version: 66.06
glider: 148
mission: 11
dive: 251
start: 7 15 112 19 28 7
data:
$ID,148
$MISSION,11
$DIVE,251
$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,-923640.19
$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,26
$R_STBD_OVSHOOT,82
$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
$GPS1,192059,2300.408,-15800.822,41,1.6,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.3
$GPS2,192713,2300.406,-15800.871,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.168
$KALMAN_X,14495.2,-241.2,287.4,-16436.7,-1323.6
$KALMAN_Y,9431.6,-441.6,101.6,13876.6,942.6
$MHEAD_RNG_PITCHd_Wd,120.3,56449,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.28,0.000,2,0.000,0.000,414,1522,3065,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.5,9,121,13.65,2.28,-8.52,0.000,4,0.149,0.055,3057,160,3518,0,0,0,0,0,0
$GC,137,-0.43,-146.0,17.8,-28.8,15,146,0.82,2.10,0.00,0.000,6,0.090,0.018,3240,1524,3519,0,0,0,0,0,0
$GC,424,-0.65,-146.0,42.1,-6.3,49,429,0.17,2.47,0.00,0.000,4,0.044,0.024,3136,3098,3520,0,0,0,0,0,0
$GC,500,-0.65,-146.0,50.7,-11.3,55,506,0.28,2.50,0.00,0.000,6,0.081,0.030,3198,1541,3520,0,0,0,0,0,0
$GC,770,-0.78,-146.0,76.6,-8.7,79,775,0.12,2.47,0.00,0.000,4,0.062,0.025,3130,3104,3522,0,0,0,0,0,0
$GC,810,-0.78,-146.0,81.7,-12.4,82,815,0.17,2.50,0.00,0.000,6,0.090,0.028,3170,1551,3521,0,0,0,0,0,0
$GC,1074,-0.84,-146.0,105.5,-8.9,106,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1551,3522,0,0,0,0,0,0
$GC,1341,-0.93,-146.0,128.3,-7.9,131,1346,0.12,2.45,0.00,0.000,4,0.063,0.024,3099,3104,3523,0,0,0,0,0,0
$GC,1393,-0.93,-146.0,134.1,-10.5,135,1399,0.17,2.45,0.00,0.000,6,0.091,0.028,3139,1568,3523,0,0,0,0,0,0
$GC,1660,-0.93,-146.0,159.8,-9.7,160,1664,0.00,2.42,0.00,0.000,4,0.000,0.025,3139,3102,3524,0,0,0,0,0,0
$GC,1716,-1.05,-146.0,165.1,-8.5,165,1721,0.12,2.42,0.00,0.000,6,0.062,0.028,3065,1578,3525,0,0,0,0,0,0
$GC,2009,-0.83,-146.0,206.2,-15.6,189,2014,0.40,2.28,0.00,0.000,4,0.086,0.041,3156,166,3525,0,0,0,0,0,0
$GC,2058,-1.04,-146.0,212.1,-10.2,190,2063,0.17,2.15,0.00,0.000,6,0.047,0.018,3069,1593,3525,0,0,0,0,0,0
$GC,2341,-0.89,-146.0,247.2,-12.6,197,2343,0.35,0.00,0.00,0.000,6,0.081,0.000,3144,1595,3525,0,0,0,0,0,0
$GC,2585,-1.02,-146.0,264.7,-6.8,203,2590,0.12,2.38,0.00,0.000,4,0.062,0.025,3067,3102,3525,0,0,0,0,0,0
$GC,2615,-1.02,-146.0,267.4,-9.4,203,2620,0.22,2.45,0.00,0.000,6,0.081,0.029,3120,1581,3525,0,0,0,0,0,0
$GC,2871,-1.08,-146.0,288.9,-8.6,210,2875,0.00,2.30,0.00,0.000,4,0.000,0.049,3120,172,3525,0,0,0,0,0,0
$GC,2910,-1.16,-146.0,292.5,-10.2,210,2916,0.15,2.15,0.00,0.000,6,0.052,0.021,3036,1554,3525,0,0,0,0,0,0
$GC,3160,-0.98,-146.0,324.1,-12.7,217,3166,0.38,2.50,0.00,0.000,4,0.086,0.030,3122,3110,3525,0,0,0,0,0,0
$GC,3176,-0.89,-146.0,326.1,-12.0,217,3181,0.10,2.47,0.00,0.000,6,0.117,0.030,3146,1569,3525,0,0,0,0,0,0
$GC,3447,-1.07,-146.0,342.7,-5.9,224,3452,0.15,2.47,0.00,0.000,4,0.054,0.031,3064,3110,3524,0,0,0,0,0,0
$GC,3467,-1.07,-146.0,344.6,-8.3,224,3472,0.20,2.50,0.00,0.000,6,0.087,0.034,3110,1578,3524,0,0,0,0,0,0
$GC,3734,-1.13,-146.0,367.7,-9.0,231,3738,0.00,2.47,0.00,0.000,4,0.000,0.034,3110,3114,3523,0,0,0,0,0,0
