version: 66.06
glider: 148
mission: 11
dive: 284
start: 7 20 112 15 1 7
data:
$ID,148
$MISSION,11
$DIVE,284
$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,-924423.19
$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,108
$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
$GPS1,145036,2239.876,-15740.823,33,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.1
$GPS2,150012,2239.831,-15740.844,10,1.2,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.252,-0.061
$KALMAN_X,-31735.7,270.6,-142.3,63902.9,-1408.4
$KALMAN_Y,29656.6,-126.7,-562.9,-44099.6,12.1
$MHEAD_RNG_PITCHd_Wd,93.5,5677,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.35,0.000,2,0.000,0.000,411,1568,3076,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-5.3,9,121,14.40,2.35,-8.15,0.000,4,0.170,0.054,3056,165,3519,0,0,0,0,0,0
$GC,180,-0.94,-146.0,28.5,-21.4,22,188,0.32,2.05,0.00,0.000,6,0.092,0.018,3131,1488,3520,0,0,0,0,0,0
$GC,449,-0.77,-146.0,70.1,-14.9,47,454,0.17,2.47,0.00,0.000,4,0.110,0.024,3168,3057,3521,0,0,0,0,0,0
$GC,526,-0.87,-146.0,79.8,-11.2,53,531,0.00,2.42,0.00,0.000,6,0.000,0.029,3168,1546,3521,0,0,0,0,0,0
$GC,794,-0.87,-146.0,105.9,-8.7,77,799,0.00,2.40,0.00,0.000,4,0.000,0.023,3168,3062,3522,0,0,0,0,0,0
$GC,834,-1.00,-146.0,109.6,-7.9,80,843,0.15,2.45,0.00,0.000,6,0.021,0.028,3085,1555,3522,0,0,0,0,0,0
$GC,1101,-0.80,-146.0,144.0,-14.0,105,1106,0.32,2.25,0.00,0.000,4,0.094,0.040,3160,162,3523,0,0,0,0,0,0
$GC,1123,-0.71,-146.0,147.6,-13.1,106,1131,0.08,2.08,0.00,0.000,6,0.089,0.018,3181,1531,3523,0,0,0,0,0,0
$GC,1386,-0.86,-146.0,167.4,-6.9,131,1391,0.12,2.40,0.00,0.000,4,0.061,0.022,3102,3082,3524,0,0,0,0,0,0
$GC,1422,-0.86,-146.0,171.2,-11.1,134,1427,0.22,2.42,0.00,0.000,6,0.084,0.028,3154,1561,3524,0,0,0,0,0,0
$GC,1687,-0.94,-146.0,195.0,-8.9,158,1691,0.00,2.28,0.00,0.000,4,0.000,0.044,3154,173,3524,0,0,0,0,0,0
$GC,1717,-1.01,-146.0,197.4,-9.7,160,1722,0.15,2.10,0.00,0.000,6,0.053,0.018,3080,1565,3524,0,0,0,0,0,0
$GC,1988,-0.88,-146.0,233.4,-13.0,168,1993,0.28,2.40,0.00,0.000,4,0.087,0.022,3146,3086,3525,0,0,0,0,0,0
$GC,2014,-0.88,-146.0,236.1,-10.1,168,2018,0.00,2.45,0.00,0.000,6,0.000,0.027,3146,1563,3525,0,0,0,0,0,0
$GC,2274,-0.98,-146.0,255.4,-7.0,175,2278,0.00,2.40,0.00,0.000,4,0.000,0.024,3146,3090,3525,0,0,0,0,0,0
$GC,2293,-1.10,-146.0,256.8,-6.7,175,2298,0.20,2.45,0.00,0.000,6,0.041,0.028,3041,1568,3525,0,0,0,0,0,0
$GC,2559,-0.88,-146.0,289.3,-12.8,182,2562,0.52,0.00,0.00,0.000,6,0.084,0.000,3148,1567,3525,0,0,0,0,0,0
$GC,2802,-1.03,-146.0,307.5,-7.3,188,2804,0.15,0.00,0.00,0.000,6,0.054,0.000,3076,1567,3525,0,0,0,0,0,0
$GC,3045,-0.95,-146.0,335.9,-12.0,194,3047,0.25,0.00,0.00,0.000,6,0.086,0.000,3133,1567,3524,0,0,0,0,0,0
$GC,3291,-1.06,-146.0,356.1,-8.0,200,3296,0.10,2.47,0.00,0.000,4,0.076,0.030,3081,3084,3523,0,0,0,0,0,0
$GC,3315,-1.06,-146.0,358.5,-9.6,200,3320,0.12,2.47,0.00,0.000,6,0.100,0.033,3111,1575,3523,0,0,0,0,0,0
$GC,3575,-1.06,-146.0,379.8,-8.3,207,3579,0.00,2.38,0.00,0.000,4,0.000,0.058,3111,167,3522,0,0,0,0,0,0
$GC,3610,-1.06,-146.0,382.9,-9.3,207,3614,0.00,2.15,0.00,0.000,6,0.000,0.024,3111,1552,3522,0,0,0,0,0,0
