version: 66.06
glider: 148
mission: 11
dive: 390
start: 8 4 112 20 18 54
data:
$ID,148
$MISSION,11
$DIVE,390
$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,-926790.94
$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,26
$R_STBD_OVSHOOT,117
$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
$GPS1,200836,2240.570,-15740.786,36,1.2,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.0
$GPS2,201800,2240.556,-15740.880,9,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.127
$KALMAN_X,-175103.3,-322.8,-132.0,207792.6,-713.2
$KALMAN_Y,79712.0,-40.2,518.6,-93984.6,130.8
$MHEAD_RNG_PITCHd_Wd,109.1,6392,-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,-67.20,0.000,2,0.000,0.000,412,1589,3069,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.6,9,120,13.77,2.38,-8.35,0.000,4,0.152,0.053,3057,173,3518,0,0,0,0,0,0
$GC,136,-0.40,-146.0,18.4,-29.2,15,144,0.85,2.03,0.00,0.000,6,0.091,0.018,3245,1488,3519,0,0,0,0,0,0
$GC,421,-0.58,-146.0,45.0,-8.2,48,426,0.12,2.47,0.00,0.000,4,0.059,0.023,3151,3058,3521,0,0,0,0,0,0
$GC,498,-0.58,-146.0,53.7,-12.1,54,503,0.28,2.42,0.00,0.000,6,0.078,0.029,3214,1547,3521,0,0,0,0,0,0
$GC,767,-0.69,-146.0,80.0,-9.3,78,776,0.10,0.00,0.00,0.000,6,0.074,0.000,3146,1547,3522,0,0,0,0,0,0
$GC,1032,-0.69,-146.0,113.1,-12.4,103,1037,0.20,2.38,0.00,0.000,4,0.091,0.021,3191,3051,3523,0,0,0,0,0,0
$GC,1103,-0.95,-146.0,119.7,-8.4,109,1108,0.25,2.38,0.00,0.000,6,0.034,0.028,3083,1558,3523,0,0,0,0,0,0
$GC,1368,-0.74,-146.0,158.7,-14.9,133,1373,0.40,2.25,0.00,0.000,4,0.084,0.040,3174,163,3524,0,0,0,0,0,0
$GC,1425,-0.89,-146.0,165.0,-9.2,138,1430,0.12,2.05,0.00,0.000,6,0.061,0.018,3099,1528,3524,0,0,0,0,0,0
$GC,1686,-0.75,-146.0,195.4,-11.9,162,1691,0.32,2.45,0.00,0.000,4,0.084,0.022,3174,3094,3525,0,0,0,0,0,0
$GC,1737,-0.98,-146.0,199.2,-7.2,166,1742,0.20,2.45,0.00,0.000,6,0.041,0.028,3090,1556,3525,0,0,0,0,0,0
$GC,1998,-0.86,-146.0,231.2,-12.8,173,2003,0.25,2.42,0.00,0.000,4,0.085,0.023,3151,3089,3525,0,0,0,0,0,0
$GC,2039,-1.03,-146.0,235.4,-9.6,173,2045,0.15,2.42,0.00,0.000,6,0.052,0.028,3073,1570,3525,0,0,0,0,0,0
$GC,2289,-0.87,-146.0,267.2,-12.8,180,2294,0.30,2.28,0.00,0.000,4,0.087,0.043,3143,170,3525,0,0,0,0,0,0
$GC,2352,-1.00,-146.0,273.4,-9.3,181,2356,0.00,2.12,0.00,0.000,6,0.000,0.019,3143,1556,3526,0,0,0,0,0,0
$GC,2626,-1.10,-146.0,296.3,-8.6,188,2631,0.17,2.45,0.00,0.000,4,0.048,0.027,3056,3102,3526,0,0,0,0,0,0
$GC,2683,-1.01,-146.0,303.1,-12.7,189,2688,0.28,2.50,0.00,0.000,6,0.079,0.030,3119,1559,3525,0,0,0,0,0,0
$GC,2958,-1.01,-146.0,329.9,-9.3,196,2962,0.00,2.30,0.00,0.000,4,0.000,0.051,3119,171,3525,0,0,0,0,0,0
$GC,2982,-1.01,-146.0,332.3,-9.5,196,2986,0.00,2.12,0.00,0.000,6,0.000,0.020,3119,1554,3525,0,0,0,0,0,0
$GC,3247,-1.01,-146.0,352.2,-7.1,203,3251,0.00,2.50,0.00,0.000,4,0.000,0.030,3118,3113,3524,0,0,0,0,0,0
