version: 66.06
glider: 148
mission: 11
dive: 321
start: 7 25 112 20 7 59
data:
$ID,148
$MISSION,11
$DIVE,321
$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,-925200.06
$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,121
$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
$GPS1,194815,2255.438,-15747.746,14,99.0,33,10.1
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.5
$GPS2,200707,2255.525,-15747.898,38,1.7,45,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,-0.257
$KALMAN_X,-98019.2,5.2,104.2,118159.8,-2035.5
$KALMAN_Y,38694.4,-65.9,-727.4,-23971.7,1658.4
$MHEAD_RNG_PITCHd_Wd,161.5,41607,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.12,0.000,2,0.000,0.000,412,1587,3331,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.1,-7.2,10,123,13.90,2.35,-3.03,0.000,4,0.155,0.048,3059,166,3517,0,0,0,0,0,0
$GC,151,-0.60,-146.0,26.6,-33.7,17,159,0.65,2.03,0.00,0.000,6,0.091,0.018,3205,1496,3518,0,0,0,0,0,0
$GC,430,-0.70,-146.0,54.3,-7.9,43,434,0.00,2.53,0.00,0.000,4,0.000,0.024,3205,3094,3519,0,0,0,0,0,0
$GC,517,-0.98,-146.0,60.9,-6.5,50,522,0.32,2.50,0.00,0.000,6,0.035,0.028,3094,1548,3519,0,0,0,0,0,0
$GC,782,-0.79,-146.0,97.7,-15.1,74,786,0.30,2.22,0.00,0.000,4,0.091,0.039,3162,170,3520,0,0,0,0,0,0
$GC,841,-0.86,-146.0,105.1,-10.4,79,845,0.00,2.10,0.00,0.000,6,0.000,0.018,3162,1563,3520,0,0,0,0,0,0
$GC,1110,-0.92,-146.0,130.5,-9.5,103,1114,0.00,2.38,0.00,0.000,4,0.000,0.023,3163,3092,3521,0,0,0,0,0,0
$GC,1159,-1.10,-146.0,135.1,-8.6,107,1164,0.25,2.45,0.00,0.000,6,0.035,0.028,3041,1558,3521,0,0,0,0,0,0
$GC,1420,-0.76,-146.0,182.0,-17.9,131,1428,0.62,2.25,0.00,0.000,4,0.087,0.039,3170,163,3521,0,0,0,0,0,0
$GC,1460,-0.92,-146.0,186.7,-8.9,135,1465,0.12,2.10,0.00,0.000,6,0.060,0.018,3097,1552,3521,0,0,0,0,0,0
$GC,1751,-0.81,-146.0,219.3,-11.7,150,1756,0.28,2.42,0.00,0.000,4,0.087,0.022,3160,3098,3521,0,0,0,0,0,0
$GC,1771,-0.81,-146.0,222.0,-10.5,150,1775,0.00,2.47,0.00,0.000,6,0.000,0.026,3160,1548,3522,0,0,0,0,0,0
$GC,2035,-0.95,-146.0,242.1,-7.6,157,2037,0.12,0.00,0.00,0.000,6,0.061,0.000,3090,1548,3522,0,0,0,0,0,0
$GC,2280,-0.87,-146.0,268.1,-10.8,163,2285,0.25,2.45,0.00,0.000,4,0.086,0.025,3150,3091,3522,0,0,0,0,0,0
$GC,2299,-0.87,-146.0,270.4,-10.0,163,2303,0.00,2.45,0.00,0.000,6,0.000,0.028,3150,1561,3522,0,0,0,0,0,0
$GC,2564,-0.99,-146.0,292.1,-7.9,170,2566,0.12,0.00,0.00,0.000,6,0.061,0.000,3081,1560,3522,0,0,0,0,0,0
$GC,2808,-0.91,-146.0,318.1,-10.8,176,2813,0.25,2.45,0.00,0.000,4,0.085,0.028,3141,3087,3521,0,0,0,0,0,0
$GC,2833,-1.01,-146.0,320.6,-8.1,176,2838,0.00,2.47,0.00,0.000,6,0.000,0.032,3142,1560,3521,0,0,0,0,0,0
$GC,3095,-1.14,-146.0,338.3,-7.0,183,3100,0.20,2.47,0.00,0.000,4,0.044,0.029,3057,3094,3519,0,0,0,0,0,0
$GC,3119,-1.14,-146.0,341.0,-10.8,183,3124,0.15,2.50,0.00,0.000,6,0.094,0.035,3092,1568,3519,0,0,0,0,0,0
$GC,3379,-1.14,-146.0,368.2,-10.7,190,3383,0.00,2.35,0.00,0.000,4,0.000,0.058,3092,163,3517,0,0,0,0,0,0
