version: 66.06
glider: 148
mission: 11
dive: 502
start: 8 21 112 1 45 7
data:
$ID,148
$MISSION,11
$DIVE,502
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,-929029.19
$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,24
$R_STBD_OVSHOOT,108
$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
$GPS1,013706,2240.941,-15743.008,25,1.3,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.0
$GPS2,014413,2240.917,-15743.098,14,1.6,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.002
$KALMAN_X,-402100.4,84.0,123.5,430341.4,-2055.6
$KALMAN_Y,113507.9,86.6,-189.2,-126527.2,-841.9
$MHEAD_RNG_PITCHd_Wd,80.4,10017,-17.5,-10.000
$D_GRID,750
$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,-74.78,0.000,2,0.000,0.000,410,1665,3264,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.0,10,120,13.65,2.35,-3.65,0.000,4,0.150,0.031,3036,3160,3477,0,0,0,0,0,0
$GC,142,-0.35,-146.0,21.9,-33.2,16,151,0.90,2.53,0.00,0.000,6,0.084,0.028,3238,1615,3479,0,0,0,0,0,0
$GC,480,-0.51,-146.0,52.0,-8.0,51,485,0.12,2.47,0.00,0.000,4,0.061,0.024,3164,3159,3481,0,0,0,0,0,0
$GC,514,-0.51,-146.0,55.8,-10.6,53,523,0.15,2.47,0.00,0.000,6,0.065,0.027,3205,1638,3481,0,0,0,0,0,0
$GC,840,-0.64,-146.0,84.4,-8.6,84,844,0.10,2.40,0.00,0.000,4,0.074,0.043,3143,170,3482,0,0,0,0,0,0
$GC,861,-0.64,-146.0,86.8,-10.4,85,867,0.17,2.15,0.00,0.000,6,0.094,0.017,3181,1619,3482,0,0,0,0,0,0
$GC,1186,-0.72,-146.0,117.0,-9.0,116,1191,0.00,2.42,0.00,0.000,4,0.000,0.023,3181,3179,3483,0,0,0,0,0,0
$GC,1205,-0.81,-146.0,118.4,-8.9,117,1211,0.15,2.45,0.00,0.000,6,0.050,0.026,3092,1635,3483,0,0,0,0,0,0
$GC,1531,-0.61,-146.0,165.4,-14.8,147,1533,0.45,0.00,0.00,0.000,6,0.083,0.000,3186,1635,3484,0,0,0,0,0,0
$GC,1849,-0.74,-146.0,193.2,-7.9,177,1854,0.12,2.40,0.00,0.000,4,0.061,0.022,3113,3174,3484,0,0,0,0,0,0
$GC,1881,-0.74,-146.0,196.3,-9.9,179,1888,0.20,2.47,0.00,0.000,6,0.081,0.027,3160,1636,3484,0,0,0,0,0,0
$GC,2215,-0.81,-146.0,223.3,-7.9,191,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1636,3485,0,0,0,0,0,0
$GC,2542,-0.90,-146.0,250.6,-8.5,199,2546,0.15,2.45,0.00,0.000,4,0.053,0.024,3087,3173,3485,0,0,0,0,0,0
$GC,2585,-0.90,-146.0,255.4,-10.8,200,2590,0.17,2.45,0.00,0.000,6,0.088,0.028,3127,1636,3485,0,0,0,0,0,0
$GC,2913,-0.90,-146.0,290.9,-10.8,208,2917,0.00,2.38,0.00,0.000,4,0.000,0.044,3127,170,3485,0,0,0,0,0,0
