version: 66.06
glider: 148
mission: 11
dive: 247
start: 7 15 112 5 36 18
data:
$ID,148
$MISSION,11
$DIVE,247
$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,-923548.56
$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,3340
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,96
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$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
$GPS1,052856,2303.380,-15803.720,40,99.0,59,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.1
$GPS2,053524,2303.424,-15803.768,9,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.171
$KALMAN_X,18536.0,5.0,202.5,-25588.2,-677.4
$KALMAN_Y,5484.3,573.3,232.2,22267.4,321.9
$MHEAD_RNG_PITCHd_Wd,121.1,63908,-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,-74.47,0.000,2,0.000,0.000,411,1562,3301,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-6.9,10,120,13.85,2.30,-3.65,0.000,4,0.154,0.047,3057,168,3516,0,0,0,0,0,0
$GC,173,-0.93,-146.0,30.8,-24.3,21,181,0.32,2.08,0.00,0.000,6,0.084,0.019,3133,1497,3518,0,0,0,0,0,0
$GC,441,-0.78,-146.0,71.3,-15.2,46,446,0.17,2.58,0.00,0.000,4,0.105,0.025,3171,3112,3518,0,0,0,0,0,0
$GC,497,-1.01,-146.0,78.0,-8.6,50,502,0.20,2.53,0.00,0.000,6,0.041,0.029,3070,1550,3518,0,0,0,0,0,0
$GC,762,-0.69,-146.0,123.7,-16.8,74,767,0.60,2.22,0.00,0.000,4,0.088,0.040,3183,170,3519,0,0,0,0,0,0
$GC,801,-0.82,-146.0,128.7,-10.5,77,806,0.00,2.12,0.00,0.000,6,0.000,0.018,3183,1577,3519,0,0,0,0,0,0
$GC,1071,-0.98,-146.0,146.5,-6.8,102,1076,0.22,2.38,0.00,0.000,4,0.040,0.021,3093,3095,3521,0,0,0,0,0,0
$GC,1122,-0.98,-146.0,151.3,-10.2,106,1128,0.15,2.47,0.00,0.000,6,0.097,0.028,3126,1557,3521,0,0,0,0,0,0
$GC,1387,-0.98,-146.0,177.7,-9.2,130,1392,0.00,2.40,0.00,0.000,4,0.000,0.023,3126,3095,3521,0,0,0,0,0,0
$GC,1417,-0.98,-146.0,181.0,-9.9,132,1426,0.00,2.47,0.00,0.000,6,0.000,0.028,3127,1569,3521,0,0,0,0,0,0
$GC,1707,-0.98,-146.0,207.6,-8.8,154,1711,0.00,2.40,0.00,0.000,4,0.000,0.024,3126,3100,3522,0,0,0,0,0,0
$GC,1727,-0.98,-146.0,209.4,-8.6,154,1732,0.00,2.45,0.00,0.000,6,0.000,0.027,3126,1573,3522,0,0,0,0,0,0
$GC,1991,-0.98,-146.0,231.3,-8.0,161,1995,0.00,2.30,0.00,0.000,4,0.000,0.045,3127,166,3522,0,0,0,0,0,0
$GC,2019,-0.98,-146.0,234.0,-9.7,161,2024,0.00,2.15,0.00,0.000,6,0.000,0.019,3126,1578,3522,0,0,0,0,0,0
$GC,2281,-1.04,-146.0,255.4,-8.4,168,2285,0.00,2.38,0.00,0.000,4,0.000,0.025,3126,3101,3522,0,0,0,0,0,0
$GC,2332,-1.20,-146.0,259.8,-7.7,169,2338,0.20,2.42,0.00,0.000,6,0.041,0.029,3030,1586,3522,0,0,0,0,0,0
$GC,2613,-0.97,-146.0,298.3,-14.2,176,2618,0.40,2.33,0.00,0.000,4,0.087,0.045,3122,163,3522,0,0,0,0,0,0
$GC,2647,-1.04,-146.0,302.7,-10.3,176,2651,0.00,2.17,0.00,0.000,6,0.000,0.021,3121,1574,3522,0,0,0,0,0,0
$GC,2897,-1.14,-146.0,321.8,-7.5,182,2899,0.12,0.00,0.00,0.000,6,0.064,0.000,3058,1577,3522,0,0,0,0,0,0
$GC,3142,-1.04,-146.0,348.1,-11.1,188,3144,0.25,0.00,0.00,0.000,6,0.087,0.000,3115,1577,3521,0,0,0,0,0,0
$GC,3385,-1.12,-146.0,370.0,-8.9,194,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3520,0,0,0,0,0,0
