version: 66.06
glider: 148
mission: 11
dive: 249
start: 7 15 112 12 31 12
data:
$ID,148
$MISSION,11
$DIVE,249
$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,-923584.44
$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,25
$R_STBD_OVSHOOT,79
$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
$GPS1,122335,2301.822,-15802.276,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.5
$GPS2,123018,2301.840,-15802.308,10,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.191
$KALMAN_X,16522.7,200.6,-329.5,-20740.4,-741.1
$KALMAN_Y,7466.4,-96.1,-125.1,18376.6,885.2
$MHEAD_RNG_PITCHd_Wd,127.3,60065,-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,-74.28,0.000,2,0.000,0.000,414,1557,3277,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-6.1,10,121,13.73,2.28,-4.00,0.000,4,0.150,0.047,3057,157,3515,0,0,0,0,0,0
$GC,204,-0.99,-146.0,36.3,-20.3,24,209,0.30,2.10,0.00,0.000,6,0.095,0.020,3123,1519,3518,0,0,0,0,0,0
$GC,473,-0.85,-146.0,81.4,-14.7,48,478,0.15,2.55,0.00,0.000,4,0.110,0.027,3155,3113,3518,0,0,0,0,0,0
$GC,547,-1.00,-146.0,90.5,-8.7,54,556,0.10,2.55,0.00,0.000,6,0.028,0.035,3070,1547,3518,0,0,0,0,0,0
$GC,813,-0.74,-146.0,129.8,-15.3,79,818,0.45,0.00,0.00,0.000,6,0.088,0.000,3174,1546,3519,0,0,0,0,0,0
$GC,1077,-0.88,-146.0,153.7,-8.5,104,1082,0.10,2.50,0.00,0.000,4,0.075,0.027,3112,3123,3521,0,0,0,0,0,0
$GC,1136,-0.88,-146.0,159.9,-11.4,109,1141,0.15,2.50,0.00,0.000,6,0.095,0.028,3147,1556,3521,0,0,0,0,0,0
$GC,1401,-0.95,-146.0,184.7,-8.7,133,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1556,3522,0,0,0,0,0,0
$GC,1661,-1.05,-146.0,207.8,-8.7,152,1666,0.15,2.47,0.00,0.000,4,0.054,0.025,3066,3117,3522,0,0,0,0,0,0
$GC,1680,-1.05,-146.0,210.1,-10.0,152,1685,0.20,2.50,0.00,0.000,6,0.089,0.027,3112,1564,3522,0,0,0,0,0,0
$GC,1946,-1.05,-146.0,236.9,-9.8,159,1951,0.00,2.47,0.00,0.000,4,0.000,0.025,3111,3119,3522,0,0,0,0,0,0
$GC,1975,-1.05,-146.0,239.9,-9.5,159,1979,0.00,2.50,0.00,0.000,6,0.000,0.028,3111,1568,3522,0,0,0,0,0,0
$GC,2230,-1.05,-146.0,261.1,-8.4,166,2231,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1568,3523,0,0,0,0,0,0
$GC,2473,-1.05,-146.0,281.0,-8.3,172,2478,0.00,2.47,0.00,0.000,4,0.000,0.027,3111,3120,3522,0,0,0,0,0,0
$GC,2508,-1.15,-146.0,284.0,-8.7,172,2512,0.00,2.50,0.00,0.000,6,0.000,0.031,3111,1576,3522,0,0,0,0,0,0
$GC,2758,-1.15,-146.0,307.4,-9.4,178,2763,0.00,2.47,0.00,0.000,4,0.000,0.029,3111,3114,3522,0,0,0,0,0,0
$GC,2777,-1.15,-146.0,309.2,-9.7,178,2782,0.00,2.50,0.00,0.000,6,0.000,0.033,3111,1581,3522,0,0,0,0,0,0
$GC,3043,-1.15,-146.0,333.6,-9.3,185,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1581,3521,0,0,0,0,0,0
$GC,3285,-1.21,-146.0,353.3,-8.0,191,3287,0.15,0.00,0.00,0.000,6,0.054,0.000,3034,1581,3520,0,0,0,0,0,0
$GC,3529,-1.04,-146.0,380.8,-11.5,197,3534,0.30,2.38,0.00,0.000,4,0.087,0.056,3106,163,3519,0,0,0,0,0,0
$GC,3565,-1.11,-146.0,384.3,-9.2,197,3569,0.00,2.22,0.00,0.000,6,0.000,0.025,3106,1585,3519,0,0,0,0,0,0
$GC,3815,-1.11,-146.0,403.6,-7.7,203,3819,0.00,2.47,0.00,0.000,4,0.000,0.034,3106,3111,3517,0,0,0,0,0,0
