version: 66.06
glider: 148
mission: 11
dive: 358
start: 7 31 112 4 49 31
data:
$ID,148
$MISSION,11
$DIVE,358
$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,-926136.12
$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,71
$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
$GPS1,043124,2300.648,-15759.953,31,1.7,50,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-72.7
$GPS2,044837,2300.873,-15800.017,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.165,-0.201
$KALMAN_X,-128844.8,313.7,36.0,128058.9,-635.2
$KALMAN_Y,66079.9,661.8,451.1,-43365.4,942.5
$MHEAD_RNG_PITCHd_Wd,130.4,56073,-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,16,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.00,0.000,2,0.000,0.000,412,1538,3320,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-6.4,10,120,13.82,2.25,-3.33,0.000,4,0.153,0.046,3056,170,3517,0,0,0,0,0,0
$GC,181,-0.94,-146.0,32.2,-21.9,22,186,0.35,2.10,0.00,0.000,6,0.096,0.017,3132,1547,3519,0,0,0,0,0,0
$GC,449,-0.74,-146.0,77.5,-15.6,46,454,0.22,2.42,0.00,0.000,4,0.101,0.022,3180,3095,3519,0,0,0,0,0,0
$GC,503,-0.88,-146.0,85.0,-10.5,50,513,0.10,2.55,0.00,0.000,6,0.027,0.028,3109,1537,3519,0,0,0,0,0,0
$GC,769,-0.72,-146.0,122.5,-14.2,75,774,0.30,2.45,0.00,0.000,4,0.087,0.021,3180,3095,3520,0,0,0,0,0,0
$GC,790,-0.72,-146.0,125.9,-12.6,76,801,0.00,2.50,0.00,0.000,6,0.000,0.026,3180,1552,3520,0,0,0,0,0,0
$GC,1059,-0.81,-146.0,149.7,-8.4,101,1063,0.00,2.42,0.00,0.000,4,0.000,0.022,3180,3102,3521,0,0,0,0,0,0
$GC,1109,-1.04,-146.0,154.1,-7.3,105,1119,0.25,2.50,0.00,0.000,6,0.017,0.028,3041,1565,3521,0,0,0,0,0,0
$GC,1374,-0.71,-146.0,197.6,-17.5,130,1383,0.60,2.25,0.00,0.000,4,0.091,0.039,3178,166,3521,0,0,0,0,0,0
$GC,1396,-0.54,-146.0,201.1,-14.7,132,1401,0.17,2.10,0.00,0.000,6,0.091,0.018,3221,1580,3521,0,0,0,0,0,0
$GC,1667,-0.84,-146.0,218.5,-6.3,139,1672,0.25,2.38,0.00,0.000,4,0.035,0.021,3084,3096,3522,0,0,0,0,0,0
$GC,1724,-0.84,-146.0,225.2,-11.8,140,1729,0.32,2.47,0.00,0.000,6,0.079,0.028,3157,1558,3522,0,0,0,0,0,0
$GC,2000,-0.93,-146.0,250.8,-8.7,147,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1558,3521,0,0,0,0,0,0
$GC,2242,-1.03,-146.0,267.6,-6.4,153,2247,0.17,2.42,0.00,0.000,4,0.047,0.024,3073,3094,3521,0,0,0,0,0,0
$GC,2273,-0.96,-146.0,270.2,-9.6,153,2278,0.25,2.45,0.00,0.000,6,0.081,0.028,3130,1571,3521,0,0,0,0,0,0
$GC,2529,-0.96,-146.0,289.3,-7.6,160,2533,0.00,2.30,0.00,0.000,4,0.000,0.047,3130,171,3521,0,0,0,0,0,0
$GC,2548,-0.96,-146.0,291.1,-8.9,160,2552,0.00,2.12,0.00,0.000,6,0.000,0.019,3130,1558,3521,0,0,0,0,0,0
$GC,2813,-0.96,-146.0,316.9,-10.4,167,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1560,3521,0,0,0,0,0,0
$GC,3055,-0.96,-146.0,342.8,-10.3,173,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1560,3520,0,0,0,0,0,0
$GC,3299,-1.03,-146.0,364.3,-8.6,179,3304,0.00,2.45,0.00,0.000,4,0.000,0.030,3130,3099,3519,0,0,0,0,0,0
$GC,3333,-1.17,-146.0,367.0,-7.6,179,3338,0.20,2.50,0.00,0.000,6,0.043,0.032,3034,1569,3519,0,0,0,0,0,0
$GC,3585,-0.95,-146.0,398.0,-12.7,185,3590,0.40,2.35,0.00,0.000,4,0.084,0.058,3126,166,3516,0,0,0,0,0,0
