version: 66.06
glider: 148
mission: 11
dive: 471
start: 8 16 112 13 4 54
data:
$ID,148
$MISSION,11
$DIVE,471
$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,-928455.5
$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,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,24
$R_STBD_OVSHOOT,92
$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
$GPS1,125730,2257.971,-15802.878,41,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-74.6
$GPS2,130400,2257.961,-15802.947,8,1.8,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,-0.080
$KALMAN_X,-345400.0,61.2,-79.9,339980.9,-2271.0
$KALMAN_Y,119311.2,-89.8,-384.3,-100394.7,378.8
$MHEAD_RNG_PITCHd_Wd,97.8,55978,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.85,0.000,2,0.000,0.000,411,1648,3012,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-5.0,9,121,13.52,2.47,-8.98,0.000,4,0.148,0.051,3037,168,3479,0,0,0,0,0,0
$GC,143,-0.61,-146.0,19.0,-26.8,16,151,0.65,2.22,0.00,0.000,6,0.087,0.018,3183,1590,3480,0,0,0,0,0,0
$GC,417,-0.61,-146.0,52.7,-11.5,46,422,0.00,2.53,0.00,0.000,4,0.000,0.024,3183,3202,3481,0,0,0,0,0,0
$GC,462,-0.72,-146.0,57.3,-10.0,49,466,0.00,2.53,0.00,0.000,6,0.000,0.028,3182,1625,3481,0,0,0,0,0,0
$GC,731,-0.79,-146.0,85.7,-11.6,73,737,0.15,0.00,0.00,0.000,6,0.051,0.000,3091,1624,3482,0,0,0,0,0,0
$GC,994,-0.58,-146.0,127.7,-15.3,98,997,0.45,0.00,0.00,0.000,6,0.080,0.000,3192,1625,3482,0,0,0,0,0,0
$GC,1251,-0.70,-146.0,150.3,-8.1,122,1256,0.12,2.50,0.00,0.000,4,0.062,0.024,3121,3206,3483,0,0,0,0,0,0
$GC,1287,-0.70,-146.0,154.3,-10.8,125,1292,0.20,2.50,0.00,0.000,6,0.082,0.028,3168,1636,3483,0,0,0,0,0,0
$GC,1553,-0.77,-146.0,178.0,-9.0,149,1557,0.00,2.38,0.00,0.000,4,0.000,0.042,3168,173,3484,0,0,0,0,0,0
$GC,1570,-0.77,-146.0,180.0,-9.8,150,1574,0.00,2.25,0.00,0.000,6,0.000,0.018,3168,1665,3484,0,0,0,0,0,0
$GC,1861,-0.85,-146.0,207.4,-9.2,171,1866,0.15,2.40,0.00,0.000,4,0.054,0.024,3090,3185,3484,0,0,0,0,0,0
$GC,1901,-0.85,-146.0,211.9,-12.4,171,1907,0.20,2.47,0.00,0.000,6,0.085,0.027,3135,1630,3484,0,0,0,0,0,0
$GC,2151,-0.85,-146.0,236.5,-9.9,178,2155,0.00,2.38,0.00,0.000,4,0.000,0.044,3135,171,3484,0,0,0,0,0,0
$GC,2207,-0.85,-146.0,242.4,-10.1,179,2211,0.00,2.20,0.00,0.000,6,0.000,0.018,3136,1617,3485,0,0,0,0,0,0
$GC,2481,-0.85,-146.0,269.3,-10.0,186,2485,0.00,2.45,0.00,0.000,4,0.000,0.025,3135,3187,3485,0,0,0,0,0,0
$GC,2525,-0.99,-146.0,273.3,-7.8,187,2530,0.12,2.47,0.00,0.000,6,0.061,0.027,3054,1629,3485,0,0,0,0,0,0
$GC,2815,-0.78,-146.0,309.5,-12.4,194,2820,0.45,2.38,0.00,0.000,4,0.081,0.044,3148,169,3485,0,0,0,0,0,0
$GC,2886,-0.98,-146.0,316.0,-7.2,195,2891,0.17,2.20,0.00,0.000,6,0.047,0.020,3066,1610,3485,0,0,0,0,0,0
$GC,3148,-0.84,-146.0,344.0,-11.2,202,3153,0.28,2.53,0.00,0.000,4,0.081,0.035,3134,3199,3484,0,0,0,0,0,0
$GC,3178,-0.94,-146.0,347.0,-8.4,202,3182,0.00,2.53,0.00,0.000,6,0.000,0.030,3134,1624,3485,0,0,0,0,0,0
$GC,3433,-1.02,-146.0,365.7,-7.3,209,3438,0.15,2.45,0.00,0.000,4,0.054,0.055,3063,170,3484,0,0,0,0,0,0
$GC,3468,-0.87,-146.0,369.6,-12.5,209,3473,0.28,2.25,0.00,0.000,6,0.082,0.021,3127,1623,3484,0,0,0,0,0,0