$GC,3413,-1.14,-146.0,371.8,-10.5,190,3417,0.00,2.15,0.00,0.000,6,0.000,0.024,3092,1543,3517,0,0,0,0,0,0
$GC,3663,-1.14,-146.0,395.4,-9.2,196,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1544,3515,0,0,0,0,0,0
$GC,3906,-1.14,-146.0,419.8,-10.1,202,3911,0.00,2.55,0.00,0.000,4,0.000,0.042,3092,3110,3514,0,0,0,0,0,0
$GC,3950,-1.20,-146.0,424.1,-9.6,203,3955,0.00,2.50,0.00,0.000,6,0.000,0.036,3092,1582,3513,0,0,0,0,0,0
$GC,4239,-1.20,-146.0,448.8,-8.3,210,4243,0.00,2.42,0.00,0.000,4,0.000,0.067,3092,171,3512,0,0,0,0,0,0
$GC,4295,-1.20,-146.0,453.9,-9.1,211,4299,0.00,2.22,0.00,0.000,6,0.000,0.030,3092,1580,3511,0,0,0,0,0,0
$GC,4574,-1.20,-146.0,479.0,-9.5,218,4578,0.00,2.50,0.00,0.000,4,0.000,0.038,3092,3119,3509,0,0,0,0,0,0
$GC,4623,-1.29,-146.0,483.9,-9.3,219,4628,0.15,2.55,0.00,0.000,6,0.054,0.040,3008,1585,3509,0,0,0,0,0,0
$GC,4908,-1.04,-146.0,525.5,-15.0,226,4915,0.47,2.45,0.00,0.000,4,0.089,0.073,3110,169,3507,0,0,0,0,0,0
$GC,4977,-1.12,-146.0,533.2,-10.1,227,4981,0.00,2.28,0.00,0.000,6,0.000,0.033,3110,1573,3507,0,0,0,0,0,0
$GC,5241,-1.19,-146.0,554.3,-7.8,234,5246,0.12,2.45,0.00,0.000,4,0.064,0.071,3052,170,3504,0,0,0,0,0,0
$GC,5309,-1.09,-146.0,561.3,-11.2,235,5314,0.22,2.28,0.00,0.000,6,0.091,0.042,3103,1564,3504,0,0,0,0,0,0
$GC,5573,-1.09,-146.0,581.1,-7.0,242,5578,0.00,2.60,0.00,0.000,4,0.000,0.049,3103,3125,3502,0,0,0,0,0,0
$GC,5608,-1.22,-146.0,583.4,-6.8,242,5614,0.12,2.62,0.00,0.000,6,0.061,0.046,3031,1572,3502,0,0,0,0,0,0
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5821,-0.31,0.0,603.9,10.1,247,5942,1.08,0.00,117.05,0.929,6,0.082,0.000,3270,1378,2920,0,0,0,0,0,0
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5945,1.27,146.0,606.3,0.0,250,6078,1.45,2.25,123.20,0.909,4,0.049,0.084,3616,172,2323,0,0,0,0,0,0
$GC,6139,0.96,146.0,595.6,12.9,254,6144,0.32,2.00,0.00,0.000,6,0.097,0.031,3549,1393,2319,0,0,0,0,0,0
$GC,6408,1.02,195.5,573.5,7.7,261,6457,0.00,2.22,42.67,0.877,4,0.000,0.077,3548,178,2122,0,0,0,0,0,0
$GC,6478,1.02,195.5,567.6,10.1,262,6481,0.00,1.98,0.00,0.000,6,0.000,0.030,3548,1378,2122,0,0,0,0,0,0
$GC,6743,1.06,226.6,544.4,8.6,269,6776,0.00,2.17,28.10,0.854,4,0.000,0.067,3548,168,1995,0,0,0,0,0,0
$GC,6855,1.06,230.2,533.5,9.8,271,6864,0.10,1.95,4.57,0.588,6,0.078,0.028,3592,1375,1980,0,0,0,0,0,0
$GC,7118,0.98,230.2,504.6,11.2,278,7123,0.17,2.12,0.00,0.000,4,0.100,0.064,3554,164,1976,0,0,0,0,0,0
$GC,7142,0.98,230.2,501.4,11.8,278,7146,0.00,1.95,0.00,0.000,6,0.000,0.034,3554,1383,1976,0,0,0,0,0,0
$GC,7407,0.99,235.9,475.4,9.7,285,7419,0.00,2.65,5.55,0.644,4,0.000,0.042,3554,2942,1957,0,0,0,0,0,0
$GC,7462,1.10,240.8,469.5,9.8,286,7475,0.10,2.67,6.12,0.663,6,0.074,0.044,3605,1367,1937,0,0,0,0,0,0
$GC,7747,0.99,240.8,431.3,14.1,293,7752,0.22,2.08,0.00,0.000,4,0.094,0.064,3557,165,1935,0,0,0,0,0,0
$GC,7856,0.99,240.8,416.6,13.1,295,7860,0.00,1.92,0.00,0.000,6,0.000,0.025,3557,1367,1935,0,0,0,0,0,0
