version: 66.06
glider: 148
mission: 11
dive: 371
start: 8 2 112 2 36 20
data:
$ID,148
$MISSION,11
$DIVE,371
$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,-926440.81
$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,80
$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
$GPS1,022826,2252.690,-15753.649,37,99.0,56,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.6
$GPS2,023526,2252.724,-15753.701,15,1.3,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.217
$KALMAN_X,-146217.9,-120.2,-351.7,157037.0,-902.4
$KALMAN_Y,78837.2,211.5,-687.3,-69619.1,1820.6
$MHEAD_RNG_PITCHd_Wd,136.5,37726,-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,-74.55,0.000,2,0.000,0.000,410,1533,3292,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.5,10,121,13.85,2.22,-3.78,0.000,4,0.153,0.043,3056,144,3517,0,0,0,0,0,0
$GC,194,-0.92,-146.0,35.4,-21.2,23,202,0.32,2.12,0.00,0.000,6,0.088,0.018,3132,1513,3519,0,0,0,0,0,0
$GC,464,-0.78,-146.0,75.5,-12.8,48,469,0.17,2.55,0.00,0.000,4,0.103,0.025,3170,3108,3520,0,0,0,0,0,0
$GC,529,-0.91,-146.0,83.9,-10.1,53,536,0.12,2.55,0.00,0.000,6,0.059,0.028,3083,1534,3520,0,0,0,0,0,0
$GC,795,-0.67,-146.0,123.8,-15.7,78,807,0.47,2.50,0.00,0.000,4,0.089,0.023,3190,3110,3521,0,0,0,0,0,0
$GC,831,-0.79,-146.0,128.1,-10.0,81,836,0.00,2.53,0.00,0.000,6,0.000,0.028,3190,1545,3522,0,0,0,0,0,0
$GC,1096,-0.90,-146.0,151.9,-9.6,105,1101,0.20,2.50,0.00,0.000,4,0.042,0.022,3092,3115,3522,0,0,0,0,0,0
$GC,1117,-0.90,-146.0,154.1,-10.1,106,1122,0.22,2.50,0.00,0.000,6,0.089,0.026,3142,1556,3522,0,0,0,0,0,0
$GC,1382,-0.90,-146.0,185.9,-11.1,130,1386,0.00,2.45,0.00,0.000,4,0.000,0.023,3142,3115,3523,0,0,0,0,0,0
$GC,1418,-0.90,-146.0,190.1,-10.6,133,1423,0.00,2.50,0.00,0.000,6,0.000,0.027,3142,1561,3523,0,0,0,0,0,0
$GC,1683,-0.90,-146.0,215.5,-9.3,146,1687,0.00,2.42,0.00,0.000,4,0.000,0.023,3142,3108,3523,0,0,0,0,0,0
$GC,1708,-0.90,-146.0,217.7,-8.8,146,1712,0.00,2.47,0.00,0.000,6,0.000,0.026,3142,1567,3523,0,0,0,0,0,0
$GC,1972,-0.90,-146.0,242.5,-10.0,153,1976,0.00,2.45,0.00,0.000,4,0.000,0.023,3142,3114,3524,0,0,0,0,0,0
$GC,2005,-1.02,-146.0,246.3,-10.4,153,2010,0.10,2.47,0.00,0.000,6,0.074,0.028,3065,1576,3524,0,0,0,0,0,0
$GC,2257,-0.82,-146.0,283.8,-15.0,159,2262,0.43,2.28,0.00,0.000,4,0.084,0.042,3153,171,3524,0,0,0,0,0,0
$GC,2343,-1.04,-146.0,292.8,-8.8,160,2350,0.17,2.15,0.00,0.000,6,0.046,0.019,3065,1576,3524,0,0,0,0,0,0
$GC,2595,-0.90,-146.0,321.9,-11.7,167,2600,0.32,2.42,0.00,0.000,4,0.085,0.027,3141,3102,3524,0,0,0,0,0,0
$GC,2653,-1.08,-146.0,326.7,-6.0,168,2658,0.15,2.47,0.00,0.000,6,0.052,0.031,3052,1580,3524,0,0,0,0,0,0
$GC,2928,-0.90,-146.0,361.4,-13.6,175,2934,0.40,2.38,0.00,0.000,4,0.080,0.053,3141,167,3523,0,0,0,0,0,0
$GC,2944,-0.82,-146.0,363.7,-13.5,175,2948,0.00,2.20,0.00,0.000,6,0.000,0.021,3141,1578,3524,0,0,0,0,0,0
$GC,3213,-0.95,-146.0,386.5,-8.3,182,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1580,3522,0,0,0,0,0,0
$GC,3458,-1.08,-146.0,403.7,-6.9,188,3463,0.15,2.47,0.00,0.000,4,0.054,0.035,3074,3106,3521,0,0,0,0,0,0
