version: 66.06
glider: 148
mission: 11
dive: 363
start: 7 31 112 22 28 55
data:
$ID,148
$MISSION,11
$DIVE,363
$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,-926259.88
$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,80
$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
$GPS1,221707,2257.779,-15757.485,53,1.5,55,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-77.1
$GPS2,222801,2257.818,-15757.562,16,1.6,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.185,-0.183
$KALMAN_X,-135056.4,-505.1,248.7,139067.2,-1314.9
$KALMAN_Y,72431.8,-186.0,-220.4,-53846.8,1239.2
$MHEAD_RNG_PITCHd_Wd,124.6,49076,-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,-67.38,0.000,2,0.000,0.000,410,1584,3085,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-5.0,9,123,13.82,2.35,-7.75,0.000,4,0.153,0.049,3059,164,3518,0,0,0,0,0,0
$GC,234,-0.90,-146.0,40.3,-21.0,27,239,0.38,2.05,0.00,0.000,6,0.097,0.018,3140,1519,3519,0,0,0,0,0,0
$GC,504,-0.76,-146.0,82.9,-15.5,51,509,0.15,2.53,0.00,0.000,4,0.110,0.024,3173,3107,3520,0,0,0,0,0,0
$GC,554,-0.94,-146.0,89.6,-9.8,55,560,0.15,2.53,0.00,0.000,6,0.051,0.028,3092,1536,3520,0,0,0,0,0,0
$GC,823,-0.69,-146.0,133.9,-16.5,79,831,0.43,2.47,0.00,0.000,4,0.087,0.022,3183,3104,3521,0,0,0,0,0,0
$GC,857,-0.80,-146.0,139.6,-10.4,82,866,0.00,2.50,0.00,0.000,6,0.000,0.028,3183,1564,3521,0,0,0,0,0,0
$GC,1122,-0.91,-146.0,162.2,-7.9,107,1127,0.17,0.00,0.00,0.000,6,0.045,0.000,3089,1564,3522,0,0,0,0,0,0
$GC,1384,-0.72,-146.0,199.2,-14.4,132,1390,0.38,2.42,0.00,0.000,4,0.085,0.022,3177,3107,3522,0,0,0,0,0,0
$GC,1434,-0.94,-146.0,204.3,-7.3,133,1439,0.17,2.47,0.00,0.000,6,0.047,0.027,3106,1553,3523,0,0,0,0,0,0
$GC,1718,-0.85,-146.0,239.6,-12.7,140,1723,0.22,2.45,0.00,0.000,4,0.093,0.022,3155,3111,3523,0,0,0,0,0,0
$GC,1744,-0.93,-146.0,242.5,-9.6,140,1749,0.00,2.47,0.00,0.000,6,0.000,0.028,3155,1572,3523,0,0,0,0,0,0
$GC,2004,-1.04,-146.0,263.4,-7.7,147,2009,0.17,2.30,0.00,0.000,4,0.046,0.046,3063,169,3524,0,0,0,0,0,0
$GC,2039,-0.91,-146.0,267.4,-13.2,147,2045,0.35,2.12,0.00,0.000,6,0.087,0.018,3141,1575,3523,0,0,0,0,0,0
$GC,2292,-0.98,-146.0,288.5,-7.7,153,2296,0.00,2.40,0.00,0.000,4,0.000,0.025,3141,3105,3524,0,0,0,0,0,0
$GC,2325,-1.13,-146.0,291.1,-7.3,153,2330,0.20,2.50,0.00,0.000,6,0.040,0.029,3038,1562,3524,0,0,0,0,0,0
$GC,2575,-0.88,-146.0,325.1,-14.3,159,2580,0.47,2.33,0.00,0.000,4,0.084,0.049,3142,165,3523,0,0,0,0,0,0
$GC,2599,-0.88,-146.0,328.3,-11.2,159,2603,0.00,2.15,0.00,0.000,6,0.000,0.020,3142,1550,3523,0,0,0,0,0,0
$GC,2859,-0.99,-146.0,350.9,-8.8,166,2863,0.00,2.50,0.00,0.000,4,0.000,0.031,3142,3116,3523,0,0,0,0,0,0
$GC,2908,-1.21,-146.0,355.2,-8.9,167,2913,0.28,2.53,0.00,0.000,6,0.031,0.034,3039,1574,3523,0,0,0,0,0,0
$GC,3191,-1.01,-146.0,394.2,-13.9,174,3196,0.32,2.35,0.00,0.000,4,0.088,0.058,3116,174,3521,0,0,0,0,0,0
$GC,3220,-1.01,-146.0,397.8,-10.5,174,3224,0.00,2.20,0.00,0.000,6,0.000,0.025,3115,1569,3521,0,0,0,0,0,0
$GC,3476,-1.01,-146.0,418.2,-7.7,181,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1569,3519,0,0,0,0,0,0
