version: 66.06
glider: 148
mission: 11
dive: 329
start: 7 26 112 23 41 7
data:
$ID,148
$MISSION,11
$DIVE,329
$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,-925516.44
$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,27
$R_STBD_OVSHOOT,54
$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
$GPS1,232733,2247.012,-15756.571,7,2.1,26,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-75.1
$GPS2,234013,2247.085,-15756.645,11,1.1,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.157,-0.207
$KALMAN_X,-103158.1,26.8,-171.3,108618.6,-104.5
$KALMAN_Y,43575.1,-127.7,210.7,-45355.9,960.7
$MHEAD_RNG_PITCHd_Wd,207.1,20108,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.03,0.000,2,0.000,0.000,412,1604,3062,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.0,-4.3,9,120,13.75,2.42,-8.65,0.000,4,0.150,0.059,3057,175,3519,0,0,0,0,0,0
$GC,224,-0.91,-146.0,35.7,-21.3,27,229,0.38,2.08,0.00,0.000,6,0.098,0.018,3138,1548,3520,0,0,0,0,0,0
$GC,492,-0.81,-146.0,75.3,-11.8,51,497,0.10,2.47,0.00,0.000,4,0.127,0.023,3160,3105,3521,0,0,0,0,0,0
$GC,514,-0.81,-146.0,78.4,-12.4,52,519,0.00,2.55,0.00,0.000,6,0.000,0.035,3160,1529,3521,0,0,0,0,0,0
$GC,777,-0.81,-146.0,108.6,-11.6,76,781,0.00,2.50,0.00,0.000,4,0.000,0.023,3160,3102,3522,0,0,0,0,0,0
$GC,805,-0.81,-146.0,111.7,-11.9,78,809,0.00,2.53,0.00,0.000,6,0.000,0.027,3159,1525,3522,0,0,0,0,0,0
$GC,1069,-0.81,-146.0,139.0,-9.5,102,1073,0.00,2.47,0.00,0.000,4,0.000,0.023,3160,3101,3522,0,0,0,0,0,0
$GC,1110,-0.95,-146.0,142.7,-7.4,105,1117,0.12,2.50,0.00,0.000,6,0.060,0.028,3087,1543,3523,0,0,0,0,0,0
$GC,1378,-0.78,-146.0,179.1,-14.8,130,1383,0.35,2.22,0.00,0.000,4,0.087,0.040,3168,166,3523,0,0,0,0,0,0
$GC,1408,-0.87,-146.0,183.8,-11.1,132,1417,0.00,2.15,0.00,0.000,6,0.000,0.018,3168,1565,3523,0,0,0,0,0,0
$GC,1679,-0.98,-146.0,206.3,-7.7,152,1684,0.17,2.42,0.00,0.000,4,0.048,0.025,3086,3094,3523,0,0,0,0,0,0
$GC,1731,-0.98,-146.0,212.0,-11.2,153,1737,0.17,2.47,0.00,0.000,6,0.091,0.028,3126,1545,3524,0,0,0,0,0,0
$GC,2011,-0.98,-146.0,242.3,-11.0,160,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1545,3524,0,0,0,0,0,0
$GC,2254,-0.98,-146.0,265.8,-9.7,166,2258,0.00,2.47,0.00,0.000,4,0.000,0.025,3126,3097,3523,0,0,0,0,0,0
$GC,2287,-1.05,-146.0,269.5,-10.6,166,2291,0.00,2.47,0.00,0.000,6,0.000,0.028,3126,1551,3524,0,0,0,0,0,0
$GC,2539,-1.05,-146.0,293.8,-9.5,172,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1550,3524,0,0,0,0,0,0
$GC,2781,-1.05,-146.0,312.3,-7.5,178,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1550,3524,0,0,0,0,0,0
$GC,3025,-1.11,-146.0,332.9,-8.6,184,3030,0.12,2.50,0.00,0.000,4,0.062,0.030,3056,3095,3522,0,0,0,0,0,0
$GC,3069,-1.11,-146.0,337.6,-10.9,185,3074,0.17,2.47,0.00,0.000,6,0.094,0.031,3095,1569,3522,0,0,0,0,0,0
$GC,3358,-1.11,-146.0,367.1,-10.4,192,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1569,3521,0,0,0,0,0,0
