version: 66.06
glider: 148
mission: 11
dive: 143
start: 6 30 112 2 8 50
data:
$ID,148
$MISSION,11
$DIVE,143
$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,-921189.12
$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,1440
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,96
$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
$GPS1,020055,2240.618,-15804.243,53,1.4,53,10.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.8
$GPS2,020756,2240.614,-15804.172,14,1.9,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.041
$KALMAN_X,66425.3,-163.4,-50.0,-73744.6,1977.0
$KALMAN_Y,-11732.7,-164.2,226.0,-2013.7,-572.4
$MHEAD_RNG_PITCHd_Wd,269.2,3131,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.80,0.000,2,0.000,0.000,413,1579,3275,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.6,-5.7,10,121,13.93,2.33,-4.15,0.000,4,0.156,0.053,3057,159,3516,0,0,0,0,0,0
$GC,280,-0.97,-146.0,52.2,-20.4,31,289,0.28,2.08,0.00,0.000,6,0.092,0.019,3121,1500,3518,0,0,0,0,0,0
$GC,545,-0.89,-146.0,90.4,-13.2,56,550,0.12,2.58,0.00,0.000,4,0.120,0.025,3147,3114,3519,0,0,0,0,0,0
$GC,606,-1.03,-146.0,97.5,-10.9,61,611,0.12,2.58,0.00,0.000,6,0.060,0.038,3065,1532,3519,0,0,0,0,0,0
$GC,873,-0.79,-146.0,138.3,-15.1,85,878,0.43,2.20,0.00,0.000,4,0.092,0.041,3161,170,3520,0,0,0,0,0,0
$GC,893,-0.71,-146.0,142.0,-13.9,86,902,0.08,2.12,0.00,0.000,6,0.091,0.018,3182,1569,3520,0,0,0,0,0,0
$GC,1158,-0.90,-146.0,160.0,-6.4,111,1163,0.17,2.38,0.00,0.000,4,0.048,0.024,3098,3089,3521,0,0,0,0,0,0
$GC,1208,-0.90,-146.0,165.3,-10.3,115,1216,0.15,2.45,0.00,0.000,6,0.072,0.028,3138,1552,3521,0,0,0,0,0,0
$GC,1473,-0.90,-146.0,189.6,-9.5,140,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1552,3521,0,0,0,0,0,0
$GC,1759,-0.99,-146.0,214.8,-8.8,156,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1552,3521,0,0,0,0,0,0
$GC,2004,-1.08,-146.0,236.2,-8.8,162,2006,0.15,0.00,0.00,0.000,6,0.055,0.000,3063,1552,3521,0,0,0,0,0,0
$GC,2246,-0.94,-146.0,265.3,-12.2,168,2251,0.28,2.25,0.00,0.000,4,0.090,0.041,3130,172,3521,0,0,0,0,0,0
$GC,2265,-0.94,-146.0,267.7,-11.6,168,2269,0.00,2.08,0.00,0.000,6,0.000,0.020,3130,1550,3521,0,0,0,0,0,0
$GC,2531,-1.03,-146.0,288.2,-7.6,175,2535,0.00,2.42,0.00,0.000,4,0.000,0.027,3130,3097,3521,0,0,0,0,0,0
$GC,2560,-1.18,-146.0,290.6,-7.6,175,2565,0.20,2.50,0.00,0.000,6,0.043,0.031,3057,1552,3521,0,0,0,0,0,0
$GC,2816,-1.06,-146.0,319.4,-11.8,182,2821,0.22,2.45,0.00,0.000,4,0.103,0.028,3106,3091,3521,0,0,0,0,0,0
$GC,2847,-1.14,-146.0,322.4,-8.8,182,2851,0.00,2.50,0.00,0.000,6,0.000,0.032,3106,1553,3522,0,0,0,0,0,0
$GC,3101,-1.14,-146.0,344.8,-8.7,189,3105,0.00,2.30,0.00,0.000,4,0.000,0.051,3106,171,3521,0,0,0,0,0,0
$GC,3148,-1.25,-146.0,349.0,-8.6,190,3153,0.17,2.15,0.00,0.000,6,0.049,0.022,3033,1548,3521,0,0,0,0,0,0
$GC,3433,-1.09,-146.0,382.2,-12.2,197,3438,0.28,2.33,0.00,0.000,4,0.091,0.053,3098,174,3520,0,0,0,0,0,0
$GC,3462,-1.09,-146.0,385.8,-9.8,197,3466,0.00,2.15,0.00,0.000,6,0.000,0.024,3098,1555,3520,0,0,0,0,0,0