$GC,3850,-1.23,-146.0,406.1,-6.7,203,3855,0.15,2.53,0.00,0.000,6,0.053,0.037,3018,1581,3517,0,0,0,0,0,0
$GC,4100,-1.01,-146.0,437.8,-13.1,209,4105,0.45,2.40,0.00,0.000,4,0.085,0.063,3116,164,3515,0,0,0,0,0,0
$GC,4149,-1.15,-146.0,442.7,-9.1,210,4153,0.12,2.22,0.00,0.000,6,0.063,0.028,3059,1574,3515,0,0,0,0,0,0
$GC,4433,-1.08,-146.0,472.4,-10.7,217,4435,0.20,0.00,0.00,0.000,6,0.091,0.000,3103,1575,3514,0,0,0,0,0,0
$GC,4676,-1.15,-146.0,492.2,-7.9,223,4680,0.00,2.53,0.00,0.000,4,0.000,0.041,3103,3121,3512,0,0,0,0,0,0
$GC,4706,-1.27,-146.0,494.5,-7.5,223,4711,0.17,2.55,0.00,0.000,6,0.048,0.039,3014,1587,3512,0,0,0,0,0,0
$GC,4962,-1.08,-146.0,524.3,-11.8,230,4967,0.38,2.47,0.00,0.000,4,0.087,0.071,3101,162,3510,0,0,0,0,0,0
$GC,5028,-1.20,-146.0,529.6,-6.6,231,5033,0.00,2.28,0.00,0.000,6,0.000,0.031,3101,1569,3510,0,0,0,0,0,0
$GC,5294,-1.28,-146.0,544.9,-5.8,238,5299,0.17,2.60,0.00,0.000,4,0.051,0.045,3035,3124,3509,0,0,0,0,0,0
$GC,5314,-1.28,-146.0,546.8,-8.2,238,5319,0.12,2.60,0.00,0.000,6,0.104,0.042,3062,1574,3508,0,0,0,0,0,0
$GC,5580,-1.28,-146.0,568.9,-8.5,245,5585,0.00,2.42,0.00,0.000,4,0.000,0.077,3062,168,3507,0,0,0,0,0,0
$GC,5610,-1.28,-146.0,572.0,-9.9,245,5614,0.00,2.30,0.00,0.000,6,0.000,0.034,3063,1583,3506,0,0,0,0,0,0
$GC,5865,-1.28,-146.0,596.7,-10.0,252,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1583,3505,0,0,0,0,0,0
$STATE,5904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5904,begin apogee
$GC,5912,-0.31,0.0,600.9,10.0,253,6033,0.93,0.00,117.62,0.932,6,0.080,0.000,3271,1374,2920,0,0,0,0,0,0
$STATE,6034,end apogee,CONTROL_FINISHED_OK
$STATE,6034,begin climb
$GC,6037,1.27,146.0,606.2,0.0,256,6170,1.45,2.17,123.40,0.911,4,0.046,0.078,3619,170,2323,0,0,0,0,0,0
$GC,6301,0.91,146.0,589.5,12.0,262,6306,0.38,2.00,0.00,0.000,6,0.098,0.031,3540,1390,2317,0,0,0,0,0,0
$GC,6586,0.96,183.4,566.3,8.3,269,6623,0.00,2.20,31.90,0.871,4,0.000,0.070,3540,167,2171,0,0,0,0,0,0
$GC,6680,0.89,183.4,556.8,11.0,270,6683,0.00,1.98,0.00,0.000,6,0.000,0.029,3540,1375,2169,0,0,0,0,0,0
$GC,6962,0.89,183.4,528.4,10.1,277,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1376,2164,0,0,0,0,0,0
$GC,7205,0.90,193.2,504.7,9.5,283,7216,0.00,0.00,8.93,0.752,6,0.000,0.000,3540,1376,2133,0,0,0,0,0,0
$GC,7449,0.92,213.0,482.3,9.1,289,7473,0.00,2.15,18.77,0.818,4,0.000,0.064,3540,179,2050,0,0,0,0,0,0
$GC,7508,0.92,213.0,476.5,11.0,290,7511,0.00,1.95,0.00,0.000,6,0.000,0.027,3540,1389,2050,0,0,0,0,0,0
$GC,7785,0.94,230.7,450.5,9.2,297,7809,0.00,2.62,16.83,0.793,4,0.000,0.039,3540,2954,1978,0,0,0,0,0,0
$GC,7830,1.04,245.3,446.4,9.3,298,7851,0.10,2.70,14.95,0.775,6,0.075,0.044,3586,1370,1919,0,0,0,0,0,0
$GC,8123,0.97,245.3,411.9,12.0,305,8128,0.15,2.10,0.00,0.000,4,0.101,0.066,3553,161,1914,0,0,0,0,0,0
$GC,8166,0.97,245.3,406.6,12.0,306,8170,0.00,1.92,0.00,0.000,6,0.000,0.026,3553,1370,1914,0,0,0,0,0,0
$GC,8459,0.99,256.4,378.4,9.5,313,8475,0.00,2.67,10.57,0.707,4,0.000,0.036,3553,2954,1873,0,0,0,0,0,0
