version: 66.06
glider: 148
mission: 11
dive: 273
start: 7 19 112 1 10 0
data:
$ID,148
$MISSION,11
$DIVE,273
$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,-924143.19
$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,29
$R_STBD_OVSHOOT,81
$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
$GPS1,004226,2247.694,-15748.744,28,2.2,47,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.0
$GPS2,010907,2247.758,-15749.176,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.189,-0.178
$KALMAN_X,-16402.8,-515.7,-85.3,35081.6,-1304.4
$KALMAN_Y,29273.0,-195.7,-507.5,-29022.0,1300.5
$MHEAD_RNG_PITCHd_Wd,123.3,25805,-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,18,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.15,0.000,2,0.000,0.000,412,1526,3088,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-6.0,9,122,13.68,2.28,-8.02,0.000,4,0.148,0.054,3058,167,3518,0,0,0,0,0,0
$GC,158,-0.85,-146.0,21.9,-21.5,18,167,0.40,2.10,0.00,0.000,6,0.087,0.018,3149,1526,3519,0,0,0,0,0,0
$GC,435,-0.78,-146.0,60.3,-10.9,46,440,0.10,2.50,0.00,0.000,4,0.124,0.024,3171,3110,3519,0,0,0,0,0,0
$GC,482,-0.91,-146.0,64.4,-8.4,49,487,0.12,2.55,0.00,0.000,6,0.059,0.030,3113,1539,3519,0,0,0,0,0,0
$GC,750,-0.76,-146.0,98.9,-14.2,73,755,0.25,0.00,0.00,0.000,6,0.090,0.000,3171,1539,3519,0,0,0,0,0,0
$GC,1012,-0.76,-146.0,126.4,-10.4,98,1016,0.00,2.47,0.00,0.000,4,0.000,0.024,3171,3113,3520,0,0,0,0,0,0
$GC,1059,-0.93,-146.0,130.9,-9.6,102,1064,0.15,2.53,0.00,0.000,6,0.052,0.028,3109,1543,3520,0,0,0,0,0,0
$GC,1319,-0.83,-146.0,165.6,-13.0,126,1321,0.22,0.00,0.00,0.000,6,0.091,0.000,3159,1543,3520,0,0,0,0,0,0
$GC,1576,-0.93,-146.0,190.5,-9.0,150,1581,0.00,2.45,0.00,0.000,4,0.000,0.023,3159,3109,3520,0,0,0,0,0,0
$GC,1597,-1.04,-146.0,192.1,-8.8,151,1602,0.20,2.50,0.00,0.000,6,0.043,0.027,3076,1547,3520,0,0,0,0,0,0
$GC,1870,-0.89,-146.0,230.2,-14.0,162,1873,0.30,0.00,0.00,0.000,6,0.087,0.000,3143,1547,3520,0,0,0,0,0,0
$GC,2114,-0.98,-146.0,253.1,-8.9,168,2119,0.00,2.45,0.00,0.000,4,0.000,0.025,3144,3102,3521,0,0,0,0,0,0
$GC,2136,-1.09,-146.0,254.9,-8.8,168,2141,0.17,2.50,0.00,0.000,6,0.046,0.028,3057,1551,3521,0,0,0,0,0,0
$GC,2400,-0.93,-146.0,289.3,-13.4,175,2405,0.32,2.25,0.00,0.000,4,0.088,0.044,3133,167,3520,0,0,0,0,0,0
$GC,2420,-0.93,-146.0,291.9,-12.3,175,2424,0.00,2.15,0.00,0.000,6,0.000,0.020,3133,1560,3521,0,0,0,0,0,0
$GC,2686,-1.02,-146.0,313.3,-8.0,182,2690,0.00,2.47,0.00,0.000,4,0.000,0.028,3133,3111,3520,0,0,0,0,0,0
$GC,2710,-1.14,-146.0,315.3,-8.4,182,2715,0.17,2.53,0.00,0.000,6,0.045,0.031,3047,1558,3520,0,0,0,0,0,0
$GC,2972,-0.98,-146.0,346.2,-12.0,189,2977,0.32,2.30,0.00,0.000,4,0.087,0.053,3122,171,3518,0,0,0,0,0,0
$GC,3020,-1.09,-146.0,351.1,-9.2,190,3024,0.00,2.15,0.00,0.000,6,0.000,0.022,3122,1551,3518,0,0,0,0,0,0
$GC,3303,-1.17,-146.0,372.3,-7.5,197,3308,0.15,2.53,0.00,0.000,4,0.056,0.033,3059,3114,3516,0,0,0,0,0,0
