version: 66.06
glider: 148
mission: 11
dive: 212
start: 7 10 112 4 48 40
data:
$ID,148
$MISSION,11
$DIVE,212
$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,-922763.81
$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,28
$R_STBD_OVSHOOT,88
$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
$GPS1,043929,2301.506,-15740.039,58,1.4,70,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.4
$GPS2,044744,2301.506,-15740.098,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,-0.230
$KALMAN_X,42597.4,-223.7,491.3,-9295.8,-1120.1
$KALMAN_Y,-22658.1,24.6,-86.4,47729.5,495.7
$MHEAD_RNG_PITCHd_Wd,197.7,58930,-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,-74.10,0.000,2,0.000,0.000,416,1552,3306,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-7.9,10,120,13.68,2.30,-3.53,0.000,4,0.149,0.049,3059,169,3517,0,0,0,0,0,0
$GC,248,-0.99,-146.0,45.1,-18.1,28,253,0.30,2.08,0.00,0.000,6,0.096,0.018,3124,1515,3519,0,0,0,0,0,0
$GC,511,-0.90,-146.0,83.7,-13.3,52,515,0.00,2.50,0.00,0.000,4,0.000,0.025,3124,3108,3520,0,0,0,0,0,0
$GC,580,-0.90,-146.0,92.5,-11.9,58,585,0.00,2.50,0.00,0.000,6,0.000,0.036,3124,1550,3520,0,0,0,0,0,0
$GC,843,-0.90,-146.0,123.7,-11.1,82,847,0.00,2.47,0.00,0.000,4,0.000,0.023,3124,3114,3521,0,0,0,0,0,0
$GC,861,-0.90,-146.0,125.5,-10.8,83,866,0.00,2.50,0.00,0.000,6,0.000,0.026,3124,1560,3521,0,0,0,0,0,0
$GC,1125,-0.90,-146.0,156.1,-11.8,107,1130,0.00,2.45,0.00,0.000,4,0.000,0.025,3124,3109,3523,0,0,0,0,0,0
$GC,1155,-0.90,-146.0,159.1,-12.1,109,1159,0.00,2.47,0.00,0.000,6,0.000,0.028,3124,1559,3523,0,0,0,0,0,0
$GC,1422,-0.90,-146.0,186.2,-10.2,133,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1558,3523,0,0,0,0,0,0
$GC,1690,-0.90,-146.0,210.5,-8.1,150,1694,0.00,2.25,0.00,0.000,4,0.000,0.044,3124,172,3524,0,0,0,0,0,0
$GC,1741,-1.01,-146.0,215.6,-8.9,151,1746,0.00,2.15,0.00,0.000,6,0.000,0.018,3124,1581,3524,0,0,0,0,0,0
$GC,2021,-1.08,-146.0,237.9,-8.0,158,2025,0.00,2.40,0.00,0.000,4,0.000,0.025,3124,3097,3524,0,0,0,0,0,0
$GC,2059,-1.25,-146.0,240.8,-7.1,158,2065,0.22,2.45,0.00,0.000,6,0.037,0.029,3012,1576,3524,0,0,0,0,0,0
$GC,2310,-1.01,-146.0,275.3,-14.3,165,2316,0.45,2.30,0.00,0.000,4,0.087,0.044,3117,171,3524,0,0,0,0,0,0
$GC,2363,-1.14,-146.0,280.8,-8.3,166,2368,0.12,2.15,0.00,0.000,6,0.063,0.020,3055,1559,3524,0,0,0,0,0,0
$GC,2643,-1.03,-146.0,312.2,-11.6,173,2648,0.25,2.47,0.00,0.000,4,0.087,0.030,3115,3105,3525,0,0,0,0,0,0
$GC,2672,-1.13,-146.0,315.4,-8.3,173,2677,0.00,2.50,0.00,0.000,6,0.000,0.032,3115,1571,3524,0,0,0,0,0,0
$GC,2928,-1.21,-146.0,336.1,-8.1,180,2930,0.17,0.00,0.00,0.000,6,0.049,0.000,3040,1571,3524,0,0,0,0,0,0
$GC,3172,-1.08,-146.0,362.1,-10.5,186,3178,0.25,2.50,0.00,0.000,4,0.091,0.032,3101,3106,3523,0,0,0,0,0,0
$GC,3188,-1.02,-146.0,363.7,-9.7,186,3193,0.00,2.50,0.00,0.000,6,0.000,0.033,3100,1573,3523,0,0,0,0,0,0
$GC,3457,-1.02,-146.0,381.1,-6.7,193,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1573,3520,0,0,0,0,0,0
