version: 66.06
glider: 148
mission: 11
dive: 315
start: 7 24 112 23 59 43
data:
$ID,148
$MISSION,11
$DIVE,315
$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,-925053.31
$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,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
$GPS1,235051,2302.401,-15741.616,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.5
$GPS2,235851,2302.457,-15741.705,15,99.0,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.064,-0.252
$KALMAN_X,-89485.7,33.7,-409.4,120683.6,-1250.8
$KALMAN_Y,32922.2,-104.4,401.5,-6449.5,1037.1
$MHEAD_RNG_PITCHd_Wd,184.2,58114,-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,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-75.25,0.000,2,0.000,0.000,413,1575,3310,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-6.6,10,122,13.90,2.33,-3.50,0.000,4,0.156,0.046,3059,167,3517,0,0,0,0,0,0
$GC,194,-0.97,-146.0,34.2,-19.3,23,203,0.28,2.05,0.00,0.000,6,0.089,0.018,3123,1490,3518,0,0,0,0,0,0
$GC,462,-0.83,-146.0,72.7,-13.6,48,467,0.15,2.58,0.00,0.000,4,0.110,0.024,3156,3107,3520,0,0,0,0,0,0
$GC,494,-0.83,-146.0,77.8,-12.8,50,499,0.00,2.53,0.00,0.000,6,0.000,0.035,3156,1536,3520,0,0,0,0,0,0
$GC,759,-0.83,-146.0,105.5,-10.5,74,767,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1536,3521,0,0,0,0,0,0
$GC,1023,-0.83,-146.0,133.2,-10.8,99,1027,0.00,2.50,0.00,0.000,4,0.000,0.023,3155,3112,3522,0,0,0,0,0,0
$GC,1059,-0.93,-146.0,137.1,-9.3,102,1064,0.00,2.53,0.00,0.000,6,0.000,0.028,3156,1542,3522,0,0,0,0,0,0
$GC,1324,-0.93,-146.0,161.9,-8.8,126,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1542,3522,0,0,0,0,0,0
$GC,1588,-0.93,-146.0,188.7,-11.6,151,1592,0.00,2.47,0.00,0.000,4,0.000,0.024,3156,3107,3522,0,0,0,0,0,0
$GC,1619,-1.04,-146.0,192.3,-10.6,153,1628,0.15,2.55,0.00,0.000,6,0.021,0.028,3066,1544,3522,0,0,0,0,0,0
$GC,1881,-0.83,-146.0,228.2,-13.3,164,1886,0.38,2.22,0.00,0.000,4,0.088,0.041,3153,169,3523,0,0,0,0,0,0
$GC,1906,-0.83,-146.0,231.1,-10.6,164,1910,0.00,2.10,0.00,0.000,6,0.000,0.018,3153,1567,3523,0,0,0,0,0,0
$GC,2166,-0.93,-146.0,253.0,-8.4,171,2170,0.00,2.42,0.00,0.000,4,0.000,0.025,3153,3101,3523,0,0,0,0,0,0
$GC,2203,-1.13,-146.0,256.1,-8.6,171,2208,0.25,2.50,0.00,0.000,6,0.035,0.029,3068,1544,3523,0,0,0,0,0,0
$GC,2455,-0.98,-146.0,288.6,-13.3,177,2457,0.28,0.00,0.00,0.000,6,0.088,0.000,3128,1544,3523,0,0,0,0,0,0
$GC,2697,-0.98,-146.0,305.2,-5.7,183,2701,0.00,2.47,0.00,0.000,4,0.000,0.027,3128,3099,3523,0,0,0,0,0,0
$GC,2741,-1.14,-146.0,308.5,-7.9,184,2746,0.15,2.53,0.00,0.000,6,0.053,0.032,3047,1552,3523,0,0,0,0,0,0
$GC,3030,-0.97,-146.0,345.8,-13.1,191,3035,0.35,2.30,0.00,0.000,4,0.094,0.052,3126,167,3522,0,0,0,0,0,0
$GC,3106,-1.11,-146.0,353.2,-8.4,192,3111,0.12,2.10,0.00,0.000,6,0.062,0.021,3061,1531,3522,0,0,0,0,0,0
$GC,3363,-0.99,-146.0,380.8,-11.3,199,3365,0.28,0.00,0.00,0.000,6,0.087,0.000,3123,1534,3521,0,0,0,0,0,0