$GC,3285,-1.14,-146.0,354.9,-5.9,203,3291,0.12,2.53,0.00,0.000,6,0.061,0.034,3032,1562,3524,0,0,0,0,0,0
$GC,3535,-0.92,-146.0,384.7,-12.5,210,3541,0.45,2.35,0.00,0.000,4,0.084,0.056,3136,164,3523,0,0,0,0,0,0
$GC,3583,-1.08,-146.0,388.8,-7.3,211,3588,0.12,2.20,0.00,0.000,6,0.061,0.024,3070,1563,3523,0,0,0,0,0,0
$GC,3871,-0.99,-146.0,420.5,-11.5,218,3873,0.22,0.00,0.00,0.000,6,0.088,0.000,3122,1564,3521,0,0,0,0,0,0
$GC,4117,-1.07,-146.0,443.6,-9.4,224,4121,0.00,2.50,0.00,0.000,4,0.000,0.037,3122,3111,3519,0,0,0,0,0,0
$GC,4150,-1.21,-146.0,447.1,-9.8,224,4155,0.20,2.58,0.00,0.000,6,0.042,0.038,3034,1556,3519,0,0,0,0,0,0
$GC,4400,-1.03,-146.0,482.0,-14.2,230,4402,0.38,0.00,0.00,0.000,6,0.085,0.000,3118,1556,3518,0,0,0,0,0,0
$GC,4646,-1.11,-146.0,506.7,-9.8,236,4650,0.00,2.58,0.00,0.000,4,0.000,0.041,3118,3107,3515,0,0,0,0,0,0
$GC,4684,-1.26,-146.0,510.4,-9.3,236,4690,0.22,2.58,0.00,0.000,6,0.040,0.042,3010,1567,3516,0,0,0,0,0,0
$GC,4934,-1.03,-146.0,544.7,-13.7,243,4941,0.43,2.42,0.00,0.000,4,0.088,0.074,3108,167,3514,0,0,0,0,0,0
$GC,4995,-1.13,-146.0,550.1,-7.9,244,4999,0.00,2.22,0.00,0.000,6,0.000,0.031,3108,1548,3514,0,0,0,0,0,0
$GC,5269,-1.20,-146.0,567.5,-6.0,251,5274,0.12,2.62,0.00,0.000,4,0.062,0.048,3046,3119,3512,0,0,0,0,0,0
$GC,5295,-1.20,-146.0,569.4,-8.2,251,5300,0.15,2.62,0.00,0.000,6,0.094,0.044,3080,1559,3512,0,0,0,0,0,0
$GC,5555,-1.20,-146.0,587.7,-6.9,258,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1559,3510,0,0,0,0,0,0
$STATE,5755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5755,begin apogee
$GC,5762,-0.31,0.0,602.9,7.6,263,5883,0.82,0.00,118.57,0.925,6,0.075,0.000,3270,1379,2920,0,0,0,0,0,0
$STATE,5884,end apogee,CONTROL_FINISHED_OK
$STATE,5884,begin climb
$GC,5888,1.27,146.0,606.0,0.0,266,6022,1.48,2.22,123.05,0.906,4,0.051,0.081,3617,161,2323,0,0,0,0,0,0
$GC,6261,0.98,146.0,578.2,10.7,274,6266,0.30,1.98,0.00,0.000,6,0.097,0.028,3554,1392,2315,0,0,0,0,0,0
$GC,6532,1.09,230.2,561.2,6.1,281,6610,0.10,0.00,73.75,0.883,6,0.077,0.000,3598,1393,1981,0,0,0,0,0,0
$GC,6854,1.00,230.2,528.1,10.9,289,6859,0.20,2.15,0.00,0.000,4,0.094,0.066,3555,164,1972,0,0,0,0,0,0
$GC,6933,1.00,230.2,519.1,10.6,290,6937,0.00,1.98,0.00,0.000,6,0.000,0.027,3556,1371,1971,0,0,0,0,0,0
$GC,7189,1.00,230.2,492.9,10.4,297,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1373,1968,0,0,0,0,0,0
$GC,7432,1.00,230.5,468.4,10.0,303,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,1373,1967,0,0,0,0,0,0
$GC,7675,1.02,241.4,445.1,9.5,309,7691,0.00,2.67,9.18,0.725,4,0.000,0.039,3555,2965,1934,0,0,0,0,0,0
$GC,7713,1.12,256.5,441.7,9.3,309,7734,0.12,2.72,15.35,0.772,6,0.062,0.042,3614,1362,1874,0,0,0,0,0,0
$GC,8009,1.02,256.5,404.2,12.8,317,8014,0.22,2.05,0.00,0.000,4,0.093,0.061,3564,167,1869,0,0,0,0,0,0
$GC,8044,1.02,256.5,399.9,11.4,317,8048,0.00,1.92,0.00,0.000,6,0.000,0.025,3565,1380,1870,0,0,0,0,0,0
