version: 66.06
glider: 148
mission: 11
dive: 324
start: 7 26 112 6 26 7
data:
$ID,148
$MISSION,11
$DIVE,324
$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,-925304.25
$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,28
$R_STBD_OVSHOOT,110
$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
$GPS1,061125,2252.444,-15750.989,32,2.3,51,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.6
$GPS2,062512,2252.443,-15751.111,10,1.6,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.063,-0.252
$KALMAN_X,-100849.9,61.7,334.3,115224.7,-1848.8
$KALMAN_Y,41085.2,-54.5,-633.6,-32170.5,752.5
$MHEAD_RNG_PITCHd_Wd,184.0,33713,-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,-67.62,0.000,2,0.000,0.000,412,1578,3106,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-6.0,9,123,13.88,2.35,-7.38,0.000,4,0.153,0.053,3058,170,3519,0,0,0,0,0,0
$GC,182,-0.85,-146.0,29.8,-21.8,22,190,0.40,2.03,0.00,0.000,6,0.091,0.018,3148,1493,3520,0,0,0,0,0,0
$GC,451,-0.78,-146.0,70.7,-15.0,47,456,0.10,2.55,0.00,0.000,4,0.126,0.025,3169,3099,3521,0,0,0,0,0,0
$GC,560,-0.95,-146.0,84.4,-9.9,56,570,0.12,2.53,0.00,0.000,6,0.022,0.028,3097,1552,3522,0,0,0,0,0,0
$GC,828,-0.78,-146.0,120.4,-13.3,81,833,0.28,2.22,0.00,0.000,4,0.091,0.038,3161,170,3522,0,0,0,0,0,0
$GC,844,-0.67,-146.0,123.4,-13.4,82,849,0.15,2.10,0.00,0.000,6,0.104,0.018,3195,1589,3522,0,0,0,0,0,0
$GC,1119,-0.85,-146.0,137.2,-5.1,107,1124,0.17,2.33,0.00,0.000,4,0.046,0.023,3104,3074,3523,0,0,0,0,0,0
$GC,1195,-0.85,-146.0,145.8,-12.9,114,1200,0.22,2.40,0.00,0.000,6,0.085,0.028,3154,1567,3523,0,0,0,0,0,0
$GC,1456,-0.85,-146.0,176.7,-10.4,138,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1567,3523,0,0,0,0,0,0
$GC,1713,-0.93,-146.0,199.9,-8.3,162,1717,0.00,2.30,0.00,0.000,4,0.000,0.044,3154,163,3523,0,0,0,0,0,0
$GC,1748,-1.03,-146.0,202.9,-8.4,162,1753,0.17,2.08,0.00,0.000,6,0.045,0.018,3068,1548,3523,0,0,0,0,0,0
$GC,1998,-0.84,-146.0,235.7,-13.5,168,2003,0.38,2.42,0.00,0.000,4,0.084,0.024,3153,3091,3524,0,0,0,0,0,0
$GC,2022,-0.84,-146.0,239.1,-12.3,168,2027,0.00,2.45,0.00,0.000,6,0.000,0.027,3153,1555,3524,0,0,0,0,0,0
$GC,2284,-0.95,-146.0,260.3,-7.2,175,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1555,3524,0,0,0,0,0,0
$GC,2526,-1.08,-146.0,276.2,-6.9,181,2531,0.20,2.42,0.00,0.000,4,0.043,0.025,3059,3089,3524,0,0,0,0,0,0
$GC,2564,-1.00,-146.0,280.2,-11.1,181,2570,0.28,2.47,0.00,0.000,6,0.082,0.029,3121,1562,3524,0,0,0,0,0,0
$GC,2816,-1.00,-146.0,303.4,-9.1,188,2820,0.00,2.30,0.00,0.000,4,0.000,0.050,3121,164,3523,0,0,0,0,0,0
$GC,2886,-1.08,-146.0,309.9,-8.4,189,2890,0.00,2.12,0.00,0.000,6,0.000,0.021,3121,1546,3523,0,0,0,0,0,0
$GC,3147,-1.08,-146.0,329.3,-7.5,196,3151,0.00,2.50,0.00,0.000,4,0.000,0.031,3121,3105,3521,0,0,0,0,0,0
$GC,3185,-1.21,-146.0,332.4,-7.5,196,3191,0.20,2.50,0.00,0.000,6,0.043,0.032,3022,1562,3521,0,0,0,0,0,0
$GC,3435,-0.97,-146.0,365.3,-13.7,203,3440,0.45,2.35,0.00,0.000,4,0.088,0.055,3125,163,3520,0,0,0,0,0,0
$GC,3470,-0.97,-146.0,369.0,-8.8,203,3474,0.00,2.17,0.00,0.000,6,0.000,0.023,3125,1548,3520,0,0,0,0,0,0
