version: 66.06
glider: 148
mission: 11
dive: 279
start: 7 19 112 21 49 6
data:
$ID,148
$MISSION,11
$DIVE,279
$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,-924305.5
$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,28
$R_STBD_OVSHOOT,94
$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
$GPS1,213812,2243.657,-15745.386,25,2.0,31,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.4
$GPS2,214812,2243.620,-15745.479,12,1.9,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.046
$KALMAN_X,-25486.8,-221.0,323.1,49769.0,-1867.3
$KALMAN_Y,31270.7,-416.1,382.8,-39349.8,-306.8
$MHEAD_RNG_PITCHd_Wd,90.0,16086,-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,-74.20,0.000,2,0.000,0.000,415,1556,3294,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.7,10,121,13.75,2.30,-3.78,0.000,4,0.151,0.048,3057,137,3518,0,0,0,0,0,0
$GC,149,-0.60,-146.0,24.5,-31.6,17,157,0.68,2.12,0.00,0.000,6,0.093,0.018,3206,1506,3520,0,0,0,0,0,0
$GC,424,-0.67,-146.0,54.2,-9.5,44,428,0.00,2.53,0.00,0.000,4,0.000,0.024,3206,3111,3521,0,0,0,0,0,0
$GC,490,-0.94,-146.0,59.4,-7.3,49,495,0.30,2.50,0.00,0.000,6,0.037,0.028,3103,1550,3521,0,0,0,0,0,0
$GC,759,-0.75,-146.0,96.7,-14.1,73,764,0.30,2.22,0.00,0.000,4,0.091,0.041,3172,170,3521,0,0,0,0,0,0
$GC,795,-0.75,-146.0,102.4,-11.6,76,799,0.00,2.10,0.00,0.000,6,0.000,0.018,3172,1569,3521,0,0,0,0,0,0
$GC,1069,-0.82,-146.0,127.6,-8.4,101,1073,0.00,2.38,0.00,0.000,4,0.000,0.023,3172,3097,3522,0,0,0,0,0,0
$GC,1117,-1.01,-146.0,132.3,-8.2,105,1122,0.22,2.47,0.00,0.000,6,0.038,0.028,3065,1554,3523,0,0,0,0,0,0
$GC,1380,-0.75,-146.0,175.1,-16.4,129,1385,0.47,2.22,0.00,0.000,4,0.087,0.039,3172,170,3523,0,0,0,0,0,0
$GC,1411,-0.81,-146.0,179.3,-10.9,131,1416,0.00,2.10,0.00,0.000,6,0.000,0.018,3172,1578,3523,0,0,0,0,0,0
$GC,1706,-0.93,-146.0,204.3,-8.7,156,1711,0.15,2.40,0.00,0.000,4,0.054,0.024,3099,3097,3524,0,0,0,0,0,0
$GC,1759,-0.93,-146.0,210.6,-12.7,157,1764,0.15,2.45,0.00,0.000,6,0.096,0.028,3135,1573,3524,0,0,0,0,0,0
$GC,2037,-0.93,-146.0,239.3,-10.2,164,2041,0.00,2.28,0.00,0.000,4,0.000,0.044,3135,170,3524,0,0,0,0,0,0
$GC,2062,-0.93,-146.0,241.8,-10.9,164,2066,0.00,2.10,0.00,0.000,6,0.000,0.018,3135,1573,3524,0,0,0,0,0,0
$GC,2326,-1.00,-146.0,264.3,-8.1,171,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1576,3525,0,0,0,0,0,0
$GC,2570,-1.08,-146.0,282.5,-7.3,177,2575,0.12,2.40,0.00,0.000,4,0.063,0.027,3071,3089,3525,0,0,0,0,0,0
$GC,2600,-1.08,-146.0,285.6,-10.3,177,2605,0.15,2.45,0.00,0.000,6,0.095,0.030,3105,1574,3525,0,0,0,0,0,0
$GC,2855,-1.08,-146.0,310.2,-9.7,184,2859,0.00,2.33,0.00,0.000,4,0.000,0.050,3105,167,3525,0,0,0,0,0,0
$GC,2906,-1.08,-146.0,315.7,-10.5,185,2910,0.00,2.12,0.00,0.000,6,0.000,0.021,3105,1551,3525,0,0,0,0,0,0
$GC,3185,-1.08,-146.0,342.5,-9.4,192,3189,0.00,2.50,0.00,0.000,4,0.000,0.031,3105,3107,3523,0,0,0,0,0,0
$GC,3218,-1.15,-146.0,345.9,-8.9,192,3223,0.00,2.47,0.00,0.000,6,0.000,0.032,3105,1576,3523,0,0,0,0,0,0
$GC,3469,-1.15,-146.0,368.2,-8.7,198,3473,0.00,2.35,0.00,0.000,4,0.000,0.055,3105,172,3522,0,0,0,0,0,0
