version: 66.06
glider: 148
mission: 11
dive: 492
start: 8 19 112 14 30 55
data:
$ID,148
$MISSION,11
$DIVE,492
$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,-928851.56
$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,3320
$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,1630
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,112
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,142306,2246.370,-15750.528,30,1.4,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.2
$GPS2,143003,2246.350,-15750.605,11,2.8,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.248,-0.079
$KALMAN_X,-384798.7,-205.5,-115.6,400749.9,-1569.8
$KALMAN_Y,117454.2,63.6,-531.3,-120051.1,21.5
$MHEAD_RNG_PITCHd_Wd,97.5,26175,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.93,0.000,2,0.000,0.000,412,1672,3229,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-5.3,10,121,13.65,2.47,-4.35,0.000,4,0.151,0.054,3036,159,3476,0,0,0,0,0,0
$GC,167,-0.84,-146.0,27.3,-24.2,20,176,0.43,2.20,0.00,0.000,6,0.087,0.018,3133,1571,3479,0,0,0,0,0,0
$GC,446,-0.64,-146.0,71.2,-15.4,46,451,0.20,2.47,0.00,0.000,4,0.098,0.024,3177,3143,3480,0,0,0,0,0,0
$GC,503,-0.74,-146.0,78.6,-9.2,50,512,0.00,2.47,0.00,0.000,6,0.000,0.031,3177,1627,3480,0,0,0,0,0,0
$GC,772,-0.74,-146.0,101.3,-8.6,75,777,0.00,2.35,0.00,0.000,4,0.000,0.042,3177,173,3481,0,0,0,0,0,0
$GC,810,-0.80,-146.0,105.0,-8.7,78,815,0.12,2.17,0.00,0.000,6,0.061,0.018,3117,1615,3481,0,0,0,0,0,0
$GC,1085,-0.66,-146.0,137.2,-11.7,103,1090,0.28,2.45,0.00,0.000,4,0.085,0.022,3174,3184,3482,0,0,0,0,0,0
$GC,1114,-0.66,-146.0,140.8,-9.4,105,1118,0.00,2.45,0.00,0.000,6,0.000,0.025,3174,1642,3482,0,0,0,0,0,0
$GC,1377,-0.74,-146.0,162.6,-7.9,129,1381,0.00,2.38,0.00,0.000,4,0.000,0.043,3174,174,3482,0,0,0,0,0,0
$GC,1406,-0.82,-146.0,165.1,-8.5,131,1410,0.15,2.20,0.00,0.000,6,0.052,0.017,3097,1647,3483,0,0,0,0,0,0
$GC,1669,-0.68,-146.0,197.5,-12.5,155,1674,0.30,2.40,0.00,0.000,4,0.084,0.039,3168,173,3483,0,0,0,0,0,0
$GC,1717,-0.81,-146.0,202.4,-8.5,158,1721,0.10,2.20,0.00,0.000,6,0.073,0.018,3102,1635,3483,0,0,0,0,0,0
$GC,2004,-0.71,-146.0,234.4,-11.2,165,2009,0.25,2.42,0.00,0.000,4,0.084,0.023,3160,3188,3483,0,0,0,0,0,0
$GC,2031,-0.79,-146.0,236.8,-8.4,165,2035,0.00,2.47,0.00,0.000,6,0.000,0.025,3160,1642,3483,0,0,0,0,0,0
$GC,2291,-0.90,-146.0,255.5,-7.0,172,2296,0.15,2.47,0.00,0.000,4,0.054,0.025,3078,3196,3483,0,0,0,0,0,0
$GC,2315,-0.90,-146.0,257.6,-9.9,172,2320,0.20,2.47,0.00,0.000,6,0.088,0.026,3123,1650,3484,0,0,0,0,0,0
$GC,2577,-0.90,-146.0,280.3,-8.8,179,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1650,3483,0,0,0,0,0,0
$GC,2819,-0.90,-146.0,303.5,-9.6,185,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1650,3483,0,0,0,0,0,0
$GC,3063,-0.90,-146.0,325.3,-8.9,191,3067,0.00,2.47,0.00,0.000,4,0.000,0.028,3124,3193,3483,0,0,0,0,0,0
$GC,3083,-0.90,-146.0,327.0,-9.1,191,3088,0.00,2.47,0.00,0.000,6,0.000,0.028,3123,1650,3483,0,0,0,0,0,0
$GC,3348,-0.90,-146.0,345.8,-6.9,198,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1650,3482,0,0,0,0,0,0