$GC,3758,-1.21,-146.0,370.3,-9.6,231,3763,0.15,2.50,0.00,0.000,6,0.054,0.037,3052,1581,3523,0,0,0,0,0,0
$GC,4020,-1.10,-146.0,400.8,-11.9,238,4022,0.22,0.00,0.00,0.000,6,0.096,0.000,3101,1581,3521,0,0,0,0,0,0
$GC,4263,-1.10,-146.0,421.5,-8.2,244,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1581,3519,0,0,0,0,0,0
$GC,4506,-1.10,-146.0,441.0,-8.1,250,4510,0.00,2.42,0.00,0.000,4,0.000,0.068,3101,166,3518,0,0,0,0,0,0
$GC,4529,-1.10,-146.0,443.2,-10.2,250,4533,0.00,2.22,0.00,0.000,6,0.000,0.028,3101,1574,3518,0,0,0,0,0,0
$GC,4792,-1.10,-146.0,465.5,-8.5,257,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1574,3516,0,0,0,0,0,0
$GC,5038,-1.16,-146.0,485.1,-7.9,263,5043,0.00,2.53,0.00,0.000,4,0.000,0.041,3101,3116,3514,0,0,0,0,0,0
$GC,5062,-1.26,-146.0,487.2,-8.3,263,5068,0.15,2.53,0.00,0.000,6,0.054,0.038,3040,1590,3514,0,0,0,0,0,0
$GC,5324,-1.14,-146.0,513.2,-10.4,270,5329,0.22,2.45,0.00,0.000,4,0.094,0.071,3089,170,3512,0,0,0,0,0,0
$GC,5372,-1.14,-146.0,518.1,-8.9,271,5376,0.00,2.28,0.00,0.000,6,0.000,0.031,3089,1583,3512,0,0,0,0,0,0
$GC,5654,-1.14,-146.0,541.2,-8.3,278,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1583,3511,0,0,0,0,0,0
$GC,5898,-1.14,-146.0,562.7,-8.9,284,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1583,3509,0,0,0,0,0,0
$GC,6142,-1.14,-146.0,582.7,-8.1,290,6146,0.00,2.58,0.00,0.000,4,0.000,0.049,3090,3126,3507,0,0,0,0,0,0
$GC,6156,-1.14,-146.0,584.0,-8.1,290,6161,0.00,2.60,0.00,0.000,6,0.000,0.043,3089,1574,3507,0,0,0,0,0,0
$STATE,6382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6382,begin apogee
$GC,6390,-0.31,0.0,601.6,7.8,296,6511,0.80,0.00,118.05,0.934,6,0.073,0.000,3273,1377,2920,0,0,0,0,0,0
$STATE,6512,end apogee,CONTROL_FINISHED_OK
$STATE,6512,begin climb
$GC,6514,1.27,146.0,604.9,0.0,299,6648,1.45,2.20,123.60,0.913,4,0.044,0.083,3620,165,2323,0,0,0,0,0,0
$GC,6853,0.92,146.0,574.2,13.0,306,6858,0.38,1.98,0.00,0.000,6,0.100,0.030,3541,1386,2316,0,0,0,0,0,0
$GC,7114,0.97,186.4,552.2,8.1,313,7156,0.00,2.22,34.53,0.871,4,0.000,0.071,3541,173,2158,0,0,0,0,0,0
$GC,7187,0.89,186.4,545.6,10.4,314,7190,0.00,1.98,0.00,0.000,6,0.000,0.029,3541,1383,2158,0,0,0,0,0,0
$GC,7453,0.91,205.3,520.9,9.1,321,7472,0.00,0.00,17.62,0.825,6,0.000,0.000,3541,1384,2082,0,0,0,0,0,0
$GC,7695,0.91,205.3,496.8,10.1,327,7699,0.00,2.12,0.00,0.000,4,0.000,0.066,3541,164,2077,0,0,0,0,0,0
$GC,7746,0.91,205.3,490.9,12.0,328,7749,0.00,1.95,0.00,0.000,6,0.000,0.026,3541,1381,2077,0,0,0,0,0,0
$GC,8029,0.91,205.3,461.0,10.6,335,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1384,2075,0,0,0,0,0,0
$GC,8271,0.91,205.3,435.8,10.1,341,8275,0.00,2.10,0.00,0.000,4,0.000,0.062,3541,160,2074,0,0,0,0,0,0
$GC,8312,0.91,205.3,431.2,10.6,341,8318,0.00,1.92,0.00,0.000,6,0.000,0.026,3541,1370,2074,0,0,0,0,0,0
$GC,8564,0.95,231.6,408.4,8.8,348,8592,0.00,2.15,23.12,0.792,4,0.000,0.066,3541,168,1975,0,0,0,0,0,0
$GC,8625,0.95,231.6,402.6,10.1,349,8629,0.00,1.90,0.00,0.000,6,0.000,0.025,3541,1356,1974,0,0,0,0,0,0
