version: 66.06
glider: 148
mission: 11
dive: 380
start: 8 3 112 9 43 1
data:
$ID,148
$MISSION,11
$DIVE,380
$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,-926608.31
$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,107
$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
$GPS1,093506,2246.012,-15748.188,29,1.0,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.1
$GPS2,094207,2246.000,-15748.169,10,2.0,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,0.009
$KALMAN_X,-160106.6,99.4,277.9,179522.2,-1711.2
$KALMAN_Y,80028.2,180.9,636.1,-84557.1,-1202.3
$MHEAD_RNG_PITCHd_Wd,77.8,22405,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.22,0.000,2,0.000,0.000,409,1568,3077,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-5.4,9,121,14.35,2.40,-8.00,0.000,4,0.168,0.035,3056,3064,3517,0,0,0,0,0,0
$GC,131,0.00,-146.0,17.2,-31.6,14,140,1.25,2.47,0.00,0.000,6,0.088,0.025,3334,1539,3518,0,0,0,0,0,0
$GC,433,-0.81,-146.0,38.5,-9.1,55,446,0.68,2.40,0.00,0.000,4,0.041,0.021,3157,3062,3520,0,0,0,0,0,0
$GC,474,-1.08,-146.0,42.2,-8.9,58,479,0.22,2.42,0.00,0.000,6,0.039,0.027,3061,1543,3520,0,0,0,0,0,0
$GC,739,-0.69,-146.0,91.4,-19.3,82,744,0.55,2.20,0.00,0.000,4,0.093,0.045,3184,171,3520,0,0,0,0,0,0
$GC,759,-0.45,-146.0,94.6,-16.3,83,764,0.25,2.05,0.00,0.000,6,0.081,0.017,3242,1547,3521,0,0,0,0,0,0
$GC,1029,-0.73,-146.0,107.7,-4.7,107,1034,0.25,2.38,0.00,0.000,4,0.034,0.021,3123,3075,3522,0,0,0,0,0,0
$GC,1077,-0.73,-146.0,112.4,-10.3,111,1082,0.25,2.42,0.00,0.000,6,0.080,0.028,3180,1555,3522,0,0,0,0,0,0
$GC,1346,-0.81,-146.0,136.0,-9.0,135,1350,0.00,2.40,0.00,0.000,4,0.000,0.024,3180,3074,3523,0,0,0,0,0,0
$GC,1415,-1.01,-146.0,142.1,-7.2,141,1420,0.25,2.38,0.00,0.000,6,0.036,0.027,3093,1575,3523,0,0,0,0,0,0
$GC,1680,-0.82,-146.0,178.9,-14.4,165,1689,0.30,0.00,0.00,0.000,6,0.089,0.000,3157,1574,3523,0,0,0,0,0,0
$GC,1940,-0.82,-146.0,204.0,-9.2,187,1944,0.00,2.30,0.00,0.000,4,0.000,0.042,3158,163,3524,0,0,0,0,0,0
$GC,1974,-0.89,-146.0,207.2,-9.7,187,1978,0.00,2.12,0.00,0.000,6,0.000,0.018,3157,1563,3525,0,0,0,0,0,0
$GC,2225,-0.98,-146.0,226.2,-7.3,193,2230,0.12,2.45,0.00,0.000,4,0.063,0.025,3085,3109,3525,0,0,0,0,0,0
$GC,2263,-0.98,-146.0,229.9,-10.3,193,2269,0.17,2.42,0.00,0.000,6,0.089,0.028,3126,1590,3525,0,0,0,0,0,0
$GC,2515,-0.98,-146.0,253.6,-9.9,200,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1590,3525,0,0,0,0,0,0
$GC,2756,-0.98,-146.0,279.0,-10.4,206,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3525,0,0,0,0,0,0
$GC,3000,-0.98,-146.0,302.4,-9.4,212,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3525,0,0,0,0,0,0
$GC,3246,-1.05,-146.0,324.2,-8.8,218,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3525,0,0,0,0,0,0
$GC,3488,-1.12,-146.0,346.1,-9.2,224,3493,0.12,2.42,0.00,0.000,4,0.062,0.029,3049,3094,3524,0,0,0,0,0,0
$GC,3508,-1.12,-146.0,348.5,-11.2,224,3513,0.20,2.45,0.00,0.000,6,0.087,0.031,3094,1589,3524,0,0,0,0,0,0
