version: 66.06
glider: 148
mission: 11
dive: 451
start: 8 13 112 14 30 42
data:
$ID,148
$MISSION,11
$DIVE,451
$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,-928029.19
$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,96
$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
$GPS1,141835,2303.810,-15805.277,33,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,3
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.2
$GPS2,142948,2303.840,-15805.469,8,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.109
$KALMAN_X,-292521.2,-213.2,-120.1,283115.0,-2244.8
$KALMAN_Y,106527.5,-417.8,84.4,-76863.3,732.2
$MHEAD_RNG_PITCHd_Wd,104.7,66499,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.60,0.000,2,0.000,0.000,412,1598,3283,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.5,10,120,13.77,0.00,-3.95,0.000,6,0.151,0.000,3057,1598,3517,0,0,0,0,0,0
$GC,386,-0.88,-146.0,73.9,-19.2,41,391,0.38,2.35,0.00,0.000,4,0.094,0.044,3142,162,3519,0,0,0,0,0,0
$GC,407,-0.59,-146.0,77.0,-16.2,42,412,0.30,2.12,0.00,0.000,6,0.087,0.017,3209,1572,3519,0,0,0,0,0,0
$GC,671,-0.74,-146.0,98.8,-7.5,66,675,0.12,2.45,0.00,0.000,4,0.061,0.023,3134,3130,3520,0,0,0,0,0,0
$GC,723,-0.82,-146.0,104.3,-10.3,70,732,0.08,2.53,0.00,0.000,6,0.072,0.029,3157,1582,3520,0,0,0,0,0,0
$GC,989,-0.82,-146.0,131.2,-9.7,95,993,0.00,2.42,0.00,0.000,4,0.000,0.023,3157,3126,3521,0,0,0,0,0,0
$GC,1018,-0.82,-146.0,134.1,-9.8,97,1023,0.00,2.45,0.00,0.000,6,0.000,0.027,3157,1587,3521,0,0,0,0,0,0
$GC,1285,-0.82,-146.0,159.0,-9.2,121,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1587,3521,0,0,0,0,0,0
$GC,1548,-0.82,-146.0,181.5,-9.2,146,1552,0.00,2.40,0.00,0.000,4,0.000,0.023,3157,3123,3521,0,0,0,0,0,0
$GC,1588,-0.96,-146.0,185.4,-9.2,149,1594,0.10,2.42,0.00,0.000,6,0.074,0.028,3088,1602,3521,0,0,0,0,0,0
$GC,1877,-0.80,-146.0,224.4,-14.3,165,1882,0.30,2.40,0.00,0.000,4,0.084,0.022,3160,3127,3522,0,0,0,0,0,0
$GC,1896,-0.80,-146.0,227.5,-12.5,165,1901,0.00,2.42,0.00,0.000,6,0.000,0.025,3160,1599,3522,0,0,0,0,0,0
$GC,2161,-0.89,-146.0,252.4,-9.3,172,2165,0.00,2.42,0.00,0.000,4,0.000,0.023,3159,3130,3522,0,0,0,0,0,0
$GC,2182,-1.02,-146.0,254.4,-9.6,172,2187,0.17,2.42,0.00,0.000,6,0.047,0.027,3074,1607,3522,0,0,0,0,0,0
$GC,2447,-0.87,-146.0,285.8,-11.8,179,2449,0.32,0.00,0.00,0.000,6,0.082,0.000,3148,1607,3522,0,0,0,0,0,0
$GC,2691,-0.97,-146.0,305.2,-8.0,185,2696,0.00,2.40,0.00,0.000,4,0.000,0.026,3148,3125,3522,0,0,0,0,0,0
$GC,2717,-1.11,-146.0,307.4,-8.8,185,2722,0.20,2.42,0.00,0.000,6,0.042,0.028,3053,1619,3522,0,0,0,0,0,0
$GC,2977,-0.92,-146.0,343.1,-14.1,192,2979,0.40,0.00,0.00,0.000,6,0.079,0.000,3140,1619,3522,0,0,0,0,0,0
$GC,3223,-1.02,-146.0,362.2,-7.1,198,3225,0.10,0.00,0.00,0.000,6,0.075,0.000,3081,1619,3521,0,0,0,0,0,0
$GC,3465,-0.95,-146.0,385.2,-9.8,204,3470,0.22,2.45,0.00,0.000,4,0.084,0.056,3133,168,3520,0,0,0,0,0,0
$GC,3494,-0.95,-146.0,388.0,-8.3,204,3498,0.00,2.20,0.00,0.000,6,0.000,0.022,3133,1588,3520,0,0,0,0,0,0