$GC,3605,-1.07,-146.0,400.1,-7.4,205,3610,0.00,2.58,0.00,0.000,4,0.000,0.035,3123,3109,3520,0,0,0,0,0,0
$GC,3634,-1.19,-146.0,401.9,-6.1,205,3640,0.17,2.58,0.00,0.000,6,0.047,0.035,3024,1537,3519,0,0,0,0,0,0
$GC,3892,-0.95,-146.0,431.5,-12.3,212,3897,0.50,2.33,0.00,0.000,4,0.089,0.063,3127,170,3518,0,0,0,0,0,0
$GC,3949,-1.10,-146.0,436.9,-7.6,213,3954,0.12,2.12,0.00,0.000,6,0.061,0.028,3063,1518,3517,0,0,0,0,0,0
$GC,4224,-1.02,-146.0,465.3,-10.8,220,4230,0.25,2.60,0.00,0.000,4,0.089,0.037,3123,3114,3516,0,0,0,0,0,0
$GC,4250,-1.09,-146.0,467.7,-8.4,220,4254,0.00,2.62,0.00,0.000,6,0.000,0.038,3123,1526,3516,0,0,0,0,0,0
$GC,4511,-1.20,-146.0,487.1,-7.4,227,4516,0.20,2.65,0.00,0.000,4,0.044,0.039,3042,3118,3514,0,0,0,0,0,0
$GC,4545,-1.13,-146.0,490.9,-11.4,227,4554,0.22,2.62,0.00,0.000,6,0.088,0.042,3093,1534,3513,0,0,0,0,0,0
$GC,4798,-1.13,-146.0,515.1,-9.6,234,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1534,3512,0,0,0,0,0,0
$GC,5044,-1.13,-146.0,538.5,-9.5,240,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1534,3511,0,0,0,0,0,0
$GC,5286,-1.13,-146.0,562.3,-9.7,246,5290,0.00,2.65,0.00,0.000,4,0.000,0.048,3093,3115,3509,0,0,0,0,0,0
$GC,5300,-1.13,-146.0,563.8,-9.3,246,5305,0.00,2.67,0.00,0.000,6,0.000,0.044,3093,1524,3509,0,0,0,0,0,0
$GC,5569,-1.13,-146.0,586.4,-8.3,253,5574,0.00,2.67,0.00,0.000,4,0.000,0.047,3093,3113,3507,0,0,0,0,0,0
$GC,5596,-1.13,-146.0,588.4,-8.7,253,5601,0.00,2.67,0.00,0.000,6,0.000,0.047,3093,1535,3507,0,0,0,0,0,0
$STATE,5731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5731,begin apogee
$GC,5737,-0.31,0.0,600.3,8.6,257,5859,0.77,0.00,118.03,0.924,6,0.080,0.000,3269,1373,2920,0,0,0,0,0,0
$STATE,5859,end apogee,CONTROL_FINISHED_OK
$STATE,5860,begin climb
$GC,5864,1.27,146.0,604.7,0.0,260,5995,1.48,2.20,122.93,0.906,4,0.051,0.084,3616,167,2324,0,0,0,0,0,0
$GC,6177,0.97,146.0,581.9,13.0,267,6182,0.30,1.95,0.00,0.000,6,0.100,0.029,3553,1378,2318,0,0,0,0,0,0
$GC,6455,1.00,168.3,557.1,9.0,274,6480,0.00,2.20,18.88,0.834,4,0.000,0.069,3553,171,2232,0,0,0,0,0,0
$GC,6569,0.92,168.3,544.4,12.1,276,6573,0.00,1.95,0.00,0.000,6,0.000,0.028,3553,1379,2231,0,0,0,0,0,0
$GC,6837,0.92,168.3,516.6,10.3,283,6840,0.00,2.15,0.00,0.000,4,0.000,0.067,3554,161,2227,0,0,0,0,0,0
$GC,6927,0.84,168.3,506.8,10.8,285,6932,0.15,1.95,0.00,0.000,6,0.105,0.026,3521,1383,2227,0,0,0,0,0,0
$GC,7218,1.03,250.2,486.5,6.2,292,7305,0.17,2.65,72.95,0.852,4,0.050,0.042,3585,2948,1897,0,0,0,0,0,0
$GC,7311,1.05,263.5,478.7,9.4,294,7331,0.00,2.67,13.18,0.763,6,0.000,0.044,3585,1374,1845,0,0,0,0,0,0
$GC,7595,1.05,263.5,449.3,10.4,301,7599,0.00,2.08,0.00,0.000,4,0.000,0.066,3585,160,1838,0,0,0,0,0,0
$GC,7615,0.98,263.5,447.0,11.7,301,7620,0.15,1.92,0.00,0.000,6,0.104,0.025,3555,1375,1838,0,0,0,0,0,0
$GC,7879,0.99,268.5,421.5,9.8,308,7887,0.00,0.00,4.43,0.554,6,0.000,0.000,3554,1376,1824,0,0,0,0,0,0