$GC,3774,-1.12,-146.0,376.3,-10.5,231,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1588,3523,0,0,0,0,0,0
$GC,4016,-1.12,-146.0,402.0,-10.5,237,4020,0.00,2.45,0.00,0.000,4,0.000,0.032,3094,3094,3521,0,0,0,0,0,0
$GC,4039,-1.12,-146.0,404.7,-11.5,237,4043,0.00,2.47,0.00,0.000,6,0.000,0.037,3094,1591,3521,0,0,0,0,0,0
$GC,4303,-1.12,-146.0,430.3,-9.4,244,4307,0.00,2.42,0.00,0.000,4,0.000,0.035,3094,3088,3520,0,0,0,0,0,0
$GC,4323,-1.12,-146.0,432.1,-8.8,244,4327,0.00,2.45,0.00,0.000,6,0.000,0.035,3094,1598,3519,0,0,0,0,0,0
$GC,4592,-1.12,-146.0,456.6,-9.0,251,4596,0.00,2.42,0.00,0.000,4,0.000,0.067,3094,176,3518,0,0,0,0,0,0
$GC,4643,-1.12,-146.0,461.4,-8.8,252,4647,0.00,2.20,0.00,0.000,6,0.000,0.029,3095,1563,3518,0,0,0,0,0,0
$GC,4922,-1.12,-146.0,484.3,-8.2,259,4927,0.00,2.55,0.00,0.000,4,0.000,0.041,3095,3117,3516,0,0,0,0,0,0
$GC,4941,-1.12,-146.0,486.2,-8.8,259,4946,0.00,2.53,0.00,0.000,6,0.000,0.038,3094,1594,3516,0,0,0,0,0,0
$GC,5206,-1.12,-146.0,508.6,-8.4,266,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1594,3514,0,0,0,0,0,0
$GC,5451,-1.12,-146.0,529.6,-8.6,272,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1594,3512,0,0,0,0,0,0
$GC,5693,-1.12,-146.0,549.8,-8.3,278,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1594,3510,0,0,0,0,0,0
$GC,5937,-1.12,-146.0,571.2,-8.8,284,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1594,3508,0,0,0,0,0,0
$GC,6180,-1.12,-146.0,592.5,-8.8,290,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1594,3506,0,0,0,0,0,0
$STATE,6300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6300,begin apogee
$GC,6308,-0.31,0.0,602.5,8.3,293,6429,0.77,0.00,118.15,0.928,6,0.075,0.000,3271,1386,2920,0,0,0,0,0,0
$STATE,6430,end apogee,CONTROL_FINISHED_OK
$STATE,6430,begin climb
$GC,6433,1.27,146.0,606.0,0.0,296,6565,1.45,2.25,123.40,0.907,4,0.048,0.083,3617,177,2324,0,0,0,0,0,0
$GC,6803,0.98,146.0,569.3,14.4,304,6807,0.30,1.98,0.00,0.000,6,0.099,0.030,3554,1389,2315,0,0,0,0,0,0
$GC,7076,0.98,151.2,541.8,9.8,311,7085,0.00,2.17,3.80,0.526,4,0.000,0.070,3554,163,2302,0,0,0,0,0,0
$GC,7132,0.89,151.2,535.8,10.7,312,7136,0.00,1.98,0.00,0.000,6,0.000,0.028,3554,1383,2301,0,0,0,0,0,0
$GC,7411,0.96,200.7,513.0,7.7,319,7463,0.00,2.15,45.12,0.858,4,0.000,0.066,3554,170,2100,0,0,0,0,0,0
$GC,7505,0.96,200.7,504.7,10.2,321,7509,0.00,1.98,0.00,0.000,6,0.000,0.026,3554,1378,2098,0,0,0,0,0,0
$GC,7789,1.02,250.5,482.1,7.7,328,7836,0.00,0.00,45.67,0.842,6,0.000,0.000,3554,1380,1898,0,0,0,0,0,0
$GC,8072,1.06,289.1,458.7,8.2,335,8114,0.00,2.17,34.65,0.818,4,0.000,0.062,3554,169,1741,0,0,0,0,0,0
$GC,8135,1.08,300.8,453.3,9.5,336,8152,0.00,1.95,12.15,0.746,6,0.000,0.024,3554,1385,1693,0,0,0,0,0,0
$GC,8408,1.18,314.9,428.1,9.4,343,8429,0.17,2.67,13.65,0.752,4,0.051,0.042,3620,2940,1635,0,0,0,0,0,0
$GC,8463,1.18,314.9,421.0,12.5,344,8469,0.12,2.67,0.00,0.000,6,0.104,0.041,3594,1365,1631,0,0,0,0,0,0
$GC,8742,1.18,314.9,384.9,13.3,351,8746,0.00,2.62,0.00,0.000,4,0.000,0.036,3594,2945,1630,0,0,0,0,0,0
