version: 66.06
glider: 148
mission: 11
dive: 352
start: 7 30 112 7 56 55
data:
$ID,148
$MISSION,11
$DIVE,352
$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,-925999.56
$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,27
$R_STBD_OVSHOOT,75
$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
$GPS1,074459,2303.473,-15801.925,40,1.8,45,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.3
$GPS2,075601,2303.546,-15801.979,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.138
$KALMAN_X,-121294.5,430.7,259.5,116814.9,-1809.0
$KALMAN_Y,57528.3,194.7,5.4,-28947.3,717.0
$MHEAD_RNG_PITCHd_Wd,111.9,61994,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.80,0.000,2,0.000,0.000,409,1541,3076,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.4,9,123,13.80,2.30,-8.15,0.000,4,0.152,0.054,3057,167,3518,0,0,0,0,0,0
$GC,139,-0.39,-146.0,19.3,-32.1,15,148,0.85,2.10,0.00,0.000,6,0.087,0.018,3247,1524,3519,0,0,0,0,0,0
$GC,420,-0.60,-146.0,48.4,-6.2,46,425,0.17,2.47,0.00,0.000,4,0.044,0.023,3137,3098,3521,0,0,0,0,0,0
$GC,476,-0.52,-146.0,54.6,-11.2,50,486,0.35,2.55,0.00,0.000,6,0.070,0.030,3221,1543,3521,0,0,0,0,0,0
$GC,746,-0.69,-146.0,77.8,-10.3,75,751,0.12,2.47,0.00,0.000,4,0.061,0.024,3147,3103,3522,0,0,0,0,0,0
$GC,778,-0.69,-146.0,82.6,-11.6,77,785,0.20,2.47,0.00,0.000,6,0.084,0.028,3192,1552,3522,0,0,0,0,0,0
$GC,1043,-0.80,-146.0,107.4,-8.9,102,1048,0.12,2.28,0.00,0.000,4,0.061,0.045,3118,167,3522,0,0,0,0,0,0
$GC,1070,-0.73,-146.0,110.8,-13.0,104,1075,0.28,2.08,0.00,0.000,6,0.085,0.018,3180,1563,3523,0,0,0,0,0,0
$GC,1332,-0.83,-146.0,135.8,-8.6,128,1336,0.00,2.38,0.00,0.000,4,0.000,0.022,3180,3095,3523,0,0,0,0,0,0
$GC,1391,-1.09,-146.0,140.7,-8.1,133,1397,0.32,2.47,0.00,0.000,6,0.029,0.028,3080,1556,3523,0,0,0,0,0,0
$GC,1662,-0.87,-146.0,179.6,-16.4,157,1667,0.28,2.45,0.00,0.000,4,0.090,0.023,3145,3095,3524,0,0,0,0,0,0
$GC,1682,-0.77,-146.0,183.9,-14.4,158,1688,0.12,2.42,0.00,0.000,6,0.104,0.025,3174,1561,3524,0,0,0,0,0,0
$GC,1966,-0.90,-146.0,205.4,-6.5,179,1971,0.12,2.40,0.00,0.000,4,0.061,0.023,3090,3088,3524,0,0,0,0,0,0
$GC,1986,-0.90,-146.0,207.7,-8.6,179,1991,0.22,2.42,0.00,0.000,6,0.084,0.028,3142,1563,3524,0,0,0,0,0,0
$GC,2252,-0.90,-146.0,232.3,-9.6,186,2257,0.00,2.40,0.00,0.000,4,0.000,0.025,3143,3093,3524,0,0,0,0,0,0
$GC,2276,-0.97,-146.0,235.1,-10.7,186,2280,0.00,2.42,0.00,0.000,6,0.000,0.027,3142,1567,3524,0,0,0,0,0,0
$GC,2535,-0.97,-146.0,259.0,-9.3,193,2539,0.00,2.28,0.00,0.000,4,0.000,0.046,3142,168,3524,0,0,0,0,0,0
$GC,2575,-1.05,-146.0,262.5,-9.3,193,2579,0.12,2.10,0.00,0.000,6,0.061,0.018,3071,1556,3524,0,0,0,0,0,0
$GC,2830,-0.91,-146.0,293.5,-12.6,200,2832,0.32,0.00,0.00,0.000,6,0.083,0.000,3142,1559,3524,0,0,0,0,0,0
$GC,3074,-1.02,-146.0,314.2,-8.2,206,3079,0.10,2.45,0.00,0.000,4,0.075,0.028,3075,3091,3524,0,0,0,0,0,0
$GC,3109,-1.02,-146.0,317.6,-10.3,206,3114,0.17,2.47,0.00,0.000,6,0.090,0.031,3117,1555,3524,0,0,0,0,0,0
$GC,3359,-1.02,-146.0,339.9,-8.8,212,3363,0.00,2.47,0.00,0.000,4,0.000,0.035,3117,3093,3524,0,0,0,0,0,0
