version: 66.06
glider: 148
mission: 11
dive: 264
start: 7 17 112 17 1 33
data:
$ID,148
$MISSION,11
$DIVE,264
$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,-923920.5
$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,29
$R_STBD_OVSHOOT,85
$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
$GPS1,164025,2252.411,-15753.752,36,2.2,55,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.6
$GPS2,170036,2252.563,-15754.033,12,0.9,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.172
$KALMAN_X,-2984.6,-39.5,-333.1,13139.9,-902.6
$KALMAN_Y,20927.5,-198.1,318.7,-12606.3,717.8
$MHEAD_RNG_PITCHd_Wd,121.3,37933,-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,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.25,0.000,2,0.000,0.000,409,1538,3259,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-3.9,10,121,13.82,2.45,-4.72,0.000,4,0.152,0.031,3058,3094,3517,0,0,0,0,0,0
$GC,131,0.46,-146.0,16.4,-35.0,14,141,1.73,2.53,0.00,0.000,6,0.094,0.026,3434,1542,3518,0,0,0,0,0,0
$GC,429,-0.41,-146.0,37.1,-8.1,55,441,0.75,2.45,0.00,0.000,4,0.055,0.024,3250,3090,3519,0,0,0,0,0,0
$GC,570,-1.05,-146.0,49.0,-8.1,67,580,0.55,2.40,0.00,0.000,6,0.038,0.027,3105,1609,3520,0,0,0,0,0,0
$GC,833,-0.89,-146.0,85.1,-15.2,92,838,0.20,2.35,0.00,0.000,4,0.104,0.047,3148,161,3519,0,0,0,0,0,0
$GC,864,-0.89,-146.0,90.2,-14.1,94,873,0.00,2.20,0.00,0.000,6,0.000,0.018,3148,1591,3520,0,0,0,0,0,0
$GC,1130,-0.89,-146.0,120.1,-10.6,119,1134,0.00,2.35,0.00,0.000,4,0.000,0.023,3148,3091,3520,0,0,0,0,0,0
$GC,1157,-0.89,-146.0,123.2,-10.7,121,1162,0.00,2.35,0.00,0.000,6,0.000,0.027,3148,1611,3520,0,0,0,0,0,0
$GC,1426,-0.89,-146.0,151.2,-10.6,145,1430,0.00,2.35,0.00,0.000,4,0.000,0.043,3148,164,3520,0,0,0,0,0,0
$GC,1450,-0.89,-146.0,154.9,-11.9,147,1454,0.00,2.17,0.00,0.000,6,0.000,0.018,3147,1607,3520,0,0,0,0,0,0
$GC,1723,-0.89,-146.0,181.6,-9.5,172,1727,0.00,2.28,0.00,0.000,4,0.000,0.023,3147,3081,3520,0,0,0,0,0,0
$GC,1751,-0.99,-146.0,184.9,-9.0,174,1759,0.08,2.38,0.00,0.000,6,0.035,0.027,3086,1611,3520,0,0,0,0,0,0
$GC,2008,-0.86,-146.0,214.9,-11.8,190,2013,0.25,2.30,0.00,0.000,4,0.094,0.022,3145,3081,3520,0,0,0,0,0,0
$GC,2027,-0.86,-146.0,217.2,-10.7,190,2031,0.00,2.30,0.00,0.000,6,0.000,0.025,3145,1622,3520,0,0,0,0,0,0
$GC,2292,-0.95,-146.0,239.1,-8.6,197,2296,0.00,2.38,0.00,0.000,4,0.000,0.045,3145,167,3521,0,0,0,0,0,0
$GC,2328,-1.05,-146.0,242.1,-8.6,197,2333,0.15,2.17,0.00,0.000,6,0.054,0.018,3070,1618,3521,0,0,0,0,0,0
$GC,2578,-0.93,-146.0,275.1,-13.8,203,2583,0.28,2.30,0.00,0.000,4,0.088,0.025,3134,3084,3521,0,0,0,0,0,0
$GC,2623,-1.09,-146.0,280.0,-9.8,204,2627,0.12,2.33,0.00,0.000,6,0.061,0.029,3055,1636,3521,0,0,0,0,0,0
$GC,2912,-0.95,-146.0,316.7,-12.4,211,2917,0.32,2.40,0.00,0.000,4,0.089,0.048,3132,174,3521,0,0,0,0,0,0
$GC,2941,-1.03,-146.0,319.9,-9.0,211,2945,0.00,2.22,0.00,0.000,6,0.000,0.020,3132,1606,3521,0,0,0,0,0,0
$GC,3198,-1.14,-146.0,338.6,-7.4,218,3200,0.17,0.00,0.00,0.000,6,0.050,0.000,3058,1607,3519,0,0,0,0,0,0
$GC,3440,-1.03,-146.0,365.6,-11.4,224,3444,0.25,2.38,0.00,0.000,4,0.087,0.031,3119,3078,3518,0,0,0,0,0,0
