version: 66.06
glider: 148
mission: 11
dive: 142
start: 6 29 112 22 38 13
data:
$ID,148
$MISSION,11
$DIVE,142
$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,-921172.81
$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,3335
$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,1440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,98
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$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
$GPS1,223027,2240.839,-15803.497,35,3.1,54,10.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.3
$GPS2,223720,2240.833,-15803.411,9,1.2,9,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.013
$KALMAN_X,64609.6,-83.4,-128.1,-70632.9,1780.2
$KALMAN_Y,-10654.1,-466.9,-304.0,-1850.4,-27.8
$MHEAD_RNG_PITCHd_Wd,257.1,4467,-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,-74.72,0.000,2,0.000,0.000,413,1608,3211,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.2,-4.6,10,121,13.77,2.33,-5.15,0.000,4,0.153,0.036,3051,3074,3497,0,0,0,0,0,0
$GC,260,-1.05,-146.0,41.5,-17.3,31,269,0.20,2.53,0.00,0.000,6,0.084,0.030,3100,1531,3499,0,0,0,0,0,0
$GC,524,-0.92,-146.0,82.2,-14.3,56,529,0.15,2.47,0.00,0.000,4,0.110,0.025,3133,3075,3500,0,0,0,0,0,0
$GC,564,-0.92,-146.0,87.2,-11.6,59,568,0.00,2.47,0.00,0.000,6,0.000,0.029,3134,1538,3500,0,0,0,0,0,0
$GC,831,-0.92,-146.0,115.3,-10.4,83,836,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1538,3500,0,0,0,0,0,0
$GC,1092,-0.92,-146.0,145.9,-11.7,108,1096,0.00,2.40,0.00,0.000,4,0.000,0.025,3133,3068,3501,0,0,0,0,0,0
$GC,1132,-1.00,-146.0,149.7,-10.1,111,1137,0.00,2.42,0.00,0.000,6,0.000,0.028,3133,1550,3501,0,0,0,0,0,0
$GC,1395,-1.00,-146.0,175.7,-10.0,135,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1550,3501,0,0,0,0,0,0
$GC,1652,-1.06,-146.0,199.9,-9.3,159,1657,0.12,2.42,0.00,0.000,4,0.064,0.024,3069,3078,3502,0,0,0,0,0,0
$GC,1676,-1.00,-146.0,203.0,-11.7,159,1681,0.22,2.47,0.00,0.000,6,0.090,0.028,3118,1539,3502,0,0,0,0,0,0
$GC,1937,-1.00,-146.0,227.2,-9.3,166,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1539,3502,0,0,0,0,0,0
$GC,2181,-1.00,-146.0,251.5,-10.0,172,2185,0.00,2.25,0.00,0.000,4,0.000,0.045,3118,163,3502,0,0,0,0,0,0
$GC,2209,-1.00,-146.0,254.9,-11.4,172,2213,0.00,2.05,0.00,0.000,6,0.000,0.021,3119,1518,3502,0,0,0,0,0,0
$GC,2468,-1.00,-146.0,280.0,-9.3,179,2472,0.00,2.50,0.00,0.000,4,0.000,0.026,3118,3098,3502,0,0,0,0,0,0
$GC,2517,-1.17,-146.0,284.0,-7.6,180,2522,0.15,2.53,0.00,0.000,6,0.054,0.031,3032,1542,3502,0,0,0,0,0,0
$GC,2800,-0.99,-146.0,317.3,-11.8,187,2805,0.35,2.45,0.00,0.000,4,0.091,0.027,3114,3089,3502,0,0,0,0,0,0
$GC,2817,-0.92,-146.0,319.1,-11.4,187,2821,0.00,2.50,0.00,0.000,6,0.000,0.030,3114,1543,3502,0,0,0,0,0,0
$GC,3086,-1.00,-146.0,343.3,-9.2,194,3090,0.00,2.30,0.00,0.000,4,0.000,0.053,3114,163,3502,0,0,0,0,0,0
$GC,3114,-1.10,-146.0,346.0,-9.2,194,3119,0.00,2.12,0.00,0.000,6,0.000,0.021,3114,1536,3502,0,0,0,0,0,0
$GC,3375,-1.19,-146.0,366.9,-8.1,201,3380,0.15,2.55,0.00,0.000,4,0.056,0.033,3044,3111,3502,0,0,0,0,0,0
$GC,3404,-1.19,-146.0,370.2,-10.9,201,3409,0.15,2.55,0.00,0.000,6,0.099,0.035,3078,1556,3502,0,0,0,0,0,0
