version: 66.06
glider: 148
mission: 11
dive: 277
start: 7 19 112 15 5 49
data:
$ID,148
$MISSION,11
$DIVE,277
$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,-924257.31
$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,112
$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
$GPS1,145443,2245.135,-15746.722,52,1.5,59,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.9
$GPS2,150455,2245.117,-15746.825,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.150
$KALMAN_X,-22546.3,264.4,-322.5,44689.2,-1405.2
$KALMAN_Y,30992.9,-64.9,-543.8,-35733.1,909.5
$MHEAD_RNG_PITCHd_Wd,115.2,19589,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.20,0.000,2,0.000,0.000,414,1579,3066,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.0,-4.6,9,120,13.80,2.35,-8.43,0.000,4,0.153,0.053,3058,170,3518,0,0,0,0,0,0
$GC,179,-0.91,-146.0,27.8,-19.5,22,188,0.32,2.03,0.00,0.000,6,0.091,0.018,3133,1488,3519,0,0,0,0,0,0
$GC,458,-0.80,-146.0,70.7,-13.5,48,463,0.15,2.50,0.00,0.000,4,0.108,0.025,3165,3063,3520,0,0,0,0,0,0
$GC,525,-0.93,-146.0,78.3,-10.2,53,530,0.12,2.47,0.00,0.000,6,0.061,0.028,3078,1531,3520,0,0,0,0,0,0
$GC,794,-0.62,-146.0,124.4,-17.9,77,799,0.62,2.20,0.00,0.000,4,0.088,0.039,3196,162,3521,0,0,0,0,0,0
$GC,814,-0.51,-146.0,129.3,-17.0,78,824,0.10,2.05,0.00,0.000,6,0.074,0.018,3226,1521,3521,0,0,0,0,0,0
$GC,1084,-0.80,-146.0,145.2,-4.8,103,1089,0.25,2.42,0.00,0.000,4,0.035,0.021,3083,3078,3522,0,0,0,0,0,0
$GC,1140,-0.80,-146.0,151.2,-10.3,108,1145,0.35,2.45,0.00,0.000,6,0.078,0.028,3163,1552,3522,0,0,0,0,0,0
$GC,1401,-0.89,-146.0,173.0,-8.1,132,1405,0.00,2.40,0.00,0.000,4,0.000,0.024,3163,3087,3523,0,0,0,0,0,0
$GC,1423,-1.00,-146.0,175.0,-8.5,133,1429,0.17,2.45,0.00,0.000,6,0.046,0.027,3063,1545,3522,0,0,0,0,0,0
$GC,1694,-0.81,-146.0,211.9,-14.3,153,1696,0.45,0.00,0.00,0.000,6,0.087,0.000,3163,1545,3523,0,0,0,0,0,0
$GC,1935,-0.96,-146.0,233.3,-8.3,159,1937,0.12,0.00,0.00,0.000,6,0.062,0.000,3092,1545,3524,0,0,0,0,0,0
$GC,2178,-0.96,-146.0,260.3,-10.9,165,2183,0.17,2.25,0.00,0.000,4,0.094,0.046,3132,166,3524,0,0,0,0,0,0
$GC,2208,-0.96,-146.0,263.4,-9.9,165,2212,0.00,2.10,0.00,0.000,6,0.000,0.019,3132,1541,3524,0,0,0,0,0,0
$GC,2468,-1.04,-146.0,284.8,-8.3,172,2472,0.00,2.45,0.00,0.000,4,0.000,0.028,3133,3098,3524,0,0,0,0,0,0
$GC,2511,-1.20,-146.0,288.3,-7.3,173,2517,0.22,2.47,0.00,0.000,6,0.038,0.032,3020,1559,3524,0,0,0,0,0,0
$GC,2801,-0.94,-146.0,328.4,-14.3,180,2806,0.50,2.30,0.00,0.000,4,0.087,0.048,3129,164,3523,0,0,0,0,0,0
$GC,2830,-0.94,-146.0,332.1,-9.4,180,2834,0.00,2.15,0.00,0.000,6,0.000,0.021,3130,1545,3523,0,0,0,0,0,0
$GC,3087,-1.03,-146.0,352.8,-8.2,187,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1548,3522,0,0,0,0,0,0
$GC,3329,-1.13,-146.0,374.6,-9.0,193,3334,0.15,2.55,0.00,0.000,4,0.055,0.032,3062,3115,3521,0,0,0,0,0,0
$GC,3367,-1.13,-146.0,378.8,-11.0,193,3373,0.15,2.53,0.00,0.000,6,0.098,0.033,3097,1557,3521,0,0,0,0,0,0