$GC,3473,-1.08,-146.0,405.2,-7.2,188,3479,0.15,2.50,0.00,0.000,6,0.094,0.032,3108,1579,3521,0,0,0,0,0,0
$GC,3743,-1.08,-146.0,427.1,-8.0,195,3747,0.00,2.40,0.00,0.000,4,0.000,0.062,3108,167,3519,0,0,0,0,0,0
$GC,3773,-1.08,-146.0,429.4,-8.1,195,3777,0.00,2.20,0.00,0.000,6,0.000,0.026,3108,1568,3519,0,0,0,0,0,0
$GC,4027,-1.08,-146.0,449.4,-7.9,202,4032,0.00,2.50,0.00,0.000,4,0.000,0.038,3108,3113,3518,0,0,0,0,0,0
$GC,4051,-1.08,-146.0,451.6,-9.0,202,4056,0.00,2.53,0.00,0.000,6,0.000,0.044,3107,1587,3517,0,0,0,0,0,0
$GC,4312,-1.08,-146.0,473.7,-8.7,209,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1587,3515,0,0,0,0,0,0
$GC,4554,-1.08,-146.0,496.4,-9.4,215,4559,0.00,2.53,0.00,0.000,4,0.000,0.043,3108,3112,3513,0,0,0,0,0,0
$GC,4583,-1.15,-146.0,499.4,-10.3,215,4587,0.00,2.53,0.00,0.000,6,0.000,0.046,3109,1590,3513,0,0,0,0,0,0
$GC,4839,-1.15,-146.0,523.4,-9.4,222,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1590,3512,0,0,0,0,0,0
$GC,5082,-1.22,-146.0,545.7,-9.0,228,5087,0.15,2.55,0.00,0.000,4,0.055,0.051,3044,3111,3510,0,0,0,0,0,0
$GC,5120,-1.22,-146.0,550.1,-11.2,228,5126,0.12,2.58,0.00,0.000,6,0.102,0.045,3073,1585,3510,0,0,0,0,0,0
$GC,5371,-1.22,-146.0,576.4,-10.5,235,5375,0.00,2.45,0.00,0.000,4,0.000,0.079,3073,168,3508,0,0,0,0,0,0
$GC,5408,-1.22,-146.0,580.7,-11.3,235,5414,0.00,2.30,0.00,0.000,6,0.000,0.035,3073,1580,3507,0,0,0,0,0,0
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5621,-0.31,0.0,600.3,9.2,241,5743,0.88,0.00,118.07,0.920,6,0.076,0.000,3272,1373,2920,0,0,0,0,0,0
$STATE,5744,end apogee,CONTROL_FINISHED_OK
$STATE,5744,begin climb
$GC,5748,1.27,146.0,603.2,0.0,244,5879,1.45,2.17,123.22,0.899,4,0.044,0.077,3621,173,2323,0,0,0,0,0,0
$GC,6057,0.97,146.0,574.8,14.1,251,6062,0.32,1.98,0.00,0.000,6,0.099,0.029,3553,1386,2316,0,0,0,0,0,0
$GC,6341,1.02,186.9,550.0,8.1,258,6383,0.00,2.22,34.72,0.857,4,0.000,0.071,3553,172,2158,0,0,0,0,0,0
$GC,6481,1.04,204.0,537.8,9.2,261,6502,0.00,1.98,16.42,0.809,6,0.000,0.028,3553,1370,2088,0,0,0,0,0,0
$GC,6764,1.10,253.4,516.5,7.7,268,6817,0.12,2.78,45.58,0.850,4,0.066,0.051,3605,2947,1885,0,0,0,0,0,0
$GC,6852,1.10,253.4,507.0,11.7,270,6857,0.12,2.67,0.00,0.000,6,0.107,0.042,3579,1382,1880,0,0,0,0,0,0
$GC,7141,1.10,253.4,475.9,10.8,277,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1382,1877,0,0,0,0,0,0
$GC,7384,1.10,253.4,449.2,11.0,283,7388,0.00,2.65,0.00,0.000,4,0.000,0.038,3579,2966,1875,0,0,0,0,0,0
$GC,7402,1.10,253.4,446.9,10.8,283,7407,0.00,2.70,0.00,0.000,6,0.000,0.041,3579,1372,1873,0,0,0,0,0,0
$GC,7668,1.10,253.4,416.7,11.6,290,7672,0.00,2.08,0.00,0.000,4,0.000,0.064,3579,161,1872,0,0,0,0,0,0
$GC,7696,1.04,253.4,412.9,13.8,290,7699,0.00,1.95,0.00,0.000,6,0.000,0.025,3579,1393,1872,0,0,0,0,0,0
$GC,7954,1.04,253.4,381.1,12.2,297,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1395,1871,0,0,0,0,0,0
$GC,8199,1.04,253.4,353.0,11.3,303,8203,0.00,2.08,0.00,0.000,4,0.000,0.058,3579,163,1871,0,0,0,0,0,0
