version: 66.06
glider: 148
mission: 11
dive: 367
start: 8 1 112 12 54 5
data:
$ID,148
$MISSION,11
$DIVE,367
$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,-926380.62
$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,26
$R_STBD_OVSHOOT,92
$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
$GPS1,122536,2255.211,-15755.704,31,1.2,31,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.7
$GPS2,125312,2255.267,-15755.887,11,1.6,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.127
$KALMAN_X,-141056.6,185.4,-9.4,147495.6,-1976.3
$KALMAN_Y,76051.3,-103.8,-520.7,-61976.5,778.6
$MHEAD_RNG_PITCHd_Wd,109.1,43691,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-66.12,0.000,2,0.000,0.000,409,1560,3065,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.3,9,124,13.82,2.45,-8.48,0.000,4,0.153,0.039,3059,3071,3518,0,0,0,0,0,0
$GC,134,-0.03,-146.0,16.5,-31.8,14,143,1.20,2.50,0.00,0.000,6,0.088,0.025,3326,1532,3520,0,0,0,0,0,0
$GC,436,-0.83,-146.0,33.7,-7.0,58,449,0.68,2.45,0.00,0.000,4,0.044,0.023,3153,3081,3521,0,0,0,0,0,0
$GC,477,-1.06,-146.0,37.2,-9.3,61,482,0.17,2.45,0.00,0.000,6,0.047,0.026,3053,1544,3521,0,0,0,0,0,0
$GC,747,-0.68,-146.0,86.7,-17.4,85,752,0.62,0.00,0.00,0.000,6,0.089,0.000,3186,1544,3521,0,0,0,0,0,0
$GC,1012,-0.78,-146.0,111.6,-8.3,110,1016,0.00,2.40,0.00,0.000,4,0.000,0.022,3186,3077,3521,0,0,0,0,0,0
$GC,1072,-1.03,-146.0,116.3,-7.0,115,1077,0.30,2.45,0.00,0.000,6,0.032,0.031,3073,1553,3521,0,0,0,0,0,0
$GC,1341,-0.76,-146.0,156.4,-16.3,139,1346,0.43,2.22,0.00,0.000,4,0.090,0.038,3169,170,3521,0,0,0,0,0,0
$GC,1370,-0.76,-146.0,161.8,-11.8,141,1379,0.00,2.08,0.00,0.000,6,0.000,0.018,3169,1533,3521,0,0,0,0,0,0
$GC,1637,-0.85,-146.0,182.9,-7.9,166,1641,0.00,2.42,0.00,0.000,4,0.000,0.024,3169,3091,3521,0,0,0,0,0,0
$GC,1693,-1.04,-146.0,187.8,-7.8,171,1698,0.22,2.45,0.00,0.000,6,0.039,0.028,3088,1551,3521,0,0,0,0,0,0
$GC,1958,-0.90,-146.0,221.2,-12.7,184,1960,0.25,0.00,0.00,0.000,6,0.091,0.000,3142,1550,3521,0,0,0,0,0,0
$GC,2203,-0.90,-146.0,243.3,-8.6,190,2207,0.00,2.45,0.00,0.000,4,0.000,0.025,3142,3094,3521,0,0,0,0,0,0
$GC,2250,-1.04,-146.0,247.1,-6.9,191,2255,0.12,2.45,0.00,0.000,6,0.061,0.028,3063,1557,3521,0,0,0,0,0,0
$GC,2534,-0.84,-146.0,283.5,-13.0,198,2536,0.45,0.00,0.00,0.000,6,0.085,0.000,3154,1557,3521,0,0,0,0,0,0
$GC,2779,-0.97,-146.0,301.5,-6.9,204,2784,0.12,2.47,0.00,0.000,4,0.061,0.028,3083,3093,3521,0,0,0,0,0,0
$GC,2795,-1.04,-146.0,303.0,-7.0,204,2800,0.12,2.47,0.00,0.000,6,0.100,0.028,3113,1560,3521,0,0,0,0,0,0
$GC,3066,-1.04,-146.0,327.1,-8.8,211,3070,0.00,2.30,0.00,0.000,4,0.000,0.051,3113,174,3520,0,0,0,0,0,0
$GC,3109,-1.04,-146.0,331.1,-9.3,212,3113,0.00,2.10,0.00,0.000,6,0.000,0.020,3113,1533,3520,0,0,0,0,0,0
$GC,3396,-1.04,-146.0,353.6,-7.8,219,3400,0.00,2.53,0.00,0.000,4,0.000,0.031,3113,3113,3517,0,0,0,0,0,0
$GC,3426,-1.11,-146.0,356.1,-7.9,219,3430,0.00,2.53,0.00,0.000,6,0.000,0.032,3113,1567,3518,0,0,0,0,0,0
$GC,3681,-1.11,-146.0,378.4,-9.1,226,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1567,3516,0,0,0,0,0,0
