version: 66.06
glider: 148
mission: 11
dive: 179
start: 7 5 112 7 35 59
data:
$ID,148
$MISSION,11
$DIVE,179
$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,-922026.75
$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,3340
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,101
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$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
$GPS1,072749,2252.881,-15751.810,45,99.0,64,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.3
$GPS2,073507,2252.899,-15751.784,17,2.0,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.202
$KALMAN_X,73632.1,252.1,-217.8,-60047.9,490.2
$KALMAN_Y,-44409.7,431.3,480.9,52559.7,-288.5
$MHEAD_RNG_PITCHd_Wd,131.0,35680,-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,-74.85,0.000,2,0.000,0.000,412,1557,3284,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-5.6,10,121,13.90,2.28,-4.07,0.000,4,0.156,0.047,3058,154,3517,0,0,0,0,0,0
$GC,228,-1.00,-146.0,39.0,-20.7,27,233,0.28,2.03,0.00,0.000,6,0.097,0.018,3118,1498,3519,0,0,0,0,0,0
$GC,497,-0.91,-146.0,79.4,-13.7,51,502,0.10,2.58,0.00,0.000,4,0.123,0.026,3140,3112,3520,0,0,0,0,0,0
$GC,601,-1.04,-146.0,92.2,-9.0,60,610,0.08,2.53,0.00,0.000,6,0.034,0.029,3078,1558,3521,0,0,0,0,0,0
$GC,868,-0.86,-146.0,129.6,-15.0,85,873,0.30,2.45,0.00,0.000,4,0.091,0.023,3148,3104,3521,0,0,0,0,0,0
$GC,888,-0.86,-146.0,133.4,-13.8,86,896,0.00,2.50,0.00,0.000,6,0.000,0.026,3148,1558,3522,0,0,0,0,0,0
$GC,1152,-0.95,-146.0,157.1,-8.8,111,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1558,3523,0,0,0,0,0,0
$GC,1419,-1.06,-146.0,181.2,-8.8,136,1424,0.15,2.47,0.00,0.000,4,0.055,0.025,3072,3113,3523,0,0,0,0,0,0
$GC,1440,-1.06,-146.0,184.0,-10.6,137,1446,0.17,2.50,0.00,0.000,6,0.094,0.027,3112,1558,3523,0,0,0,0,0,0
$GC,1719,-1.06,-146.0,212.3,-9.8,155,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1558,3524,0,0,0,0,0,0
$GC,1961,-1.06,-146.0,234.4,-9.1,161,1965,0.00,2.42,0.00,0.000,4,0.000,0.024,3112,3104,3524,0,0,0,0,0,0
$GC,2006,-1.17,-146.0,238.1,-7.7,162,2011,0.12,2.47,0.00,0.000,6,0.060,0.029,3040,1571,3524,0,0,0,0,0,0
$GC,2294,-1.01,-146.0,275.1,-13.2,169,2299,0.32,2.30,0.00,0.000,4,0.090,0.044,3116,163,3524,0,0,0,0,0,0
$GC,2329,-1.09,-146.0,279.2,-10.0,169,2333,0.00,2.17,0.00,0.000,6,0.000,0.020,3116,1570,3524,0,0,0,0,0,0
$GC,2579,-1.17,-146.0,300.6,-8.3,175,2584,0.12,2.45,0.00,0.000,4,0.064,0.030,3048,3109,3524,0,0,0,0,0,0
$GC,2609,-1.11,-146.0,303.5,-9.8,175,2614,0.22,2.50,0.00,0.000,6,0.084,0.031,3100,1571,3524,0,0,0,0,0,0
$GC,2866,-1.11,-146.0,323.9,-8.0,182,2870,0.00,2.30,0.00,0.000,4,0.000,0.051,3100,172,3523,0,0,0,0,0,0
$GC,2894,-1.11,-146.0,326.6,-8.9,182,2898,0.00,2.17,0.00,0.000,6,0.000,0.022,3099,1566,3523,0,0,0,0,0,0
$GC,3150,-1.11,-146.0,348.9,-8.9,189,3154,0.00,2.47,0.00,0.000,4,0.000,0.031,3100,3118,3522,0,0,0,0,0,0
$GC,3178,-1.21,-146.0,351.6,-9.0,189,3183,0.00,2.55,0.00,0.000,6,0.000,0.035,3100,1567,3522,0,0,0,0,0,0
$GC,3433,-1.21,-146.0,373.2,-8.6,196,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1567,3521,0,0,0,0,0,0
