version: 66.06
glider: 148
mission: 11
dive: 333
start: 7 27 112 13 49 6
data:
$ID,148
$MISSION,11
$DIVE,333
$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,590.92767
$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,-925602.44
$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,28
$R_STBD_OVSHOOT,83
$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
$GPS1,133125,2242.539,-15802.256,25,2.1,44,10.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.9
$GPS2,134812,2242.602,-15802.290,13,1.8,30,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,-0.115
$KALMAN_X,-104327.9,46.5,-69.5,100035.5,-198.0
$KALMAN_Y,43762.9,-42.1,465.7,-54187.3,-452.9
$MHEAD_RNG_PITCHd_Wd,233.6,7440,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.97,0.000,2,0.000,0.000,415,1556,3256,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-5.7,10,122,13.60,2.42,-4.50,0.000,4,0.147,0.033,3057,3095,3517,0,0,0,0,0,0
$GC,249,-1.01,-146.0,44.8,-19.6,28,258,0.25,2.55,0.00,0.000,6,0.080,0.030,3117,1536,3518,0,0,0,0,0,0
$GC,518,-0.86,-146.0,86.6,-12.9,53,523,0.15,0.00,0.00,0.000,6,0.114,0.000,3149,1536,3519,0,0,0,0,0,0
$GC,780,-0.86,-146.0,115.5,-10.5,78,784,0.00,2.45,0.00,0.000,4,0.000,0.023,3149,3081,3520,0,0,0,0,0,0
$GC,832,-0.97,-146.0,120.3,-8.4,82,841,0.05,2.50,0.00,0.000,6,0.042,0.028,3060,1545,3520,0,0,0,0,0,0
$GC,1094,-0.69,-146.0,163.4,-16.9,107,1097,0.57,0.00,0.00,0.000,6,0.088,0.000,3186,1545,3520,0,0,0,0,0,0
$GC,1351,-0.85,-146.0,183.7,-6.8,131,1356,0.12,2.45,0.00,0.000,4,0.061,0.023,3104,3082,3521,0,0,0,0,0,0
$GC,1387,-0.85,-146.0,187.4,-10.7,134,1392,0.22,2.47,0.00,0.000,6,0.087,0.027,3154,1542,3521,0,0,0,0,0,0
$GC,1659,-0.92,-146.0,212.6,-9.9,150,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1542,3521,0,0,0,0,0,0
$GC,1898,-1.00,-146.0,235.9,-9.2,156,1900,0.12,0.00,0.00,0.000,6,0.061,0.000,3079,1542,3521,0,0,0,0,0,0
$GC,2141,-0.88,-146.0,261.9,-10.9,162,2146,0.28,2.45,0.00,0.000,4,0.085,0.025,3144,3081,3521,0,0,0,0,0,0
$GC,2172,-0.99,-146.0,265.1,-9.8,162,2176,0.00,2.47,0.00,0.000,6,0.000,0.028,3144,1546,3521,0,0,0,0,0,0
$GC,2427,-1.10,-146.0,285.3,-7.8,169,2432,0.17,2.45,0.00,0.000,4,0.047,0.028,3054,3080,3521,0,0,0,0,0,0
$GC,2466,-0.99,-146.0,289.4,-10.9,169,2472,0.30,2.47,0.00,0.000,6,0.080,0.030,3123,1552,3521,0,0,0,0,0,0
$GC,2717,-0.99,-146.0,310.6,-8.5,176,2722,0.00,2.45,0.00,0.000,4,0.000,0.030,3123,3078,3521,0,0,0,0,0,0
$GC,2736,-0.99,-146.0,312.7,-9.9,176,2741,0.00,2.47,0.00,0.000,6,0.000,0.031,3123,1555,3521,0,0,0,0,0,0
$GC,3000,-0.99,-146.0,339.2,-9.9,183,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1555,3520,0,0,0,0,0,0
$GC,3246,-1.06,-146.0,358.8,-7.7,189,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1555,3518,0,0,0,0,0,0
$GC,3488,-1.13,-146.0,375.9,-6.8,195,3493,0.12,2.50,0.00,0.000,4,0.064,0.033,3062,3080,3516,0,0,0,0,0,0
$GC,3518,-1.07,-146.0,378.4,-8.1,195,3523,0.20,2.47,0.00,0.000,6,0.088,0.035,3108,1563,3516,0,0,0,0,0,0
$GC,3775,-1.07,-146.0,397.1,-7.4,202,3779,0.00,2.38,0.00,0.000,4,0.000,0.061,3108,164,3515,0,0,0,0,0,0
