version: 66.06
glider: 148
mission: 11
dive: 541
start: 8 28 112 6 35 50
data:
$ID,148
$MISSION,11
$DIVE,541
$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,-929743.88
$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,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,26
$R_STBD_OVSHOOT,70
$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
$GPS1,062635,2243.023,-15802.729,43,1.2,55,10.0
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.0
$GPS2,063455,2242.999,-15802.815,11,1.7,11,10.0
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.134
$KALMAN_X,-476304.0,79.1,83.2,470926.5,-1461.3
$KALMAN_Y,80791.4,332.7,226.7,-90620.0,-1836.1
$MHEAD_RNG_PITCHd_Wd,226.7,7144,-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,-126.5,0.0,0.0,0,86,0.00,0.00,-67.70,0.000,2,0.000,0.000,410,1643,3225,0,0,0,0,0,0
$GC,89,-1.34,-126.5,4.2,-7.6,9,113,13.62,2.42,-2.95,0.000,4,0.150,0.046,3025,156,3398,0,0,0,0,0,0
$GC,250,-0.91,-126.5,49.8,-23.9,28,255,0.43,2.33,0.00,0.000,6,0.099,0.018,3117,1654,3400,0,0,0,0,0,0
$GC,575,-0.83,-126.5,95.8,-10.4,58,580,0.10,2.50,0.00,0.000,4,0.123,0.024,3138,3236,3401,0,0,0,0,0,0
$GC,600,-0.83,-126.5,98.2,-9.8,59,605,0.00,2.55,0.00,0.000,6,0.000,0.027,3138,1654,3402,0,0,0,0,0,0
$GC,924,-0.83,-126.5,130.0,-10.2,90,929,0.00,2.53,0.00,0.000,4,0.000,0.023,3138,3241,3403,0,0,0,0,0,0
$GC,945,-0.83,-126.5,131.5,-10.3,91,949,0.00,2.53,0.00,0.000,6,0.000,0.026,3138,1673,3403,0,0,0,0,0,0
$GC,1273,-0.83,-126.5,164.3,-10.2,121,1278,0.00,2.45,0.00,0.000,4,0.000,0.041,3138,161,3404,0,0,0,0,0,0
$GC,1333,-0.91,-126.5,171.4,-11.2,126,1341,0.00,2.38,0.00,0.000,6,0.000,0.018,3138,1695,3404,0,0,0,0,0,0
$GC,1661,-0.91,-126.5,200.2,-7.3,157,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1698,3405,0,0,0,0,0,0
$GC,1985,-1.00,-126.5,227.4,-9.1,165,1990,0.15,2.55,0.00,0.000,4,0.054,0.043,3057,164,3405,0,0,0,0,0,0
$GC,2029,-0.79,-126.5,234.0,-15.2,166,2034,0.40,2.30,0.00,0.000,6,0.086,0.018,3145,1671,3405,0,0,0,0,0,0
$GC,2360,-0.92,-126.5,261.4,-6.9,174,2365,0.10,2.53,0.00,0.000,4,0.074,0.044,3078,164,3405,0,0,0,0,0,0
$GC,2383,-0.92,-126.5,263.4,-8.9,174,2388,0.17,2.33,0.00,0.000,6,0.097,0.019,3118,1668,3405,0,0,0,0,0,0
$GC,2729,-0.92,-126.5,295.1,-9.4,183,2734,0.00,2.47,0.00,0.000,4,0.000,0.026,3118,3226,3405,0,0,0,0,0,0
$GC,2775,-1.07,-126.5,298.9,-8.4,184,2780,0.12,2.53,0.00,0.000,6,0.060,0.028,3038,1672,3405,0,0,0,0,0,0
