version: 66.06
glider: 148
mission: 11
dive: 489
start: 8 19 112 4 1 6
data:
$ID,148
$MISSION,11
$DIVE,489
$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,-928771.81
$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,3320
$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,1630
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,83
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,035254,2247.900,-15752.392,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.4
$GPS2,040012,2247.931,-15752.465,11,1.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.145
$KALMAN_X,-379387.1,46.6,-319.4,392114.9,-1228.6
$KALMAN_Y,118505.2,-30.2,-539.7,-118068.3,794.8
$MHEAD_RNG_PITCHd_Wd,113.7,30448,-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,16,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-73.95,0.000,2,0.000,0.000,409,1621,3223,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-6.3,10,119,13.77,2.38,-4.40,0.000,4,0.153,0.046,3037,154,3477,0,0,0,0,0,0
$GC,310,-0.86,-146.0,60.1,-20.9,34,315,0.43,2.22,0.00,0.000,6,0.094,0.018,3129,1601,3479,0,0,0,0,0,0
$GC,573,-0.74,-146.0,97.7,-11.6,58,578,0.12,2.55,0.00,0.000,4,0.114,0.025,3156,3203,3480,0,0,0,0,0,0
$GC,616,-0.74,-146.0,101.8,-9.3,61,620,0.00,2.55,0.00,0.000,6,0.000,0.027,3156,1621,3481,0,0,0,0,0,0
$GC,882,-0.74,-146.0,126.4,-9.2,85,887,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1621,3481,0,0,0,0,0,0
$GC,1145,-0.74,-146.0,150.4,-8.8,110,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1621,3482,0,0,0,0,0,0
$GC,1398,-0.74,-146.0,172.1,-8.7,134,1402,0.00,2.47,0.00,0.000,4,0.000,0.023,3156,3205,3482,0,0,0,0,0,0
$GC,1434,-0.87,-146.0,175.1,-8.3,137,1439,0.12,2.53,0.00,0.000,6,0.059,0.028,3068,1634,3483,0,0,0,0,0,0
$GC,1693,-0.61,-146.0,213.3,-15.2,155,1700,0.55,2.38,0.00,0.000,4,0.084,0.040,3180,170,3483,0,0,0,0,0,0
$GC,1711,-0.52,-146.0,216.0,-13.3,155,1716,0.12,2.25,0.00,0.000,6,0.099,0.018,3211,1657,3483,0,0,0,0,0,0
$GC,1982,-0.78,-146.0,234.0,-6.5,162,1987,0.25,2.38,0.00,0.000,4,0.035,0.022,3085,3183,3484,0,0,0,0,0,0
$GC,1998,-0.91,-146.0,235.6,-6.5,162,2003,0.15,2.50,0.00,0.000,6,0.094,0.027,3120,1627,3483,0,0,0,0,0,0
$GC,2269,-0.91,-146.0,260.0,-8.9,169,2273,0.00,2.35,0.00,0.000,4,0.000,0.043,3120,174,3483,0,0,0,0,0,0
$GC,2288,-0.91,-146.0,261.9,-8.9,169,2292,0.00,2.22,0.00,0.000,6,0.000,0.018,3120,1635,3483,0,0,0,0,0,0
$GC,2552,-0.91,-146.0,284.3,-8.6,176,2556,0.00,2.45,0.00,0.000,4,0.000,0.026,3120,3184,3483,0,0,0,0,0,0
$GC,2591,-1.04,-146.0,287.9,-9.0,176,2596,0.12,2.47,0.00,0.000,6,0.062,0.028,3038,1642,3483,0,0,0,0,0,0
$GC,2841,-0.77,-146.0,324.8,-15.5,182,2844,0.55,0.00,0.00,0.000,6,0.081,0.000,3149,1642,3483,0,0,0,0,0,0
$GC,3085,-0.91,-146.0,347.4,-8.7,188,3090,0.12,2.47,0.00,0.000,4,0.061,0.029,3079,3182,3484,0,0,0,0,0,0
$GC,3111,-0.91,-146.0,350.1,-10.9,188,3116,0.17,2.50,0.00,0.000,6,0.087,0.031,3121,1647,3483,0,0,0,0,0,0
$GC,3372,-0.91,-146.0,372.3,-7.9,195,3376,0.00,2.50,0.00,0.000,4,0.000,0.032,3121,3187,3483,0,0,0,0,0,0
