version: 66.06
glider: 148
mission: 11
dive: 418
start: 8 8 112 21 16 6
data:
$ID,148
$MISSION,11
$DIVE,418
$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,-927409.06
$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,1580
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,73
$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
$GPS1,210750,2258.388,-15744.295,48,99.0,67,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-75.7
$GPS2,211512,2258.426,-15744.396,9,0.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,-0.259
$KALMAN_X,-228010.4,1.5,-86.4,254325.9,-2046.9
$KALMAN_Y,93071.8,-184.4,-315.1,-73273.8,1431.9
$MHEAD_RNG_PITCHd_Wd,166.6,49650,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.57,0.000,2,0.000,0.000,411,1555,3300,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-7.1,10,121,13.68,2.30,-3.67,0.000,4,0.148,0.046,3057,163,3518,0,0,0,0,0,0
$GC,237,-0.91,-146.0,44.7,-22.6,27,242,0.38,2.15,0.00,0.000,6,0.094,0.018,3138,1573,3520,0,0,0,0,0,0
$GC,506,-0.79,-146.0,87.8,-14.5,51,511,0.12,2.53,0.00,0.000,4,0.114,0.025,3167,3155,3521,0,0,0,0,0,0
$GC,564,-0.94,-146.0,96.1,-10.1,56,570,0.15,2.53,0.00,0.000,6,0.051,0.028,3076,1579,3522,0,0,0,0,0,0
$GC,829,-0.65,-146.0,141.1,-16.9,80,834,0.57,2.28,0.00,0.000,4,0.085,0.038,3194,166,3522,0,0,0,0,0,0
$GC,881,-0.89,-146.0,147.3,-8.6,84,890,0.17,2.20,0.00,0.000,6,0.019,0.018,3092,1611,3523,0,0,0,0,0,0
$GC,1148,-0.70,-146.0,180.1,-12.2,109,1154,0.38,2.38,0.00,0.000,4,0.084,0.023,3181,3124,3524,0,0,0,0,0,0
$GC,1178,-0.80,-146.0,184.0,-8.0,111,1187,0.00,2.50,0.00,0.000,6,0.000,0.027,3181,1587,3523,0,0,0,0,0,0
$GC,1471,-0.93,-146.0,207.9,-9.4,133,1476,0.17,2.45,0.00,0.000,4,0.046,0.023,3088,3126,3525,0,0,0,0,0,0
$GC,1490,-0.93,-146.0,210.9,-11.7,133,1495,0.22,2.45,0.00,0.000,6,0.084,0.026,3139,1587,3524,0,0,0,0,0,0
$GC,1757,-0.93,-146.0,243.1,-11.7,140,1761,0.00,2.45,0.00,0.000,4,0.000,0.024,3139,3132,3525,0,0,0,0,0,0
$GC,1785,-1.03,-146.0,246.2,-9.5,140,1790,0.10,2.45,0.00,0.000,6,0.074,0.027,3066,1606,3525,0,0,0,0,0,0
$GC,2041,-0.79,-146.0,280.7,-13.7,147,2046,0.47,2.33,0.00,0.000,4,0.081,0.041,3163,171,3525,0,0,0,0,0,0
$GC,2091,-0.98,-146.0,285.0,-7.3,148,2096,0.15,2.12,0.00,0.000,6,0.051,0.019,3081,1577,3525,0,0,0,0,0,0
$GC,2374,-0.86,-146.0,314.2,-10.7,155,2379,0.28,2.47,0.00,0.000,4,0.084,0.027,3146,3139,3525,0,0,0,0,0,0
$GC,2422,-1.05,-146.0,318.4,-7.9,156,2428,0.15,2.53,0.00,0.000,6,0.052,0.031,3057,1587,3525,0,0,0,0,0,0
$GC,2706,-0.84,-146.0,357.3,-14.6,163,2711,0.47,2.38,0.00,0.000,4,0.080,0.051,3153,171,3525,0,0,0,0,0,0
$GC,2737,-0.97,-146.0,360.9,-10.4,163,2742,0.10,2.17,0.00,0.000,6,0.072,0.021,3086,1577,3525,0,0,0,0,0,0
$GC,2992,-0.90,-146.0,388.9,-11.1,170,2998,0.25,2.58,0.00,0.000,4,0.081,0.034,3145,3155,3524,0,0,0,0,0,0
$GC,3023,-1.06,-146.0,391.7,-7.9,170,3028,0.15,2.55,0.00,0.000,6,0.051,0.034,3058,1592,3524,0,0,0,0,0,0
