version: 66.06
glider: 148
mission: 11
dive: 138
start: 6 29 112 8 21 32
data:
$ID,148
$MISSION,11
$DIVE,138
$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,-921096.12
$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,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,1580
$C_ROLL_CLIMB,1480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$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
$GPS1,081407,2243.147,-15801.250,33,1.4,33,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,082038,2243.164,-15801.175,13,1.8,13,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,-0.069
$KALMAN_X,55778.7,176.9,156.0,-58531.4,1447.1
$KALMAN_Y,-6178.4,271.4,-422.3,-2632.9,-103.8
$MHEAD_RNG_PITCHd_Wd,244.6,9610,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.30,0.000,2,0.000,0.000,415,1619,3186,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.2,-4.5,10,120,13.80,2.40,-4.95,0.000,4,0.154,0.036,3051,3126,3457,0,0,0,0,0,0
$GC,247,-1.03,-146.0,38.9,-18.5,30,253,0.28,2.53,0.00,0.000,6,0.096,0.031,3111,1575,3459,0,0,0,0,0,0
$GC,516,-0.83,-146.0,79.3,-15.7,54,521,0.20,2.30,0.00,0.000,4,0.104,0.047,3153,169,3459,0,0,0,0,0,0
$GC,557,-0.83,-146.0,86.1,-13.7,57,561,0.00,2.15,0.00,0.000,6,0.000,0.018,3153,1578,3459,0,0,0,0,0,0
$GC,825,-0.83,-146.0,115.1,-10.3,81,829,0.00,2.33,0.00,0.000,4,0.000,0.044,3154,168,3460,0,0,0,0,0,0
$GC,840,-0.83,-146.0,117.3,-10.2,82,844,0.00,2.12,0.00,0.000,6,0.000,0.018,3153,1599,3460,0,0,0,0,0,0
$GC,1104,-0.89,-146.0,142.1,-8.3,106,1109,0.00,2.38,0.00,0.000,4,0.000,0.024,3153,3126,3461,0,0,0,0,0,0
$GC,1143,-1.06,-146.0,145.2,-8.3,109,1148,0.20,2.47,0.00,0.000,6,0.041,0.028,3049,1578,3461,0,0,0,0,0,0
$GC,1408,-0.81,-146.0,182.0,-13.5,133,1414,0.47,0.00,0.00,0.000,6,0.095,0.000,3152,1577,3461,0,0,0,0,0,0
$GC,1691,-0.93,-146.0,206.7,-8.0,154,1695,0.00,2.42,0.00,0.000,4,0.000,0.024,3152,3116,3463,0,0,0,0,0,0
$GC,1710,-1.08,-146.0,208.6,-7.9,154,1715,0.22,2.47,0.00,0.000,6,0.038,0.028,3051,1578,3463,0,0,0,0,0,0
$GC,1976,-0.91,-146.0,242.6,-13.3,161,1981,0.35,2.30,0.00,0.000,4,0.092,0.042,3132,173,3463,0,0,0,0,0,0
$GC,2006,-0.91,-146.0,245.8,-8.5,161,2010,0.00,2.12,0.00,0.000,6,0.000,0.018,3132,1576,3464,0,0,0,0,0,0
$GC,2261,-1.00,-146.0,264.6,-7.5,168,2265,0.00,2.45,0.00,0.000,4,0.000,0.025,3132,3132,3464,0,0,0,0,0,0
$GC,2281,-1.12,-146.0,266.2,-7.9,168,2287,0.17,2.50,0.00,0.000,6,0.045,0.029,3055,1587,3464,0,0,0,0,0,0
$GC,2546,-1.00,-146.0,295.7,-11.5,175,2551,0.25,2.35,0.00,0.000,4,0.096,0.046,3114,162,3464,0,0,0,0,0,0
$GC,2624,-1.08,-146.0,302.7,-9.1,176,2628,0.00,2.17,0.00,0.000,6,0.000,0.022,3113,1560,3463,0,0,0,0,0,0
$GC,2879,-1.15,-146.0,321.7,-7.4,183,2880,0.12,0.00,0.00,0.000,6,0.065,0.000,3054,1563,3463,0,0,0,0,0,0
$GC,3122,-1.03,-146.0,346.6,-10.5,189,3127,0.25,2.35,0.00,0.000,4,0.095,0.051,3108,166,3463,0,0,0,0,0,0
$GC,3224,-1.14,-146.0,355.5,-8.6,191,3228,0.10,2.22,0.00,0.000,6,0.076,0.025,3057,1577,3463,0,0,0,0,0,0
$GC,3508,-1.04,-146.0,384.0,-10.3,198,3510,0.22,0.00,0.00,0.000,6,0.094,0.000,3104,1577,3461,0,0,0,0,0,0
$GC,3751,-1.11,-146.0,404.4,-8.2,204,3755,0.00,2.40,0.00,0.000,4,0.000,0.061,3104,173,3460,0,0,0,0,0,0