$GC,3104,-0.86,-126.5,337.7,-11.6,192,3111,0.43,2.50,0.00,0.000,4,0.083,0.046,3126,164,3405,0,0,0,0,0,0
$GC,3142,-0.97,-126.5,341.5,-9.1,192,3146,0.00,2.35,0.00,0.000,6,0.000,0.021,3126,1667,3405,0,0,0,0,0,0
$GC,3478,-1.08,-126.5,367.2,-7.2,201,3480,0.17,0.00,0.00,0.000,6,0.048,0.000,3045,1669,3403,0,0,0,0,0,0
$GC,3802,-0.94,-126.5,402.8,-11.0,209,3808,0.28,2.55,0.00,0.000,4,0.086,0.055,3113,166,3401,0,0,0,0,0,0
$GC,3852,-1.02,-126.5,407.7,-9.3,210,3857,0.00,2.38,0.00,0.000,6,0.000,0.024,3112,1665,3400,0,0,0,0,0,0
$GC,4176,-1.10,-126.5,431.5,-6.8,218,4181,0.15,2.58,0.00,0.000,4,0.054,0.035,3042,3234,3399,0,0,0,0,0,0
$GC,4227,-1.10,-126.5,436.0,-9.0,219,4233,0.17,2.58,0.00,0.000,6,0.092,0.036,3082,1679,3399,0,0,0,0,0,0
$GC,4552,-1.10,-126.5,463.2,-8.5,227,4556,0.00,2.58,0.00,0.000,4,0.000,0.065,3082,166,3396,0,0,0,0,0,0
$GC,4599,-1.10,-126.5,467.8,-9.8,228,4603,0.00,2.42,0.00,0.000,6,0.000,0.028,3082,1677,3396,0,0,0,0,0,0
$GC,4924,-1.10,-126.5,497.6,-9.4,236,4928,0.00,2.60,0.00,0.000,4,0.000,0.069,3082,169,3394,0,0,0,0,0,0
$GC,4947,-1.10,-126.5,500.4,-10.8,236,4951,0.00,2.42,0.00,0.000,6,0.000,0.031,3082,1665,3394,0,0,0,0,0,0
$GC,5290,-1.10,-126.5,529.4,-8.2,245,5294,0.00,2.60,0.00,0.000,4,0.000,0.067,3082,163,3392,0,0,0,0,0,0
$GC,5341,-1.10,-126.5,534.3,-8.6,246,5346,0.00,2.45,0.00,0.000,6,0.000,0.033,3082,1663,3392,0,0,0,0,0,0
$GC,5660,-1.10,-126.5,558.4,-7.4,254,5664,0.00,2.65,0.00,0.000,4,0.000,0.046,3082,3245,3389,0,0,0,0,0,0
$GC,5681,-1.10,-126.5,560.0,-8.7,254,5685,0.00,2.67,0.00,0.000,6,0.000,0.042,3082,1652,3389,0,0,0,0,0,0
$GC,6026,-1.10,-126.5,590.6,-9.4,263,6031,0.00,2.58,0.00,0.000,4,0.000,0.075,3082,168,3387,0,0,0,0,0,0
$GC,6077,-1.10,-126.5,596.3,-11.1,264,6082,0.00,2.42,0.00,0.000,6,0.000,0.033,3082,1659,3386,0,0,0,0,0,0
$GC,6398,-1.10,-126.5,627.6,-9.5,272,6402,0.00,2.67,0.00,0.000,4,0.000,0.051,3082,3247,3384,0,0,0,0,0,0
$GC,6421,-1.10,-126.5,630.1,-10.5,272,6426,0.00,2.67,0.00,0.000,6,0.000,0.044,3082,1658,3384,0,0,0,0,0,0
$GC,6764,-1.10,-126.5,657.6,-7.6,281,6769,0.00,2.62,0.00,0.000,4,0.000,0.080,3082,167,3382,0,0,0,0,0,0
$GC,6817,-1.10,-126.5,661.7,-7.8,282,6822,0.00,2.42,0.00,0.000,6,0.000,0.037,3082,1656,3382,0,0,0,0,0,0
$GC,7141,-1.10,-126.5,682.2,-6.1,290,7145,0.00,2.62,0.00,0.000,4,0.000,0.075,3082,167,3380,0,0,0,0,0,0
$GC,7186,-1.10,-126.5,684.8,-6.2,291,7190,0.00,2.45,0.00,0.000,6,0.000,0.038,3082,1653,3380,0,0,0,0,0,0