$GC,3818,-1.14,-146.0,400.9,-8.3,203,3822,0.00,2.12,0.00,0.000,6,0.000,0.025,3107,1524,3514,0,0,0,0,0,0
$GC,4107,-1.14,-146.0,426.5,-9.3,210,4111,0.00,2.60,0.00,0.000,4,0.000,0.037,3108,3120,3512,0,0,0,0,0,0
$GC,4168,-1.27,-146.0,432.3,-8.5,211,4174,0.17,2.58,0.00,0.000,6,0.048,0.038,3017,1565,3512,0,0,0,0,0,0
$GC,4440,-1.00,-146.0,469.6,-14.2,218,4447,0.47,2.38,0.00,0.000,4,0.090,0.066,3116,171,3510,0,0,0,0,0,0
$GC,4486,-1.12,-146.0,474.8,-9.4,219,4490,0.00,2.22,0.00,0.000,6,0.000,0.029,3116,1558,3510,0,0,0,0,0,0
$GC,4774,-1.20,-146.0,499.0,-8.4,226,4779,0.17,2.58,0.00,0.000,4,0.049,0.042,3045,3126,3508,0,0,0,0,0,0
$GC,4804,-1.11,-146.0,502.3,-11.8,226,4811,0.22,2.60,0.00,0.000,6,0.087,0.041,3098,1565,3508,0,0,0,0,0,0
$GC,5062,-1.11,-146.0,526.9,-9.2,233,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1565,3506,0,0,0,0,0,0
$GC,5306,-1.11,-146.0,547.1,-8.2,239,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1565,3504,0,0,0,0,0,0
$GC,5551,-1.11,-146.0,567.7,-8.5,245,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1565,3502,0,0,0,0,0,0
$GC,5793,-1.11,-146.0,588.6,-8.5,251,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1566,3501,0,0,0,0,0,0
$STATE,5953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5959,-0.31,0.0,603.2,9.0,255,6079,0.75,0.00,116.75,0.930,6,0.077,0.000,3269,1374,2920,0,0,0,0,0,0
$STATE,6080,end apogee,CONTROL_FINISHED_OK
$STATE,6080,begin climb
$GC,6084,1.27,146.0,608.2,0.0,258,6217,1.48,2.22,123.22,0.912,4,0.050,0.083,3618,162,2322,0,0,0,0,0,0
$GC,6404,0.97,146.0,585.1,12.5,265,6409,0.32,2.00,0.00,0.000,6,0.100,0.029,3550,1390,2316,0,0,0,0,0,0
$GC,6678,1.03,199.3,563.6,7.5,272,6730,0.00,2.22,45.97,0.878,4,0.000,0.070,3550,174,2106,0,0,0,0,0,0
$GC,6791,1.03,199.3,553.0,10.9,274,6795,0.00,1.95,0.00,0.000,6,0.000,0.028,3550,1376,2104,0,0,0,0,0,0
$GC,7055,1.06,218.6,529.0,9.1,281,7079,0.00,2.20,17.50,0.821,4,0.000,0.067,3549,170,2027,0,0,0,0,0,0
$GC,7095,1.07,231.5,525.2,9.4,281,7114,0.10,1.95,13.02,0.788,6,0.079,0.028,3594,1372,1975,0,0,0,0,0,0
$GC,7394,0.99,231.5,488.9,12.3,289,7400,0.17,2.67,0.00,0.000,4,0.097,0.044,3557,2961,1969,0,0,0,0,0,0
$GC,7411,0.99,231.5,487.0,11.6,289,7415,0.00,2.70,0.00,0.000,6,0.000,0.043,3557,1366,1967,0,0,0,0,0,0
$GC,7679,0.99,231.5,460.4,10.1,296,7683,0.00,2.08,0.00,0.000,4,0.000,0.065,3556,160,1967,0,0,0,0,0,0
$GC,7704,0.99,231.5,457.7,10.9,296,7708,0.00,1.95,0.00,0.000,6,0.000,0.025,3557,1374,1967,0,0,0,0,0,0
$GC,7969,0.99,233.0,431.1,9.9,303,7973,0.00,2.08,0.00,0.000,4,0.000,0.060,3556,164,1965,0,0,0,0,0,0
$GC,7997,0.99,233.0,428.0,11.0,303,8000,0.00,1.90,0.00,0.000,6,0.000,0.025,3557,1370,1966,0,0,0,0,0,0
$GC,8255,1.01,252.7,404.5,9.1,310,8280,0.00,2.65,18.88,0.774,4,0.000,0.036,3557,2938,1888,0,0,0,0,0,0
$GC,8324,1.17,275.4,397.9,9.0,311,8353,0.17,2.65,21.60,0.769,6,0.048,0.043,3631,1364,1798,0,0,0,0,0,0
$GC,8636,1.04,275.4,351.7,15.1,319,8641,0.28,2.05,0.00,0.000,4,0.090,0.060,3566,166,1793,0,0,0,0,0,0
