version: 66.06
glider: 148
mission: 11
dive: 328
start: 7 26 112 20 6 52
data:
$ID,148
$MISSION,11
$DIVE,328
$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,-925502.75
$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,91
$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
$GPS1,195802,2248.073,-15755.817,37,2.0,43,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.9
$GPS2,200600,2248.070,-15755.861,72,1.9,72,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.071,-0.250
$KALMAN_X,-102869.0,67.2,-9.4,109465.0,-863.6
$KALMAN_Y,43312.7,-126.1,-716.1,-42355.0,1612.9
$MHEAD_RNG_PITCHd_Wd,185.7,22288,-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,-74.65,0.000,2,0.000,0.000,414,1550,3324,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.4,10,121,13.88,2.22,-3.17,0.000,4,0.155,0.044,3056,164,3517,0,0,0,0,0,0
$GC,300,-0.92,-146.0,59.4,-21.3,32,305,0.38,2.05,0.00,0.000,6,0.097,0.018,3137,1518,3519,0,0,0,0,0,0
$GC,564,-0.84,-146.0,95.2,-12.4,56,568,0.00,2.53,0.00,0.000,4,0.000,0.025,3137,3111,3520,0,0,0,0,0,0
$GC,636,-0.91,-146.0,104.2,-11.0,62,645,0.00,2.55,0.00,0.000,6,0.000,0.028,3137,1550,3520,0,0,0,0,0,0
$GC,903,-0.91,-146.0,136.2,-11.8,87,908,0.00,2.47,0.00,0.000,4,0.000,0.024,3137,3108,3521,0,0,0,0,0,0
$GC,931,-0.91,-146.0,139.9,-11.9,89,935,0.00,2.47,0.00,0.000,6,0.000,0.028,3137,1565,3521,0,0,0,0,0,0
$GC,1195,-0.91,-146.0,171.3,-11.5,113,1199,0.00,2.45,0.00,0.000,4,0.000,0.025,3137,3105,3522,0,0,0,0,0,0
$GC,1224,-0.91,-146.0,174.6,-12.1,115,1229,0.00,2.47,0.00,0.000,6,0.000,0.027,3137,1556,3522,0,0,0,0,0,0
$GC,1493,-0.91,-146.0,199.4,-8.1,139,1497,0.00,2.42,0.00,0.000,4,0.000,0.024,3137,3102,3523,0,0,0,0,0,0
$GC,1512,-0.91,-146.0,201.5,-7.8,139,1516,0.00,2.45,0.00,0.000,6,0.000,0.027,3137,1567,3523,0,0,0,0,0,0
$GC,1776,-0.91,-146.0,224.9,-9.8,146,1780,0.00,2.28,0.00,0.000,4,0.000,0.044,3137,163,3523,0,0,0,0,0,0
$GC,1814,-0.91,-146.0,229.3,-11.7,146,1820,0.00,2.12,0.00,0.000,6,0.000,0.018,3137,1574,3523,0,0,0,0,0,0
$GC,2064,-0.91,-146.0,252.4,-8.9,153,2068,0.00,2.38,0.00,0.000,4,0.000,0.025,3137,3096,3523,0,0,0,0,0,0
$GC,2088,-0.98,-146.0,254.5,-8.1,153,2092,0.00,2.45,0.00,0.000,6,0.000,0.028,3137,1564,3523,0,0,0,0,0,0
$GC,2349,-1.04,-146.0,275.5,-8.0,160,2354,0.10,2.47,0.00,0.000,4,0.073,0.026,3072,3099,3523,0,0,0,0,0,0
$GC,2410,-1.04,-146.0,282.5,-11.1,161,2416,0.17,2.47,0.00,0.000,6,0.091,0.030,3113,1574,3523,0,0,0,0,0,0
$GC,2680,-1.04,-146.0,311.2,-10.9,168,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1574,3523,0,0,0,0,0,0
$GC,2925,-1.04,-146.0,334.1,-9.0,174,2929,0.00,2.45,0.00,0.000,4,0.000,0.029,3113,3091,3522,0,0,0,0,0,0
$GC,2944,-1.04,-146.0,335.8,-8.5,174,2948,0.00,2.42,0.00,0.000,6,0.000,0.030,3113,1587,3522,0,0,0,0,0,0
$GC,3213,-1.04,-146.0,359.0,-9.0,181,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1587,3522,0,0,0,0,0,0
$GC,3458,-1.04,-146.0,380.4,-8.8,187,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1587,3521,0,0,0,0,0,0
