version: 66.06
glider: 148
mission: 11
dive: 391
start: 8 4 112 23 40 37
data:
$ID,148
$MISSION,11
$DIVE,391
$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,-926804.94
$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,30
$R_STBD_OVSHOOT,76
$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
$GPS1,233321,2239.631,-15739.844,14,99.0,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-76.3
$GPS2,233943,2239.652,-15739.894,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.259,0.023
$KALMAN_X,-176738.4,-267.9,418.8,210508.7,-1673.1
$KALMAN_Y,79534.8,95.9,414.3,-95509.8,-1065.9
$MHEAD_RNG_PITCHd_Wd,74.9,4073,-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,-74.47,0.000,2,0.000,0.000,413,1519,3287,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.0,10,119,14.15,0.00,-3.83,0.000,6,0.163,0.000,3056,1519,3516,0,0,0,0,0,0
$GC,384,-0.87,-146.0,77.6,-20.1,41,389,0.40,2.50,0.00,0.000,4,0.096,0.021,3146,3092,3519,0,0,0,0,0,0
$GC,427,-0.87,-146.0,84.4,-12.6,44,436,0.00,2.53,0.00,0.000,6,0.000,0.030,3145,1544,3519,0,0,0,0,0,0
$GC,692,-0.87,-146.0,117.9,-12.7,69,696,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1544,3520,0,0,0,0,0,0
$GC,954,-0.87,-146.0,150.6,-11.7,94,958,0.00,2.42,0.00,0.000,4,0.000,0.023,3145,3094,3521,0,0,0,0,0,0
$GC,974,-0.87,-146.0,153.1,-11.1,95,980,0.00,2.50,0.00,0.000,6,0.000,0.026,3146,1541,3521,0,0,0,0,0,0
$GC,1237,-0.87,-146.0,181.8,-11.1,120,1241,0.00,2.42,0.00,0.000,4,0.000,0.024,3146,3089,3522,0,0,0,0,0,0
$GC,1257,-0.87,-146.0,183.7,-11.1,121,1261,0.00,2.47,0.00,0.000,6,0.000,0.026,3146,1542,3522,0,0,0,0,0,0
$GC,1544,-0.87,-146.0,211.6,-9.3,139,1549,0.00,2.42,0.00,0.000,4,0.000,0.024,3145,3089,3523,0,0,0,0,0,0
$GC,1563,-0.87,-146.0,213.5,-9.6,139,1568,0.00,2.47,0.00,0.000,6,0.000,0.027,3146,1548,3523,0,0,0,0,0,0
$GC,1829,-0.87,-146.0,236.1,-8.6,146,1833,0.00,2.42,0.00,0.000,4,0.000,0.024,3145,3093,3524,0,0,0,0,0,0
$GC,1858,-0.98,-146.0,238.7,-8.0,146,1862,0.00,2.47,0.00,0.000,6,0.000,0.028,3145,1555,3524,0,0,0,0,0,0
$GC,2113,-1.05,-146.0,261.1,-8.9,153,2118,0.15,2.42,0.00,0.000,4,0.053,0.025,3070,3088,3524,0,0,0,0,0,0
$GC,2178,-0.99,-146.0,268.7,-12.2,154,2183,0.25,2.42,0.00,0.000,6,0.084,0.028,3127,1568,3524,0,0,0,0,0,0
$GC,2447,-0.99,-146.0,295.6,-9.6,161,2451,0.00,2.42,0.00,0.000,4,0.000,0.025,3127,3091,3524,0,0,0,0,0,0
$GC,2468,-0.99,-146.0,297.4,-9.0,161,2472,0.00,2.45,0.00,0.000,6,0.000,0.029,3127,1574,3524,0,0,0,0,0,0
$GC,2732,-0.99,-146.0,319.7,-8.5,168,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1574,3524,0,0,0,0,0,0
$GC,2975,-0.99,-146.0,337.0,-7.0,174,2980,0.00,2.42,0.00,0.000,4,0.000,0.028,3127,3094,3522,0,0,0,0,0,0
$GC,3015,-1.11,-146.0,339.9,-7.1,174,3021,0.12,2.45,0.00,0.000,6,0.061,0.031,3037,1589,3522,0,0,0,0,0,0
$GC,3265,-0.90,-146.0,369.8,-12.3,181,3270,0.43,2.35,0.00,0.000,4,0.083,0.053,3138,172,3522,0,0,0,0,0,0
$GC,3300,-1.00,-146.0,373.0,-8.2,181,3304,0.00,2.12,0.00,0.000,6,0.000,0.021,3138,1546,3522,0,0,0,0,0,0
$GC,3552,-1.12,-146.0,389.5,-6.5,187,3557,0.17,2.55,0.00,0.000,4,0.048,0.035,3064,3120,3520,0,0,0,0,0,0