$GC,3725,-1.05,-146.0,386.8,-6.8,210,3730,0.00,2.53,0.00,0.000,4,0.000,0.034,3125,3119,3518,0,0,0,0,0,0
$GC,3759,-1.20,-146.0,389.4,-7.7,210,3764,0.20,2.55,0.00,0.000,6,0.041,0.035,3032,1559,3518,0,0,0,0,0,0
$GC,4011,-1.00,-146.0,421.3,-13.4,216,4013,0.40,0.00,0.00,0.000,6,0.085,0.000,3121,1559,3516,0,0,0,0,0,0
$GC,4253,-1.08,-146.0,440.6,-7.7,222,4257,0.00,2.55,0.00,0.000,4,0.000,0.037,3120,3109,3515,0,0,0,0,0,0
$GC,4293,-1.24,-146.0,443.6,-7.1,222,4299,0.22,2.58,0.00,0.000,6,0.038,0.038,3027,1559,3515,0,0,0,0,0,0
$GC,4543,-1.05,-146.0,473.3,-12.1,229,4548,0.35,2.40,0.00,0.000,4,0.087,0.068,3109,170,3513,0,0,0,0,0,0
$GC,4607,-1.13,-146.0,478.7,-7.8,230,4611,0.00,2.20,0.00,0.000,6,0.000,0.031,3108,1544,3513,0,0,0,0,0,0
$GC,4877,-1.13,-146.0,497.3,-6.9,237,4881,0.00,2.58,0.00,0.000,4,0.000,0.041,3109,3122,3511,0,0,0,0,0,0
$GC,4910,-1.25,-146.0,500.0,-7.1,237,4915,0.17,2.60,0.00,0.000,6,0.046,0.041,3024,1550,3511,0,0,0,0,0,0
$GC,5162,-1.07,-146.0,530.0,-12.7,243,5167,0.35,2.40,0.00,0.000,4,0.090,0.073,3105,171,3509,0,0,0,0,0,0
$GC,5188,-1.07,-146.0,533.4,-12.2,243,5192,0.00,2.20,0.00,0.000,6,0.000,0.032,3105,1545,3509,0,0,0,0,0,0
$GC,5447,-1.13,-146.0,558.8,-9.9,250,5452,0.00,2.62,0.00,0.000,4,0.000,0.048,3105,3124,3507,0,0,0,0,0,0
$GC,5473,-1.21,-146.0,561.3,-10.1,250,5478,0.12,2.62,0.00,0.000,6,0.063,0.044,3042,1559,3507,0,0,0,0,0,0
$GC,5733,-1.09,-146.0,592.0,-11.8,257,5738,0.25,2.42,0.00,0.000,4,0.100,0.077,3099,166,3505,0,0,0,0,0,0
$GC,5758,-1.09,-146.0,594.7,-10.3,257,5762,0.00,2.25,0.00,0.000,6,0.000,0.034,3099,1556,3505,0,0,0,0,0,0
$STATE,5856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5856,begin apogee
$GC,5864,-0.31,0.0,602.5,7.8,260,5985,0.75,0.00,117.62,0.930,6,0.077,0.000,3269,1363,2920,0,0,0,0,0,0
$STATE,5986,end apogee,CONTROL_FINISHED_OK
$STATE,5986,begin climb
$GC,5988,1.27,146.0,605.6,0.0,263,6120,1.45,2.17,123.30,0.909,4,0.046,0.076,3617,180,2323,0,0,0,0,0,0
$GC,6354,0.98,146.0,569.6,14.1,271,6359,0.30,1.95,0.00,0.000,6,0.100,0.036,3555,1391,2315,0,0,0,0,0,0
$GC,6632,0.99,156.6,542.3,9.5,278,6648,0.00,2.15,8.75,0.750,4,0.000,0.066,3555,179,2281,0,0,0,0,0,0
$GC,6673,0.87,156.6,538.2,10.6,278,6680,0.12,1.95,0.00,0.000,6,0.114,0.027,3528,1381,2280,0,0,0,0,0,0
$GC,6925,1.00,215.2,519.1,7.3,285,6986,0.12,2.15,52.67,0.865,4,0.065,0.065,3578,174,2041,0,0,0,0,0,0
$GC,7032,0.89,215.2,509.1,10.9,287,7036,0.20,1.92,0.00,0.000,6,0.095,0.027,3535,1376,2039,0,0,0,0,0,0
$GC,7301,1.03,277.2,489.1,7.1,294,7362,0.12,0.00,56.08,0.847,6,0.066,0.000,3585,1378,1788,0,0,0,0,0,0
$GC,7632,1.03,277.2,451.5,12.2,302,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1378,1780,0,0,0,0,0,0
$GC,7874,1.03,277.2,423.3,11.6,308,7878,0.00,2.62,0.00,0.000,4,0.000,0.040,3584,2958,1778,0,0,0,0,0,0
$GC,7897,1.03,277.2,420.2,12.0,308,7902,0.00,2.65,0.00,0.000,6,0.000,0.043,3584,1382,1776,0,0,0,0,0,0
$GC,8157,1.03,277.2,388.3,12.4,315,8161,0.00,2.62,0.00,0.000,4,0.000,0.035,3585,2960,1776,0,0,0,0,0,0
$GC,8186,1.03,277.2,384.8,11.7,315,8191,0.00,2.67,0.00,0.000,6,0.000,0.042,3585,1380,1774,0,0,0,0,0,0
