version: 66.06
glider: 148
mission: 11
dive: 278
start: 7 19 112 18 30 31
data:
$ID,148
$MISSION,11
$DIVE,278
$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,-924274.12
$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,27
$R_STBD_OVSHOOT,106
$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
$GPS1,181953,2244.550,-15746.067,23,1.9,40,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.6
$GPS2,182937,2244.550,-15746.168,14,1.6,14,10.1
$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,-23955.9,54.1,-124.1,47231.4,-1133.8
$KALMAN_Y,31321.3,-337.6,158.4,-37537.3,717.8
$MHEAD_RNG_PITCHd_Wd,115.3,18058,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.43,0.000,2,0.000,0.000,413,1577,3312,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-7.7,10,120,14.43,2.30,-3.45,0.000,4,0.171,0.048,3058,163,3518,0,0,0,0,0,0
$GC,162,-0.83,-146.0,28.2,-26.1,19,170,0.43,2.05,0.00,0.000,6,0.092,0.019,3154,1481,3519,0,0,0,0,0,0
$GC,430,-0.83,-146.0,66.5,-13.1,44,434,0.00,2.47,0.00,0.000,4,0.000,0.025,3154,3057,3520,0,0,0,0,0,0
$GC,486,-0.92,-146.0,73.5,-11.4,48,490,0.00,2.47,0.00,0.000,6,0.000,0.029,3154,1530,3520,0,0,0,0,0,0
$GC,748,-0.92,-146.0,106.6,-12.6,72,750,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1531,3521,0,0,0,0,0,0
$GC,1003,-0.92,-146.0,136.9,-11.3,96,1007,0.00,2.40,0.00,0.000,4,0.000,0.025,3154,3058,3522,0,0,0,0,0,0
$GC,1064,-1.06,-146.0,143.3,-9.3,101,1070,0.20,2.42,0.00,0.000,6,0.039,0.028,3059,1541,3521,0,0,0,0,0,0
$GC,1329,-0.80,-146.0,181.5,-14.7,126,1338,0.47,0.00,0.00,0.000,6,0.090,0.000,3166,1540,3522,0,0,0,0,0,0
$GC,1591,-0.90,-146.0,203.9,-8.1,148,1596,0.10,2.42,0.00,0.000,4,0.075,0.024,3106,3065,3522,0,0,0,0,0,0
$GC,1621,-0.90,-146.0,207.3,-11.4,148,1626,0.17,2.42,0.00,0.000,6,0.091,0.028,3145,1540,3523,0,0,0,0,0,0
$GC,1878,-0.97,-146.0,230.2,-8.8,155,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1540,3523,0,0,0,0,0,0
$GC,2120,-1.05,-146.0,249.7,-7.9,161,2125,0.15,2.40,0.00,0.000,4,0.054,0.025,3063,3060,3523,0,0,0,0,0,0
$GC,2146,-0.99,-146.0,252.4,-11.3,161,2151,0.28,2.42,0.00,0.000,6,0.084,0.030,3125,1545,3523,0,0,0,0,0,0
$GC,2406,-0.99,-146.0,275.8,-8.9,168,2411,0.00,2.40,0.00,0.000,4,0.000,0.026,3125,3068,3523,0,0,0,0,0,0
$GC,2435,-1.08,-146.0,278.6,-9.1,168,2440,0.00,2.45,0.00,0.000,6,0.000,0.031,3125,1544,3524,0,0,0,0,0,0
$GC,2692,-1.15,-146.0,302.8,-9.7,175,2694,0.15,0.00,0.00,0.000,6,0.054,0.000,3049,1544,3523,0,0,0,0,0,0
$GC,2934,-0.99,-146.0,333.5,-12.7,181,2936,0.32,0.00,0.00,0.000,6,0.087,0.000,3121,1544,3523,0,0,0,0,0,0
$GC,3178,-1.06,-146.0,354.1,-8.3,187,3182,0.00,2.42,0.00,0.000,4,0.000,0.031,3121,3062,3522,0,0,0,0,0,0
$GC,3208,-1.18,-146.0,356.6,-7.6,187,3213,0.17,2.45,0.00,0.000,6,0.047,0.035,3041,1551,3522,0,0,0,0,0,0
$GC,3464,-1.02,-146.0,389.7,-13.4,194,3466,0.35,0.00,0.00,0.000,6,0.089,0.000,3117,1551,3520,0,0,0,0,0,0
$GC,3708,-1.10,-146.0,412.3,-9.0,200,3712,0.00,2.42,0.00,0.000,4,0.000,0.034,3117,3050,3519,0,0,0,0,0,0