$GC,8898,0.99,268.8,379.5,8.3,356,8940,0.00,2.70,34.70,0.782,4,0.000,0.039,3541,2948,1823,0,0,0,0,0,0
$GC,8981,1.18,300.5,372.3,8.5,357,9019,0.22,2.70,29.10,0.762,6,0.041,0.042,3625,1358,1695,0,0,0,0,0,0
$GC,9279,1.03,300.5,329.0,15.0,365,9286,0.25,2.67,0.00,0.000,4,0.093,0.038,3566,2954,1689,0,0,0,0,0,0
$GC,9300,1.03,300.5,325.7,12.6,365,9305,0.00,2.67,0.00,0.000,6,0.000,0.040,3566,1361,1687,0,0,0,0,0,0
$GC,9564,1.03,300.5,294.2,11.9,372,9567,0.00,2.05,0.00,0.000,4,0.000,0.063,3566,160,1686,0,0,0,0,0,0
$GC,9593,1.03,300.5,290.7,13.0,372,9597,0.00,1.95,0.00,0.000,6,0.000,0.023,3566,1378,1686,0,0,0,0,0,0
$GC,9856,1.03,300.5,261.7,10.6,379,9860,0.00,2.55,0.00,0.000,4,0.000,0.031,3566,2955,1685,0,0,0,0,0,0
$GC,9912,1.17,301.9,256.1,9.9,380,9917,0.12,2.62,0.00,0.000,6,0.063,0.038,3626,1380,1683,0,0,0,0,0,0
$GC,10188,1.07,301.9,217.9,14.4,387,10190,0.25,0.00,0.00,0.000,6,0.091,0.000,3571,1380,1683,0,0,0,0,0,0
$GC,10432,1.07,301.9,191.2,11.1,396,10435,0.00,2.03,0.00,0.000,4,0.000,0.053,3571,164,1682,0,0,0,0,0,0
$GC,10491,1.07,301.9,184.3,11.5,402,10495,0.00,1.90,0.00,0.000,6,0.000,0.021,3571,1412,1682,0,0,0,0,0,0
$GC,10763,1.15,301.9,156.3,10.5,427,10767,0.00,2.42,0.00,0.000,4,0.000,0.033,3571,2937,1682,0,0,0,0,0,0
$GC,10838,1.30,301.9,148.3,10.1,434,10843,0.22,2.55,0.00,0.000,6,0.041,0.035,3668,1381,1680,0,0,0,0,0,0
$GC,11099,1.12,301.9,109.2,14.9,458,11104,0.38,1.98,0.00,0.000,4,0.088,0.048,3583,170,1680,0,0,0,0,0,0
$GC,11140,1.12,301.9,103.6,12.5,461,11146,0.00,1.88,0.00,0.000,6,0.000,0.020,3583,1411,1680,0,0,0,0,0,0
$GC,11410,1.19,301.9,76.4,10.8,486,11417,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1413,1680,0,0,0,0,0,0
$GC,11676,1.32,316.3,48.9,9.3,511,11701,0.17,2.12,13.40,0.460,4,0.050,0.048,3658,164,1629,0,0,0,0,0,0
$GC,11753,1.18,316.3,39.0,14.7,517,11758,0.28,1.85,0.00,0.000,6,0.086,0.018,3598,1398,1629,0,0,0,0,0,0
$GC,12048,1.18,316.3,7.3,11.1,558,12057,0.00,2.45,0.00,0.000,4,0.000,0.025,3597,2940,1629,0,0,0,0,0,0
$GC,12066,1.18,316.3,5.0,11.4,560,12075,0.00,2.55,0.00,0.000,6,0.000,0.033,3597,1389,1627,0,0,0,0,0,0
$STATE,12082,end climb,SURFACE_DEPTH_REACHED
$STATE,12082,begin surface coast
$FINISH,0.8,1.009239
$STATE,12126,end surface coast,CONTROL_FINISHED_OK
$STATE,12127,begin surface
$SM_CCo,12151,36.17,0.439,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,36.17,0.000,0.000,0.439,413,1548,1369,-13.46,0.23,380.21
$IRIDIUM_FIX,2253.38,-15802.79,091001,161610
$TT8_MAMPS,0.027612
$HUMID,63.93
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.5,33.828
$10V_AH,10.0,25.829
$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,36.025,134.975,394.125,36.175,0.000,30.205,33.149,175.213,2.500,0.000,14.558,1201.485,8177.431,486.857,2115.959,577.990,33.374,1347.713,0.000,2119.382,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,82.836,934.206,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.407,330.235,416.810,641.340,1126.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44590,569
$CAP_FILE_SIZE,132461,0
$CFSIZE,260165632,163708928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150712,225300,2259.618,-15800.290,63,1.5,63,10.1