version: 66.06
glider: 148
mission: 11
dive: 459
start: 8 14 112 19 31 24
data:
$ID,148
$MISSION,11
$DIVE,459
$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,-928209.5
$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,1620
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,127
$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
$GPS1,191936,2301.815,-15805.672,38,1.3,38,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-75.6
$GPS2,193030,2301.841,-15805.885,9,1.8,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.097
$KALMAN_X,-315899.9,-170.1,90.3,305530.3,-2165.6
$KALMAN_Y,112812.8,-419.0,136.6,-86901.1,515.4
$MHEAD_RNG_PITCHd_Wd,101.9,64479,-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,-73.43,0.000,2,0.000,0.000,412,1669,3226,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.7,-5.7,10,120,14.32,2.47,-4.40,0.000,4,0.167,0.046,3057,155,3478,0,0,0,0,0,0
$GC,136,0.09,-146.0,19.7,-39.6,15,146,1.35,2.17,0.00,0.000,6,0.091,0.018,3356,1566,3480,0,0,0,0,0,0
$GC,421,-0.72,-146.0,44.4,-9.9,50,433,0.70,2.45,0.00,0.000,4,0.047,0.021,3179,3121,3480,0,0,0,0,0,0
$GC,462,-1.09,-146.0,48.2,-9.1,53,468,0.30,2.42,0.00,0.000,6,0.030,0.027,3059,1604,3480,0,0,0,0,0,0
$GC,732,-0.73,-146.0,94.1,-16.8,77,737,0.52,2.33,0.00,0.000,4,0.086,0.039,3178,164,3481,0,0,0,0,0,0
$GC,781,-0.84,-146.0,101.0,-9.0,81,785,0.00,2.10,0.00,0.000,6,0.000,0.018,3178,1573,3481,0,0,0,0,0,0
$GC,1051,-0.90,-146.0,122.2,-7.5,106,1056,0.15,2.50,0.00,0.000,4,0.053,0.023,3101,3170,3482,0,0,0,0,0,0
$GC,1090,-0.90,-146.0,125.8,-10.2,109,1095,0.17,2.50,0.00,0.000,6,0.086,0.028,3142,1607,3482,0,0,0,0,0,0
$GC,1355,-0.90,-146.0,152.9,-10.7,133,1359,0.00,2.47,0.00,0.000,4,0.000,0.023,3142,3175,3482,0,0,0,0,0,0
$GC,1370,-0.90,-146.0,154.9,-10.8,134,1374,0.00,2.50,0.00,0.000,6,0.000,0.025,3142,1609,3482,0,0,0,0,0,0
$GC,1633,-0.90,-146.0,185.9,-11.6,158,1637,0.00,2.47,0.00,0.000,4,0.000,0.022,3142,3178,3482,0,0,0,0,0,0
$GC,1650,-0.90,-146.0,187.9,-11.6,159,1654,0.00,2.47,0.00,0.000,6,0.000,0.025,3142,1618,3483,0,0,0,0,0,0
$GC,1914,-0.90,-146.0,218.8,-11.5,172,1918,0.00,2.33,0.00,0.000,4,0.000,0.041,3142,174,3483,0,0,0,0,0,0
$GC,1934,-0.90,-146.0,221.0,-11.3,172,1938,0.00,2.20,0.00,0.000,6,0.000,0.018,3142,1631,3483,0,0,0,0,0,0
$GC,2202,-0.90,-146.0,245.4,-8.4,179,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1634,3483,0,0,0,0,0,0
$GC,2446,-0.90,-146.0,267.0,-9.1,185,2450,0.00,2.40,0.00,0.000,4,0.000,0.024,3142,3172,3483,0,0,0,0,0,0
$GC,2488,-1.08,-146.0,270.6,-9.2,185,2494,0.15,2.45,0.00,0.000,6,0.052,0.028,3043,1636,3484,0,0,0,0,0,0
$GC,2738,-0.84,-146.0,307.1,-15.4,192,2743,0.45,2.38,0.00,0.000,4,0.083,0.041,3149,174,3483,0,0,0,0,0,0
$GC,2753,-0.70,-146.0,309.3,-15.3,192,2758,0.17,2.20,0.00,0.000,6,0.093,0.019,3188,1627,3483,0,0,0,0,0,0
$GC,3025,-0.94,-146.0,326.5,-6.2,199,3030,0.22,2.47,0.00,0.000,4,0.038,0.026,3082,3182,3484,0,0,0,0,0,0
$GC,3058,-0.94,-146.0,329.9,-10.3,199,3063,0.22,2.47,0.00,0.000,6,0.077,0.030,3135,1655,3483,0,0,0,0,0,0
