version: 66.06
glider: 148
mission: 11
dive: 372
start: 8 2 112 6 1 15
data:
$ID,148
$MISSION,11
$DIVE,372
$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,-926476.81
$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,27
$R_STBD_OVSHOOT,89
$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
$GPS1,054956,2252.073,-15753.337,14,2.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.0
$GPS2,060021,2252.141,-15753.360,14,8.0,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.189
$KALMAN_X,-147626.8,202.3,-396.0,158748.2,-295.1
$KALMAN_Y,79212.8,310.7,366.6,-72225.1,522.6
$MHEAD_RNG_PITCHd_Wd,126.5,36560,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.03,0.000,2,0.000,0.000,411,1549,3064,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.7,9,122,13.77,2.30,-8.23,0.000,4,0.151,0.051,3057,163,3517,0,0,0,0,0,0
$GC,156,-0.87,-146.0,23.9,-24.4,18,165,0.38,2.10,0.00,0.000,6,0.083,0.018,3144,1510,3519,0,0,0,0,0,0
$GC,428,-0.74,-146.0,66.5,-14.0,45,433,0.15,2.55,0.00,0.000,4,0.109,0.027,3177,3109,3520,0,0,0,0,0,0
$GC,527,-0.92,-146.0,76.9,-8.5,53,533,0.15,2.53,0.00,0.000,6,0.052,0.028,3105,1548,3521,0,0,0,0,0,0
$GC,797,-0.72,-146.0,116.0,-15.0,77,802,0.32,2.25,0.00,0.000,4,0.088,0.039,3179,164,3521,0,0,0,0,0,0
$GC,829,-0.72,-146.0,121.4,-11.8,79,835,0.00,2.15,0.00,0.000,6,0.000,0.018,3179,1579,3522,0,0,0,0,0,0
$GC,1094,-0.80,-146.0,147.5,-10.7,104,1098,0.00,2.38,0.00,0.000,4,0.000,0.023,3180,3104,3523,0,0,0,0,0,0
$GC,1151,-1.01,-146.0,153.4,-10.0,109,1157,0.25,2.47,0.00,0.000,6,0.038,0.028,3094,1552,3522,0,0,0,0,0,0
$GC,1418,-0.85,-146.0,192.1,-13.4,133,1423,0.25,2.22,0.00,0.000,4,0.091,0.038,3152,169,3523,0,0,0,0,0,0
$GC,1438,-0.77,-146.0,195.8,-14.2,134,1443,0.00,2.12,0.00,0.000,6,0.000,0.018,3152,1568,3523,0,0,0,0,0,0
$GC,1690,-0.77,-146.0,220.4,-9.5,144,1694,0.00,2.38,0.00,0.000,4,0.000,0.024,3152,3095,3523,0,0,0,0,0,0
$GC,1757,-0.95,-146.0,225.9,-7.4,145,1761,0.00,2.45,0.00,0.000,6,0.000,0.027,3152,1570,3523,0,0,0,0,0,0
$GC,2021,-1.04,-146.0,247.5,-8.2,152,2023,0.15,0.00,0.00,0.000,6,0.053,0.000,3072,1570,3523,0,0,0,0,0,0
$GC,2264,-0.89,-146.0,278.8,-13.1,158,2269,0.30,2.28,0.00,0.000,4,0.083,0.042,3143,168,3523,0,0,0,0,0,0
$GC,2290,-0.89,-146.0,281.9,-11.8,158,2294,0.00,2.12,0.00,0.000,6,0.000,0.020,3143,1569,3523,0,0,0,0,0,0
$GC,2550,-1.00,-146.0,306.0,-9.1,165,2554,0.00,2.42,0.00,0.000,4,0.000,0.027,3143,3105,3523,0,0,0,0,0,0
$GC,2608,-1.20,-146.0,310.5,-7.7,166,2613,0.28,2.47,0.00,0.000,6,0.035,0.030,3055,1581,3523,0,0,0,0,0,0
$GC,2882,-1.04,-146.0,343.7,-12.1,173,2887,0.25,2.33,0.00,0.000,4,0.092,0.058,3115,174,3523,0,0,0,0,0,0
$GC,2915,-1.04,-146.0,347.6,-10.1,173,2919,0.00,2.15,0.00,0.000,6,0.000,0.021,3114,1567,3523,0,0,0,0,0,0
$GC,3167,-1.04,-146.0,369.9,-9.0,179,3171,0.00,2.50,0.00,0.000,4,0.000,0.032,3115,3114,3522,0,0,0,0,0,0
$GC,3181,-1.04,-146.0,371.4,-9.1,179,3186,0.00,2.53,0.00,0.000,6,0.000,0.031,3115,1568,3522,0,0,0,0,0,0
