version: 66.06
glider: 148
mission: 11
dive: 360
start: 7 31 112 11 43 2
data:
$ID,148
$MISSION,11
$DIVE,360
$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,-926186.31
$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,89
$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
$GPS1,113235,2259.477,-15758.542,36,0.9,44,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.4
$GPS2,114208,2259.542,-15758.591,10,1.8,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.193,-0.173
$KALMAN_X,-131048.3,249.7,-155.5,132948.4,-1569.9
$KALMAN_Y,68815.3,-52.6,-503.5,-46890.7,1263.0
$MHEAD_RNG_PITCHd_Wd,121.8,52609,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.78,0.000,2,0.000,0.000,417,1553,3092,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.6,-6.8,9,120,13.62,2.33,-7.60,0.000,4,0.147,0.054,3057,167,3519,0,0,0,0,0,0
$GC,191,-0.84,-146.0,34.0,-23.3,23,199,0.43,2.08,0.00,0.000,6,0.087,0.018,3154,1510,3520,0,0,0,0,0,0
$GC,459,-0.75,-146.0,74.5,-13.1,48,464,0.10,2.55,0.00,0.000,4,0.123,0.025,3175,3108,3521,0,0,0,0,0,0
$GC,527,-0.96,-146.0,81.2,-7.7,53,532,0.17,2.53,0.00,0.000,6,0.045,0.028,3104,1535,3521,0,0,0,0,0,0
$GC,793,-0.76,-146.0,117.5,-14.4,77,798,0.28,2.20,0.00,0.000,4,0.091,0.040,3168,171,3522,0,0,0,0,0,0
$GC,813,-0.66,-146.0,121.1,-13.8,78,822,0.08,2.12,0.00,0.000,6,0.082,0.018,3191,1573,3523,0,0,0,0,0,0
$GC,1080,-0.79,-146.0,143.5,-8.6,103,1085,0.10,2.38,0.00,0.000,4,0.074,0.023,3117,3091,3523,0,0,0,0,0,0
$GC,1151,-0.79,-146.0,151.0,-10.7,109,1156,0.22,2.45,0.00,0.000,6,0.080,0.028,3170,1562,3523,0,0,0,0,0,0
$GC,1416,-0.87,-146.0,173.6,-7.6,133,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1561,3524,0,0,0,0,0,0
$GC,1681,-0.96,-146.0,193.5,-7.8,158,1686,0.17,2.38,0.00,0.000,4,0.048,0.023,3085,3082,3525,0,0,0,0,0,0
$GC,1711,-0.96,-146.0,196.3,-10.6,160,1716,0.20,2.45,0.00,0.000,6,0.091,0.027,3130,1556,3524,0,0,0,0,0,0
$GC,1994,-0.96,-146.0,225.7,-10.2,169,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1556,3524,0,0,0,0,0,0
$GC,2236,-0.96,-146.0,251.1,-10.3,175,2241,0.00,2.40,0.00,0.000,4,0.000,0.024,3130,3082,3525,0,0,0,0,0,0
$GC,2288,-1.09,-146.0,255.4,-7.9,176,2293,0.12,2.45,0.00,0.000,6,0.061,0.028,3049,1561,3525,0,0,0,0,0,0
$GC,2568,-0.87,-146.0,292.2,-13.9,183,2573,0.45,2.28,0.00,0.000,4,0.084,0.044,3147,166,3525,0,0,0,0,0,0
$GC,2588,-0.87,-146.0,295.0,-12.2,183,2592,0.00,2.10,0.00,0.000,6,0.000,0.020,3148,1531,3525,0,0,0,0,0,0
$GC,2853,-0.99,-146.0,315.8,-8.2,190,2858,0.10,2.50,0.00,0.000,4,0.075,0.028,3086,3102,3525,0,0,0,0,0,0
$GC,2870,-0.99,-146.0,317.5,-8.6,190,2875,0.17,2.50,0.00,0.000,6,0.091,0.030,3125,1549,3525,0,0,0,0,0,0
$GC,3139,-0.99,-146.0,341.5,-8.4,197,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1550,3524,0,0,0,0,0,0
$GC,3383,-1.06,-146.0,360.9,-7.9,203,3388,0.00,2.50,0.00,0.000,4,0.000,0.031,3126,3102,3523,0,0,0,0,0,0
$GC,3409,-1.15,-146.0,362.9,-8.3,203,3414,0.15,2.53,0.00,0.000,6,0.052,0.035,3035,1553,3523,0,0,0,0,0,0
$GC,3669,-0.93,-146.0,395.3,-12.8,210,3674,0.45,2.33,0.00,0.000,4,0.090,0.058,3133,167,3521,0,0,0,0,0,0
$GC,3689,-0.93,-146.0,397.7,-11.1,210,3693,0.00,2.17,0.00,0.000,6,0.000,0.024,3133,1552,3522,0,0,0,0,0,0