$GC,3718,-1.09,-146.0,407.5,-8.5,204,3722,0.00,2.50,0.00,0.000,4,0.000,0.038,3098,3111,3519,0,0,0,0,0,0
$GC,3765,-1.25,-146.0,411.5,-7.8,205,3770,0.12,2.55,0.00,0.000,6,0.062,0.038,3021,1562,3519,0,0,0,0,0,0
$GC,4050,-1.06,-146.0,444.9,-12.3,212,4055,0.38,2.38,0.00,0.000,4,0.091,0.064,3102,173,3516,0,0,0,0,0,0
$GC,4114,-1.17,-146.0,450.9,-8.3,213,4118,0.00,2.20,0.00,0.000,6,0.000,0.030,3102,1547,3516,0,0,0,0,0,0
$GC,4382,-1.25,-146.0,471.2,-7.7,220,4388,0.15,2.58,0.00,0.000,4,0.058,0.041,3038,3117,3515,0,0,0,0,0,0
$GC,4404,-1.25,-146.0,473.2,-9.1,220,4409,0.12,2.60,0.00,0.000,6,0.108,0.040,3065,1546,3515,0,0,0,0,0,0
$GC,4669,-1.25,-146.0,498.6,-9.4,227,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1546,3512,0,0,0,0,0,0
$GC,4913,-1.25,-146.0,521.5,-9.3,233,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1546,3511,0,0,0,0,0,0
$GC,5158,-1.25,-146.0,542.4,-8.4,239,5159,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1546,3509,0,0,0,0,0,0
$GC,5400,-1.25,-146.0,563.8,-8.9,245,5404,0.00,2.62,0.00,0.000,4,0.000,0.048,3065,3115,3508,0,0,0,0,0,0
$GC,5424,-1.25,-146.0,566.0,-9.0,245,5428,0.00,2.60,0.00,0.000,6,0.000,0.046,3065,1556,3508,0,0,0,0,0,0
$GC,5685,-1.25,-146.0,588.6,-8.7,252,5689,0.00,2.42,0.00,0.000,4,0.000,0.078,3065,167,3506,0,0,0,0,0,0
$GC,5732,-1.25,-146.0,593.4,-9.4,253,5736,0.00,2.25,0.00,0.000,6,0.000,0.036,3065,1549,3505,0,0,0,0,0,0
$STATE,5813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5813,begin apogee
$GC,5820,-0.31,0.0,601.1,9.0,255,5941,0.90,0.00,117.65,0.936,6,0.081,0.000,3268,1427,2920,0,0,0,0,0,0
$STATE,5941,end apogee,CONTROL_FINISHED_OK
$STATE,5942,begin climb
$GC,5946,1.27,146.0,605.0,0.0,258,6079,1.48,2.22,123.68,0.916,4,0.048,0.073,3622,181,2323,0,0,0,0,0,0
$GC,6275,0.90,146.0,575.0,13.3,265,6280,0.40,2.08,0.00,0.000,6,0.102,0.030,3538,1450,2317,0,0,0,0,0,0
$GC,6541,0.93,176.1,551.4,8.6,272,6573,0.00,2.30,25.40,0.857,4,0.000,0.069,3538,174,2202,0,0,0,0,0,0
$GC,6618,0.85,176.1,543.9,10.8,273,6621,0.00,2.08,0.00,0.000,6,0.000,0.029,3538,1442,2200,0,0,0,0,0,0
$GC,6872,0.85,176.1,517.9,10.1,280,6876,0.00,2.20,0.00,0.000,4,0.000,0.067,3538,172,2197,0,0,0,0,0,0
$GC,6918,0.78,176.1,512.8,10.8,281,6923,0.12,2.05,0.00,0.000,6,0.116,0.028,3511,1439,2196,0,0,0,0,0,0
$GC,7201,0.92,236.4,491.1,7.2,288,7263,0.12,2.28,54.05,0.859,4,0.066,0.064,3560,181,1955,0,0,0,0,0,0
$GC,7309,0.86,236.4,479.9,12.9,290,7313,0.15,2.03,0.00,0.000,6,0.104,0.028,3528,1430,1953,0,0,0,0,0,0
$GC,7579,0.95,261.6,455.7,8.8,297,7604,0.00,0.00,23.25,0.810,6,0.000,0.000,3528,1433,1854,0,0,0,0,0,0
$GC,7822,1.04,264.0,431.8,9.9,303,7824,0.15,0.00,0.00,0.000,6,0.055,0.000,3577,1432,1849,0,0,0,0,0,0
$GC,8065,1.04,264.0,400.5,13.1,309,8069,0.00,2.15,0.00,0.000,4,0.000,0.058,3577,178,1847,0,0,0,0,0,0
$GC,8113,0.95,264.0,394.0,14.6,310,8117,0.15,2.00,0.00,0.000,6,0.109,0.026,3546,1425,1847,0,0,0,0,0,0
$GC,8395,0.95,264.0,363.4,10.4,317,8399,0.00,2.62,0.00,0.000,4,0.000,0.039,3546,3017,1845,0,0,0,0,0,0
