version: 66.06
glider: 148
mission: 11
dive: 493
start: 8 19 112 18 0 19
data:
$ID,148
$MISSION,11
$DIVE,493
$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,-928866.06
$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,26
$R_STBD_OVSHOOT,95
$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
$GPS1,175206,2245.813,-15749.953,23,1.7,23,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.4
$GPS2,175925,2245.811,-15750.038,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.121
$KALMAN_X,-386677.4,-184.8,-250.6,403714.6,-1099.1
$KALMAN_Y,117120.9,-34.4,-151.5,-120994.6,387.1
$MHEAD_RNG_PITCHd_Wd,107.6,24818,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.53,0.000,2,0.000,0.000,414,1650,3232,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-6.4,10,121,13.55,2.45,-4.22,0.000,4,0.148,0.048,3038,156,3477,0,0,0,0,0,0
$GC,161,-0.78,-146.0,27.3,-25.5,19,171,0.45,2.25,0.00,0.000,6,0.086,0.018,3141,1594,3478,0,0,0,0,0,0
$GC,441,-0.65,-146.0,70.6,-14.9,45,446,0.15,2.55,0.00,0.000,4,0.104,0.025,3175,3203,3480,0,0,0,0,0,0
$GC,497,-0.83,-146.0,77.4,-10.4,49,502,0.15,2.53,0.00,0.000,6,0.051,0.035,3078,1630,3480,0,0,0,0,0,0
$GC,766,-0.52,-146.0,117.5,-14.9,73,775,0.62,2.35,0.00,0.000,4,0.084,0.039,3202,174,3481,0,0,0,0,0,0
$GC,819,-0.81,-146.0,123.5,-6.9,78,824,0.25,2.25,0.00,0.000,6,0.035,0.025,3097,1663,3481,0,0,0,0,0,0
$GC,1084,-0.63,-146.0,155.6,-13.7,102,1093,0.35,0.00,0.00,0.000,6,0.082,0.000,3180,1666,3482,0,0,0,0,0,0
$GC,1351,-0.75,-146.0,178.6,-7.6,127,1356,0.10,2.45,0.00,0.000,4,0.074,0.043,3118,175,3483,0,0,0,0,0,0
$GC,1381,-0.75,-146.0,182.0,-11.6,129,1391,0.12,2.22,0.00,0.000,6,0.075,0.018,3152,1620,3483,0,0,0,0,0,0
$GC,1642,-0.75,-146.0,203.7,-7.6,151,1646,0.00,2.45,0.00,0.000,4,0.000,0.024,3152,3189,3483,0,0,0,0,0,0
$GC,1663,-0.75,-146.0,205.4,-7.9,151,1667,0.00,2.50,0.00,0.000,6,0.000,0.026,3152,1622,3483,0,0,0,0,0,0
$GC,1927,-0.81,-146.0,225.1,-7.8,158,1931,0.00,2.38,0.00,0.000,4,0.000,0.043,3152,171,3483,0,0,0,0,0,0
$GC,1946,-0.81,-146.0,226.9,-8.8,158,1950,0.00,2.22,0.00,0.000,6,0.000,0.018,3152,1640,3483,0,0,0,0,0,0
$GC,2212,-0.89,-146.0,249.9,-8.9,165,2217,0.12,2.42,0.00,0.000,4,0.062,0.025,3082,3182,3484,0,0,0,0,0,0
$GC,2259,-0.89,-146.0,255.5,-10.3,166,2265,0.20,2.47,0.00,0.000,6,0.083,0.028,3128,1636,3484,0,0,0,0,0,0
$GC,2545,-0.89,-146.0,282.5,-9.1,173,2549,0.00,2.45,0.00,0.000,4,0.000,0.025,3129,3186,3484,0,0,0,0,0,0
$GC,2568,-0.89,-146.0,284.8,-8.7,173,2573,0.00,2.50,0.00,0.000,6,0.000,0.028,3129,1639,3483,0,0,0,0,0,0
$GC,2828,-0.89,-146.0,305.2,-7.6,180,2832,0.00,2.40,0.00,0.000,4,0.000,0.046,3129,174,3484,0,0,0,0,0,0
$GC,2846,-0.89,-146.0,306.7,-7.8,180,2850,0.00,2.22,0.00,0.000,6,0.000,0.019,3129,1624,3483,0,0,0,0,0,0
$GC,3117,-0.95,-146.0,325.7,-7.1,187,3121,0.00,2.50,0.00,0.000,4,0.000,0.028,3128,3192,3483,0,0,0,0,0,0
$GC,3155,-1.10,-146.0,328.8,-7.5,187,3161,0.20,2.47,0.00,0.000,6,0.043,0.029,3011,1649,3483,0,0,0,0,0,0
$GC,3407,-0.81,-146.0,363.5,-14.5,194,3414,0.55,2.47,0.00,0.000,4,0.085,0.053,3138,166,3482,0,0,0,0,0,0