$GC,3700,-1.04,-146.0,401.9,-8.8,193,3704,0.00,2.40,0.00,0.000,4,0.000,0.060,3113,170,3519,0,0,0,0,0,0
$GC,3732,-1.04,-146.0,405.2,-10.3,193,3736,0.00,2.17,0.00,0.000,6,0.000,0.025,3112,1559,3519,0,0,0,0,0,0
$GC,3987,-1.04,-146.0,428.0,-9.0,200,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1559,3517,0,0,0,0,0,0
$GC,4232,-1.04,-146.0,449.3,-8.8,206,4236,0.00,2.55,0.00,0.000,4,0.000,0.038,3113,3118,3515,0,0,0,0,0,0
$GC,4276,-1.17,-146.0,453.2,-8.7,207,4281,0.12,2.53,0.00,0.000,6,0.061,0.038,3044,1583,3515,0,0,0,0,0,0
$GC,4565,-1.02,-146.0,485.1,-11.0,214,4571,0.30,2.42,0.00,0.000,4,0.093,0.067,3114,168,3514,0,0,0,0,0,0
$GC,4632,-1.13,-146.0,491.5,-7.4,215,4636,0.00,2.25,0.00,0.000,6,0.000,0.031,3113,1566,3513,0,0,0,0,0,0
$GC,4898,-1.20,-146.0,511.1,-7.5,222,4903,0.15,2.58,0.00,0.000,4,0.055,0.043,3047,3118,3511,0,0,0,0,0,0
$GC,4927,-1.12,-146.0,514.1,-9.4,222,4933,0.22,2.55,0.00,0.000,6,0.087,0.042,3097,1578,3511,0,0,0,0,0,0
$GC,5183,-1.12,-146.0,536.1,-8.6,229,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1578,3509,0,0,0,0,0,0
$GC,5429,-1.12,-146.0,554.4,-7.2,235,5433,0.00,2.58,0.00,0.000,4,0.000,0.045,3097,3117,3508,0,0,0,0,0,0
$GC,5457,-1.19,-146.0,556.5,-6.7,235,5462,0.00,2.58,0.00,0.000,6,0.000,0.044,3098,1584,3508,0,0,0,0,0,0
$GC,5714,-1.19,-146.0,573.5,-6.9,242,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1584,3506,0,0,0,0,0,0
$GC,5958,-1.19,-146.0,592.5,-7.9,248,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1584,3505,0,0,0,0,0,0
$STATE,6075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6075,begin apogee
$GC,6081,-0.31,0.0,602.2,8.0,251,6203,0.75,0.00,117.88,0.933,6,0.077,0.000,3268,1378,2920,0,0,0,0,0,0
$STATE,6203,end apogee,CONTROL_FINISHED_OK
$STATE,6204,begin climb
$GC,6206,1.27,146.0,605.4,0.0,254,6338,1.48,2.25,123.65,0.913,4,0.051,0.084,3616,173,2323,0,0,0,0,0,0
$GC,6521,0.96,146.0,579.6,12.6,261,6526,0.32,1.98,0.00,0.000,6,0.098,0.028,3549,1388,2317,0,0,0,0,0,0
$GC,6804,1.04,206.8,557.7,7.2,268,6862,0.00,2.20,52.60,0.882,4,0.000,0.068,3548,167,2076,0,0,0,0,0,0
$GC,6904,1.04,206.8,548.9,10.1,270,6908,0.00,2.00,0.00,0.000,6,0.000,0.028,3548,1393,2075,0,0,0,0,0,0
$GC,7177,1.07,235.2,525.0,8.7,277,7210,0.10,2.72,25.58,0.846,4,0.078,0.049,3590,2951,1960,0,0,0,0,0,0
$GC,7229,1.07,235.2,519.3,11.7,278,7233,0.00,2.70,0.00,0.000,6,0.000,0.044,3590,1374,1956,0,0,0,0,0,0
$GC,7509,0.99,235.2,485.4,12.2,285,7513,0.15,2.12,0.00,0.000,4,0.102,0.069,3558,163,1954,0,0,0,0,0,0
$GC,7542,0.99,235.2,481.3,12.0,285,7545,0.00,1.95,0.00,0.000,6,0.000,0.025,3558,1383,1954,0,0,0,0,0,0
$GC,7797,1.00,237.9,455.7,9.9,292,7801,0.00,2.10,0.00,0.000,4,0.000,0.061,3557,163,1952,0,0,0,0,0,0
$GC,7815,1.00,237.9,453.4,11.0,292,7819,0.00,1.92,0.00,0.000,6,0.000,0.031,3557,1375,1952,0,0,0,0,0,0
$GC,8083,1.00,237.9,424.4,10.9,299,8087,0.00,2.58,0.00,0.000,4,0.000,0.037,3558,2944,1951,0,0,0,0,0,0
$GC,8131,1.11,237.9,419.3,10.6,300,8137,0.10,2.65,0.00,0.000,6,0.075,0.043,3606,1375,1948,0,0,0,0,0,0