$GC,3719,-1.07,-146.0,436.8,-7.7,187,3723,0.00,2.53,0.00,0.000,4,0.000,0.037,3116,3114,3518,0,0,0,0,0,0
$GC,3743,-1.16,-146.0,438.7,-8.4,187,3748,0.12,2.55,0.00,0.000,6,0.060,0.037,3040,1573,3517,0,0,0,0,0,0
$GC,4005,-0.98,-146.0,470.4,-12.6,194,4010,0.38,2.42,0.00,0.000,4,0.087,0.067,3124,166,3515,0,0,0,0,0,0
$GC,4044,-1.10,-146.0,474.3,-8.5,194,4050,0.10,2.25,0.00,0.000,6,0.074,0.029,3066,1571,3515,0,0,0,0,0,0
$GC,4295,-1.02,-146.0,499.1,-10.1,201,4297,0.22,0.00,0.00,0.000,6,0.088,0.000,3117,1572,3513,0,0,0,0,0,0
$GC,4538,-1.10,-146.0,518.6,-7.8,207,4542,0.00,2.55,0.00,0.000,4,0.000,0.044,3117,3117,3511,0,0,0,0,0,0
$GC,4553,-1.19,-146.0,519.9,-7.7,207,4558,0.15,2.58,0.00,0.000,6,0.051,0.041,3030,1572,3512,0,0,0,0,0,0
$GC,4824,-0.98,-146.0,553.9,-13.0,214,4829,0.43,2.42,0.00,0.000,4,0.086,0.074,3119,169,3509,0,0,0,0,0,0
$GC,4848,-0.98,-146.0,556.9,-10.6,214,4852,0.00,2.25,0.00,0.000,6,0.000,0.031,3119,1563,3509,0,0,0,0,0,0
$GC,5108,-1.08,-146.0,576.3,-7.3,221,5112,0.00,2.58,0.00,0.000,4,0.000,0.048,3119,3125,3507,0,0,0,0,0,0
$GC,5138,-1.22,-146.0,578.7,-7.8,221,5144,0.20,2.60,0.00,0.000,6,0.041,0.045,3036,1576,3507,0,0,0,0,0,0
$STATE,5351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5351,begin apogee
$GC,5357,-0.31,0.0,602.8,11.5,227,5478,1.05,0.00,117.60,0.926,6,0.081,0.000,3271,1367,2920,0,0,0,0,0,0
$STATE,5479,end apogee,CONTROL_FINISHED_OK
$STATE,5479,begin climb
$GC,5483,1.27,146.0,606.9,0.0,230,5614,1.45,2.17,122.85,0.909,4,0.050,0.081,3616,174,2323,0,0,0,0,0,0
$GC,5665,0.95,146.0,598.7,13.0,234,5669,0.28,2.00,0.00,0.000,6,0.085,0.030,3546,1381,2319,0,0,0,0,0,0
$GC,5943,0.99,179.3,574.6,8.5,241,5976,0.00,2.17,28.38,0.862,4,0.000,0.071,3547,174,2188,0,0,0,0,0,0
$GC,6006,0.99,179.3,568.6,11.1,242,6010,0.00,1.98,0.00,0.000,6,0.000,0.028,3546,1386,2186,0,0,0,0,0,0
$GC,6274,1.03,207.7,544.5,8.7,249,6302,0.00,0.00,25.95,0.851,6,0.000,0.000,3546,1386,2073,0,0,0,0,0,0
$GC,6518,1.06,228.9,522.5,9.0,255,6540,0.10,0.00,19.75,0.827,6,0.077,0.000,3592,1387,1987,0,0,0,0,0,0
$GC,6763,0.98,228.9,495.0,11.4,261,6768,0.17,2.15,0.00,0.000,4,0.098,0.065,3555,163,1982,0,0,0,0,0,0
$GC,6789,0.98,228.9,492.0,11.2,261,6792,0.00,1.98,0.00,0.000,6,0.000,0.027,3554,1393,1982,0,0,0,0,0,0
$GC,7054,1.00,239.5,466.5,9.5,268,7070,0.00,2.62,10.35,0.749,4,0.000,0.044,3555,2943,1943,0,0,0,0,0,0
$GC,7091,1.08,250.9,463.0,9.5,268,7109,0.00,2.67,11.93,0.760,6,0.000,0.043,3554,1369,1897,0,0,0,0,0,0
$GC,7388,1.09,256.5,434.3,9.7,276,7397,0.10,0.00,6.22,0.651,6,0.079,0.000,3598,1369,1874,0,0,0,0,0,0
$GC,7675,1.09,256.5,400.6,11.7,283,7677,0.10,0.00,0.00,0.000,6,0.121,0.000,3577,1369,1872,0,0,0,0,0,0
$GC,7919,1.09,256.5,375.5,10.0,289,7923,0.00,2.62,0.00,0.000,4,0.000,0.033,3577,2958,1870,0,0,0,0,0,0
$GC,7947,1.09,258.8,372.6,9.9,289,7952,0.00,2.65,0.00,0.000,6,0.000,0.042,3577,1377,1868,0,0,0,0,0,0
$GC,8204,1.10,270.9,349.0,9.4,296,8224,0.00,2.15,13.80,0.717,4,0.000,0.062,3576,169,1815,0,0,0,0,0,0
