version: 66.06
glider: 148
mission: 11
dive: 385
start: 8 4 112 3 0 49
data:
$ID,148
$MISSION,11
$DIVE,385
$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,-926708.75
$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,28
$R_STBD_OVSHOOT,85
$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
$GPS1,025259,2243.042,-15744.357,64,1.4,64,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.5
$GPS2,025955,2243.082,-15744.406,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.126
$KALMAN_X,-167713.5,9.4,-124.3,194042.3,-1461.8
$KALMAN_Y,79914.3,100.4,-723.2,-88404.1,579.8
$MHEAD_RNG_PITCHd_Wd,108.9,14016,-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,-67.32,0.000,2,0.000,0.000,412,1563,3111,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.9,9,121,14.32,2.30,-7.15,0.000,4,0.169,0.049,3056,166,3518,0,0,0,0,0,0
$GC,131,-0.00,-146.0,18.7,-34.4,14,140,1.25,2.10,0.00,0.000,6,0.094,0.018,3332,1525,3519,0,0,0,0,0,0
$GC,426,-0.80,-146.0,39.2,-9.0,53,438,0.68,2.47,0.00,0.000,4,0.048,0.021,3161,3105,3521,0,0,0,0,0,0
$GC,478,-0.93,-146.0,44.6,-9.0,57,487,0.08,2.55,0.00,0.000,6,0.032,0.035,3074,1539,3521,0,0,0,0,0,0
$GC,742,-0.61,-146.0,93.0,-18.8,82,751,0.60,0.00,0.00,0.000,6,0.085,0.000,3210,1538,3522,0,0,0,0,0,0
$GC,1009,-0.79,-146.0,115.9,-7.0,107,1014,0.17,2.47,0.00,0.000,4,0.046,0.023,3114,3107,3523,0,0,0,0,0,0
$GC,1061,-0.79,-146.0,121.3,-10.1,111,1068,0.25,2.50,0.00,0.000,6,0.081,0.028,3171,1544,3523,0,0,0,0,0,0
$GC,1325,-0.79,-146.0,145.9,-9.5,136,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1544,3523,0,0,0,0,0,0
$GC,1585,-0.87,-146.0,167.4,-8.2,160,1589,0.00,2.45,0.00,0.000,4,0.000,0.023,3171,3107,3524,0,0,0,0,0,0
$GC,1639,-1.10,-146.0,172.0,-6.8,165,1644,0.30,2.47,0.00,0.000,6,0.031,0.027,3046,1553,3524,0,0,0,0,0,0
$GC,1911,-0.81,-146.0,214.3,-15.7,184,1916,0.50,2.22,0.00,0.000,4,0.086,0.039,3157,171,3525,0,0,0,0,0,0
$GC,1935,-0.81,-146.0,218.0,-11.7,184,1939,0.00,2.12,0.00,0.000,6,0.000,0.018,3157,1574,3525,0,0,0,0,0,0
$GC,2195,-0.91,-146.0,239.8,-8.5,191,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1576,3525,0,0,0,0,0,0
$GC,2440,-1.02,-146.0,258.7,-7.5,197,2445,0.17,2.40,0.00,0.000,4,0.048,0.025,3075,3095,3525,0,0,0,0,0,0
$GC,2484,-1.02,-146.0,263.1,-9.0,198,2489,0.17,2.47,0.00,0.000,6,0.090,0.028,3115,1548,3525,0,0,0,0,0,0
$GC,2773,-1.02,-146.0,289.2,-9.0,205,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1548,3525,0,0,0,0,0,0
$GC,3015,-1.02,-146.0,310.4,-9.0,211,3020,0.00,2.47,0.00,0.000,4,0.000,0.027,3116,3094,3525,0,0,0,0,0,0
$GC,3059,-1.12,-146.0,314.2,-8.4,212,3064,0.00,2.50,0.00,0.000,6,0.000,0.031,3116,1554,3525,0,0,0,0,0,0
$GC,3348,-1.12,-146.0,343.3,-10.4,219,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1555,3524,0,0,0,0,0,0
$GC,3590,-1.12,-146.0,366.2,-9.2,225,3594,0.00,2.47,0.00,0.000,4,0.000,0.031,3115,3095,3523,0,0,0,0,0,0
$GC,3614,-1.20,-146.0,368.5,-10.1,225,3619,0.15,2.50,0.00,0.000,6,0.052,0.034,3030,1557,3523,0,0,0,0,0,0
