version: 66.06
glider: 148
mission: 11
dive: 470
start: 8 16 112 9 38 31
data:
$ID,148
$MISSION,11
$DIVE,470
$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,-928437.88
$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,26
$R_STBD_OVSHOOT,98
$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
$GPS1,093024,2258.499,-15803.230,12,2.6,31,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.0
$GPS2,093737,2258.492,-15803.271,11,1.9,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,-0.033
$KALMAN_X,-343047.2,-9.8,174.8,336892.8,-2149.5
$KALMAN_Y,119076.0,308.0,37.7,-99997.1,-402.2
$MHEAD_RNG_PITCHd_Wd,87.2,57034,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.68,0.000,2,0.000,0.000,410,1641,3247,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-7.3,10,121,14.23,0.00,-3.83,0.000,6,0.168,0.000,3036,1642,3477,0,0,0,0,0,0
$GC,392,-0.81,-146.0,78.4,-20.5,41,401,0.45,0.00,0.00,0.000,6,0.094,0.000,3138,1642,3480,0,0,0,0,0,0
$GC,656,-0.74,-146.0,104.4,-8.6,66,661,0.10,2.40,0.00,0.000,4,0.123,0.023,3159,3169,3481,0,0,0,0,0,0
$GC,668,-0.74,-146.0,105.7,-8.6,66,677,0.00,2.50,0.00,0.000,6,0.000,0.025,3159,1618,3481,0,0,0,0,0,0
$GC,936,-0.74,-146.0,128.2,-9.0,91,941,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1618,3481,0,0,0,0,0,0
$GC,1199,-0.74,-146.0,154.3,-9.2,116,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1618,3482,0,0,0,0,0,0
$GC,1453,-0.74,-146.0,175.8,-7.8,140,1457,0.00,2.42,0.00,0.000,4,0.000,0.023,3159,3169,3482,0,0,0,0,0,0
$GC,1482,-0.81,-146.0,177.7,-7.4,142,1486,0.00,2.45,0.00,0.000,6,0.000,0.026,3159,1631,3482,0,0,0,0,0,0
$GC,1750,-0.81,-146.0,198.0,-8.0,166,1754,0.00,2.38,0.00,0.000,4,0.000,0.043,3159,164,3483,0,0,0,0,0,0
$GC,1769,-0.81,-146.0,200.4,-8.7,167,1774,0.00,2.20,0.00,0.000,6,0.000,0.018,3159,1623,3483,0,0,0,0,0,0
$GC,2019,-0.89,-146.0,221.6,-8.8,174,2024,0.15,2.45,0.00,0.000,4,0.054,0.024,3082,3186,3483,0,0,0,0,0,0
$GC,2038,-0.89,-146.0,223.3,-9.2,174,2043,0.20,2.47,0.00,0.000,6,0.086,0.026,3128,1628,3483,0,0,0,0,0,0
$GC,2307,-0.89,-146.0,251.5,-10.2,181,2311,0.00,2.35,0.00,0.000,4,0.000,0.043,3128,176,3483,0,0,0,0,0,0
$GC,2358,-0.89,-146.0,256.4,-8.5,182,2362,0.00,2.20,0.00,0.000,6,0.000,0.018,3128,1615,3483,0,0,0,0,0,0
$GC,2637,-0.89,-146.0,280.1,-8.3,189,2642,0.00,2.47,0.00,0.000,4,0.000,0.025,3128,3195,3483,0,0,0,0,0,0
$GC,2681,-1.00,-146.0,283.8,-8.1,190,2686,0.12,2.50,0.00,0.000,6,0.060,0.028,3041,1626,3483,0,0,0,0,0,0
$GC,2971,-0.74,-146.0,322.5,-14.0,197,2978,0.55,2.38,0.00,0.000,4,0.082,0.044,3154,175,3483,0,0,0,0,0,0
$GC,3026,-0.92,-146.0,327.9,-7.6,198,3030,0.15,2.22,0.00,0.000,6,0.051,0.020,3092,1616,3483,0,0,0,0,0,0
$GC,3310,-0.81,-146.0,355.4,-10.0,205,3316,0.28,2.55,0.00,0.000,4,0.084,0.029,3141,3206,3483,0,0,0,0,0,0
$GC,3340,-0.92,-146.0,358.3,-8.2,205,3345,0.00,2.58,0.00,0.000,6,0.000,0.032,3141,1627,3483,0,0,0,0,0,0
$GC,3595,-1.04,-146.0,375.6,-6.9,212,3597,0.20,0.00,0.00,0.000,6,0.044,0.000,3053,1626,3482,0,0,0,0,0,0
