version: 66.06
glider: 148
mission: 11
dive: 463
start: 8 15 112 9 30 30
data:
$ID,148
$MISSION,11
$DIVE,463
$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,-928309.94
$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,25
$R_STBD_OVSHOOT,102
$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
$GPS1,092255,2301.001,-15805.614,33,99.0,52,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.7
$GPS2,092936,2300.990,-15805.693,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.044
$KALMAN_X,-327036.5,-32.2,204.9,316736.5,-2540.7
$KALMAN_Y,115839.1,345.1,-65.4,-92071.2,61.4
$MHEAD_RNG_PITCHd_Wd,89.6,63190,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.20,0.000,2,0.000,0.000,408,1648,3027,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.8,9,121,13.60,2.47,-8.27,0.000,4,0.149,0.051,3039,167,3478,0,0,0,0,0,0
$GC,200,-0.81,-146.0,34.1,-23.6,24,205,0.47,2.15,0.00,0.000,6,0.096,0.018,3140,1577,3479,0,0,0,0,0,0
$GC,470,-0.71,-146.0,76.4,-13.5,48,475,0.10,2.55,0.00,0.000,4,0.123,0.025,3162,3193,3481,0,0,0,0,0,0
$GC,522,-0.85,-146.0,84.4,-11.6,52,532,0.08,2.55,0.00,0.000,6,0.032,0.028,3085,1626,3481,0,0,0,0,0,0
$GC,790,-0.60,-146.0,124.9,-15.6,77,795,0.43,2.35,0.00,0.000,4,0.089,0.039,3183,169,3482,0,0,0,0,0,0
$GC,821,-0.60,-146.0,129.9,-10.7,79,827,0.00,2.22,0.00,0.000,6,0.000,0.018,3183,1648,3482,0,0,0,0,0,0
$GC,1086,-0.69,-146.0,148.4,-6.8,104,1090,0.00,2.38,0.00,0.000,4,0.000,0.023,3183,3179,3483,0,0,0,0,0,0
$GC,1122,-0.91,-146.0,150.9,-5.6,107,1127,0.25,2.47,0.00,0.000,6,0.034,0.027,3066,1625,3483,0,0,0,0,0,0
$GC,1383,-0.63,-146.0,186.5,-14.7,131,1392,0.52,2.35,0.00,0.000,4,0.082,0.039,3178,173,3484,0,0,0,0,0,0
$GC,1408,-0.53,-146.0,188.9,-12.1,133,1413,0.12,2.20,0.00,0.000,6,0.104,0.018,3206,1638,3484,0,0,0,0,0,0
$GC,1700,-0.75,-146.0,208.6,-6.7,151,1705,0.20,2.42,0.00,0.000,4,0.041,0.024,3109,3176,3484,0,0,0,0,0,0
$GC,1729,-0.75,-146.0,211.9,-10.8,151,1734,0.20,2.45,0.00,0.000,6,0.081,0.027,3156,1638,3484,0,0,0,0,0,0
$GC,1985,-0.82,-146.0,233.8,-8.6,158,1989,0.00,2.42,0.00,0.000,4,0.000,0.024,3156,3185,3484,0,0,0,0,0,0
$GC,2015,-0.95,-146.0,236.4,-8.5,158,2020,0.17,2.45,0.00,0.000,6,0.047,0.027,3064,1644,3484,0,0,0,0,0,0
$GC,2271,-0.71,-146.0,272.0,-14.5,165,2278,0.47,2.40,0.00,0.000,4,0.081,0.041,3161,164,3484,0,0,0,0,0,0
$GC,2323,-0.91,-146.0,277.4,-8.3,166,2328,0.17,2.22,0.00,0.000,6,0.045,0.019,3074,1630,3484,0,0,0,0,0,0
$GC,2606,-0.78,-146.0,310.3,-11.6,173,2608,0.32,0.00,0.00,0.000,6,0.081,0.000,3148,1633,3484,0,0,0,0,0,0
$GC,2850,-0.88,-146.0,328.2,-7.1,179,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1633,3484,0,0,0,0,0,0
$GC,3095,-0.99,-146.0,345.4,-7.0,185,3100,0.17,2.47,0.00,0.000,4,0.048,0.029,3066,3182,3484,0,0,0,0,0,0
$GC,3139,-0.99,-146.0,349.7,-9.9,186,3145,0.15,2.53,0.00,0.000,6,0.092,0.031,3103,1630,3484,0,0,0,0,0,0
$GC,3429,-0.99,-146.0,374.1,-8.1,193,3434,0.00,2.45,0.00,0.000,4,0.000,0.061,3103,168,3483,0,0,0,0,0,0
$GC,3448,-0.99,-146.0,375.8,-7.8,193,3452,0.00,2.25,0.00,0.000,6,0.000,0.021,3103,1624,3483,0,0,0,0,0,0