$GC,3860,-1.06,-146.0,403.3,-8.0,213,3864,0.00,2.50,0.00,0.000,4,0.000,0.032,3110,3111,3519,0,0,0,0,0,0
$GC,3874,-1.06,-146.0,404.5,-7.9,213,3878,0.00,2.50,0.00,0.000,6,0.000,0.033,3111,1570,3519,0,0,0,0,0,0
$GC,4144,-1.06,-146.0,425.6,-8.1,220,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1570,3518,0,0,0,0,0,0
$GC,4387,-1.12,-146.0,446.7,-8.7,226,4391,0.00,2.50,0.00,0.000,4,0.000,0.035,3111,3108,3517,0,0,0,0,0,0
$GC,4411,-1.21,-146.0,448.9,-9.2,226,4416,0.15,2.53,0.00,0.000,6,0.054,0.037,3026,1574,3517,0,0,0,0,0,0
$GC,4673,-1.01,-146.0,483.1,-13.6,233,4678,0.43,2.40,0.00,0.000,4,0.091,0.068,3116,172,3514,0,0,0,0,0,0
$GC,4712,-1.11,-146.0,487.5,-9.3,233,4717,0.00,2.22,0.00,0.000,6,0.000,0.028,3116,1565,3514,0,0,0,0,0,0
$GC,4964,-1.21,-146.0,507.1,-7.8,240,4969,0.17,2.55,0.00,0.000,4,0.049,0.041,3046,3120,3513,0,0,0,0,0,0
$GC,4984,-1.21,-146.0,509.4,-9.9,240,4989,0.12,2.58,0.00,0.000,6,0.104,0.041,3075,1579,3513,0,0,0,0,0,0
$GC,5249,-1.21,-146.0,535.1,-9.5,247,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1579,3511,0,0,0,0,0,0
$GC,5493,-1.21,-146.0,559.4,-10.1,253,5498,0.00,2.55,0.00,0.000,4,0.000,0.044,3075,3116,3510,0,0,0,0,0,0
$GC,5521,-1.21,-146.0,562.7,-10.1,253,5526,0.00,2.58,0.00,0.000,6,0.000,0.044,3075,1584,3510,0,0,0,0,0,0
$GC,5776,-1.21,-146.0,589.4,-10.5,260,5780,0.00,2.45,0.00,0.000,4,0.000,0.078,3075,170,3508,0,0,0,0,0,0
$GC,5804,-1.21,-146.0,592.7,-11.6,260,5808,0.00,2.30,0.00,0.000,6,0.000,0.035,3075,1582,3507,0,0,0,0,0,0
$STATE,5895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5895,begin apogee
$GC,5903,-0.31,0.0,601.6,9.9,263,6024,0.88,0.00,118.22,0.927,6,0.084,0.000,3270,1374,2919,0,0,0,0,0,0
$STATE,6025,end apogee,CONTROL_FINISHED_OK
$STATE,6025,begin climb
$GC,6028,1.27,146.0,606.2,0.0,266,6159,1.45,2.22,123.15,0.907,4,0.049,0.079,3612,172,2324,0,0,0,0,0,0
$GC,6369,0.97,146.0,580.2,11.1,273,6374,0.28,2.00,0.00,0.000,6,0.102,0.035,3554,1409,2316,0,0,0,0,0,0
$GC,6629,1.05,208.4,560.5,7.1,280,6689,0.00,2.22,53.97,0.878,4,0.000,0.071,3554,177,2070,0,0,0,0,0,0
$GC,6708,1.07,221.8,554.0,9.4,281,6728,0.00,1.98,13.55,0.795,6,0.000,0.030,3554,1378,2014,0,0,0,0,0,0
$GC,7003,1.09,237.7,526.9,9.3,289,7024,0.10,2.70,14.75,0.805,4,0.078,0.049,3598,2957,1949,0,0,0,0,0,0
$GC,7063,1.09,237.7,520.3,11.0,290,7069,0.10,2.72,0.00,0.000,6,0.116,0.048,3577,1377,1945,0,0,0,0,0,0
$GC,7337,1.09,237.7,490.1,11.0,297,7341,0.00,2.12,0.00,0.000,4,0.000,0.074,3577,162,1944,0,0,0,0,0,0
$GC,7365,0.99,237.7,486.5,12.4,297,7370,0.10,1.98,0.00,0.000,6,0.123,0.026,3556,1397,1944,0,0,0,0,0,0
$GC,7622,0.99,237.7,459.5,10.6,304,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1400,1943,0,0,0,0,0,0
$GC,7864,0.99,237.7,433.5,10.6,310,7868,0.00,2.55,0.00,0.000,4,0.000,0.037,3556,2950,1941,0,0,0,0,0,0
$GC,7887,1.00,247.5,431.1,9.5,310,7905,0.00,2.67,8.55,0.710,6,0.000,0.042,3556,1364,1911,0,0,0,0,0,0
$GC,8150,1.01,254.4,405.4,9.7,317,8160,0.00,0.00,8.07,0.688,6,0.000,0.000,3556,1364,1882,0,0,0,0,0,0
