version: 66.06
glider: 148
mission: 11
dive: 323
start: 7 26 112 3 2 50
data:
$ID,148
$MISSION,11
$DIVE,323
$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,-925286.81
$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,67
$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
$GPS1,025128,2254.065,-15749.092,45,99.0,64,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-75.4
$GPS2,030156,2254.110,-15749.143,32,99.0,51,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,-0.187
$KALMAN_X,-99558.6,88.8,206.6,117389.0,-663.6
$KALMAN_Y,40656.3,-115.5,688.2,-29918.3,-226.0
$MHEAD_RNG_PITCHd_Wd,213.8,38277,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.38,0.000,2,0.000,0.000,409,1526,3289,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-6.1,10,122,13.88,2.50,-3.78,0.000,4,0.155,0.038,3056,3094,3517,0,0,0,0,0,0
$GC,255,-1.02,-146.0,47.0,-18.3,28,268,0.28,2.53,0.00,0.000,6,0.092,0.031,3116,1528,3518,0,0,0,0,0,0
$GC,527,-0.87,-146.0,89.9,-14.3,53,532,0.15,2.22,0.00,0.000,4,0.108,0.043,3148,163,3519,0,0,0,0,0,0
$GC,548,-0.76,-146.0,94.1,-14.1,54,558,0.08,2.10,0.00,0.000,6,0.095,0.018,3169,1546,3520,0,0,0,0,0,0
$GC,818,-0.76,-146.0,119.9,-9.3,79,822,0.00,2.40,0.00,0.000,4,0.000,0.024,3169,3084,3520,0,0,0,0,0,0
$GC,866,-0.94,-146.0,125.0,-9.3,83,871,0.15,2.50,0.00,0.000,6,0.051,0.028,3097,1534,3521,0,0,0,0,0,0
$GC,1127,-0.79,-146.0,160.7,-13.8,107,1133,0.30,2.47,0.00,0.000,4,0.088,0.024,3165,3087,3521,0,0,0,0,0,0
$GC,1164,-0.90,-146.0,164.6,-10.0,110,1169,0.00,2.45,0.00,0.000,6,0.000,0.027,3165,1549,3521,0,0,0,0,0,0
$GC,1429,-0.98,-146.0,189.5,-10.1,134,1434,0.17,2.45,0.00,0.000,4,0.048,0.024,3079,3082,3522,0,0,0,0,0,0
$GC,1449,-0.98,-146.0,192.5,-12.5,135,1458,0.17,2.47,0.00,0.000,6,0.071,0.028,3124,1559,3522,0,0,0,0,0,0
$GC,1721,-0.98,-146.0,223.5,-10.7,147,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1559,3522,0,0,0,0,0,0
$GC,1966,-0.98,-146.0,249.3,-10.8,153,1970,0.00,2.28,0.00,0.000,4,0.000,0.044,3124,172,3522,0,0,0,0,0,0
$GC,2003,-0.98,-146.0,253.6,-10.7,153,2009,0.00,2.10,0.00,0.000,6,0.000,0.018,3124,1549,3522,0,0,0,0,0,0
$GC,2253,-0.98,-146.0,275.9,-9.0,160,2258,0.00,2.45,0.00,0.000,4,0.000,0.026,3124,3100,3522,0,0,0,0,0,0
$GC,2304,-1.10,-146.0,280.0,-7.8,161,2309,0.10,2.47,0.00,0.000,6,0.074,0.030,3050,1565,3523,0,0,0,0,0,0
$GC,2587,-0.87,-146.0,320.5,-15.2,168,2592,0.47,2.30,0.00,0.000,4,0.088,0.049,3146,171,3522,0,0,0,0,0,0
$GC,2608,-0.87,-146.0,323.2,-12.4,168,2613,0.00,2.15,0.00,0.000,6,0.000,0.020,3146,1554,3523,0,0,0,0,0,0
$GC,2874,-1.01,-146.0,344.6,-7.9,175,2879,0.12,2.53,0.00,0.000,4,0.061,0.032,3076,3112,3522,0,0,0,0,0,0
$GC,2903,-1.01,-146.0,347.6,-10.4,175,2908,0.20,2.53,0.00,0.000,6,0.084,0.033,3122,1569,3522,0,0,0,0,0,0
$GC,3161,-1.07,-146.0,368.1,-7.8,182,3165,0.00,2.35,0.00,0.000,4,0.000,0.058,3122,166,3520,0,0,0,0,0,0
$GC,3189,-1.15,-146.0,370.8,-8.9,182,3194,0.15,2.20,0.00,0.000,6,0.054,0.026,3047,1566,3520,0,0,0,0,0,0
$GC,3445,-1.00,-146.0,401.2,-12.2,189,3450,0.30,2.40,0.00,0.000,4,0.087,0.058,3118,164,3518,0,0,0,0,0,0
