version: 66.06
glider: 148
mission: 11
dive: 531
start: 8 26 112 10 36 27
data:
$ID,148
$MISSION,11
$DIVE,531
$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,130
$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,350
$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,-929551.25
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,102336,2302.843,-15738.288,29,1.0,29,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.9
$GPS2,103531,2302.812,-15738.427,9,1.9,9,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.109,-0.218
$KALMAN_X,-459366.7,-30.8,142.1,495677.1,-2335.4
$KALMAN_Y,92555.2,-192.3,-449.0,-64482.9,-214.6
$MHEAD_RNG_PITCHd_Wd,196.4,62672,-18.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.34,-126.5,0.0,0.0,0,85,0.00,0.00,-66.78,0.000,2,0.000,0.000,415,1681,3175,0,0,0,0,0,0
$GC,88,-1.34,-126.5,3.5,-4.8,9,113,13.48,2.47,-3.95,0.000,4,0.146,0.044,3024,162,3396,0,0,0,0,0,0
$GC,295,-0.94,-126.5,57.1,-22.5,33,301,0.43,2.25,0.00,0.000,6,0.097,0.018,3115,1624,3398,0,0,0,0,0,0
$GC,624,-0.85,-126.5,105.3,-11.5,63,629,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1627,3399,0,0,0,0,0,0
$GC,953,-0.79,-126.5,143.3,-12.5,94,958,0.15,2.55,0.00,0.000,4,0.103,0.024,3148,3238,3401,0,0,0,0,0,0
$GC,980,-0.79,-126.5,146.9,-11.5,96,984,0.00,2.55,0.00,0.000,6,0.000,0.026,3148,1651,3401,0,0,0,0,0,0
$GC,1305,-0.85,-126.5,177.0,-8.0,126,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1651,3401,0,0,0,0,0,0
$GC,1655,-0.93,-126.5,208.5,-9.5,153,1660,0.12,2.45,0.00,0.000,4,0.061,0.042,3067,167,3402,0,0,0,0,0,0
$GC,1670,-0.93,-126.5,210.9,-10.3,153,1675,0.22,2.30,0.00,0.000,6,0.094,0.018,3116,1681,3402,0,0,0,0,0,0
$GC,2021,-0.93,-126.5,244.0,-8.5,162,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1684,3402,0,0,0,0,0,0
$GC,2347,-0.93,-126.5,276.8,-10.8,170,2351,0.00,2.47,0.00,0.000,4,0.000,0.043,3117,172,3402,0,0,0,0,0,0
$GC,2390,-0.93,-126.5,281.7,-11.3,171,2394,0.00,2.28,0.00,0.000,6,0.000,0.018,3117,1648,3402,0,0,0,0,0,0
$GC,2718,-0.93,-126.5,305.3,-6.2,179,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1651,3402,0,0,0,0,0,0
$GC,3045,-1.00,-126.5,332.0,-9.3,187,3049,0.00,2.53,0.00,0.000,4,0.000,0.028,3116,3226,3402,0,0,0,0,0,0
$GC,3073,-1.12,-126.5,334.9,-8.9,187,3079,0.17,2.55,0.00,0.000,6,0.045,0.029,3023,1658,3402,0,0,0,0,0,0
$GC,3410,-0.90,-126.5,376.3,-12.2,196,3418,0.47,2.50,0.00,0.000,4,0.085,0.054,3120,166,3400,0,0,0,0,0,0
$GC,3462,-1.00,-126.5,381.4,-8.1,197,3467,0.00,2.33,0.00,0.000,6,0.000,0.021,3120,1647,3400,0,0,0,0,0,0
$GC,3786,-1.11,-126.5,405.4,-7.6,205,3788,0.17,0.00,0.00,0.000,6,0.048,0.000,3038,1649,3398,0,0,0,0,0,0
$GC,4112,-0.97,-126.5,440.5,-10.7,213,4118,0.28,2.53,0.00,0.000,4,0.089,0.060,3105,173,3396,0,0,0,0,0,0
$GC,4176,-1.04,-126.5,446.6,-9.3,214,4180,0.00,2.35,0.00,0.000,6,0.000,0.026,3104,1645,3396,0,0,0,0,0,0
$GC,4528,-1.12,-126.5,471.3,-7.0,223,4533,0.12,2.53,0.00,0.000,4,0.063,0.064,3042,177,3393,0,0,0,0,0,0
$GC,4557,-0.97,-126.5,474.6,-10.8,223,4563,0.30,2.38,0.00,0.000,6,0.088,0.030,3109,1644,3393,0,0,0,0,0,0
$GC,4895,-1.06,-126.5,501.0,-8.0,232,4899,0.00,2.55,0.00,0.000,4,0.000,0.065,3109,169,3391,0,0,0,0,0,0
