version: 66.06
glider: 148
mission: 11
dive: 461
start: 8 15 112 2 33 52
data:
$ID,148
$MISSION,11
$DIVE,461
$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,-928260.06
$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,1620
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,106
$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
$GPS1,022124,2301.553,-15806.038,43,1.3,43,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-71.4
$GPS2,023300,2301.714,-15806.215,13,1.2,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.144
$KALMAN_X,-321532.8,-326.6,-365.7,311209.5,-1801.5
$KALMAN_Y,114331.9,390.8,26.0,-89360.2,1033.3
$MHEAD_RNG_PITCHd_Wd,113.6,64743,-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,18,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.62,0.000,2,0.000,0.000,407,1653,3258,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.8,10,122,13.65,2.45,-3.70,0.000,4,0.150,0.046,3036,153,3474,0,0,0,0,0,0
$GC,132,0.35,-146.0,18.9,-39.6,14,141,1.62,2.20,0.00,0.000,6,0.094,0.018,3391,1578,3475,0,0,0,0,0,0
$GC,416,-0.44,-146.0,44.6,-9.1,49,429,0.68,2.55,0.00,0.000,4,0.047,0.021,3220,3191,3477,0,0,0,0,0,0
$GC,490,-0.94,-146.0,50.6,-7.3,55,503,0.45,2.55,0.00,0.000,6,0.041,0.026,3101,1607,3477,0,0,0,0,0,0
$GC,757,-0.73,-146.0,88.6,-13.9,80,762,0.25,2.33,0.00,0.000,4,0.090,0.038,3160,163,3477,0,0,0,0,0,0
$GC,779,-0.56,-146.0,91.3,-13.9,81,783,0.17,2.22,0.00,0.000,6,0.096,0.017,3199,1632,3478,0,0,0,0,0,0
$GC,1049,-0.68,-146.0,112.4,-7.5,105,1054,0.12,2.42,0.00,0.000,4,0.059,0.024,3121,3182,3478,0,0,0,0,0,0
$GC,1079,-0.68,-146.0,116.2,-10.6,107,1085,0.22,2.50,0.00,0.000,6,0.079,0.027,3174,1614,3478,0,0,0,0,0,0
$GC,1343,-0.68,-146.0,139.6,-8.3,132,1348,0.00,2.45,0.00,0.000,4,0.000,0.023,3174,3179,3479,0,0,0,0,0,0
$GC,1383,-0.84,-146.0,143.0,-7.9,135,1388,0.15,2.50,0.00,0.000,6,0.052,0.028,3079,1619,3479,0,0,0,0,0,0
$GC,1646,-0.56,-146.0,181.5,-14.5,159,1658,0.57,2.33,0.00,0.000,4,0.084,0.039,3192,172,3479,0,0,0,0,0,0
$GC,1682,-0.73,-146.0,185.6,-7.9,162,1692,0.10,2.22,0.00,0.000,6,0.027,0.018,3111,1626,3479,0,0,0,0,0,0
$GC,1940,-0.64,-146.0,214.0,-11.4,178,1945,0.28,2.42,0.00,0.000,4,0.082,0.022,3178,3181,3479,0,0,0,0,0,0
$GC,1974,-0.82,-146.0,217.4,-7.2,178,1979,0.15,2.47,0.00,0.000,6,0.051,0.026,3085,1623,3479,0,0,0,0,0,0
$GC,2224,-0.61,-146.0,248.1,-12.9,184,2231,0.50,2.38,0.00,0.000,4,0.080,0.041,3184,167,3479,0,0,0,0,0,0
$GC,2248,-0.61,-146.0,250.4,-9.0,184,2252,0.00,2.22,0.00,0.000,6,0.000,0.018,3184,1630,3479,0,0,0,0,0,0
$GC,2512,-0.81,-146.0,269.0,-6.9,191,2517,0.17,2.45,0.00,0.000,4,0.047,0.025,3097,3180,3479,0,0,0,0,0,0
$GC,2538,-0.81,-146.0,271.2,-9.4,191,2543,0.20,2.45,0.00,0.000,6,0.080,0.027,3145,1640,3479,0,0,0,0,0,0
$GC,2799,-0.91,-146.0,290.0,-6.9,198,2801,0.10,0.00,0.00,0.000,6,0.074,0.000,3080,1640,3479,0,0,0,0,0,0
$GC,3042,-0.82,-146.0,314.3,-10.3,204,3044,0.28,0.00,0.00,0.000,6,0.081,0.000,3143,1640,3480,0,0,0,0,0,0
$GC,3288,-0.93,-146.0,334.2,-8.1,210,3293,0.12,2.47,0.00,0.000,4,0.062,0.028,3074,3177,3479,0,0,0,0,0,0
$GC,3326,-0.93,-146.0,338.3,-10.6,210,3332,0.17,2.50,0.00,0.000,6,0.087,0.030,3116,1634,3479,0,0,0,0,0,0