$GC,3391,-0.98,-146.0,373.8,-7.4,195,3395,0.00,2.50,0.00,0.000,6,0.000,0.031,3121,1641,3483,0,0,0,0,0,0
$GC,3657,-1.04,-146.0,390.4,-6.2,202,3659,0.12,0.00,0.00,0.000,6,0.062,0.000,3056,1641,3481,0,0,0,0,0,0
$GC,3899,-0.91,-146.0,416.7,-11.4,208,3904,0.25,2.53,0.00,0.000,4,0.086,0.035,3117,3183,3480,0,0,0,0,0,0
$GC,3928,-1.00,-146.0,419.9,-9.8,208,3933,0.00,2.50,0.00,0.000,6,0.000,0.035,3117,1651,3480,0,0,0,0,0,0
$GC,4185,-1.07,-146.0,443.1,-9.2,215,4187,0.12,0.00,0.00,0.000,6,0.063,0.000,3052,1651,3478,0,0,0,0,0,0
$GC,4427,-0.94,-146.0,472.5,-12.1,221,4429,0.28,0.00,0.00,0.000,6,0.086,0.000,3114,1652,3477,0,0,0,0,0,0
$GC,4671,-0.94,-146.0,493.7,-8.3,227,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1652,3475,0,0,0,0,0,0
$GC,4916,-0.94,-146.0,512.7,-7.7,233,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1651,3473,0,0,0,0,0,0
$GC,5161,-1.01,-146.0,530.9,-7.3,239,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1652,3471,0,0,0,0,0,0
$GC,5402,-1.01,-146.0,549.0,-7.5,245,5406,0.00,2.60,0.00,0.000,4,0.000,0.076,3114,167,3470,0,0,0,0,0,0
$GC,5427,-1.01,-146.0,551.0,-9.3,245,5432,0.00,2.33,0.00,0.000,6,0.000,0.035,3114,1613,3470,0,0,0,0,0,0
$GC,5692,-1.07,-146.0,570.0,-6.9,252,5693,0.12,0.00,0.00,0.000,6,0.066,0.000,3060,1613,3468,0,0,0,0,0,0
$GC,5935,-0.99,-146.0,591.7,-9.0,258,5937,0.20,0.00,0.00,0.000,6,0.092,0.000,3105,1613,3467,0,0,0,0,0,0
$STATE,6054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6054,begin apogee
$GC,6062,-0.31,0.0,600.8,7.8,261,6184,0.62,0.00,119.00,0.925,6,0.073,0.000,3250,1348,2880,0,0,0,0,0,0
$STATE,6185,end apogee,CONTROL_FINISHED_OK
$STATE,6185,begin climb
$GC,6188,1.27,146.0,604.0,0.0,264,6321,1.45,2.10,123.72,0.904,4,0.048,0.075,3594,178,2283,0,0,0,0,0,0
$GC,6467,1.07,146.0,583.6,10.6,270,6472,0.20,1.90,0.00,0.000,6,0.097,0.028,3551,1355,2277,0,0,0,0,0,0
$GC,6738,1.14,199.5,562.9,7.5,277,6790,0.00,2.15,46.92,0.874,4,0.000,0.070,3552,178,2065,0,0,0,0,0,0
$GC,6814,1.14,199.5,556.2,10.4,278,6819,0.00,1.92,0.00,0.000,6,0.000,0.028,3552,1358,2064,0,0,0,0,0,0
$GC,7064,1.15,207.5,532.5,9.6,285,7076,0.00,2.12,7.32,0.711,4,0.000,0.067,3552,179,2034,0,0,0,0,0,0
$GC,7134,1.15,207.5,525.1,10.8,286,7138,0.00,1.90,0.00,0.000,6,0.000,0.027,3552,1353,2034,0,0,0,0,0,0
$GC,7402,1.17,224.4,499.6,9.2,293,7422,0.10,0.00,16.83,0.808,6,0.077,0.000,3597,1354,1965,0,0,0,0,0,0
$GC,7648,1.11,224.4,471.4,11.8,299,7652,0.17,2.08,0.00,0.000,4,0.094,0.062,3558,166,1960,0,0,0,0,0,0
$GC,7687,1.11,224.4,466.6,11.3,299,7693,0.00,1.90,0.00,0.000,6,0.000,0.025,3558,1361,1960,0,0,0,0,0,0
$GC,7937,1.11,224.4,441.2,10.1,306,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1362,1959,0,0,0,0,0,0
$GC,8181,1.11,227.8,416.8,9.8,312,8185,0.00,2.05,0.00,0.000,4,0.000,0.060,3559,180,1958,0,0,0,0,0,0
$GC,8231,1.11,227.8,412.0,10.0,313,8235,0.00,1.80,0.00,0.000,6,0.000,0.025,3558,1337,1958,0,0,0,0,0,0
$GC,8523,1.21,259.7,386.0,8.5,320,8562,0.10,0.00,32.65,0.780,6,0.078,0.000,3605,1339,1820,0,0,0,0,0,0