$GC,8415,1.00,237.9,384.4,12.2,307,8419,0.22,2.08,0.00,0.000,4,0.094,0.062,3558,166,1948,0,0,0,0,0,0
$GC,8485,1.00,237.9,376.4,10.6,308,8488,0.00,1.92,0.00,0.000,6,0.000,0.024,3558,1389,1948,0,0,0,0,0,0
$GC,8750,1.03,260.9,352.1,8.9,315,8774,0.00,0.00,22.92,0.755,6,0.000,0.000,3558,1392,1856,0,0,0,0,0,0
$GC,8992,1.14,297.7,331.7,8.3,321,9035,0.12,2.62,33.47,0.745,4,0.065,0.035,3613,2937,1705,0,0,0,0,0,0
$GC,9091,1.14,297.7,320.2,12.4,323,9097,0.12,2.65,0.00,0.000,6,0.104,0.041,3586,1367,1700,0,0,0,0,0,0
$GC,9370,1.14,297.7,284.5,13.1,330,9374,0.00,2.58,0.00,0.000,4,0.000,0.031,3586,2942,1699,0,0,0,0,0,0
$GC,9409,1.23,297.7,279.8,12.1,330,9415,0.00,2.60,0.00,0.000,6,0.000,0.038,3586,1388,1697,0,0,0,0,0,0
$GC,9659,1.23,297.7,252.8,10.5,337,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1388,1697,0,0,0,0,0,0
$GC,9903,1.23,297.7,227.9,10.3,343,9907,0.00,2.53,0.00,0.000,4,0.000,0.028,3586,2949,1696,0,0,0,0,0,0
$GC,9936,1.34,302.3,224.5,9.8,343,9941,0.20,2.58,0.00,0.000,6,0.045,0.038,3649,1392,1694,0,0,0,0,0,0
$GC,10193,1.22,302.3,188.3,14.8,352,10198,0.20,0.00,0.00,0.000,6,0.097,0.000,3607,1392,1694,0,0,0,0,0,0
$GC,10456,1.22,302.3,156.3,12.1,377,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1392,1694,0,0,0,0,0,0
$GC,10715,1.22,302.3,124.2,12.9,401,10719,0.00,2.47,0.00,0.000,4,0.000,0.027,3608,2949,1694,0,0,0,0,0,0
$GC,10745,1.22,302.3,119.9,12.0,403,10750,0.00,2.53,0.00,0.000,6,0.000,0.033,3607,1394,1693,0,0,0,0,0,0
$GC,11009,1.24,317.1,92.1,9.3,428,11028,0.00,0.00,16.95,0.512,6,0.000,0.000,3607,1394,1626,0,0,0,0,0,0
$GC,11287,1.24,317.1,62.8,10.1,454,11290,0.00,2.03,0.00,0.000,4,0.000,0.048,3607,169,1625,0,0,0,0,0,0
$GC,11347,1.24,317.1,56.1,11.5,459,11351,0.00,1.92,0.00,0.000,6,0.000,0.019,3607,1436,1625,0,0,0,0,0,0
$GC,11621,1.32,317.1,28.6,10.2,485,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1439,1625,0,0,0,0,0,0
$STATE,11867,end climb,SURFACE_DEPTH_REACHED
$STATE,11867,begin surface coast
$FINISH,0.5,1.023518
$STATE,11912,end surface coast,CONTROL_FINISHED_OK
$STATE,11912,begin surface
$SM_CCo,11935,37.45,0.440,0,0,1369,380.21
$SM_GC,1.75,0.00,0.00,37.45,0.000,0.000,0.440,413,1603,1369,-13.47,1.78,380.21
$IRIDIUM_FIX,2241.69,-15754.99,201001,161614
$TT8_MAMPS,0.027612
$HUMID,64.05
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,7
$24V_AH,23.5,43.346
$10V_AH,10.0,34.096
$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,31.950,123.900,393.050,37.450,0.000,29.755,38.039,208.867,1.750,0.000,73.660,1127.003,8215.569,473.160,2019.750,611.551,33.379,1286.009,0.000,1961.945,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,83.603,932.672,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.466,302.401,375.241,551.867,969.769,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41656,531
$CAP_FILE_SIZE,122251,0
$CFSIZE,260165632,159100928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260712,232733,2247.012,-15756.571,7,2.1,26,10.1