$GC,8128,1.02,258.3,389.9,9.2,302,8153,0.00,2.65,17.17,0.762,4,0.000,0.041,3557,2952,1865,0,0,0,0,0,0
$GC,8183,1.18,287.2,385.5,8.7,303,8218,0.17,2.70,27.23,0.771,6,0.048,0.042,3629,1359,1747,0,0,0,0,0,0
$GC,8463,1.05,287.2,346.9,15.0,310,8465,0.28,0.00,0.00,0.000,6,0.091,0.000,3569,1360,1742,0,0,0,0,0,0
$GC,8707,1.05,287.2,314.5,13.1,316,8711,0.00,2.62,0.00,0.000,4,0.000,0.032,3570,2955,1741,0,0,0,0,0,0
$GC,8740,1.15,287.2,310.4,11.0,316,8744,0.00,2.67,0.00,0.000,6,0.000,0.040,3570,1364,1738,0,0,0,0,0,0
$GC,8990,1.18,308.1,286.7,9.0,322,9011,0.12,0.00,18.80,0.690,6,0.068,0.000,3617,1364,1663,0,0,0,0,0,0
$GC,9235,1.18,308.1,258.0,12.2,328,9239,0.00,2.60,0.00,0.000,4,0.000,0.031,3617,2957,1659,0,0,0,0,0,0
$GC,9318,1.18,308.1,247.6,11.7,329,9324,0.00,2.65,0.00,0.000,6,0.000,0.038,3617,1374,1656,0,0,0,0,0,0
$GC,9568,1.18,308.1,214.7,13.5,336,9571,0.00,2.03,0.00,0.000,4,0.000,0.055,3617,160,1656,0,0,0,0,0,0
$GC,9588,1.10,308.1,212.1,13.9,336,9593,0.17,1.90,0.00,0.000,6,0.099,0.021,3580,1410,1656,0,0,0,0,0,0
$GC,9856,1.19,325.9,184.2,9.2,354,9874,0.00,0.00,16.58,0.598,6,0.000,0.000,3580,1413,1591,0,0,0,0,0,0
$GC,10132,1.28,333.2,157.5,9.7,380,10143,0.15,0.00,7.95,0.517,6,0.054,0.000,3648,1413,1561,0,0,0,0,0,0
$GC,10399,1.18,333.2,121.0,14.2,405,10404,0.22,2.45,0.00,0.000,4,0.090,0.033,3598,2934,1559,0,0,0,0,0,0
$GC,10436,1.31,346.7,116.2,9.4,408,10458,0.10,2.58,13.10,0.523,6,0.074,0.041,3657,1366,1505,0,0,0,0,0,0
$GC,10718,1.21,346.7,74.7,15.9,434,10722,0.25,1.98,0.00,0.000,4,0.087,0.055,3598,170,1502,0,0,0,0,0,0
$GC,10755,1.21,346.7,69.3,14.0,437,10759,0.00,1.80,0.00,0.000,6,0.000,0.020,3598,1384,1503,0,0,0,0,0,0
$GC,11029,1.30,346.7,37.9,10.9,462,11034,0.10,2.42,0.00,0.000,4,0.076,0.025,3653,2920,1502,0,0,0,0,0,0
$GC,11061,1.30,346.7,32.9,13.0,464,11071,0.10,2.55,0.00,0.000,6,0.073,0.034,3626,1378,1500,0,0,0,0,0,0
$STATE,11300,end climb,SURFACE_DEPTH_REACHED
$STATE,11301,begin surface coast
$FINISH,0.7,1.023643
$STATE,11339,end surface coast,CONTROL_FINISHED_OK
$STATE,11339,begin surface
$SM_CCo,11364,20.92,0.436,0,0,1369,380.21
$SM_GC,1.65,0.00,0.00,20.92,0.000,0.000,0.436,414,1517,1369,-13.46,-0.65,380.21
$IRIDIUM_FIX,2248.70,-15745.85,191001,202052
$TT8_MAMPS,0.028379
$HUMID,66.81
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.40
$XPDR_PINGS,14
$24V_AH,23.5,42.478
$10V_AH,10.0,33.332
$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,36.725,136.600,428.100,20.925,0.000,119.713,148.527,477.559,3.500,0.000,46.847,1117.869,7822.484,482.965,1968.658,1121.616,33.379,1307.503,0.000,1934.432,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,83.603,928.837,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.034,289.686,361.641,541.829,951.990,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38400,507
$CAP_FILE_SIZE,142286,0
$CFSIZE,260165632,159514624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250712,231857,2254.895,-15748.215,12,2.2,31,10.1