version: 66.06
glider: 148
mission: 11
dive: 227
start: 7 12 112 8 11 13
data:
$ID,148
$MISSION,11
$DIVE,227
$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,-923072.44
$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,74
$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
$GPS1,080229,2247.165,-15757.678,37,1.6,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.0
$GPS2,081018,2247.207,-15757.741,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.097,-0.241
$KALMAN_X,35513.7,-173.2,-11.8,-31883.0,-466.1
$KALMAN_Y,-9337.2,16.5,-617.2,8462.9,1450.4
$MHEAD_RNG_PITCHd_Wd,191.9,18801,-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,-74.35,0.000,2,0.000,0.000,408,1536,3279,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.5,10,120,13.85,2.22,-4.07,0.000,4,0.153,0.048,3058,165,3516,0,0,0,0,0,0
$GC,235,-0.96,-146.0,42.0,-20.8,27,240,0.32,2.08,0.00,0.000,6,0.097,0.018,3129,1529,3518,0,0,0,0,0,0
$GC,503,-0.83,-146.0,83.9,-14.8,51,508,0.15,2.50,0.00,0.000,4,0.107,0.025,3161,3107,3519,0,0,0,0,0,0
$GC,576,-1.01,-146.0,91.6,-8.5,57,581,0.17,2.50,0.00,0.000,6,0.045,0.030,3065,1548,3519,0,0,0,0,0,0
$GC,842,-0.74,-146.0,134.1,-17.6,81,847,0.52,2.22,0.00,0.000,4,0.087,0.040,3173,169,3521,0,0,0,0,0,0
$GC,871,-0.74,-146.0,138.7,-13.0,83,875,0.00,2.10,0.00,0.000,6,0.000,0.018,3173,1571,3521,0,0,0,0,0,0
$GC,1136,-0.90,-146.0,160.8,-7.9,107,1141,0.12,2.42,0.00,0.000,4,0.061,0.025,3103,3099,3522,0,0,0,0,0,0
$GC,1181,-0.90,-146.0,165.8,-10.4,111,1186,0.17,2.50,0.00,0.000,6,0.088,0.028,3143,1548,3522,0,0,0,0,0,0
$GC,1442,-0.98,-146.0,191.5,-9.3,135,1446,0.00,2.45,0.00,0.000,4,0.000,0.024,3143,3095,3523,0,0,0,0,0,0
$GC,1463,-1.09,-146.0,193.4,-8.8,136,1469,0.17,2.47,0.00,0.000,6,0.047,0.028,3055,1560,3523,0,0,0,0,0,0
$GC,1727,-0.92,-146.0,228.7,-13.4,147,1733,0.35,2.42,0.00,0.000,4,0.085,0.022,3137,3090,3523,0,0,0,0,0,0
$GC,1747,-0.92,-146.0,231.5,-12.0,147,1751,0.00,2.45,0.00,0.000,6,0.000,0.027,3138,1567,3523,0,0,0,0,0,0
$GC,2013,-1.02,-146.0,253.6,-8.5,154,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1567,3523,0,0,0,0,0,0
$GC,2255,-1.15,-146.0,272.3,-7.5,160,2260,0.20,2.45,0.00,0.000,4,0.043,0.025,3047,3094,3523,0,0,0,0,0,0
$GC,2307,-1.15,-146.0,277.8,-10.8,161,2312,0.17,2.47,0.00,0.000,6,0.091,0.031,3088,1567,3523,0,0,0,0,0,0
$GC,2587,-1.15,-146.0,305.9,-10.2,168,2591,0.00,2.33,0.00,0.000,4,0.000,0.050,3088,162,3523,0,0,0,0,0,0
$GC,2619,-1.15,-146.0,309.5,-10.1,168,2623,0.00,2.15,0.00,0.000,6,0.000,0.021,3088,1545,3523,0,0,0,0,0,0
$GC,2874,-1.15,-146.0,333.4,-9.2,175,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1548,3523,0,0,0,0,0,0
$GC,3119,-1.15,-146.0,354.8,-8.7,181,3123,0.00,2.50,0.00,0.000,4,0.000,0.031,3089,3110,3522,0,0,0,0,0,0
$GC,3152,-1.22,-146.0,357.8,-7.7,181,3156,0.00,2.53,0.00,0.000,6,0.000,0.035,3088,1560,3522,0,0,0,0,0,0
$GC,3402,-1.22,-146.0,378.3,-8.3,187,3406,0.00,2.33,0.00,0.000,4,0.000,0.058,3089,174,3520,0,0,0,0,0,0
$GC,3453,-1.22,-146.0,382.7,-9.5,188,3457,0.00,2.17,0.00,0.000,6,0.000,0.025,3088,1556,3520,0,0,0,0,0,0
$GC,3740,-1.22,-146.0,408.2,-8.9,195,3744,0.00,2.53,0.00,0.000,4,0.000,0.035,3088,3111,3518,0,0,0,0,0,0