$GC,3841,-0.89,-146.0,402.6,-11.4,218,3843,0.32,0.00,0.00,0.000,6,0.081,0.000,3127,1626,3481,0,0,0,0,0,0
$GC,4083,-0.97,-146.0,422.6,-8.1,224,4087,0.00,2.55,0.00,0.000,4,0.000,0.036,3126,3193,3480,0,0,0,0,0,0
$GC,4116,-1.11,-146.0,425.6,-8.7,224,4121,0.20,2.55,0.00,0.000,6,0.041,0.035,3023,1632,3479,0,0,0,0,0,0
$GC,4368,-0.84,-146.0,462.6,-15.4,230,4375,0.52,2.47,0.00,0.000,4,0.085,0.064,3130,175,3478,0,0,0,0,0,0
$GC,4400,-0.90,-146.0,466.6,-10.0,230,4404,0.00,2.28,0.00,0.000,6,0.000,0.026,3130,1613,3478,0,0,0,0,0,0
$GC,4657,-1.01,-146.0,486.1,-7.4,237,4659,0.12,0.00,0.00,0.000,6,0.063,0.000,3067,1612,3476,0,0,0,0,0,0
$GC,4899,-0.94,-146.0,509.7,-9.8,243,4904,0.20,2.65,0.00,0.000,4,0.091,0.043,3114,3206,3474,0,0,0,0,0,0
$GC,4919,-0.94,-146.0,511.7,-9.1,243,4924,0.00,2.62,0.00,0.000,6,0.000,0.039,3114,1626,3474,0,0,0,0,0,0
$GC,5185,-1.01,-146.0,531.2,-7.5,250,5190,0.00,2.53,0.00,0.000,4,0.000,0.072,3114,171,3472,0,0,0,0,0,0
$GC,5229,-1.09,-146.0,535.0,-8.5,251,5234,0.15,2.33,0.00,0.000,6,0.055,0.032,3050,1629,3471,0,0,0,0,0,0
$GC,5519,-0.97,-146.0,567.2,-11.6,258,5521,0.25,0.00,0.00,0.000,6,0.087,0.000,3106,1629,3469,0,0,0,0,0,0
$GC,5761,-1.04,-146.0,589.2,-8.9,264,5766,0.00,2.55,0.00,0.000,4,0.000,0.071,3106,166,3468,0,0,0,0,0,0
$GC,5780,-1.04,-146.0,591.2,-9.2,264,5785,0.00,2.38,0.00,0.000,6,0.000,0.034,3106,1629,3468,0,0,0,0,0,0
$STATE,5879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5879,begin apogee
$GC,5887,-0.31,0.0,600.2,9.1,267,6009,0.62,0.00,118.50,0.922,6,0.070,0.000,3250,1346,2879,0,0,0,0,0,0
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6012,1.27,146.0,604.8,0.0,270,6143,1.48,2.12,122.80,0.902,4,0.053,0.077,3598,177,2283,0,0,0,0,0,0
$GC,6219,1.05,146.0,591.2,12.1,274,6225,0.22,1.92,0.00,0.000,6,0.095,0.029,3551,1362,2279,0,0,0,0,0,0
$GC,6469,1.07,163.1,568.1,9.2,281,6489,0.00,2.15,14.48,0.814,4,0.000,0.070,3550,181,2215,0,0,0,0,0,0
$GC,6552,1.07,163.1,559.5,11.6,282,6556,0.00,1.90,0.00,0.000,6,0.000,0.028,3550,1353,2213,0,0,0,0,0,0
$GC,6806,1.08,172.8,534.9,9.6,289,6817,0.00,0.00,9.68,0.763,6,0.000,0.000,3550,1353,2175,0,0,0,0,0,0
$GC,7050,1.14,216.1,514.7,8.0,295,7095,0.00,2.10,39.53,0.854,4,0.000,0.066,3550,168,1998,0,0,0,0,0,0
$GC,7111,1.17,243.2,509.8,8.7,296,7144,0.10,1.92,26.58,0.827,6,0.078,0.031,3591,1359,1887,0,0,0,0,0,0
$GC,7430,1.18,250.1,478.7,9.7,304,7442,0.00,2.67,6.22,0.660,4,0.000,0.044,3591,2920,1860,0,0,0,0,0,0
$GC,7466,1.18,250.1,474.8,10.2,304,7471,0.00,2.67,0.00,0.000,6,0.000,0.042,3591,1342,1857,0,0,0,0,0,0
$GC,7716,1.18,250.1,448.4,10.8,310,7720,0.00,2.03,0.00,0.000,4,0.000,0.065,3591,165,1856,0,0,0,0,0,0
$GC,7777,1.11,250.1,440.8,12.4,311,7782,0.12,1.88,0.00,0.000,6,0.110,0.025,3564,1349,1856,0,0,0,0,0,0
$GC,8055,1.11,250.1,411.8,10.2,318,8059,0.00,2.58,0.00,0.000,4,0.000,0.035,3564,2918,1854,0,0,0,0,0,0
$GC,8122,1.26,276.2,405.7,8.8,319,8154,0.12,2.62,23.55,0.782,6,0.064,0.041,3620,1345,1752,0,0,0,0,0,0
$GC,8437,1.17,276.2,363.6,13.7,327,8442,0.20,2.03,0.00,0.000,4,0.095,0.061,3577,161,1748,0,0,0,0,0,0