$GC,3309,-1.03,-146.0,351.7,-8.7,205,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1655,3483,0,0,0,0,0,0
$GC,3554,-1.12,-146.0,373.0,-8.5,211,3556,0.17,0.00,0.00,0.000,6,0.047,0.000,3049,1655,3483,0,0,0,0,0,0
$GC,3796,-0.96,-146.0,398.5,-10.3,217,3801,0.32,2.53,0.00,0.000,4,0.081,0.058,3127,164,3481,0,0,0,0,0,0
$GC,3825,-0.96,-146.0,401.0,-7.4,217,3829,0.00,2.30,0.00,0.000,6,0.000,0.023,3127,1641,3481,0,0,0,0,0,0
$GC,4082,-1.05,-146.0,415.7,-6.2,224,4086,0.00,2.50,0.00,0.000,4,0.000,0.033,3127,3206,3480,0,0,0,0,0,0
$GC,4106,-1.17,-146.0,417.8,-8.3,224,4111,0.17,2.55,0.00,0.000,6,0.046,0.034,3029,1647,3480,0,0,0,0,0,0
$GC,4368,-0.95,-146.0,454.9,-15.1,231,4375,0.47,2.53,0.00,0.000,4,0.081,0.064,3129,174,3478,0,0,0,0,0,0
$GC,4423,-1.09,-146.0,461.8,-11.3,232,4428,0.12,2.35,0.00,0.000,6,0.062,0.028,3063,1646,3478,0,0,0,0,0,0
$GC,4702,-1.02,-146.0,494.8,-12.2,239,4707,0.25,2.53,0.00,0.000,4,0.084,0.040,3123,3196,3476,0,0,0,0,0,0
$GC,4733,-1.16,-146.0,498.0,-9.6,239,4738,0.15,2.55,0.00,0.000,6,0.052,0.039,3037,1657,3476,0,0,0,0,0,0
$GC,4989,-0.99,-146.0,529.6,-12.5,246,4996,0.38,2.58,0.00,0.000,4,0.088,0.071,3120,170,3474,0,0,0,0,0,0
$GC,5033,-1.10,-146.0,534.0,-9.0,246,5039,0.00,2.38,0.00,0.000,6,0.000,0.031,3120,1642,3473,0,0,0,0,0,0
$GC,5283,-1.21,-146.0,552.5,-7.2,253,5289,0.17,2.62,0.00,0.000,4,0.049,0.046,3042,3210,3472,0,0,0,0,0,0
$GC,5322,-1.21,-146.0,556.4,-9.6,253,5328,0.15,2.62,0.00,0.000,6,0.094,0.044,3077,1641,3472,0,0,0,0,0,0
$GC,5574,-1.21,-146.0,580.8,-9.9,260,5578,0.00,2.60,0.00,0.000,4,0.000,0.044,3077,3212,3470,0,0,0,0,0,0
$GC,5588,-1.21,-146.0,582.6,-9.9,260,5593,0.00,2.58,0.00,0.000,6,0.000,0.043,3077,1660,3470,0,0,0,0,0,0
$STATE,5773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5773,begin apogee
$GC,5781,-0.31,0.0,601.7,10.4,265,5903,0.85,0.00,118.30,0.919,6,0.071,0.000,3273,1391,2880,0,0,0,0,0,0
$STATE,5904,end apogee,CONTROL_FINISHED_OK
$STATE,5904,begin climb
$GC,5906,1.27,146.0,606.9,0.0,268,6042,1.48,2.25,123.97,0.900,4,0.045,0.081,3623,178,2283,0,0,0,0,0,0
$GC,6073,0.94,146.0,600.8,10.5,272,6078,0.35,2.00,0.00,0.000,6,0.094,0.028,3548,1410,2281,0,0,0,0,0,0
$GC,6351,1.02,205.8,579.8,7.2,279,6409,0.00,2.25,52.03,0.877,4,0.000,0.071,3548,165,2040,0,0,0,0,0,0
$GC,6490,1.02,205.8,566.8,10.5,282,6494,0.00,2.00,0.00,0.000,6,0.000,0.028,3548,1394,2037,0,0,0,0,0,0
$GC,6772,1.03,216.5,540.5,9.5,289,6784,0.00,0.00,9.82,0.761,6,0.000,0.000,3547,1394,1997,0,0,0,0,0,0
$GC,7017,1.04,223.4,516.9,9.7,295,7030,0.00,2.17,7.47,0.713,4,0.000,0.067,3548,168,1969,0,0,0,0,0,0
$GC,7129,1.04,223.4,504.5,11.2,297,7133,0.00,2.00,0.00,0.000,6,0.000,0.026,3548,1396,1968,0,0,0,0,0,0
$GC,7404,1.14,251.1,479.4,8.7,304,7437,0.17,2.72,26.40,0.823,4,0.052,0.046,3611,2964,1854,0,0,0,0,0,0
$GC,7452,1.06,251.1,474.0,12.0,305,7459,0.20,2.67,0.00,0.000,6,0.088,0.043,3567,1398,1851,0,0,0,0,0,0
$GC,7739,1.06,251.1,444.6,10.2,312,7743,0.00,2.10,0.00,0.000,4,0.000,0.067,3567,167,1850,0,0,0,0,0,0
$GC,7817,1.06,251.1,435.0,11.9,313,7821,0.00,1.95,0.00,0.000,6,0.000,0.024,3567,1413,1849,0,0,0,0,0,0