$GC,8409,0.95,264.0,361.8,10.1,317,8414,0.00,2.67,0.00,0.000,6,0.000,0.038,3546,1419,1843,0,0,0,0,0,0
$GC,8679,0.95,266.2,335.1,9.9,324,8688,0.00,2.15,3.92,0.489,4,0.000,0.062,3546,171,1833,0,0,0,0,0,0
$GC,8749,0.95,266.2,327.4,10.5,325,8753,0.00,1.95,0.00,0.000,6,0.000,0.025,3546,1418,1834,0,0,0,0,0,0
$GC,9012,1.02,266.2,301.2,10.1,332,9016,0.00,2.12,0.00,0.000,4,0.000,0.057,3546,162,1833,0,0,0,0,0,0
$GC,9037,1.02,266.2,298.5,11.5,332,9040,0.00,1.98,0.00,0.000,6,0.000,0.025,3546,1417,1833,0,0,0,0,0,0
$GC,9305,1.11,271.9,271.8,9.7,339,9318,0.15,2.62,6.47,0.581,4,0.058,0.035,3592,3000,1810,0,0,0,0,0,0
$GC,9346,1.11,271.9,267.0,11.8,339,9352,0.00,2.65,0.00,0.000,6,0.000,0.039,3592,1414,1808,0,0,0,0,0,0
$GC,9597,1.11,271.9,238.4,11.3,346,9601,0.00,2.10,0.00,0.000,4,0.000,0.056,3592,165,1808,0,0,0,0,0,0
$GC,9648,1.04,271.9,231.6,12.7,347,9653,0.12,1.95,0.00,0.000,6,0.114,0.022,3565,1420,1807,0,0,0,0,0,0
$GC,9928,1.06,287.7,205.0,9.3,354,9948,0.00,2.17,14.62,0.615,4,0.000,0.052,3565,166,1746,0,0,0,0,0,0
$GC,10062,1.14,287.7,190.5,11.3,360,10072,0.00,1.92,0.00,0.000,6,0.000,0.021,3565,1400,1746,0,0,0,0,0,0
$GC,10330,1.22,287.7,165.3,10.2,385,10336,0.17,0.00,0.00,0.000,6,0.051,0.000,3620,1401,1744,0,0,0,0,0,0
$GC,10593,1.15,287.7,129.4,12.9,410,10595,0.15,0.00,0.00,0.000,6,0.102,0.000,3588,1401,1745,0,0,0,0,0,0
$GC,10849,1.15,288.2,102.0,10.0,434,10854,0.00,2.53,0.00,0.000,4,0.000,0.027,3588,3004,1744,0,0,0,0,0,0
$GC,10859,1.15,288.2,100.5,10.0,434,10869,0.00,2.65,0.00,0.000,6,0.000,0.036,3588,1388,1743,0,0,0,0,0,0
$GC,11128,1.17,299.7,74.5,9.5,459,11145,0.00,2.05,12.12,0.486,4,0.000,0.048,3587,162,1697,0,0,0,0,0,0
$GC,11171,1.17,299.7,69.8,10.4,462,11175,0.00,1.90,0.00,0.000,6,0.000,0.020,3588,1413,1697,0,0,0,0,0,0
$GC,11445,1.29,328.9,45.4,8.7,487,11483,0.12,2.15,26.77,0.487,4,0.064,0.058,3633,171,1578,0,0,0,0,0,0
$GC,11510,1.18,328.9,37.7,13.4,492,11514,0.17,1.88,0.00,0.000,6,0.098,0.019,3596,1398,1578,0,0,0,0,0,0
$STATE,11812,end climb,SURFACE_DEPTH_REACHED
$STATE,11812,begin surface coast
$FINISH,0.7,1.010709
$STATE,11871,end surface coast,CONTROL_FINISHED_OK
$STATE,11871,begin surface
$SM_CCo,11894,34.05,0.452,0,0,1370,380.21
$SM_GC,1.60,0.00,0.00,34.05,0.000,0.000,0.452,408,1589,1370,-13.49,1.39,380.21
$IRIDIUM_FIX,2232.34,-15805.41,230901,222222
$TT8_MAMPS,0.027612
$HUMID,61.30
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.30
$XPDR_PINGS,7
$24V_AH,23.5,20.196
$10V_AH,9.9,14.052
$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,34.375,128.325,407.950,34.050,0.000,28.554,38.360,208.905,1.750,0.000,15.712,1174.155,8029.633,480.189,2044.764,619.781,33.359,1348.581,0.000,2044.813,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,78.234,935.740,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.951,310.308,393.639,567.368,996.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41518,545
$CAP_FILE_SIZE,131688,0
$CFSIZE,260165632,170291200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,052857,2240.430,-15804.722,15,99.0,34,10.0