$GC,3280,-0.90,-146.0,421.2,-11.8,177,3285,0.40,2.42,0.00,0.000,4,0.080,0.061,3142,171,3523,0,0,0,0,0,0
$GC,3300,-0.90,-146.0,423.7,-11.3,177,3304,0.00,2.22,0.00,0.000,6,0.000,0.024,3142,1597,3523,0,0,0,0,0,0
$GC,3565,-1.04,-146.0,441.6,-6.4,184,3567,0.12,0.00,0.00,0.000,6,0.062,0.000,3082,1597,3521,0,0,0,0,0,0
$GC,3807,-1.04,-146.0,465.1,-10.0,190,3812,0.15,2.58,0.00,0.000,4,0.095,0.040,3117,3151,3519,0,0,0,0,0,0
$GC,3831,-1.04,-146.0,467.5,-9.4,190,3836,0.00,2.60,0.00,0.000,6,0.000,0.038,3116,1587,3519,0,0,0,0,0,0
$GC,4093,-1.11,-146.0,491.4,-9.4,197,4097,0.00,2.45,0.00,0.000,4,0.000,0.071,3116,170,3518,0,0,0,0,0,0
$GC,4130,-1.21,-146.0,495.5,-10.3,197,4137,0.15,2.22,0.00,0.000,6,0.054,0.029,3041,1575,3518,0,0,0,0,0,0
$GC,4381,-1.07,-146.0,527.9,-13.5,204,4388,0.25,2.62,0.00,0.000,4,0.087,0.045,3102,3156,3515,0,0,0,0,0,0
$GC,4404,-1.07,-146.0,530.7,-11.7,204,4408,0.00,2.62,0.00,0.000,6,0.000,0.041,3102,1575,3515,0,0,0,0,0,0
$GC,4668,-1.07,-146.0,557.7,-10.5,211,4672,0.00,2.45,0.00,0.000,4,0.000,0.077,3102,162,3513,0,0,0,0,0,0
$GC,4686,-1.07,-146.0,559.9,-10.9,211,4690,0.00,2.30,0.00,0.000,6,0.000,0.031,3102,1583,3513,0,0,0,0,0,0
$GC,4952,-1.07,-146.0,585.3,-9.4,218,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1584,3511,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5157,-0.31,0.0,602.0,8.0,223,5279,0.73,0.00,118.75,0.920,6,0.069,0.000,3270,1390,2920,0,0,0,0,0,0
$STATE,5280,end apogee,CONTROL_FINISHED_OK
$STATE,5280,begin climb
$GC,5282,1.27,146.0,604.4,0.0,226,5414,1.48,2.25,123.22,0.900,4,0.048,0.077,3619,174,2324,0,0,0,0,0,0
$GC,5597,0.98,146.0,576.1,12.6,233,5602,0.30,1.98,0.00,0.000,6,0.098,0.028,3556,1405,2317,0,0,0,0,0,0
$GC,5882,1.05,206.2,553.7,7.2,240,5939,0.00,2.22,51.90,0.871,4,0.000,0.070,3555,173,2079,0,0,0,0,0,0
$GC,6029,1.06,218.5,540.7,9.4,243,6045,0.00,2.00,11.95,0.780,6,0.000,0.028,3555,1402,2029,0,0,0,0,0,0
$GC,6295,1.10,247.3,517.5,8.7,250,6329,0.10,2.70,27.10,0.836,4,0.079,0.046,3600,2972,1910,0,0,0,0,0,0
$GC,6356,1.10,247.3,511.1,11.3,251,6360,0.00,2.65,0.00,0.000,6,0.000,0.042,3600,1401,1906,0,0,0,0,0,0
$GC,6625,1.03,247.3,477.8,12.5,258,6629,0.17,2.15,0.00,0.000,4,0.096,0.068,3562,170,1903,0,0,0,0,0,0
$GC,6678,1.03,247.3,471.1,13.0,259,6682,0.00,1.98,0.00,0.000,6,0.000,0.025,3562,1395,1903,0,0,0,0,0,0
$GC,6960,1.04,255.4,442.5,9.6,266,6972,0.00,2.12,7.35,0.676,4,0.000,0.061,3562,165,1878,0,0,0,0,0,0
$GC,6988,1.04,255.4,439.6,10.1,266,6992,0.00,1.95,0.00,0.000,6,0.000,0.025,3562,1392,1878,0,0,0,0,0,0
$GC,7253,1.04,255.4,413.5,10.2,273,7257,0.00,2.60,0.00,0.000,4,0.000,0.037,3562,2972,1876,0,0,0,0,0,0
$GC,7282,1.15,256.2,410.4,10.0,273,7287,0.10,2.67,0.00,0.000,6,0.075,0.041,3617,1382,1873,0,0,0,0,0,0
$GC,7539,1.05,256.2,379.5,12.2,280,7541,0.22,0.00,0.00,0.000,6,0.091,0.000,3568,1382,1873,0,0,0,0,0,0
$GC,7783,1.05,257.1,355.1,10.0,286,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1382,1872,0,0,0,0,0,0