$GC,7513,-1.10,-126.5,705.5,-6.5,299,7518,0.00,2.70,0.00,0.000,4,0.000,0.054,3082,3244,3379,0,0,0,0,0,0
$GC,7533,-1.10,-126.5,706.9,-7.0,299,7537,0.00,2.70,0.00,0.000,6,0.000,0.046,3082,1643,3379,0,0,0,0,0,0
$GC,7880,-1.10,-126.5,730.7,-6.8,308,7885,0.00,2.62,0.00,0.000,4,0.000,0.083,3082,164,3376,0,0,0,0,0,0
$GC,7936,-1.10,-126.5,735.4,-8.2,309,7940,0.00,2.45,0.00,0.000,6,0.000,0.038,3082,1652,3376,0,0,0,0,0,0
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8171,begin apogee
$GC,8179,-0.31,0.0,751.9,7.0,315,8287,0.75,0.00,104.55,1.054,6,0.074,0.000,3253,1306,2880,0,0,0,0,0,0
$STATE,8289,end apogee,CONTROL_FINISHED_OK
$STATE,8289,begin climb
$GC,8292,1.34,126.5,754.2,0.0,317,8416,1.50,2.15,112.12,1.029,4,0.048,0.082,3607,166,2364,0,0,0,0,0,0
$GC,8499,1.11,126.5,740.8,12.8,321,8504,0.22,1.90,0.00,0.000,6,0.100,0.032,3560,1322,2359,0,0,0,0,0,0
$GC,8835,1.14,156.9,712.1,8.4,330,8868,0.00,2.12,26.75,0.972,4,0.000,0.073,3560,175,2239,0,0,0,0,0,0
$GC,8968,1.14,156.9,698.4,10.9,332,8973,0.00,1.85,0.00,0.000,6,0.000,0.030,3560,1305,2236,0,0,0,0,0,0
$GC,9299,1.16,168.3,666.7,9.4,341,9315,0.00,2.75,10.60,0.873,4,0.000,0.047,3560,2887,2193,0,0,0,0,0,0
$GC,9332,1.21,210.2,664.0,7.8,341,9381,0.10,2.72,40.20,0.965,6,0.078,0.048,3597,1313,2022,0,0,0,0,0,0
$GC,9712,1.21,210.2,621.4,11.0,351,9716,0.00,2.05,0.00,0.000,4,0.000,0.083,3597,166,2015,0,0,0,0,0,0
$GC,9765,1.11,210.2,615.4,12.5,352,9770,0.12,1.88,0.00,0.000,6,0.081,0.029,3565,1303,2015,0,0,0,0,0,0
$GC,10093,1.14,233.6,585.4,8.8,360,10121,0.00,2.75,22.02,0.905,4,0.000,0.045,3565,2886,1926,0,0,0,0,0,0
$GC,10140,1.25,252.0,581.1,9.0,361,10164,0.12,2.72,18.60,0.882,6,0.063,0.045,3616,1302,1852,0,0,0,0,0,0
$GC,10513,1.25,252.0,532.2,13.8,370,10518,0.12,2.67,0.00,0.000,4,0.108,0.039,3590,2889,1847,0,0,0,0,0,0
$GC,10554,1.35,252.0,526.8,12.1,370,10560,0.10,2.70,0.00,0.000,6,0.076,0.051,3633,1308,1844,0,0,0,0,0,0
$GC,10885,1.26,252.0,477.0,15.3,379,10890,0.17,2.00,0.00,0.000,4,0.100,0.071,3595,161,1844,0,0,0,0,0,0
$GC,10920,1.26,252.0,472.2,13.9,379,10924,0.00,1.88,0.00,0.000,6,0.000,0.025,3595,1335,1844,0,0,0,0,0,0
$GC,11257,1.26,252.0,433.3,11.2,388,11261,0.00,2.55,0.00,0.000,4,0.000,0.038,3595,2881,1843,0,0,0,0,0,0
$GC,11280,1.26,252.0,430.4,10.7,388,11285,0.00,2.65,0.00,0.000,6,0.000,0.043,3595,1310,1841,0,0,0,0,0,0
$GC,11621,1.26,252.0,392.9,11.1,397,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1310,1841,0,0,0,0,0,0