$GC,4930,-1.14,-126.5,504.1,-9.4,232,4935,0.15,2.38,0.00,0.000,6,0.053,0.031,3040,1640,3390,0,0,0,0,0,0
$GC,5263,-1.03,-126.5,541.2,-11.2,240,5270,0.25,2.67,0.00,0.000,4,0.087,0.042,3099,3251,3388,0,0,0,0,0,0
$GC,5281,-1.03,-126.5,543.2,-10.6,240,5285,0.00,2.67,0.00,0.000,6,0.000,0.040,3099,1636,3388,0,0,0,0,0,0
$GC,5633,-1.10,-126.5,570.6,-7.9,249,5638,0.00,2.58,0.00,0.000,4,0.000,0.075,3099,164,3385,0,0,0,0,0,0
$GC,5690,-1.19,-126.5,575.7,-8.9,250,5695,0.17,2.40,0.00,0.000,6,0.049,0.033,3030,1637,3385,0,0,0,0,0,0
$GC,6007,-1.07,-126.5,611.2,-11.6,258,6009,0.25,0.00,0.00,0.000,6,0.089,0.000,3085,1637,3383,0,0,0,0,0,0
$GC,6329,-1.07,-126.5,641.3,-8.7,266,6334,0.00,2.58,0.00,0.000,4,0.000,0.074,3085,172,3381,0,0,0,0,0,0
$GC,6373,-1.07,-126.5,645.1,-8.5,267,6377,0.00,2.40,0.00,0.000,6,0.000,0.035,3085,1639,3381,0,0,0,0,0,0
$GC,6702,-1.07,-126.5,668.3,-6.7,275,6707,0.00,2.58,0.00,0.000,4,0.000,0.073,3085,174,3379,0,0,0,0,0,0
$GC,6754,-1.07,-126.5,672.8,-8.9,276,6758,0.00,2.40,0.00,0.000,6,0.000,0.035,3085,1638,3378,0,0,0,0,0,0
$GC,7072,-1.07,-126.5,698.2,-8.3,284,7077,0.00,2.72,0.00,0.000,4,0.000,0.054,3085,3249,3377,0,0,0,0,0,0
$GC,7092,-1.13,-126.5,700.1,-9.7,284,7097,0.00,2.72,0.00,0.000,6,0.000,0.047,3085,1627,3377,0,0,0,0,0,0
$GC,7438,-1.19,-126.5,729.0,-8.2,293,7443,0.12,2.60,0.00,0.000,4,0.065,0.081,3029,167,3375,0,0,0,0,0,0
$GC,7460,-1.12,-126.5,731.0,-10.1,293,7465,0.20,2.40,0.00,0.000,6,0.098,0.036,3073,1628,3374,0,0,0,0,0,0
$STATE,7722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7722,begin apogee
$GC,7728,-0.31,0.0,752.1,7.5,300,7835,0.77,0.00,103.68,1.044,6,0.074,0.000,3249,1306,2880,0,0,0,0,0,0
$STATE,7836,end apogee,CONTROL_FINISHED_OK
$STATE,7836,begin climb
$GC,7841,1.34,126.5,753.8,0.0,302,7963,1.55,2.08,111.28,1.020,4,0.052,0.080,3612,167,2362,0,0,0,0,0,0
$GC,7994,1.08,126.5,743.5,12.8,305,7999,0.28,1.90,0.00,0.000,6,0.098,0.031,3556,1319,2359,0,0,0,0,0,0
$GC,8335,1.12,160.6,713.6,8.2,314,8371,0.00,2.15,29.85,0.970,4,0.000,0.073,3555,166,2224,0,0,0,0,0,0
$GC,8402,1.13,165.5,708.1,9.7,315,8414,0.00,1.88,5.97,0.749,6,0.000,0.031,3555,1318,2204,0,0,0,0,0,0
$GC,8752,1.17,198.2,678.8,8.3,324,8785,0.00,0.00,30.75,0.960,6,0.000,0.000,3555,1319,2072,0,0,0,0,0,0
$GC,9078,1.24,198.2,646.4,10.2,332,9079,0.15,0.00,0.00,0.000,6,0.058,0.000,3611,1319,2066,0,0,0,0,0,0
$GC,9404,1.16,198.2,606.3,12.4,340,9409,0.17,2.03,0.00,0.000,4,0.099,0.069,3573,174,2064,0,0,0,0,0,0
$GC,9437,1.16,198.2,602.1,11.9,340,9441,0.00,1.85,0.00,0.000,6,0.000,0.029,3573,1310,2064,0,0,0,0,0,0
$GC,9772,1.16,198.2,568.2,10.0,349,9777,0.00,2.65,0.00,0.000,4,0.000,0.048,3573,2899,2063,0,0,0,0,0,0
$GC,9793,1.16,198.2,566.1,10.6,349,9797,0.00,2.70,0.00,0.000,6,0.000,0.045,3573,1312,2061,0,0,0,0,0,0
$GC,10138,1.16,198.2,531.5,10.0,358,10142,0.00,2.03,0.00,0.000,4,0.000,0.074,3573,161,2061,0,0,0,0,0,0
$GC,10172,1.16,198.2,527.8,11.0,358,10175,0.00,1.85,0.00,0.000,6,0.000,0.026,3573,1320,2060,0,0,0,0,0,0
$GC,10514,1.16,198.2,493.1,10.2,367,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,1323,2060,0,0,0,0,0,0