$GC,3576,-0.93,-146.0,361.6,-9.3,217,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1634,3479,0,0,0,0,0,0
$GC,3821,-0.93,-146.0,382.2,-8.1,223,3826,0.00,2.47,0.00,0.000,4,0.000,0.031,3116,3175,3477,0,0,0,0,0,0
$GC,3850,-1.03,-146.0,384.6,-8.0,223,3855,0.00,2.50,0.00,0.000,6,0.000,0.034,3116,1647,3477,0,0,0,0,0,0
$GC,4105,-1.03,-146.0,405.6,-8.5,230,4109,0.00,2.47,0.00,0.000,4,0.000,0.060,3116,172,3475,0,0,0,0,0,0
$GC,4125,-1.03,-146.0,407.5,-10.1,230,4129,0.00,2.28,0.00,0.000,6,0.000,0.023,3116,1618,3476,0,0,0,0,0,0
$GC,4389,-1.03,-146.0,432.6,-9.7,237,4394,0.00,2.55,0.00,0.000,4,0.000,0.035,3116,3202,3473,0,0,0,0,0,0
$GC,4441,-1.18,-146.0,437.7,-9.3,238,4446,0.22,2.53,0.00,0.000,6,0.038,0.036,3017,1655,3473,0,0,0,0,0,0
$GC,4722,-0.93,-146.0,475.9,-13.6,245,4729,0.43,2.53,0.00,0.000,4,0.085,0.065,3112,171,3471,0,0,0,0,0,0
$GC,4772,-1.01,-146.0,481.3,-8.6,246,4776,0.00,2.35,0.00,0.000,6,0.000,0.029,3112,1642,3471,0,0,0,0,0,0
$GC,5056,-1.01,-146.0,500.5,-6.6,253,5060,0.00,2.55,0.00,0.000,4,0.000,0.041,3112,3203,3469,0,0,0,0,0,0
$GC,5094,-1.15,-146.0,503.4,-6.8,253,5100,0.17,2.58,0.00,0.000,6,0.046,0.039,3030,1650,3469,0,0,0,0,0,0
$GC,5344,-0.97,-146.0,531.8,-11.9,260,5349,0.30,2.55,0.00,0.000,4,0.089,0.070,3101,164,3467,0,0,0,0,0,0
$GC,5370,-0.97,-146.0,534.6,-10.1,260,5374,0.00,2.40,0.00,0.000,6,0.000,0.032,3101,1649,3467,0,0,0,0,0,0
$GC,5634,-0.97,-146.0,557.9,-8.8,267,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1649,3465,0,0,0,0,0,0
$GC,5878,-0.97,-146.0,577.4,-7.7,273,5882,0.00,2.58,0.00,0.000,4,0.000,0.050,3101,3202,3463,0,0,0,0,0,0
$GC,5913,-1.08,-146.0,579.8,-7.1,273,5918,0.00,2.58,0.00,0.000,6,0.000,0.044,3101,1664,3463,0,0,0,0,0,0
$GC,6163,-1.08,-146.0,594.7,-5.8,279,6168,0.00,2.60,0.00,0.000,4,0.000,0.076,3101,169,3462,0,0,0,0,0,0
$GC,6219,-1.08,-146.0,598.6,-7.5,280,6224,0.00,2.42,0.00,0.000,6,0.000,0.033,3101,1665,3461,0,0,0,0,0,0
$STATE,6240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6240,begin apogee
$GC,6249,-0.31,0.0,600.1,6.9,280,6369,0.62,0.00,117.25,0.918,6,0.072,0.000,3248,1382,2880,0,0,0,0,0,0
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6372,1.27,146.0,601.6,0.0,283,6504,1.48,2.20,123.60,0.895,4,0.054,0.074,3594,182,2283,0,0,0,0,0,0
$GC,6776,1.06,146.0,564.9,10.2,291,6782,0.20,1.98,0.00,0.000,6,0.100,0.027,3553,1407,2274,0,0,0,0,0,0
$GC,7026,1.15,219.2,547.7,6.6,298,7096,0.00,2.25,63.78,0.871,4,0.000,0.067,3552,174,1985,0,0,0,0,0,0
$GC,7153,1.15,219.2,537.0,11.0,300,7158,0.00,2.00,0.00,0.000,6,0.000,0.028,3552,1405,1982,0,0,0,0,0,0
$GC,7402,1.15,219.2,509.8,11.0,307,7406,0.00,2.15,0.00,0.000,4,0.000,0.065,3552,171,1977,0,0,0,0,0,0
$GC,7467,1.15,219.2,501.6,13.1,308,7471,0.00,1.98,0.00,0.000,6,0.000,0.026,3553,1401,1977,0,0,0,0,0,0
$GC,7737,1.15,219.2,472.3,10.8,315,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1402,1975,0,0,0,0,0,0
$GC,7979,1.16,225.1,447.8,9.7,321,7988,0.00,2.12,4.62,0.576,4,0.000,0.059,3553,177,1961,0,0,0,0,0,0
$GC,8138,1.16,225.1,431.7,10.1,324,8142,0.00,1.95,0.00,0.000,6,0.000,0.025,3553,1389,1961,0,0,0,0,0,0
$GC,8407,1.27,257.4,408.6,8.5,331,8440,0.17,0.00,30.85,0.791,6,0.051,0.000,3618,1391,1829,0,0,0,0,0,0
