version: 66.06
glider: 148
mission: 11
dive: 496
start: 8 20 112 4 37 40
data:
$ID,148
$MISSION,11
$DIVE,496
$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,-928917.06
$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,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,29
$R_STBD_OVSHOOT,75
$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
$GPS1,043026,2243.983,-15747.658,31,3.2,50,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.4
$GPS2,043648,2244.027,-15747.706,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.118
$KALMAN_X,-391942.4,73.4,-236.9,412687.4,-1444.6
$KALMAN_Y,116036.7,-62.1,-598.3,-122740.1,617.2
$MHEAD_RNG_PITCHd_Wd,106.8,19690,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,409,1623,3023,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-4.5,9,122,13.57,2.42,-8.52,0.000,4,0.148,0.051,3038,167,3479,0,0,0,0,0,0
$GC,138,-0.40,-146.0,18.1,-28.5,15,146,0.85,2.25,0.00,0.000,6,0.087,0.019,3228,1602,3480,0,0,0,0,0,0
$GC,422,-0.52,-146.0,45.9,-8.6,48,427,0.00,2.55,0.00,0.000,4,0.000,0.024,3228,3213,3481,0,0,0,0,0,0
$GC,478,-0.80,-146.0,51.1,-7.6,52,488,0.30,2.58,0.00,0.000,6,0.021,0.027,3112,1633,3481,0,0,0,0,0,0
$GC,748,-0.65,-146.0,89.8,-15.2,77,753,0.28,2.38,0.00,0.000,4,0.087,0.038,3176,163,3482,0,0,0,0,0,0
$GC,784,-0.72,-146.0,95.6,-11.7,80,788,0.00,2.25,0.00,0.000,6,0.000,0.018,3176,1649,3482,0,0,0,0,0,0
$GC,1058,-0.79,-146.0,122.9,-9.6,105,1063,0.12,2.42,0.00,0.000,4,0.062,0.024,3105,3196,3483,0,0,0,0,0,0
$GC,1078,-0.79,-146.0,126.1,-11.0,106,1087,0.15,2.55,0.00,0.000,6,0.071,0.026,3144,1623,3483,0,0,0,0,0,0
$GC,1340,-0.79,-146.0,152.8,-9.3,131,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1623,3484,0,0,0,0,0,0
$GC,1593,-0.79,-146.0,175.0,-8.4,155,1597,0.00,2.45,0.00,0.000,4,0.000,0.024,3144,3185,3484,0,0,0,0,0,0
$GC,1642,-0.91,-146.0,179.4,-8.1,159,1651,0.08,2.53,0.00,0.000,6,0.034,0.027,3067,1630,3484,0,0,0,0,0,0
$GC,1902,-0.70,-146.0,212.1,-13.5,178,1908,0.40,2.45,0.00,0.000,4,0.082,0.023,3162,3185,3484,0,0,0,0,0,0
$GC,1932,-0.82,-146.0,216.0,-8.9,178,1937,0.00,2.47,0.00,0.000,6,0.000,0.027,3162,1632,3485,0,0,0,0,0,0
$GC,2189,-0.93,-146.0,238.3,-9.2,185,2191,0.20,0.00,0.00,0.000,6,0.041,0.000,3064,1632,3485,0,0,0,0,0,0
$GC,2431,-0.74,-146.0,273.5,-14.5,191,2436,0.38,2.45,0.00,0.000,4,0.080,0.025,3152,3183,3485,0,0,0,0,0,0
$GC,2455,-0.74,-146.0,276.5,-11.1,191,2459,0.00,2.47,0.00,0.000,6,0.000,0.027,3153,1636,3485,0,0,0,0,0,0
$GC,2717,-0.87,-146.0,296.7,-7.4,198,2721,0.00,2.47,0.00,0.000,4,0.000,0.025,3153,3191,3485,0,0,0,0,0,0
$GC,2732,-1.01,-146.0,297.9,-6.5,198,2737,0.22,2.47,0.00,0.000,6,0.035,0.027,3040,1653,3485,0,0,0,0,0,0
$GC,3003,-0.76,-146.0,331.5,-13.0,205,3010,0.52,2.42,0.00,0.000,4,0.083,0.047,3148,175,3485,0,0,0,0,0,0
$GC,3025,-0.76,-146.0,334.4,-10.3,205,3029,0.00,2.25,0.00,0.000,6,0.000,0.020,3148,1629,3485,0,0,0,0,0,0
$GC,3294,-0.89,-146.0,352.8,-7.2,212,3298,0.00,2.53,0.00,0.000,4,0.000,0.032,3148,3197,3485,0,0,0,0,0,0