$GC,3449,-0.95,-146.0,368.1,-9.2,194,3456,0.10,2.30,0.00,0.000,6,0.074,0.021,3071,1638,3482,0,0,0,0,0,0
$GC,3700,-0.86,-146.0,394.2,-10.4,201,3705,0.25,2.47,0.00,0.000,4,0.084,0.054,3132,169,3481,0,0,0,0,0,0
$GC,3731,-0.94,-146.0,397.1,-8.5,201,3735,0.00,2.33,0.00,0.000,6,0.000,0.024,3132,1645,3481,0,0,0,0,0,0
$GC,3986,-1.03,-146.0,414.5,-6.6,208,3991,0.15,2.53,0.00,0.000,4,0.054,0.035,3061,3208,3480,0,0,0,0,0,0
$GC,4035,-1.03,-146.0,418.9,-9.4,209,4041,0.15,2.58,0.00,0.000,6,0.094,0.036,3096,1648,3480,0,0,0,0,0,0
$GC,4319,-1.03,-146.0,442.8,-8.6,216,4323,0.00,2.55,0.00,0.000,4,0.000,0.038,3096,3207,3478,0,0,0,0,0,0
$GC,4343,-1.03,-146.0,445.0,-9.6,216,4347,0.00,2.55,0.00,0.000,6,0.000,0.035,3096,1656,3478,0,0,0,0,0,0
$GC,4604,-1.03,-146.0,467.7,-8.8,223,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1656,3476,0,0,0,0,0,0
$GC,4846,-1.03,-146.0,488.4,-8.4,229,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1656,3474,0,0,0,0,0,0
$GC,5090,-1.03,-146.0,508.5,-8.2,235,5094,0.00,2.58,0.00,0.000,4,0.000,0.041,3096,3201,3473,0,0,0,0,0,0
$GC,5111,-1.03,-146.0,510.1,-8.1,235,5115,0.00,2.58,0.00,0.000,6,0.000,0.039,3096,1656,3473,0,0,0,0,0,0
$GC,5375,-1.03,-146.0,531.8,-8.3,242,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1656,3471,0,0,0,0,0,0
$GC,5619,-1.03,-146.0,552.5,-8.5,248,5623,0.00,2.58,0.00,0.000,4,0.000,0.042,3096,3197,3469,0,0,0,0,0,0
$GC,5642,-1.03,-146.0,554.5,-9.4,248,5647,0.00,2.58,0.00,0.000,6,0.000,0.044,3096,1663,3469,0,0,0,0,0,0
$GC,5904,-1.03,-146.0,576.5,-8.6,255,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1663,3468,0,0,0,0,0,0
$GC,6146,-1.03,-146.0,596.5,-8.1,261,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1663,3466,0,0,0,0,0,0
$STATE,6224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6224,begin apogee
$GC,6231,-0.31,0.0,603.0,7.9,263,6353,0.68,0.00,119.32,0.927,6,0.073,0.000,3250,1340,2880,0,0,0,0,0,0
$STATE,6354,end apogee,CONTROL_FINISHED_OK
$STATE,6354,begin climb
$GC,6358,1.27,146.0,605.8,0.0,266,6492,1.48,2.12,123.70,0.908,4,0.053,0.082,3599,168,2283,0,0,0,0,0,0
$GC,6736,1.05,146.0,571.8,11.5,274,6741,0.22,1.90,0.00,0.000,6,0.097,0.027,3550,1349,2275,0,0,0,0,0,0
$GC,7004,1.12,198.0,551.1,7.6,281,7056,0.00,2.10,44.92,0.873,4,0.000,0.067,3550,167,2072,0,0,0,0,0,0
$GC,7148,1.12,198.0,537.0,10.2,284,7152,0.00,1.90,0.00,0.000,6,0.000,0.026,3550,1348,2070,0,0,0,0,0,0
$GC,7427,1.13,210.3,510.9,9.4,291,7441,0.00,0.00,11.60,0.780,6,0.000,0.000,3550,1348,2022,0,0,0,0,0,0
$GC,7669,1.14,216.1,486.8,9.7,297,7682,0.00,2.10,6.18,0.669,4,0.000,0.063,3550,169,1998,0,0,0,0,0,0
$GC,7717,1.14,216.1,481.9,11.2,298,7721,0.00,1.88,0.00,0.000,6,0.000,0.028,3550,1346,1998,0,0,0,0,0,0
$GC,8009,1.23,240.1,454.8,8.9,305,8035,0.15,0.00,23.65,0.810,6,0.058,0.000,3607,1348,1901,0,0,0,0,0,0
$GC,8252,1.16,240.1,425.7,12.2,311,8257,0.15,2.05,0.00,0.000,4,0.101,0.060,3574,165,1896,0,0,0,0,0,0
$GC,8297,1.16,240.1,420.6,11.5,312,8301,0.00,1.85,0.00,0.000,6,0.000,0.025,3574,1336,1896,0,0,0,0,0,0