$GC,3779,-1.18,-146.0,406.9,-8.5,204,3784,0.12,2.20,0.00,0.000,6,0.066,0.027,3049,1571,3460,0,0,0,0,0,0
$GC,4040,-1.07,-146.0,435.3,-11.2,211,4042,0.28,0.00,0.00,0.000,6,0.091,0.000,3104,1571,3459,0,0,0,0,0,0
$GC,4283,-1.15,-146.0,454.1,-7.4,217,4287,0.00,2.58,0.00,0.000,4,0.000,0.040,3104,3162,3457,0,0,0,0,0,0
$GC,4307,-1.26,-146.0,455.9,-7.6,217,4313,0.17,2.62,0.00,0.000,6,0.049,0.038,3038,1574,3458,0,0,0,0,0,0
$GC,4569,-1.14,-146.0,482.3,-10.5,224,4574,0.22,2.42,0.00,0.000,4,0.106,0.071,3085,163,3455,0,0,0,0,0,0
$GC,4635,-1.14,-146.0,488.7,-8.7,225,4639,0.00,2.22,0.00,0.000,6,0.000,0.031,3085,1557,3455,0,0,0,0,0,0
$GC,4904,-1.14,-146.0,510.3,-8.1,232,4908,0.00,2.62,0.00,0.000,4,0.000,0.045,3085,3160,3453,0,0,0,0,0,0
$GC,4924,-1.14,-146.0,512.0,-8.5,232,4929,0.00,2.67,0.00,0.000,6,0.000,0.042,3085,1559,3453,0,0,0,0,0,0
$GC,5188,-1.14,-146.0,533.1,-7.9,239,5193,0.00,2.42,0.00,0.000,4,0.000,0.076,3085,166,3452,0,0,0,0,0,0
$GC,5212,-1.14,-146.0,535.2,-9.7,239,5216,0.00,2.25,0.00,0.000,6,0.000,0.034,3085,1561,3451,0,0,0,0,0,0
$GC,5477,-1.14,-146.0,555.8,-7.7,246,5481,0.00,2.42,0.00,0.000,4,0.000,0.071,3086,166,3450,0,0,0,0,0,0
$GC,5496,-1.14,-146.0,557.6,-8.3,246,5500,0.00,2.28,0.00,0.000,6,0.000,0.034,3085,1565,3450,0,0,0,0,0,0
$GC,5760,-1.14,-146.0,578.1,-7.8,253,5764,0.00,2.65,0.00,0.000,4,0.000,0.050,3085,3165,3448,0,0,0,0,0,0
$GC,5785,-1.22,-146.0,580.0,-8.0,253,5790,0.00,2.70,0.00,0.000,6,0.000,0.047,3085,1561,3448,0,0,0,0,0,0
$GC,6045,-1.22,-146.0,599.8,-7.7,260,6049,0.00,2.08,0.00,0.000,3,0.000,0.077,3085,366,3446,0,0,0,0,0,0
$STATE,6050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6050,begin apogee
$GC,6058,-0.31,0.0,600.2,7.6,260,6179,0.77,0.00,118.03,0.940,6,0.087,0.000,3259,1490,2860,0,0,0,0,0,0
$STATE,6180,end apogee,CONTROL_FINISHED_OK
$STATE,6180,begin climb
$GC,6184,1.27,146.0,603.6,0.0,263,6319,1.52,2.75,124.25,0.917,4,0.048,0.055,3619,3054,2262,0,0,0,0,0,0
$GC,6335,1.03,146.0,594.9,11.1,266,6341,0.28,2.70,0.00,0.000,6,0.097,0.048,3561,1483,2259,0,0,0,0,0,0
$GC,6585,0.93,146.0,568.1,10.7,273,6590,0.12,2.38,0.00,0.000,4,0.114,0.082,3535,161,2254,0,0,0,0,0,0
$GC,6696,0.83,146.5,556.7,10.0,275,6700,0.00,2.12,0.00,0.000,6,0.000,0.031,3535,1464,2253,0,0,0,0,0,0
$GC,6967,0.88,179.7,533.4,8.5,282,7003,0.00,2.33,29.17,0.864,4,0.000,0.067,3535,160,2126,0,0,0,0,0,0
$GC,7083,0.88,179.7,522.0,10.4,284,7087,0.00,2.12,0.00,0.000,6,0.000,0.028,3535,1469,2124,0,0,0,0,0,0
$GC,7342,0.90,197.4,498.3,9.2,291,7363,0.00,2.30,16.00,0.815,4,0.000,0.064,3535,163,2054,0,0,0,0,0,0
$GC,7422,0.90,197.4,490.3,11.5,292,7426,0.00,2.10,0.00,0.000,6,0.000,0.028,3535,1463,2054,0,0,0,0,0,0
$GC,7672,0.91,204.1,465.7,9.7,298,7685,0.00,2.30,7.05,0.699,4,0.000,0.063,3535,173,2026,0,0,0,0,0,0
$GC,7736,0.91,204.1,458.6,11.5,299,7740,0.00,2.03,0.00,0.000,6,0.000,0.027,3535,1449,2026,0,0,0,0,0,0
$GC,8010,0.92,213.8,432.4,9.6,306,8026,0.00,2.28,9.93,0.739,4,0.000,0.061,3535,167,1987,0,0,0,0,0,0
$GC,8036,0.96,248.8,429.6,8.4,306,8077,0.00,2.08,33.58,0.817,6,0.000,0.027,3535,1454,1844,0,0,0,0,0,0