$GC,3508,-1.15,-146.0,372.0,-9.7,198,3513,0.00,2.20,0.00,0.000,6,0.000,0.024,3105,1574,3521,0,0,0,0,0,0
$GC,3758,-1.15,-146.0,395.0,-8.9,205,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1574,3521,0,0,0,0,0,0
$GC,4001,-1.15,-146.0,417.4,-9.3,211,4006,0.00,2.47,0.00,0.000,4,0.000,0.035,3105,3109,3519,0,0,0,0,0,0
$GC,4055,-1.27,-146.0,422.2,-8.5,212,4060,0.17,2.50,0.00,0.000,6,0.048,0.036,3018,1592,3519,0,0,0,0,0,0
$GC,4333,-1.04,-146.0,461.1,-14.3,219,4339,0.43,2.42,0.00,0.000,4,0.090,0.065,3110,164,3517,0,0,0,0,0,0
$GC,4406,-1.13,-146.0,468.1,-8.6,220,4410,0.00,2.22,0.00,0.000,6,0.000,0.028,3111,1572,3516,0,0,0,0,0,0
$GC,4666,-1.20,-146.0,487.9,-7.5,227,4671,0.15,2.55,0.00,0.000,4,0.057,0.043,3050,3114,3515,0,0,0,0,0,0
$GC,4700,-1.20,-146.0,491.3,-10.0,227,4705,0.12,2.55,0.00,0.000,6,0.106,0.041,3078,1584,3515,0,0,0,0,0,0
$GC,4951,-1.20,-146.0,515.5,-9.8,233,4956,0.00,2.45,0.00,0.000,4,0.000,0.073,3078,166,3512,0,0,0,0,0,0
$GC,4998,-1.20,-146.0,520.8,-11.0,234,5002,0.00,2.28,0.00,0.000,6,0.000,0.031,3078,1576,3512,0,0,0,0,0,0
$GC,5280,-1.20,-146.0,549.7,-10.3,241,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1576,3510,0,0,0,0,0,0
$GC,5523,-1.20,-146.0,574.8,-10.2,247,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1576,3509,0,0,0,0,0,0
$GC,5767,-1.20,-146.0,598.2,-9.5,253,5772,0.00,2.60,0.00,0.000,4,0.000,0.054,3078,3119,3508,0,0,0,0,0,0
$STATE,5784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5784,begin apogee
$GC,5795,-0.31,0.0,600.3,10.6,253,5916,0.82,0.00,118.30,0.925,6,0.082,0.000,3266,1379,2920,0,0,0,0,0,0
$STATE,5917,end apogee,CONTROL_FINISHED_OK
$STATE,5917,begin climb
$GC,5920,1.27,146.0,604.7,0.0,256,6054,1.50,2.22,123.85,0.907,4,0.053,0.084,3616,165,2322,0,0,0,0,0,0
$GC,6162,0.96,146.0,589.8,13.4,261,6167,0.32,1.98,0.00,0.000,6,0.100,0.030,3549,1388,2317,0,0,0,0,0,0
$GC,6422,0.99,177.0,566.9,8.6,268,6450,0.00,0.00,26.58,0.858,6,0.000,0.000,3548,1389,2198,0,0,0,0,0,0
$GC,6667,1.02,197.4,544.7,9.1,274,6692,0.00,2.22,19.02,0.834,4,0.000,0.069,3548,169,2115,0,0,0,0,0,0
$GC,6738,1.02,197.4,537.0,11.1,275,6742,0.00,1.95,0.00,0.000,6,0.000,0.028,3548,1380,2114,0,0,0,0,0,0
$GC,7004,1.04,211.9,512.2,9.3,282,7024,0.00,2.20,13.55,0.798,4,0.000,0.066,3548,168,2055,0,0,0,0,0,0
$GC,7067,1.04,211.9,505.2,11.2,283,7071,0.00,1.95,0.00,0.000,6,0.000,0.026,3548,1378,2055,0,0,0,0,0,0
$GC,7340,1.05,219.8,479.1,9.6,290,7353,0.00,2.65,8.10,0.721,4,0.000,0.041,3548,2948,2024,0,0,0,0,0,0
$GC,7369,1.05,220.6,476.2,10.0,290,7374,0.00,2.70,0.00,0.000,6,0.000,0.043,3548,1364,2022,0,0,0,0,0,0
$GC,7624,1.06,228.7,451.4,9.6,297,7641,0.10,2.15,9.48,0.735,4,0.077,0.067,3597,166,1986,0,0,0,0,0,0
$GC,7710,0.90,228.7,441.1,13.9,298,7715,0.28,1.90,0.00,0.000,6,0.093,0.025,3538,1376,1985,0,0,0,0,0,0
$GC,7960,1.03,261.5,418.7,8.5,304,7998,0.10,2.67,31.15,0.802,4,0.077,0.041,3585,2954,1853,0,0,0,0,0,0
$GC,8034,1.03,261.5,411.6,10.3,305,8039,0.00,2.67,0.00,0.000,6,0.000,0.041,3585,1364,1848,0,0,0,0,0,0