$GC,3619,-1.13,-146.0,403.7,-10.0,200,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1557,3519,0,0,0,0,0,0
$GC,3861,-1.13,-146.0,425.4,-8.6,206,3865,0.00,2.50,0.00,0.000,4,0.000,0.035,3096,3105,3517,0,0,0,0,0,0
$GC,3875,-1.13,-146.0,426.9,-8.6,206,3880,0.00,2.50,0.00,0.000,6,0.000,0.033,3096,1562,3517,0,0,0,0,0,0
$GC,4144,-1.13,-146.0,449.8,-8.7,213,4149,0.00,2.53,0.00,0.000,4,0.000,0.042,3095,3104,3516,0,0,0,0,0,0
$GC,4170,-1.13,-146.0,452.1,-10.0,213,4174,0.00,2.53,0.00,0.000,6,0.000,0.035,3096,1567,3515,0,0,0,0,0,0
$GC,4429,-1.13,-146.0,473.2,-8.1,220,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1567,3514,0,0,0,0,0,0
$GC,4673,-1.13,-146.0,491.9,-7.6,226,4677,0.00,2.38,0.00,0.000,4,0.000,0.070,3096,173,3512,0,0,0,0,0,0
$GC,4717,-1.13,-146.0,495.7,-8.3,227,4721,0.00,2.20,0.00,0.000,6,0.000,0.030,3096,1548,3512,0,0,0,0,0,0
$GC,5004,-1.13,-146.0,519.2,-8.1,234,5009,0.00,2.58,0.00,0.000,4,0.000,0.043,3096,3116,3510,0,0,0,0,0,0
$GC,5039,-1.21,-146.0,522.0,-8.3,234,5044,0.00,2.55,0.00,0.000,6,0.000,0.041,3096,1569,3510,0,0,0,0,0,0
$GC,5289,-1.21,-146.0,543.4,-8.5,240,5294,0.00,2.42,0.00,0.000,4,0.000,0.074,3096,168,3509,0,0,0,0,0,0
$GC,5327,-1.27,-146.0,546.9,-8.6,240,5334,0.15,2.25,0.00,0.000,6,0.057,0.032,3032,1558,3508,0,0,0,0,0,0
$GC,5579,-1.13,-146.0,576.0,-11.9,247,5584,0.25,2.40,0.00,0.000,4,0.093,0.068,3092,167,3506,0,0,0,0,0,0
$GC,5599,-1.07,-146.0,578.6,-11.6,247,5603,0.00,2.25,0.00,0.000,6,0.000,0.035,3091,1553,3507,0,0,0,0,0,0
$STATE,5860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5860,begin apogee
$GC,5867,-0.31,0.0,603.2,9.4,254,5988,0.80,0.00,117.97,0.931,6,0.078,0.000,3273,1374,2920,0,0,0,0,0,0
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5993,1.27,146.0,608.7,0.0,257,6127,1.45,2.15,123.75,0.913,4,0.050,0.078,3616,178,2322,0,0,0,0,0,0
$GC,6338,0.97,146.0,582.8,13.0,264,6343,0.30,1.98,0.00,0.000,6,0.100,0.030,3554,1390,2315,0,0,0,0,0,0
$GC,6589,0.99,166.6,559.8,9.0,270,6613,0.00,2.20,17.15,0.833,4,0.000,0.069,3553,167,2239,0,0,0,0,0,0
$GC,6702,0.91,166.6,547.4,10.9,272,6706,0.00,1.95,0.00,0.000,6,0.000,0.028,3553,1373,2238,0,0,0,0,0,0
$GC,6971,0.94,188.3,522.8,9.0,279,6996,0.00,2.12,19.70,0.834,4,0.000,0.067,3553,177,2152,0,0,0,0,0,0
$GC,7082,0.88,195.1,511.9,9.7,281,7095,0.10,1.92,7.80,0.720,6,0.124,0.026,3532,1374,2124,0,0,0,0,0,0
$GC,7359,1.00,243.9,490.0,7.7,288,7412,0.12,2.70,44.47,0.851,4,0.066,0.043,3579,2949,1923,0,0,0,0,0,0
$GC,7419,1.00,243.9,484.1,10.1,289,7424,0.00,2.72,0.00,0.000,6,0.000,0.043,3579,1362,1921,0,0,0,0,0,0
$GC,7690,1.00,243.9,454.4,10.9,296,7693,0.00,2.08,0.00,0.000,4,0.000,0.066,3579,164,1917,0,0,0,0,0,0
$GC,7731,0.94,243.9,449.2,12.9,296,7737,0.15,1.92,0.00,0.000,6,0.104,0.025,3545,1372,1916,0,0,0,0,0,0
$GC,7982,1.03,265.0,426.0,9.0,303,8006,0.00,2.65,19.15,0.785,4,0.000,0.040,3546,2950,1838,0,0,0,0,0,0