$GC,10837,1.20,225.2,462.6,8.6,375,10862,0.00,0.00,24.08,0.836,6,0.000,0.000,3574,1323,1962,0,0,0,0,0,0
$GC,11162,1.27,225.2,430.6,10.6,383,11167,0.10,2.58,0.00,0.000,4,0.077,0.037,3616,2889,1958,0,0,0,0,0,0
$GC,11183,1.27,225.2,428.1,12.2,383,11188,0.00,2.67,0.00,0.000,6,0.000,0.042,3617,1308,1957,0,0,0,0,0,0
$GC,11528,1.27,225.2,385.4,11.6,392,11532,0.00,1.95,0.00,0.000,4,0.000,0.064,3616,166,1957,0,0,0,0,0,0
$GC,11547,1.19,225.2,383.3,11.0,392,11551,0.17,1.83,0.00,0.000,6,0.099,0.024,3580,1329,1956,0,0,0,0,0,0
$GC,11863,1.30,254.4,356.9,8.4,400,11896,0.10,2.05,28.00,0.764,4,0.077,0.058,3626,166,1841,0,0,0,0,0,0
$GC,11927,1.21,254.4,348.8,14.1,401,11931,0.20,1.83,0.00,0.000,6,0.096,0.024,3583,1313,1840,0,0,0,0,0,0
$GC,12279,1.32,272.6,314.0,9.0,410,12304,0.10,2.60,17.12,0.706,4,0.075,0.033,3636,2880,1766,0,0,0,0,0,0
$GC,12342,1.32,272.6,306.8,10.8,411,12347,0.12,2.67,0.00,0.000,6,0.102,0.041,3608,1305,1763,0,0,0,0,0,0
$GC,12694,1.32,272.6,268.6,10.7,420,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1305,1762,0,0,0,0,0,0
$GC,13018,1.39,272.6,232.8,12.1,428,13022,0.00,2.58,0.00,0.000,4,0.000,0.028,3608,2891,1761,0,0,0,0,0,0
$GC,13051,1.52,272.6,228.7,12.7,428,13056,0.17,2.65,0.00,0.000,6,0.049,0.038,3680,1302,1759,0,0,0,0,0,0
$GC,13366,1.41,272.6,186.3,13.6,440,13371,0.25,1.90,0.00,0.000,4,0.087,0.051,3620,167,1759,0,0,0,0,0,0
$GC,13415,1.41,272.6,179.5,13.5,444,13424,0.00,1.80,0.00,0.000,6,0.000,0.021,3622,1335,1759,0,0,0,0,0,0
$GC,13743,1.49,337.6,146.2,6.5,475,13804,0.10,0.00,57.62,0.584,6,0.076,0.000,3670,1337,1502,0,0,0,0,0,0
$GC,14124,1.49,337.6,98.1,14.8,511,14129,0.12,0.00,0.00,0.000,6,0.107,0.000,3642,1337,1498,0,0,0,0,0,0
$GC,14452,1.57,337.6,57.0,12.9,542,14456,0.00,1.98,0.00,0.000,4,0.000,0.049,3642,165,1498,0,0,0,0,0,0
$GC,14491,1.57,337.6,52.5,13.5,545,14495,0.00,1.73,0.00,0.000,6,0.000,0.019,3642,1318,1498,0,0,0,0,0,0
$GC,14845,1.66,337.6,14.2,11.7,588,14854,0.15,2.45,0.00,0.000,4,0.058,0.025,3703,2845,1498,0,0,0,0,0,0
$GC,14872,1.66,337.6,10.9,12.7,591,14881,0.08,2.55,0.00,0.000,6,0.081,0.032,3680,1298,1496,0,0,0,0,0,0
$STATE,14925,end climb,SURFACE_DEPTH_REACHED
$STATE,14925,begin surface coast
$FINISH,0.9,1.010176
$STATE,14969,end surface coast,CONTROL_FINISHED_OK
$STATE,14969,begin surface
$SM_CCo,14993,9.32,0.397,0,0,1452,350.04
$SM_GC,1.74,0.00,0.00,9.32,0.000,0.000,0.397,414,1682,1452,-13.37,0.62,350.04
$IRIDIUM_FIX,2253.38,-15701.92,201101,101052
$TT8_MAMPS,0.027612
$HUMID,67.52
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.2,68.919
$10V_AH,9.8,56.649
$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,34.925,132.600,408.350,9.325,0.000,51.873,99.924,343.375,0.750,0.000,10.674,1256.567,11115.820,465.405,2007.763,869.659,33.380,1321.163,0.000,2009.742,0.000,0.535,0.000
$DEVICE_MAMPS,146.497,81.302,1043.887,397.306,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,410.046,309.719,388.409,534.739,939.728,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,47759,605
$CAP_FILE_SIZE,139850,0
$CFSIZE,260165632,146530304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260812,144824,2300.527,-15740.447,70,1.4,70,10.1