$GC,8025,1.12,257.1,327.0,12.0,292,8029,0.00,2.58,0.00,0.000,4,0.000,0.031,3568,2970,1871,0,0,0,0,0,0
$GC,8058,1.24,257.1,323.0,11.5,292,8063,0.17,2.62,0.00,0.000,6,0.052,0.038,3634,1392,1870,0,0,0,0,0,0
$GC,8310,1.13,257.1,290.0,13.1,298,8312,0.22,0.00,0.00,0.000,6,0.092,0.000,3585,1392,1870,0,0,0,0,0,0
$GC,8552,1.14,263.9,266.1,9.7,304,8564,0.00,2.10,7.47,0.588,4,0.000,0.058,3585,165,1844,0,0,0,0,0,0
$GC,8644,1.14,263.9,255.3,12.0,306,8648,0.00,1.92,0.00,0.000,6,0.000,0.021,3585,1426,1844,0,0,0,0,0,0
$GC,8937,1.15,272.1,225.8,9.6,313,8953,0.00,2.45,8.88,0.576,4,0.000,0.027,3585,2955,1809,0,0,0,0,0,0
$GC,8991,1.32,290.8,220.6,9.1,314,9016,0.17,2.58,17.85,0.620,6,0.049,0.036,3657,1393,1733,0,0,0,0,0,0
$GC,9275,1.19,290.8,182.2,14.2,327,9280,0.25,2.03,0.00,0.000,4,0.088,0.050,3597,168,1730,0,0,0,0,0,0
$GC,9331,1.19,290.8,175.0,12.8,332,9335,0.00,1.88,0.00,0.000,6,0.000,0.021,3597,1415,1730,0,0,0,0,0,0
$GC,9603,1.19,290.8,146.2,10.3,357,9607,0.00,2.08,0.00,0.000,4,0.000,0.049,3597,161,1729,0,0,0,0,0,0
$GC,9630,1.19,290.8,142.8,11.3,359,9634,0.00,1.90,0.00,0.000,6,0.000,0.020,3597,1398,1729,0,0,0,0,0,0
$GC,9899,1.23,322.7,119.0,8.5,384,9935,0.00,2.55,29.15,0.543,4,0.000,0.026,3597,2948,1603,0,0,0,0,0,0
$GC,9966,1.40,354.3,113.3,8.5,390,10004,0.15,2.58,28.55,0.532,6,0.024,0.033,3670,1404,1474,0,0,0,0,0,0
$GC,10262,1.29,354.3,70.1,16.8,418,10267,0.22,2.05,0.00,0.000,4,0.085,0.045,3619,164,1471,0,0,0,0,0,0
$GC,10311,1.36,354.3,62.3,15.7,422,10315,0.00,1.88,0.00,0.000,6,0.000,0.019,3619,1415,1471,0,0,0,0,0,0
$GC,10585,1.43,354.3,30.1,11.2,447,10590,0.12,2.42,0.00,0.000,4,0.064,0.025,3684,2946,1470,0,0,0,0,0,0
$GC,10608,1.43,354.3,27.0,11.2,449,10617,0.12,2.53,0.00,0.000,6,0.071,0.032,3651,1414,1468,0,0,0,0,0,0
$STATE,10782,end climb,SURFACE_DEPTH_REACHED
$STATE,10782,begin surface coast
$FINISH,0.7,1.010141
$STATE,10821,end surface coast,CONTROL_FINISHED_OK
$STATE,10821,begin surface
$SM_CCo,10845,12.85,0.407,0,0,1369,380.21
$SM_GC,1.43,0.00,0.00,12.85,0.000,0.000,0.407,414,1584,1369,-13.46,0.11,380.21
$IRIDIUM_FIX,2251.04,-15740.63,021101,171721
$TT8_MAMPS,0.027612
$HUMID,66.97
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,21.90
$XPDR_PINGS,5
$24V_AH,23.5,54.840
$10V_AH,9.9,43.933
$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,36.600,136.200,432.175,12.850,0.000,30.445,38.303,226.562,1.250,0.000,16.477,1067.420,7308.009,459.587,1835.042,624.609,33.378,1283.130,0.000,1826.988,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,76.700,919.633,406.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.367,267.180,339.676,486.548,855.092,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38182,482
$CAP_FILE_SIZE,126651,0
$CFSIZE,260165632,153640960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090812,001823,2257.602,-15745.232,38,1.9,38,10.1