$GC,3408,-1.13,-146.0,344.3,-8.5,213,3413,0.10,2.50,0.00,0.000,6,0.074,0.033,3052,1567,3524,0,0,0,0,0,0
$GC,3691,-0.98,-146.0,378.4,-12.3,220,3693,0.32,0.00,0.00,0.000,6,0.086,0.000,3125,1567,3521,0,0,0,0,0,0
$GC,3935,-1.06,-146.0,398.8,-8.0,226,3940,0.00,2.50,0.00,0.000,4,0.000,0.035,3125,3089,3520,0,0,0,0,0,0
$GC,3966,-1.19,-146.0,401.3,-8.3,226,3971,0.17,2.47,0.00,0.000,6,0.047,0.037,3045,1577,3520,0,0,0,0,0,0
$GC,4221,-1.03,-146.0,433.0,-13.0,233,4227,0.30,2.42,0.00,0.000,4,0.088,0.064,3114,163,3518,0,0,0,0,0,0
$GC,4276,-1.13,-146.0,438.8,-9.3,234,4280,0.00,2.20,0.00,0.000,6,0.000,0.028,3114,1546,3518,0,0,0,0,0,0
$GC,4554,-1.19,-146.0,463.8,-9.0,241,4559,0.15,2.58,0.00,0.000,4,0.055,0.040,3048,3114,3516,0,0,0,0,0,0
$GC,4587,-1.19,-146.0,467.7,-11.8,241,4593,0.15,2.55,0.00,0.000,6,0.097,0.040,3082,1573,3516,0,0,0,0,0,0
$GC,4839,-1.19,-146.0,492.9,-10.0,247,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1573,3514,0,0,0,0,0,0
$GC,5081,-1.19,-146.0,515.5,-9.2,253,5085,0.00,2.58,0.00,0.000,4,0.000,0.047,3082,3112,3512,0,0,0,0,0,0
$GC,5104,-1.19,-146.0,517.8,-10.3,253,5109,0.00,2.55,0.00,0.000,6,0.000,0.042,3082,1576,3512,0,0,0,0,0,0
$GC,5365,-1.19,-146.0,540.5,-8.7,260,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1576,3510,0,0,0,0,0,0
$GC,5608,-1.19,-146.0,560.9,-8.3,266,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1576,3509,0,0,0,0,0,0
$GC,5851,-1.19,-146.0,582.2,-8.8,272,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1576,3507,0,0,0,0,0,0
$STATE,6092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6093,begin apogee
$GC,6099,-0.31,0.0,603.2,8.6,278,6220,0.82,0.00,118.00,0.928,6,0.074,0.000,3270,1370,2919,0,0,0,0,0,0
$STATE,6221,end apogee,CONTROL_FINISHED_OK
$STATE,6221,begin climb
$GC,6225,1.27,146.0,606.8,0.0,281,6358,1.48,2.22,122.90,0.910,4,0.049,0.082,3622,174,2323,0,0,0,0,0,0
$GC,6530,0.96,146.0,582.9,13.2,287,6536,0.35,1.95,0.00,0.000,6,0.096,0.037,3548,1370,2316,0,0,0,0,0,0
$GC,6782,1.04,218.2,565.1,6.7,294,6851,0.00,2.20,62.38,0.884,4,0.000,0.071,3548,174,2029,0,0,0,0,0,0
$GC,6872,1.07,238.2,558.1,9.1,296,6896,0.10,1.98,19.60,0.829,6,0.079,0.029,3588,1384,1948,0,0,0,0,0,0
$GC,7160,1.00,238.2,527.1,11.1,303,7164,0.15,2.12,0.00,0.000,4,0.103,0.067,3556,169,1940,0,0,0,0,0,0
$GC,7185,1.00,238.2,523.8,10.4,303,7189,0.00,1.98,0.00,0.000,6,0.000,0.028,3556,1391,1940,0,0,0,0,0,0
$GC,7448,1.01,244.7,498.6,9.7,310,7460,0.00,2.67,5.57,0.647,4,0.000,0.046,3556,2948,1920,0,0,0,0,0,0
$GC,7491,1.11,257.7,494.6,9.4,310,7512,0.10,2.67,13.35,0.785,6,0.075,0.044,3612,1381,1869,0,0,0,0,0,0
$GC,7788,1.01,257.7,457.5,12.9,318,7792,0.25,2.12,0.00,0.000,4,0.092,0.067,3554,160,1866,0,0,0,0,0,0
$GC,7818,1.01,257.7,453.8,10.4,318,7821,0.00,1.95,0.00,0.000,6,0.000,0.025,3554,1404,1865,0,0,0,0,0,0
$GC,8077,1.08,260.6,428.5,9.9,325,8081,0.00,2.53,0.00,0.000,4,0.000,0.037,3554,2940,1863,0,0,0,0,0,0
$GC,8105,1.19,263.6,425.6,9.9,325,8120,0.17,2.62,5.93,0.642,6,0.048,0.041,3632,1373,1844,0,0,0,0,0,0
$GC,8365,1.05,263.6,388.4,15.0,332,8370,0.28,2.05,0.00,0.000,4,0.092,0.062,3570,165,1842,0,0,0,0,0,0