$GC,3679,-1.27,-146.0,394.5,-8.7,202,3681,0.15,0.00,0.00,0.000,6,0.054,0.000,3023,1567,3519,0,0,0,0,0,0
$GC,3921,-1.10,-146.0,424.2,-12.5,208,3926,0.32,2.38,0.00,0.000,4,0.091,0.062,3098,167,3518,0,0,0,0,0,0
$GC,3973,-1.20,-146.0,429.6,-9.7,209,3978,0.00,2.22,0.00,0.000,6,0.000,0.028,3098,1565,3518,0,0,0,0,0,0
$GC,4253,-1.28,-146.0,453.2,-8.5,216,4258,0.15,2.53,0.00,0.000,4,0.056,0.039,3025,3116,3516,0,0,0,0,0,0
$GC,4284,-1.19,-146.0,456.6,-11.5,216,4289,0.25,2.55,0.00,0.000,6,0.087,0.037,3080,1574,3516,0,0,0,0,0,0
$GC,4541,-1.19,-146.0,479.9,-8.8,223,4545,0.00,2.53,0.00,0.000,4,0.000,0.040,3081,3114,3514,0,0,0,0,0,0
$GC,4565,-1.19,-146.0,482.3,-9.3,223,4569,0.00,2.55,0.00,0.000,6,0.000,0.038,3080,1579,3514,0,0,0,0,0,0
$GC,4824,-1.19,-146.0,501.5,-7.3,230,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1579,3513,0,0,0,0,0,0
$GC,5068,-1.19,-146.0,520.3,-7.8,236,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1579,3511,0,0,0,0,0,0
$GC,5312,-1.19,-146.0,539.4,-7.7,242,5316,0.00,2.55,0.00,0.000,4,0.000,0.044,3080,3118,3509,0,0,0,0,0,0
$GC,5331,-1.19,-146.0,541.0,-8.2,242,5335,0.00,2.58,0.00,0.000,6,0.000,0.043,3080,1584,3509,0,0,0,0,0,0
$GC,5595,-1.19,-146.0,560.7,-7.4,249,5599,0.00,2.47,0.00,0.000,4,0.000,0.077,3080,166,3508,0,0,0,0,0,0
$GC,5629,-1.19,-146.0,563.4,-8.2,249,5633,0.00,2.30,0.00,0.000,6,0.000,0.035,3080,1577,3507,0,0,0,0,0,0
$GC,5879,-1.19,-146.0,582.9,-7.8,255,5884,0.00,2.58,0.00,0.000,4,0.000,0.051,3080,3132,3506,0,0,0,0,0,0
$GC,5898,-1.19,-146.0,584.6,-8.1,255,5903,0.00,2.58,0.00,0.000,6,0.000,0.044,3080,1587,3506,0,0,0,0,0,0
$STATE,6119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6119,begin apogee
$GC,6127,-0.31,0.0,601.7,7.6,261,6248,0.85,0.00,117.82,0.940,6,0.086,0.000,3269,1376,2920,0,0,0,0,0,0
$STATE,6249,end apogee,CONTROL_FINISHED_OK
$STATE,6249,begin climb
$GC,6251,1.27,146.0,604.3,0.0,264,6384,1.45,2.17,123.90,0.917,4,0.047,0.081,3619,171,2323,0,0,0,0,0,0
$GC,6555,0.91,146.0,575.7,14.9,270,6561,0.38,1.98,0.00,0.000,6,0.101,0.030,3540,1386,2317,0,0,0,0,0,0
$GC,6806,0.93,166.4,552.2,9.1,277,6830,0.00,2.17,17.38,0.836,4,0.000,0.067,3540,170,2240,0,0,0,0,0,0
$GC,6868,0.83,166.4,545.9,11.6,278,6872,0.00,1.98,0.00,0.000,6,0.000,0.029,3540,1380,2239,0,0,0,0,0,0
$GC,7142,0.88,202.2,522.3,8.3,285,7179,0.00,2.17,32.33,0.860,4,0.000,0.065,3540,164,2095,0,0,0,0,0,0
$GC,7195,0.90,219.9,517.3,9.2,285,7219,0.00,2.00,17.15,0.815,6,0.000,0.028,3540,1389,2022,0,0,0,0,0,0
$GC,7471,0.90,219.9,489.5,10.4,292,7475,0.00,2.62,0.00,0.000,4,0.000,0.044,3540,2959,2017,0,0,0,0,0,0
$GC,7485,0.90,219.9,487.7,10.8,292,7489,0.00,2.65,0.00,0.000,6,0.000,0.043,3540,1379,2015,0,0,0,0,0,0
$GC,7753,0.90,219.9,458.9,10.7,299,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1379,2014,0,0,0,0,0,0
$GC,7997,0.91,227.7,435.2,9.6,305,8009,0.00,2.67,6.82,0.681,4,0.000,0.037,3540,2969,1991,0,0,0,0,0,0
$GC,8025,0.93,247.8,432.4,9.1,305,8051,0.00,2.72,20.02,0.795,6,0.000,0.044,3540,1372,1909,0,0,0,0,0,0
$GC,8331,0.94,250.2,402.9,9.9,313,8335,0.00,2.05,0.00,0.000,4,0.000,0.064,3540,165,1904,0,0,0,0,0,0