$GC,3719,-0.95,-146.0,390.7,-8.1,215,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1623,3483,0,0,0,0,0,0
$GC,3964,-1.03,-146.0,408.9,-7.4,221,3969,0.12,2.58,0.00,0.000,4,0.062,0.034,3056,3204,3482,0,0,0,0,0,0
$GC,3995,-0.94,-146.0,411.9,-9.9,221,4001,0.25,2.55,0.00,0.000,6,0.078,0.035,3115,1633,3481,0,0,0,0,0,0
$GC,4251,-0.94,-146.0,433.3,-8.5,228,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1633,3480,0,0,0,0,0,0
$GC,4497,-0.94,-146.0,454.5,-8.5,234,4501,0.00,2.58,0.00,0.000,4,0.000,0.036,3114,3197,3478,0,0,0,0,0,0
$GC,4549,-1.08,-146.0,458.9,-8.2,235,4554,0.12,2.60,0.00,0.000,6,0.061,0.037,3035,1626,3477,0,0,0,0,0,0
$GC,4828,-0.86,-146.0,491.9,-12.1,242,4835,0.43,2.50,0.00,0.000,4,0.082,0.067,3127,165,3476,0,0,0,0,0,0
$GC,4870,-0.96,-146.0,495.9,-8.0,242,4876,0.00,2.33,0.00,0.000,6,0.000,0.029,3127,1615,3475,0,0,0,0,0,0
$GC,5121,-1.05,-146.0,514.0,-7.2,249,5123,0.15,0.00,0.00,0.000,6,0.053,0.000,3056,1616,3474,0,0,0,0,0,0
$GC,5366,-0.94,-146.0,539.7,-10.7,255,5373,0.25,2.65,0.00,0.000,4,0.085,0.042,3118,3208,3472,0,0,0,0,0,0
$GC,5383,-0.94,-146.0,541.5,-9.0,255,5388,0.00,2.60,0.00,0.000,6,0.000,0.040,3118,1629,3472,0,0,0,0,0,0
$GC,5652,-1.02,-146.0,558.1,-6.0,262,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1629,3470,0,0,0,0,0,0
$GC,5898,-1.10,-146.0,571.7,-5.6,268,5900,0.15,0.00,0.00,0.000,6,0.054,0.000,3045,1629,3470,0,0,0,0,0,0
$GC,6140,-0.97,-146.0,594.2,-9.7,274,6145,0.25,2.55,0.00,0.000,4,0.085,0.075,3107,164,3468,0,0,0,0,0,0
$GC,6164,-0.97,-146.0,596.7,-8.8,274,6169,0.00,2.35,0.00,0.000,6,0.000,0.032,3107,1619,3467,0,0,0,0,0,0
$STATE,6218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6218,begin apogee
$GC,6226,-0.31,0.0,600.8,7.4,276,6348,0.62,0.00,118.75,0.922,6,0.071,0.000,3252,1339,2880,0,0,0,0,0,0
$STATE,6349,end apogee,CONTROL_FINISHED_OK
$STATE,6349,begin climb
$GC,6351,1.27,146.0,604.0,0.0,279,6483,1.48,2.08,123.40,0.902,4,0.054,0.073,3596,175,2283,0,0,0,0,0,0
$GC,6608,1.07,146.0,586.6,10.2,284,6614,0.20,1.92,0.00,0.000,6,0.099,0.028,3555,1359,2277,0,0,0,0,0,0
$GC,6860,1.16,216.5,569.3,6.7,291,6928,0.00,2.17,61.60,0.879,4,0.000,0.069,3554,177,1997,0,0,0,0,0,0
$GC,6968,1.16,216.5,559.9,10.6,293,6971,0.00,1.90,0.00,0.000,6,0.000,0.028,3554,1354,1995,0,0,0,0,0,0
$GC,7239,1.17,227.1,534.4,9.5,300,7255,0.00,2.72,9.90,0.759,4,0.000,0.048,3554,2927,1953,0,0,0,0,0,0
$GC,7270,1.26,247.1,531.3,9.1,300,7299,0.17,2.65,20.25,0.823,6,0.048,0.044,3624,1357,1871,0,0,0,0,0,0
$GC,7572,1.13,247.1,490.5,14.0,308,7577,0.25,2.08,0.00,0.000,4,0.090,0.069,3565,165,1866,0,0,0,0,0,0
$GC,7638,1.13,247.1,482.4,12.0,309,7641,0.00,1.90,0.00,0.000,6,0.000,0.025,3565,1362,1865,0,0,0,0,0,0
$GC,7910,1.13,247.1,454.0,10.2,316,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1365,1863,0,0,0,0,0,0
$GC,8155,1.13,247.1,428.2,10.8,322,8160,0.00,2.55,0.00,0.000,4,0.000,0.035,3565,2919,1861,0,0,0,0,0,0
$GC,8201,1.25,247.1,423.1,11.6,323,8206,0.10,2.65,0.00,0.000,6,0.077,0.041,3617,1342,1859,0,0,0,0,0,0
$GC,8489,1.16,247.1,384.1,13.6,330,8491,0.20,0.00,0.00,0.000,6,0.094,0.000,3573,1342,1859,0,0,0,0,0,0