$GC,3924,-1.11,-146.0,401.7,-9.7,232,3929,0.00,2.50,0.00,0.000,4,0.000,0.034,3113,3113,3514,0,0,0,0,0,0
$GC,3964,-1.23,-146.0,405.6,-9.7,232,3970,0.17,2.53,0.00,0.000,6,0.048,0.035,3018,1568,3514,0,0,0,0,0,0
$GC,4214,-1.00,-146.0,441.2,-14.8,239,4219,0.43,2.38,0.00,0.000,4,0.084,0.064,3118,168,3512,0,0,0,0,0,0
$GC,4234,-0.91,-146.0,443.8,-12.6,239,4239,0.10,2.20,0.00,0.000,6,0.114,0.026,3142,1558,3512,0,0,0,0,0,0
$GC,4501,-1.06,-146.0,461.9,-6.4,246,4506,0.15,2.55,0.00,0.000,4,0.054,0.038,3072,3112,3510,0,0,0,0,0,0
$GC,4535,-1.06,-146.0,464.8,-8.3,246,4540,0.17,2.53,0.00,0.000,6,0.087,0.038,3112,1574,3510,0,0,0,0,0,0
$GC,4787,-1.13,-146.0,480.5,-6.2,252,4791,0.00,2.53,0.00,0.000,4,0.000,0.039,3113,3118,3508,0,0,0,0,0,0
$GC,4811,-1.22,-146.0,482.1,-6.7,252,4816,0.15,2.55,0.00,0.000,6,0.054,0.038,3029,1580,3508,0,0,0,0,0,0
$GC,5071,-1.02,-146.0,511.3,-11.8,259,5076,0.38,2.42,0.00,0.000,4,0.087,0.071,3113,171,3506,0,0,0,0,0,0
$GC,5117,-1.13,-146.0,515.7,-9.1,260,5122,0.00,2.25,0.00,0.000,6,0.000,0.031,3113,1572,3505,0,0,0,0,0,0
$GC,5405,-1.20,-146.0,540.5,-9.2,267,5410,0.15,2.55,0.00,0.000,4,0.056,0.045,3048,3117,3504,0,0,0,0,0,0
$GC,5459,-1.20,-146.0,546.9,-12.5,268,5464,0.12,2.58,0.00,0.000,6,0.102,0.050,3076,1580,3503,0,0,0,0,0,0
$GC,5737,-1.20,-146.0,577.4,-10.7,275,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1580,3501,0,0,0,0,0,0
$STATE,5979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5979,begin apogee
$GC,5987,-0.31,0.0,602.7,10.3,281,6107,0.85,0.00,116.82,0.925,6,0.074,0.000,3271,1374,2920,0,0,0,0,0,0
$STATE,6108,end apogee,CONTROL_FINISHED_OK
$STATE,6108,begin climb
$GC,6110,1.27,146.0,607.7,0.0,284,6242,1.45,2.22,122.88,0.907,4,0.051,0.084,3616,164,2323,0,0,0,0,0,0
$GC,6391,0.98,146.0,589.5,12.1,290,6396,0.30,1.98,0.00,0.000,6,0.095,0.030,3553,1380,2317,0,0,0,0,0,0
$GC,6657,1.04,198.5,569.1,7.6,297,6710,0.00,2.75,45.83,0.877,4,0.000,0.049,3553,2954,2107,0,0,0,0,0,0
$GC,6720,1.09,238.9,563.9,8.1,298,6765,0.10,2.70,36.83,0.861,6,0.076,0.045,3601,1383,1945,0,0,0,0,0,0
$GC,7026,1.01,238.9,524.9,13.2,306,7031,0.20,2.15,0.00,0.000,4,0.094,0.074,3558,165,1938,0,0,0,0,0,0
$GC,7055,1.01,238.9,520.8,13.0,306,7058,0.00,1.98,0.00,0.000,6,0.000,0.027,3558,1399,1938,0,0,0,0,0,0
$GC,7315,1.01,238.9,491.9,11.0,313,7319,0.00,2.15,0.00,0.000,4,0.000,0.064,3558,157,1936,0,0,0,0,0,0
$GC,7350,1.01,238.9,488.0,12.9,313,7354,0.00,1.95,0.00,0.000,6,0.000,0.027,3558,1390,1935,0,0,0,0,0,0
$GC,7604,1.02,248.4,462.3,9.6,320,7617,0.00,2.60,7.82,0.706,4,0.000,0.038,3558,2954,1907,0,0,0,0,0,0
$GC,7674,1.18,276.0,456.0,8.7,321,7707,0.17,2.65,26.38,0.812,6,0.048,0.042,3624,1385,1795,0,0,0,0,0,0
$GC,7981,1.07,276.0,418.3,12.2,329,7983,0.22,0.00,0.00,0.000,6,0.093,0.000,3574,1385,1790,0,0,0,0,0,0
$GC,8225,1.09,290.6,395.1,9.3,335,8245,0.00,2.65,13.52,0.739,4,0.000,0.038,3574,2944,1733,0,0,0,0,0,0
$GC,8272,1.17,298.9,390.7,9.6,336,8289,0.10,2.62,8.80,0.682,6,0.074,0.041,3627,1389,1701,0,0,0,0,0,0
$GC,8564,1.08,298.9,351.3,13.9,343,8569,0.22,2.10,0.00,0.000,4,0.091,0.061,3577,165,1697,0,0,0,0,0,0