$GC,8807,1.21,259.7,353.9,11.5,327,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1339,1816,0,0,0,0,0,0
$GC,9049,1.21,259.7,325.2,12.0,333,9053,0.00,2.00,0.00,0.000,4,0.000,0.057,3605,165,1814,0,0,0,0,0,0
$GC,9082,1.14,259.7,321.0,13.3,333,9086,0.17,1.85,0.00,0.000,6,0.093,0.024,3567,1343,1814,0,0,0,0,0,0
$GC,9343,1.28,302.3,299.0,8.0,340,9388,0.12,2.65,38.40,0.714,4,0.065,0.034,3620,2910,1646,0,0,0,0,0,0
$GC,9421,1.28,302.3,290.4,11.2,341,9426,0.00,2.67,0.00,0.000,6,0.000,0.039,3620,1327,1643,0,0,0,0,0,0
$GC,9671,1.28,302.3,261.8,11.6,347,9675,0.00,1.98,0.00,0.000,4,0.000,0.058,3620,163,1642,0,0,0,0,0,0
$GC,9732,1.28,302.3,254.1,13.2,348,9736,0.00,1.80,0.00,0.000,6,0.000,0.021,3620,1343,1641,0,0,0,0,0,0
$GC,10009,1.28,302.3,220.9,12.0,355,10013,0.00,2.00,0.00,0.000,4,0.000,0.052,3620,161,1640,0,0,0,0,0,0
$GC,10098,1.28,302.3,208.5,14.5,356,10104,0.00,1.80,0.00,0.000,6,0.000,0.021,3620,1335,1640,0,0,0,0,0,0
$GC,10356,1.28,302.3,177.4,11.4,375,10357,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1338,1638,0,0,0,0,0,0
$GC,10612,1.28,302.3,149.6,10.9,399,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1338,1638,0,0,0,0,0,0
$GC,10869,1.28,302.3,123.3,10.6,423,10872,0.00,1.95,0.00,0.000,4,0.000,0.050,3619,161,1638,0,0,0,0,0,0
$GC,10952,1.28,302.3,113.8,12.1,431,10956,0.00,1.75,0.00,0.000,6,0.000,0.020,3620,1324,1638,0,0,0,0,0,0
$GC,11221,1.28,302.3,85.7,10.8,456,11225,0.00,1.95,0.00,0.000,4,0.000,0.050,3620,154,1638,0,0,0,0,0,0
$GC,11245,1.28,302.3,82.3,12.1,458,11253,0.08,1.75,0.00,0.000,6,0.078,0.019,3597,1313,1638,0,0,0,0,0,0
$GC,11510,1.46,341.8,59.2,8.2,483,11549,0.17,1.98,34.38,0.489,4,0.051,0.047,3658,156,1485,0,0,0,0,0,0
$GC,11617,1.40,341.8,46.5,13.4,492,11625,0.12,1.73,0.00,0.000,6,0.071,0.019,3625,1286,1485,0,0,0,0,0,0
$GC,11901,1.40,341.8,16.8,11.1,526,11909,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1289,1482,0,0,0,0,0,0
$STATE,12014,end climb,SURFACE_DEPTH_REACHED
$STATE,12014,begin surface coast
$FINISH,0.8,1.023484
$STATE,12064,end surface coast,CONTROL_FINISHED_OK
$STATE,12064,begin surface
$SM_CCo,12087,20.52,0.422,0,0,1328,380.21
$SM_GC,1.61,0.00,0.00,20.52,0.000,0.000,0.422,415,1643,1328,-13.36,0.37,380.21
$IRIDIUM_FIX,2239.35,-15754.99,131101,000035
$TT8_MAMPS,0.027612
$HUMID,67.32
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,6
$24V_AH,23.4,63.572
$10V_AH,9.9,51.739
$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,33.900,102.300,419.225,20.525,0.000,30.508,39.835,214.769,1.500,0.000,16.916,1137.482,8366.659,480.738,1926.474,629.842,33.380,1262.112,0.000,1927.618,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,75.933,925.002,421.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.248,310.550,397.528,568.634,998.278,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,41472,551
$CAP_FILE_SIZE,121275,0
$CFSIZE,260165632,149295104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190812,072406,2247.337,-15751.865,31,1.3,31,10.1