$GC,3759,-1.22,-146.0,410.2,-9.8,195,3763,0.00,2.55,0.00,0.000,6,0.000,0.035,3088,1557,3518,0,0,0,0,0,0
$GC,4024,-1.22,-146.0,434.1,-9.0,202,4029,0.00,2.35,0.00,0.000,4,0.000,0.064,3089,165,3516,0,0,0,0,0,0
$GC,4061,-1.22,-146.0,438.1,-10.5,202,4067,0.00,2.20,0.00,0.000,6,0.000,0.032,3088,1558,3517,0,0,0,0,0,0
$GC,4311,-1.22,-146.0,459.3,-8.4,209,4316,0.00,2.53,0.00,0.000,4,0.000,0.038,3088,3114,3514,0,0,0,0,0,0
$GC,4342,-1.30,-146.0,461.7,-8.0,209,4347,0.12,2.58,0.00,0.000,6,0.061,0.038,3009,1560,3514,0,0,0,0,0,0
$GC,4598,-1.10,-146.0,491.7,-12.1,216,4603,0.38,2.38,0.00,0.000,4,0.091,0.068,3094,170,3513,0,0,0,0,0,0
$GC,4663,-1.18,-146.0,497.4,-8.4,217,4667,0.00,2.22,0.00,0.000,6,0.000,0.031,3094,1550,3512,0,0,0,0,0,0
$GC,4932,-1.25,-146.0,518.4,-8.1,224,4937,0.12,2.62,0.00,0.000,4,0.065,0.044,3040,3125,3511,0,0,0,0,0,0
$GC,4960,-1.25,-146.0,521.7,-11.0,224,4966,0.12,2.60,0.00,0.000,6,0.104,0.042,3067,1558,3511,0,0,0,0,0,0
$GC,5218,-1.25,-146.0,548.4,-10.5,231,5222,0.00,2.42,0.00,0.000,4,0.000,0.076,3068,166,3508,0,0,0,0,0,0
$GC,5241,-1.25,-146.0,551.3,-11.2,231,5245,0.00,2.22,0.00,0.000,6,0.000,0.033,3067,1550,3509,0,0,0,0,0,0
$GC,5500,-1.25,-146.0,576.2,-9.4,238,5504,0.00,2.40,0.00,0.000,4,0.000,0.071,3067,164,3507,0,0,0,0,0,0
$GC,5525,-1.25,-146.0,578.7,-10.3,238,5529,0.00,2.28,0.00,0.000,6,0.000,0.036,3068,1553,3506,0,0,0,0,0,0
$STATE,5786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5786,begin apogee
$GC,5792,-0.31,0.0,600.7,8.0,245,5914,0.90,0.00,118.03,0.930,6,0.077,0.000,3272,1361,2920,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5915,begin climb
$GC,5917,1.27,146.0,603.3,0.0,248,6049,1.42,2.17,123.82,0.909,4,0.043,0.078,3616,170,2323,0,0,0,0,0,0
$GC,6237,0.91,146.0,575.2,13.0,255,6242,0.38,1.98,0.00,0.000,6,0.100,0.031,3538,1390,2317,0,0,0,0,0,0
$GC,6515,0.98,200.8,553.6,7.5,262,6568,0.00,2.22,47.33,0.877,4,0.000,0.071,3538,178,2100,0,0,0,0,0,0
$GC,6652,0.98,200.8,540.6,10.4,265,6656,0.00,1.95,0.00,0.000,6,0.000,0.029,3538,1374,2098,0,0,0,0,0,0
$GC,6938,1.00,213.7,513.5,9.4,272,6952,0.00,0.00,11.80,0.785,6,0.000,0.000,3538,1375,2048,0,0,0,0,0,0
$GC,7184,1.01,221.2,489.8,9.7,278,7196,0.00,2.12,7.70,0.717,4,0.000,0.064,3538,171,2017,0,0,0,0,0,0
$GC,7220,1.01,221.2,485.8,10.9,278,7223,0.00,1.92,0.00,0.000,6,0.000,0.027,3538,1367,2017,0,0,0,0,0,0
$GC,7474,1.01,221.2,459.9,10.3,285,7478,0.00,2.10,0.00,0.000,4,0.000,0.063,3538,170,2015,0,0,0,0,0,0
$GC,7503,1.01,221.2,456.6,11.9,285,7506,0.00,1.90,0.00,0.000,6,0.000,0.026,3538,1358,2015,0,0,0,0,0,0
$GC,7766,1.01,221.2,427.6,10.9,292,7770,0.00,2.62,0.00,0.000,4,0.000,0.039,3538,2947,2013,0,0,0,0,0,0
$GC,7809,1.11,221.2,423.1,10.1,293,7816,0.17,2.65,0.00,0.000,6,0.051,0.043,3603,1372,2011,0,0,0,0,0,0
$GC,8101,0.96,221.2,387.1,12.3,300,8106,0.25,2.08,0.00,0.000,4,0.094,0.064,3545,165,2011,0,0,0,0,0,0
$GC,8199,0.96,221.2,376.4,10.7,302,8203,0.00,1.88,0.00,0.000,6,0.000,0.024,3546,1360,2011,0,0,0,0,0,0
$GC,8482,0.98,235.4,350.1,9.3,309,8502,0.00,2.08,13.27,0.723,4,0.000,0.058,3546,167,1959,0,0,0,0,0,0
$GC,8521,0.98,235.4,346.0,10.6,309,8527,0.00,1.88,0.00,0.000,6,0.000,0.025,3546,1358,1959,0,0,0,0,0,0