$GC,3628,-1.21,-146.0,390.9,-8.4,200,3630,0.17,0.00,0.00,0.000,6,0.049,0.000,3033,1577,3519,0,0,0,0,0,0
$GC,3873,-1.05,-146.0,418.4,-11.6,206,3878,0.32,2.38,0.00,0.000,4,0.088,0.060,3109,176,3517,0,0,0,0,0,0
$GC,3918,-1.14,-146.0,422.8,-7.8,207,3922,0.00,2.20,0.00,0.000,6,0.000,0.026,3109,1572,3517,0,0,0,0,0,0
$GC,4207,-1.22,-146.0,444.3,-7.5,214,4212,0.15,2.55,0.00,0.000,4,0.055,0.038,3041,3123,3515,0,0,0,0,0,0
$GC,4227,-1.22,-146.0,446.4,-8.7,214,4232,0.15,2.50,0.00,0.000,6,0.098,0.035,3075,1593,3515,0,0,0,0,0,0
$GC,4492,-1.22,-146.0,470.2,-9.0,221,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1593,3513,0,0,0,0,0,0
$GC,4737,-1.22,-146.0,491.8,-8.8,227,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1593,3512,0,0,0,0,0,0
$GC,4979,-1.22,-146.0,513.0,-8.6,233,4983,0.00,2.50,0.00,0.000,4,0.000,0.041,3075,3112,3510,0,0,0,0,0,0
$GC,4993,-1.22,-146.0,514.3,-8.3,233,4998,0.00,2.53,0.00,0.000,6,0.000,0.039,3075,1592,3510,0,0,0,0,0,0
$GC,5266,-1.22,-146.0,536.8,-8.3,240,5271,0.00,2.47,0.00,0.000,4,0.000,0.075,3075,171,3508,0,0,0,0,0,0
$GC,5296,-1.22,-146.0,539.5,-9.4,240,5301,0.00,2.28,0.00,0.000,6,0.000,0.032,3075,1577,3508,0,0,0,0,0,0
$GC,5551,-1.22,-146.0,559.9,-7.8,247,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1577,3506,0,0,0,0,0,0
$GC,5795,-1.22,-146.0,577.5,-7.1,253,5799,0.00,2.42,0.00,0.000,4,0.000,0.071,3075,173,3505,0,0,0,0,0,0
$GC,5815,-1.22,-146.0,579.0,-7.9,253,5819,0.00,2.30,0.00,0.000,6,0.000,0.035,3075,1588,3505,0,0,0,0,0,0
$GC,6084,-1.22,-146.0,599.4,-7.8,260,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1588,3503,0,0,0,0,0,0
$STATE,6122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6122,begin apogee
$GC,6128,-0.31,0.0,602.6,7.8,261,6249,0.88,0.00,117.50,0.937,6,0.083,0.000,3272,1380,2920,0,0,0,0,0,0
$STATE,6250,end apogee,CONTROL_FINISHED_OK
$STATE,6250,begin climb
$GC,6254,1.27,146.0,605.9,0.0,264,6386,1.45,2.17,123.55,0.917,4,0.047,0.075,3619,179,2323,0,0,0,0,0,0
$GC,6586,0.92,146.0,579.4,12.4,271,6591,0.38,1.98,0.00,0.000,6,0.097,0.029,3541,1390,2315,0,0,0,0,0,0
$GC,6848,1.00,208.5,560.0,7.1,278,6908,0.00,2.22,54.00,0.887,4,0.000,0.070,3540,178,2068,0,0,0,0,0,0
$GC,6951,1.00,208.5,550.4,10.0,280,6954,0.00,1.98,0.00,0.000,6,0.000,0.029,3540,1385,2066,0,0,0,0,0,0
$GC,7225,1.01,219.0,524.0,9.5,287,7241,0.00,2.12,9.68,0.764,4,0.000,0.066,3541,178,2025,0,0,0,0,0,0
$GC,7257,1.02,227.6,520.4,9.6,287,7272,0.10,1.95,9.43,0.753,6,0.079,0.028,3580,1377,1991,0,0,0,0,0,0
$GC,7515,0.94,227.6,489.3,11.9,294,7520,0.17,2.67,0.00,0.000,4,0.099,0.048,3543,2955,1987,0,0,0,0,0,0
$GC,7532,0.94,227.6,487.5,11.4,294,7536,0.00,2.67,0.00,0.000,6,0.000,0.044,3543,1379,1985,0,0,0,0,0,0
$GC,7801,0.96,242.4,461.9,9.3,301,7821,0.00,2.17,14.15,0.789,4,0.000,0.068,3543,168,1930,0,0,0,0,0,0
$GC,7846,0.96,244.9,457.7,9.9,302,7854,0.00,1.95,3.90,0.523,6,0.000,0.026,3543,1381,1921,0,0,0,0,0,0
$GC,8138,0.99,262.7,430.8,9.2,309,8163,0.00,2.67,17.45,0.790,4,0.000,0.038,3543,2951,1847,0,0,0,0,0,0
$GC,8187,1.10,270.6,425.9,9.6,310,8204,0.15,2.67,8.25,0.700,6,0.055,0.043,3605,1368,1815,0,0,0,0,0,0
