version: 66.06
glider: 148
mission: 11
dive: 282
start: 7 20 112 8 8 21
data:
$ID,148
$MISSION,11
$DIVE,282
$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,-924386.75
$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,25
$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
$GPS1,080021,2241.452,-15742.863,14,4.7,33,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-76.3
$GPS2,080729,2241.445,-15742.904,35,1.3,45,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.077
$KALMAN_X,-29267.1,133.8,87.0,57825.8,-918.9
$KALMAN_Y,30755.6,188.2,369.4,-43456.0,-321.1
$MHEAD_RNG_PITCHd_Wd,97.2,10191,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.47,0.000,2,0.000,0.000,412,1553,3071,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-5.0,9,122,13.82,2.33,-8.32,0.000,4,0.154,0.054,3056,164,3519,0,0,0,0,0,0
$GC,162,-0.88,-146.0,23.8,-23.0,19,172,0.38,2.10,0.00,0.000,6,0.089,0.018,3142,1520,3520,0,0,0,0,0,0
$GC,439,-0.75,-146.0,63.6,-14.5,46,444,0.15,2.53,0.00,0.000,4,0.110,0.026,3174,3110,3521,0,0,0,0,0,0
$GC,494,-0.85,-146.0,70.8,-10.5,50,499,0.00,2.53,0.00,0.000,6,0.000,0.028,3174,1532,3522,0,0,0,0,0,0
$GC,759,-0.92,-146.0,100.3,-10.5,74,764,0.15,2.50,0.00,0.000,4,0.054,0.025,3105,3109,3522,0,0,0,0,0,0
$GC,790,-0.82,-146.0,104.8,-13.8,76,799,0.20,2.53,0.00,0.000,6,0.071,0.035,3156,1553,3522,0,0,0,0,0,0
$GC,1059,-0.82,-146.0,135.3,-11.2,101,1063,0.00,2.22,0.00,0.000,4,0.000,0.042,3156,169,3523,0,0,0,0,0,0
$GC,1086,-0.82,-146.0,139.0,-11.6,103,1090,0.00,2.10,0.00,0.000,6,0.000,0.018,3156,1578,3523,0,0,0,0,0,0
$GC,1352,-0.82,-146.0,165.6,-10.5,127,1356,0.00,2.35,0.00,0.000,4,0.000,0.024,3156,3089,3524,0,0,0,0,0,0
$GC,1421,-1.02,-146.0,171.8,-8.1,133,1426,0.17,2.45,0.00,0.000,6,0.047,0.028,3079,1553,3524,0,0,0,0,0,0
$GC,1712,-0.83,-146.0,212.4,-13.9,154,1717,0.32,2.22,0.00,0.000,4,0.089,0.040,3153,171,3525,0,0,0,0,0,0
$GC,1733,-0.74,-146.0,215.2,-12.7,154,1738,0.10,2.10,0.00,0.000,6,0.119,0.018,3177,1560,3524,0,0,0,0,0,0
$GC,1998,-0.92,-146.0,232.9,-6.4,161,2003,0.15,2.40,0.00,0.000,4,0.053,0.024,3100,3094,3525,0,0,0,0,0,0
$GC,2056,-0.92,-146.0,238.6,-10.9,162,2061,0.17,2.42,0.00,0.000,6,0.088,0.028,3142,1571,3525,0,0,0,0,0,0
$GC,2330,-1.00,-146.0,262.8,-8.7,169,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1570,3525,0,0,0,0,0,0
$GC,2574,-1.10,-146.0,283.1,-8.0,175,2576,0.17,0.00,0.00,0.000,6,0.049,0.000,3064,1570,3525,0,0,0,0,0,0
$GC,2819,-0.97,-146.0,311.0,-11.8,181,2821,0.28,0.00,0.00,0.000,6,0.084,0.000,3127,1570,3525,0,0,0,0,0,0
$GC,3062,-1.05,-146.0,329.7,-7.4,187,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1570,3525,0,0,0,0,0,0
$GC,3305,-1.13,-146.0,349.1,-8.1,193,3310,0.15,2.45,0.00,0.000,4,0.055,0.030,3057,3087,3524,0,0,0,0,0,0
$GC,3368,-1.13,-146.0,356.0,-11.2,194,3373,0.17,2.45,0.00,0.000,6,0.091,0.033,3097,1576,3524,0,0,0,0,0,0
$GC,3638,-1.13,-146.0,382.8,-9.8,201,3642,0.00,2.35,0.00,0.000,4,0.000,0.058,3097,167,3523,0,0,0,0,0,0
$GC,3661,-1.13,-146.0,385.3,-10.7,201,3665,0.00,2.15,0.00,0.000,6,0.000,0.023,3097,1549,3523,0,0,0,0,0,0