$GC,11948,1.26,252.0,353.3,12.3,405,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1311,1841,0,0,0,0,0,0
$GC,12271,1.26,252.0,316.0,11.2,413,12275,0.00,2.55,0.00,0.000,4,0.000,0.031,3595,2883,1840,0,0,0,0,0,0
$GC,12309,1.39,257.2,312.0,9.7,413,12315,0.12,2.62,0.00,0.000,6,0.064,0.042,3649,1324,1838,0,0,0,0,0,0
$GC,12642,1.32,257.2,272.9,11.3,422,12647,0.20,1.98,0.00,0.000,4,0.094,0.060,3605,165,1838,0,0,0,0,0,0
$GC,12661,1.32,257.2,270.4,11.5,422,12665,0.00,1.83,0.00,0.000,6,0.000,0.023,3605,1339,1838,0,0,0,0,0,0
$GC,13011,1.38,257.2,233.9,10.2,431,13015,0.00,2.00,0.00,0.000,4,0.000,0.055,3606,161,1838,0,0,0,0,0,0
$GC,13063,1.38,257.2,228.3,11.4,432,13067,0.00,1.80,0.00,0.000,6,0.000,0.021,3606,1331,1838,0,0,0,0,0,0
$GC,13391,1.47,275.2,199.2,9.0,440,13413,0.15,0.00,19.25,0.621,6,0.058,0.000,3668,1334,1758,0,0,0,0,0,0
$GC,13732,1.38,275.2,155.0,13.6,472,13737,0.20,0.00,0.00,0.000,6,0.091,0.000,3622,1334,1755,0,0,0,0,0,0
$GC,14062,1.38,275.2,121.6,10.2,503,14066,0.00,1.98,0.00,0.000,4,0.000,0.057,3622,155,1754,0,0,0,0,0,0
$GC,14107,1.38,275.2,115.8,11.8,507,14112,0.00,1.77,0.00,0.000,6,0.000,0.021,3622,1329,1754,0,0,0,0,0,0
$GC,14432,1.50,311.2,82.7,8.1,538,14475,0.10,0.00,33.42,0.523,6,0.077,0.000,3672,1331,1608,0,0,0,0,0,0
$GC,14792,1.50,311.2,42.6,12.4,572,14801,0.12,0.00,0.00,0.000,6,0.102,0.000,3644,1331,1606,0,0,0,0,0,0
$STATE,15150,end climb,SURFACE_DEPTH_REACHED
$STATE,15150,begin surface coast
$FINISH,0.8,1.000391
$STATE,15195,end surface coast,CONTROL_FINISHED_OK
$STATE,15195,begin surface
$SM_CCo,15218,25.50,0.437,0,0,1452,350.04
$SM_GC,1.91,0.00,0.00,25.50,0.000,0.000,0.437,415,1666,1452,-13.36,0.17,350.04
$IRIDIUM_FIX,2234.68,-15803.24,221101,020244
$TT8_MAMPS,0.027612
$HUMID,67.68
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,7
$24V_AH,23.1,70.181
$10V_AH,9.8,57.805
$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,33.450,155.550,387.525,25.500,0.000,24.720,38.199,281.229,1.750,0.000,13.429,1327.594,10975.487,467.986,2225.025,746.839,33.378,1416.032,0.000,2230.147,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,82.836,1053.858,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,426.713,333.501,416.311,571.686,1005.425,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,47938,629
$CAP_FILE_SIZE,143794,0
$CFSIZE,260165632,145866752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280812,105155,2241.136,-15805.282,56,3.1,75,10.0