version: 66.06
glider: 148
mission: 11
dive: 230
start: 7 12 112 18 36 44
data:
$ID,148
$MISSION,11
$DIVE,230
$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,-923153.81
$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,26
$R_STBD_OVSHOOT,92
$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
$GPS1,182723,2244.179,-15801.747,23,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-73.8
$GPS2,183548,2244.254,-15801.829,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.130,-0.225
$KALMAN_X,33507.1,-7.2,126.1,-37155.6,-711.5
$KALMAN_Y,-7654.4,-84.7,-191.7,982.6,489.2
$MHEAD_RNG_PITCHd_Wd,199.8,9957,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,412,1547,3276,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-6.5,10,120,13.82,2.28,-4.18,0.000,4,0.153,0.049,3057,156,3518,0,0,0,0,0,0
$GC,291,-0.95,-146.0,53.6,-19.8,32,296,0.32,2.08,0.00,0.000,6,0.097,0.018,3128,1508,3519,0,0,0,0,0,0
$GC,554,-0.87,-146.0,89.7,-11.8,56,559,0.10,2.22,0.00,0.000,4,0.125,0.051,3150,158,3521,0,0,0,0,0,0
$GC,596,-0.87,-146.0,94.6,-12.2,59,600,0.00,2.10,0.00,0.000,6,0.000,0.018,3149,1541,3521,0,0,0,0,0,0
$GC,861,-0.87,-146.0,123.2,-10.8,84,865,0.00,2.45,0.00,0.000,4,0.000,0.024,3149,3101,3522,0,0,0,0,0,0
$GC,922,-1.04,-146.0,128.6,-8.8,89,927,0.15,2.55,0.00,0.000,6,0.051,0.028,3082,1524,3522,0,0,0,0,0,0
$GC,1183,-0.89,-146.0,163.3,-13.6,113,1188,0.25,2.50,0.00,0.000,4,0.101,0.022,3139,3110,3523,0,0,0,0,0,0
$GC,1201,-0.79,-146.0,165.5,-13.4,114,1206,0.12,2.53,0.00,0.000,6,0.103,0.027,3169,1537,3523,0,0,0,0,0,0
$GC,1463,-0.95,-146.0,187.4,-7.5,138,1468,0.15,2.45,0.00,0.000,4,0.054,0.023,3092,3107,3524,0,0,0,0,0,0
$GC,1484,-1.05,-146.0,188.9,-7.9,139,1489,0.00,2.53,0.00,0.000,6,0.000,0.028,3091,1536,3524,0,0,0,0,0,0
$GC,1749,-0.97,-146.0,218.1,-10.9,152,1753,0.17,2.22,0.00,0.000,4,0.096,0.044,3131,169,3524,0,0,0,0,0,0
$GC,1787,-1.04,-146.0,222.4,-10.6,152,1791,0.00,2.10,0.00,0.000,6,0.000,0.018,3131,1550,3524,0,0,0,0,0,0
$GC,2039,-1.13,-146.0,243.4,-8.0,158,2044,0.15,2.45,0.00,0.000,4,0.055,0.025,3062,3094,3524,0,0,0,0,0,0
$GC,2058,-1.13,-146.0,245.5,-9.3,158,2064,0.15,2.50,0.00,0.000,6,0.097,0.028,3097,1532,3524,0,0,0,0,0,0
$GC,2323,-1.13,-146.0,270.8,-9.6,165,2328,0.00,2.50,0.00,0.000,4,0.000,0.026,3096,3098,3524,0,0,0,0,0,0
$GC,2340,-1.13,-146.0,272.5,-10.2,165,2345,0.00,2.50,0.00,0.000,6,0.000,0.029,3096,1541,3524,0,0,0,0,0,0
$GC,2609,-1.13,-146.0,300.6,-10.5,172,2613,0.00,2.50,0.00,0.000,4,0.000,0.029,3096,3099,3524,0,0,0,0,0,0
$GC,2623,-1.13,-146.0,302.2,-10.3,172,2627,0.00,2.50,0.00,0.000,6,0.000,0.030,3096,1546,3524,0,0,0,0,0,0
$GC,2893,-1.13,-146.0,327.6,-9.3,179,2897,0.00,2.47,0.00,0.000,4,0.000,0.028,3096,3091,3524,0,0,0,0,0,0
$GC,2926,-1.22,-146.0,330.6,-8.4,179,2931,0.10,2.53,0.00,0.000,6,0.075,0.035,3031,1553,3524,0,0,0,0,0,0
$GC,3176,-1.05,-146.0,362.2,-13.4,185,3181,0.32,2.33,0.00,0.000,4,0.085,0.055,3108,166,3522,0,0,0,0,0,0
$GC,3207,-1.05,-146.0,365.9,-11.2,185,3211,0.00,2.15,0.00,0.000,6,0.000,0.021,3107,1539,3522,0,0,0,0,0,0
$GC,3462,-1.13,-146.0,389.6,-9.0,192,3466,0.00,2.55,0.00,0.000,4,0.000,0.034,3108,3117,3521,0,0,0,0,0,0