$GC,8599,1.08,298.9,346.5,13.7,343,8603,0.00,1.95,0.00,0.000,6,0.000,0.024,3577,1400,1697,0,0,0,0,0,0
$GC,8853,1.08,298.9,317.5,11.2,350,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1402,1697,0,0,0,0,0,0
$GC,9096,1.08,298.9,292.4,10.3,356,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1402,1695,0,0,0,0,0,0
$GC,9340,1.16,298.9,266.6,10.7,362,9344,0.00,2.08,0.00,0.000,4,0.000,0.055,3577,165,1695,0,0,0,0,0,0
$GC,9408,1.16,298.9,258.9,12.1,363,9412,0.00,1.92,0.00,0.000,6,0.000,0.022,3577,1402,1695,0,0,0,0,0,0
$GC,9676,1.24,298.9,230.5,10.3,370,9681,0.12,2.50,0.00,0.000,4,0.064,0.028,3631,2952,1694,0,0,0,0,0,0
$GC,9744,1.24,298.9,223.0,11.3,371,9748,0.00,2.58,0.00,0.000,6,0.000,0.038,3631,1397,1691,0,0,0,0,0,0
$GC,10001,1.18,298.9,190.7,11.8,383,10006,0.15,2.05,0.00,0.000,4,0.100,0.052,3597,168,1691,0,0,0,0,0,0
$GC,10049,1.18,298.9,185.0,12.0,387,10058,0.00,1.92,0.00,0.000,6,0.000,0.021,3596,1420,1691,0,0,0,0,0,0
$GC,10318,1.18,301.9,158.8,9.9,412,10322,0.00,2.40,0.00,0.000,4,0.000,0.028,3597,2931,1691,0,0,0,0,0,0
$GC,10333,1.18,301.9,156.6,10.4,413,10337,0.00,2.50,0.00,0.000,6,0.000,0.032,3597,1395,1691,0,0,0,0,0,0
$GC,10601,1.18,301.9,128.3,11.6,437,10604,0.00,2.03,0.00,0.000,4,0.000,0.050,3597,168,1691,0,0,0,0,0,0
$GC,10647,1.18,301.9,121.7,12.8,441,10652,0.00,1.88,0.00,0.000,6,0.000,0.021,3597,1412,1691,0,0,0,0,0,0
$GC,10912,1.25,301.9,92.4,10.7,466,10915,0.00,2.05,0.00,0.000,4,0.000,0.048,3597,172,1691,0,0,0,0,0,0
$GC,10945,1.25,301.9,88.7,11.7,469,10949,0.00,1.88,0.00,0.000,6,0.000,0.020,3597,1402,1691,0,0,0,0,0,0
$GC,11219,1.37,341.2,63.2,8.2,494,11269,0.17,2.12,37.50,0.499,4,0.048,0.048,3671,170,1527,0,0,0,0,0,0
$GC,11298,1.23,341.2,52.7,15.7,500,11302,0.30,1.83,0.00,0.000,6,0.076,0.019,3604,1379,1527,0,0,0,0,0,0
$GC,11571,1.36,356.4,25.8,9.3,527,11596,0.12,2.53,13.88,0.437,4,0.063,0.025,3668,2934,1465,0,0,0,0,0,0
$GC,11624,1.36,356.4,20.0,10.5,534,11633,0.10,2.55,0.00,0.000,6,0.067,0.034,3638,1397,1463,0,0,0,0,0,0
$STATE,11774,end climb,SURFACE_DEPTH_REACHED
$STATE,11774,begin surface coast
$FINISH,0.6,1.011067
$STATE,11813,end surface coast,CONTROL_FINISHED_OK
$STATE,11813,begin surface
$SM_CCo,11836,19.25,0.429,0,0,1369,380.21
$SM_GC,1.85,0.00,0.00,19.25,0.000,0.000,0.429,408,1569,1369,-13.49,0.85,380.21
$IRIDIUM_FIX,2244.02,-15751.06,261001,121237
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.10
$XPDR_PINGS,44
$24V_AH,23.5,48.463
$10V_AH,9.9,38.376
$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,37.950,140.500,430.250,19.250,0.000,148.337,198.995,884.238,11.000,0.000,17.608,1196.161,8085.101,487.598,2106.557,1633.468,33.375,1363.926,0.000,2110.530,0.000,0.538,0.000
$DEVICE_MAMPS,152.633,84.370,925.002,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.633,333.795,419.117,638.656,1122.306,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,44781,563
$CAP_FILE_SIZE,154789,0
$CFSIZE,260165632,156692480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010812,161306,2255.094,-15755.362,42,1.6,42,10.1