$GC,3702,-1.02,-146.0,399.7,-7.7,199,3706,0.00,2.50,0.00,0.000,4,0.000,0.036,3100,3099,3519,0,0,0,0,0,0
$GC,3721,-1.09,-146.0,401.4,-8.3,199,3726,0.00,2.53,0.00,0.000,6,0.000,0.038,3101,1575,3519,0,0,0,0,0,0
$GC,3986,-1.16,-146.0,422.2,-8.0,206,3990,0.00,2.38,0.00,0.000,4,0.000,0.064,3100,173,3517,0,0,0,0,0,0
$GC,4025,-1.24,-146.0,425.7,-8.9,206,4031,0.12,2.20,0.00,0.000,6,0.064,0.026,3036,1559,3517,0,0,0,0,0,0
$GC,4275,-1.11,-146.0,454.1,-11.3,213,4281,0.25,2.55,0.00,0.000,4,0.091,0.038,3096,3108,3516,0,0,0,0,0,0
$GC,4311,-1.22,-146.0,457.5,-8.8,213,4316,0.10,2.53,0.00,0.000,6,0.073,0.038,3026,1576,3515,0,0,0,0,0,0
$GC,4561,-1.07,-146.0,486.0,-11.8,219,4566,0.35,2.42,0.00,0.000,4,0.089,0.069,3103,167,3513,0,0,0,0,0,0
$GC,4585,-1.07,-146.0,488.6,-10.6,219,4590,0.00,2.25,0.00,0.000,6,0.000,0.032,3103,1568,3513,0,0,0,0,0,0
$GC,4851,-1.17,-146.0,506.4,-6.5,226,4856,0.00,2.55,0.00,0.000,4,0.000,0.043,3103,3117,3512,0,0,0,0,0,0
$GC,4898,-1.34,-146.0,509.7,-5.6,227,4904,0.22,2.55,0.00,0.000,6,0.038,0.041,3010,1576,3511,0,0,0,0,0,0
$GC,5183,-1.17,-146.0,540.5,-11.3,234,5189,0.30,2.45,0.00,0.000,4,0.093,0.074,3080,166,3510,0,0,0,0,0,0
$GC,5250,-1.23,-146.0,547.1,-9.6,235,5255,0.00,2.30,0.00,0.000,6,0.000,0.035,3080,1574,3509,0,0,0,0,0,0
$GC,5514,-1.23,-146.0,569.7,-8.8,242,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1574,3507,0,0,0,0,0,0
$GC,5759,-1.23,-146.0,590.8,-8.6,248,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1574,3506,0,0,0,0,0,0
$STATE,5877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5877,begin apogee
$GC,5883,-0.31,0.0,601.0,8.4,251,6005,0.85,0.00,118.18,0.940,6,0.079,0.000,3273,1366,2920,0,0,0,0,0,0
$STATE,6006,end apogee,CONTROL_FINISHED_OK
$STATE,6006,begin climb
$GC,6008,1.27,146.0,605.1,0.0,254,6140,1.42,2.17,123.88,0.918,4,0.043,0.079,3613,178,2324,0,0,0,0,0,0
$GC,6323,0.93,146.0,578.8,14.4,261,6328,0.32,1.98,0.00,0.000,6,0.101,0.031,3544,1389,2317,0,0,0,0,0,0
$GC,6606,0.96,175.8,553.3,8.6,268,6638,0.00,2.20,25.27,0.865,4,0.000,0.070,3544,172,2203,0,0,0,0,0,0
$GC,6727,0.86,175.8,540.7,10.9,270,6731,0.00,1.98,0.00,0.000,6,0.000,0.029,3544,1383,2200,0,0,0,0,0,0
$GC,6986,0.88,195.7,516.7,9.1,277,7010,0.00,2.20,18.42,0.833,4,0.000,0.068,3544,178,2121,0,0,0,0,0,0
$GC,7040,0.78,195.7,511.7,10.5,278,7045,0.15,1.95,0.00,0.000,6,0.106,0.028,3512,1374,2121,0,0,0,0,0,0
$GC,7320,0.94,251.8,490.0,7.4,285,7378,0.15,2.70,51.35,0.861,4,0.058,0.044,3565,2955,1892,0,0,0,0,0,0
$GC,7406,0.94,251.8,481.5,10.6,287,7411,0.00,2.70,0.00,0.000,6,0.000,0.044,3565,1386,1888,0,0,0,0,0,0
$GC,7693,0.94,251.8,447.9,12.0,294,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1386,1884,0,0,0,0,0,0
$GC,7937,0.94,251.8,419.5,11.5,300,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1386,1883,0,0,0,0,0,0
$GC,8182,0.94,251.8,392.4,11.1,306,8186,0.00,2.10,0.00,0.000,4,0.000,0.064,3565,164,1882,0,0,0,0,0,0