$GC,3742,-1.25,-146.0,415.4,-9.5,200,3748,0.20,2.47,0.00,0.000,6,0.042,0.038,3030,1555,3519,0,0,0,0,0,0
$GC,3993,-1.08,-146.0,449.1,-13.9,206,3998,0.30,2.38,0.00,0.000,4,0.094,0.067,3098,164,3517,0,0,0,0,0,0
$GC,4014,-1.00,-146.0,451.8,-12.9,206,4019,0.10,2.08,0.00,0.000,6,0.130,0.027,3120,1488,3517,0,0,0,0,0,0
$GC,4283,-1.09,-146.0,475.3,-8.5,213,4288,0.00,2.53,0.00,0.000,4,0.000,0.039,3119,3044,3515,0,0,0,0,0,0
$GC,4307,-1.22,-146.0,477.6,-9.4,213,4313,0.20,2.47,0.00,0.000,6,0.041,0.038,3037,1549,3515,0,0,0,0,0,0
$GC,4569,-1.08,-146.0,509.7,-12.6,220,4574,0.28,2.38,0.00,0.000,4,0.093,0.071,3100,167,3513,0,0,0,0,0,0
$GC,4598,-1.08,-146.0,513.3,-10.3,220,4602,0.00,2.08,0.00,0.000,6,0.000,0.030,3100,1475,3513,0,0,0,0,0,0
$GC,4852,-1.08,-146.0,534.6,-8.2,227,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1475,3511,0,0,0,0,0,0
$GC,5098,-1.08,-146.0,552.6,-7.2,233,5102,0.00,2.60,0.00,0.000,4,0.000,0.047,3100,3052,3510,0,0,0,0,0,0
$GC,5136,-1.20,-146.0,555.5,-7.5,233,5141,0.00,2.53,0.00,0.000,6,0.000,0.044,3100,1548,3510,0,0,0,0,0,0
$GC,5388,-1.27,-146.0,572.3,-6.8,240,5393,0.15,2.53,0.00,0.000,4,0.055,0.051,3031,3051,3508,0,0,0,0,0,0
$GC,5405,-1.27,-146.0,573.7,-6.9,240,5410,0.15,2.50,0.00,0.000,6,0.104,0.044,3063,1557,3508,0,0,0,0,0,0
$GC,5674,-1.27,-146.0,597.7,-8.9,247,5679,0.00,2.50,0.00,0.000,4,0.000,0.053,3063,3052,3506,0,0,0,0,0,0
$GC,5693,-1.27,-146.0,599.6,-10.3,247,5697,0.00,2.50,0.00,0.000,6,0.000,0.045,3063,1563,3506,0,0,0,0,0,0
$STATE,5700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5700,begin apogee
$GC,5708,-0.31,0.0,600.5,9.5,247,5829,0.90,0.00,118.28,0.928,6,0.085,0.000,3267,1375,2920,0,0,0,0,0,0
$STATE,5830,end apogee,CONTROL_FINISHED_OK
$STATE,5830,begin climb
$GC,5833,1.27,146.0,603.2,0.0,250,5965,1.48,2.25,123.35,0.909,4,0.053,0.085,3611,171,2322,0,0,0,0,0,0
$GC,6058,0.98,146.0,590.4,12.5,255,6062,0.28,1.85,0.00,0.000,6,0.107,0.029,3555,1306,2317,0,0,0,0,0,0
$GC,6337,1.04,199.0,568.6,7.6,262,6390,0.00,2.75,46.05,0.882,4,0.000,0.049,3555,2883,2107,0,0,0,0,0,0
$GC,6424,1.08,231.1,561.7,8.5,264,6461,0.00,2.55,29.10,0.856,6,0.000,0.047,3555,1387,1977,0,0,0,0,0,0
$GC,6714,1.09,241.0,534.8,9.5,271,6731,0.10,2.22,9.77,0.763,4,0.077,0.079,3598,167,1937,0,0,0,0,0,0
$GC,6757,0.92,241.0,529.1,13.6,271,6763,0.28,1.85,0.00,0.000,6,0.094,0.028,3540,1325,1936,0,0,0,0,0,0
$GC,7009,0.99,247.5,504.4,9.7,278,7021,0.00,2.62,6.90,0.697,4,0.000,0.041,3540,2887,1911,0,0,0,0,0,0
$GC,7041,1.12,279.1,501.0,8.5,278,7078,0.17,2.58,30.33,0.843,6,0.048,0.044,3598,1381,1781,0,0,0,0,0,0
$GC,7343,1.05,279.1,460.2,13.9,286,7347,0.15,2.12,0.00,0.000,4,0.106,0.067,3566,162,1776,0,0,0,0,0,0
$GC,7376,1.05,279.1,455.5,13.6,286,7379,0.00,1.85,0.00,0.000,6,0.000,0.025,3566,1327,1776,0,0,0,0,0,0
$GC,7629,1.05,279.1,426.0,11.5,293,7634,0.00,2.58,0.00,0.000,4,0.000,0.038,3566,2888,1773,0,0,0,0,0,0
$GC,7687,1.15,279.1,419.8,11.1,294,7692,0.10,2.53,0.00,0.000,6,0.074,0.041,3612,1390,1770,0,0,0,0,0,0