$GC,8344,0.97,260.6,400.3,9.5,314,8357,0.00,0.00,10.95,0.728,6,0.000,0.000,3535,1455,1797,0,0,0,0,0,0
$GC,8585,1.05,261.4,376.3,10.0,320,8590,0.12,2.25,0.00,0.000,4,0.066,0.060,3584,160,1793,0,0,0,0,0,0
$GC,8629,0.94,261.4,370.6,14.3,321,8634,0.20,2.05,0.00,0.000,6,0.094,0.027,3541,1438,1793,0,0,0,0,0,0
$GC,8920,1.02,271.5,341.8,9.5,328,8936,0.00,2.72,10.00,0.686,4,0.000,0.038,3541,3049,1752,0,0,0,0,0,0
$GC,8946,1.12,287.0,338.8,9.3,328,8968,0.17,2.72,15.55,0.719,6,0.050,0.039,3609,1420,1689,0,0,0,0,0,0
$GC,9253,1.02,287.0,294.9,14.8,336,9257,0.22,2.12,0.00,0.000,4,0.095,0.059,3559,162,1686,0,0,0,0,0,0
$GC,9370,1.02,287.0,279.6,12.3,338,9374,0.00,2.03,0.00,0.000,6,0.000,0.024,3559,1444,1686,0,0,0,0,0,0
$GC,9635,1.08,287.0,251.3,10.6,345,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1447,1684,0,0,0,0,0,0
$GC,9878,1.16,287.0,226.2,10.1,351,9880,0.12,0.00,0.00,0.000,6,0.066,0.000,3612,1446,1684,0,0,0,0,0,0
$GC,10123,1.10,287.0,194.4,11.9,360,10128,0.17,2.60,0.00,0.000,4,0.100,0.032,3575,3056,1683,0,0,0,0,0,0
$GC,10225,1.18,287.0,183.3,11.2,369,10234,0.00,2.72,0.00,0.000,6,0.000,0.035,3575,1418,1680,0,0,0,0,0,0
$GC,10492,1.18,287.0,153.2,11.4,394,10496,0.00,2.65,0.00,0.000,4,0.000,0.034,3575,3060,1680,0,0,0,0,0,0
$GC,10507,1.25,287.0,150.8,10.9,395,10516,0.12,2.67,0.00,0.000,6,0.064,0.038,3627,1415,1680,0,0,0,0,0,0
$GC,10772,1.17,287.0,115.8,13.2,420,10776,0.17,2.08,0.00,0.000,4,0.097,0.049,3589,161,1680,0,0,0,0,0,0
$GC,10812,1.17,287.0,111.4,12.0,423,10816,0.00,2.00,0.00,0.000,6,0.000,0.021,3589,1453,1680,0,0,0,0,0,0
$GC,11080,1.24,290.2,84.5,9.9,448,11083,0.00,2.15,0.00,0.000,4,0.000,0.057,3589,160,1680,0,0,0,0,0,0
$GC,11140,1.31,290.2,78.2,11.0,453,11144,0.12,1.92,0.00,0.000,6,0.065,0.020,3635,1430,1680,0,0,0,0,0,0
$GC,11409,1.31,290.2,45.9,12.9,478,11413,0.00,2.53,0.00,0.000,4,0.000,0.030,3638,3029,1680,0,0,0,0,0,0
$GC,11429,1.31,290.2,43.5,12.5,479,11433,0.00,2.65,0.00,0.000,6,0.000,0.035,3638,1402,1680,0,0,0,0,0,0
$GC,11721,1.31,290.2,4.1,13.4,518,11729,0.00,2.08,0.00,0.000,4,0.000,0.051,3638,161,1680,0,0,0,0,0,0
$STATE,11736,end climb,SURFACE_DEPTH_REACHED
$STATE,11736,begin surface coast
$FINISH,0.8,1.010272
$STATE,11787,end surface coast,CONTROL_FINISHED_OK
$STATE,11787,begin surface
$SM_CCo,11814,50.22,0.460,0,0,1309,380.21
$SM_GC,1.55,0.00,0.00,50.22,0.000,0.000,0.460,413,1604,1309,-13.44,0.68,380.21
$IRIDIUM_FIX,2237.01,-15800.20,230901,040401
$TT8_MAMPS,0.027612
$HUMID,61.73
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.10
$XPDR_PINGS,9
$24V_AH,23.5,19.592
$10V_AH,9.9,13.497
$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,34.700,150.050,374.500,50.225,0.000,30.815,35.791,189.903,2.250,0.000,16.350,1161.870,8028.018,482.711,1988.801,592.108,33.356,1323.957,0.000,1984.201,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,82.069,939.575,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.021,296.450,374.880,542.502,952.194,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,41520,528
$CAP_FILE_SIZE,133989,0
$CFSIZE,260165632,170602496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290612,114036,2242.268,-15801.721,33,1.0,37,10.0