$GC,3876,-0.97,-146.0,405.1,-14.2,232,3881,0.43,2.35,0.00,0.000,4,0.085,0.061,3122,171,3522,0,0,0,0,0,0
$GC,3905,-0.97,-146.0,408.9,-10.5,232,3909,0.00,2.15,0.00,0.000,6,0.000,0.024,3122,1537,3521,0,0,0,0,0,0
$GC,4161,-1.05,-146.0,430.5,-8.5,239,4166,0.00,2.58,0.00,0.000,4,0.000,0.035,3122,3115,3520,0,0,0,0,0,0
$GC,4192,-1.19,-146.0,433.2,-7.9,239,4197,0.17,2.58,0.00,0.000,6,0.047,0.038,3030,1563,3520,0,0,0,0,0,0
$GC,4448,-0.99,-146.0,467.8,-13.7,246,4453,0.40,2.40,0.00,0.000,4,0.087,0.068,3119,168,3518,0,0,0,0,0,0
$GC,4521,-1.11,-146.0,474.9,-9.1,247,4525,0.00,2.20,0.00,0.000,6,0.000,0.028,3120,1549,3518,0,0,0,0,0,0
$GC,4780,-1.20,-146.0,494.6,-7.6,254,4785,0.17,2.58,0.00,0.000,4,0.049,0.041,3049,3120,3516,0,0,0,0,0,0
$GC,4805,-1.20,-146.0,497.3,-10.6,254,4810,0.12,2.60,0.00,0.000,6,0.102,0.040,3078,1560,3516,0,0,0,0,0,0
$GC,5067,-1.20,-146.0,524.9,-10.8,261,5071,0.00,2.40,0.00,0.000,4,0.000,0.074,3078,170,3514,0,0,0,0,0,0
$GC,5099,-1.20,-146.0,528.9,-11.5,261,5103,0.00,2.22,0.00,0.000,6,0.000,0.031,3078,1548,3514,0,0,0,0,0,0
$GC,5353,-1.20,-146.0,556.2,-10.7,268,5358,0.00,2.60,0.00,0.000,4,0.000,0.044,3078,3129,3512,0,0,0,0,0,0
$GC,5411,-1.20,-146.0,562.3,-10.7,269,5415,0.00,2.62,0.00,0.000,6,0.000,0.044,3078,1556,3511,0,0,0,0,0,0
$GC,5684,-1.20,-146.0,590.2,-10.2,276,5688,0.00,2.62,0.00,0.000,4,0.000,0.044,3078,3129,3510,0,0,0,0,0,0
$GC,5722,-1.26,-146.0,593.8,-9.2,276,5727,0.00,2.62,0.00,0.000,6,0.000,0.047,3078,1573,3510,0,0,0,0,0,0
$STATE,5806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5807,begin apogee
$GC,5815,-0.31,0.0,601.9,9.2,279,5937,0.85,0.00,118.70,0.922,6,0.077,0.000,3271,1377,2920,0,0,0,0,0,0
$STATE,5937,end apogee,CONTROL_FINISHED_OK
$STATE,5937,begin climb
$GC,5940,1.27,146.0,605.4,0.0,282,6072,1.45,2.25,122.75,0.904,4,0.048,0.084,3616,172,2323,0,0,0,0,0,0
$GC,6161,0.97,146.0,591.9,12.2,287,6166,0.30,1.98,0.00,0.000,6,0.097,0.028,3553,1389,2319,0,0,0,0,0,0
$GC,6445,1.02,190.4,568.9,8.0,294,6490,0.00,2.72,38.58,0.867,4,0.000,0.047,3553,2958,2142,0,0,0,0,0,0
$GC,6538,1.10,206.9,560.5,9.2,296,6559,0.12,2.67,15.45,0.810,6,0.064,0.046,3607,1392,2076,0,0,0,0,0,0
$GC,6822,0.98,206.9,524.7,13.0,303,6830,0.25,2.62,0.00,0.000,4,0.089,0.040,3549,2958,2070,0,0,0,0,0,0
$GC,6846,0.98,206.9,521.4,10.8,303,6850,0.00,2.67,0.00,0.000,6,0.000,0.045,3549,1390,2068,0,0,0,0,0,0
$GC,7111,0.99,217.3,496.1,9.5,310,7127,0.00,2.15,9.32,0.742,4,0.000,0.073,3549,167,2033,0,0,0,0,0,0
$GC,7192,0.99,217.3,487.1,10.7,311,7196,0.00,1.98,0.00,0.000,6,0.000,0.025,3549,1411,2033,0,0,0,0,0,0
$GC,7447,1.01,236.3,463.6,9.1,318,7471,0.00,2.22,18.60,0.798,4,0.000,0.063,3549,169,1955,0,0,0,0,0,0
$GC,7505,1.01,236.3,457.9,10.2,319,7509,0.00,1.95,0.00,0.000,6,0.000,0.025,3549,1390,1955,0,0,0,0,0,0
$GC,7783,1.08,239.6,430.6,9.8,326,7789,0.12,0.00,3.75,0.499,6,0.066,0.000,3600,1392,1943,0,0,0,0,0,0
$GC,8028,1.02,239.6,401.2,12.3,332,8033,0.17,2.12,0.00,0.000,4,0.096,0.061,3561,163,1942,0,0,0,0,0,0
$GC,8071,1.02,239.6,395.9,11.6,333,8075,0.00,1.92,0.00,0.000,6,0.000,0.025,3561,1390,1942,0,0,0,0,0,0