$GC,3712,-0.99,-146.0,394.4,-7.0,200,3717,0.00,2.50,0.00,0.000,4,0.000,0.033,3103,3190,3482,0,0,0,0,0,0
$GC,3758,-1.08,-146.0,397.7,-7.7,201,3762,0.00,2.53,0.00,0.000,6,0.000,0.035,3103,1637,3482,0,0,0,0,0,0
$GC,4045,-1.08,-146.0,423.5,-9.5,208,4049,0.00,2.50,0.00,0.000,4,0.000,0.062,3103,166,3480,0,0,0,0,0,0
$GC,4073,-1.08,-146.0,426.7,-10.4,208,4077,0.00,2.33,0.00,0.000,6,0.000,0.025,3103,1632,3480,0,0,0,0,0,0
$GC,4329,-1.08,-146.0,451.8,-9.9,215,4334,0.00,2.53,0.00,0.000,4,0.000,0.037,3104,3195,3478,0,0,0,0,0,0
$GC,4353,-1.08,-146.0,454.1,-9.4,215,4357,0.00,2.55,0.00,0.000,6,0.000,0.036,3103,1634,3478,0,0,0,0,0,0
$GC,4612,-1.08,-146.0,477.0,-8.7,222,4617,0.00,2.50,0.00,0.000,4,0.000,0.067,3103,177,3476,0,0,0,0,0,0
$GC,4638,-1.08,-146.0,479.3,-10.6,222,4642,0.00,2.33,0.00,0.000,6,0.000,0.029,3103,1639,3476,0,0,0,0,0,0
$GC,4897,-1.08,-146.0,501.1,-8.2,229,4901,0.00,2.53,0.00,0.000,4,0.000,0.065,3103,177,3474,0,0,0,0,0,0
$GC,4930,-1.08,-146.0,504.1,-9.0,229,4934,0.00,2.33,0.00,0.000,6,0.000,0.031,3103,1630,3474,0,0,0,0,0,0
$GC,5182,-1.08,-146.0,524.7,-8.2,235,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1630,3472,0,0,0,0,0,0
$GC,5424,-1.08,-146.0,547.0,-9.3,241,5428,0.00,2.60,0.00,0.000,4,0.000,0.047,3103,3206,3471,0,0,0,0,0,0
$GC,5438,-1.08,-146.0,548.5,-9.8,241,5443,0.00,2.60,0.00,0.000,6,0.000,0.043,3103,1634,3471,0,0,0,0,0,0
$GC,5707,-1.08,-146.0,573.7,-9.4,248,5712,0.00,2.55,0.00,0.000,4,0.000,0.075,3103,173,3470,0,0,0,0,0,0
$GC,5728,-1.08,-146.0,575.5,-9.3,248,5732,0.00,2.35,0.00,0.000,6,0.000,0.031,3104,1642,3469,0,0,0,0,0,0
$GC,5992,-1.08,-146.0,599.1,-8.7,255,5993,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1642,3468,0,0,0,0,0,0
$STATE,6030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6030,begin apogee
$GC,6036,-0.31,0.0,602.6,8.8,256,6158,0.65,0.00,118.75,0.924,6,0.074,0.000,3252,1390,2880,0,0,0,0,0,0
$STATE,6159,end apogee,CONTROL_FINISHED_OK
$STATE,6159,begin climb
$GC,6163,1.27,146.0,606.9,0.0,259,6295,1.45,2.17,123.40,0.906,4,0.050,0.074,3598,172,2283,0,0,0,0,0,0
$GC,6361,1.05,146.0,595.2,11.2,263,6366,0.22,2.00,0.00,0.000,6,0.097,0.028,3551,1405,2279,0,0,0,0,0,0
$GC,6617,1.12,202.0,575.6,7.4,270,6673,0.00,2.20,48.80,0.879,4,0.000,0.070,3550,173,2055,0,0,0,0,0,0
$GC,6779,1.13,208.1,561.2,9.7,273,6791,0.00,1.98,6.70,0.696,6,0.000,0.028,3551,1392,2031,0,0,0,0,0,0
$GC,7042,1.16,233.5,538.1,8.8,280,7068,0.10,0.00,24.15,0.844,6,0.078,0.000,3592,1393,1929,0,0,0,0,0,0
$GC,7287,1.16,233.5,509.8,11.8,286,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1393,1923,0,0,0,0,0,0
$GC,7529,1.16,233.5,481.3,11.9,292,7533,0.00,2.10,0.00,0.000,4,0.000,0.062,3592,177,1921,0,0,0,0,0,0
$GC,7599,1.07,233.5,471.6,14.4,293,7603,0.17,1.92,0.00,0.000,6,0.097,0.034,3553,1394,1921,0,0,0,0,0,0
$GC,7860,1.14,233.5,443.9,10.5,300,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,1395,1918,0,0,0,0,0,0
$GC,8103,1.23,248.3,420.6,9.3,306,8123,0.15,2.70,13.43,0.757,4,0.059,0.048,3613,2964,1867,0,0,0,0,0,0
$GC,8131,1.14,248.3,417.8,11.1,306,8138,0.20,2.67,0.00,0.000,6,0.089,0.041,3568,1386,1865,0,0,0,0,0,0