$GC,3466,-1.00,-146.0,403.6,-11.5,189,3470,0.00,2.20,0.00,0.000,6,0.000,0.026,3118,1555,3518,0,0,0,0,0,0
$GC,3730,-1.07,-146.0,425.5,-8.1,196,3735,0.00,2.53,0.00,0.000,4,0.000,0.038,3118,3114,3517,0,0,0,0,0,0
$GC,3764,-1.22,-146.0,428.6,-8.9,196,3769,0.17,2.58,0.00,0.000,6,0.045,0.038,3027,1560,3517,0,0,0,0,0,0
$GC,4015,-1.00,-146.0,464.0,-15.1,202,4021,0.40,2.38,0.00,0.000,4,0.088,0.073,3116,171,3514,0,0,0,0,0,0
$GC,4054,-1.09,-146.0,469.0,-10.9,202,4060,0.00,2.25,0.00,0.000,6,0.000,0.031,3116,1569,3514,0,0,0,0,0,0
$GC,4306,-1.18,-146.0,488.9,-7.6,209,4311,0.15,2.58,0.00,0.000,4,0.054,0.042,3048,3122,3513,0,0,0,0,0,0
$GC,4345,-1.18,-146.0,492.6,-9.5,209,4351,0.15,2.60,0.00,0.000,6,0.099,0.041,3081,1565,3512,0,0,0,0,0,0
$GC,4595,-1.18,-146.0,513.1,-8.1,216,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1565,3511,0,0,0,0,0,0
$GC,4840,-1.18,-146.0,533.7,-8.6,222,4844,0.00,2.42,0.00,0.000,4,0.000,0.074,3081,170,3509,0,0,0,0,0,0
$GC,4877,-1.18,-146.0,537.8,-10.7,222,4883,0.00,2.28,0.00,0.000,6,0.000,0.035,3082,1569,3509,0,0,0,0,0,0
$GC,5127,-1.18,-146.0,561.4,-9.5,229,5131,0.00,2.58,0.00,0.000,4,0.000,0.048,3081,3124,3507,0,0,0,0,0,0
$GC,5166,-1.18,-146.0,565.1,-9.2,229,5172,0.00,2.58,0.00,0.000,6,0.000,0.050,3081,1580,3507,0,0,0,0,0,0
$GC,5416,-1.18,-146.0,587.1,-8.6,236,5421,0.00,2.47,0.00,0.000,4,0.000,0.077,3081,164,3505,0,0,0,0,0,0
$GC,5460,-1.18,-146.0,591.2,-9.9,237,5464,0.00,2.30,0.00,0.000,6,0.000,0.035,3082,1575,3504,0,0,0,0,0,0
$STATE,5581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5581,begin apogee
$GC,5588,-0.31,0.0,602.1,8.6,240,5709,0.82,0.00,117.65,0.929,6,0.079,0.000,3269,1368,2920,0,0,0,0,0,0
$STATE,5710,end apogee,CONTROL_FINISHED_OK
$STATE,5710,begin climb
$GC,5712,1.27,146.0,606.2,0.0,243,5844,1.48,2.20,123.22,0.910,4,0.050,0.077,3619,175,2323,0,0,0,0,0,0
$GC,6078,0.96,146.0,577.5,12.0,251,6083,0.32,1.98,0.00,0.000,6,0.100,0.029,3551,1384,2316,0,0,0,0,0,0
$GC,6356,1.01,188.3,554.3,8.0,258,6399,0.00,2.17,36.28,0.868,4,0.000,0.074,3551,177,2151,0,0,0,0,0,0
$GC,6444,0.94,188.3,546.2,10.7,259,6450,0.00,1.98,0.00,0.000,6,0.000,0.028,3551,1392,2149,0,0,0,0,0,0
$GC,6695,0.96,203.9,522.5,9.3,266,6715,0.00,2.20,14.52,0.808,4,0.000,0.067,3551,178,2088,0,0,0,0,0,0
$GC,6780,0.96,203.9,513.0,12.0,267,6786,0.00,1.92,0.00,0.000,6,0.000,0.027,3551,1374,2086,0,0,0,0,0,0
$GC,7031,0.96,203.9,487.2,10.4,274,7036,0.00,2.62,0.00,0.000,4,0.000,0.043,3551,2951,2083,0,0,0,0,0,0
$GC,7050,0.98,219.0,485.1,9.3,274,7073,0.00,2.67,14.20,0.793,6,0.000,0.044,3551,1374,2026,0,0,0,0,0,0
$GC,7317,1.00,233.1,459.5,9.3,281,7337,0.00,2.17,13.70,0.779,4,0.000,0.068,3551,167,1968,0,0,0,0,0,0
$GC,7348,1.02,252.0,456.6,9.1,281,7373,0.00,1.92,19.27,0.795,6,0.000,0.025,3551,1377,1891,0,0,0,0,0,0
$GC,7652,1.02,252.0,425.8,10.4,289,7657,0.00,2.58,0.00,0.000,4,0.000,0.042,3551,2940,1885,0,0,0,0,0,0
$GC,7683,1.11,258.5,422.8,9.7,289,7697,0.12,2.67,6.28,0.648,6,0.064,0.044,3610,1361,1865,0,0,0,0,0,0
$GC,7941,1.00,258.5,388.7,13.5,296,7943,0.25,0.00,0.00,0.000,6,0.094,0.000,3557,1362,1863,0,0,0,0,0,0
$GC,8184,1.00,258.5,361.3,10.9,302,8188,0.00,2.60,0.00,0.000,4,0.000,0.033,3557,2944,1862,0,0,0,0,0,0
