version: 66.06
glider: 148
mission: 11
dive: 387
start: 8 4 112 9 56 25
data:
$ID,148
$MISSION,11
$DIVE,387
$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,-926743.69
$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,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
$GPS1,094505,2241.761,-15742.730,41,1.1,41,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.6
$GPS2,095531,2241.771,-15742.701,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.004
$KALMAN_X,-170435.2,159.4,231.7,199168.4,-1339.2
$KALMAN_Y,79612.9,40.4,713.3,-91906.7,-1206.6
$MHEAD_RNG_PITCHd_Wd,80.8,10231,-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,-74.30,0.000,2,0.000,0.000,409,1545,3318,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.4,10,122,13.82,2.25,-3.22,0.000,4,0.153,0.042,3056,162,3517,0,0,0,0,0,0
$GC,150,-0.57,-146.0,27.6,-36.2,17,159,0.68,2.10,0.00,0.000,6,0.087,0.019,3208,1505,3518,0,0,0,0,0,0
$GC,419,-0.57,-146.0,60.7,-11.2,42,424,0.00,2.53,0.00,0.000,4,0.000,0.024,3208,3113,3519,0,0,0,0,0,0
$GC,496,-0.83,-146.0,68.5,-9.0,48,501,0.20,2.53,0.00,0.000,6,0.044,0.028,3139,1553,3519,0,0,0,0,0,0
$GC,760,-0.73,-146.0,104.5,-13.6,72,765,0.20,2.25,0.00,0.000,4,0.093,0.039,3183,170,3520,0,0,0,0,0,0
$GC,781,-0.73,-146.0,107.7,-12.5,73,787,0.00,2.10,0.00,0.000,6,0.000,0.026,3183,1585,3520,0,0,0,0,0,0
$GC,1045,-0.81,-146.0,130.1,-8.2,98,1049,0.00,2.35,0.00,0.000,4,0.000,0.022,3183,3087,3521,0,0,0,0,0,0
$GC,1086,-1.00,-146.0,133.3,-7.6,101,1091,0.25,2.45,0.00,0.000,6,0.037,0.028,3078,1562,3521,0,0,0,0,0,0
$GC,1347,-0.77,-146.0,172.2,-15.4,125,1352,0.38,2.22,0.00,0.000,4,0.088,0.038,3164,171,3521,0,0,0,0,0,0
$GC,1398,-0.92,-146.0,178.4,-9.7,129,1408,0.08,2.12,0.00,0.000,6,0.032,0.018,3095,1556,3522,0,0,0,0,0,0
$GC,1658,-0.78,-146.0,211.8,-13.4,148,1660,0.32,0.00,0.00,0.000,6,0.084,0.000,3167,1559,3522,0,0,0,0,0,0
$GC,1902,-0.90,-146.0,231.9,-7.9,154,1907,0.10,2.45,0.00,0.000,4,0.075,0.024,3104,3099,3523,0,0,0,0,0,0
$GC,1954,-0.90,-146.0,237.5,-9.8,155,1959,0.17,2.45,0.00,0.000,6,0.087,0.028,3144,1565,3522,0,0,0,0,0,0
$GC,2235,-0.98,-146.0,262.2,-9.3,162,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1565,3523,0,0,0,0,0,0
$GC,2477,-1.07,-146.0,284.2,-9.0,168,2482,0.15,2.47,0.00,0.000,4,0.054,0.027,3067,3102,3523,0,0,0,0,0,0
$GC,2496,-1.07,-146.0,286.5,-10.8,168,2501,0.17,2.50,0.00,0.000,6,0.093,0.028,3108,1553,3523,0,0,0,0,0,0
$GC,2762,-1.07,-146.0,314.4,-10.3,175,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1552,3522,0,0,0,0,0,0
$GC,3005,-1.07,-146.0,337.9,-9.5,181,3009,0.00,2.47,0.00,0.000,4,0.000,0.029,3107,3091,3522,0,0,0,0,0,0
$GC,3033,-1.07,-146.0,340.6,-9.4,181,3038,0.00,2.47,0.00,0.000,6,0.000,0.031,3108,1559,3522,0,0,0,0,0,0
$GC,3290,-1.07,-146.0,364.2,-9.5,188,3291,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1559,3520,0,0,0,0,0,0
$GC,3532,-1.07,-146.0,386.5,-9.0,194,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1559,3519,0,0,0,0,0,0
$GC,3775,-1.07,-146.0,407.7,-8.7,200,3780,0.00,2.50,0.00,0.000,4,0.000,0.035,3108,3090,3518,0,0,0,0,0,0