$GC,8071,1.06,251.1,406.0,11.5,320,8075,0.00,2.55,0.00,0.000,4,0.000,0.038,3567,2968,1847,0,0,0,0,0,0
$GC,8087,1.06,251.1,404.3,11.5,320,8091,0.00,2.62,0.00,0.000,6,0.000,0.044,3567,1388,1845,0,0,0,0,0,0
$GC,8355,1.06,251.1,372.7,11.6,327,8359,0.00,2.05,0.00,0.000,4,0.000,0.062,3567,168,1845,0,0,0,0,0,0
$GC,8462,1.06,251.1,359.8,11.0,329,8465,0.00,1.90,0.00,0.000,6,0.000,0.023,3568,1397,1845,0,0,0,0,0,0
$GC,8736,1.13,259.3,332.9,9.6,336,8749,0.00,2.15,6.62,0.614,4,0.000,0.058,3567,168,1822,0,0,0,0,0,0
$GC,8786,1.13,259.3,327.3,11.0,337,8790,0.00,1.90,0.00,0.000,6,0.000,0.023,3567,1394,1822,0,0,0,0,0,0
$GC,9075,1.21,260.7,299.0,9.9,344,9080,0.15,2.08,0.00,0.000,4,0.057,0.056,3628,168,1820,0,0,0,0,0,0
$GC,9159,1.06,260.7,287.8,14.4,345,9164,0.25,1.88,0.00,0.000,6,0.090,0.022,3573,1374,1820,0,0,0,0,0,0
$GC,9412,1.20,312.3,267.9,7.6,351,9462,0.12,0.00,47.75,0.690,6,0.065,0.000,3628,1376,1607,0,0,0,0,0,0
$GC,9699,1.20,312.3,233.3,12.7,358,9704,0.12,2.08,0.00,0.000,4,0.107,0.053,3601,161,1602,0,0,0,0,0,0
$GC,9727,1.20,312.3,229.3,13.7,358,9732,0.00,1.90,0.00,0.000,6,0.000,0.021,3601,1371,1602,0,0,0,0,0,0
$GC,9986,1.20,312.3,198.8,11.8,365,9991,0.00,2.55,0.00,0.000,4,0.000,0.028,3601,2958,1600,0,0,0,0,0,0
$GC,10035,1.33,312.3,193.4,10.9,369,10044,0.08,2.65,0.00,0.000,6,0.035,0.035,3657,1370,1597,0,0,0,0,0,0
$GC,10300,1.23,312.3,157.1,14.0,394,10304,0.22,1.98,0.00,0.000,4,0.089,0.048,3608,169,1597,0,0,0,0,0,0
$GC,10399,1.23,312.3,144.4,12.5,403,10405,0.00,1.83,0.00,0.000,6,0.000,0.021,3608,1377,1597,0,0,0,0,0,0
$GC,10664,1.23,312.3,112.5,12.9,428,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1379,1597,0,0,0,0,0,0
$GC,10929,1.31,312.3,81.2,10.2,453,10934,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1379,1597,0,0,0,0,0,0
$GC,11197,1.42,327.0,56.1,9.3,478,11216,0.17,0.00,13.25,0.457,6,0.049,0.000,3688,1379,1544,0,0,0,0,0,0
$GC,11486,1.29,327.0,15.5,14.6,512,11494,0.28,0.00,0.00,0.000,6,0.081,0.000,3621,1379,1543,0,0,0,0,0,0
$STATE,11589,end climb,SURFACE_DEPTH_REACHED
$STATE,11589,begin surface coast
$FINISH,0.7,1.018589
$STATE,11639,end surface coast,CONTROL_FINISHED_OK
$STATE,11639,begin surface
$SM_CCo,11662,32.20,0.437,0,0,1330,380.21
$SM_GC,1.50,0.00,0.00,32.20,0.000,0.000,0.437,414,1662,1330,-13.46,1.19,380.21
$IRIDIUM_FIX,2253.38,-15802.79,081101,191942
$TT8_MAMPS,0.027612
$HUMID,67.16
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.10
$XPDR_PINGS,4
$24V_AH,23.5,60.001
$10V_AH,9.9,48.449
$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,38.375,135.950,405.625,32.200,0.000,53.707,73.462,304.322,1.000,0.000,15.939,1155.386,7868.990,497.497,2024.773,796.608,33.367,1342.336,0.000,2025.246,0.000,0.538,0.000
$DEVICE_MAMPS,167.206,81.302,918.866,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.480,311.592,387.545,588.112,1032.244,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41581,535
$CAP_FILE_SIZE,135048,0
$CFSIZE,260165632,151109632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140812,224736,2301.509,-15805.854,35,1.2,35,10.1