$GC,8171,1.01,289.2,394.6,9.0,315,8193,0.00,0.00,19.77,0.763,6,0.000,0.000,3554,1376,1739,0,0,0,0,0,0
$GC,8414,1.09,294.2,371.3,9.8,321,8427,0.10,2.62,5.47,0.591,4,0.077,0.035,3605,2942,1720,0,0,0,0,0,0
$GC,8455,1.09,294.2,366.4,11.6,321,8461,0.12,2.67,0.00,0.000,6,0.101,0.042,3578,1360,1717,0,0,0,0,0,0
$GC,8706,1.09,294.2,337.3,11.7,328,8711,0.00,2.60,0.00,0.000,4,0.000,0.034,3578,2951,1717,0,0,0,0,0,0
$GC,8725,1.09,294.2,334.8,11.5,328,8730,0.00,2.65,0.00,0.000,6,0.000,0.039,3578,1369,1715,0,0,0,0,0,0
$GC,8989,1.09,294.2,301.6,13.0,335,8992,0.00,2.05,0.00,0.000,4,0.000,0.061,3578,163,1715,0,0,0,0,0,0
$GC,9045,1.09,294.2,293.5,14.0,336,9049,0.00,1.92,0.00,0.000,6,0.000,0.022,3578,1379,1715,0,0,0,0,0,0
$GC,9328,1.12,312.9,264.0,9.1,343,9352,0.00,2.60,17.52,0.670,4,0.000,0.031,3578,2939,1643,0,0,0,0,0,0
$GC,9430,1.33,371.3,256.1,7.3,345,9492,0.22,2.62,53.42,0.685,6,0.041,0.038,3666,1371,1405,0,0,0,0,0,0
$GC,9753,1.16,371.3,200.5,20.3,353,9758,0.30,2.00,0.00,0.000,4,0.089,0.051,3597,168,1399,0,0,0,0,0,0
$GC,9779,1.10,371.3,195.6,18.3,353,9782,0.00,1.88,0.00,0.000,6,0.000,0.025,3597,1400,1399,0,0,0,0,0,0
$GC,10044,1.10,371.3,158.0,12.1,377,10048,0.00,2.45,0.00,0.000,4,0.000,0.028,3597,2934,1397,0,0,0,0,0,0
$GC,10081,1.22,371.3,154.0,10.6,380,10086,0.00,2.55,0.00,0.000,6,0.000,0.035,3597,1379,1393,0,0,0,0,0,0
$GC,10344,1.22,371.3,120.3,16.1,404,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1378,1393,0,0,0,0,0,0
$GC,10598,1.28,371.3,80.9,13.9,428,10603,0.10,2.47,0.00,0.000,4,0.076,0.027,3650,2938,1393,0,0,0,0,0,0
$GC,10619,1.28,371.3,77.4,15.0,429,10629,0.10,2.58,0.00,0.000,6,0.072,0.034,3621,1384,1393,0,0,0,0,0,0
$GC,10885,1.28,371.3,43.1,13.1,454,10889,0.00,2.00,0.00,0.000,4,0.000,0.048,3621,160,1393,0,0,0,0,0,0
$GC,10922,1.28,371.3,38.3,13.6,457,10926,0.00,1.88,0.00,0.000,6,0.000,0.019,3621,1412,1393,0,0,0,0,0,0
$STATE,11191,end climb,SURFACE_DEPTH_REACHED
$STATE,11191,begin surface coast
$FINISH,0.7,1.011343
$STATE,11224,end surface coast,CONTROL_FINISHED_OK
$STATE,11224,begin surface
$SM_CCo,11249,5.05,0.348,0,0,1370,380.21
$SM_GC,1.49,0.00,0.00,5.05,0.000,0.000,0.348,411,1536,1370,-13.47,-0.11,380.21
$IRIDIUM_FIX,2253.38,-15739.74,181001,202020
$TT8_MAMPS,0.027612
$HUMID,67.75
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.00
$XPDR_PINGS,5
$24V_AH,23.5,41.713
$10V_AH,10.0,32.707
$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,34.700,128.600,446.575,5.050,0.000,32.823,79.528,200.655,1.250,0.000,36.697,1089.402,7581.226,481.898,1940.821,635.500,33.380,1317.363,0.000,1909.175,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,83.603,924.235,348.218,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.266,280.722,353.239,514.498,904.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38311,501
$CAP_FILE_SIZE,125439,0
$CFSIZE,260165632,159883264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250712,030837,2301.289,-15742.469,39,1.9,39,10.1