$GC,3822,-1.18,-146.0,411.8,-8.4,201,3828,0.10,2.50,0.00,0.000,6,0.072,0.037,3044,1564,3518,0,0,0,0,0,0
$GC,4107,-1.02,-146.0,444.9,-12.1,208,4112,0.30,2.38,0.00,0.000,4,0.091,0.066,3114,171,3515,0,0,0,0,0,0
$GC,4136,-1.02,-146.0,448.2,-9.8,208,4141,0.00,2.15,0.00,0.000,6,0.000,0.028,3114,1529,3515,0,0,0,0,0,0
$GC,4393,-1.08,-146.0,467.6,-7.5,215,4398,0.00,2.60,0.00,0.000,4,0.000,0.039,3114,3118,3513,0,0,0,0,0,0
$GC,4450,-1.23,-146.0,471.8,-6.7,216,4455,0.17,2.55,0.00,0.000,6,0.047,0.039,3037,1570,3513,0,0,0,0,0,0
$GC,4726,-1.07,-146.0,500.1,-10.8,223,4731,0.28,2.42,0.00,0.000,4,0.094,0.071,3101,171,3511,0,0,0,0,0,0
$GC,4759,-1.07,-146.0,503.5,-7.8,223,4764,0.00,2.28,0.00,0.000,6,0.000,0.031,3102,1579,3511,0,0,0,0,0,0
$GC,5010,-1.07,-146.0,522.2,-7.5,229,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1579,3509,0,0,0,0,0,0
$GC,5253,-1.07,-146.0,540.7,-7.6,235,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1579,3508,0,0,0,0,0,0
$GC,5499,-1.07,-146.0,560.4,-8.2,241,5503,0.00,2.45,0.00,0.000,4,0.000,0.071,3102,172,3506,0,0,0,0,0,0
$GC,5518,-1.07,-146.0,562.3,-9.0,241,5522,0.00,2.28,0.00,0.000,6,0.000,0.032,3101,1573,3505,0,0,0,0,0,0
$GC,5782,-1.07,-146.0,584.3,-8.4,248,5786,0.00,2.58,0.00,0.000,4,0.000,0.051,3101,3126,3504,0,0,0,0,0,0
$GC,5798,-1.07,-146.0,585.7,-8.4,248,5803,0.00,2.62,0.00,0.000,6,0.000,0.044,3102,1567,3503,0,0,0,0,0,0
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5989,-0.31,0.0,601.4,8.4,253,6110,0.75,0.00,117.53,0.930,6,0.076,0.000,3272,1372,2920,0,0,0,0,0,0
$STATE,6111,end apogee,CONTROL_FINISHED_OK
$STATE,6111,begin climb
$GC,6114,1.27,146.0,605.9,0.0,256,6246,1.45,2.22,123.00,0.911,4,0.048,0.082,3615,174,2323,0,0,0,0,0,0
$GC,6400,0.99,146.0,586.8,12.5,262,6405,0.28,2.00,0.00,0.000,6,0.102,0.029,3558,1387,2317,0,0,0,0,0,0
$GC,6669,1.06,202.4,566.0,7.4,269,6725,0.00,2.17,48.88,0.884,4,0.000,0.070,3557,170,2093,0,0,0,0,0,0
$GC,6819,1.06,202.4,551.5,11.4,272,6822,0.00,1.98,0.00,0.000,6,0.000,0.028,3558,1385,2091,0,0,0,0,0,0
$GC,7091,1.07,208.0,524.7,9.7,279,7098,0.00,0.00,4.85,0.617,6,0.000,0.000,3558,1385,2072,0,0,0,0,0,0
$GC,7336,1.07,208.0,500.0,10.1,285,7340,0.00,2.12,0.00,0.000,4,0.000,0.064,3558,163,2069,0,0,0,0,0,0
$GC,7398,1.07,208.0,492.6,11.2,286,7401,0.00,1.92,0.00,0.000,6,0.000,0.025,3558,1381,2069,0,0,0,0,0,0
$GC,7670,1.07,208.0,464.4,10.3,293,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1383,2067,0,0,0,0,0,0
$GC,7915,1.07,208.0,439.2,10.2,299,7919,0.00,2.60,0.00,0.000,4,0.000,0.040,3558,2954,2066,0,0,0,0,0,0
$GC,7972,1.16,212.6,433.4,9.8,300,7984,0.15,2.65,4.43,0.568,6,0.055,0.043,3623,1369,2053,0,0,0,0,0,0
$GC,8248,1.02,212.6,400.1,11.8,307,8253,0.25,2.05,0.00,0.000,4,0.093,0.064,3564,164,2052,0,0,0,0,0,0
$GC,8283,1.02,212.6,396.3,11.5,307,8286,0.00,1.90,0.00,0.000,6,0.000,0.025,3564,1382,2052,0,0,0,0,0,0
$GC,8537,1.04,233.5,372.9,9.0,314,8562,0.00,2.12,20.42,0.762,4,0.000,0.058,3564,167,1966,0,0,0,0,0,0