$GC,3576,-1.12,-146.0,392.1,-9.8,187,3582,0.15,2.53,0.00,0.000,6,0.095,0.035,3099,1587,3520,0,0,0,0,0,0
$GC,3837,-1.12,-146.0,416.1,-9.5,194,3841,0.00,2.42,0.00,0.000,4,0.000,0.064,3099,163,3519,0,0,0,0,0,0
$GC,3889,-1.12,-146.0,421.6,-10.6,195,3894,0.00,2.25,0.00,0.000,6,0.000,0.026,3099,1582,3518,0,0,0,0,0,0
$GC,4167,-1.12,-146.0,447.2,-9.0,202,4171,0.00,2.50,0.00,0.000,4,0.000,0.036,3099,3117,3517,0,0,0,0,0,0
$GC,4207,-1.21,-146.0,450.6,-8.5,202,4213,0.10,2.55,0.00,0.000,6,0.074,0.038,3037,1582,3517,0,0,0,0,0,0
$GC,4457,-1.04,-146.0,479.5,-11.6,209,4462,0.30,2.42,0.00,0.000,4,0.087,0.068,3109,167,3515,0,0,0,0,0,0
$GC,4559,-1.12,-146.0,488.4,-8.4,211,4563,0.00,2.22,0.00,0.000,6,0.000,0.029,3109,1570,3515,0,0,0,0,0,0
$GC,4837,-1.12,-146.0,510.2,-7.8,218,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1571,3513,0,0,0,0,0,0
$GC,5081,-1.12,-146.0,528.1,-7.3,224,5085,0.00,2.55,0.00,0.000,4,0.000,0.044,3110,3115,3511,0,0,0,0,0,0
$GC,5102,-1.20,-146.0,529.6,-8.1,224,5107,0.12,2.58,0.00,0.000,6,0.061,0.041,3030,1576,3511,0,0,0,0,0,0
$GC,5367,-1.01,-146.0,559.3,-11.5,231,5369,0.43,0.00,0.00,0.000,6,0.088,0.000,3118,1576,3509,0,0,0,0,0,0
$GC,5611,-1.11,-146.0,576.5,-6.8,237,5615,0.00,2.58,0.00,0.000,4,0.000,0.045,3118,3115,3508,0,0,0,0,0,0
$GC,5632,-1.22,-146.0,578.1,-8.1,237,5637,0.20,2.60,0.00,0.000,6,0.042,0.046,3033,1573,3508,0,0,0,0,0,0
$STATE,5853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5853,begin apogee
$GC,5860,-0.31,0.0,603.1,11.5,243,5982,1.08,0.00,118.25,0.929,6,0.084,0.000,3272,1366,2920,0,0,0,0,0,0
$STATE,5982,end apogee,CONTROL_FINISHED_OK
$STATE,5983,begin climb
$GC,5985,1.27,146.0,607.8,0.0,246,6117,1.45,2.22,123.07,0.910,4,0.044,0.084,3619,175,2324,0,0,0,0,0,0
$GC,6221,0.96,146.0,595.0,11.1,251,6226,0.32,2.00,0.00,0.000,6,0.096,0.034,3551,1409,2317,0,0,0,0,0,0
$GC,6495,1.05,220.8,576.0,6.5,258,6567,0.00,2.25,64.90,0.890,4,0.000,0.071,3551,165,2019,0,0,0,0,0,0
$GC,6608,1.05,220.8,566.1,11.0,260,6612,0.00,1.98,0.00,0.000,6,0.000,0.028,3551,1376,2017,0,0,0,0,0,0
$GC,6871,1.05,220.8,540.0,10.0,267,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1377,2011,0,0,0,0,0,0
$GC,7115,1.05,220.8,513.9,10.8,273,7119,0.00,2.65,0.00,0.000,4,0.000,0.047,3551,2957,2009,0,0,0,0,0,0
$GC,7173,1.17,220.8,508.0,10.4,274,7180,0.17,2.67,0.00,0.000,6,0.050,0.044,3617,1378,2006,0,0,0,0,0,0
$GC,7449,1.03,220.8,472.1,12.9,281,7454,0.25,2.10,0.00,0.000,4,0.091,0.066,3559,167,2006,0,0,0,0,0,0
$GC,7544,1.03,220.8,461.5,10.6,283,7547,0.00,1.92,0.00,0.000,6,0.000,0.024,3559,1383,2006,0,0,0,0,0,0
$GC,7830,1.06,246.3,435.6,8.8,290,7858,0.00,2.17,22.10,0.802,4,0.000,0.061,3559,170,1914,0,0,0,0,0,0
$GC,7878,1.08,263.3,431.3,9.2,291,7901,0.00,1.92,17.20,0.775,6,0.000,0.025,3559,1372,1846,0,0,0,0,0,0
$GC,8163,1.08,265.4,403.9,9.9,298,8167,0.00,2.08,0.00,0.000,4,0.000,0.060,3559,164,1840,0,0,0,0,0,0
$GC,8195,1.08,265.4,400.1,11.0,298,8198,0.00,1.88,0.00,0.000,6,0.000,0.025,3559,1366,1840,0,0,0,0,0,0