$GC,8232,1.04,253.4,348.8,12.6,303,8236,0.00,1.92,0.00,0.000,6,0.000,0.024,3579,1385,1870,0,0,0,0,0,0
$GC,8486,1.04,253.4,321.8,10.3,310,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1387,1870,0,0,0,0,0,0
$GC,8730,1.04,254.9,297.4,9.9,316,8734,0.00,2.53,0.00,0.000,4,0.000,0.032,3579,2947,1869,0,0,0,0,0,0
$GC,8778,1.14,256.9,292.9,9.9,317,8783,0.00,2.62,0.00,0.000,6,0.000,0.039,3579,1362,1867,0,0,0,0,0,0
$GC,9061,1.15,261.4,264.9,9.8,324,9068,0.00,0.00,4.97,0.515,6,0.000,0.000,3579,1362,1854,0,0,0,0,0,0
$GC,9306,1.16,272.1,241.8,9.5,330,9323,0.00,2.08,11.35,0.617,4,0.000,0.058,3579,169,1810,0,0,0,0,0,0
$GC,9398,1.16,272.1,231.9,11.1,332,9402,0.00,1.85,0.00,0.000,6,0.000,0.021,3579,1377,1810,0,0,0,0,0,0
$GC,9690,1.24,272.1,203.0,10.0,339,9695,0.12,2.53,0.00,0.000,4,0.064,0.029,3642,2941,1808,0,0,0,0,0,0
$GC,9786,1.24,272.1,191.3,11.8,345,9795,0.12,2.65,0.00,0.000,6,0.075,0.036,3611,1355,1805,0,0,0,0,0,0
$GC,10054,1.24,272.1,162.5,10.3,370,10058,0.00,1.95,0.00,0.000,4,0.000,0.051,3611,163,1805,0,0,0,0,0,0
$GC,10093,1.24,272.1,157.6,11.2,374,10097,0.00,1.83,0.00,0.000,6,0.000,0.021,3611,1371,1805,0,0,0,0,0,0
$GC,10365,1.28,300.5,133.9,8.7,399,10398,0.00,2.58,25.45,0.551,4,0.000,0.027,3611,2928,1693,0,0,0,0,0,0
$GC,10430,1.37,314.2,127.8,9.4,405,10452,0.12,2.58,13.60,0.518,6,0.062,0.038,3676,1357,1638,0,0,0,0,0,0
$GC,10710,1.20,314.2,86.7,15.7,431,10715,0.32,1.95,0.00,0.000,4,0.081,0.047,3602,168,1636,0,0,0,0,0,0
$GC,10749,1.20,314.2,79.9,13.5,434,10760,0.00,1.83,0.00,0.000,6,0.000,0.020,3602,1369,1637,0,0,0,0,0,0
$GC,11019,1.32,323.2,52.1,9.6,459,11036,0.10,2.55,9.43,0.433,4,0.076,0.026,3655,2937,1601,0,0,0,0,0,0
$GC,11079,1.32,323.2,45.0,11.5,464,11085,0.12,2.53,0.00,0.000,6,0.097,0.033,3626,1378,1598,0,0,0,0,0,0
$GC,11366,1.32,323.2,12.0,10.9,500,11375,0.00,2.03,0.00,0.000,4,0.000,0.057,3626,167,1598,0,0,0,0,0,0
$GC,11397,1.32,323.2,8.6,11.2,504,11405,0.00,1.85,0.00,0.000,6,0.000,0.019,3626,1383,1598,0,0,0,0,0,0
$STATE,11437,end climb,SURFACE_DEPTH_REACHED
$STATE,11437,begin surface coast
$FINISH,0.7,1.010073
$STATE,11485,end surface coast,CONTROL_FINISHED_OK
$STATE,11485,begin surface
$SM_CCo,11510,32.65,0.433,0,0,1369,380.21
$SM_GC,1.53,0.00,0.00,32.65,0.000,0.000,0.433,412,1549,1369,-13.47,0.25,380.21
$IRIDIUM_FIX,2244.02,-15751.94,261001,232336
$TT8_MAMPS,0.027612
$HUMID,64.45
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.20
$XPDR_PINGS,13
$24V_AH,23.5,48.950
$10V_AH,9.9,38.806
$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,34.150,141.250,402.825,32.650,0.000,27.256,39.641,198.690,3.250,0.000,17.854,1118.939,7801.408,481.228,1946.856,612.762,33.374,1328.225,0.000,1937.419,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,79.001,919.633,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.773,295.224,367.149,539.253,947.514,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41656,517
$CAP_FILE_SIZE,128649,0
$CFSIZE,260165632,156467200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020812,054956,2252.073,-15753.337,14,2.0,30,10.1