$GC,3450,-1.04,-146.0,396.7,-9.5,186,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1568,3520,0,0,0,0,0,0
$GC,3696,-1.04,-146.0,418.4,-8.8,192,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1568,3519,0,0,0,0,0,0
$GC,3938,-1.04,-146.0,439.2,-8.4,198,3942,0.00,2.53,0.00,0.000,4,0.000,0.035,3115,3108,3517,0,0,0,0,0,0
$GC,3952,-1.04,-146.0,440.5,-8.4,198,3957,0.00,2.55,0.00,0.000,6,0.000,0.035,3115,1562,3517,0,0,0,0,0,0
$GC,4223,-1.10,-146.0,463.5,-8.7,205,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1562,3515,0,0,0,0,0,0
$GC,4465,-1.18,-146.0,483.8,-8.2,211,4470,0.12,2.58,0.00,0.000,4,0.063,0.039,3049,3104,3514,0,0,0,0,0,0
$GC,4484,-1.18,-146.0,486.0,-10.6,211,4490,0.15,2.55,0.00,0.000,6,0.097,0.039,3083,1574,3513,0,0,0,0,0,0
$GC,4751,-1.18,-146.0,511.6,-9.5,218,4755,0.00,2.55,0.00,0.000,4,0.000,0.039,3083,3107,3511,0,0,0,0,0,0
$GC,4779,-1.18,-146.0,514.7,-9.8,218,4784,0.00,2.55,0.00,0.000,6,0.000,0.041,3083,1577,3512,0,0,0,0,0,0
$GC,5034,-1.18,-146.0,538.9,-9.7,225,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1577,3510,0,0,0,0,0,0
$GC,5279,-1.18,-146.0,560.5,-8.7,231,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1577,3507,0,0,0,0,0,0
$GC,5522,-1.18,-146.0,580.6,-8.1,237,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1577,3506,0,0,0,0,0,0
$GC,5765,-1.18,-146.0,599.1,-7.5,243,5770,0.00,2.60,0.00,0.000,4,0.000,0.049,3083,3111,3505,0,0,0,0,0,0
$STATE,5777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5778,begin apogee
$GC,5787,-0.31,0.0,600.2,7.2,243,5908,0.80,0.00,117.68,0.923,6,0.074,0.000,3269,1377,2920,0,0,0,0,0,0
$STATE,5909,end apogee,CONTROL_FINISHED_OK
$STATE,5909,begin climb
$GC,5913,1.27,146.0,602.4,0.0,246,6046,1.48,2.20,123.25,0.904,4,0.050,0.084,3618,167,2322,0,0,0,0,0,0
$GC,6201,0.97,146.0,579.2,12.3,252,6205,0.25,1.98,0.00,0.000,6,0.079,0.029,3552,1366,2316,0,0,0,0,0,0
$GC,6467,1.02,187.9,557.5,8.1,259,6509,0.00,2.17,35.95,0.863,4,0.000,0.070,3552,160,2152,0,0,0,0,0,0
$GC,6535,0.95,187.9,551.5,10.2,260,6538,0.00,2.00,0.00,0.000,6,0.000,0.029,3552,1382,2151,0,0,0,0,0,0
$GC,6803,0.96,193.6,525.7,9.7,267,6815,0.00,2.20,5.75,0.656,4,0.000,0.068,3552,167,2129,0,0,0,0,0,0
$GC,6851,0.96,193.6,520.6,11.3,268,6855,0.00,1.95,0.00,0.000,6,0.000,0.028,3552,1376,2128,0,0,0,0,0,0
$GC,7142,0.96,196.1,491.5,9.9,275,7146,0.00,2.65,0.00,0.000,4,0.000,0.044,3552,2961,2126,0,0,0,0,0,0
$GC,7167,0.98,213.2,488.9,9.2,275,7192,0.00,2.70,18.33,0.812,6,0.000,0.044,3552,1367,2049,0,0,0,0,0,0
$GC,7480,1.00,228.4,459.4,9.3,283,7500,0.00,2.15,14.62,0.782,4,0.000,0.067,3553,164,1987,0,0,0,0,0,0
$GC,7525,1.00,228.4,454.5,10.7,284,7529,0.00,1.95,0.00,0.000,6,0.000,0.025,3552,1381,1986,0,0,0,0,0,0
$GC,7818,1.02,246.1,427.3,9.2,291,7837,0.00,0.00,17.45,0.777,6,0.000,0.000,3552,1383,1915,0,0,0,0,0,0
$GC,8060,1.08,246.1,403.1,10.1,297,8064,0.10,2.12,0.00,0.000,4,0.077,0.061,3600,160,1911,0,0,0,0,0,0
$GC,8105,0.97,246.1,397.4,14.4,298,8110,0.22,1.92,0.00,0.000,6,0.093,0.025,3552,1371,1911,0,0,0,0,0,0