$GC,8205,1.01,268.7,359.4,9.5,302,8221,0.00,2.65,10.48,0.702,6,0.000,0.041,3557,1366,1823,0,0,0,0,0,0
$GC,8472,1.14,314.5,337.1,7.9,309,8521,0.12,2.12,41.90,0.755,4,0.065,0.061,3610,168,1637,0,0,0,0,0,0
$GC,8550,1.02,314.5,327.6,14.3,310,8555,0.22,1.90,0.00,0.000,6,0.094,0.023,3563,1371,1635,0,0,0,0,0,0
$GC,8801,1.09,314.5,300.6,11.0,316,8805,0.00,2.58,0.00,0.000,4,0.000,0.032,3562,2949,1632,0,0,0,0,0,0
$GC,8839,1.26,314.5,296.2,11.5,316,8845,0.22,2.67,0.00,0.000,6,0.042,0.040,3630,1360,1629,0,0,0,0,0,0
$GC,9089,1.16,314.5,257.2,15.9,323,9094,0.17,2.60,0.00,0.000,4,0.101,0.031,3593,2951,1629,0,0,0,0,0,0
$GC,9113,1.16,314.5,254.0,11.6,323,9118,0.00,2.60,0.00,0.000,6,0.000,0.038,3593,1377,1628,0,0,0,0,0,0
$GC,9374,1.16,314.5,220.7,13.8,330,9377,0.00,2.03,0.00,0.000,4,0.000,0.054,3593,167,1627,0,0,0,0,0,0
$GC,9401,1.16,314.5,216.1,16.2,330,9405,0.00,1.90,0.00,0.000,6,0.000,0.021,3592,1385,1627,0,0,0,0,0,0
$GC,9660,1.17,326.1,184.5,9.5,345,9675,0.00,2.55,10.35,0.571,4,0.000,0.028,3593,2941,1589,0,0,0,0,0,0
$GC,9687,1.20,346.6,182.1,9.1,347,9713,0.00,2.60,19.23,0.602,6,0.000,0.034,3593,1374,1506,0,0,0,0,0,0
$GC,9968,1.20,346.6,152.9,10.6,374,9972,0.00,2.55,0.00,0.000,4,0.000,0.034,3592,2945,1503,0,0,0,0,0,0
$GC,10000,1.28,346.6,149.6,10.6,376,10006,0.10,2.58,0.00,0.000,6,0.074,0.035,3643,1383,1500,0,0,0,0,0,0
$GC,10264,1.19,346.6,110.3,14.1,401,10269,0.20,2.53,0.00,0.000,4,0.094,0.028,3599,2941,1500,0,0,0,0,0,0
$GC,10295,1.19,346.6,106.9,11.4,403,10299,0.00,2.55,0.00,0.000,6,0.000,0.034,3599,1388,1499,0,0,0,0,0,0
$GC,10562,1.19,346.6,74.7,13.6,427,10566,0.00,2.03,0.00,0.000,4,0.000,0.049,3599,161,1500,0,0,0,0,0,0
$GC,10623,1.26,346.6,65.2,13.7,432,10632,0.00,1.90,0.00,0.000,6,0.000,0.019,3599,1405,1499,0,0,0,0,0,0
$GC,10892,1.37,353.6,37.3,9.7,457,10907,0.15,2.42,6.57,0.402,4,0.054,0.025,3657,2928,1478,0,0,0,0,0,0
$GC,10965,1.37,353.6,27.3,14.2,464,10974,0.00,2.53,0.00,0.000,6,0.000,0.033,3657,1400,1476,0,0,0,0,0,0
$STATE,11133,end climb,SURFACE_DEPTH_REACHED
$STATE,11133,begin surface coast
$FINISH,0.8,1.023613
$STATE,11172,end surface coast,CONTROL_FINISHED_OK
$STATE,11172,begin surface
$SM_CCo,11195,23.27,0.442,0,0,1370,380.21
$SM_GC,2.04,0.00,0.00,23.27,0.000,0.000,0.442,413,1578,1370,-13.47,1.07,380.21
$IRIDIUM_FIX,2246.36,-15748.01,201001,030330
$TT8_MAMPS,0.027612
$HUMID,66.57
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.40
$XPDR_PINGS,11
$24V_AH,23.5,42.741
$10V_AH,10.0,33.547
$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,34.575,157.050,433.650,23.275,0.000,54.248,73.726,254.112,2.750,0.000,53.387,1090.843,7615.844,505.625,1905.765,725.603,33.374,1355.985,0.000,1857.792,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,77.467,928.837,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.591,277.904,351.229,496.549,872.976,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38375,496
$CAP_FILE_SIZE,135486,0
$CFSIZE,260165632,159391744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260712,061125,2252.444,-15750.989,32,2.3,51,10.1