$GC,3623,-1.05,-146.0,401.9,-8.3,185,3629,0.00,2.17,0.00,0.000,6,0.000,0.024,3126,1550,3517,0,0,0,0,0,0
$GC,3876,-1.13,-146.0,418.7,-6.8,192,3881,0.15,2.55,0.00,0.000,4,0.054,0.035,3058,3112,3515,0,0,0,0,0,0
$GC,3900,-1.13,-146.0,421.2,-9.7,192,3905,0.15,2.55,0.00,0.000,6,0.094,0.036,3093,1567,3515,0,0,0,0,0,0
$GC,4161,-1.13,-146.0,445.0,-9.2,199,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1567,3513,0,0,0,0,0,0
$GC,4406,-1.13,-146.0,467.2,-9.2,205,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1567,3512,0,0,0,0,0,0
$GC,4648,-1.13,-146.0,490.8,-9.7,211,4649,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1567,3510,0,0,0,0,0,0
$GC,4891,-1.13,-146.0,514.0,-9.4,217,4896,0.00,2.42,0.00,0.000,4,0.000,0.073,3093,170,3508,0,0,0,0,0,0
$GC,4919,-1.13,-146.0,517.0,-10.2,217,4923,0.00,2.22,0.00,0.000,6,0.000,0.031,3093,1560,3508,0,0,0,0,0,0
$GC,5176,-1.13,-146.0,540.6,-9.3,224,5180,0.00,2.60,0.00,0.000,4,0.000,0.046,3093,3129,3506,0,0,0,0,0,0
$GC,5204,-1.13,-146.0,543.4,-8.5,224,5209,0.00,2.60,0.00,0.000,6,0.000,0.043,3093,1577,3506,0,0,0,0,0,0
$GC,5459,-1.13,-146.0,565.9,-8.9,231,5463,0.00,2.45,0.00,0.000,4,0.000,0.077,3093,169,3504,0,0,0,0,0,0
$GC,5475,-1.13,-146.0,567.3,-9.0,231,5479,0.00,2.28,0.00,0.000,6,0.000,0.031,3093,1586,3504,0,0,0,0,0,0
$GC,5748,-1.13,-146.0,591.0,-8.6,238,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1587,3501,0,0,0,0,0,0
$STATE,5867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5867,begin apogee
$GC,5873,-0.31,0.0,600.7,8.1,241,5994,0.77,0.00,117.22,0.923,6,0.077,0.000,3269,1365,2920,0,0,0,0,0,0
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5999,1.27,146.0,603.7,0.0,244,6131,1.45,2.15,123.18,0.905,4,0.047,0.076,3615,178,2323,0,0,0,0,0,0
$GC,6299,0.99,146.0,577.4,13.7,250,6305,0.28,1.98,0.00,0.000,6,0.100,0.028,3557,1395,2316,0,0,0,0,0,0
$GC,6549,1.01,165.5,554.0,9.1,257,6570,0.00,2.20,16.23,0.821,4,0.000,0.069,3557,170,2244,0,0,0,0,0,0
$GC,6609,0.93,165.5,548.1,10.3,258,6613,0.00,1.98,0.00,0.000,6,0.000,0.027,3557,1387,2243,0,0,0,0,0,0
$GC,6882,0.98,199.8,524.2,8.4,265,6918,0.00,2.20,30.90,0.851,4,0.000,0.068,3557,178,2105,0,0,0,0,0,0
$GC,6944,0.98,199.8,518.4,10.8,266,6947,0.00,1.95,0.00,0.000,6,0.000,0.028,3557,1377,2104,0,0,0,0,0,0
$GC,7218,0.99,211.1,492.2,9.5,273,7230,0.00,0.00,10.75,0.762,6,0.000,0.000,3557,1378,2059,0,0,0,0,0,0
$GC,7461,0.99,213.9,468.3,9.9,279,7465,0.00,2.08,0.00,0.000,4,0.000,0.064,3557,175,2055,0,0,0,0,0,0
$GC,7505,0.99,213.9,463.6,11.5,280,7509,0.00,1.92,0.00,0.000,6,0.000,0.028,3557,1379,2054,0,0,0,0,0,0
$GC,7796,0.99,213.9,433.2,10.3,287,7800,0.00,2.60,0.00,0.000,4,0.000,0.038,3557,2958,2053,0,0,0,0,0,0
$GC,7831,1.11,241.2,430.1,8.7,287,7865,0.10,2.67,27.85,0.804,6,0.076,0.043,3607,1376,1935,0,0,0,0,0,0
$GC,8125,1.02,241.2,394.9,12.1,295,8130,0.20,2.10,0.00,0.000,4,0.094,0.072,3563,163,1931,0,0,0,0,0,0
$GC,8158,1.02,241.2,391.0,10.7,295,8162,0.00,1.92,0.00,0.000,6,0.000,0.025,3563,1379,1931,0,0,0,0,0,0
$GC,8414,1.04,251.5,367.2,9.5,302,8430,0.00,2.62,9.90,0.693,4,0.000,0.034,3563,2939,1893,0,0,0,0,0,0