$GC,8395,1.06,263.3,369.2,9.2,305,8418,0.00,2.62,16.40,0.739,4,0.000,0.032,3552,2950,1845,0,0,0,0,0,0
$GC,8453,1.26,285.3,363.8,9.0,306,8484,0.25,2.67,20.40,0.740,6,0.041,0.041,3625,1371,1757,0,0,0,0,0,0
$GC,8729,1.16,285.3,326.5,14.0,313,8734,0.15,2.08,0.00,0.000,4,0.104,0.059,3593,162,1752,0,0,0,0,0,0
$GC,8762,1.16,285.3,321.6,13.7,313,8766,0.00,1.92,0.00,0.000,6,0.000,0.023,3593,1380,1752,0,0,0,0,0,0
$GC,9018,1.16,285.3,292.8,11.0,320,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1383,1750,0,0,0,0,0,0
$GC,9260,1.16,285.3,265.7,11.1,326,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1383,1750,0,0,0,0,0,0
$GC,9504,1.16,285.3,238.5,11.2,332,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1383,1749,0,0,0,0,0,0
$GC,9747,1.16,285.3,212.1,10.8,338,9751,0.00,2.55,0.00,0.000,4,0.000,0.029,3593,2961,1748,0,0,0,0,0,0
$GC,9792,1.27,288.8,207.7,9.8,339,9798,0.10,2.65,0.00,0.000,6,0.073,0.036,3639,1359,1745,0,0,0,0,0,0
$GC,10063,1.19,288.8,174.5,12.1,358,10068,0.20,2.00,0.00,0.000,4,0.094,0.050,3596,160,1745,0,0,0,0,0,0
$GC,10092,1.19,288.8,170.7,10.6,360,10103,0.00,1.90,0.00,0.000,6,0.000,0.021,3596,1396,1745,0,0,0,0,0,0
$GC,10359,1.22,316.9,147.6,8.7,385,10389,0.00,0.00,27.83,0.571,6,0.000,0.000,3595,1397,1628,0,0,0,0,0,0
$GC,10640,1.22,316.9,118.8,11.2,412,10644,0.00,2.42,0.00,0.000,4,0.000,0.026,3596,2929,1625,0,0,0,0,0,0
$GC,10678,1.35,316.9,115.0,11.5,415,10684,0.15,2.58,0.00,0.000,6,0.052,0.034,3654,1359,1622,0,0,0,0,0,0
$GC,10942,1.27,316.9,76.4,14.4,439,10947,0.17,1.98,0.00,0.000,4,0.094,0.056,3616,161,1622,0,0,0,0,0,0
$GC,11024,1.27,316.9,66.1,12.7,446,11027,0.00,1.83,0.00,0.000,6,0.000,0.019,3615,1376,1622,0,0,0,0,0,0
$GC,11297,1.29,331.7,40.9,9.3,471,11323,0.00,2.50,14.27,0.449,4,0.000,0.025,3616,2920,1565,0,0,0,0,0,0
$GC,11363,1.43,331.7,33.8,10.9,476,11372,0.10,2.58,0.00,0.000,6,0.028,0.034,3671,1366,1563,0,0,0,0,0,0
$STATE,11594,end climb,SURFACE_DEPTH_REACHED
$STATE,11594,begin surface coast
$FINISH,0.7,1.013976
$STATE,11627,end surface coast,CONTROL_FINISHED_OK
$STATE,11627,begin surface
$SM_CCo,11651,27.35,0.432,0,0,1369,380.21
$SM_GC,1.68,0.00,0.00,27.35,0.000,0.000,0.432,409,1546,1369,-13.48,0.17,380.21
$IRIDIUM_FIX,2244.02,-15754.11,271001,060655
$TT8_MAMPS,0.027612
$HUMID,65.19
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,6
$24V_AH,23.5,49.073
$10V_AH,9.9,38.912
$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,33.700,126.050,411.925,27.350,0.000,60.238,75.132,262.030,1.500,0.000,35.373,1100.948,8074.850,471.093,1899.975,756.233,33.372,1283.877,0.000,1886.313,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,83.603,923.468,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.626,301.009,370.707,534.290,938.628,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38335,516
$CAP_FILE_SIZE,127646,0
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$GPS,020812,091726,2251.181,-15752.743,30,2.1,49,10.1