$GC,3591,-0.90,-146.0,364.0,-7.6,204,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1650,3481,0,0,0,0,0,0
$GC,3837,-0.90,-146.0,383.8,-8.3,210,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1650,3480,0,0,0,0,0,0
$GC,4079,-0.97,-146.0,403.4,-8.0,216,4083,0.00,2.47,0.00,0.000,4,0.000,0.060,3123,177,3479,0,0,0,0,0,0
$GC,4094,-0.97,-146.0,404.8,-8.5,216,4098,0.00,2.28,0.00,0.000,6,0.000,0.021,3123,1633,3479,0,0,0,0,0,0
$GC,4364,-1.04,-146.0,427.3,-8.4,223,4366,0.12,0.00,0.00,0.000,6,0.063,0.000,3055,1633,3477,0,0,0,0,0,0
$GC,4606,-0.91,-146.0,455.2,-11.7,229,4611,0.25,2.55,0.00,0.000,4,0.087,0.035,3116,3199,3476,0,0,0,0,0,0
$GC,4621,-0.84,-146.0,456.9,-11.4,229,4626,0.00,2.55,0.00,0.000,6,0.000,0.032,3116,1640,3476,0,0,0,0,0,0
$GC,4892,-0.90,-146.0,480.4,-8.8,236,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1640,3474,0,0,0,0,0,0
$GC,5134,-0.97,-146.0,501.3,-8.6,242,5139,0.00,2.58,0.00,0.000,4,0.000,0.039,3115,3193,3472,0,0,0,0,0,0
$GC,5154,-1.06,-146.0,503.1,-8.8,242,5159,0.12,2.55,0.00,0.000,6,0.061,0.038,3040,1652,3472,0,0,0,0,0,0
$GC,5421,-0.90,-146.0,533.8,-11.8,249,5423,0.38,0.00,0.00,0.000,6,0.087,0.000,3122,1652,3470,0,0,0,0,0,0
$GC,5663,-1.00,-146.0,551.4,-7.0,255,5667,0.00,2.58,0.00,0.000,4,0.000,0.044,3122,3196,3469,0,0,0,0,0,0
$GC,5682,-1.11,-146.0,553.1,-8.0,255,5688,0.20,2.60,0.00,0.000,6,0.042,0.043,3039,1642,3469,0,0,0,0,0,0
$GC,5949,-0.97,-146.0,583.5,-12.0,262,5954,0.28,2.55,0.00,0.000,4,0.095,0.074,3104,170,3467,0,0,0,0,0,0
$GC,5988,-1.03,-146.0,587.9,-10.4,262,5993,0.00,2.38,0.00,0.000,6,0.000,0.032,3104,1639,3467,0,0,0,0,0,0
$STATE,6154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6154,begin apogee
$GC,6162,-0.31,0.0,602.3,8.6,267,6284,0.65,0.00,119.18,0.924,6,0.072,0.000,3254,1343,2880,0,0,0,0,0,0
$STATE,6285,end apogee,CONTROL_FINISHED_OK
$STATE,6285,begin climb
$GC,6288,1.27,146.0,606.8,0.0,270,6421,1.45,2.10,123.72,0.906,4,0.051,0.077,3596,173,2283,0,0,0,0,0,0
$GC,6604,1.06,146.0,582.4,10.9,277,6608,0.22,1.92,0.00,0.000,6,0.094,0.027,3549,1370,2277,0,0,0,0,0,0
$GC,6884,1.13,207.1,561.5,7.2,284,6944,0.00,2.15,53.38,0.877,4,0.000,0.068,3549,174,2034,0,0,0,0,0,0
$GC,7018,1.16,230.5,550.1,8.9,287,7047,0.10,1.90,22.42,0.835,6,0.079,0.027,3591,1347,1939,0,0,0,0,0,0
$GC,7305,1.16,230.5,518.9,11.2,294,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1347,1933,0,0,0,0,0,0
$GC,7546,1.16,230.5,489.8,12.0,300,7549,0.00,2.03,0.00,0.000,4,0.000,0.062,3590,177,1931,0,0,0,0,0,0
$GC,7603,1.09,230.5,482.1,14.3,301,7608,0.12,1.88,0.00,0.000,6,0.080,0.026,3548,1338,1930,0,0,0,0,0,0
$GC,7886,1.17,230.5,452.0,10.6,308,7890,0.10,2.00,0.00,0.000,4,0.077,0.061,3592,174,1928,0,0,0,0,0,0
$GC,7919,1.06,230.5,447.6,14.1,308,7924,0.20,1.85,0.00,0.000,6,0.093,0.025,3549,1340,1928,0,0,0,0,0,0
$GC,8176,1.14,230.5,420.6,10.5,315,8180,0.00,2.00,0.00,0.000,4,0.000,0.060,3549,173,1927,0,0,0,0,0,0
$GC,8208,1.14,230.5,416.7,12.4,315,8212,0.00,1.80,0.00,0.000,6,0.000,0.025,3549,1333,1926,0,0,0,0,0,0
