version: 66.06
glider: 148
mission: 11
dive: 375
start: 8 2 112 16 38 24
data:
$ID,148
$MISSION,11
$DIVE,375
$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,-926535.25
$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,106
$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
$GPS1,163059,2249.997,-15751.357,36,1.0,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.3
$GPS2,163730,2250.011,-15751.409,8,1.5,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.198
$KALMAN_X,-152113.6,-182.7,-330.8,166881.2,-951.2
$KALMAN_Y,80295.7,-357.2,-284.6,-75935.8,1395.8
$MHEAD_RNG_PITCHd_Wd,129.4,31432,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,409,1577,3270,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.0,10,121,14.40,2.30,-4.15,0.000,4,0.170,0.048,3056,164,3517,0,0,0,0,0,0
$GC,149,-0.57,-146.0,25.0,-33.3,17,159,0.70,2.08,0.00,0.000,6,0.089,0.018,3213,1495,3518,0,0,0,0,0,0
$GC,424,-0.68,-146.0,55.4,-10.1,43,428,0.00,2.55,0.00,0.000,4,0.000,0.024,3213,3108,3519,0,0,0,0,0,0
$GC,501,-0.96,-146.0,63.2,-8.2,49,513,0.35,2.53,0.00,0.000,6,0.033,0.028,3107,1546,3520,0,0,0,0,0,0
$GC,768,-0.77,-146.0,103.0,-14.7,74,772,0.25,2.22,0.00,0.000,4,0.094,0.038,3166,163,3521,0,0,0,0,0,0
$GC,787,-0.65,-146.0,105.8,-15.0,75,792,0.15,2.12,0.00,0.000,6,0.098,0.018,3201,1584,3521,0,0,0,0,0,0
$GC,1057,-0.80,-146.0,125.9,-7.0,99,1062,0.15,2.38,0.00,0.000,4,0.052,0.023,3113,3092,3522,0,0,0,0,0,0
$GC,1106,-0.80,-146.0,131.1,-10.9,103,1111,0.22,2.45,0.00,0.000,6,0.082,0.028,3164,1569,3522,0,0,0,0,0,0
$GC,1371,-0.80,-146.0,157.7,-10.4,127,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1569,3523,0,0,0,0,0,0
$GC,1632,-0.80,-146.0,184.8,-10.1,152,1637,0.00,2.40,0.00,0.000,4,0.000,0.024,3164,3098,3523,0,0,0,0,0,0
$GC,1664,-0.89,-146.0,187.9,-10.0,154,1670,0.00,2.45,0.00,0.000,6,0.000,0.027,3165,1572,3523,0,0,0,0,0,0
$GC,1922,-0.97,-146.0,211.1,-9.1,170,1927,0.15,2.40,0.00,0.000,4,0.053,0.024,3084,3094,3524,0,0,0,0,0,0
$GC,1951,-0.97,-146.0,214.7,-12.0,170,1956,0.20,2.40,0.00,0.000,6,0.086,0.028,3130,1588,3524,0,0,0,0,0,0
$GC,2208,-0.97,-146.0,242.6,-10.8,177,2212,0.00,2.33,0.00,0.000,4,0.000,0.044,3130,161,3524,0,0,0,0,0,0
$GC,2231,-0.97,-146.0,245.5,-11.7,177,2235,0.00,2.15,0.00,0.000,6,0.000,0.018,3130,1579,3524,0,0,0,0,0,0
$GC,2490,-0.97,-146.0,270.2,-9.3,184,2494,0.00,2.38,0.00,0.000,4,0.000,0.025,3130,3099,3524,0,0,0,0,0,0
$GC,2530,-1.11,-146.0,273.6,-7.7,184,2536,0.12,2.42,0.00,0.000,6,0.063,0.028,3051,1594,3524,0,0,0,0,0,0
$GC,2780,-0.92,-146.0,306.3,-13.6,191,2785,0.35,2.33,0.00,0.000,4,0.084,0.045,3135,172,3524,0,0,0,0,0,0
$GC,2842,-1.06,-146.0,312.9,-9.3,192,2847,0.10,2.15,0.00,0.000,6,0.074,0.020,3070,1575,3524,0,0,0,0,0,0
$GC,3113,-0.94,-146.0,345.8,-12.5,199,3115,0.30,0.00,0.00,0.000,6,0.084,0.000,3135,1577,3524,0,0,0,0,0,0
$GC,3355,-1.04,-146.0,367.7,-8.6,205,3359,0.00,2.45,0.00,0.000,4,0.000,0.031,3135,3104,3524,0,0,0,0,0,0