$GC,3926,-1.13,-146.0,410.7,-9.7,208,3930,0.00,2.53,0.00,0.000,4,0.000,0.034,3097,3107,3521,0,0,0,0,0,0
$GC,3950,-1.13,-146.0,413.1,-9.8,208,3954,0.00,2.53,0.00,0.000,6,0.000,0.035,3097,1572,3521,0,0,0,0,0,0
$GC,4209,-1.13,-146.0,437.3,-9.3,215,4213,0.00,2.40,0.00,0.000,4,0.000,0.065,3097,163,3519,0,0,0,0,0,0
$GC,4248,-1.13,-146.0,441.5,-10.4,215,4254,0.00,2.22,0.00,0.000,6,0.000,0.027,3097,1563,3519,0,0,0,0,0,0
$GC,4498,-1.13,-146.0,464.5,-9.1,222,4502,0.00,2.50,0.00,0.000,4,0.000,0.038,3097,3112,3518,0,0,0,0,0,0
$GC,4527,-1.19,-146.0,467.1,-8.9,222,4531,0.00,2.53,0.00,0.000,6,0.000,0.038,3097,1570,3518,0,0,0,0,0,0
$GC,4783,-1.19,-146.0,488.1,-8.2,229,4787,0.00,2.42,0.00,0.000,4,0.000,0.071,3097,165,3516,0,0,0,0,0,0
$GC,4802,-1.19,-146.0,489.9,-8.1,229,4806,0.00,2.25,0.00,0.000,6,0.000,0.030,3097,1570,3515,0,0,0,0,0,0
$GC,5071,-1.19,-146.0,510.6,-7.7,236,5075,0.00,2.55,0.00,0.000,4,0.000,0.041,3097,3115,3514,0,0,0,0,0,0
$GC,5096,-1.25,-146.0,512.5,-8.1,236,5102,0.12,2.55,0.00,0.000,6,0.061,0.044,3020,1573,3514,0,0,0,0,0,0
$GC,5357,-1.06,-146.0,543.2,-11.9,243,5362,0.40,2.45,0.00,0.000,4,0.093,0.074,3106,168,3512,0,0,0,0,0,0
$GC,5397,-1.15,-146.0,547.0,-8.6,243,5403,0.00,2.28,0.00,0.000,6,0.000,0.033,3106,1573,3512,0,0,0,0,0,0
$GC,5648,-1.23,-146.0,565.4,-7.3,250,5650,0.15,0.00,0.00,0.000,6,0.056,0.000,3042,1573,3510,0,0,0,0,0,0
$GC,5891,-1.12,-146.0,590.9,-10.6,256,5896,0.22,2.42,0.00,0.000,4,0.095,0.070,3093,169,3508,0,0,0,0,0,0
$GC,5917,-1.12,-146.0,593.5,-10.5,256,5921,0.00,2.28,0.00,0.000,6,0.000,0.037,3093,1563,3508,0,0,0,0,0,0
$STATE,6015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6015,begin apogee
$GC,6022,-0.31,0.0,602.3,8.6,259,6143,0.77,0.00,118.35,0.933,6,0.080,0.000,3269,1369,2920,0,0,0,0,0,0
$STATE,6144,end apogee,CONTROL_FINISHED_OK
$STATE,6144,begin climb
$GC,6147,1.27,146.0,606.6,0.0,262,6278,1.48,2.20,123.12,0.912,4,0.050,0.080,3617,184,2323,0,0,0,0,0,0
$GC,6447,0.95,146.0,584.4,12.7,268,6452,0.32,1.95,0.00,0.000,6,0.100,0.037,3549,1387,2317,0,0,0,0,0,0
$GC,6697,0.99,181.8,563.1,8.3,274,6734,0.00,2.22,30.73,0.867,4,0.000,0.071,3549,176,2177,0,0,0,0,0,0
$GC,6794,0.91,181.8,553.9,11.3,276,6797,0.00,1.98,0.00,0.000,6,0.000,0.030,3549,1383,2176,0,0,0,0,0,0
$GC,7083,0.92,186.8,525.4,9.8,283,7090,0.00,0.00,5.00,0.627,6,0.000,0.000,3549,1383,2158,0,0,0,0,0,0
$GC,7325,0.93,195.6,502.0,9.6,289,7341,0.00,2.20,9.57,0.761,4,0.000,0.067,3548,171,2121,0,0,0,0,0,0
$GC,7372,0.93,195.6,497.3,11.3,290,7376,0.00,1.95,0.00,0.000,6,0.000,0.027,3549,1381,2120,0,0,0,0,0,0
$GC,7663,0.96,224.0,470.7,8.7,297,7691,0.00,0.00,25.98,0.831,6,0.000,0.000,3549,1383,2006,0,0,0,0,0,0
$GC,7948,1.00,256.4,446.4,8.5,304,7984,0.00,2.70,30.50,0.818,4,0.000,0.039,3549,2955,1873,0,0,0,0,0,0
$GC,7999,1.04,286.5,441.7,8.6,305,8034,0.00,2.67,27.83,0.802,6,0.000,0.042,3549,1388,1752,0,0,0,0,0,0
$GC,8281,1.13,296.9,415.5,9.5,312,8294,0.15,0.00,10.25,0.720,6,0.057,0.000,3611,1388,1709,0,0,0,0,0,0