$GC,8469,1.25,252.9,393.0,9.0,322,8494,0.17,2.05,19.33,0.765,4,0.051,0.064,3613,166,1849,0,0,0,0,0,0
$GC,8540,1.14,252.9,384.6,13.3,323,8544,0.15,1.85,0.00,0.000,6,0.077,0.025,3569,1320,1848,0,0,0,0,0,0
$GC,8808,1.17,276.5,359.5,8.9,330,8832,0.00,0.00,22.23,0.746,6,0.000,0.000,3569,1322,1752,0,0,0,0,0,0
$GC,9054,1.24,276.5,335.5,10.1,336,9058,0.10,1.98,0.00,0.000,4,0.077,0.057,3610,174,1747,0,0,0,0,0,0
$GC,9096,1.16,276.5,329.7,13.9,336,9102,0.17,1.83,0.00,0.000,6,0.097,0.023,3572,1340,1748,0,0,0,0,0,0
$GC,9346,1.23,276.5,302.8,10.6,343,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1343,1746,0,0,0,0,0,0
$GC,9592,1.34,297.5,279.9,9.0,349,9614,0.17,0.00,19.58,0.680,6,0.052,0.000,3624,1343,1667,0,0,0,0,0,0
$GC,9833,1.34,297.5,252.5,11.4,355,9838,0.00,2.55,0.00,0.000,4,0.000,0.029,3624,2919,1663,0,0,0,0,0,0
$GC,9852,1.34,297.5,250.1,11.4,355,9857,0.00,2.62,0.00,0.000,6,0.000,0.037,3624,1333,1662,0,0,0,0,0,0
$GC,10118,1.34,297.5,217.1,12.8,362,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1333,1662,0,0,0,0,0,0
$GC,10363,1.34,297.5,186.1,11.8,374,10367,0.00,1.92,0.00,0.000,4,0.000,0.053,3624,167,1662,0,0,0,0,0,0
$GC,10386,1.34,297.5,183.6,12.8,376,10390,0.00,1.80,0.00,0.000,6,0.000,0.021,3624,1358,1661,0,0,0,0,0,0
$GC,10654,1.34,297.5,152.2,10.6,401,10658,0.00,2.00,0.00,0.000,4,0.000,0.050,3624,164,1661,0,0,0,0,0,0
$GC,10725,1.34,297.5,143.5,12.1,408,10729,0.00,1.75,0.00,0.000,6,0.000,0.031,3624,1327,1661,0,0,0,0,0,0
$GC,10997,1.34,297.5,115.2,11.2,433,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1330,1661,0,0,0,0,0,0
$GC,11257,1.34,297.5,83.3,12.5,458,11261,0.00,1.95,0.00,0.000,4,0.000,0.048,3624,158,1661,0,0,0,0,0,0
$GC,11302,1.34,297.5,78.4,12.4,462,11306,0.00,1.73,0.00,0.000,6,0.000,0.019,3624,1310,1661,0,0,0,0,0,0
$GC,11576,1.37,318.7,52.4,9.0,487,11602,0.00,2.55,19.58,0.476,4,0.000,0.025,3624,2899,1579,0,0,0,0,0,0
$GC,11651,1.55,351.7,45.2,8.5,493,11689,0.15,2.62,29.77,0.478,6,0.058,0.035,3696,1312,1445,0,0,0,0,0,0
$STATE,11924,end climb,SURFACE_DEPTH_REACHED
$STATE,11924,begin surface coast
$FINISH,0.7,1.022192
$STATE,11957,end surface coast,CONTROL_FINISHED_OK
$STATE,11957,begin surface
$SM_CCo,11982,22.08,0.433,0,0,1329,380.21
$SM_GC,1.44,0.00,0.00,22.08,0.000,0.000,0.433,414,1649,1329,-13.37,0.57,380.21
$IRIDIUM_FIX,2239.35,-15754.99,131101,111126
$TT8_MAMPS,0.026845
$HUMID,68.38
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,13
$24V_AH,23.4,63.921
$10V_AH,9.9,52.067
$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,34.250,117.850,429.175,22.075,0.000,30.739,35.401,180.785,3.250,0.000,32.419,1128.175,8331.749,476.118,1886.810,594.661,33.376,1272.960,0.000,1868.734,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,76.700,924.235,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.999,304.490,376.976,539.943,947.054,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,41533,534
$CAP_FILE_SIZE,124466,0
$CFSIZE,260165632,149102592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190812,175206,2245.813,-15749.953,23,1.7,23,10.1