version: 66.06
glider: 148
mission: 11
dive: 314
start: 7 24 112 20 37 54
data:
$ID,148
$MISSION,11
$DIVE,314
$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,-925016
$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,82
$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
$GPS1,203023,2302.630,-15739.114,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.4
$GPS2,203700,2302.718,-15739.210,10,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.183
$KALMAN_X,-87596.7,-27.7,-179.8,122888.5,-2442.5
$KALMAN_Y,32116.9,-56.0,-566.5,-4247.2,2082.7
$MHEAD_RNG_PITCHd_Wd,214.9,61554,-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,-67.30,0.000,2,0.000,0.000,405,1564,3055,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.3,9,121,13.82,2.45,-8.68,0.000,4,0.153,0.036,3059,3085,3519,0,0,0,0,0,0
$GC,233,-1.03,-146.0,37.5,-18.8,28,242,0.22,2.53,0.00,0.000,6,0.084,0.031,3113,1542,3521,0,0,0,0,0,0
$GC,502,-0.85,-146.0,80.1,-14.4,53,507,0.17,2.45,0.00,0.000,4,0.106,0.025,3150,3082,3522,0,0,0,0,0,0
$GC,523,-0.77,-146.0,83.9,-12.2,54,533,0.05,2.50,0.00,0.000,6,0.097,0.027,3168,1538,3522,0,0,0,0,0,0
$GC,791,-0.77,-146.0,108.4,-9.8,79,795,0.00,2.42,0.00,0.000,4,0.000,0.023,3167,3084,3523,0,0,0,0,0,0
$GC,820,-0.86,-146.0,111.3,-9.0,81,824,0.00,2.47,0.00,0.000,6,0.000,0.031,3168,1550,3524,0,0,0,0,0,0
$GC,1088,-0.94,-146.0,133.1,-7.6,105,1093,0.12,2.25,0.00,0.000,4,0.062,0.043,3099,172,3524,0,0,0,0,0,0
$GC,1116,-0.85,-146.0,136.2,-11.8,107,1121,0.25,2.08,0.00,0.000,6,0.086,0.018,3155,1552,3524,0,0,0,0,0,0
$GC,1382,-0.85,-146.0,163.1,-11.3,132,1387,0.00,2.40,0.00,0.000,4,0.000,0.024,3154,3094,3525,0,0,0,0,0,0
$GC,1442,-1.01,-146.0,169.3,-9.9,137,1448,0.15,2.45,0.00,0.000,6,0.051,0.028,3071,1556,3525,0,0,0,0,0,0
$GC,1735,-0.81,-146.0,212.0,-14.7,159,1740,0.38,2.25,0.00,0.000,4,0.090,0.041,3158,170,3525,0,0,0,0,0,0
$GC,1774,-0.92,-146.0,216.9,-9.8,159,1779,0.00,2.10,0.00,0.000,6,0.000,0.018,3158,1551,3525,0,0,0,0,0,0
$GC,2024,-1.03,-146.0,236.9,-8.3,166,2029,0.17,2.45,0.00,0.000,4,0.048,0.025,3071,3095,3526,0,0,0,0,0,0
$GC,2073,-0.96,-146.0,242.3,-10.8,167,2079,0.25,2.50,0.00,0.000,6,0.084,0.028,3128,1549,3526,0,0,0,0,0,0
$GC,2357,-0.96,-146.0,267.2,-8.4,174,2361,0.00,2.25,0.00,0.000,4,0.000,0.046,3128,166,3526,0,0,0,0,0,0
$GC,2382,-0.96,-146.0,269.4,-9.5,174,2386,0.00,2.10,0.00,0.000,6,0.000,0.020,3128,1550,3526,0,0,0,0,0,0
$GC,2641,-0.96,-146.0,295.5,-10.3,181,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1552,3526,0,0,0,0,0,0
$GC,2885,-1.03,-146.0,316.6,-8.2,187,2889,0.00,2.47,0.00,0.000,4,0.000,0.028,3128,3096,3525,0,0,0,0,0,0
$GC,2926,-1.17,-146.0,319.1,-6.3,187,2933,0.17,2.50,0.00,0.000,6,0.046,0.031,3049,1550,3526,0,0,0,0,0,0
$GC,3177,-1.02,-146.0,347.3,-11.9,194,3182,0.28,2.30,0.00,0.000,4,0.090,0.051,3115,163,3524,0,0,0,0,0,0
$GC,3196,-1.02,-146.0,349.7,-11.4,194,3200,0.00,2.12,0.00,0.000,6,0.000,0.022,3115,1542,3525,0,0,0,0,0,0
$GC,3461,-1.02,-146.0,374.7,-9.9,201,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1545,3524,0,0,0,0,0,0