$GC,3600,-1.11,-146.0,393.0,-10.5,198,3604,0.00,2.38,0.00,0.000,4,0.000,0.059,3095,169,3519,0,0,0,0,0,0
$GC,3649,-1.11,-146.0,398.1,-10.9,199,3653,0.00,2.15,0.00,0.000,6,0.000,0.025,3095,1531,3519,0,0,0,0,0,0
$GC,3937,-1.11,-146.0,426.2,-9.5,206,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1531,3517,0,0,0,0,0,0
$GC,4179,-1.11,-146.0,447.5,-8.6,212,4184,0.00,2.60,0.00,0.000,4,0.000,0.038,3095,3117,3516,0,0,0,0,0,0
$GC,4210,-1.18,-146.0,449.9,-7.9,212,4214,0.00,2.58,0.00,0.000,6,0.000,0.038,3095,1553,3515,0,0,0,0,0,0
$GC,4465,-1.18,-146.0,472.1,-8.9,219,4469,0.00,2.38,0.00,0.000,4,0.000,0.068,3095,164,3514,0,0,0,0,0,0
$GC,4507,-1.18,-146.0,476.4,-10.2,220,4511,0.00,2.22,0.00,0.000,6,0.000,0.030,3095,1551,3513,0,0,0,0,0,0
$GC,4796,-1.18,-146.0,504.4,-9.9,227,4800,0.00,2.58,0.00,0.000,4,0.000,0.042,3095,3122,3511,0,0,0,0,0,0
$GC,4829,-1.25,-146.0,508.0,-10.0,227,4835,0.12,2.60,0.00,0.000,6,0.061,0.041,3028,1558,3511,0,0,0,0,0,0
$GC,5080,-1.07,-146.0,540.0,-12.9,233,5082,0.35,0.00,0.00,0.000,6,0.092,0.000,3103,1558,3509,0,0,0,0,0,0
$GC,5325,-1.13,-146.0,561.1,-8.5,239,5330,0.00,2.62,0.00,0.000,4,0.000,0.047,3103,3114,3508,0,0,0,0,0,0
$GC,5356,-1.23,-146.0,563.7,-8.0,239,5361,0.12,2.62,0.00,0.000,6,0.061,0.045,3052,1562,3508,0,0,0,0,0,0
$GC,5612,-1.13,-146.0,589.2,-10.0,246,5617,0.17,2.45,0.00,0.000,4,0.107,0.079,3090,163,3505,0,0,0,0,0,0
$GC,5670,-1.13,-146.0,594.4,-9.0,247,5674,0.00,2.25,0.00,0.000,6,0.000,0.035,3090,1556,3504,0,0,0,0,0,0
$STATE,5741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5742,begin apogee
$GC,5748,-0.31,0.0,600.9,8.6,249,5869,0.80,0.00,117.80,0.927,6,0.081,0.000,3269,1363,2919,0,0,0,0,0,0
$STATE,5870,end apogee,CONTROL_FINISHED_OK
$STATE,5870,begin climb
$GC,5874,1.27,146.0,604.3,0.0,252,6005,1.48,2.15,122.70,0.908,4,0.050,0.074,3620,176,2323,0,0,0,0,0,0
$GC,6196,0.96,146.0,579.2,12.0,259,6201,0.32,1.98,0.00,0.000,6,0.099,0.029,3551,1386,2316,0,0,0,0,0,0
$GC,6467,1.04,210.2,559.6,7.0,266,6528,0.00,2.20,55.58,0.881,4,0.000,0.069,3551,173,2061,0,0,0,0,0,0
$GC,6580,1.04,210.2,549.4,10.9,268,6584,0.00,1.98,0.00,0.000,6,0.000,0.032,3551,1377,2060,0,0,0,0,0,0
$GC,6845,1.06,231.4,525.2,9.0,275,6869,0.00,2.72,18.98,0.830,4,0.000,0.048,3551,2964,1976,0,0,0,0,0,0
$GC,6903,1.20,263.1,520.0,8.5,276,6940,0.22,2.72,30.48,0.845,6,0.045,0.049,3620,1378,1846,0,0,0,0,0,0
$GC,7223,1.06,263.1,477.4,13.7,284,7227,0.22,2.12,0.00,0.000,4,0.098,0.067,3571,160,1839,0,0,0,0,0,0
$GC,7262,1.06,263.1,472.1,13.1,284,7266,0.00,1.98,0.00,0.000,6,0.000,0.025,3571,1379,1839,0,0,0,0,0,0
$GC,7516,1.06,263.1,442.8,11.5,291,7520,0.00,2.60,0.00,0.000,4,0.000,0.039,3571,2952,1837,0,0,0,0,0,0
$GC,7536,1.06,263.1,440.6,11.1,291,7541,0.00,2.67,0.00,0.000,6,0.000,0.042,3571,1372,1835,0,0,0,0,0,0
$GC,7800,1.06,263.1,411.2,11.2,298,7804,0.00,2.08,0.00,0.000,4,0.000,0.064,3571,160,1834,0,0,0,0,0,0