$GC,3454,-1.03,-146.0,367.4,-11.1,224,3458,0.00,2.33,0.00,0.000,6,0.000,0.030,3119,1629,3518,0,0,0,0,0,0
$GC,3725,-1.12,-146.0,386.6,-6.9,231,3727,0.10,0.00,0.00,0.000,6,0.074,0.000,3060,1629,3517,0,0,0,0,0,0
$GC,3966,-1.04,-146.0,411.5,-10.8,237,3968,0.22,0.00,0.00,0.000,6,0.088,0.000,3112,1629,3515,0,0,0,0,0,0
$GC,4211,-1.12,-146.0,433.7,-9.0,243,4215,0.00,2.47,0.00,0.000,4,0.000,0.065,3112,176,3513,0,0,0,0,0,0
$GC,4245,-1.20,-146.0,437.1,-9.9,243,4250,0.15,2.22,0.00,0.000,6,0.055,0.026,3046,1595,3513,0,0,0,0,0,0
$GC,4496,-1.09,-146.0,467.1,-11.9,249,4501,0.25,2.42,0.00,0.000,4,0.089,0.064,3107,178,3512,0,0,0,0,0,0
$GC,4520,-1.09,-146.0,469.8,-10.4,249,4524,0.00,2.25,0.00,0.000,6,0.000,0.028,3107,1587,3511,0,0,0,0,0,0
$GC,4786,-1.17,-146.0,492.2,-8.2,256,4790,0.00,2.50,0.00,0.000,4,0.000,0.041,3106,3121,3509,0,0,0,0,0,0
$GC,4801,-1.25,-146.0,493.7,-7.9,256,4806,0.17,2.45,0.00,0.000,6,0.048,0.037,3032,1639,3509,0,0,0,0,0,0
$GC,5072,-1.11,-146.0,524.4,-11.7,263,5077,0.25,2.53,0.00,0.000,4,0.094,0.073,3091,177,3507,0,0,0,0,0,0
$GC,5097,-1.11,-146.0,527.2,-10.0,263,5102,0.00,2.33,0.00,0.000,6,0.000,0.032,3091,1624,3507,0,0,0,0,0,0
$GC,5357,-1.11,-146.0,548.8,-8.4,270,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1625,3505,0,0,0,0,0,0
$GC,5602,-1.11,-146.0,569.7,-8.6,276,5606,0.00,2.50,0.00,0.000,4,0.000,0.071,3091,176,3503,0,0,0,0,0,0
$GC,5621,-1.11,-146.0,571.7,-9.8,276,5625,0.00,2.35,0.00,0.000,6,0.000,0.034,3091,1629,3503,0,0,0,0,0,0
$GC,5889,-1.11,-146.0,595.1,-8.8,283,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1629,3501,0,0,0,0,0,0
$STATE,5967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5968,begin apogee
$GC,5974,-0.31,0.0,602.3,8.7,285,6094,0.80,0.00,117.00,0.931,6,0.079,0.000,3272,1380,2920,0,0,0,0,0,0
$STATE,6095,end apogee,CONTROL_FINISHED_OK
$STATE,6095,begin climb
$GC,6099,1.27,146.0,607.5,0.0,288,6233,1.45,2.17,123.62,0.912,4,0.047,0.076,3622,179,2323,0,0,0,0,0,0
$GC,6456,0.92,146.0,580.8,11.2,296,6461,0.38,1.98,0.00,0.000,6,0.099,0.031,3542,1383,2315,0,0,0,0,0,0
$GC,6741,0.98,196.5,559.1,7.7,303,6790,0.00,2.20,43.60,0.880,4,0.000,0.071,3542,180,2117,0,0,0,0,0,0
$GC,6831,0.98,196.5,550.3,11.7,305,6835,0.00,1.98,0.00,0.000,6,0.000,0.029,3542,1387,2116,0,0,0,0,0,0
$GC,7121,0.99,203.6,522.5,9.7,312,7133,0.00,2.72,6.38,0.686,4,0.000,0.051,3541,2957,2090,0,0,0,0,0,0
$GC,7143,0.99,204.0,520.0,10.0,312,7148,0.00,2.70,0.00,0.000,6,0.000,0.044,3542,1380,2087,0,0,0,0,0,0
$GC,7407,1.00,213.3,494.5,9.6,319,7419,0.00,0.00,9.73,0.759,6,0.000,0.000,3542,1380,2050,0,0,0,0,0,0
$GC,7652,1.01,217.8,470.9,9.8,325,7664,0.00,2.12,5.30,0.631,4,0.000,0.071,3542,160,2032,0,0,0,0,0,0
$GC,7688,1.01,217.8,467.1,10.3,325,7691,0.00,1.98,0.00,0.000,6,0.000,0.026,3542,1394,2031,0,0,0,0,0,0
$GC,7942,1.02,227.0,443.0,9.6,332,7958,0.00,2.20,9.93,0.742,4,0.000,0.063,3542,161,1994,0,0,0,0,0,0
$GC,7997,1.02,227.0,437.4,10.7,333,8001,0.00,1.95,0.00,0.000,6,0.000,0.025,3542,1377,1993,0,0,0,0,0,0