$GC,7961,1.06,279.1,383.8,12.9,301,7966,0.20,2.47,0.00,0.000,4,0.099,0.036,3571,2893,1770,0,0,0,0,0,0
$GC,7981,1.06,279.1,381.5,11.1,301,7985,0.00,2.53,0.00,0.000,6,0.000,0.041,3570,1388,1769,0,0,0,0,0,0
$GC,8246,1.06,280.4,355.5,9.9,308,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1388,1769,0,0,0,0,0,0
$GC,8488,1.06,280.4,329.9,10.7,314,8492,0.00,2.45,0.00,0.000,4,0.000,0.031,3570,2891,1768,0,0,0,0,0,0
$GC,8527,1.17,280.4,325.7,11.0,314,8534,0.10,2.50,0.00,0.000,6,0.075,0.040,3624,1394,1766,0,0,0,0,0,0
$GC,8779,1.06,280.4,290.1,14.4,321,8781,0.25,0.00,0.00,0.000,6,0.094,0.000,3570,1394,1766,0,0,0,0,0,0
$GC,9021,1.06,280.4,262.5,11.2,327,9025,0.00,2.05,0.00,0.000,4,0.000,0.058,3570,161,1766,0,0,0,0,0,0
$GC,9044,1.06,280.4,259.6,11.5,327,9047,0.00,1.85,0.00,0.000,6,0.000,0.022,3569,1363,1766,0,0,0,0,0,0
$GC,9309,1.14,284.8,233.2,9.8,334,9313,0.00,2.53,0.00,0.000,4,0.000,0.028,3570,2944,1766,0,0,0,0,0,0
$GC,9328,1.27,317.5,231.3,8.5,334,9369,0.20,2.55,33.00,0.663,6,0.043,0.036,3651,1398,1624,0,0,0,0,0,0
$GC,9625,1.16,317.5,189.8,15.3,346,9629,0.25,2.05,0.00,0.000,4,0.091,0.050,3593,160,1620,0,0,0,0,0,0
$GC,9653,1.16,317.5,185.1,14.2,348,9662,0.00,1.95,0.00,0.000,6,0.000,0.021,3593,1411,1620,0,0,0,0,0,0
$GC,9921,1.16,317.5,153.1,12.3,373,9925,0.00,2.42,0.00,0.000,4,0.000,0.028,3593,2935,1618,0,0,0,0,0,0
$GC,9949,1.26,317.5,148.8,12.3,375,9955,0.00,2.53,0.00,0.000,6,0.000,0.034,3593,1394,1617,0,0,0,0,0,0
$GC,10212,1.26,317.5,118.9,11.7,400,10216,0.00,2.45,0.00,0.000,4,0.000,0.033,3593,2939,1617,0,0,0,0,0,0
$GC,10240,1.34,317.5,115.9,10.3,402,10245,0.17,2.50,0.00,0.000,6,0.047,0.035,3676,1409,1616,0,0,0,0,0,0
$GC,10505,1.17,317.5,76.4,15.0,426,10509,0.35,2.03,0.00,0.000,4,0.083,0.047,3594,167,1616,0,0,0,0,0,0
$GC,10571,1.25,317.5,68.6,12.5,431,10575,0.00,1.85,0.00,0.000,6,0.000,0.019,3593,1414,1616,0,0,0,0,0,0
$GC,10843,1.36,327.5,42.3,9.5,456,10862,0.17,0.00,9.10,0.431,6,0.049,0.000,3673,1415,1585,0,0,0,0,0,0
$STATE,11104,end climb,SURFACE_DEPTH_REACHED
$STATE,11104,begin surface coast
$FINISH,0.7,1.011834
$STATE,11130,end surface coast,CONTROL_FINISHED_OK
$STATE,11130,begin surface
$SM_CCo,11154,31.42,0.439,0,0,1368,380.21
$SM_GC,1.72,0.00,0.00,31.42,0.000,0.000,0.439,416,1555,1368,-13.45,0.42,380.21
$IRIDIUM_FIX,2234.68,-15745.45,131001,151553
$TT8_MAMPS,0.027612
$HUMID,64.72
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.60
$XPDR_PINGS,10
$24V_AH,23.5,37.311
$10V_AH,9.9,28.779
$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,36.875,132.350,405.875,31.425,0.000,24.585,40.194,377.519,2.500,0.000,16.163,1070.062,7681.730,476.643,1773.612,768.317,33.366,1253.729,0.000,1772.664,0.000,0.536,0.000
$DEVICE_MAMPS,171.041,85.137,928.070,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.032,275.126,350.134,506.378,889.643,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,38350,496
$CAP_FILE_SIZE,127827,0
$CFSIZE,260165632,162091008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190712,213812,2243.657,-15745.386,25,2.0,31,10.1