$GC,3659,-1.19,-146.0,396.3,-10.3,208,3663,0.00,2.35,0.00,0.000,4,0.000,0.060,3077,167,3501,0,0,0,0,0,0
$GC,3703,-1.19,-146.0,401.0,-10.9,209,3707,0.00,2.17,0.00,0.000,6,0.000,0.025,3077,1547,3500,0,0,0,0,0,0
$GC,3990,-1.19,-146.0,428.4,-9.2,216,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1548,3499,0,0,0,0,0,0
$GC,4234,-1.19,-146.0,450.2,-9.1,222,4238,0.00,2.55,0.00,0.000,4,0.000,0.038,3077,3112,3497,0,0,0,0,0,0
$GC,4249,-1.19,-146.0,451.6,-9.2,222,4254,0.00,2.58,0.00,0.000,6,0.000,0.036,3078,1551,3497,0,0,0,0,0,0
$GC,4518,-1.19,-146.0,475.9,-9.0,229,4523,0.00,2.38,0.00,0.000,4,0.000,0.070,3077,171,3496,0,0,0,0,0,0
$GC,4537,-1.19,-146.0,477.9,-10.2,229,4541,0.00,2.20,0.00,0.000,6,0.000,0.031,3078,1546,3495,0,0,0,0,0,0
$GC,4802,-1.19,-146.0,500.1,-8.4,236,4806,0.00,2.58,0.00,0.000,4,0.000,0.047,3077,3116,3493,0,0,0,0,0,0
$GC,4826,-1.19,-146.0,502.4,-8.7,236,4830,0.00,2.58,0.00,0.000,6,0.000,0.041,3077,1555,3493,0,0,0,0,0,0
$GC,5085,-1.19,-146.0,524.4,-8.7,243,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1555,3491,0,0,0,0,0,0
$GC,5330,-1.19,-146.0,545.3,-8.6,249,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1555,3491,0,0,0,0,0,0
$GC,5573,-1.19,-146.0,566.1,-8.5,255,5577,0.00,2.60,0.00,0.000,4,0.000,0.048,3078,3118,3489,0,0,0,0,0,0
$GC,5611,-1.28,-146.0,569.4,-8.2,255,5616,0.00,2.65,0.00,0.000,6,0.000,0.047,3077,1549,3488,0,0,0,0,0,0
$GC,5862,-1.28,-146.0,589.7,-8.2,262,5866,0.00,2.42,0.00,0.000,4,0.000,0.079,3077,164,3487,0,0,0,0,0,0
$GC,5913,-1.28,-146.0,594.4,-8.8,263,5918,0.00,2.25,0.00,0.000,6,0.000,0.036,3077,1543,3487,0,0,0,0,0,0
$STATE,5985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5985,begin apogee
$GC,5992,-0.31,0.0,600.3,7.7,265,6113,0.85,0.00,118.03,0.939,6,0.088,0.000,3265,1421,2900,0,0,0,0,0,0
$STATE,6114,end apogee,CONTROL_FINISHED_OK
$STATE,6114,begin climb
$GC,6118,1.27,146.0,603.8,0.0,268,6252,1.48,2.30,123.93,0.919,4,0.051,0.074,3613,178,2303,0,0,0,0,0,0
$GC,6426,0.92,146.0,577.4,13.2,275,6431,0.35,2.08,0.00,0.000,6,0.107,0.031,3540,1445,2296,0,0,0,0,0,0
$GC,6715,0.98,189.2,553.4,8.0,282,6758,0.00,2.35,37.38,0.879,4,0.000,0.070,3539,172,2128,0,0,0,0,0,0
$GC,6779,0.90,193.3,547.7,9.8,283,6791,0.00,2.10,5.20,0.633,6,0.000,0.031,3540,1449,2111,0,0,0,0,0,0
$GC,7053,0.91,194.8,520.4,9.9,290,7057,0.00,2.22,0.00,0.000,4,0.000,0.074,3540,178,2105,0,0,0,0,0,0
$GC,7072,0.92,206.5,518.3,9.5,290,7088,0.00,2.05,12.02,0.792,6,0.000,0.028,3540,1439,2058,0,0,0,0,0,0
$GC,7334,0.94,222.2,493.7,9.3,296,7354,0.00,2.28,15.00,0.810,4,0.000,0.065,3540,175,1993,0,0,0,0,0,0
$GC,7380,0.94,222.2,489.1,10.8,297,7384,0.00,2.05,0.00,0.000,6,0.000,0.027,3540,1440,1993,0,0,0,0,0,0
$GC,7667,0.94,223.2,460.7,10.0,304,7671,0.00,2.20,0.00,0.000,4,0.000,0.061,3540,168,1990,0,0,0,0,0,0
$GC,7694,0.94,223.2,457.3,11.1,304,7698,0.00,2.03,0.00,0.000,6,0.000,0.027,3540,1429,1990,0,0,0,0,0,0
$GC,7955,0.94,223.7,431.1,10.0,311,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1431,1988,0,0,0,0,0,0
$GC,8197,0.97,245.4,408.6,9.0,317,8225,0.00,2.25,21.62,0.792,4,0.000,0.059,3540,177,1898,0,0,0,0,0,0
$GC,8254,0.97,246.9,403.1,9.9,318,8257,0.00,2.03,0.00,0.000,6,0.000,0.026,3540,1432,1898,0,0,0,0,0,0