$GC,7823,1.06,263.1,408.3,12.1,298,7827,0.00,1.95,0.00,0.000,6,0.000,0.025,3571,1386,1834,0,0,0,0,0,0
$GC,8088,1.06,263.1,376.5,12.2,305,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1389,1833,0,0,0,0,0,0
$GC,8330,1.06,263.1,347.8,11.6,311,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1389,1833,0,0,0,0,0,0
$GC,8573,1.06,263.1,322.1,10.3,317,8578,0.00,2.55,0.00,0.000,4,0.000,0.034,3571,2947,1833,0,0,0,0,0,0
$GC,8617,1.15,263.1,317.9,10.8,318,8621,0.00,2.65,0.00,0.000,6,0.000,0.041,3571,1366,1830,0,0,0,0,0,0
$GC,8906,1.17,284.1,291.3,9.0,325,8930,0.10,2.65,17.25,0.695,4,0.077,0.031,3620,2947,1759,0,0,0,0,0,0
$GC,8959,1.17,284.1,285.4,11.2,326,8964,0.12,2.67,0.00,0.000,6,0.105,0.041,3594,1365,1757,0,0,0,0,0,0
$GC,9239,1.17,284.1,253.6,11.7,333,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1365,1755,0,0,0,0,0,0
$GC,9481,1.17,284.1,222.7,12.7,339,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1365,1755,0,0,0,0,0,0
$GC,9725,1.17,284.1,196.5,10.4,345,9729,0.00,2.58,0.00,0.000,4,0.000,0.028,3594,2952,1754,0,0,0,0,0,0
$GC,9806,1.27,295.3,189.0,9.5,352,9823,0.10,2.62,9.82,0.569,6,0.076,0.034,3639,1361,1715,0,0,0,0,0,0
$GC,10089,1.18,295.3,152.5,13.1,379,10094,0.20,0.00,0.00,0.000,6,0.097,0.000,3596,1361,1714,0,0,0,0,0,0
$GC,10353,1.18,295.3,123.5,10.4,404,10358,0.00,2.58,0.00,0.000,4,0.000,0.030,3597,2956,1713,0,0,0,0,0,0
$GC,10404,1.34,314.1,118.2,9.1,408,10434,0.10,2.62,17.83,0.538,6,0.030,0.037,3653,1377,1638,0,0,0,0,0,0
$GC,10689,1.25,314.1,82.0,13.2,435,10693,0.17,2.03,0.00,0.000,4,0.097,0.050,3612,163,1637,0,0,0,0,0,0
$GC,10760,1.25,314.1,73.1,11.2,441,10764,0.00,1.88,0.00,0.000,6,0.000,0.019,3611,1407,1637,0,0,0,0,0,0
$GC,11034,1.37,359.3,48.9,7.9,466,11083,0.12,0.00,40.35,0.489,6,0.064,0.000,3663,1409,1454,0,0,0,0,0,0
$STATE,11350,end climb,SURFACE_DEPTH_REACHED
$STATE,11350,begin surface coast
$FINISH,0.7,1.000280
$STATE,11383,end surface coast,CONTROL_FINISHED_OK
$STATE,11383,begin surface
$SM_CCo,11407,17.30,0.428,0,0,1369,380.21
$SM_GC,1.80,0.00,0.00,17.30,0.000,0.000,0.428,410,1581,1369,-13.48,1.16,380.21
$IRIDIUM_FIX,2237.01,-15754.99,201001,232336
$TT8_MAMPS,0.027612
$HUMID,65.55
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,10
$24V_AH,23.5,43.481
$10V_AH,9.9,34.202
$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,33.275,120.575,430.775,17.300,0.000,58.823,73.967,419.720,2.500,0.000,13.063,1087.142,7848.814,461.175,1905.059,879.697,33.382,1280.000,0.000,1905.283,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,79.001,926.536,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.168,286.337,366.124,532.331,935.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38422,513
$CAP_FILE_SIZE,126472,0
$CFSIZE,260165632,159043584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270712,025236,2245.837,-15757.784,23,1.8,23,10.1