$GC,8734,1.16,247.1,358.8,10.2,336,8738,0.00,1.98,0.00,0.000,4,0.000,0.061,3573,164,1859,0,0,0,0,0,0
$GC,8798,1.16,247.1,351.5,10.7,337,8802,0.00,1.83,0.00,0.000,6,0.000,0.023,3573,1349,1858,0,0,0,0,0,0
$GC,9071,1.18,264.7,326.0,9.2,344,9091,0.00,2.60,14.62,0.699,4,0.000,0.033,3572,2907,1799,0,0,0,0,0,0
$GC,9122,1.31,280.7,321.5,9.3,345,9143,0.15,2.62,15.27,0.691,6,0.055,0.039,3636,1345,1735,0,0,0,0,0,0
$GC,9405,1.21,280.7,285.5,12.9,352,9410,0.25,2.03,0.00,0.000,4,0.089,0.058,3577,160,1731,0,0,0,0,0,0
$GC,9550,1.21,280.7,266.6,12.9,355,9553,0.00,1.80,0.00,0.000,6,0.000,0.021,3577,1339,1731,0,0,0,0,0,0
$GC,9833,1.29,280.7,235.8,11.0,362,9837,0.10,2.00,0.00,0.000,4,0.077,0.054,3623,167,1730,0,0,0,0,0,0
$GC,9891,1.20,280.7,227.9,15.1,363,9896,0.20,1.80,0.00,0.000,6,0.093,0.021,3580,1339,1730,0,0,0,0,0,0
$GC,10174,1.30,288.8,199.7,9.6,370,10187,0.10,2.03,7.68,0.535,4,0.079,0.052,3625,171,1702,0,0,0,0,0,0
$GC,10238,1.30,288.8,192.7,13.2,376,10242,0.10,1.75,0.00,0.000,6,0.123,0.021,3603,1338,1702,0,0,0,0,0,0
$GC,10504,1.30,288.8,165.6,10.1,401,10507,0.00,1.98,0.00,0.000,4,0.000,0.051,3603,161,1701,0,0,0,0,0,0
$GC,10568,1.30,288.8,158.7,11.4,407,10574,0.00,1.75,0.00,0.000,6,0.000,0.020,3603,1323,1701,0,0,0,0,0,0
$GC,10831,1.33,312.3,134.0,8.9,432,10865,0.00,2.00,22.65,0.548,4,0.000,0.049,3603,170,1606,0,0,0,0,0,0
$GC,10877,1.33,312.3,129.7,10.3,436,10881,0.00,1.73,0.00,0.000,6,0.000,0.020,3603,1313,1606,0,0,0,0,0,0
$GC,11148,1.35,332.7,105.3,9.1,461,11172,0.00,2.58,19.08,0.512,4,0.000,0.027,3603,2894,1522,0,0,0,0,0,0
$GC,11189,1.46,350.6,101.0,9.2,464,11219,0.10,2.65,16.95,0.502,6,0.028,0.034,3651,1308,1449,0,0,0,0,0,0
$GC,11473,1.46,350.6,63.5,14.0,491,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,3651,1308,1448,0,0,0,0,0,0
$GC,11742,1.46,350.6,26.2,13.7,518,11751,0.00,2.55,0.00,0.000,4,0.000,0.026,3652,2884,1447,0,0,0,0,0,0
$GC,11773,1.46,350.6,22.0,13.0,522,11781,0.00,2.60,0.00,0.000,6,0.000,0.034,3652,1316,1445,0,0,0,0,0,0
$STATE,11917,end climb,SURFACE_DEPTH_REACHED
$STATE,11917,begin surface coast
$FINISH,1.0,1.023510
$STATE,11959,end surface coast,CONTROL_FINISHED_OK
$STATE,11959,begin surface
$SM_CCo,11983,13.90,0.408,0,0,1329,380.21
$SM_GC,1.89,0.00,0.00,13.90,0.000,0.000,0.408,411,1634,1329,-13.38,0.11,380.21
$IRIDIUM_FIX,2248.70,-15800.62,101101,090925
$TT8_MAMPS,0.027612
$HUMID,67.28
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,8
$24V_AH,23.5,61.434
$10V_AH,9.9,49.757
$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,35.675,135.125,430.150,13.900,0.000,28.756,35.855,182.212,2.000,0.000,16.987,1180.531,8039.796,473.338,2083.541,607.585,33.379,1365.914,0.000,2080.867,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,75.166,921.934,408.044,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.567,314.932,400.448,580.131,1018.768,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,41539,551
$CAP_FILE_SIZE,134431,0
$CFSIZE,260165632,150380544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160812,162606,2257.761,-15802.440,32,1.4,32,10.1