$GC,8606,1.04,233.5,365.9,11.1,315,8609,0.00,1.90,0.00,0.000,6,0.000,0.024,3564,1376,1966,0,0,0,0,0,0
$GC,8869,1.05,238.9,339.8,9.8,322,8877,0.00,0.00,5.65,0.591,6,0.000,0.000,3564,1378,1946,0,0,0,0,0,0
$GC,9113,1.05,242.0,315.6,9.9,328,9119,0.00,0.00,4.40,0.514,6,0.000,0.000,3564,1378,1933,0,0,0,0,0,0
$GC,9359,1.14,258.3,292.9,9.2,334,9383,0.10,2.10,16.70,0.689,4,0.077,0.056,3611,170,1865,0,0,0,0,0,0
$GC,9423,1.03,258.3,285.2,14.5,335,9427,0.22,1.90,0.00,0.000,6,0.092,0.022,3563,1380,1864,0,0,0,0,0,0
$GC,9694,1.13,270.3,259.2,9.4,342,9711,0.10,2.58,11.50,0.634,4,0.076,0.031,3614,2945,1818,0,0,0,0,0,0
$GC,9721,1.13,270.3,255.9,11.9,342,9726,0.12,2.67,0.00,0.000,6,0.100,0.038,3586,1354,1816,0,0,0,0,0,0
$GC,9976,1.13,270.3,228.5,10.6,349,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1354,1814,0,0,0,0,0,0
$GC,10222,1.14,275.8,204.4,9.7,355,10234,0.00,2.62,5.85,0.508,4,0.000,0.028,3586,2946,1795,0,0,0,0,0,0
$GC,10258,1.27,286.5,200.8,9.5,355,10277,0.12,2.62,10.73,0.580,6,0.063,0.035,3651,1361,1752,0,0,0,0,0,0
$GC,10534,1.15,286.5,165.2,12.9,381,10536,0.28,0.00,0.00,0.000,6,0.085,0.000,3590,1362,1749,0,0,0,0,0,0
$GC,10792,1.17,302.3,140.3,9.3,405,10812,0.00,2.00,15.38,0.547,4,0.000,0.049,3590,168,1686,0,0,0,0,0,0
$GC,10837,1.17,302.3,135.9,10.3,409,10841,0.00,1.88,0.00,0.000,6,0.000,0.020,3590,1396,1686,0,0,0,0,0,0
$GC,11105,1.31,347.6,113.0,7.9,434,11152,0.15,2.50,41.05,0.543,4,0.055,0.028,3659,2934,1500,0,0,0,0,0,0
$GC,11195,1.31,347.6,102.5,12.3,442,11200,0.15,2.58,0.00,0.000,6,0.092,0.038,3624,1376,1496,0,0,0,0,0,0
$GC,11459,1.31,347.6,73.8,10.8,466,11463,0.00,2.00,0.00,0.000,4,0.000,0.048,3624,160,1495,0,0,0,0,0,0
$GC,11487,1.31,347.6,71.0,10.8,468,11490,0.00,1.85,0.00,0.000,6,0.000,0.019,3624,1391,1495,0,0,0,0,0,0
$GC,11758,1.31,347.6,39.1,11.8,493,11762,0.00,2.03,0.00,0.000,4,0.000,0.047,3624,160,1495,0,0,0,0,0,0
$GC,11785,1.31,347.6,34.9,12.6,495,11794,0.00,1.85,0.00,0.000,6,0.000,0.018,3624,1375,1495,0,0,0,0,0,0
$STATE,12059,end climb,SURFACE_DEPTH_REACHED
$STATE,12059,begin surface coast
$FINISH,0.7,1.010974
$STATE,12098,end surface coast,CONTROL_FINISHED_OK
$STATE,12098,begin surface
$SM_CCo,12121,22.25,0.431,0,0,1370,380.21
$SM_GC,1.57,0.00,0.00,22.25,0.000,0.000,0.431,415,1586,1370,-13.45,1.30,380.21
$IRIDIUM_FIX,2234.68,-15743.29,291001,090906
$TT8_MAMPS,0.026845
$HUMID,65.00
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,23.5,50.914
$10V_AH,10.0,40.529
$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,34.400,124.350,430.350,22.250,0.000,55.427,81.327,274.160,2.000,0.000,16.296,1145.644,8418.370,471.752,1965.785,767.291,33.371,1305.925,0.000,1961.105,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,82.069,930.371,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.725,305.930,383.647,562.738,987.424,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,41680,542
$CAP_FILE_SIZE,132052,0
$CFSIZE,260165632,155504640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040812,132026,2241.123,-15741.956,33,99.0,52,10.1