$GC,8441,1.03,277.2,357.4,10.2,322,8445,0.00,2.08,0.00,0.000,4,0.000,0.062,3585,165,1774,0,0,0,0,0,0
$GC,8474,0.96,277.2,353.4,12.1,322,8478,0.15,1.92,0.00,0.000,6,0.102,0.023,3551,1392,1774,0,0,0,0,0,0
$GC,8725,1.05,277.2,328.6,10.0,328,8730,0.00,2.50,0.00,0.000,4,0.000,0.032,3551,2944,1774,0,0,0,0,0,0
$GC,8786,1.22,277.2,322.2,10.2,329,8793,0.22,2.62,0.00,0.000,6,0.043,0.041,3626,1381,1771,0,0,0,0,0,0
$GC,9059,1.10,277.2,287.3,12.0,336,9064,0.22,2.08,0.00,0.000,4,0.094,0.058,3577,160,1771,0,0,0,0,0,0
$GC,9134,1.10,277.2,278.9,11.2,337,9138,0.00,1.88,0.00,0.000,6,0.000,0.022,3577,1383,1771,0,0,0,0,0,0
$GC,9392,1.10,277.2,251.5,11.2,344,9397,0.00,2.50,0.00,0.000,4,0.000,0.028,3577,2942,1771,0,0,0,0,0,0
$GC,9408,1.10,277.2,249.8,11.2,344,9412,0.00,2.60,0.00,0.000,6,0.000,0.037,3577,1375,1769,0,0,0,0,0,0
$GC,9677,1.17,284.8,222.9,9.6,351,9685,0.00,0.00,4.62,0.482,6,0.000,0.000,3577,1376,1757,0,0,0,0,0,0
$GC,9942,1.23,284.8,197.1,10.5,358,9947,0.12,2.55,0.00,0.000,4,0.065,0.028,3634,2946,1757,0,0,0,0,0,0
$GC,9984,1.23,284.8,191.5,11.5,361,9990,0.12,2.58,0.00,0.000,6,0.106,0.035,3606,1381,1755,0,0,0,0,0,0
$GC,10245,1.23,284.8,163.1,10.3,386,10248,0.00,2.00,0.00,0.000,4,0.000,0.051,3606,171,1755,0,0,0,0,0,0
$GC,10306,1.23,284.8,156.5,11.1,392,10309,0.00,1.85,0.00,0.000,6,0.000,0.021,3606,1411,1755,0,0,0,0,0,0
$GC,10577,1.23,284.8,125.5,12.4,417,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,3606,1413,1755,0,0,0,0,0,0
$GC,10840,1.23,284.8,96.2,11.5,442,10844,0.00,2.38,0.00,0.000,4,0.000,0.026,3606,2925,1755,0,0,0,0,0,0
$GC,10858,1.23,284.8,94.4,11.6,443,10862,0.00,2.50,0.00,0.000,6,0.000,0.033,3607,1380,1755,0,0,0,0,0,0
$GC,11127,1.27,316.9,65.1,8.5,467,11165,0.00,2.08,29.30,0.502,4,0.000,0.048,3606,166,1626,0,0,0,0,0,0
$GC,11204,1.29,330.7,58.2,9.4,473,11229,0.00,1.83,13.88,0.469,6,0.000,0.019,3607,1393,1570,0,0,0,0,0,0
$GC,11485,1.37,330.7,28.5,10.7,500,11495,0.12,2.47,0.00,0.000,4,0.066,0.026,3656,2921,1567,0,0,0,0,0,0
$GC,11579,1.37,330.7,17.2,12.2,514,11588,0.00,2.55,0.00,0.000,6,0.000,0.035,3656,1383,1566,0,0,0,0,0,0
$STATE,11687,end climb,SURFACE_DEPTH_REACHED
$STATE,11687,begin surface coast
$FINISH,0.6,1.021561
$STATE,11724,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11748,29.55,0.437,0,0,1369,380.21
$SM_GC,1.40,0.00,0.00,29.55,0.000,0.000,0.437,415,1535,1369,-13.46,-0.14,380.21
$IRIDIUM_FIX,2244.02,-15751.94,201001,060600
$TT8_MAMPS,0.027612
$HUMID,64.96
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,6
$24V_AH,23.5,42.872
$10V_AH,10.0,33.660
$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,36.200,145.400,406.225,29.550,0.000,82.573,119.801,348.746,1.500,0.000,16.829,1167.441,8021.900,478.128,2027.843,908.733,33.401,1354.154,0.000,2022.446,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,76.700,930.371,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.399,312.272,390.242,567.181,996.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41725,536
$CAP_FILE_SIZE,142359,0
$CFSIZE,260165632,159322112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260712,094350,2251.467,-15752.057,23,99.0,42,10.1