$GC,3328,-1.17,-146.0,374.8,-9.4,197,3334,0.12,2.55,0.00,0.000,6,0.103,0.034,3087,1558,3516,0,0,0,0,0,0
$GC,3589,-1.17,-146.0,400.1,-10.0,204,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1558,3515,0,0,0,0,0,0
$GC,3833,-1.17,-146.0,423.9,-9.8,210,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1558,3513,0,0,0,0,0,0
$GC,4078,-1.17,-146.0,445.9,-8.9,216,4082,0.00,2.55,0.00,0.000,4,0.000,0.038,3087,3105,3511,0,0,0,0,0,0
$GC,4097,-1.17,-146.0,447.9,-9.3,216,4101,0.00,2.55,0.00,0.000,6,0.000,0.035,3087,1557,3511,0,0,0,0,0,0
$GC,4361,-1.17,-146.0,472.0,-9.3,223,4365,0.00,2.53,0.00,0.000,4,0.000,0.038,3088,3106,3509,0,0,0,0,0,0
$GC,4391,-1.17,-146.0,474.7,-9.9,223,4395,0.00,2.53,0.00,0.000,6,0.000,0.038,3088,1568,3509,0,0,0,0,0,0
$GC,4646,-1.17,-146.0,498.6,-9.4,230,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1568,3507,0,0,0,0,0,0
$GC,4889,-1.17,-146.0,521.1,-9.1,236,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1568,3505,0,0,0,0,0,0
$GC,5135,-1.17,-146.0,542.0,-8.5,242,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1568,3504,0,0,0,0,0,0
$GC,5377,-1.17,-146.0,561.7,-8.1,248,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1568,3501,0,0,0,0,0,0
$GC,5621,-1.17,-146.0,580.5,-7.6,254,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1568,3499,0,0,0,0,0,0
$GC,5864,-1.17,-146.0,600.0,-8.1,260,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1568,3498,0,0,0,0,0,0
$STATE,5902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5902,begin apogee
$GC,5910,-0.31,0.0,603.2,8.1,261,6030,0.80,0.00,116.25,0.933,6,0.079,0.000,3269,1377,2920,0,0,0,0,0,0
$STATE,6030,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6033,1.27,146.0,607.2,0.0,264,6164,1.48,2.20,122.65,0.912,4,0.050,0.085,3621,171,2324,0,0,0,0,0,0
$GC,6351,0.95,146.0,583.4,11.4,271,6356,0.35,1.95,0.00,0.000,6,0.100,0.029,3548,1364,2316,0,0,0,0,0,0
$GC,6626,1.03,209.8,563.2,7.1,278,6687,0.00,2.17,54.90,0.886,4,0.000,0.070,3548,178,2063,0,0,0,0,0,0
$GC,6724,1.03,209.8,554.1,11.6,280,6727,0.00,1.98,0.00,0.000,6,0.000,0.028,3548,1381,2061,0,0,0,0,0,0
$GC,7002,1.03,209.8,526.3,10.2,287,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1381,2056,0,0,0,0,0,0
$GC,7244,1.03,209.8,500.9,10.3,293,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,3548,1382,2054,0,0,0,0,0,0
$GC,7488,1.03,211.5,476.6,9.9,299,7492,0.00,2.10,0.00,0.000,4,0.000,0.063,3548,165,2052,0,0,0,0,0,0
$GC,7514,1.03,211.5,474.0,10.5,299,7518,0.00,1.98,0.00,0.000,6,0.000,0.026,3548,1398,2052,0,0,0,0,0,0
$GC,7779,1.04,216.8,447.6,9.8,306,7791,0.00,2.58,5.30,0.627,4,0.000,0.041,3548,2951,2034,0,0,0,0,0,0
$GC,7826,1.15,222.9,443.3,9.7,307,7839,0.17,2.65,7.03,0.686,6,0.049,0.043,3613,1386,2011,0,0,0,0,0,0
$GC,8120,1.01,222.9,408.0,12.2,314,8125,0.25,2.08,0.00,0.000,4,0.093,0.062,3556,167,2008,0,0,0,0,0,0
$GC,8162,1.01,222.9,402.8,10.9,314,8168,0.00,1.95,0.00,0.000,6,0.000,0.026,3556,1400,2008,0,0,0,0,0,0
$GC,8414,1.03,239.0,379.5,9.3,321,8435,0.00,2.15,15.88,0.754,4,0.000,0.060,3556,167,1944,0,0,0,0,0,0