$GC,8219,0.87,251.8,387.8,12.7,306,8225,0.15,1.95,0.00,0.000,6,0.105,0.025,3532,1391,1881,0,0,0,0,0,0
$GC,8470,0.97,267.7,364.5,9.3,313,8490,0.00,2.62,13.50,0.732,4,0.000,0.035,3532,2948,1827,0,0,0,0,0,0
$GC,8517,1.13,286.0,360.3,9.2,314,8542,0.22,2.67,17.15,0.742,6,0.041,0.041,3618,1374,1753,0,0,0,0,0,0
$GC,8808,1.00,286.0,319.1,14.5,321,8813,0.25,2.05,0.00,0.000,4,0.094,0.059,3559,165,1750,0,0,0,0,0,0
$GC,8833,1.00,286.0,315.5,12.6,321,8837,0.00,1.92,0.00,0.000,6,0.000,0.024,3560,1396,1750,0,0,0,0,0,0
$GC,9096,1.00,286.0,286.3,11.2,328,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1398,1748,0,0,0,0,0,0
$GC,9340,1.01,293.5,261.8,9.7,334,9352,0.00,2.55,7.18,0.595,4,0.000,0.031,3560,2955,1722,0,0,0,0,0,0
$GC,9374,1.13,326.8,258.9,8.5,334,9412,0.12,2.67,31.98,0.693,6,0.064,0.040,3615,1371,1586,0,0,0,0,0,0
$GC,9672,1.06,326.8,219.2,13.8,342,9676,0.20,2.05,0.00,0.000,4,0.092,0.054,3571,165,1581,0,0,0,0,0,0
$GC,9697,1.06,326.8,215.7,14.4,342,9700,0.00,1.90,0.00,0.000,6,0.000,0.021,3570,1392,1581,0,0,0,0,0,0
$GC,9955,1.15,338.6,186.6,9.5,357,9971,0.00,2.15,10.57,0.579,4,0.000,0.052,3571,161,1538,0,0,0,0,0,0
$GC,10009,1.15,338.6,181.1,10.2,362,10012,0.00,1.88,0.00,0.000,6,0.000,0.021,3571,1380,1538,0,0,0,0,0,0
$GC,10277,1.23,338.6,155.8,10.6,387,10282,0.15,2.50,0.00,0.000,4,0.055,0.034,3636,2933,1536,0,0,0,0,0,0
$GC,10326,1.23,338.6,149.6,13.9,391,10331,0.12,2.60,0.00,0.000,6,0.103,0.036,3608,1356,1534,0,0,0,0,0,0
$GC,10592,1.23,338.6,113.3,13.0,415,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1356,1533,0,0,0,0,0,0
$GC,10853,1.23,338.6,80.8,12.1,440,10856,0.00,1.98,0.00,0.000,4,0.000,0.050,3608,159,1533,0,0,0,0,0,0
$GC,10892,1.23,338.6,75.6,13.6,443,10901,0.00,1.85,0.00,0.000,6,0.000,0.019,3608,1369,1533,0,0,0,0,0,0
$GC,11159,1.23,338.6,42.6,13.1,468,11163,0.00,2.47,0.00,0.000,4,0.000,0.026,3608,2938,1533,0,0,0,0,0,0
$GC,11226,1.36,338.6,34.2,13.4,473,11232,0.12,2.58,0.00,0.000,6,0.061,0.035,3670,1363,1533,0,0,0,0,0,0
$STATE,11440,end climb,SURFACE_DEPTH_REACHED
$STATE,11440,begin surface coast
$FINISH,0.7,1.010973
$STATE,11478,end surface coast,CONTROL_FINISHED_OK
$STATE,11478,begin surface
$SM_CCo,11503,26.35,0.445,0,0,1369,380.21
$SM_GC,1.41,0.00,0.00,26.35,0.000,0.000,0.445,415,1538,1369,-13.45,-0.03,380.21
$IRIDIUM_FIX,2253.38,-15739.74,041001,010133
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.50
$XPDR_PINGS,5
$24V_AH,23.5,29.058
$10V_AH,10.0,21.626
$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,34.150,131.075,417.475,26.350,0.000,29.480,44.315,287.210,1.250,0.000,12.922,1115.149,7845.528,470.908,1906.659,686.384,33.378,1296.887,0.000,1902.598,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,79.001,940.342,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.460,281.547,361.209,509.512,895.166,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38310,511
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