$GC,3704,-1.02,-146.0,398.9,-9.8,207,3708,0.00,2.53,0.00,0.000,4,0.000,0.035,3115,3105,3522,0,0,0,0,0,0
$GC,3742,-1.15,-146.0,402.4,-8.2,207,3748,0.10,2.58,0.00,0.000,6,0.075,0.036,3039,1548,3522,0,0,0,0,0,0
$GC,3994,-0.99,-146.0,431.6,-11.8,214,3999,0.35,2.33,0.00,0.000,4,0.093,0.062,3121,171,3521,0,0,0,0,0,0
$GC,4013,-0.99,-146.0,433.9,-10.1,214,4017,0.00,2.17,0.00,0.000,6,0.000,0.027,3121,1543,3520,0,0,0,0,0,0
$GC,4277,-1.07,-146.0,452.9,-7.3,221,4282,0.00,2.58,0.00,0.000,4,0.000,0.038,3120,3116,3519,0,0,0,0,0,0
$GC,4331,-1.25,-146.0,457.1,-7.7,222,4336,0.22,2.58,0.00,0.000,6,0.038,0.038,3020,1560,3518,0,0,0,0,0,0
$GC,4610,-1.04,-146.0,496.0,-14.6,229,4615,0.40,2.38,0.00,0.000,4,0.090,0.068,3109,173,3516,0,0,0,0,0,0
$GC,4668,-1.14,-146.0,502.5,-10.3,230,4672,0.00,2.20,0.00,0.000,6,0.000,0.032,3109,1546,3516,0,0,0,0,0,0
$GC,4946,-1.21,-146.0,524.7,-7.5,237,4951,0.15,2.62,0.00,0.000,4,0.053,0.046,3045,3122,3514,0,0,0,0,0,0
$GC,4966,-1.21,-146.0,526.5,-8.6,237,4971,0.15,2.62,0.00,0.000,6,0.097,0.042,3079,1555,3514,0,0,0,0,0,0
$GC,5233,-1.21,-146.0,547.3,-7.7,244,5237,0.00,2.42,0.00,0.000,4,0.000,0.075,3079,163,3513,0,0,0,0,0,0
$GC,5284,-1.21,-146.0,552.6,-10.4,245,5288,0.00,2.25,0.00,0.000,6,0.000,0.041,3079,1546,3513,0,0,0,0,0,0
$GC,5562,-1.21,-146.0,584.2,-12.0,252,5567,0.00,2.65,0.00,0.000,4,0.000,0.051,3079,3125,3511,0,0,0,0,0,0
$GC,5586,-1.21,-146.0,587.6,-13.4,252,5590,0.00,2.65,0.00,0.000,6,0.000,0.046,3079,1543,3511,0,0,0,0,0,0
$STATE,5721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5721,begin apogee
$GC,5727,-0.31,0.0,605.1,13.0,256,5849,0.85,0.00,118.65,0.928,6,0.079,0.000,3271,1378,2919,0,0,0,0,0,0
$STATE,5850,end apogee,CONTROL_FINISHED_OK
$STATE,5850,begin climb
$GC,5854,1.27,146.0,613.2,0.0,259,5985,1.45,2.20,123.00,0.912,4,0.044,0.083,3620,169,2323,0,0,0,0,0,0
$GC,6209,0.96,146.0,584.2,13.7,267,6214,0.32,1.98,0.00,0.000,6,0.100,0.030,3551,1383,2316,0,0,0,0,0,0
$GC,6494,0.98,165.0,557.0,9.1,274,6514,0.00,2.17,15.80,0.825,4,0.000,0.070,3551,171,2247,0,0,0,0,0,0
$GC,6603,0.89,165.0,546.0,10.0,276,6607,0.00,1.98,0.00,0.000,6,0.000,0.028,3551,1387,2245,0,0,0,0,0,0
$GC,6874,0.96,220.3,525.0,7.5,283,6931,0.00,2.25,49.58,0.865,4,0.000,0.068,3551,164,2021,0,0,0,0,0,0
$GC,6991,0.96,220.3,514.3,10.1,285,6994,0.00,1.98,0.00,0.000,6,0.000,0.028,3551,1383,2018,0,0,0,0,0,0
$GC,7251,0.99,248.8,491.8,8.7,292,7284,0.00,2.20,26.05,0.828,4,0.000,0.072,3551,171,1904,0,0,0,0,0,0
$GC,7295,1.04,291.2,487.9,8.0,293,7339,0.00,1.95,39.50,0.831,6,0.000,0.026,3551,1382,1731,0,0,0,0,0,0
$GC,7629,1.13,305.9,457.0,9.3,301,7650,0.15,2.65,13.07,0.761,4,0.058,0.043,3611,2944,1672,0,0,0,0,0,0
$GC,7678,1.13,305.9,450.7,12.6,302,7683,0.12,2.70,0.00,0.000,6,0.103,0.044,3584,1368,1669,0,0,0,0,0,0
$GC,7963,1.13,305.9,414.8,12.9,309,7967,0.00,2.65,0.00,0.000,4,0.000,0.039,3584,2946,1667,0,0,0,0,0,0
$GC,8006,1.21,305.9,409.5,12.6,310,8011,0.00,2.67,0.00,0.000,6,0.000,0.044,3584,1372,1665,0,0,0,0,0,0