$GC,3482,-1.21,-146.0,391.3,-8.3,192,3488,0.12,2.58,0.00,0.000,6,0.063,0.036,3032,1552,3521,0,0,0,0,0,0
$GC,3748,-1.05,-146.0,422.6,-12.0,199,3753,0.32,2.35,0.00,0.000,4,0.088,0.061,3107,161,3519,0,0,0,0,0,0
$GC,3796,-1.16,-146.0,427.2,-7.5,200,3800,0.00,2.20,0.00,0.000,6,0.000,0.025,3106,1556,3519,0,0,0,0,0,0
$GC,4080,-1.24,-146.0,449.0,-8.0,207,4085,0.15,2.53,0.00,0.000,4,0.054,0.036,3043,3112,3517,0,0,0,0,0,0
$GC,4117,-1.24,-146.0,453.4,-11.8,207,4124,0.12,2.55,0.00,0.000,6,0.102,0.037,3072,1556,3517,0,0,0,0,0,0
$GC,4369,-1.24,-146.0,478.7,-10.0,214,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1556,3515,0,0,0,0,0,0
$GC,4611,-1.24,-146.0,501.8,-9.4,220,4615,0.00,2.38,0.00,0.000,4,0.000,0.071,3072,169,3513,0,0,0,0,0,0
$GC,4626,-1.24,-146.0,503.3,-9.5,220,4630,0.00,2.20,0.00,0.000,6,0.000,0.030,3072,1548,3513,0,0,0,0,0,0
$GC,4894,-1.24,-146.0,527.0,-8.8,227,4899,0.00,2.58,0.00,0.000,4,0.000,0.043,3072,3113,3512,0,0,0,0,0,0
$GC,4915,-1.24,-146.0,528.9,-9.1,227,4919,0.00,2.60,0.00,0.000,6,0.000,0.042,3072,1559,3511,0,0,0,0,0,0
$GC,5179,-1.24,-146.0,551.2,-8.5,234,5183,0.00,2.40,0.00,0.000,4,0.000,0.077,3072,168,3510,0,0,0,0,0,0
$GC,5200,-1.24,-146.0,553.1,-9.5,234,5204,0.00,2.25,0.00,0.000,6,0.000,0.033,3072,1555,3510,0,0,0,0,0,0
$GC,5464,-1.24,-146.0,577.0,-9.0,241,5468,0.00,2.58,0.00,0.000,4,0.000,0.048,3072,3121,3508,0,0,0,0,0,0
$GC,5487,-1.24,-146.0,579.3,-9.5,241,5492,0.00,2.62,0.00,0.000,6,0.000,0.044,3072,1559,3508,0,0,0,0,0,0
$STATE,5744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5744,begin apogee
$GC,5752,-0.31,0.0,603.1,9.3,248,5874,0.88,0.00,118.22,0.932,6,0.078,0.000,3270,1377,2920,0,0,0,0,0,0
$STATE,5874,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5877,1.27,146.0,607.7,0.0,251,6011,1.45,2.20,123.35,0.913,4,0.044,0.083,3620,164,2324,0,0,0,0,0,0
$GC,6188,0.91,146.0,581.4,14.6,258,6193,0.38,2.00,0.00,0.000,6,0.098,0.030,3541,1392,2317,0,0,0,0,0,0
$GC,6472,0.95,175.5,556.0,8.6,265,6504,0.00,2.17,25.35,0.857,4,0.000,0.070,3541,172,2203,0,0,0,0,0,0
$GC,6533,0.85,175.5,550.0,10.7,266,6537,0.00,1.98,0.00,0.000,6,0.000,0.030,3541,1380,2202,0,0,0,0,0,0
$GC,6808,0.86,187.9,524.5,9.4,273,6825,0.00,2.17,11.32,0.785,4,0.000,0.068,3541,178,2154,0,0,0,0,0,0
$GC,6886,0.79,187.9,516.0,10.9,274,6891,0.15,1.95,0.00,0.000,6,0.107,0.028,3509,1383,2153,0,0,0,0,0,0
$GC,7143,0.91,210.0,492.9,9.0,281,7172,0.12,2.67,20.67,0.828,4,0.065,0.040,3557,2959,2062,0,0,0,0,0,0
$GC,7182,0.91,210.0,488.5,10.8,281,7188,0.00,2.70,0.00,0.000,6,0.000,0.043,3557,1380,2060,0,0,0,0,0,0
$GC,7431,0.91,210.0,460.9,11.0,288,7435,0.00,2.10,0.00,0.000,4,0.000,0.067,3557,164,2058,0,0,0,0,0,0
$GC,7484,0.81,210.0,455.1,11.3,289,7489,0.12,1.98,0.00,0.000,6,0.081,0.025,3514,1386,2058,0,0,0,0,0,0
$GC,7767,0.96,249.0,431.6,8.2,296,7810,0.15,2.65,35.90,0.818,4,0.057,0.040,3573,2948,1903,0,0,0,0,0,0
$GC,7842,0.96,249.0,423.8,11.3,297,7847,0.12,2.67,0.00,0.000,6,0.104,0.042,3545,1375,1898,0,0,0,0,0,0
$GC,8102,0.97,252.2,397.7,9.9,304,8106,0.00,2.08,0.00,0.000,4,0.000,0.066,3546,165,1896,0,0,0,0,0,0
$GC,8126,0.97,252.2,395.0,11.0,304,8130,0.00,1.92,0.00,0.000,6,0.000,0.024,3546,1385,1896,0,0,0,0,0,0