$GC,3755,-1.05,-146.0,406.2,-7.2,211,3760,0.00,2.50,0.00,0.000,4,0.000,0.033,3133,3154,3518,0,0,0,0,0,0
$GC,3793,-1.25,-146.0,409.1,-6.5,211,3799,0.25,2.50,0.00,0.000,6,0.036,0.036,3024,1634,3518,0,0,0,0,0,0
$GC,4043,-1.02,-146.0,441.8,-13.5,218,4049,0.38,2.47,0.00,0.000,4,0.086,0.062,3112,174,3516,0,0,0,0,0,0
$GC,4103,-1.09,-146.0,447.5,-8.9,219,4107,0.00,2.28,0.00,0.000,6,0.000,0.026,3112,1615,3516,0,0,0,0,0,0
$GC,4376,-1.09,-146.0,468.6,-7.6,226,4380,0.00,2.50,0.00,0.000,4,0.000,0.037,3112,3164,3514,0,0,0,0,0,0
$GC,4415,-1.24,-146.0,471.6,-7.5,226,4422,0.17,2.53,0.00,0.000,6,0.046,0.038,3023,1625,3514,0,0,0,0,0,0
$GC,4666,-1.02,-146.0,501.1,-12.2,233,4673,0.38,2.50,0.00,0.000,4,0.087,0.068,3111,169,3512,0,0,0,0,0,0
$GC,4730,-1.11,-146.0,506.5,-6.5,234,4734,0.00,2.33,0.00,0.000,6,0.000,0.031,3112,1614,3512,0,0,0,0,0,0
$GC,5000,-1.17,-146.0,523.3,-6.5,241,5005,0.12,2.55,0.00,0.000,4,0.064,0.043,3053,3166,3510,0,0,0,0,0,0
$GC,5016,-1.17,-146.0,524.7,-6.8,241,5021,0.15,2.58,0.00,0.000,6,0.094,0.040,3088,1617,3510,0,0,0,0,0,0
$GC,5287,-1.17,-146.0,549.8,-9.8,248,5291,0.00,2.58,0.00,0.000,4,0.000,0.044,3088,3165,3508,0,0,0,0,0,0
$GC,5310,-1.17,-146.0,552.6,-11.6,248,5315,0.00,2.58,0.00,0.000,6,0.000,0.043,3088,1622,3508,0,0,0,0,0,0
$GC,5569,-1.17,-146.0,578.8,-10.2,255,5574,0.00,2.55,0.00,0.000,4,0.000,0.078,3088,164,3506,0,0,0,0,0,0
$GC,5608,-1.17,-146.0,583.0,-11.0,255,5614,0.00,2.35,0.00,0.000,6,0.000,0.040,3088,1616,3505,0,0,0,0,0,0
$STATE,5815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5815,begin apogee
$GC,5821,-0.31,0.0,603.4,9.6,261,5942,0.80,0.00,117.80,0.923,6,0.073,0.000,3271,1392,2920,0,0,0,0,0,0
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5946,1.27,146.0,607.3,0.0,264,6078,1.45,2.22,123.05,0.904,4,0.047,0.075,3616,178,2322,0,0,0,0,0,0
$GC,6191,0.98,146.0,590.4,12.5,269,6195,0.30,1.98,0.00,0.000,6,0.095,0.029,3553,1406,2316,0,0,0,0,0,0
$GC,6452,1.04,192.1,569.0,7.9,276,6497,0.00,2.22,39.38,0.870,4,0.000,0.070,3553,177,2136,0,0,0,0,0,0
$GC,6607,1.05,202.9,555.4,9.5,279,6624,0.00,1.98,10.85,0.776,6,0.000,0.029,3553,1392,2092,0,0,0,0,0,0
$GC,6879,1.12,257.9,534.5,7.5,286,6932,0.12,0.00,50.78,0.864,6,0.065,0.000,3603,1393,1868,0,0,0,0,0,0
$GC,7163,1.05,257.9,504.9,10.6,293,7164,0.17,0.00,0.00,0.000,6,0.096,0.000,3565,1392,1862,0,0,0,0,0,0
$GC,7408,1.06,271.0,482.3,9.4,299,7424,0.00,2.15,11.60,0.765,4,0.000,0.064,3564,177,1815,0,0,0,0,0,0
$GC,7475,1.06,271.0,474.9,10.7,300,7480,0.00,1.98,0.00,0.000,6,0.000,0.025,3565,1393,1814,0,0,0,0,0,0
$GC,7745,1.09,291.1,450.2,9.1,307,7766,0.00,0.00,19.05,0.792,6,0.000,0.000,3565,1395,1733,0,0,0,0,0,0
$GC,7987,1.12,317.7,428.4,8.8,313,8020,0.00,2.20,25.48,0.791,4,0.000,0.060,3565,172,1623,0,0,0,0,0,0
$GC,8053,1.12,318.2,422.1,10.0,314,8057,0.00,1.95,0.00,0.000,6,0.000,0.025,3565,1395,1623,0,0,0,0,0,0
$GC,8323,1.20,328.2,397.0,9.5,321,8340,0.15,2.65,10.82,0.710,4,0.058,0.040,3624,2965,1581,0,0,0,0,0,0
$GC,8378,1.20,328.2,389.7,13.7,322,8383,0.10,2.65,0.00,0.000,6,0.115,0.041,3600,1395,1577,0,0,0,0,0,0