$GC,2934,-0.90,-146.0,293.1,-11.1,208,2938,0.00,2.20,0.00,0.000,6,0.000,0.018,3127,1625,3485,0,0,0,0,0,0
$GC,3279,-0.90,-146.0,323.6,-8.0,217,3283,0.00,2.47,0.00,0.000,4,0.000,0.028,3127,3188,3485,0,0,0,0,0,0
$GC,3303,-1.00,-146.0,325.4,-7.2,217,3308,0.10,2.47,0.00,0.000,6,0.073,0.028,3054,1644,3485,0,0,0,0,0,0
$GC,3646,-0.81,-146.0,362.7,-11.0,226,3653,0.43,2.50,0.00,0.000,4,0.081,0.031,3141,3183,3484,0,0,0,0,0,0
$GC,3682,-1.00,-146.0,365.8,-6.1,226,3687,0.17,2.47,0.00,0.000,6,0.046,0.032,3047,1658,3484,0,0,0,0,0,0
$GC,4015,-0.84,-146.0,404.0,-12.3,234,4022,0.38,2.50,0.00,0.000,4,0.086,0.058,3133,173,3482,0,0,0,0,0,0
$GC,4032,-0.84,-146.0,406.5,-12.1,234,4037,0.00,2.28,0.00,0.000,6,0.000,0.023,3133,1638,3482,0,0,0,0,0,0
$GC,4383,-0.95,-146.0,434.4,-7.8,243,4387,0.00,2.53,0.00,0.000,4,0.000,0.037,3133,3197,3481,0,0,0,0,0,0
$GC,4432,-1.16,-146.0,438.3,-8.2,244,4437,0.28,2.53,0.00,0.000,6,0.031,0.035,3019,1659,3480,0,0,0,0,0,0
$GC,4756,-0.93,-146.0,479.7,-13.4,252,4763,0.43,2.58,0.00,0.000,4,0.086,0.066,3115,166,3478,0,0,0,0,0,0
$GC,4784,-0.93,-146.0,482.8,-10.6,252,4788,0.00,2.35,0.00,0.000,6,0.000,0.031,3114,1639,3478,0,0,0,0,0,0
$GC,5125,-1.00,-146.0,507.9,-7.2,261,5129,0.00,2.58,0.00,0.000,4,0.000,0.044,3114,3208,3475,0,0,0,0,0,0
$GC,5154,-1.13,-146.0,510.0,-7.1,261,5159,0.17,2.60,0.00,0.000,6,0.045,0.041,3028,1649,3475,0,0,0,0,0,0
$GC,5493,-0.96,-146.0,548.1,-11.6,270,5500,0.35,2.55,0.00,0.000,4,0.086,0.071,3110,167,3472,0,0,0,0,0,0
$GC,5543,-1.07,-146.0,552.9,-7.8,271,5548,0.10,2.40,0.00,0.000,6,0.075,0.035,3057,1655,3472,0,0,0,0,0,0
$GC,5868,-0.97,-146.0,584.2,-10.2,279,5870,0.22,0.00,0.00,0.000,6,0.088,0.000,3108,1655,3470,0,0,0,0,0,0
$GC,6192,-1.04,-146.0,610.7,-8.2,287,6196,0.00,2.60,0.00,0.000,4,0.000,0.072,3108,169,3468,0,0,0,0,0,0
$GC,6211,-1.04,-146.0,612.5,-8.5,287,6215,0.00,2.42,0.00,0.000,6,0.000,0.035,3108,1654,3467,0,0,0,0,0,0
$GC,6558,-1.11,-146.0,641.7,-8.6,296,6560,0.12,0.00,0.00,0.000,6,0.064,0.000,3052,1654,3465,0,0,0,0,0,0
$GC,6881,-1.02,-146.0,677.4,-11.0,304,6886,0.20,2.62,0.00,0.000,4,0.092,0.074,3097,167,3463,0,0,0,0,0,0
$GC,6940,-1.02,-146.0,683.2,-9.8,305,6944,0.00,2.40,0.00,0.000,6,0.000,0.038,3097,1643,3462,0,0,0,0,0,0
$GC,7254,-1.02,-146.0,709.9,-8.4,313,7258,0.00,2.58,0.00,0.000,4,0.000,0.074,3097,173,3461,0,0,0,0,0,0
$GC,7301,-1.02,-146.0,714.2,-9.5,314,7305,0.00,2.40,0.00,0.000,6,0.000,0.038,3097,1644,3460,0,0,0,0,0,0