$GC,8403,1.05,263.6,382.9,13.4,332,8408,0.00,1.90,0.00,0.000,6,0.000,0.025,3570,1386,1842,0,0,0,0,0,0
$GC,8653,1.05,263.6,353.5,11.9,339,8657,0.00,2.53,0.00,0.000,4,0.000,0.035,3570,2942,1842,0,0,0,0,0,0
$GC,8692,1.15,263.6,348.9,11.4,339,8697,0.00,2.62,0.00,0.000,6,0.000,0.041,3570,1379,1840,0,0,0,0,0,0
$GC,8942,1.15,263.6,321.8,10.7,346,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1379,1840,0,0,0,0,0,0
$GC,9185,1.15,263.6,295.3,10.8,352,9189,0.00,2.58,0.00,0.000,4,0.000,0.031,3570,2947,1840,0,0,0,0,0,0
$GC,9252,1.29,268.8,288.8,9.8,353,9265,0.20,2.62,5.10,0.545,6,0.044,0.039,3647,1379,1824,0,0,0,0,0,0
$GC,9520,1.14,268.8,252.8,13.3,360,9525,0.25,2.05,0.00,0.000,4,0.094,0.056,3589,166,1824,0,0,0,0,0,0
$GC,9583,1.14,268.8,245.6,11.3,361,9587,0.00,1.92,0.00,0.000,6,0.000,0.028,3590,1402,1823,0,0,0,0,0,0
$GC,9856,1.15,274.3,218.9,9.7,368,9864,0.00,0.00,6.70,0.551,6,0.000,0.000,3589,1404,1801,0,0,0,0,0,0
$GC,10101,1.15,274.3,193.2,10.1,377,10105,0.00,2.45,0.00,0.000,4,0.000,0.028,3589,2932,1799,0,0,0,0,0,0
$GC,10122,1.24,296.9,191.4,9.0,378,10148,0.00,2.60,20.85,0.617,6,0.000,0.035,3589,1375,1709,0,0,0,0,0,0
$GC,10403,1.24,296.9,162.9,10.5,405,10407,0.00,2.53,0.00,0.000,4,0.000,0.027,3589,2937,1705,0,0,0,0,0,0
$GC,10440,1.36,305.1,159.5,9.6,408,10455,0.20,2.58,8.30,0.522,6,0.043,0.035,3676,1375,1676,0,0,0,0,0,0
$GC,10709,1.17,305.1,119.8,15.0,433,10715,0.35,0.00,0.00,0.000,6,0.086,0.000,3598,1374,1675,0,0,0,0,0,0
$GC,10974,1.17,305.1,87.3,12.5,458,10977,0.00,2.00,0.00,0.000,4,0.000,0.049,3597,162,1675,0,0,0,0,0,0
$GC,11009,1.17,305.1,82.0,13.8,461,11014,0.00,1.88,0.00,0.000,6,0.000,0.020,3597,1395,1674,0,0,0,0,0,0
$GC,11277,1.30,328.7,53.6,8.9,486,11306,0.10,2.47,22.70,0.485,4,0.077,0.025,3641,2937,1578,0,0,0,0,0,0
$GC,11332,1.30,328.7,47.8,10.7,490,11337,0.00,2.58,0.00,0.000,6,0.000,0.039,3641,1376,1575,0,0,0,0,0,0
$GC,11616,1.30,328.7,15.0,13.8,523,11624,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,1375,1575,0,0,0,0,0,0
$STATE,11704,end climb,SURFACE_DEPTH_REACHED
$STATE,11705,begin surface coast
$FINISH,0.7,1.023591
$STATE,11749,end surface coast,CONTROL_FINISHED_OK
$STATE,11749,begin surface
$SM_CCo,11775,28.98,0.436,0,0,1369,380.21
$SM_GC,1.54,0.00,0.00,28.98,0.000,0.000,0.436,413,1588,1369,-13.47,1.36,380.21
$IRIDIUM_FIX,2255.72,-15804.96,241001,070753
$TT8_MAMPS,0.027612
$HUMID,65.59
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,9
$24V_AH,23.5,46.432
$10V_AH,9.9,36.720
$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,36.725,137.150,411.375,28.975,0.000,55.744,76.000,325.074,2.250,0.000,13.292,1151.068,8014.311,479.047,2004.817,814.747,33.376,1312.134,0.000,2007.391,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,82.069,928.070,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.028,316.893,397.142,605.108,1063.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41592,544
$CAP_FILE_SIZE,136355,0
$CFSIZE,260165632,157618176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300712,111505,2302.868,-15801.507,38,1.0,43,10.1