$GC,8658,1.20,328.2,354.5,12.5,329,8662,0.00,2.10,0.00,0.000,4,0.000,0.061,3600,163,1576,0,0,0,0,0,0
$GC,8727,1.20,328.2,344.4,15.1,330,8731,0.00,1.92,0.00,0.000,6,0.000,0.023,3600,1386,1576,0,0,0,0,0,0
$GC,8990,1.20,328.2,311.0,12.8,337,8995,0.00,2.55,0.00,0.000,4,0.000,0.033,3600,2962,1575,0,0,0,0,0,0
$GC,9015,1.20,328.2,308.0,12.2,337,9020,0.00,2.62,0.00,0.000,6,0.000,0.038,3600,1375,1573,0,0,0,0,0,0
$GC,9275,1.20,328.2,275.0,12.9,344,9278,0.00,2.05,0.00,0.000,4,0.000,0.058,3600,160,1573,0,0,0,0,0,0
$GC,9316,1.20,328.2,269.3,13.8,344,9321,0.00,1.92,0.00,0.000,6,0.000,0.022,3600,1391,1573,0,0,0,0,0,0
$GC,9567,1.20,328.2,240.6,11.3,351,9571,0.00,2.08,0.00,0.000,4,0.000,0.054,3600,160,1572,0,0,0,0,0,0
$GC,9595,1.20,328.2,237.0,12.3,351,9599,0.00,1.90,0.00,0.000,6,0.000,0.021,3600,1397,1573,0,0,0,0,0,0
$GC,9858,1.20,328.2,209.0,10.4,358,9862,0.00,2.50,0.00,0.000,4,0.000,0.028,3600,2960,1573,0,0,0,0,0,0
$GC,9903,1.33,337.7,204.7,9.6,359,9917,0.12,2.60,8.05,0.549,6,0.063,0.035,3667,1378,1543,0,0,0,0,0,0
$GC,10185,1.21,337.7,165.1,14.7,382,10189,0.25,2.00,0.00,0.000,4,0.086,0.049,3607,163,1542,0,0,0,0,0,0
$GC,10292,1.21,337.7,151.2,12.9,392,10296,0.00,1.88,0.00,0.000,6,0.000,0.021,3607,1383,1542,0,0,0,0,0,0
$GC,10562,1.21,337.7,120.5,12.0,417,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1384,1542,0,0,0,0,0,0
$GC,10825,1.21,337.7,88.6,11.4,442,10829,0.00,2.47,0.00,0.000,4,0.000,0.027,3607,2956,1542,0,0,0,0,0,0
$GC,10864,1.35,337.7,84.9,10.1,445,10869,0.12,2.58,0.00,0.000,6,0.062,0.035,3671,1367,1540,0,0,0,0,0,0
$GC,11128,1.26,337.7,48.9,12.8,469,11133,0.25,1.95,0.00,0.000,4,0.083,0.048,3609,169,1540,0,0,0,0,0,0
$GC,11201,1.33,337.7,40.6,10.4,475,11205,0.00,1.77,0.00,0.000,6,0.000,0.019,3609,1376,1540,0,0,0,0,0,0
$GC,11501,1.43,344.8,11.3,9.7,515,11518,0.17,0.00,7.78,0.394,6,0.050,0.000,3684,1379,1513,0,0,0,0,0,0
$STATE,11549,end climb,SURFACE_DEPTH_REACHED
$STATE,11549,begin surface coast
$FINISH,0.8,1.023595
$STATE,11582,end surface coast,CONTROL_FINISHED_OK
$STATE,11582,begin surface
$SM_CCo,11607,24.90,0.436,0,0,1369,380.21
$SM_GC,1.62,0.00,0.00,24.90,0.000,0.000,0.436,410,1583,1369,-13.48,0.08,380.21
$IRIDIUM_FIX,2255.72,-15804.08,071101,141439
$TT8_MAMPS,0.027612
$HUMID,67.32
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.70
$XPDR_PINGS,12
$24V_AH,23.5,58.917
$10V_AH,9.9,47.515
$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,35.025,130.550,424.625,24.900,0.000,52.895,82.266,314.925,3.000,0.000,14.637,1136.263,7914.051,501.069,1939.427,811.955,33.378,1319.635,0.000,1938.032,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,78.234,922.701,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.762,299.149,377.707,537.219,944.168,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41614,527
$CAP_FILE_SIZE,132882,0
$CFSIZE,260165632,151625728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130812,174551,2303.543,-15805.113,14,2.7,33,10.1