$GC,8771,1.01,256.4,323.1,9.0,316,8799,0.00,2.62,20.45,0.727,4,0.000,0.033,3546,2945,1872,0,0,0,0,0,0
$GC,8834,1.14,260.8,317.4,9.8,317,8847,0.17,2.70,4.82,0.535,6,0.048,0.041,3604,1350,1856,0,0,0,0,0,0
$GC,9107,1.04,260.8,282.3,12.8,324,9112,0.17,2.05,0.00,0.000,4,0.103,0.062,3567,160,1854,0,0,0,0,0,0
$GC,9192,1.04,260.8,272.2,11.7,325,9198,0.00,1.88,0.00,0.000,6,0.000,0.023,3568,1365,1854,0,0,0,0,0,0
$GC,9442,1.04,267.1,247.8,9.7,332,9455,0.00,2.58,6.75,0.571,4,0.000,0.031,3567,2929,1830,0,0,0,0,0,0
$GC,9485,1.14,267.1,243.7,10.0,332,9491,0.00,2.65,0.00,0.000,6,0.000,0.038,3567,1345,1828,0,0,0,0,0,0
$GC,9735,1.14,267.1,218.5,10.2,339,9739,0.00,2.58,0.00,0.000,4,0.000,0.028,3567,2948,1827,0,0,0,0,0,0
$GC,9774,1.25,267.1,215.0,10.1,339,9780,0.17,2.62,0.00,0.000,6,0.048,0.037,3618,1361,1825,0,0,0,0,0,0
$GC,10035,1.16,267.1,184.7,11.7,355,10040,0.12,2.58,0.00,0.000,4,0.110,0.028,3592,2944,1825,0,0,0,0,0,0
$GC,10074,1.16,267.1,180.4,10.1,358,10079,0.00,2.60,0.00,0.000,6,0.000,0.035,3592,1365,1824,0,0,0,0,0,0
$GC,10343,1.16,268.2,153.8,9.9,382,10346,0.00,1.98,0.00,0.000,4,0.000,0.051,3591,170,1824,0,0,0,0,0,0
$GC,10406,1.16,268.2,145.9,11.8,388,10415,0.00,1.85,0.00,0.000,6,0.000,0.021,3591,1374,1824,0,0,0,0,0,0
$GC,10674,1.17,270.4,121.3,9.9,413,10677,0.00,2.00,0.00,0.000,4,0.000,0.054,3592,169,1824,0,0,0,0,0,0
$GC,10748,1.17,270.4,112.4,12.1,420,10757,0.00,1.80,0.00,0.000,6,0.000,0.020,3591,1353,1824,0,0,0,0,0,0
$GC,11016,1.21,309.9,89.6,8.2,445,11060,0.00,2.05,37.78,0.524,4,0.000,0.049,3592,172,1655,0,0,0,0,0,0
$GC,11123,1.21,309.9,78.5,11.6,455,11132,0.00,1.80,0.00,0.000,6,0.000,0.019,3591,1349,1655,0,0,0,0,0,0
$GC,11392,1.29,309.9,52.7,10.4,480,11397,0.12,2.53,0.00,0.000,4,0.062,0.028,3629,2925,1653,0,0,0,0,0,0
$GC,11423,1.29,309.9,48.3,12.2,482,11427,0.00,2.58,0.00,0.000,6,0.000,0.033,3630,1353,1651,0,0,0,0,0,0
$GC,11710,1.29,309.9,11.5,12.0,517,11718,0.00,1.98,0.00,0.000,4,0.000,0.047,3630,167,1651,0,0,0,0,0,0
$GC,11759,1.20,309.9,5.5,12.9,524,11768,0.10,1.80,0.00,0.000,6,0.081,0.019,3601,1358,1651,0,0,0,0,0,0
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,0.7,0.999561
$STATE,11814,end surface coast,CONTROL_FINISHED_OK
$STATE,11814,begin surface
$SM_CCo,11839,39.95,0.438,0,0,1369,380.21
$SM_GC,1.40,0.00,0.00,39.95,0.000,0.000,0.438,412,1530,1369,-13.47,-0.28,380.21
$IRIDIUM_FIX,2237.01,-15930.47,061001,040430
$TT8_MAMPS,0.027612
$HUMID,61.22
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.50
$XPDR_PINGS,7
$24V_AH,23.5,30.871
$10V_AH,9.9,23.230
$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,33.850,156.400,391.750,39.950,0.000,30.487,37.682,267.869,1.750,0.000,14.055,1173.950,7952.098,486.775,2041.836,694.203,33.404,1380.083,0.000,2047.048,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,78.234,930.371,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.904,298.228,384.466,542.486,951.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41456,532
$CAP_FILE_SIZE,136767,0
$CFSIZE,260165632,165158912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120712,113025,2246.146,-15758.851,10,99.0,29,10.1