$GC,8523,1.16,292.8,372.6,8.3,314,8564,0.17,2.67,33.58,0.772,6,0.054,0.041,3613,1372,1725,0,0,0,0,0,0
$GC,8838,1.03,292.8,330.6,13.9,322,8842,0.22,2.05,0.00,0.000,4,0.095,0.061,3565,165,1720,0,0,0,0,0,0
$GC,8917,1.03,292.8,320.2,11.8,323,8920,0.00,1.92,0.00,0.000,6,0.000,0.024,3565,1381,1720,0,0,0,0,0,0
$GC,9177,1.03,292.8,291.1,11.3,330,9181,0.00,2.55,0.00,0.000,4,0.000,0.033,3565,2949,1718,0,0,0,0,0,0
$GC,9215,1.14,292.8,286.6,11.2,330,9221,0.10,2.65,0.00,0.000,6,0.076,0.040,3614,1364,1715,0,0,0,0,0,0
$GC,9465,1.05,292.8,252.9,13.7,337,9469,0.22,2.03,0.00,0.000,4,0.091,0.057,3565,168,1715,0,0,0,0,0,0
$GC,9494,1.05,292.8,249.0,12.7,337,9498,0.00,1.90,0.00,0.000,6,0.000,0.022,3565,1389,1715,0,0,0,0,0,0
$GC,9753,1.11,292.8,221.1,10.7,344,9754,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1391,1715,0,0,0,0,0,0
$GC,9999,1.19,292.8,195.1,11.3,353,10001,0.15,0.00,0.00,0.000,6,0.056,0.000,3626,1391,1714,0,0,0,0,0,0
$GC,10257,1.10,292.8,161.6,12.1,377,10261,0.20,2.05,0.00,0.000,4,0.093,0.049,3580,167,1714,0,0,0,0,0,0
$GC,10286,1.10,292.8,158.1,12.5,379,10290,0.00,1.88,0.00,0.000,6,0.000,0.021,3580,1398,1714,0,0,0,0,0,0
$GC,10555,1.20,323.6,134.1,8.6,404,10589,0.00,2.47,26.83,0.566,4,0.000,0.025,3580,2934,1598,0,0,0,0,0,0
$GC,10635,1.41,343.8,127.1,9.1,411,10660,0.28,2.60,18.40,0.541,6,0.035,0.035,3678,1364,1518,0,0,0,0,0,0
$GC,10921,1.25,343.8,79.6,16.5,438,10926,0.28,1.98,0.00,0.000,4,0.086,0.054,3614,163,1515,0,0,0,0,0,0
$GC,10941,1.14,343.8,77.2,16.5,439,10945,0.12,1.83,0.00,0.000,6,0.110,0.020,3588,1392,1515,0,0,0,0,0,0
$GC,11209,1.26,343.8,48.8,10.5,464,11214,0.10,2.42,0.00,0.000,4,0.075,0.026,3640,2922,1514,0,0,0,0,0,0
$GC,11240,1.26,343.8,45.2,12.0,466,11245,0.12,2.53,0.00,0.000,6,0.100,0.034,3612,1378,1512,0,0,0,0,0,0
$GC,11527,1.26,343.8,12.0,11.7,502,11535,0.00,2.03,0.00,0.000,4,0.000,0.050,3612,167,1512,0,0,0,0,0,0
$GC,11551,1.26,343.8,8.7,13.2,505,11559,0.00,1.85,0.00,0.000,6,0.000,0.019,3612,1405,1512,0,0,0,0,0,0
$STATE,11585,end climb,SURFACE_DEPTH_REACHED
$STATE,11585,begin surface coast
$FINISH,0.7,1.023857
$STATE,11625,end surface coast,CONTROL_FINISHED_OK
$STATE,11625,begin surface
$SM_CCo,11650,23.98,0.436,0,0,1368,380.21
$SM_GC,1.47,0.00,0.00,23.98,0.000,0.000,0.436,411,1526,1368,-13.47,-0.37,380.21
$IRIDIUM_FIX,2253.38,-15759.74,091001,090945
$TT8_MAMPS,0.027612
$HUMID,63.93
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.5,33.584
$10V_AH,10.0,25.602
$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,35.400,130.675,421.775,23.975,0.000,28.157,45.119,190.788,1.500,0.000,16.509,1123.010,7980.523,472.597,1900.442,599.554,33.363,1301.266,0.000,1896.995,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,78.234,931.905,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.061,289.810,366.534,520.586,911.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41435,516
$CAP_FILE_SIZE,129851,0
$CFSIZE,260165632,163835904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150712,154656,2301.096,-15801.596,7,2.9,26,10.1