$GC,8531,1.04,255.1,376.7,9.6,325,8548,0.10,2.22,9.75,0.703,4,0.077,0.059,3585,177,1860,0,0,0,0,0,0
$GC,8591,0.91,255.1,369.1,14.7,326,8595,0.25,2.00,0.00,0.000,6,0.091,0.026,3531,1422,1860,0,0,0,0,0,0
$GC,8866,1.02,264.5,341.9,9.6,333,8883,0.10,2.70,9.77,0.682,4,0.077,0.038,3577,3019,1819,0,0,0,0,0,0
$GC,8912,1.02,264.5,336.6,11.6,334,8917,0.00,2.67,0.00,0.000,6,0.000,0.041,3577,1433,1817,0,0,0,0,0,0
$GC,9200,1.02,264.5,304.4,11.3,341,9204,0.00,2.15,0.00,0.000,4,0.000,0.059,3577,169,1816,0,0,0,0,0,0
$GC,9246,1.02,264.5,298.5,13.7,342,9250,0.00,2.00,0.00,0.000,6,0.000,0.025,3577,1431,1816,0,0,0,0,0,0
$GC,9533,1.02,264.5,267.0,11.2,349,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1434,1815,0,0,0,0,0,0
$GC,9778,1.02,264.5,241.2,10.7,355,9782,0.00,2.12,0.00,0.000,4,0.000,0.054,3577,164,1815,0,0,0,0,0,0
$GC,9801,1.02,264.5,238.3,11.5,355,9805,0.00,2.00,0.00,0.000,6,0.000,0.022,3577,1432,1815,0,0,0,0,0,0
$GC,10064,1.02,264.5,210.1,10.5,362,10068,0.00,2.12,0.00,0.000,4,0.000,0.052,3577,167,1814,0,0,0,0,0,0
$GC,10163,1.02,264.5,198.7,11.9,365,10167,0.00,1.92,0.00,0.000,6,0.000,0.022,3577,1416,1814,0,0,0,0,0,0
$GC,10430,1.03,271.4,173.0,9.7,390,10443,0.00,2.55,6.43,0.503,4,0.000,0.028,3577,3010,1792,0,0,0,0,0,0
$GC,10465,1.11,271.4,169.6,10.1,393,10470,0.00,2.62,0.00,0.000,6,0.000,0.036,3577,1402,1790,0,0,0,0,0,0
$GC,10733,1.13,287.1,144.5,9.3,417,10755,0.00,2.60,14.88,0.555,4,0.000,0.028,3577,3007,1728,0,0,0,0,0,0
$GC,10791,1.29,308.2,138.6,9.0,422,10821,0.12,2.65,19.95,0.559,6,0.025,0.038,3643,1416,1643,0,0,0,0,0,0
$GC,11076,1.16,308.2,98.3,15.5,449,11081,0.25,2.08,0.00,0.000,4,0.091,0.047,3583,167,1641,0,0,0,0,0,0
$GC,11136,1.16,308.2,89.8,12.8,454,11146,0.00,1.95,0.00,0.000,6,0.000,0.021,3583,1423,1641,0,0,0,0,0,0
$GC,11404,1.23,308.2,61.9,10.1,479,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1426,1641,0,0,0,0,0,0
$GC,11672,1.37,328.9,36.2,9.0,504,11698,0.20,2.10,19.62,0.471,4,0.046,0.046,3665,171,1558,0,0,0,0,0,0
$GC,11714,1.19,328.9,29.8,14.3,507,11723,0.30,1.95,0.00,0.000,6,0.076,0.020,3595,1421,1558,0,0,0,0,0,0
$STATE,11956,end climb,SURFACE_DEPTH_REACHED
$STATE,11956,begin surface coast
$FINISH,0.6,0.998858
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12030,35.28,0.453,0,0,1349,380.21
$SM_GC,1.54,0.00,0.00,35.28,0.000,0.000,0.453,413,1577,1349,-13.44,1.02,380.21
$IRIDIUM_FIX,2232.34,-15801.07,230901,191947
$TT8_MAMPS,0.027612
$HUMID,61.41
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.10
$XPDR_PINGS,8
$24V_AH,23.5,20.078
$10V_AH,9.9,13.943
$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,32.075,139.300,413.575,35.275,0.000,28.379,34.220,215.092,2.000,0.000,11.160,1174.319,8141.824,479.989,2079.346,602.444,33.361,1365.365,0.000,2075.070,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,79.001,938.808,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.374,312.694,398.210,585.490,1028.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,41573,553
$CAP_FILE_SIZE,131948,0
$CFSIZE,260165632,170352640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,020055,2240.618,-15804.243,53,1.4,53,10.0