$GC,3333,-1.11,-146.0,355.7,-7.9,212,3340,0.28,2.50,0.00,0.000,6,0.032,0.031,3017,1662,3484,0,0,0,0,0,0
$GC,3584,-0.85,-146.0,391.3,-14.9,219,3591,0.50,2.53,0.00,0.000,4,0.083,0.033,3134,3203,3483,0,0,0,0,0,0
$GC,3601,-0.75,-146.0,393.4,-11.6,219,3606,0.10,2.50,0.00,0.000,6,0.110,0.031,3158,1656,3483,0,0,0,0,0,0
$GC,3873,-0.92,-146.0,409.9,-5.8,226,3875,0.17,0.00,0.00,0.000,6,0.047,0.000,3071,1656,3482,0,0,0,0,0,0
$GC,4115,-0.83,-146.0,432.8,-9.8,232,4120,0.25,2.53,0.00,0.000,4,0.084,0.061,3133,173,3480,0,0,0,0,0,0
$GC,4155,-0.96,-146.0,436.0,-7.2,232,4162,0.10,2.35,0.00,0.000,6,0.074,0.025,3076,1660,3480,0,0,0,0,0,0
$GC,4406,-0.90,-146.0,459.1,-9.5,239,4411,0.20,2.53,0.00,0.000,4,0.087,0.036,3121,3204,3478,0,0,0,0,0,0
$GC,4426,-0.90,-146.0,461.0,-8.9,239,4430,0.00,2.53,0.00,0.000,6,0.000,0.035,3121,1668,3478,0,0,0,0,0,0
$GC,4692,-0.99,-146.0,481.2,-7.8,246,4694,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1668,3477,0,0,0,0,0,0
$GC,4934,-1.07,-146.0,501.0,-8.0,252,4939,0.15,2.60,0.00,0.000,4,0.055,0.070,3051,168,3475,0,0,0,0,0,0
$GC,5001,-0.92,-146.0,508.8,-11.8,253,5006,0.30,2.40,0.00,0.000,6,0.086,0.030,3118,1660,3474,0,0,0,0,0,0
$GC,5268,-1.00,-146.0,530.0,-7.7,260,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1660,3473,0,0,0,0,0,0
$GC,5510,-1.08,-146.0,549.6,-8.1,266,5512,0.15,0.00,0.00,0.000,6,0.054,0.000,3043,1660,3471,0,0,0,0,0,0
$GC,5755,-0.94,-146.0,577.9,-11.9,272,5762,0.28,2.60,0.00,0.000,4,0.086,0.070,3110,166,3469,0,0,0,0,0,0
$GC,5781,-0.94,-146.0,581.1,-10.0,272,5785,0.00,2.45,0.00,0.000,6,0.000,0.033,3110,1670,3469,0,0,0,0,0,0
$STATE,5997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5997,begin apogee
$GC,6004,-0.31,0.0,600.0,8.6,278,6126,0.60,0.00,119.32,0.918,6,0.067,0.000,3250,1345,2880,0,0,0,0,0,0
$STATE,6127,end apogee,CONTROL_FINISHED_OK
$STATE,6127,begin climb
$GC,6131,1.27,146.0,604.5,0.0,281,6264,1.48,2.15,123.65,0.899,4,0.053,0.076,3599,178,2284,0,0,0,0,0,0
$GC,6418,1.06,146.0,581.2,13.4,287,6423,0.15,1.92,0.00,0.000,6,0.081,0.028,3552,1350,2278,0,0,0,0,0,0
$GC,6687,1.08,164.8,556.7,9.1,294,6708,0.00,2.10,15.98,0.815,4,0.000,0.069,3552,176,2208,0,0,0,0,0,0
$GC,6752,1.08,164.8,550.2,11.2,295,6756,0.00,1.88,0.00,0.000,6,0.000,0.027,3552,1348,2207,0,0,0,0,0,0
$GC,7020,1.09,170.1,523.8,9.8,302,7027,0.00,0.00,5.62,0.649,6,0.000,0.000,3552,1348,2186,0,0,0,0,0,0
$GC,7264,1.12,192.8,501.4,9.0,308,7288,0.00,0.00,21.90,0.822,6,0.000,0.000,3552,1348,2093,0,0,0,0,0,0
$GC,7553,1.16,224.5,476.3,8.5,315,7590,0.00,2.12,29.45,0.821,4,0.000,0.062,3552,175,1963,0,0,0,0,0,0
$GC,7627,1.16,224.5,469.2,10.3,316,7631,0.00,1.90,0.00,0.000,6,0.000,0.025,3552,1359,1962,0,0,0,0,0,0
$GC,7888,1.25,248.7,446.1,8.9,323,7914,0.17,0.00,22.92,0.793,6,0.051,0.000,3616,1361,1866,0,0,0,0,0,0
$GC,8130,1.15,248.7,416.0,12.6,329,8132,0.20,0.00,0.00,0.000,6,0.096,0.000,3572,1361,1861,0,0,0,0,0,0
$GC,8373,1.15,248.7,389.2,11.0,335,8377,0.00,2.03,0.00,0.000,4,0.000,0.058,3572,174,1859,0,0,0,0,0,0