$GC,8392,1.01,257.6,381.4,9.9,323,8398,0.00,0.00,4.32,0.536,6,0.000,0.000,3556,1364,1869,0,0,0,0,0,0
$GC,8636,1.01,257.6,354.6,11.0,329,8639,0.00,2.05,0.00,0.000,4,0.000,0.063,3556,165,1868,0,0,0,0,0,0
$GC,8678,1.01,257.6,349.6,13.2,329,8684,0.00,1.92,0.00,0.000,6,0.000,0.023,3556,1391,1868,0,0,0,0,0,0
$GC,8929,1.07,257.6,323.7,10.2,336,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1393,1867,0,0,0,0,0,0
$GC,9172,1.17,276.5,301.0,9.1,342,9197,0.15,2.62,18.25,0.701,4,0.057,0.035,3616,2944,1791,0,0,0,0,0,0
$GC,9222,1.17,276.5,295.4,13.1,343,9228,0.10,2.65,0.00,0.000,6,0.117,0.041,3594,1376,1788,0,0,0,0,0,0
$GC,9506,1.17,276.5,262.5,11.5,350,9509,0.00,2.05,0.00,0.000,4,0.000,0.061,3594,167,1787,0,0,0,0,0,0
$GC,9529,1.11,276.5,259.7,12.5,350,9532,0.00,1.90,0.00,0.000,6,0.000,0.022,3594,1391,1787,0,0,0,0,0,0
$GC,9798,1.11,276.5,229.5,11.1,357,9802,0.00,2.50,0.00,0.000,4,0.000,0.028,3594,2946,1786,0,0,0,0,0,0
$GC,9816,1.11,276.5,227.2,11.5,357,9821,0.00,2.60,0.00,0.000,6,0.000,0.035,3594,1377,1784,0,0,0,0,0,0
$GC,10080,1.11,276.5,198.8,10.7,364,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1377,1784,0,0,0,0,0,0
$GC,10340,1.11,276.5,171.7,11.0,388,10344,0.00,2.03,0.00,0.000,4,0.000,0.052,3594,163,1783,0,0,0,0,0,0
$GC,10401,1.11,276.5,164.1,13.2,394,10405,0.00,1.88,0.00,0.000,6,0.000,0.021,3594,1397,1783,0,0,0,0,0,0
$GC,10675,1.11,276.5,134.4,10.9,419,10678,0.00,2.05,0.00,0.000,4,0.000,0.049,3594,168,1783,0,0,0,0,0,0
$GC,10724,1.11,276.5,127.4,12.6,424,10728,0.00,1.83,0.00,0.000,6,0.000,0.020,3594,1395,1783,0,0,0,0,0,0
$GC,10997,1.12,290.7,101.1,9.3,449,11015,0.00,0.00,12.50,0.505,6,0.000,0.000,3594,1397,1733,0,0,0,0,0,0
$GC,11274,1.17,327.8,75.1,8.3,475,11317,0.00,0.00,34.30,0.510,6,0.000,0.000,3594,1397,1581,0,0,0,0,0,0
$GC,11573,1.30,354.1,47.6,8.8,503,11601,0.12,0.00,23.38,0.474,6,0.062,0.000,3637,1397,1475,0,0,0,0,0,0
$GC,11879,1.30,354.1,9.8,12.2,542,11887,0.00,2.45,0.00,0.000,4,0.000,0.026,3637,2923,1472,0,0,0,0,0,0
$GC,11916,1.30,354.1,5.2,12.4,547,11925,0.00,2.55,0.00,0.000,6,0.000,0.034,3637,1378,1470,0,0,0,0,0,0
$STATE,11932,end climb,SURFACE_DEPTH_REACHED
$STATE,11932,begin surface coast
$FINISH,0.7,1.023676
$STATE,11971,end surface coast,CONTROL_FINISHED_OK
$STATE,11971,begin surface
$SM_CCo,11994,13.07,0.409,0,0,1369,380.21
$SM_GC,1.82,0.00,0.00,13.07,0.000,0.000,0.409,412,1545,1369,-13.47,0.14,380.21
$IRIDIUM_FIX,2230.01,-15741.13,141001,151533
$TT8_MAMPS,0.027612
$HUMID,65.04
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,6
$24V_AH,23.5,38.019
$10V_AH,10.0,29.422
$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,34.725,131.275,433.025,13.075,0.000,54.620,69.753,245.243,1.500,0.000,16.631,1154.111,8297.112,473.485,1944.701,716.224,33.379,1310.056,0.000,1946.217,0.000,0.538,0.000
$DEVICE_MAMPS,169.507,79.001,926.536,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.185,322.767,404.538,579.232,1016.465,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,41578,555
$CAP_FILE_SIZE,131456,0
$CFSIZE,260165632,161726464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200712,182236,2239.542,-15739.662,37,1.0,37,10.1