$GC,3955,-1.03,-146.0,418.3,-8.0,217,3959,0.00,2.53,0.00,0.000,4,0.000,0.035,3133,3113,3520,0,0,0,0,0,0
$GC,3984,-1.19,-146.0,420.7,-8.3,217,3989,0.22,2.58,0.00,0.000,6,0.037,0.037,3026,1555,3520,0,0,0,0,0,0
$GC,4241,-0.97,-146.0,453.3,-13.3,224,4246,0.45,2.35,0.00,0.000,4,0.084,0.064,3124,171,3518,0,0,0,0,0,0
$GC,4280,-1.11,-146.0,457.4,-8.0,224,4286,0.12,2.20,0.00,0.000,6,0.061,0.028,3064,1548,3517,0,0,0,0,0,0
$GC,4530,-1.02,-146.0,483.3,-10.7,231,4535,0.22,2.58,0.00,0.000,4,0.089,0.041,3115,3116,3515,0,0,0,0,0,0
$GC,4557,-1.08,-146.0,485.8,-9.0,231,4562,0.00,2.60,0.00,0.000,6,0.000,0.038,3115,1552,3515,0,0,0,0,0,0
$GC,4817,-1.16,-146.0,506.2,-7.9,238,4822,0.12,2.62,0.00,0.000,4,0.064,0.041,3057,3124,3513,0,0,0,0,0,0
$GC,4834,-1.16,-146.0,507.8,-8.0,238,4839,0.12,2.60,0.00,0.000,6,0.104,0.040,3086,1563,3513,0,0,0,0,0,0
$GC,5104,-1.16,-146.0,532.4,-8.9,245,5108,0.00,2.58,0.00,0.000,4,0.000,0.041,3086,3118,3512,0,0,0,0,0,0
$GC,5118,-1.16,-146.0,533.7,-8.7,245,5123,0.00,2.60,0.00,0.000,6,0.000,0.041,3086,1561,3511,0,0,0,0,0,0
$GC,5389,-1.16,-146.0,555.8,-8.4,252,5393,0.00,2.42,0.00,0.000,4,0.000,0.076,3086,171,3510,0,0,0,0,0,0
$GC,5403,-1.16,-146.0,557.2,-8.2,252,5408,0.00,2.25,0.00,0.000,6,0.000,0.031,3086,1570,3509,0,0,0,0,0,0
$GC,5672,-1.16,-146.0,580.1,-8.6,259,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1570,3508,0,0,0,0,0,0
$STATE,5913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5913,begin apogee
$GC,5921,-0.31,0.0,601.7,9.0,265,6043,0.82,0.00,118.20,0.928,6,0.078,0.000,3273,1364,2920,0,0,0,0,0,0
$STATE,6043,end apogee,CONTROL_FINISHED_OK
$STATE,6044,begin climb
$GC,6046,1.27,146.0,606.6,0.0,268,6178,1.45,2.20,122.97,0.911,4,0.047,0.077,3616,174,2323,0,0,0,0,0,0
$GC,6378,0.99,146.0,585.2,10.6,275,6383,0.30,1.95,0.00,0.000,6,0.100,0.028,3554,1382,2316,0,0,0,0,0,0
$GC,6644,1.06,208.7,566.3,7.1,282,6705,0.00,2.20,53.97,0.884,4,0.000,0.071,3554,181,2069,0,0,0,0,0,0
$GC,6729,1.06,208.7,558.8,10.7,284,6733,0.00,1.95,0.00,0.000,6,0.000,0.028,3553,1379,2067,0,0,0,0,0,0
$GC,7023,1.08,223.0,531.3,9.3,291,7044,0.10,2.72,12.98,0.798,4,0.077,0.048,3600,2964,2010,0,0,0,0,0,0
$GC,7073,1.08,223.0,525.8,11.3,292,7080,0.12,2.70,0.00,0.000,6,0.104,0.045,3574,1387,2007,0,0,0,0,0,0
$GC,7360,1.08,225.3,497.7,9.9,299,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1387,2005,0,0,0,0,0,0
$GC,7601,1.10,236.2,474.4,9.5,305,7619,0.00,2.15,12.52,0.780,4,0.000,0.067,3574,165,1956,0,0,0,0,0,0
$GC,7638,1.03,236.2,470.5,10.9,305,7644,0.00,1.98,0.00,0.000,6,0.000,0.028,3574,1394,1956,0,0,0,0,0,0
$GC,7890,1.03,238.3,445.6,9.9,312,7894,0.00,2.58,0.00,0.000,4,0.000,0.038,3574,2950,1953,0,0,0,0,0,0
$GC,7909,1.05,249.5,443.5,9.5,312,7931,0.00,2.65,13.62,0.771,6,0.000,0.042,3574,1378,1901,0,0,0,0,0,0
$GC,8175,1.05,249.5,415.5,10.6,319,8179,0.00,2.08,0.00,0.000,4,0.000,0.065,3574,168,1898,0,0,0,0,0,0
$GC,8219,1.05,249.5,410.5,12.6,320,8223,0.00,1.92,0.00,0.000,6,0.000,0.026,3574,1384,1898,0,0,0,0,0,0
$GC,8509,1.05,249.5,378.3,10.7,327,8514,0.00,2.55,0.00,0.000,4,0.000,0.035,3574,2958,1897,0,0,0,0,0,0
$GC,8533,1.05,249.5,375.8,10.3,327,8537,0.00,2.65,0.00,0.000,6,0.000,0.041,3574,1379,1895,0,0,0,0,0,0