$GC,8362,1.04,256.7,368.2,9.2,340,8382,0.00,0.00,17.38,0.740,6,0.000,0.000,3561,1391,1873,0,0,0,0,0,0
$GC,8608,1.11,256.7,343.8,10.2,346,8612,0.00,2.53,0.00,0.000,4,0.000,0.031,3561,2942,1868,0,0,0,0,0,0
$GC,8632,1.24,290.9,341.4,8.4,346,8669,0.20,2.62,31.38,0.742,6,0.044,0.041,3644,1375,1733,0,0,0,0,0,0
$GC,8934,1.10,290.9,297.8,14.6,354,8939,0.25,2.58,0.00,0.000,4,0.091,0.032,3585,2944,1728,0,0,0,0,0,0
$GC,8958,1.10,290.9,294.4,11.7,354,8963,0.00,2.65,0.00,0.000,6,0.000,0.041,3585,1368,1726,0,0,0,0,0,0
$GC,9218,1.10,290.9,265.2,11.1,361,9221,0.00,2.03,0.00,0.000,4,0.000,0.058,3585,160,1725,0,0,0,0,0,0
$GC,9251,1.10,290.9,261.4,12.0,361,9255,0.00,1.90,0.00,0.000,6,0.000,0.021,3585,1388,1725,0,0,0,0,0,0
$GC,9510,1.11,294.4,235.3,9.8,368,9514,0.00,2.47,0.00,0.000,4,0.000,0.028,3585,2940,1725,0,0,0,0,0,0
$GC,9539,1.21,302.4,232.6,9.6,368,9555,0.00,2.60,10.30,0.600,6,0.000,0.038,3585,1377,1686,0,0,0,0,0,0
$GC,9846,1.27,302.4,200.4,10.7,376,9850,0.12,2.05,0.00,0.000,4,0.067,0.054,3633,162,1684,0,0,0,0,0,0
$GC,9884,1.16,302.4,195.0,14.1,376,9888,0.20,1.88,0.00,0.000,6,0.094,0.021,3589,1385,1684,0,0,0,0,0,0
$GC,10149,1.22,302.4,167.0,10.4,400,10153,0.00,2.47,0.00,0.000,4,0.000,0.027,3589,2938,1684,0,0,0,0,0,0
$GC,10178,1.34,302.4,163.5,10.4,402,10187,0.12,2.60,0.00,0.000,6,0.024,0.035,3659,1374,1681,0,0,0,0,0,0
$GC,10443,1.21,302.4,126.1,14.6,427,10448,0.25,2.50,0.00,0.000,4,0.088,0.026,3600,2936,1682,0,0,0,0,0,0
$GC,10459,1.21,302.4,123.1,14.6,428,10464,0.00,2.55,0.00,0.000,6,0.000,0.032,3600,1379,1681,0,0,0,0,0,0
$GC,10724,1.21,302.4,91.7,11.1,452,10727,0.00,2.00,0.00,0.000,4,0.000,0.049,3599,168,1681,0,0,0,0,0,0
$GC,10785,1.21,302.4,84.4,10.8,458,10788,0.00,1.85,0.00,0.000,6,0.000,0.020,3599,1397,1681,0,0,0,0,0,0
$GC,11058,1.33,326.3,59.8,8.9,483,11088,0.12,0.00,22.40,0.486,6,0.064,0.000,3659,1398,1589,0,0,0,0,0,0
$GC,11350,1.27,326.3,25.1,12.9,513,11360,0.20,0.00,0.00,0.000,6,0.087,0.000,3614,1399,1587,0,0,0,0,0,0
$STATE,11548,end climb,SURFACE_DEPTH_REACHED
$STATE,11548,begin surface coast
$FINISH,0.7,1.023713
$STATE,11593,end surface coast,CONTROL_FINISHED_OK
$STATE,11593,begin surface
$SM_CCo,11616,32.78,0.439,0,0,1369,380.21
$SM_GC,1.53,0.00,0.00,32.78,0.000,0.000,0.439,413,1544,1369,-13.46,0.14,380.21
$IRIDIUM_FIX,2237.01,-15742.40,281001,232337
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.90
$XPDR_PINGS,6
$24V_AH,23.5,50.670
$10V_AH,9.9,40.320
$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,37.500,138.025,408.600,32.775,0.000,28.500,43.439,200.714,1.500,0.000,16.311,1171.240,7691.434,485.412,2097.626,619.626,33.372,1350.798,0.000,2092.612,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,84.370,921.934,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.215,327.525,405.656,631.159,1108.962,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,41474,551
$CAP_FILE_SIZE,131079,0
$CFSIZE,260165632,155627520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040812,061645,2242.608,-15743.649,48,1.8,63,10.1