,8070,0.00,2.38,17.92,0.820,4,0.000,0.064,3537,168,2002,0,0,0,0,0,0
$GC,8109,0.92,210.4,470.3,11.2,319,8113,0.00,2.10,0.00,0.000,6,0.000,0.028,3537,1468,2001,0,0,0,0,0,0
$GC,8377,0.95,227.0,445.2,9.2,326,8399,0.00,2.28,16.35,0.798,4,0.000,0.061,3538,164,1933,0,0,0,0,0,0
$GC,8442,0.95,227.0,438.5,10.7,327,8446,0.00,2.10,0.00,0.000,6,0.000,0.027,3537,1462,1933,0,0,0,0,0,0
$GC,8705,0.95,227.0,411.7,10.3,334,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1464,1929,0,0,0,0,0,0
$GC,8949,0.95,227.0,385.2,11.0,340,8953,0.00,2.20,0.00,0.000,4,0.000,0.059,3537,167,1928,0,0,0,0,0,0
$GC,9001,0.95,227.0,378.9,12.6,341,9005,0.00,2.10,0.00,0.000,6,0.000,0.026,3538,1480,1928,0,0,0,0,0,0
$GC,9283,0.95,230.0,350.0,9.9,348,9284,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1483,1927,0,0,0,0,0,0
$GC,9527,1.06,261.6,328.9,8.5,354,9564,0.12,2.33,30.83,0.752,4,0.065,0.059,3591,178,1792,0,0,0,0,0,0
$GC,9686,0.96,261.6,307.9,13.9,357,9691,0.22,2.03,0.00,0.000,6,0.094,0.025,3543,1447,1792,0,0,0,0,0,0
$GC,9952,1.05,267.1,281.9,9.7,364,9964,0.00,2.17,5.38,0.551,4,0.000,0.055,3543,170,1770,0,0,0,0,0,0
$GC,10000,1.05,267.1,276.8,10.9,365,10003,0.00,2.00,0.00,0.000,6,0.000,0.024,3543,1438,1771,0,0,0,0,0,0
$GC,10291,1.18,293.0,250.0,8.8,372,10324,0.20,2.65,24.58,0.680,4,0.046,0.032,3616,3046,1664,0,0,0,0,0,0
$GC,10337,1.10,293.0,244.6,12.7,373,10344,0.20,2.72,0.00,0.000,6,0.089,0.038,3572,1425,1662,0,0,0,0,0,0
$GC,10627,1.10,293.0,212.6,10.7,380,10631,0.00,2.65,0.00,0.000,4,0.000,0.030,3572,3054,1660,0,0,0,0,0,0
$GC,10648,1.16,293.0,210.4,10.7,380,10652,0.00,2.67,0.00,0.000,6,0.000,0.035,3572,1433,1659,0,0,0,0,0,0
$GC,10910,1.16,293.0,181.4,11.1,398,10914,0.00,2.12,0.00,0.000,4,0.000,0.051,3572,160,1659,0,0,0,0,0,0
$GC,11005,1.16,293.0,170.5,10.0,407,11009,0.00,2.00,0.00,0.000,6,0.000,0.021,3572,1442,1658,0,0,0,0,0,0
$GC,11273,1.25,301.3,145.6,9.6,432,11287,0.15,2.15,8.05,0.510,4,0.055,0.055,3641,168,1630,0,0,0,0,0,0
$GC,11324,1.08,301.3,138.5,15.7,436,11332,0.30,1.95,0.00,0.000,6,0.077,0.028,3571,1408,1630,0,0,0,0,0,0
$GC,11589,1.18,301.3,111.5,10.4,461,11593,0.00,2.08,0.00,0.000,4,0.000,0.052,3571,167,1629,0,0,0,0,0,0
$GC,11619,1.18,301.3,107.8,11.1,463,11625,0.00,1.92,0.00,0.000,6,0.000,0.030,3571,1433,1629,0,0,0,0,0,0
$GC,11883,1.31,312.7,81.3,9.5,488,11903,0.20,2.60,11.70,0.487,4,0.044,0.029,3645,3026,1583,0,0,0,0,0,0
$GC,11920,1.24,312.7,77.3,12.5,491,11933,0.20,2.65,0.00,0.000,6,0.088,0.040,3601,1412,1581,0,0,0,0,0,0
$GC,12187,1.24,312.7,47.4,11.3,516,12191,0.00,2.05,0.00,0.000,4,0.000,0.049,3601,164,1581,0,0,0,0,0,0
$GC,12235,1.24,312.7,41.8,12.1,520,12238,0.00,1.90,0.00,0.000,6,0.000,0.020,3601,1419,1581,0,0,0,0,0,0
$GC,12531,1.24,312.7,7.5,10.3,560,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1422,1580,0,0,0,0,0,0
$STATE,12564,end climb,SURFACE_DEPTH_REACHED
$STATE,12564,begin surface coast
$FINISH,0.5,1.010792
$STATE,12615,end surface coast,CONTROL_FINISHED_OK
$STATE,12615,begin surface
$SM_CCo,12639,33.88,0.449,0,0,1310,380.21
$SM_GC,1.63,0.00,0.00,33.88,0.000,0.000,0.449,414,1623,1310,-13.44,1.22,380.21
$IRIDIUM_FIX,2237.01,-15805.41,230901,111139
$TT8_MAMPS,0.027612
$HUMID,61.45
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.5,19.826
$10V_AH,9.9,13.722
$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,31.975,134.500,399.400,33.875,0.000,27.837,33.612,183.633,2.000,0.000,34.311,1216.346,8654.038,476.704,2147.771,578.243,33.360,1375.468,0.000,2123.681,0.000,0.538,0.000
$DEVICE_MAMPS,158.769,88.205,944.944,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.159,319.330,407.790,582.341,1021.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44641,573
$CAP_FILE_SIZE,132991,0
$CFSIZE,260165632,170479616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290612,185601,2241.391,-15802.591,39,1.0,39,10.0