$GC,8391,0.97,252.2,367.8,10.1,311,8395,0.00,2.53,0.00,0.000,4,0.000,0.035,3546,2944,1895,0,0,0,0,0,0
$GC,8410,1.04,261.7,365.7,9.6,311,8427,0.00,2.65,11.50,0.713,6,0.000,0.041,3546,1368,1852,0,0,0,0,0,0
$GC,8677,1.04,261.7,337.7,10.8,318,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3546,1368,1849,0,0,0,0,0,0
$GC,8923,1.04,263.1,312.6,9.9,324,8928,0.10,2.60,0.00,0.000,4,0.077,0.032,3592,2946,1847,0,0,0,0,0,0
$GC,9002,1.04,263.1,303.4,12.1,325,9007,0.12,2.65,0.00,0.000,6,0.107,0.041,3565,1366,1845,0,0,0,0,0,0
$GC,9252,1.04,263.1,275.3,11.4,331,9255,0.00,2.03,0.00,0.000,4,0.000,0.060,3565,166,1845,0,0,0,0,0,0
$GC,9281,1.04,263.1,271.8,13.1,331,9285,0.00,1.90,0.00,0.000,6,0.000,0.021,3565,1400,1845,0,0,0,0,0,0
$GC,9544,1.04,263.1,244.4,10.0,338,9548,0.00,2.08,0.00,0.000,4,0.000,0.053,3565,165,1845,0,0,0,0,0,0
$GC,9567,1.04,263.1,241.8,11.1,338,9570,0.00,1.85,0.00,0.000,6,0.000,0.021,3565,1368,1845,0,0,0,0,0,0
$GC,9832,1.08,292.2,218.2,8.7,345,9864,0.00,2.12,26.58,0.650,4,0.000,0.054,3565,161,1727,0,0,0,0,0,0
$GC,9923,1.08,292.2,208.0,13.0,347,9927,0.00,1.85,0.00,0.000,6,0.000,0.020,3565,1365,1727,0,0,0,0,0,0
$GC,10195,1.16,292.2,178.7,10.7,366,10200,0.12,2.53,0.00,0.000,4,0.063,0.028,3614,2937,1725,0,0,0,0,0,0
$GC,10244,1.16,292.2,172.7,12.4,370,10249,0.10,2.62,0.00,0.000,6,0.115,0.035,3592,1346,1722,0,0,0,0,0,0
$GC,10504,1.16,292.2,144.4,10.3,394,10508,0.00,2.55,0.00,0.000,4,0.000,0.031,3591,2937,1722,0,0,0,0,0,0
$GC,10530,1.17,300.2,141.7,9.6,396,10544,0.00,2.60,7.53,0.497,6,0.000,0.035,3591,1351,1696,0,0,0,0,0,0
$GC,10799,1.17,300.2,113.6,10.4,421,10804,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1351,1695,0,0,0,0,0,0
$GC,11060,1.17,300.2,87.6,10.6,446,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1351,1695,0,0,0,0,0,0
$GC,11320,1.17,300.2,61.3,10.4,470,11324,0.00,1.95,0.00,0.000,4,0.000,0.050,3592,158,1695,0,0,0,0,0,0
$GC,11530,1.17,300.2,39.5,10.0,489,11533,0.00,1.80,0.00,0.000,6,0.000,0.018,3591,1374,1695,0,0,0,0,0,0
$GC,11828,1.24,306.8,11.9,9.7,529,11844,0.00,0.00,8.10,0.397,6,0.000,0.000,3592,1376,1668,0,0,0,0,0,0
$STATE,11906,end climb,SURFACE_DEPTH_REACHED
$STATE,11906,begin surface coast
$FINISH,0.7,1.023569
$STATE,11954,end surface coast,CONTROL_FINISHED_OK
$STATE,11954,begin surface
$SM_CCo,11977,40.47,0.438,0,0,1369,380.21
$SM_GC,1.50,0.00,0.00,40.47,0.000,0.000,0.438,416,1577,1369,-13.45,1.05,380.21
$IRIDIUM_FIX,2239.35,-15800.20,061001,151559
$TT8_MAMPS,0.027612
$HUMID,61.69
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.5,31.239
$10V_AH,10.0,23.561
$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,33.175,154.800,388.525,40.475,0.000,29.867,40.182,298.481,1.000,0.000,14.926,1198.985,8037.977,471.972,2103.221,711.287,33.380,1351.036,0.000,2092.958,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,82.836,931.905,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.289,311.623,397.042,585.574,1028.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,41536,548
$CAP_FILE_SIZE,137461,0
$CFSIZE,260165632,164974592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120712,215824,2243.079,-15803.235,40,1.3,40,10.0