$GC,7625,-1.02,-146.0,740.7,-8.2,322,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1645,3458,0,0,0,0,0,0
$STATE,7744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7745,begin apogee
$GC,7751,-0.31,0.0,750.5,8.1,325,7874,0.68,0.00,120.18,1.048,6,0.071,0.000,3252,1339,2880,0,0,0,0,0,0
$STATE,7875,end apogee,CONTROL_FINISHED_OK
$STATE,7875,begin climb
$GC,7878,1.27,146.0,754.5,0.0,328,8014,1.45,2.15,126.38,1.027,4,0.048,0.078,3599,177,2283,0,0,0,0,0,0
$GC,8170,1.04,146.0,730.0,12.3,334,8175,0.20,1.95,0.00,0.000,6,0.082,0.031,3545,1347,2277,0,0,0,0,0,0
$GC,8516,1.09,190.1,701.2,8.0,343,8561,0.00,2.15,38.88,0.979,4,0.000,0.072,3545,179,2104,0,0,0,0,0,0
$GC,8607,1.09,190.1,693.3,10.9,345,8611,0.00,1.95,0.00,0.000,6,0.000,0.031,3545,1346,2103,0,0,0,0,0,0
$GC,8939,1.14,226.0,664.4,8.3,353,8982,0.10,2.17,33.28,0.956,4,0.078,0.071,3588,172,1957,0,0,0,0,0,0
$GC,9021,1.03,226.0,655.6,12.0,354,9025,0.20,1.92,0.00,0.000,6,0.094,0.031,3545,1351,1956,0,0,0,0,0,0
$GC,9352,1.12,247.6,625.6,9.0,362,9380,0.00,2.78,20.73,0.917,4,0.000,0.052,3545,2938,1869,0,0,0,0,0,0
$GC,9398,1.23,261.2,621.5,9.4,363,9420,0.17,2.75,13.95,0.874,6,0.049,0.047,3616,1348,1815,0,0,0,0,0,0
$GC,9733,1.11,261.2,575.5,14.2,371,9738,0.25,2.10,0.00,0.000,4,0.090,0.078,3558,158,1810,0,0,0,0,0,0
$GC,9828,1.11,261.2,563.7,12.1,373,9832,0.00,1.92,0.00,0.000,6,0.000,0.028,3558,1351,1810,0,0,0,0,0,0
$GC,10155,1.12,265.8,530.3,9.8,381,10167,0.00,2.08,4.82,0.642,4,0.000,0.064,3558,160,1795,0,0,0,0,0,0
$GC,10195,1.12,265.8,526.1,11.1,381,10201,0.00,1.90,0.00,0.000,6,0.000,0.027,3558,1345,1795,0,0,0,0,0,0
$GC,10528,1.14,279.9,495.0,9.4,390,10544,0.00,0.00,14.12,0.825,6,0.000,0.000,3558,1348,1739,0,0,0,0,0,0
$GC,10851,1.20,279.9,461.8,10.4,398,10853,0.10,0.00,0.00,0.000,6,0.077,0.000,3600,1348,1736,0,0,0,0,0,0
$GC,11176,1.20,279.9,421.2,12.2,406,11179,0.00,2.03,0.00,0.000,4,0.000,0.061,3600,163,1734,0,0,0,0,0,0
$GC,11210,1.13,279.9,417.0,12.3,406,11214,0.17,1.85,0.00,0.000,6,0.095,0.024,3563,1354,1735,0,0,0,0,0,0
$GC,11551,1.21,283.3,383.6,9.8,415,11557,0.00,0.00,3.78,0.503,6,0.000,0.000,3562,1356,1725,0,0,0,0,0,0
$GC,11878,1.30,283.3,347.3,11.3,423,11879,0.17,0.00,0.00,0.000,6,0.051,0.000,3623,1356,1724,0,0,0,0,0,0
$GC,12201,1.23,283.3,305.0,12.3,431,12205,0.17,2.05,0.00,0.000,4,0.100,0.058,3586,160,1723,0,0,0,0,0,0