$GC,8445,1.12,262.1,363.9,9.5,302,8461,0.00,2.65,10.95,0.697,6,0.000,0.041,3563,1376,1851,0,0,0,0,0,0
$GC,8750,1.12,262.1,331.8,10.6,310,8754,0.00,2.60,0.00,0.000,4,0.000,0.031,3563,2955,1848,0,0,0,0,0,0
$GC,8774,1.21,262.1,328.9,10.8,310,8781,0.17,2.62,0.00,0.000,6,0.048,0.044,3642,1381,1845,0,0,0,0,0,0
$GC,9036,1.06,262.1,294.1,13.0,317,9041,0.30,2.05,0.00,0.000,4,0.089,0.058,3572,167,1845,0,0,0,0,0,0
$GC,9098,1.06,262.5,287.6,10.0,318,9102,0.00,1.90,0.00,0.000,6,0.000,0.022,3572,1392,1845,0,0,0,0,0,0
$GC,9371,1.16,297.5,264.5,8.4,325,9405,0.00,0.00,31.70,0.686,6,0.000,0.000,3572,1394,1707,0,0,0,0,0,0
$GC,9616,1.24,297.5,238.3,11.0,331,9621,0.15,2.53,0.00,0.000,4,0.057,0.029,3633,2946,1703,0,0,0,0,0,0
$GC,9687,1.24,297.5,228.7,14.0,332,9692,0.10,2.60,0.00,0.000,6,0.115,0.038,3611,1389,1700,0,0,0,0,0,0
$GC,9949,1.24,297.5,193.1,13.7,342,9952,0.00,2.03,0.00,0.000,4,0.000,0.052,3611,164,1700,0,0,0,0,0,0
$GC,9993,1.24,297.5,187.9,13.3,346,9997,0.00,1.90,0.00,0.000,6,0.000,0.020,3611,1411,1700,0,0,0,0,0,0
$GC,10260,1.24,297.5,156.5,11.1,371,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1413,1700,0,0,0,0,0,0
$GC,10518,1.24,297.5,128.2,10.8,395,10522,0.00,2.42,0.00,0.000,4,0.000,0.027,3611,2937,1700,0,0,0,0,0,0
$GC,10547,1.24,297.5,124.4,10.5,397,10553,0.00,2.53,0.00,0.000,6,0.000,0.034,3611,1389,1698,0,0,0,0,0,0
$GC,10811,1.24,297.5,95.4,11.4,422,10815,0.00,2.03,0.00,0.000,4,0.000,0.051,3611,163,1698,0,0,0,0,0,0
$GC,10873,1.24,297.5,87.7,12.2,428,10877,0.00,1.83,0.00,0.000,6,0.000,0.019,3611,1376,1698,0,0,0,0,0,0
$GC,11146,1.24,297.5,59.4,10.7,453,11150,0.00,2.45,0.00,0.000,4,0.000,0.027,3611,2938,1698,0,0,0,0,0,0
$GC,11200,1.39,314.1,53.8,9.2,457,11224,0.12,2.55,15.02,0.467,6,0.062,0.034,3677,1374,1639,0,0,0,0,0,0
$GC,11495,1.24,314.1,17.9,11.3,491,11504,0.28,2.53,0.00,0.000,4,0.086,0.026,3612,2932,1638,0,0,0,0,0,0
$GC,11514,1.16,314.1,15.6,11.6,493,11523,0.00,2.55,0.00,0.000,6,0.000,0.039,3612,1384,1637,0,0,0,0,0,0
$STATE,11666,end climb,SURFACE_DEPTH_REACHED
$STATE,11670,begin surface coast
$FINISH,0.8,1.014078
$STATE,11727,end surface coast,CONTROL_FINISHED_OK
$STATE,11727,begin surface
$SM_CCo,11750,39.35,0.441,0,0,1369,380.21
$SM_GC,1.72,0.00,0.00,39.35,0.000,0.000,0.441,412,1549,1369,-13.47,0.28,380.21
$IRIDIUM_FIX,2251.04,-15800.62,251001,040403
$TT8_MAMPS,0.027612
$HUMID,64.41
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,12
$24V_AH,23.5,47.202
$10V_AH,10.0,37.373
$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,34.575,135.525,393.700,39.350,0.000,86.425,121.967,542.659,3.000,0.000,13.384,1129.976,8183.630,486.430,1910.922,1110.152,33.378,1302.144,0.000,1912.529,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,76.700,923.468,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.945,299.936,370.706,549.248,965.325,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,41524,526
$CAP_FILE_SIZE,137929,0
$CFSIZE,260165632,157253632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,080815,2300.028,-15759.274,72,2.7,91,10.1