$GC,8650,1.18,257.4,379.5,12.2,337,8655,0.20,2.10,0.00,0.000,4,0.096,0.056,3575,167,1824,0,0,0,0,0,0
$GC,8756,1.18,257.4,367.6,11.7,339,8760,0.00,1.92,0.00,0.000,6,0.000,0.024,3575,1382,1824,0,0,0,0,0,0
$GC,9033,1.21,279.7,341.3,9.0,346,9058,0.00,2.65,19.70,0.723,4,0.000,0.036,3575,2965,1738,0,0,0,0,0,0
$GC,9089,1.35,300.4,336.4,9.0,347,9119,0.15,2.67,20.08,0.714,6,0.055,0.039,3636,1377,1654,0,0,0,0,0,0
$GC,9364,1.24,300.4,299.8,13.8,354,9369,0.22,2.08,0.00,0.000,4,0.091,0.057,3587,160,1651,0,0,0,0,0,0
$GC,9417,1.24,300.4,292.4,13.5,355,9421,0.00,1.90,0.00,0.000,6,0.000,0.022,3588,1389,1650,0,0,0,0,0,0
$GC,9701,1.24,300.4,257.1,12.2,362,9705,0.00,2.05,0.00,0.000,4,0.000,0.054,3587,167,1648,0,0,0,0,0,0
$GC,9747,1.24,300.4,251.5,12.0,363,9751,0.00,1.85,0.00,0.000,6,0.000,0.021,3587,1377,1649,0,0,0,0,0,0
$GC,10035,1.31,300.4,222.2,10.1,370,10039,0.00,2.55,0.00,0.000,4,0.000,0.028,3587,2962,1647,0,0,0,0,0,0
$GC,10050,1.38,300.4,220.6,10.3,370,10055,0.15,2.62,0.00,0.000,6,0.054,0.033,3650,1356,1645,0,0,0,0,0,0
$GC,10312,1.28,300.4,184.1,14.3,384,10317,0.25,2.00,0.00,0.000,4,0.088,0.057,3592,159,1645,0,0,0,0,0,0
$GC,10381,1.28,300.4,175.2,12.0,390,10389,0.00,1.88,0.00,0.000,6,0.000,0.021,3592,1377,1645,0,0,0,0,0,0
$GC,10649,1.35,305.6,149.7,9.8,415,10660,0.10,2.03,4.50,0.412,4,0.077,0.048,3642,167,1633,0,0,0,0,0,0
$GC,10686,1.21,305.6,143.9,15.3,418,10695,0.22,1.83,0.00,0.000,6,0.075,0.020,3588,1354,1633,0,0,0,0,0,0
$GC,10950,1.34,337.8,118.3,8.5,443,10990,0.10,0.00,29.70,0.537,6,0.074,0.000,3644,1356,1501,0,0,0,0,0,0
$GC,11245,1.34,337.8,85.2,11.1,471,11250,0.15,0.00,0.00,0.000,6,0.097,0.000,3610,1356,1498,0,0,0,0,0,0
$GC,11513,1.43,337.8,58.1,10.5,496,11517,0.00,2.00,0.00,0.000,4,0.000,0.048,3610,164,1498,0,0,0,0,0,0
$GC,11550,1.43,337.8,53.8,12.1,499,11554,0.00,1.80,0.00,0.000,6,0.000,0.019,3610,1379,1498,0,0,0,0,0,0
$GC,11827,1.58,382.8,27.3,7.9,526,11875,0.22,2.53,39.80,0.457,4,0.041,0.025,3691,2945,1317,0,0,0,0,0,0
$GC,11885,1.45,382.8,19.8,13.1,533,11894,0.22,2.62,0.00,0.000,6,0.066,0.031,3634,1362,1314,0,0,0,0,0,0
$STATE,12015,end climb,SURFACE_DEPTH_REACHED
$STATE,12015,begin surface coast
$FINISH,0.7,1.022447
$STATE,12054,end surface coast,CONTROL_FINISHED_OK
$STATE,12054,begin surface
$SM_CCo,12138,0.00,0.000,0,0,1305,386.10
$SM_GC,1.61,13.05,0.00,0.00,0.026,0.000,0.000,415,1613,1305,-13.29,-0.20,386.10
$IRIDIUM_FIX,2253.38,-15808.00,091101,020228
$TT8_MAMPS,0.027612
$HUMID,65.83
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,7
$24V_AH,23.5,60.253
$10V_AH,9.9,48.687
$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,38.625,144.525,453.875,0.000,0.000,59.934,76.769,322.557,1.750,0.000,31.577,1207.183,8089.121,508.493,2178.051,843.260,33.369,1435.112,0.000,2161.313,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,75.933,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.941,333.687,411.230,623.839,1095.632,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,44647,559
$CAP_FILE_SIZE,142593,0
$CFSIZE,260165632,150974464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150812,055729,2301.326,-15806.120,34,1.5,39,10.1