$GC,8477,1.03,239.0,372.7,10.8,322,8480,0.00,1.92,0.00,0.000,6,0.000,0.027,3556,1386,1943,0,0,0,0,0,0
$GC,8745,1.06,261.4,348.0,9.0,329,8768,0.00,0.00,21.42,0.745,6,0.000,0.000,3556,1389,1854,0,0,0,0,0,0
$GC,8990,1.13,262.4,324.4,10.0,335,8995,0.12,2.10,0.00,0.000,4,0.065,0.058,3606,164,1850,0,0,0,0,0,0
$GC,9028,1.00,262.4,319.2,13.6,335,9034,0.22,1.92,0.00,0.000,6,0.093,0.024,3558,1391,1850,0,0,0,0,0,0
$GC,9278,1.07,262.4,293.3,10.1,342,9282,0.00,2.50,0.00,0.000,4,0.000,0.030,3558,2944,1848,0,0,0,0,0,0
$GC,9304,1.20,279.7,290.9,9.2,342,9328,0.17,2.60,16.62,0.690,6,0.050,0.040,3625,1371,1778,0,0,0,0,0,0
$GC,9611,1.11,279.7,249.5,13.4,350,9616,0.20,2.05,0.00,0.000,4,0.094,0.056,3581,160,1775,0,0,0,0,0,0
$GC,9660,1.11,279.7,243.6,12.1,351,9664,0.00,1.90,0.00,0.000,6,0.000,0.021,3581,1390,1776,0,0,0,0,0,0
$GC,9952,1.13,298.2,216.7,9.1,358,9975,0.00,2.50,16.92,0.624,4,0.000,0.026,3582,2941,1702,0,0,0,0,0,0
$GC,10046,1.28,300.6,208.2,9.9,360,10051,0.15,2.60,0.00,0.000,6,0.054,0.035,3644,1367,1698,0,0,0,0,0,0
$GC,10315,1.16,300.6,170.4,14.2,379,10320,0.22,2.00,0.00,0.000,4,0.091,0.049,3593,166,1698,0,0,0,0,0,0
$GC,10365,1.16,300.6,163.3,13.0,383,10370,0.00,1.88,0.00,0.000,6,0.000,0.020,3593,1402,1698,0,0,0,0,0,0
$GC,10627,1.16,300.6,134.8,10.3,408,10632,0.00,2.40,0.00,0.000,4,0.000,0.031,3594,2932,1697,0,0,0,0,0,0
$GC,10655,1.24,300.6,131.9,10.5,410,10659,0.00,2.55,0.00,0.000,6,0.000,0.035,3593,1374,1696,0,0,0,0,0,0
$GC,10918,1.24,300.6,105.5,10.0,434,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1375,1696,0,0,0,0,0,0
$GC,11172,1.31,300.6,79.7,10.3,458,11174,0.12,0.00,0.00,0.000,6,0.064,0.000,3653,1375,1696,0,0,0,0,0,0
$GC,11430,1.23,300.6,50.1,10.3,482,11435,0.20,2.47,0.00,0.000,4,0.091,0.025,3609,2941,1696,0,0,0,0,0,0
$GC,11519,1.41,323.8,42.5,8.9,489,11552,0.12,2.55,23.33,0.467,6,0.028,0.035,3672,1388,1598,0,0,0,0,0,0
$STATE,11798,end climb,SURFACE_DEPTH_REACHED
$STATE,11798,begin surface coast
$FINISH,0.7,1.023624
$STATE,11831,end surface coast,CONTROL_FINISHED_OK
$STATE,11831,begin surface
$SM_CCo,11856,34.53,0.437,0,0,1368,380.21
$SM_GC,1.61,0.00,0.00,34.53,0.000,0.000,0.437,414,1544,1368,-13.46,0.11,380.21
$IRIDIUM_FIX,2237.01,-15749.78,131001,010140
$TT8_MAMPS,0.027612
$HUMID,63.90
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,30
$24V_AH,23.5,36.691
$10V_AH,10.0,28.249
$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,34.375,111.625,400.300,34.525,0.000,105.975,151.764,990.395,7.500,0.000,15.678,1123.489,8365.964,464.099,1928.059,1607.612,33.363,1259.086,0.000,1924.195,0.000,0.538,0.000
$DEVICE_MAMPS,148.031,85.137,933.439,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.134,296.012,377.319,552.684,970.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,41472,532
$CAP_FILE_SIZE,141786,0
$CFSIZE,260165632,162369536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190712,042952,2247.110,-15748.707,44,1.6,60,10.1