$GC,3376,-1.16,-146.0,369.5,-9.0,205,3381,0.20,2.47,0.00,0.000,6,0.041,0.033,3032,1591,3523,0,0,0,0,0,0
$GC,3641,-0.90,-146.0,405.8,-14.2,212,3648,0.52,2.38,0.00,0.000,4,0.083,0.059,3140,178,3522,0,0,0,0,0,0
$GC,3725,-1.09,-146.0,413.2,-7.1,213,3730,0.15,2.20,0.00,0.000,6,0.054,0.024,3072,1576,3522,0,0,0,0,0,0
$GC,3977,-1.01,-146.0,437.7,-10.0,219,3979,0.20,0.00,0.00,0.000,6,0.090,0.000,3117,1576,3520,0,0,0,0,0,0
$GC,4219,-1.08,-146.0,456.8,-7.7,225,4224,0.00,2.47,0.00,0.000,4,0.000,0.038,3117,3108,3518,0,0,0,0,0,0
$GC,4240,-1.17,-146.0,458.4,-8.4,225,4246,0.12,2.53,0.00,0.000,6,0.061,0.037,3036,1574,3518,0,0,0,0,0,0
$GC,4505,-0.98,-146.0,491.2,-12.7,232,4511,0.38,2.40,0.00,0.000,4,0.083,0.069,3119,172,3516,0,0,0,0,0,0
$GC,4550,-1.09,-146.0,495.8,-9.7,233,4554,0.00,2.17,0.00,0.000,6,0.000,0.030,3119,1546,3516,0,0,0,0,0,0
$GC,4839,-1.18,-146.0,520.8,-8.8,240,4845,0.15,2.62,0.00,0.000,4,0.056,0.044,3055,3122,3513,0,0,0,0,0,0
$GC,4877,-1.18,-146.0,525.5,-11.3,240,4884,0.12,2.60,0.00,0.000,6,0.099,0.044,3085,1556,3514,0,0,0,0,0,0
$GC,5129,-1.18,-146.0,550.8,-10.1,247,5133,0.00,2.42,0.00,0.000,4,0.000,0.076,3085,164,3511,0,0,0,0,0,0
$GC,5143,-1.18,-146.0,552.5,-9.9,247,5147,0.00,2.25,0.00,0.000,6,0.000,0.031,3085,1562,3512,0,0,0,0,0,0
$GC,5412,-1.18,-146.0,578.7,-9.7,254,5416,0.00,2.60,0.00,0.000,4,0.000,0.048,3085,3120,3510,0,0,0,0,0,0
$GC,5432,-1.18,-146.0,580.5,-9.2,254,5437,0.00,2.62,0.00,0.000,6,0.000,0.044,3085,1556,3510,0,0,0,0,0,0
$STATE,5653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5653,begin apogee
$GC,5659,-0.31,0.0,600.5,8.9,260,5781,0.82,0.00,118.43,0.920,6,0.075,0.000,3273,1376,2920,0,0,0,0,0,0
$STATE,5782,end apogee,CONTROL_FINISHED_OK
$STATE,5782,begin climb
$GC,5785,1.27,146.0,603.8,0.0,263,5917,1.45,2.22,123.28,0.900,4,0.048,0.081,3616,177,2323,0,0,0,0,0,0
$GC,6131,0.97,146.0,574.8,12.0,270,6136,0.30,1.98,0.00,0.000,6,0.097,0.028,3554,1376,2316,0,0,0,0,0,0
$GC,6386,1.04,201.8,554.7,7.4,277,6437,0.00,0.00,48.30,0.871,6,0.000,0.000,3554,1376,2097,0,0,0,0,0,0
$GC,6674,1.06,216.0,529.1,9.3,284,6694,0.00,2.12,12.82,0.787,4,0.000,0.067,3554,173,2039,0,0,0,0,0,0
$GC,6740,1.06,216.0,521.9,11.6,285,6744,0.00,1.95,0.00,0.000,6,0.000,0.028,3554,1378,2038,0,0,0,0,0,0
$GC,7010,1.06,216.0,493.7,10.6,292,7013,0.00,2.12,0.00,0.000,4,0.000,0.073,3554,172,2034,0,0,0,0,0,0
$GC,7043,1.06,216.0,490.0,11.5,292,7047,0.00,1.92,0.00,0.000,6,0.000,0.026,3554,1378,2034,0,0,0,0,0,0
$GC,7297,1.06,216.0,463.6,10.1,299,7302,0.00,2.60,0.00,0.000,4,0.000,0.039,3554,2952,2032,0,0,0,0,0,0
$GC,7321,1.07,224.5,461.2,9.6,299,7334,0.00,2.67,8.10,0.709,6,0.000,0.043,3554,1370,2004,0,0,0,0,0,0
$GC,7580,1.10,248.4,437.9,8.9,305,7606,0.10,0.00,23.52,0.798,6,0.077,0.000,3603,1370,1907,0,0,0,0,0,0
$GC,7823,1.02,248.4,410.2,11.6,311,7827,0.20,2.08,0.00,0.000,4,0.092,0.064,3559,168,1903,0,0,0,0,0,0
$GC,7860,1.02,248.4,405.9,11.2,311,7866,0.00,1.90,0.00,0.000,6,0.000,0.024,3559,1372,1903,0,0,0,0,0,0