$GC,8279,1.05,251.8,411.9,8.9,340,8307,0.10,0.00,23.90,0.796,6,0.079,0.000,3585,1380,1892,0,0,0,0,0,0
$GC,8568,1.05,251.8,381.5,10.6,347,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1380,1888,0,0,0,0,0,0
$GC,8810,1.05,251.8,356.0,10.5,353,8811,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1380,1887,0,0,0,0,0,0
$GC,9054,1.05,251.8,329.7,11.1,359,9055,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1379,1885,0,0,0,0,0,0
$GC,9298,1.05,251.8,302.0,11.2,365,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1380,1885,0,0,0,0,0,0
$GC,9543,1.05,251.8,274.1,11.5,371,9547,0.00,2.08,0.00,0.000,4,0.000,0.058,3585,158,1884,0,0,0,0,0,0
$GC,9608,0.98,251.8,266.1,12.0,372,9612,0.15,1.90,0.00,0.000,6,0.104,0.022,3554,1382,1884,0,0,0,0,0,0
$GC,9877,1.11,289.5,243.1,8.3,379,9916,0.12,0.00,32.92,0.676,6,0.064,0.000,3612,1385,1738,0,0,0,0,0,0
$GC,10161,1.11,289.5,209.1,12.4,386,10166,0.12,2.53,0.00,0.000,4,0.110,0.029,3583,2941,1734,0,0,0,0,0,0
$GC,10196,1.20,293.2,205.5,9.8,386,10200,0.00,2.62,0.00,0.000,6,0.000,0.036,3583,1358,1731,0,0,0,0,0,0
$GC,10455,1.22,308.8,179.5,9.3,404,10480,0.10,2.62,17.50,0.596,4,0.078,0.028,3631,2935,1660,0,0,0,0,0,0
$GC,10496,1.15,308.8,174.7,12.0,408,10501,0.17,2.60,0.00,0.000,6,0.092,0.033,3591,1366,1658,0,0,0,0,0,0
$GC,10757,1.15,311.0,148.5,9.9,432,10761,0.00,1.98,0.00,0.000,4,0.000,0.050,3591,161,1657,0,0,0,0,0,0
$GC,10811,1.15,311.0,143.0,12.1,437,10814,0.00,1.83,0.00,0.000,6,0.000,0.019,3591,1383,1657,0,0,0,0,0,0
$GC,11079,1.16,320.0,116.9,9.6,462,11095,0.00,2.47,11.02,0.505,4,0.000,0.027,3591,2924,1614,0,0,0,0,0,0
$GC,11121,1.29,338.6,112.6,9.1,465,11148,0.12,2.58,18.12,0.525,6,0.063,0.034,3654,1360,1537,0,0,0,0,0,0
$GC,11405,1.18,338.6,73.1,14.2,492,11410,0.25,1.98,0.00,0.000,4,0.090,0.046,3595,167,1536,0,0,0,0,0,0
$GC,11465,1.25,338.6,66.5,10.3,497,11469,0.00,1.77,0.00,0.000,6,0.000,0.018,3595,1366,1536,0,0,0,0,0,0
$GC,11739,1.36,350.6,40.8,9.4,522,11756,0.17,2.50,11.43,0.441,4,0.049,0.027,3671,2922,1489,0,0,0,0,0,0
$GC,11846,1.36,350.6,26.7,13.7,532,11855,0.12,2.58,0.00,0.000,6,0.074,0.031,3638,1361,1486,0,0,0,0,0,0
$STATE,12018,end climb,SURFACE_DEPTH_REACHED
$STATE,12019,begin surface coast
$FINISH,0.7,1.010435
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12081,23.10,0.435,0,0,1369,380.21
$SM_GC,1.63,0.00,0.00,23.10,0.000,0.000,0.435,416,1535,1369,-13.45,-0.14,380.21
$IRIDIUM_FIX,2241.69,-15751.94,111001,171722
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,9
$24V_AH,23.6,35.481
$10V_AH,10.0,27.259
$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,36.925,130.025,430.450,23.100,0.000,113.892,157.338,592.164,2.250,0.000,14.044,1188.518,8327.250,489.412,2081.105,1231.849,33.400,1341.445,0.000,2075.803,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,75.933,931.138,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.052,331.242,413.449,633.121,1112.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,44604,565
$CAP_FILE_SIZE,143877,0
$CFSIZE,260165632,162910208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170712,202507,2251.955,-15753.317,65,1.4,65,10.1