$GC,12229,1.23,283.3,301.7,10.6,431,12233,0.00,1.83,0.00,0.000,6,0.000,0.022,3586,1347,1723,0,0,0,0,0,0
$GC,12571,1.27,313.1,273.0,8.6,440,12606,0.00,2.05,28.98,0.700,4,0.000,0.054,3586,161,1601,0,0,0,0,0,0
$GC,12650,1.27,313.1,264.6,10.8,441,12654,0.00,1.85,0.00,0.000,6,0.000,0.021,3586,1348,1601,0,0,0,0,0,0
$GC,12986,1.34,313.1,227.8,11.0,450,12988,0.12,0.00,0.00,0.000,6,0.065,0.000,3633,1351,1598,0,0,0,0,0,0
$GC,13293,1.34,313.1,186.9,13.2,462,13297,0.00,2.47,0.00,0.000,4,0.000,0.027,3634,2897,1598,0,0,0,0,0,0
$GC,13319,1.34,313.1,183.7,12.3,464,13324,0.10,2.60,0.00,0.000,6,0.118,0.035,3611,1322,1595,0,0,0,0,0,0
$GC,13644,1.34,313.1,147.8,10.4,494,13647,0.00,1.92,0.00,0.000,4,0.000,0.051,3611,160,1595,0,0,0,0,0,0
$GC,13706,1.34,313.1,140.6,11.0,500,13710,0.00,1.75,0.00,0.000,6,0.000,0.020,3611,1335,1595,0,0,0,0,0,0
$GC,14038,1.34,313.1,105.7,11.1,531,14041,0.00,1.95,0.00,0.000,4,0.000,0.058,3611,164,1595,0,0,0,0,0,0
$GC,14080,1.34,313.1,100.5,12.6,535,14084,0.00,1.77,0.00,0.000,6,0.000,0.020,3611,1330,1596,0,0,0,0,0,0
$GC,14413,1.41,313.1,64.6,10.3,566,14417,0.00,1.98,0.00,0.000,4,0.000,0.049,3611,161,1595,0,0,0,0,0,0
$GC,14472,1.48,313.1,58.5,10.3,571,14476,0.12,1.73,0.00,0.000,6,0.065,0.019,3649,1345,1595,0,0,0,0,0,0
$GC,14816,1.48,313.1,21.1,11.5,608,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,3649,1348,1595,0,0,0,0,0,0
$STATE,14965,end climb,SURFACE_DEPTH_REACHED
$STATE,14965,begin surface coast
$FINISH,0.8,1.001412
$STATE,15015,end surface coast,CONTROL_FINISHED_OK
$STATE,15016,begin surface
$SM_CCo,15040,38.95,0.443,0,0,1329,380.21
$SM_GC,1.70,0.00,0.00,38.95,0.000,0.000,0.443,413,1621,1329,-13.38,-0.25,380.21
$IRIDIUM_FIX,2234.68,-15743.29,141101,222215
$TT8_MAMPS,0.028379
$HUMID,68.50
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.3,65.139
$10V_AH,9.9,53.189
$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,36.175,137.925,405.075,38.950,0.000,31.123,43.433,203.359,1.500,0.000,16.478,1327.105,10754.290,494.322,2261.444,664.950,33.375,1413.067,0.000,2272.267,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,78.234,1047.722,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,433.660,353.813,438.346,643.473,1130.146,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,50985,639
$CAP_FILE_SIZE,140808,0
$CFSIZE,260165632,148451328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210812,055757,2240.430,-15741.834,27,2.2,46,10.1