$GC,8780,1.25,314.9,379.8,12.8,351,8785,0.00,2.62,0.00,0.000,6,0.000,0.041,3594,1388,1628,0,0,0,0,0,0
$GC,9031,1.25,314.9,346.4,13.5,358,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1388,1628,0,0,0,0,0,0
$GC,9275,1.25,314.9,314.9,12.7,364,9279,0.00,2.58,0.00,0.000,4,0.000,0.033,3594,2950,1627,0,0,0,0,0,0
$GC,9326,1.34,314.9,308.4,11.9,365,9331,0.15,2.62,0.00,0.000,6,0.056,0.040,3660,1387,1625,0,0,0,0,0,0
$GC,9607,1.17,314.9,263.3,16.6,372,9611,0.28,2.05,0.00,0.000,4,0.092,0.055,3597,165,1625,0,0,0,0,0,0
$GC,9653,1.17,314.9,256.0,13.2,373,9657,0.00,1.92,0.00,0.000,6,0.000,0.022,3597,1407,1624,0,0,0,0,0,0
$GC,9940,1.17,314.9,221.7,12.1,380,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1409,1624,0,0,0,0,0,0
$GC,10187,1.17,314.9,194.8,10.5,389,10191,0.00,2.08,0.00,0.000,4,0.000,0.052,3597,167,1623,0,0,0,0,0,0
$GC,10216,1.17,314.9,192.0,11.3,391,10219,0.00,1.88,0.00,0.000,6,0.000,0.021,3597,1399,1624,0,0,0,0,0,0
$GC,10484,1.17,314.9,161.8,11.4,416,10488,0.00,2.42,0.00,0.000,4,0.000,0.032,3597,2928,1624,0,0,0,0,0,0
$GC,10514,1.25,314.9,158.6,10.8,418,10518,0.00,2.53,0.00,0.000,6,0.000,0.034,3597,1376,1622,0,0,0,0,0,0
$GC,10776,1.25,314.9,127.6,11.6,442,10780,0.00,2.00,0.00,0.000,4,0.000,0.050,3597,169,1622,0,0,0,0,0,0
$GC,10793,1.25,314.9,125.5,12.2,443,10798,0.00,1.83,0.00,0.000,6,0.000,0.021,3597,1398,1622,0,0,0,0,0,0
$GC,11056,1.32,314.9,95.5,10.7,468,11061,0.12,2.40,0.00,0.000,4,0.064,0.026,3658,2922,1622,0,0,0,0,0,0
$GC,11076,1.32,314.9,93.4,11.4,469,11082,0.15,2.50,0.00,0.000,6,0.096,0.033,3625,1389,1622,0,0,0,0,0,0
$GC,11341,1.32,314.9,64.5,10.6,493,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1389,1621,0,0,0,0,0,0
$GC,11606,1.32,314.9,38.4,10.0,518,11611,0.00,2.45,0.00,0.000,4,0.000,0.025,3625,2930,1622,0,0,0,0,0,0
$GC,11637,1.43,345.8,35.4,8.6,520,11675,0.12,2.50,26.33,0.463,6,0.062,0.032,3683,1391,1508,0,0,0,0,0,0
$STATE,11855,end climb,SURFACE_DEPTH_REACHED
$STATE,11855,begin surface coast
$FINISH,0.7,1.023591
$STATE,11888,end surface coast,CONTROL_FINISHED_OK
$STATE,11888,begin surface
$SM_CCo,11913,21.95,0.428,0,0,1370,380.21
$SM_GC,1.68,0.00,0.00,21.95,0.000,0.000,0.428,410,1578,1370,-13.48,1.07,380.21
$IRIDIUM_FIX,2237.01,-15745.45,281001,060630
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.00
$XPDR_PINGS,6
$24V_AH,23.5,50.050
$10V_AH,9.9,39.787
$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,35.825,116.675,422.925,21.950,0.000,23.714,37.857,217.524,1.500,0.000,11.888,1148.225,8097.091,481.373,2005.392,620.682,33.368,1301.982,0.000,2019.416,0.000,0.536,0.000
$DEVICE_MAMPS,167.973,82.836,928.070,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.854,335.645,409.971,615.960,1082.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,44572,557
$CAP_FILE_SIZE,121961,0
$CFSIZE,260165632,155942912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030812,130305,2245.469,-15747.388,27,1.1,27,10.1