$GC,8393,1.16,265.4,392.8,9.2,313,8412,0.00,0.00,16.35,0.753,6,0.000,0.000,3568,1386,1797,0,0,0,0,0,0
$GC,8637,1.19,285.4,370.5,9.1,319,8662,0.00,2.17,18.92,0.744,4,0.000,0.064,3568,168,1715,0,0,0,0,0,0
$GC,8696,1.19,285.4,364.9,10.7,320,8700,0.00,1.95,0.00,0.000,6,0.000,0.023,3568,1400,1715,0,0,0,0,0,0
$GC,8974,1.26,285.4,337.1,10.4,327,8976,0.10,0.00,0.00,0.000,6,0.077,0.000,3617,1402,1712,0,0,0,0,0,0
$GC,9217,1.26,285.4,303.9,13.9,333,9222,0.10,2.12,0.00,0.000,4,0.123,0.057,3595,163,1711,0,0,0,0,0,0
$GC,9298,1.26,285.4,292.9,13.1,334,9302,0.00,1.95,0.00,0.000,6,0.000,0.022,3596,1394,1711,0,0,0,0,0,0
$GC,9552,1.26,285.4,261.6,12.0,341,9556,0.00,2.08,0.00,0.000,4,0.000,0.054,3595,167,1710,0,0,0,0,0,0
$GC,9584,1.26,285.4,257.5,12.7,341,9588,0.00,1.90,0.00,0.000,6,0.000,0.021,3596,1394,1710,0,0,0,0,0,0
$GC,9840,1.27,288.8,231.5,9.8,348,9844,0.00,2.08,0.00,0.000,4,0.000,0.051,3596,160,1709,0,0,0,0,0,0
$GC,9868,1.27,288.8,228.3,10.9,348,9871,0.00,1.88,0.00,0.000,6,0.000,0.021,3596,1393,1709,0,0,0,0,0,0
$GC,10131,1.29,311.6,204.6,8.9,355,10160,0.00,2.12,23.92,0.617,4,0.000,0.051,3595,157,1608,0,0,0,0,0,0
$GC,10190,1.29,311.6,198.9,10.4,356,10193,0.00,1.90,0.00,0.000,6,0.000,0.020,3596,1388,1607,0,0,0,0,0,0
$GC,10458,1.39,333.0,174.3,9.0,379,10487,0.10,0.00,19.73,0.578,6,0.075,0.000,3639,1391,1521,0,0,0,0,0,0
$GC,10738,1.39,333.0,139.6,11.9,406,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,1390,1518,0,0,0,0,0,0
$GC,10995,1.39,333.0,108.7,12.4,430,10998,0.00,2.05,0.00,0.000,4,0.000,0.048,3640,156,1518,0,0,0,0,0,0
$GC,11071,1.39,333.0,99.0,14.3,437,11075,0.00,1.83,0.00,0.000,6,0.000,0.019,3640,1370,1518,0,0,0,0,0,0
$GC,11342,1.39,333.0,64.9,12.8,462,11346,0.00,2.00,0.00,0.000,4,0.000,0.048,3640,163,1518,0,0,0,0,0,0
$GC,11382,1.39,333.0,59.0,13.5,465,11391,0.00,1.85,0.00,0.000,6,0.000,0.019,3640,1369,1518,0,0,0,0,0,0
$GC,11652,1.39,333.0,26.8,10.9,492,11661,0.00,2.03,0.00,0.000,4,0.000,0.046,3640,158,1518,0,0,0,0,0,0
$GC,11691,1.39,333.0,21.9,11.8,497,11699,0.00,1.83,0.00,0.000,6,0.000,0.018,3640,1360,1518,0,0,0,0,0,0
$STATE,11837,end climb,SURFACE_DEPTH_REACHED
$STATE,11837,begin surface coast
$FINISH,0.8,1.023541
$STATE,11877,end surface coast,CONTROL_FINISHED_OK
$STATE,11877,begin surface
$SM_CCo,11900,27.33,0.432,0,0,1329,380.21
$SM_GC,1.69,0.00,0.00,27.33,0.000,0.000,0.432,412,1658,1329,-13.38,1.07,380.21
$IRIDIUM_FIX,2253.38,-15808.00,091101,060635
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.5,60.492
$10V_AH,9.9,48.894
$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,33.725,132.700,414.150,27.325,0.000,26.001,40.983,188.085,2.500,0.000,13.971,1132.028,8203.244,496.034,1890.761,607.059,33.369,1309.694,0.000,1890.686,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,75.166,924.235,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.951,287.883,368.483,524.782,921.906,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41582,526
$CAP_FILE_SIZE,127757,0
$CFSIZE,260165632,150863872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150812,125036,2300.677,-15805.360,33,0.9,33,10.1