$GC,8383,0.94,250.2,397.0,11.5,314,8387,0.00,1.95,0.00,0.000,6,0.000,0.025,3540,1377,1904,0,0,0,0,0,0
$GC,8664,0.94,250.2,368.1,10.2,321,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1379,1903,0,0,0,0,0,0
$GC,8909,1.02,268.3,345.4,9.2,327,8930,0.10,0.00,19.02,0.743,6,0.077,0.000,3586,1379,1826,0,0,0,0,0,0
$GC,9153,1.02,268.3,317.8,11.3,333,9155,0.10,0.00,0.00,0.000,6,0.119,0.000,3564,1379,1821,0,0,0,0,0,0
$GC,9396,1.02,268.3,291.9,10.8,339,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1379,1820,0,0,0,0,0,0
$GC,9639,1.02,268.3,265.6,10.7,345,9644,0.00,2.55,0.00,0.000,4,0.000,0.031,3564,2955,1820,0,0,0,0,0,0
$GC,9660,1.02,268.9,263.5,10.0,345,9664,0.00,2.67,0.00,0.000,6,0.000,0.039,3563,1358,1817,0,0,0,0,0,0
$GC,9923,1.02,268.9,235.9,10.3,352,9927,0.00,2.00,0.00,0.000,4,0.000,0.058,3563,161,1817,0,0,0,0,0,0
$GC,9983,1.02,268.9,229.2,11.2,353,9987,0.00,1.90,0.00,0.000,6,0.000,0.021,3563,1388,1817,0,0,0,0,0,0
$GC,10262,1.04,285.7,203.2,9.2,360,10282,0.00,2.53,14.95,0.620,4,0.000,0.028,3563,2947,1754,0,0,0,0,0,0
$GC,10320,1.22,299.8,197.7,9.4,362,10341,0.15,2.62,14.02,0.604,6,0.053,0.036,3628,1360,1696,0,0,0,0,0,0
$GC,10596,1.11,299.8,160.7,13.5,388,10600,0.22,2.00,0.00,0.000,4,0.094,0.050,3580,165,1694,0,0,0,0,0,0
$GC,10653,1.11,299.8,152.6,12.7,393,10662,0.00,1.88,0.00,0.000,6,0.000,0.021,3580,1374,1694,0,0,0,0,0,0
$GC,10917,1.11,299.8,124.4,10.4,418,10922,0.00,2.47,0.00,0.000,4,0.000,0.027,3580,2942,1693,0,0,0,0,0,0
$GC,10944,1.21,304.2,121.3,9.8,420,10958,0.10,2.58,4.57,0.416,6,0.074,0.035,3631,1362,1679,0,0,0,0,0,0
$GC,11212,1.21,304.2,86.2,14.3,445,11218,0.12,0.00,0.00,0.000,6,0.111,0.000,3604,1362,1679,0,0,0,0,0,0
$GC,11478,1.22,310.4,58.2,9.7,470,11488,0.00,0.00,7.65,0.440,6,0.000,0.000,3604,1362,1653,0,0,0,0,0,0
$GC,11747,1.22,310.4,29.7,11.4,495,11755,0.00,2.53,0.00,0.000,4,0.000,0.026,3604,2930,1652,0,0,0,0,0,0
$GC,11783,1.32,310.4,25.3,11.0,500,11792,0.00,2.58,0.00,0.000,6,0.000,0.035,3604,1372,1651,0,0,0,0,0,0
$STATE,11969,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,0.8,1.023704
$STATE,12008,end surface coast,CONTROL_FINISHED_OK
$STATE,12008,begin surface
$SM_CCo,12031,34.05,0.446,0,0,1369,380.21
$SM_GC,1.63,0.00,0.00,34.05,0.000,0.000,0.446,413,1542,1369,-13.46,0.06,380.21
$IRIDIUM_FIX,2244.02,-15751.06,290901,040425
$TT8_MAMPS,0.027612
$HUMID,62.79
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.00
$XPDR_PINGS,4
$24V_AH,23.5,24.603
$10V_AH,9.9,17.983
$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,33.050,128.950,395.650,34.050,0.000,31.387,34.799,217.115,1.000,0.000,30.718,1128.836,8366.905,473.385,1928.763,601.994,33.368,1294.060,0.000,1908.998,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,81.302,940.342,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.221,301.535,376.663,547.544,961.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,41491,535
$CAP_FILE_SIZE,126174,0
$CFSIZE,260165632,168091648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,105829,2251.353,-15750.647,37,1.9,43,10.1