$GC,8298,1.04,267.8,374.7,9.5,324,8311,0.00,0.00,11.05,0.709,6,0.000,0.000,3564,1383,1828,0,0,0,0,0,0
$GC,8542,1.06,286.4,352.5,9.1,330,8561,0.00,0.00,17.73,0.729,6,0.000,0.000,3564,1383,1752,0,0,0,0,0,0
$GC,8787,1.16,301.3,329.6,9.3,336,8809,0.12,2.62,14.45,0.697,4,0.065,0.035,3623,2940,1691,0,0,0,0,0,0
$GC,8855,1.16,301.3,321.0,12.3,337,8863,0.15,2.67,0.00,0.000,6,0.094,0.041,3590,1357,1688,0,0,0,0,0,0
$GC,9122,1.16,301.3,289.9,11.7,344,9127,0.00,2.60,0.00,0.000,4,0.000,0.031,3590,2948,1687,0,0,0,0,0,0
$GC,9152,1.23,301.3,286.5,11.7,344,9157,0.00,2.65,0.00,0.000,6,0.000,0.039,3590,1368,1685,0,0,0,0,0,0
$GC,9407,1.23,301.3,257.5,11.2,351,9411,0.00,2.03,0.00,0.000,4,0.000,0.057,3590,167,1685,0,0,0,0,0,0
$GC,9440,1.23,301.3,253.7,12.3,351,9444,0.00,1.90,0.00,0.000,6,0.000,0.021,3590,1390,1685,0,0,0,0,0,0
$GC,9701,1.23,303.9,227.0,9.9,358,9705,0.00,2.50,0.00,0.000,4,0.000,0.028,3590,2939,1685,0,0,0,0,0,0
$GC,9780,1.42,342.2,219.6,8.2,359,9825,0.25,2.60,37.20,0.647,6,0.039,0.037,3663,1376,1524,0,0,0,0,0,0
$GC,10085,1.28,342.2,174.0,16.3,376,10090,0.20,0.00,0.00,0.000,6,0.096,0.000,3620,1376,1519,0,0,0,0,0,0
$GC,10353,1.28,342.2,139.0,13.3,401,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1376,1518,0,0,0,0,0,0
$GC,10615,1.28,342.2,103.0,14.0,426,10619,0.00,2.03,0.00,0.000,4,0.000,0.051,3620,160,1518,0,0,0,0,0,0
$GC,10670,1.28,342.2,95.1,14.2,431,10676,0.00,1.88,0.00,0.000,6,0.000,0.020,3619,1397,1518,0,0,0,0,0,0
$GC,10939,1.28,342.2,66.5,10.1,456,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1399,1517,0,0,0,0,0,0
$GC,11203,1.28,342.2,39.3,10.4,481,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1398,1517,0,0,0,0,0,0
$GC,11499,1.28,342.2,7.9,10.5,522,11507,0.00,2.45,0.00,0.000,4,0.000,0.026,3619,2930,1517,0,0,0,0,0,0
$STATE,11533,end climb,SURFACE_DEPTH_REACHED
$STATE,11533,begin surface coast
$FINISH,2.5,1.023473
$STATE,11547,end surface coast,CONTROL_FINISHED_OK
$STATE,11547,begin surface
$SM_CCo,11572,17.98,0.423,0,0,1369,380.21
$SM_GC,1.91,0.00,0.00,17.98,0.000,0.000,0.423,413,1520,1369,-13.46,-0.59,380.21
$IRIDIUM_FIX,2230.01,-15741.13,291001,202043
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,4
$24V_AH,23.5,51.285
$10V_AH,9.9,40.862
$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,37.075,117.825,420.325,17.975,0.000,61.565,114.603,176.526,1.000,0.000,16.340,1127.982,7840.034,508.910,1997.194,678.430,33.373,1310.266,0.000,1994.795,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,81.302,925.002,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.608,307.770,379.951,597.567,1049.921,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41565,529
$CAP_FILE_SIZE,123753,0
$CFSIZE,260165632,155332608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040812,233321,2239.631,-15739.844,14,99.0,33,10.1