version: 66.06
glider: 148
mission: 11
dive: 216
start: 7 10 112 18 31 13
data:
$ID,148
$MISSION,11
$DIVE,216
$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,-922822.25
$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,99
$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
$GPS1,182335,2257.948,-15744.999,26,1.1,26,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.0
$GPS2,183019,2257.984,-15745.068,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.079,-0.247
$KALMAN_X,40169.4,264.9,343.5,-15694.2,-1409.9
$KALMAN_Y,-18768.8,-42.2,-382.8,37670.9,828.0
$MHEAD_RNG_PITCHd_Wd,187.7,48249,-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,-74.00,0.000,2,0.000,0.000,416,1553,3264,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-5.5,10,121,13.75,2.38,-4.38,0.000,4,0.152,0.031,3058,3074,3516,0,0,0,0,0,0
$GC,238,-1.05,-146.0,39.5,-16.9,28,243,0.25,2.47,0.00,0.000,6,0.097,0.031,3113,1538,3518,0,0,0,0,0,0
$GC,507,-0.91,-146.0,80.0,-15.0,52,516,0.12,0.00,0.00,0.000,6,0.123,0.000,3138,1538,3519,0,0,0,0,0,0
$GC,773,-0.91,-146.0,113.9,-11.8,77,777,0.00,2.42,0.00,0.000,4,0.000,0.024,3138,3067,3520,0,0,0,0,0,0
$GC,817,-0.97,-146.0,119.2,-10.0,80,826,0.00,2.47,0.00,0.000,6,0.000,0.028,3138,1545,3520,0,0,0,0,0,0
$GC,1083,-0.97,-146.0,144.9,-8.6,105,1088,0.00,2.40,0.00,0.000,4,0.000,0.024,3138,3066,3521,0,0,0,0,0,0
$GC,1113,-0.97,-146.0,147.8,-9.6,107,1117,0.00,2.45,0.00,0.000,6,0.000,0.035,3138,1542,3521,0,0,0,0,0,0
$GC,1376,-0.97,-146.0,172.3,-8.8,131,1380,0.00,2.40,0.00,0.000,4,0.000,0.024,3138,3075,3522,0,0,0,0,0,0
$GC,1435,-1.11,-146.0,177.3,-8.7,136,1440,0.17,2.42,0.00,0.000,6,0.046,0.028,3036,1555,3522,0,0,0,0,0,0
$GC,1714,-0.81,-146.0,220.4,-15.9,153,1721,0.62,2.25,0.00,0.000,4,0.090,0.040,3157,161,3523,0,0,0,0,0,0
$GC,1745,-0.92,-146.0,224.4,-9.7,153,1749,0.00,2.08,0.00,0.000,6,0.000,0.018,3157,1538,3523,0,0,0,0,0,0
$GC,2002,-1.10,-146.0,241.7,-6.8,160,2007,0.22,2.47,0.00,0.000,4,0.040,0.023,3060,3104,3523,0,0,0,0,0,0
$GC,2067,-1.10,-146.0,249.0,-10.5,161,2072,0.17,2.50,0.00,0.000,6,0.093,0.031,3100,1560,3523,0,0,0,0,0,0
$GC,2333,-1.10,-146.0,275.8,-10.0,168,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1560,3523,0,0,0,0,0,0
$GC,2576,-1.10,-146.0,298.7,-9.3,174,2580,0.00,2.47,0.00,0.000,4,0.000,0.028,3100,3105,3523,0,0,0,0,0,0
$GC,2595,-1.10,-146.0,300.7,-9.8,174,2599,0.00,2.50,0.00,0.000,6,0.000,0.031,3100,1569,3523,0,0,0,0,0,0
$GC,2860,-1.10,-146.0,325.3,-9.3,181,2864,0.00,2.33,0.00,0.000,4,0.000,0.059,3100,163,3523,0,0,0,0,0,0
$GC,2888,-1.10,-146.0,328.3,-9.2,181,2893,0.00,2.15,0.00,0.000,6,0.000,0.021,3100,1556,3523,0,0,0,0,0,0
$GC,3143,-1.10,-146.0,349.8,-8.4,188,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1558,3523,0,0,0,0,0,0
$GC,3387,-1.10,-146.0,370.5,-8.6,194,3391,0.00,2.47,0.00,0.000,4,0.000,0.032,3100,3107,3521,0,0,0,0,0,0
$GC,3417,-1.20,-146.0,373.1,-8.1,194,3421,0.00,2.55,0.00,0.000,6,0.000,0.036,3100,1561,3521,0,0,0,0,0,0