$GC,8071,1.22,294.4,418.3,8.6,304,8104,0.25,2.67,26.77,0.790,6,0.041,0.041,3618,1365,1720,0,0,0,0,0,0
$GC,8367,1.11,294.4,375.4,15.1,312,8369,0.17,0.00,0.00,0.000,6,0.102,0.000,3581,1365,1714,0,0,0,0,0,0
$GC,8607,1.11,294.4,342.5,13.2,318,8612,0.00,2.62,0.00,0.000,4,0.000,0.035,3581,2954,1714,0,0,0,0,0,0
$GC,8659,1.21,294.4,335.6,12.9,319,8664,0.10,2.65,0.00,0.000,6,0.076,0.041,3627,1375,1710,0,0,0,0,0,0
$GC,8940,1.09,294.4,291.2,16.2,326,8942,0.22,0.00,0.00,0.000,6,0.096,0.000,3580,1376,1710,0,0,0,0,0,0
$GC,9181,1.09,294.4,262.3,11.2,332,9186,0.00,2.58,0.00,0.000,4,0.000,0.031,3580,2955,1709,0,0,0,0,0,0
$GC,9210,1.17,296.1,259.4,9.9,332,9215,0.00,2.62,0.00,0.000,6,0.000,0.038,3580,1378,1708,0,0,0,0,0,0
$GC,9466,1.18,303.1,234.0,9.7,339,9479,0.00,2.08,7.35,0.568,4,0.000,0.055,3580,172,1684,0,0,0,0,0,0
$GC,9507,1.18,303.1,229.7,11.1,339,9512,0.00,1.90,0.00,0.000,6,0.000,0.021,3580,1403,1684,0,0,0,0,0,0
$GC,9757,1.24,303.4,204.9,10.0,346,9759,0.12,0.00,0.00,0.000,6,0.063,0.000,3636,1405,1683,0,0,0,0,0,0
$GC,10013,1.15,303.4,171.5,14.0,364,10019,0.22,0.00,0.00,0.000,6,0.091,0.000,3588,1405,1682,0,0,0,0,0,0
$GC,10281,1.15,303.4,139.9,12.4,389,10284,0.00,2.08,0.00,0.000,4,0.000,0.058,3588,157,1681,0,0,0,0,0,0
$GC,10305,1.15,303.4,136.6,12.8,391,10308,0.00,1.85,0.00,0.000,6,0.000,0.020,3587,1395,1681,0,0,0,0,0,0
$GC,10572,1.21,303.4,105.9,10.6,416,10576,0.00,2.42,0.00,0.000,4,0.000,0.027,3587,2928,1681,0,0,0,0,0,0
$GC,10611,1.37,303.4,101.9,10.1,419,10616,0.20,2.53,0.00,0.000,6,0.042,0.035,3648,1380,1679,0,0,0,0,0,0
$GC,10875,1.27,303.4,65.9,13.3,443,10880,0.15,2.00,0.00,0.000,4,0.105,0.052,3616,168,1680,0,0,0,0,0,0
$GC,10935,1.27,303.4,58.5,12.5,448,10938,0.00,1.80,0.00,0.000,6,0.000,0.019,3616,1378,1679,0,0,0,0,0,0
$GC,11208,1.27,303.4,30.2,10.2,473,11216,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1380,1679,0,0,0,0,0,0
$STATE,11457,end climb,SURFACE_DEPTH_REACHED
$STATE,11457,begin surface coast
$FINISH,0.7,1.010127
$STATE,11497,end surface coast,CONTROL_FINISHED_OK
$STATE,11498,begin surface
$SM_CCo,11522,40.22,0.441,0,0,1370,380.21
$SM_GC,1.40,0.00,0.00,40.22,0.000,0.000,0.441,414,1576,1370,-13.46,1.02,380.21
$IRIDIUM_FIX,2237.01,-15747.62,131001,151536
$TT8_MAMPS,0.027612
$HUMID,64.37
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.80
$XPDR_PINGS,7
$24V_AH,23.5,37.181
$10V_AH,10.0,28.678
$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,35.275,125.875,384.125,40.225,0.000,53.809,71.838,279.810,1.750,0.000,14.658,1123.076,7899.168,466.543,1931.405,753.654,33.366,1275.636,0.000,1932.126,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,78.234,931.138,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.554,306.628,372.750,555.154,975.352,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41408,519
$CAP_FILE_SIZE,129995,0
$CFSIZE,260165632,162144256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190712,181953,2244.550,-15746.067,23,1.9,40,10.1