$GC,8451,1.15,265.4,373.9,10.4,305,8456,0.12,2.58,0.00,0.000,4,0.066,0.034,3609,2942,1838,0,0,0,0,0,0
$GC,8484,1.15,265.4,369.6,12.2,305,8489,0.00,2.65,0.00,0.000,6,0.000,0.041,3609,1364,1836,0,0,0,0,0,0
$GC,8734,1.08,265.4,338.5,12.4,311,8739,0.15,2.08,0.00,0.000,4,0.103,0.064,3575,160,1836,0,0,0,0,0,0
$GC,8759,1.08,265.4,335.6,11.9,311,8763,0.00,1.92,0.00,0.000,6,0.000,0.024,3576,1368,1836,0,0,0,0,0,0
$GC,9023,1.08,267.0,309.4,9.9,318,9027,0.00,2.58,0.00,0.000,4,0.000,0.032,3575,2951,1836,0,0,0,0,0,0
$GC,9075,1.21,280.2,304.4,9.4,319,9095,0.12,2.65,14.70,0.690,6,0.063,0.047,3635,1373,1776,0,0,0,0,0,0
$GC,9359,1.11,280.2,266.1,14.1,326,9361,0.25,0.00,0.00,0.000,6,0.091,0.000,3581,1372,1772,0,0,0,0,0,0
$GC,9598,1.11,280.2,240.2,10.3,332,9603,0.00,2.55,0.00,0.000,4,0.000,0.028,3581,2951,1771,0,0,0,0,0,0
$GC,9636,1.26,301.2,236.7,9.0,332,9662,0.12,2.62,19.10,0.650,6,0.061,0.038,3646,1375,1691,0,0,0,0,0,0
$GC,9934,1.15,301.2,199.5,12.6,340,9939,0.25,2.03,0.00,0.000,4,0.088,0.051,3591,167,1688,0,0,0,0,0,0
$GC,10001,1.15,301.2,191.8,11.2,346,10005,0.00,1.90,0.00,0.000,6,0.000,0.021,3591,1414,1688,0,0,0,0,0,0
$GC,10269,1.15,301.2,163.5,11.0,371,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1416,1687,0,0,0,0,0,0
$GC,10534,1.22,301.2,131.9,12.0,396,10539,0.00,2.42,0.00,0.000,4,0.000,0.026,3591,2937,1687,0,0,0,0,0,0
$GC,10601,1.36,301.2,124.1,10.6,402,10606,0.17,2.58,0.00,0.000,6,0.048,0.040,3659,1370,1684,0,0,0,0,0,0
$GC,10864,1.26,301.2,88.9,13.1,426,10869,0.20,2.00,0.00,0.000,4,0.091,0.050,3616,168,1684,0,0,0,0,0,0
$GC,10907,1.26,301.2,83.4,12.2,430,10910,0.00,1.83,0.00,0.000,6,0.000,0.020,3615,1377,1684,0,0,0,0,0,0
$GC,11179,1.27,309.6,57.8,9.6,455,11193,0.00,2.47,8.65,0.438,4,0.000,0.024,3615,2938,1656,0,0,0,0,0,0
$GC,11221,1.36,309.6,53.6,10.1,458,11226,0.10,2.58,0.00,0.000,6,0.074,0.033,3665,1370,1654,0,0,0,0,0,0
$GC,11501,1.27,309.6,19.0,12.4,489,11510,0.22,2.53,0.00,0.000,4,0.089,0.025,3616,2932,1654,0,0,0,0,0,0
$GC,11544,1.40,309.6,14.1,10.1,495,11553,0.08,2.58,0.00,0.000,6,0.034,0.035,3670,1375,1654,0,0,0,0,0,0
$STATE,11622,end climb,SURFACE_DEPTH_REACHED
$STATE,11622,begin surface coast
$FINISH,0.8,1.023418
$STATE,11660,end surface coast,CONTROL_FINISHED_OK
$STATE,11660,begin surface
$SM_CCo,11685,37.15,0.436,0,0,1369,380.21
$SM_GC,1.84,0.00,0.00,37.15,0.000,0.000,0.436,409,1582,1369,-13.48,1.19,380.21
$IRIDIUM_FIX,2232.34,-15738.08,291001,202034
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,9
$24V_AH,23.5,51.399
$10V_AH,9.9,40.962
$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,35.125,142.400,387.975,37.150,0.000,22.147,36.510,182.609,2.250,0.000,13.374,1117.522,8026.350,470.790,1901.230,587.119,33.378,1305.392,0.000,1899.375,0.000,0.538,0.000
$DEVICE_MAMPS,162.604,84.370,928.837,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.252,282.162,358.597,504.487,884.585,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,41466,512
$CAP_FILE_SIZE,128483,0
$CFSIZE,260165632,155267072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050812,025723,2239.375,-15739.221,24,1.3,41,10.1