$GC,8698,1.04,275.4,343.8,12.2,320,8702,0.00,1.90,0.00,0.000,6,0.000,0.024,3567,1369,1793,0,0,0,0,0,0
$GC,8976,1.04,280.1,316.4,9.8,327,8987,0.00,2.05,4.95,0.546,4,0.000,0.056,3567,167,1776,0,0,0,0,0,0
$GC,9007,1.04,280.1,313.0,11.0,327,9011,0.00,1.90,0.00,0.000,6,0.000,0.024,3567,1375,1776,0,0,0,0,0,0
$GC,9266,1.04,280.1,285.3,10.4,334,9270,0.00,2.55,0.00,0.000,4,0.000,0.031,3567,2945,1775,0,0,0,0,0,0
$GC,9310,1.22,311.1,281.3,8.6,335,9346,0.15,2.62,28.73,0.701,6,0.054,0.041,3629,1378,1651,0,0,0,0,0,0
$GC,9600,1.13,311.1,240.0,14.9,342,9605,0.20,2.58,0.00,0.000,4,0.097,0.029,3586,2949,1647,0,0,0,0,0,0
$GC,9634,1.24,311.1,235.0,12.0,342,9639,0.10,2.60,0.00,0.000,6,0.073,0.038,3633,1389,1644,0,0,0,0,0,0
$GC,9886,1.16,311.1,204.5,12.0,348,9890,0.20,2.08,0.00,0.000,4,0.093,0.052,3590,160,1644,0,0,0,0,0,0
$GC,9956,1.16,311.1,196.6,10.5,351,9965,0.00,1.92,0.00,0.000,6,0.000,0.021,3590,1402,1644,0,0,0,0,0,0
$GC,10223,1.16,311.1,170.9,10.1,376,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1403,1643,0,0,0,0,0,0
$GC,10488,1.16,311.1,142.9,10.4,401,10492,0.00,2.45,0.00,0.000,4,0.000,0.033,3590,2937,1643,0,0,0,0,0,0
$GC,10507,1.23,311.1,140.5,10.7,402,10515,0.00,2.58,0.00,0.000,6,0.000,0.033,3590,1383,1642,0,0,0,0,0,0
$GC,10776,1.23,311.1,113.5,11.2,427,10780,0.00,2.47,0.00,0.000,4,0.000,0.026,3590,2931,1642,0,0,0,0,0,0
$GC,10804,1.32,311.1,109.8,10.9,429,10809,0.15,2.53,0.00,0.000,6,0.053,0.034,3643,1387,1641,0,0,0,0,0,0
$GC,11069,1.25,311.1,72.5,13.3,453,11073,0.15,2.00,0.00,0.000,4,0.100,0.048,3611,164,1641,0,0,0,0,0,0
$GC,11085,1.25,311.1,69.7,12.6,454,11094,0.00,1.88,0.00,0.000,6,0.000,0.020,3611,1400,1641,0,0,0,0,0,0
$GC,11354,1.25,311.1,43.0,10.4,479,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1403,1641,0,0,0,0,0,0
$GC,11644,1.30,356.7,12.2,7.9,518,11689,0.00,2.08,39.65,0.455,4,0.000,0.053,3611,166,1464,0,0,0,0,0,0
$GC,11719,1.39,356.7,4.4,13.5,528,11727,0.10,1.85,0.00,0.000,6,0.028,0.020,3659,1397,1464,0,0,0,0,0,0
$STATE,11734,end climb,SURFACE_DEPTH_REACHED
$STATE,11734,begin surface coast
$FINISH,0.8,1.011861
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11797,168.75,0.433,4,0,511,590.93
$SM_GC,1.42,0.00,0.00,168.75,0.000,0.000,0.433,413,1564,511,-13.46,0.68,590.93
$IRIDIUM_FIX,2234.68,-15800.20,211001,131345
$TT8_MAMPS,0.027612
$HUMID,60.86
$INTERNAL_PRESSURE,9.48665
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.2,44.051
$10V_AH,9.9,34.650
$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,34.775,125.775,430.275,168.750,0.000,150.327,231.906,165.767,0.750,0.000,31.608,1133.093,8278.460,640.054,1980.866,959.346,33.375,1506.672,0.000,1970.173,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,82.836,930.371,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.159,311.214,389.496,551.589,967.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41605,536
$CAP_FILE_SIZE,132524,0
$CFSIZE,260165632,158769152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,270712,171006,2241.702,-15803.930,30,1.2,30,10.0