$GC,8293,1.03,261.5,382.3,11.6,312,8298,0.00,2.62,0.00,0.000,4,0.000,0.036,3585,2947,1847,0,0,0,0,0,0
$GC,8317,1.03,261.5,379.5,11.4,312,8322,0.00,2.62,0.00,0.000,6,0.000,0.041,3585,1373,1844,0,0,0,0,0,0
$GC,8578,1.03,261.5,348.3,12.2,319,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1373,1844,0,0,0,0,0,0
$GC,8820,1.03,261.5,318.5,12.2,325,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1373,1843,0,0,0,0,0,0
$GC,9064,1.03,261.5,290.2,11.6,331,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1372,1843,0,0,0,0,0,0
$GC,9307,1.03,261.5,264.7,10.4,337,9308,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1373,1842,0,0,0,0,0,0
$GC,9553,1.03,263.4,240.4,9.9,343,9557,0.00,2.58,0.00,0.000,4,0.000,0.029,3584,2961,1842,0,0,0,0,0,0
$GC,9600,1.14,263.4,235.6,10.3,344,9604,0.00,2.62,0.00,0.000,6,0.000,0.038,3585,1378,1840,0,0,0,0,0,0
$GC,9882,1.14,267.2,207.3,9.8,351,9891,0.00,2.03,4.15,0.443,4,0.000,0.052,3585,164,1830,0,0,0,0,0,0
$GC,9951,1.14,268.9,200.3,9.9,352,9954,0.00,1.90,0.00,0.000,6,0.000,0.021,3585,1421,1830,0,0,0,0,0,0
$GC,10215,1.18,301.9,177.5,8.5,375,10256,0.00,2.50,31.50,0.610,4,0.000,0.028,3585,2926,1687,0,0,0,0,0,0
$GC,10284,1.34,319.6,171.3,9.2,381,10311,0.15,2.58,17.20,0.576,6,0.035,0.035,3637,1391,1617,0,0,0,0,0,0
$GC,10567,1.26,319.6,133.7,13.3,408,10569,0.10,0.00,0.00,0.000,6,0.124,0.000,3615,1391,1613,0,0,0,0,0,0
$GC,10821,1.26,319.6,104.0,11.6,432,10825,0.00,2.45,0.00,0.000,4,0.000,0.028,3615,2929,1614,0,0,0,0,0,0
$GC,10839,1.26,319.6,102.0,11.5,433,10844,0.00,2.53,0.00,0.000,6,0.000,0.035,3615,1374,1611,0,0,0,0,0,0
$GC,11108,1.26,319.6,71.6,11.7,457,11112,0.00,1.98,0.00,0.000,4,0.000,0.048,3615,160,1611,0,0,0,0,0,0
$GC,11145,1.26,319.6,66.7,12.9,460,11149,0.00,1.85,0.00,0.000,6,0.000,0.019,3615,1388,1611,0,0,0,0,0,0
$GC,11419,1.26,319.6,36.7,11.2,485,11423,0.00,2.45,0.00,0.000,4,0.000,0.026,3615,2937,1611,0,0,0,0,0,0
$GC,11449,1.35,319.6,32.9,10.5,487,11453,0.00,2.53,0.00,0.000,6,0.000,0.033,3615,1381,1610,0,0,0,0,0,0
$STATE,11702,end climb,SURFACE_DEPTH_REACHED
$STATE,11702,begin surface coast
$FINISH,0.8,1.023657
$STATE,11741,end surface coast,CONTROL_FINISHED_OK
$STATE,11741,begin surface
$SM_CCo,11764,35.17,0.438,0,0,1369,380.21
$SM_GC,1.68,0.00,0.00,35.17,0.000,0.000,0.438,411,1551,1369,-13.47,0.31,380.21
$IRIDIUM_FIX,2234.68,-15743.29,131001,212104
$TT8_MAMPS,0.027612
$HUMID,64.21
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.5,37.432
$10V_AH,9.9,28.888
$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,33.400,136.700,402.875,35.175,0.000,56.850,70.365,246.694,1.750,0.000,30.731,1137.231,8070.374,474.848,1993.580,723.269,33.372,1300.989,0.000,1975.350,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,83.603,925.002,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.459,309.943,384.272,567.146,996.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41489,531
$CAP_FILE_SIZE,130516,0
$CFSIZE,260165632,162025472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200712,010726,2243.000,-15744.629,38,99.0,57,10.1