$GC,3672,-1.20,-146.0,397.2,-9.8,201,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1560,3520,0,0,0,0,0,0
$GC,3916,-1.26,-146.0,420.9,-9.6,207,3921,0.15,2.53,0.00,0.000,4,0.054,0.036,3031,3105,3518,0,0,0,0,0,0
$GC,3942,-1.18,-146.0,423.5,-10.8,207,3947,0.22,2.53,0.00,0.000,6,0.088,0.035,3082,1563,3518,0,0,0,0,0,0
$GC,4202,-1.18,-146.0,445.2,-7.9,214,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1563,3516,0,0,0,0,0,0
$GC,4447,-1.18,-146.0,466.1,-8.7,220,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1563,3514,0,0,0,0,0,0
$GC,4689,-1.18,-146.0,489.3,-9.7,226,4693,0.00,2.40,0.00,0.000,4,0.000,0.072,3082,168,3513,0,0,0,0,0,0
$GC,4712,-1.18,-146.0,491.9,-10.6,226,4716,0.00,2.22,0.00,0.000,6,0.000,0.030,3082,1550,3513,0,0,0,0,0,0
$GC,4972,-1.18,-146.0,516.3,-9.2,233,4976,0.00,2.60,0.00,0.000,4,0.000,0.044,3082,3124,3511,0,0,0,0,0,0
$GC,4997,-1.18,-146.0,518.6,-9.6,233,5001,0.00,2.60,0.00,0.000,6,0.000,0.041,3082,1571,3511,0,0,0,0,0,0
$GC,5256,-1.18,-146.0,542.3,-9.2,240,5261,0.00,2.45,0.00,0.000,4,0.000,0.077,3082,170,3509,0,0,0,0,0,0
$GC,5275,-1.18,-146.0,544.4,-10.7,240,5279,0.00,2.28,0.00,0.000,6,0.000,0.034,3082,1573,3510,0,0,0,0,0,0
$GC,5540,-1.18,-146.0,570.4,-10.1,247,5545,0.00,2.55,0.00,0.000,4,0.000,0.048,3082,3119,3508,0,0,0,0,0,0
$GC,5569,-1.26,-146.0,573.5,-10.6,247,5573,0.00,2.60,0.00,0.000,6,0.000,0.045,3082,1562,3508,0,0,0,0,0,0
$GC,5824,-1.26,-146.0,598.6,-9.9,254,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1562,3506,0,0,0,0,0,0
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5869,-0.31,0.0,602.3,9.8,255,5991,0.82,0.00,118.12,0.935,6,0.081,0.000,3269,1369,2920,0,0,0,0,0,0
$STATE,5991,end apogee,CONTROL_FINISHED_OK
$STATE,5992,begin climb
$GC,5994,1.27,146.0,607.8,0.0,258,6126,1.45,2.20,123.75,0.917,4,0.047,0.084,3617,175,2324,0,0,0,0,0,0
$GC,6303,0.92,146.0,583.8,13.4,265,6308,0.35,1.98,0.00,0.000,6,0.100,0.030,3543,1381,2317,0,0,0,0,0,0
$GC,6592,0.96,174.8,557.7,8.7,272,6622,0.00,2.15,24.50,0.859,4,0.000,0.069,3543,174,2206,0,0,0,0,0,0
$GC,6637,0.88,181.7,553.5,9.7,273,6649,0.00,2.00,7.62,0.726,6,0.000,0.029,3543,1390,2179,0,0,0,0,0,0
$GC,6924,0.90,201.7,527.5,9.1,280,6948,0.00,2.22,18.70,0.835,4,0.000,0.067,3542,168,2096,0,0,0,0,0,0
$GC,7011,0.90,201.7,518.3,11.6,281,7016,0.00,1.98,0.00,0.000,6,0.000,0.029,3543,1382,2095,0,0,0,0,0,0
$GC,7262,0.92,212.4,494.4,9.5,288,7278,0.00,2.20,10.25,0.769,4,0.000,0.067,3543,165,2053,0,0,0,0,0,0
$GC,7316,0.92,212.4,488.5,11.9,289,7320,0.00,1.95,0.00,0.000,6,0.000,0.027,3543,1376,2053,0,0,0,0,0,0
$GC,7598,0.92,216.2,460.5,9.8,296,7604,0.00,0.00,4.38,0.575,6,0.000,0.000,3543,1378,2038,0,0,0,0,0,0
$GC,7842,0.92,216.2,436.1,10.1,302,7846,0.00,2.08,0.00,0.000,4,0.000,0.061,3543,170,2036,0,0,0,0,0,0
$GC,7911,0.92,216.2,428.1,10.9,303,7915,0.00,1.90,0.00,0.000,6,0.000,0.025,3542,1375,2036,0,0,0,0,0,0