$GC,8588,1.17,245.1,391.8,9.8,319,8596,0.00,0.00,5.28,0.594,6,0.000,0.000,3575,1339,1879,0,0,0,0,0,0
$GC,8879,1.18,249.7,363.0,9.8,326,8891,0.00,2.08,5.57,0.592,4,0.000,0.057,3574,163,1861,0,0,0,0,0,0
$GC,8949,1.18,249.7,355.8,10.7,327,8952,0.00,1.85,0.00,0.000,6,0.000,0.024,3574,1339,1861,0,0,0,0,0,0
$GC,9217,1.22,286.3,332.5,8.3,334,9256,0.00,0.00,34.22,0.742,6,0.000,0.000,3575,1340,1711,0,0,0,0,0,0
$GC,9503,1.30,295.4,306.2,9.6,341,9514,0.12,0.00,9.15,0.637,6,0.066,0.000,3625,1340,1675,0,0,0,0,0,0
$GC,9744,1.30,295.4,275.4,12.9,347,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1341,1673,0,0,0,0,0,0
$GC,9987,1.30,295.4,246.8,11.5,353,9992,0.00,2.53,0.00,0.000,4,0.000,0.028,3626,2923,1671,0,0,0,0,0,0
$GC,10032,1.30,295.4,242.1,11.7,354,10037,0.10,2.67,0.00,0.000,6,0.120,0.038,3603,1318,1668,0,0,0,0,0,0
$GC,10320,1.31,303.4,213.8,9.6,361,10332,0.00,1.98,7.80,0.550,4,0.000,0.054,3603,157,1642,0,0,0,0,0,0
$GC,10356,1.31,303.4,209.9,11.5,361,10360,0.00,1.83,0.00,0.000,6,0.000,0.021,3603,1352,1642,0,0,0,0,0,0
$GC,10617,1.31,303.4,182.3,11.4,377,10621,0.00,2.00,0.00,0.000,4,0.000,0.050,3603,160,1641,0,0,0,0,0,0
$GC,10660,1.31,303.4,176.7,12.7,381,10669,0.00,1.80,0.00,0.000,6,0.000,0.021,3603,1331,1642,0,0,0,0,0,0
$GC,10924,1.31,303.4,146.3,11.9,406,10928,0.00,2.47,0.00,0.000,4,0.000,0.026,3603,2900,1641,0,0,0,0,0,0
$GC,10950,1.40,303.4,143.0,11.4,408,10955,0.10,2.60,0.00,0.000,6,0.074,0.035,3670,1310,1639,0,0,0,0,0,0
$GC,11213,1.25,303.4,105.2,13.7,432,11218,0.32,1.90,0.00,0.000,4,0.081,0.057,3595,167,1640,0,0,0,0,0,0
$GC,11240,1.25,303.4,101.7,11.6,434,11244,0.00,1.75,0.00,0.000,6,0.000,0.021,3595,1330,1639,0,0,0,0,0,0
$GC,11514,1.38,324.3,76.7,9.0,459,11540,0.10,1.95,20.27,0.496,4,0.076,0.045,3647,167,1556,0,0,0,0,0,0
$GC,11557,1.30,324.3,70.8,11.9,462,11567,0.17,1.75,0.00,0.000,6,0.067,0.020,3602,1313,1556,0,0,0,0,0,0
$GC,11822,1.46,359.0,46.5,8.4,487,11861,0.15,0.00,31.33,0.481,6,0.054,0.000,3670,1316,1414,0,0,0,0,0,0
$STATE,12135,end climb,SURFACE_DEPTH_REACHED
$STATE,12135,begin surface coast
$FINISH,0.7,1.023073
$STATE,12167,end surface coast,CONTROL_FINISHED_OK
$STATE,12167,begin surface
$SM_CCo,12193,17.20,0.428,0,0,1329,380.21
$SM_GC,1.83,0.00,0.00,17.20,0.000,0.000,0.428,411,1664,1329,-13.38,0.96,380.21
$IRIDIUM_FIX,2237.01,-15749.78,131101,141417
$TT8_MAMPS,0.027612
$HUMID,67.44
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.90
$XPDR_PINGS,11
$24V_AH,23.4,64.043
$10V_AH,9.9,52.172
$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,34.475,124.125,443.000,17.200,0.000,31.194,39.813,226.863,2.750,0.000,13.872,1148.133,8409.706,508.052,1939.530,642.368,33.375,1350.572,0.000,1941.396,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,82.069,926.536,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.641,296.186,373.707,529.802,930.806,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41381,534
$CAP_FILE_SIZE,128984,0
$CFSIZE,260165632,149037056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190812,212526,2245.247,-15749.088,34,2.4,53,10.1