$GC,8476,0.99,270.6,386.1,14.6,317,8481,0.22,2.05,0.00,0.000,4,0.093,0.063,3557,166,1812,0,0,0,0,0,0
$GC,8532,0.99,270.6,377.8,13.2,318,8536,0.00,1.95,0.00,0.000,6,0.000,0.025,3557,1374,1812,0,0,0,0,0,0
$GC,8809,0.99,270.6,345.9,11.3,325,8814,0.00,2.55,0.00,0.000,4,0.000,0.035,3557,2949,1811,0,0,0,0,0,0
$GC,8853,1.11,270.6,341.4,10.8,326,8858,0.10,2.65,0.00,0.000,6,0.076,0.041,3609,1371,1809,0,0,0,0,0,0
$GC,9142,1.00,270.6,304.4,12.8,333,9147,0.22,2.05,0.00,0.000,4,0.093,0.060,3560,166,1809,0,0,0,0,0,0
$GC,9203,1.00,270.6,297.3,11.1,334,9207,0.00,1.92,0.00,0.000,6,0.000,0.024,3560,1391,1808,0,0,0,0,0,0
$GC,9476,1.03,292.3,272.7,9.0,341,9497,0.00,0.00,19.35,0.691,6,0.000,0.000,3560,1394,1728,0,0,0,0,0,0
$GC,9721,1.09,292.6,248.8,10.0,347,9725,0.00,2.50,0.00,0.000,4,0.000,0.029,3560,2949,1724,0,0,0,0,0,0
$GC,9768,1.23,292.6,243.7,10.6,348,9775,0.20,2.62,0.00,0.000,6,0.043,0.038,3623,1370,1721,0,0,0,0,0,0
$GC,10055,1.13,292.6,203.6,14.1,355,10060,0.17,2.05,0.00,0.000,4,0.101,0.055,3586,160,1721,0,0,0,0,0,0
$GC,10107,1.13,292.6,195.6,14.0,357,10112,0.00,1.90,0.00,0.000,6,0.000,0.021,3586,1375,1721,0,0,0,0,0,0
$GC,10378,1.13,292.6,165.1,11.1,382,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1377,1721,0,0,0,0,0,0
$GC,10644,1.13,292.6,135.9,11.6,407,10648,0.00,2.47,0.00,0.000,4,0.000,0.027,3587,2947,1721,0,0,0,0,0,0
$GC,10674,1.21,292.6,132.0,11.3,409,10680,0.00,2.60,0.00,0.000,6,0.000,0.034,3586,1359,1719,0,0,0,0,0,0
$GC,10938,1.21,292.6,105.1,10.2,434,10942,0.00,1.95,0.00,0.000,4,0.000,0.053,3586,163,1719,0,0,0,0,0,0
$GC,11013,1.21,292.6,96.4,12.4,441,11017,0.00,1.85,0.00,0.000,6,0.000,0.019,3586,1390,1719,0,0,0,0,0,0
$GC,11287,1.32,304.2,69.6,9.5,466,11306,0.17,0.00,11.30,0.471,6,0.048,0.000,3640,1392,1678,0,0,0,0,0,0
$GC,11561,1.25,304.2,36.1,12.8,492,11565,0.12,2.05,0.00,0.000,4,0.104,0.048,3613,164,1677,0,0,0,0,0,0
$GC,11588,1.25,304.2,32.8,12.9,494,11592,0.00,1.80,0.00,0.000,6,0.000,0.019,3613,1373,1677,0,0,0,0,0,0
$STATE,11839,end climb,SURFACE_DEPTH_REACHED
$STATE,11839,begin surface coast
$FINISH,0.8,1.014899
$STATE,11878,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11903,43.70,0.445,0,0,1368,380.21
$SM_GC,1.53,0.00,0.00,43.70,0.000,0.000,0.445,414,1592,1368,-13.46,1.50,380.21
$IRIDIUM_FIX,2253.38,-15807.13,091001,020215
$TT8_MAMPS,0.027612
$HUMID,62.87
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,3
$24V_AH,23.5,33.332
$10V_AH,10.0,25.392
$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,34.525,129.025,388.550,43.700,0.000,25.217,36.060,186.257,0.750,0.000,16.147,1161.986,8120.088,474.637,1986.632,589.367,33.367,1307.766,0.000,1990.827,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,75.166,937.274,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.222,314.083,389.781,559.335,983.142,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41559,539
$CAP_FILE_SIZE,129004,0
$CFSIZE,260165632,163962880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150712,085636,2302.444,-15802.882,29,1.5,29,10.1