$GC,8243,1.10,270.9,344.4,11.4,296,8248,0.00,1.92,0.00,0.000,6,0.000,0.031,3577,1386,1814,0,0,0,0,0,0
$GC,8493,1.10,270.9,316.9,11.1,303,8497,0.00,2.08,0.00,0.000,4,0.000,0.057,3577,167,1812,0,0,0,0,0,0
$GC,8513,1.10,270.9,314.7,10.6,303,8516,0.00,1.90,0.00,0.000,6,0.000,0.024,3577,1380,1813,0,0,0,0,0,0
$GC,8785,1.12,282.2,287.7,9.5,310,8802,0.00,2.60,11.07,0.653,4,0.000,0.032,3577,2942,1768,0,0,0,0,0,0
$GC,8845,1.26,294.2,281.9,9.4,311,8862,0.15,2.62,11.85,0.651,6,0.054,0.040,3630,1380,1720,0,0,0,0,0,0
$GC,9121,1.19,294.2,248.4,12.5,318,9125,0.15,2.08,0.00,0.000,4,0.108,0.058,3598,164,1717,0,0,0,0,0,0
$GC,9177,1.19,294.2,240.9,11.6,319,9181,0.00,1.90,0.00,0.000,6,0.000,0.021,3598,1390,1717,0,0,0,0,0,0
$GC,9456,1.19,294.2,212.0,10.1,326,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1393,1717,0,0,0,0,0,0
$GC,9703,1.19,294.2,184.9,11.4,341,9707,0.00,2.47,0.00,0.000,4,0.000,0.027,3599,2941,1715,0,0,0,0,0,0
$GC,9722,1.25,294.2,182.7,11.2,342,9731,0.00,2.60,0.00,0.000,6,0.000,0.035,3597,1378,1713,0,0,0,0,0,0
$GC,9990,1.25,294.2,154.2,10.6,367,9995,0.00,2.53,0.00,0.000,4,0.000,0.027,3598,2951,1713,0,0,0,0,0,0
$GC,10019,1.32,294.2,150.5,10.2,369,10028,0.08,2.58,0.00,0.000,6,0.033,0.034,3644,1394,1712,0,0,0,0,0,0
$GC,10279,1.23,294.2,117.4,12.7,394,10283,0.17,2.03,0.00,0.000,4,0.098,0.051,3606,167,1712,0,0,0,0,0,0
$GC,10318,1.23,294.2,113.4,11.3,397,10322,0.00,1.88,0.00,0.000,6,0.000,0.020,3606,1410,1712,0,0,0,0,0,0
$GC,10587,1.24,308.4,88.5,9.3,422,10603,0.00,0.00,13.57,0.492,6,0.000,0.000,3606,1412,1661,0,0,0,0,0,0
$GC,10866,1.33,323.5,62.3,9.3,448,10892,0.10,2.47,14.88,0.469,4,0.075,0.027,3653,2929,1599,0,0,0,0,0,0
$GC,10909,1.33,323.5,57.6,11.2,451,10915,0.12,2.58,0.00,0.000,6,0.103,0.034,3625,1368,1597,0,0,0,0,0,0
$GC,11175,1.33,323.5,28.1,11.1,476,11184,0.00,1.98,0.00,0.000,4,0.000,0.044,3625,168,1597,0,0,0,0,0,0
$GC,11205,1.33,323.5,23.9,13.7,480,11214,0.00,1.85,0.00,0.000,6,0.000,0.018,3625,1380,1597,0,0,0,0,0,0
$STATE,11390,end climb,SURFACE_DEPTH_REACHED
$STATE,11390,begin surface coast
$FINISH,0.7,1.023505
$STATE,11430,end surface coast,CONTROL_FINISHED_OK
$STATE,11430,begin surface
$SM_CCo,11454,27.60,0.428,0,0,1368,380.21
$SM_GC,1.63,0.00,0.00,27.60,0.000,0.000,0.428,415,1561,1368,-13.46,0.59,380.21
$IRIDIUM_FIX,2251.04,-15755.40,251001,222222
$TT8_MAMPS,0.027612
$HUMID,65.19
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,6
$24V_AH,23.5,47.859
$10V_AH,9.9,37.924
$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,36.300,136.100,408.200,27.600,0.000,55.728,96.738,276.401,1.500,0.000,17.559,1109.509,7885.067,489.569,1848.478,802.457,33.370,1286.526,0.000,1855.617,0.000,0.539,0.000
$DEVICE_MAMPS,152.633,81.302,925.769,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.974,295.498,371.233,539.830,948.628,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41421,515
$CAP_FILE_SIZE,131808,0
$CFSIZE,260165632,156954624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,014127,2257.138,-15757.318,6,99.0,25,10.1