$GC,8444,1.15,248.7,380.6,11.9,336,8448,0.00,1.85,0.00,0.000,6,0.000,0.024,3572,1344,1860,0,0,0,0,0,0
$GC,8712,1.15,248.7,352.7,10.1,343,8716,0.00,2.55,0.00,0.000,4,0.000,0.035,3572,2918,1858,0,0,0,0,0,0
$GC,8740,1.24,259.7,350.1,9.5,343,8757,0.00,2.65,10.10,0.680,6,0.000,0.043,3572,1340,1820,0,0,0,0,0,0
$GC,9050,1.25,270.7,320.8,9.5,351,9066,0.00,2.05,10.88,0.669,4,0.000,0.061,3572,171,1775,0,0,0,0,0,0
$GC,9103,1.25,270.7,314.6,11.1,352,9107,0.00,1.85,0.00,0.000,6,0.000,0.023,3572,1345,1775,0,0,0,0,0,0
$GC,9387,1.34,272.9,287.0,9.9,359,9389,0.15,0.00,0.00,0.000,6,0.057,0.000,3633,1348,1773,0,0,0,0,0,0
$GC,9631,1.26,272.9,258.8,11.6,365,9635,0.17,2.00,0.00,0.000,4,0.099,0.055,3594,164,1772,0,0,0,0,0,0
$GC,9702,1.26,272.9,251.2,11.0,366,9707,0.00,1.85,0.00,0.000,6,0.000,0.022,3594,1347,1772,0,0,0,0,0,0
$GC,9966,1.26,276.6,225.7,9.8,373,9979,0.00,2.08,5.95,0.524,4,0.000,0.053,3594,158,1752,0,0,0,0,0,0
$GC,10016,1.26,276.6,220.4,10.9,374,10020,0.00,1.83,0.00,0.000,6,0.000,0.021,3594,1351,1751,0,0,0,0,0,0
$GC,10275,1.34,293.9,196.6,9.2,381,10294,0.00,0.00,16.80,0.594,6,0.000,0.000,3594,1353,1682,0,0,0,0,0,0
$GC,10549,1.37,313.0,170.9,9.1,407,10571,0.10,0.00,18.83,0.574,6,0.076,0.000,3639,1353,1602,0,0,0,0,0,0
$GC,10825,1.30,313.0,138.8,12.3,433,10830,0.17,1.98,0.00,0.000,4,0.111,0.050,3606,164,1600,0,0,0,0,0,0
$GC,10873,1.30,313.0,132.9,11.3,437,10877,0.00,1.80,0.00,0.000,6,0.000,0.021,3605,1339,1600,0,0,0,0,0,0
$GC,11142,1.33,338.3,107.8,8.8,462,11175,0.00,2.03,23.05,0.522,4,0.000,0.049,3605,168,1499,0,0,0,0,0,0
$GC,11199,1.34,347.5,102.6,9.6,467,11220,0.00,1.75,9.68,0.472,6,0.000,0.019,3605,1342,1462,0,0,0,0,0,0
$GC,11475,1.45,354.7,76.9,9.7,493,11488,0.12,1.95,7.43,0.430,4,0.068,0.046,3653,164,1433,0,0,0,0,0,0
$GC,11515,1.45,354.7,72.1,13.5,496,11518,0.00,1.75,0.00,0.000,6,0.000,0.019,3653,1327,1433,0,0,0,0,0,0
$GC,11788,1.45,354.7,38.2,11.5,521,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,3653,1330,1433,0,0,0,0,0,0
$STATE,12049,end climb,SURFACE_DEPTH_REACHED
$STATE,12049,begin surface coast
$FINISH,0.9,1.023436
$STATE,12088,end surface coast,CONTROL_FINISHED_OK
$STATE,12088,begin surface
$SM_CCo,12112,20.73,0.427,0,0,1330,380.21
$SM_GC,1.90,0.00,0.00,20.73,0.000,0.000,0.427,409,1639,1330,-13.40,0.25,380.21
$IRIDIUM_FIX,2234.68,-15745.45,141101,010132
$TT8_MAMPS,0.027612
$HUMID,67.83
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.4,64.393
$10V_AH,9.9,52.513
$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,35.925,118.850,441.550,20.725,0.000,27.330,35.320,174.868,1.750,0.000,16.024,1183.068,8210.919,490.946,2032.968,591.765,33.375,1345.421,0.000,2037.256,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,75.933,918.099,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.198,336.947,413.517,605.408,1062.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44890,566
$CAP_FILE_SIZE,129932,0
$CFSIZE,260165632,148852736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200812,080126,2243.552,-15746.988,30,2.3,49,10.1