$GC,8521,1.04,296.9,383.0,13.8,318,8523,0.20,0.00,0.00,0.000,6,0.094,0.000,3566,1388,1704,0,0,0,0,0,0
$GC,8766,1.04,296.9,352.8,12.5,324,8771,0.00,2.60,0.00,0.000,4,0.000,0.033,3566,2961,1703,0,0,0,0,0,0
$GC,8791,1.10,296.9,349.4,12.0,324,8796,0.00,2.67,0.00,0.000,6,0.000,0.040,3566,1373,1701,0,0,0,0,0,0
$GC,9051,1.10,296.9,316.2,12.6,331,9055,0.00,2.58,0.00,0.000,4,0.000,0.032,3566,2955,1701,0,0,0,0,0,0
$GC,9079,1.20,296.9,312.5,13.3,331,9084,0.15,2.62,0.00,0.000,6,0.054,0.040,3622,1385,1698,0,0,0,0,0,0
$GC,9336,1.10,296.9,273.0,15.7,338,9338,0.20,0.00,0.00,0.000,6,0.097,0.000,3581,1385,1699,0,0,0,0,0,0
$GC,9578,1.10,296.9,242.7,12.1,344,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1385,1699,0,0,0,0,0,0
$GC,9822,1.10,300.8,218.1,9.8,350,9823,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1385,1698,0,0,0,0,0,0
$GC,10068,1.18,308.2,194.4,9.7,359,10090,0.00,2.60,9.75,0.576,4,0.000,0.033,3581,2954,1660,0,0,0,0,0,0
$GC,10103,1.28,316.0,191.2,9.6,362,10126,0.15,2.62,8.50,0.555,6,0.053,0.035,3643,1374,1630,0,0,0,0,0,0
$GC,10382,1.18,316.0,152.1,14.2,388,10387,0.20,2.03,0.00,0.000,4,0.094,0.051,3598,163,1629,0,0,0,0,0,0
$GC,10407,1.18,316.0,147.8,14.3,390,10411,0.00,1.92,0.00,0.000,6,0.000,0.021,3598,1429,1628,0,0,0,0,0,0
$GC,10677,1.18,316.0,116.6,11.0,415,10682,0.00,2.38,0.00,0.000,4,0.000,0.026,3598,2928,1628,0,0,0,0,0,0
$GC,10698,1.18,316.0,113.9,11.0,416,10706,0.00,2.58,0.00,0.000,6,0.000,0.035,3598,1374,1626,0,0,0,0,0,0
$GC,10965,1.18,316.0,85.1,10.6,441,10969,0.00,2.47,0.00,0.000,4,0.000,0.025,3598,2938,1626,0,0,0,0,0,0
$GC,11017,1.34,327.1,79.2,9.5,445,11039,0.10,2.55,10.77,0.477,6,0.028,0.034,3665,1392,1585,0,0,0,0,0,0
$GC,11294,1.24,327.1,41.9,14.1,471,11299,0.25,2.45,0.00,0.000,4,0.089,0.026,3606,2928,1585,0,0,0,0,0,0
$GC,11326,1.24,327.1,37.9,13.2,473,11330,0.00,2.53,0.00,0.000,6,0.000,0.033,3606,1383,1584,0,0,0,0,0,0
$GC,11622,1.37,373.6,7.9,7.9,515,11656,0.12,0.00,31.17,0.449,2,0.063,0.000,3672,1383,1445,0,0,0,0,0,0
$STATE,11657,end climb,SURFACE_DEPTH_REACHED
$STATE,11657,begin surface coast
$FINISH,0.6,1.023513
$STATE,11695,end surface coast,CONTROL_FINISHED_OK
$STATE,11695,begin surface
$SM_CCo,11720,15.43,0.425,0,0,1369,380.21
$SM_GC,1.68,0.00,0.00,15.43,0.000,0.000,0.425,409,1552,1369,-13.48,0.34,380.21
$IRIDIUM_FIX,2232.34,-15743.29,141001,040428
$TT8_MAMPS,0.027612
$HUMID,64.29
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.00
$XPDR_PINGS,8
$24V_AH,23.5,37.783
$10V_AH,9.9,29.208
$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,34.475,129.050,441.525,15.425,0.000,31.020,36.306,189.005,2.000,0.000,46.663,1107.871,8078.776,477.332,1899.872,597.691,33.381,1301.592,0.000,1875.943,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,79.768,933.439,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.392,308.934,375.458,550.047,966.413,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,41659,525
$CAP_FILE_SIZE,126268,0
$CFSIZE,260165632,161849344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200712,112544,2240.484,-15741.718,44,3.5,63,10.1