$GC,8794,1.06,256.5,350.5,9.7,334,8802,0.00,0.00,6.62,0.629,6,0.000,0.000,3574,1379,1874,0,0,0,0,0,0
$GC,9036,1.06,256.5,326.0,10.2,340,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1379,1873,0,0,0,0,0,0
$GC,9279,1.06,256.5,300.4,10.5,346,9283,0.00,2.08,0.00,0.000,4,0.000,0.061,3574,158,1872,0,0,0,0,0,0
$GC,9323,1.06,256.5,295.8,11.7,347,9327,0.00,1.92,0.00,0.000,6,0.000,0.025,3574,1399,1872,0,0,0,0,0,0
$GC,9615,1.06,261.4,267.1,9.8,354,9627,0.00,2.17,5.88,0.556,4,0.000,0.056,3574,162,1853,0,0,0,0,0,0
$GC,9641,1.06,261.4,264.0,11.4,354,9645,0.00,1.92,0.00,0.000,6,0.000,0.022,3574,1397,1853,0,0,0,0,0,0
$GC,9907,1.13,264.6,237.3,9.9,361,9918,0.00,2.47,4.45,0.472,4,0.000,0.028,3574,2940,1839,0,0,0,0,0,0
$GC,9942,1.26,279.1,233.6,9.3,361,9963,0.17,2.60,14.45,0.630,6,0.048,0.038,3652,1380,1780,0,0,0,0,0,0
$GC,10229,1.13,279.1,194.8,13.5,370,10233,0.28,2.03,0.00,0.000,4,0.089,0.051,3588,163,1777,0,0,0,0,0,0
$GC,10325,1.13,279.1,182.7,11.9,379,10329,0.00,1.88,0.00,0.000,6,0.000,0.020,3588,1394,1777,0,0,0,0,0,0
$GC,10593,1.13,279.1,156.4,10.3,404,10598,0.00,2.42,0.00,0.000,4,0.000,0.027,3588,2925,1776,0,0,0,0,0,0
$GC,10613,1.21,279.1,154.0,10.5,405,10622,0.00,2.58,0.00,0.000,6,0.000,0.033,3588,1376,1773,0,0,0,0,0,0
$GC,10877,1.21,279.1,125.7,11.3,430,10881,0.00,2.03,0.00,0.000,4,0.000,0.051,3588,160,1774,0,0,0,0,0,0
$GC,10931,1.21,279.1,119.4,11.8,435,10935,0.00,1.85,0.00,0.000,6,0.000,0.020,3588,1385,1774,0,0,0,0,0,0
$GC,11200,1.28,279.1,90.9,10.8,460,11205,0.12,2.42,0.00,0.000,4,0.067,0.026,3636,2927,1774,0,0,0,0,0,0
$GC,11259,1.28,279.1,84.1,11.9,465,11264,0.00,2.53,0.00,0.000,6,0.000,0.035,3636,1374,1773,0,0,0,0,0,0
$GC,11529,1.28,279.1,51.2,11.6,489,11532,0.00,2.00,0.00,0.000,4,0.000,0.049,3636,164,1774,0,0,0,0,0,0
$GC,11577,1.20,279.1,45.3,12.5,493,11581,0.17,1.83,0.00,0.000,6,0.093,0.019,3598,1392,1774,0,0,0,0,0,0
$GC,11865,1.34,318.6,21.7,8.2,526,11912,0.15,2.53,34.90,0.463,4,0.054,0.026,3666,2931,1619,0,0,0,0,0,0
$GC,11940,1.34,318.6,14.0,11.2,536,11949,0.12,2.58,0.00,0.000,6,0.067,0.035,3632,1390,1617,0,0,0,0,0,0
$STATE,12036,end climb,SURFACE_DEPTH_REACHED
$STATE,12036,begin surface coast
$FINISH,0.9,1.023555
$STATE,12078,end surface coast,CONTROL_FINISHED_OK
$STATE,12078,begin surface
$SM_CCo,12102,34.62,0.438,0,0,1369,380.21
$SM_GC,1.73,0.00,0.00,34.62,0.000,0.000,0.438,416,1541,1369,-13.45,0.03,380.21
$IRIDIUM_FIX,2251.04,-15800.62,251001,080816
$TT8_MAMPS,0.027612
$HUMID,65.59
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,7
$24V_AH,23.5,47.456
$10V_AH,9.9,37.593
$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,34.950,149.725,400.575,34.625,0.000,23.427,37.566,361.301,1.750,0.000,17.922,1193.568,8203.638,479.389,2038.235,791.506,33.372,1355.574,0.000,2044.807,0.000,0.537,0.000
$DEVICE_MAMPS,147.264,77.467,928.070,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.593,319.704,407.212,584.403,1026.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,44772,557
$CAP_FILE_SIZE,137673,0
$CFSIZE,260165632,157134848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310712,150708,2259.077,-15758.453,65,1.5,67,10.1