$GC,8111,1.02,248.4,380.0,10.4,318,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1375,1901,0,0,0,0,0,0
$GC,8354,1.02,248.4,351.6,12.0,324,8358,0.00,2.08,0.00,0.000,4,0.000,0.060,3559,161,1900,0,0,0,0,0,0
$GC,8404,1.02,248.4,344.8,13.7,325,8408,0.00,1.90,0.00,0.000,6,0.000,0.022,3559,1372,1900,0,0,0,0,0,0
$GC,8688,1.09,248.4,313.9,10.6,332,8692,0.00,2.55,0.00,0.000,4,0.000,0.032,3559,2947,1898,0,0,0,0,0,0
$GC,8716,1.23,273.7,311.1,8.8,332,8745,0.20,2.65,22.62,0.716,6,0.044,0.041,3639,1362,1804,0,0,0,0,0,0
$GC,9022,1.11,273.7,271.5,12.9,340,9027,0.25,2.03,0.00,0.000,4,0.089,0.058,3580,160,1799,0,0,0,0,0,0
$GC,9106,1.11,273.7,261.8,10.3,341,9112,0.00,1.88,0.00,0.000,6,0.000,0.021,3580,1376,1799,0,0,0,0,0,0
$GC,9358,1.12,281.8,238.1,9.6,348,9370,0.00,2.53,7.53,0.572,4,0.000,0.028,3580,2937,1771,0,0,0,0,0,0
$GC,9434,1.29,300.9,230.9,9.1,349,9459,0.17,2.62,18.58,0.639,6,0.048,0.038,3653,1353,1692,0,0,0,0,0,0
$GC,9723,1.16,300.9,190.6,14.3,361,9728,0.25,2.00,0.00,0.000,4,0.087,0.051,3594,163,1689,0,0,0,0,0,0
$GC,9756,1.16,300.9,186.1,13.2,364,9760,0.00,1.85,0.00,0.000,6,0.000,0.022,3594,1377,1689,0,0,0,0,0,0
$GC,10024,1.20,329.9,160.2,8.7,389,10053,0.00,0.00,27.00,0.584,6,0.000,0.000,3594,1380,1574,0,0,0,0,0,0
$GC,10306,1.21,340.6,133.0,9.5,416,10322,0.00,2.53,10.48,0.512,4,0.000,0.027,3594,2921,1530,0,0,0,0,0,0
$GC,10344,1.30,343.3,129.8,9.9,419,10349,0.12,2.58,0.00,0.000,6,0.061,0.034,3660,1365,1528,0,0,0,0,0,0
$GC,10608,1.19,343.3,89.8,16.4,443,10614,0.28,0.00,0.00,0.000,6,0.081,0.000,3598,1365,1527,0,0,0,0,0,0
$GC,10876,1.30,343.3,56.6,12.2,468,10885,0.10,0.00,0.00,0.000,6,0.075,0.000,3656,1365,1527,0,0,0,0,0,0
$GC,11154,1.30,343.3,18.1,13.7,500,11163,0.15,2.53,0.00,0.000,4,0.094,0.026,3621,2920,1527,0,0,0,0,0,0
$GC,11174,1.30,343.3,15.7,12.9,502,11182,0.00,2.55,0.00,0.000,6,0.000,0.032,3621,1370,1526,0,0,0,0,0,0
$STATE,11271,end climb,SURFACE_DEPTH_REACHED
$STATE,11271,begin surface coast
$FINISH,0.8,1.007575
$STATE,11313,end surface coast,CONTROL_FINISHED_OK
$STATE,11313,begin surface
$SM_CCo,11336,19.73,0.428,0,0,1370,380.21
$SM_GC,1.78,0.00,0.00,19.73,0.000,0.000,0.428,413,1557,1370,-13.47,0.48,380.21
$IRIDIUM_FIX,2241.69,-15748.90,271001,131358
$TT8_MAMPS,0.027612
$HUMID,66.53
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.80
$XPDR_PINGS,7
$24V_AH,23.5,49.439
$10V_AH,9.9,39.255
$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,36.550,130.550,420.650,19.725,0.000,30.310,34.865,183.251,1.750,0.000,15.169,1121.150,7611.770,488.616,1942.828,582.326,33.377,1316.900,0.000,1939.114,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,81.302,920.400,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.427,309.373,381.710,555.144,975.356,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41555,523
$CAP_FILE_SIZE,127258,0
$CFSIZE,260165632,156225536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020812,194901,2249.262,-15750.812,23,1.1,38,10.1