$GC,8175,0.95,234.7,403.5,9.1,310,8195,0.00,0.00,18.10,0.778,6,0.000,0.000,3543,1378,1963,0,0,0,0,0,0
$GC,8420,0.97,257.3,381.6,9.0,316,8444,0.00,0.00,21.92,0.771,6,0.000,0.000,3542,1378,1871,0,0,0,0,0,0
$GC,8664,0.98,264.9,358.4,9.7,322,8677,0.00,2.60,7.70,0.657,4,0.000,0.035,3543,2955,1840,0,0,0,0,0,0
$GC,8692,1.08,285.5,355.5,9.0,322,8718,0.15,2.65,19.75,0.741,6,0.054,0.039,3606,1374,1756,0,0,0,0,0,0
$GC,8992,0.98,285.5,315.7,13.4,330,8996,0.25,2.05,0.00,0.000,4,0.091,0.058,3548,163,1751,0,0,0,0,0,0
$GC,9015,0.98,285.5,312.6,12.4,330,9019,0.00,1.92,0.00,0.000,6,0.000,0.023,3548,1383,1751,0,0,0,0,0,0
$GC,9281,1.08,302.3,287.9,9.2,337,9302,0.12,2.60,15.82,0.683,4,0.066,0.034,3600,2944,1686,0,0,0,0,0,0
$GC,9331,1.08,302.3,281.9,12.8,338,9336,0.12,2.67,0.00,0.000,6,0.102,0.041,3572,1367,1683,0,0,0,0,0,0
$GC,9611,1.08,302.3,250.1,11.8,345,9614,0.00,2.05,0.00,0.000,4,0.000,0.058,3572,163,1682,0,0,0,0,0,0
$GC,9638,1.08,302.3,246.5,12.3,345,9642,0.00,1.88,0.00,0.000,6,0.000,0.021,3572,1385,1682,0,0,0,0,0,0
$GC,9901,1.08,302.3,217.9,10.2,352,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1387,1681,0,0,0,0,0,0
$GC,10152,1.14,302.3,191.2,11.4,361,10156,0.00,2.50,0.00,0.000,4,0.000,0.028,3572,2941,1681,0,0,0,0,0,0
$GC,10197,1.30,302.3,185.7,10.0,365,10206,0.20,2.62,0.00,0.000,6,0.044,0.037,3635,1355,1678,0,0,0,0,0,0
$GC,10463,1.19,302.3,147.4,14.5,390,10465,0.17,0.00,0.00,0.000,6,0.101,0.000,3598,1355,1678,0,0,0,0,0,0
$GC,10717,1.19,302.3,115.8,12.6,414,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1355,1678,0,0,0,0,0,0
$GC,10972,1.19,302.3,85.2,11.8,438,10976,0.00,2.50,0.00,0.000,4,0.000,0.027,3598,2939,1678,0,0,0,0,0,0
$GC,11002,1.26,304.1,81.9,9.9,440,11011,0.00,2.60,0.00,0.000,6,0.000,0.041,3598,1365,1678,0,0,0,0,0,0
$GC,11269,1.30,336.4,56.5,8.5,465,11307,0.10,2.05,30.33,0.497,4,0.076,0.048,3645,164,1546,0,0,0,0,0,0
$GC,11426,1.21,336.4,34.4,15.4,478,11435,0.15,1.85,0.00,0.000,6,0.078,0.019,3608,1368,1545,0,0,0,0,0,0
$STATE,11695,end climb,SURFACE_DEPTH_REACHED
$STATE,11695,begin surface coast
$FINISH,0.6,1.010555
$STATE,11740,end surface coast,CONTROL_FINISHED_OK
$STATE,11740,begin surface
$SM_CCo,11763,27.75,0.442,0,0,1368,380.21
$SM_GC,1.45,0.00,0.00,27.75,0.000,0.000,0.442,414,1567,1368,-13.46,0.76,380.21
$IRIDIUM_FIX,2253.38,-15744.96,041001,151544
$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.00
$XPDR_PINGS,6
$24V_AH,23.5,29.548
$10V_AH,9.9,22.053
$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,32.500,121.675,420.950,27.750,0.000,24.297,36.676,199.662,1.500,0.000,14.318,1116.495,8105.125,482.337,1900.408,591.110,33.376,1289.144,0.000,1900.792,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,83.603,934.973,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.347,297.254,370.894,544.999,957.511,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41595,526
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