$GC,8504,1.17,276.2,354.9,11.7,328,8508,0.00,1.88,0.00,0.000,6,0.000,0.023,3577,1352,1748,0,0,0,0,0,0
$GC,8776,1.17,276.2,324.1,11.4,335,8781,0.00,2.53,0.00,0.000,4,0.000,0.031,3577,2921,1746,0,0,0,0,0,0
$GC,8805,1.27,276.2,320.8,11.2,335,8810,0.00,2.62,0.00,0.000,6,0.000,0.039,3577,1339,1744,0,0,0,0,0,0
$GC,9061,1.27,276.2,293.6,10.6,342,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1339,1743,0,0,0,0,0,0
$GC,9304,1.35,287.3,270.0,9.5,348,9321,0.15,2.05,9.68,0.621,4,0.057,0.058,3637,167,1708,0,0,0,0,0,0
$GC,9414,1.24,287.3,255.9,14.3,350,9419,0.22,1.85,0.00,0.000,6,0.093,0.021,3588,1353,1708,0,0,0,0,0,0
$GC,9685,1.30,287.3,228.9,10.1,357,9689,0.00,2.00,0.00,0.000,4,0.000,0.054,3588,166,1707,0,0,0,0,0,0
$GC,9763,1.30,287.3,219.2,12.6,358,9767,0.00,1.80,0.00,0.000,6,0.000,0.021,3588,1345,1706,0,0,0,0,0,0
$GC,10026,1.38,287.3,191.4,10.6,368,10031,0.12,2.50,0.00,0.000,4,0.064,0.027,3647,2906,1705,0,0,0,0,0,0
$GC,10045,1.38,287.3,188.7,11.8,369,10054,0.10,2.62,0.00,0.000,6,0.075,0.035,3620,1328,1704,0,0,0,0,0,0
$GC,10311,1.38,287.3,159.1,11.3,394,10314,0.00,1.92,0.00,0.000,4,0.000,0.056,3620,164,1703,0,0,0,0,0,0
$GC,10371,1.38,287.3,151.3,12.8,400,10375,0.00,1.75,0.00,0.000,6,0.000,0.021,3620,1330,1703,0,0,0,0,0,0
$GC,10641,1.38,287.3,119.2,12.6,425,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1333,1704,0,0,0,0,0,0
$GC,10904,1.38,287.3,86.3,12.4,450,10908,0.00,1.92,0.00,0.000,4,0.000,0.051,3620,166,1704,0,0,0,0,0,0
$GC,10958,1.38,287.3,79.7,12.8,455,10962,0.00,1.73,0.00,0.000,6,0.000,0.020,3620,1326,1704,0,0,0,0,0,0
$GC,11232,1.44,337.0,54.2,7.7,480,11281,0.00,2.03,44.33,0.490,4,0.000,0.048,3620,164,1505,0,0,0,0,0,0
$GC,11332,1.44,337.0,44.7,10.3,488,11341,0.00,1.75,0.00,0.000,6,0.000,0.019,3620,1312,1505,0,0,0,0,0,0
$GC,11618,1.44,337.0,16.9,10.5,523,11626,0.00,1.92,0.00,0.000,4,0.000,0.048,3620,169,1503,0,0,0,0,0,0
$GC,11648,1.44,337.0,13.4,11.2,527,11657,0.00,1.73,0.00,0.000,6,0.000,0.019,3620,1305,1503,0,0,0,0,0,0
$STATE,11749,end climb,SURFACE_DEPTH_REACHED
$STATE,11749,begin surface coast
$FINISH,0.8,1.023589
$STATE,11804,end surface coast,CONTROL_FINISHED_OK
$STATE,11804,begin surface
$SM_CCo,11827,27.75,0.432,0,0,1329,380.21
$SM_GC,1.44,0.00,0.00,27.75,0.000,0.000,0.432,412,1648,1329,-13.38,0.51,380.21
$IRIDIUM_FIX,2248.70,-15802.79,101101,060659
$TT8_MAMPS,0.026845
$HUMID,66.61
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,23.5,61.317
$10V_AH,9.9,49.646
$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,34.550,127.525,415.325,27.750,0.000,24.988,39.465,228.021,2.000,0.000,13.301,1162.623,7961.648,473.567,2041.579,646.720,33.375,1347.221,0.000,2044.800,0.000,0.537,0.000
$DEVICE_MAMPS,167.973,76.700,921.934,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.444,328.442,405.068,583.006,1024.324,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41487,551
$CAP_FILE_SIZE,130227,0
$CFSIZE,260165632,150446080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160812,125730,2257.971,-15802.878,41,1.6,41,10.1