$GC,8293,1.21,305.9,376.2,11.5,317,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1373,1664,0,0,0,0,0,0
$GC,8539,1.21,305.9,345.6,12.8,323,8543,0.00,2.60,0.00,0.000,4,0.000,0.036,3584,2944,1664,0,0,0,0,0,0
$GC,8562,1.21,305.9,342.3,11.4,323,8567,0.00,2.62,0.00,0.000,6,0.000,0.041,3584,1381,1662,0,0,0,0,0,0
$GC,8821,1.21,305.9,307.9,13.5,330,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1381,1662,0,0,0,0,0,0
$GC,9065,1.21,305.9,278.5,11.8,336,9069,0.00,2.58,0.00,0.000,4,0.000,0.032,3584,2955,1662,0,0,0,0,0,0
$GC,9100,1.29,305.9,275.0,10.6,336,9105,0.15,2.62,0.00,0.000,6,0.055,0.039,3650,1382,1660,0,0,0,0,0,0
$GC,9350,1.15,305.9,235.1,16.7,342,9354,0.25,2.05,0.00,0.000,4,0.092,0.054,3591,168,1660,0,0,0,0,0,0
$GC,9406,1.15,305.9,226.7,13.5,343,9409,0.00,1.92,0.00,0.000,6,0.000,0.021,3591,1416,1660,0,0,0,0,0,0
$GC,9684,1.15,305.9,196.6,10.1,350,9688,0.00,2.10,0.00,0.000,4,0.000,0.052,3592,164,1660,0,0,0,0,0,0
$GC,9723,1.15,305.9,191.9,12.5,353,9728,0.00,1.88,0.00,0.000,6,0.000,0.021,3592,1388,1660,0,0,0,0,0,0
$GC,9987,1.15,305.9,160.9,12.0,378,9991,0.00,2.47,0.00,0.000,4,0.000,0.028,3591,2936,1660,0,0,0,0,0,0
$GC,10023,1.26,305.9,156.4,11.2,381,10028,0.10,2.55,0.00,0.000,6,0.073,0.035,3649,1383,1657,0,0,0,0,0,0
$GC,10288,1.14,305.9,119.4,13.6,405,10293,0.25,2.47,0.00,0.000,4,0.089,0.033,3590,2934,1658,0,0,0,0,0,0
$GC,10307,1.14,305.9,116.4,12.5,406,10316,0.00,2.55,0.00,0.000,6,0.000,0.033,3590,1389,1658,0,0,0,0,0,0
$GC,10577,1.14,311.4,90.6,9.7,431,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1389,1658,0,0,0,0,0,0
$GC,10841,1.22,311.4,66.1,10.2,456,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1389,1657,0,0,0,0,0,0
$GC,11110,1.35,322.8,38.9,9.5,481,11135,0.17,2.08,14.70,0.455,4,0.051,0.048,3657,168,1602,0,0,0,0,0,0
$GC,11141,1.28,322.8,34.3,12.4,483,11150,0.15,1.90,0.00,0.000,6,0.081,0.020,3620,1407,1602,0,0,0,0,0,0
$STATE,11403,end climb,SURFACE_DEPTH_REACHED
$STATE,11403,begin surface coast
$FINISH,0.7,1.010190
$STATE,11448,end surface coast,CONTROL_FINISHED_OK
$STATE,11448,begin surface
$SM_CCo,11472,33.65,0.439,0,0,1369,380.21
$SM_GC,1.75,0.00,0.00,33.65,0.000,0.000,0.439,413,1574,1369,-13.46,0.96,380.21
$IRIDIUM_FIX,2255.72,-15738.85,181001,171737
$TT8_MAMPS,0.027612
$HUMID,64.84
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,6
$24V_AH,23.5,41.589
$10V_AH,9.9,32.605
$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,34.400,141.775,400.350,33.650,0.000,27.511,32.908,185.872,1.500,0.000,16.503,1146.231,7628.171,482.146,2049.680,594.324,33.383,1350.637,0.000,2048.021,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,82.836,928.070,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.264,316.627,386.829,575.275,1010.981,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,41422,530
$CAP_FILE_SIZE,130559,0
$CFSIZE,260165632,159936512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240712,235051,2302.401,-15741.616,8,99.0,27,10.1