version: 66.06
glider: 148
mission: 11
dive: 472
start: 8 16 112 16 33 48
data:
$ID,148
$MISSION,11
$DIVE,472
$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,-928472.88
$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,24
$R_STBD_OVSHOOT,83
$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
$GPS1,162606,2257.761,-15802.440,32,1.4,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.6
$GPS2,163254,2257.773,-15802.533,10,1.3,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.124
$KALMAN_X,-347511.4,54.7,-224.1,342946.1,-1752.4
$KALMAN_Y,119777.6,-425.9,91.7,-101351.9,653.7
$MHEAD_RNG_PITCHd_Wd,108.4,55212,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.53,0.000,2,0.000,0.000,411,1634,3233,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-6.7,10,121,13.55,2.40,-4.12,0.000,4,0.148,0.045,3039,158,3475,0,0,0,0,0,0
$GC,192,-0.80,-146.0,35.4,-25.4,23,198,0.47,2.25,0.00,0.000,6,0.095,0.018,3141,1615,3477,0,0,0,0,0,0
$GC,462,-0.66,-146.0,78.1,-15.6,47,467,0.15,2.53,0.00,0.000,4,0.105,0.024,3175,3204,3478,0,0,0,0,0,0
$GC,492,-0.66,-146.0,82.4,-10.6,49,496,0.00,2.55,0.00,0.000,6,0.000,0.028,3174,1622,3478,0,0,0,0,0,0
$GC,762,-0.66,-146.0,107.0,-8.8,73,766,0.00,2.35,0.00,0.000,4,0.000,0.049,3175,172,3479,0,0,0,0,0,0
$GC,797,-0.66,-146.0,111.0,-9.3,76,801,0.00,2.25,0.00,0.000,6,0.000,0.017,3174,1656,3479,0,0,0,0,0,0
$GC,1062,-0.66,-146.0,131.5,-8.0,100,1066,0.00,2.38,0.00,0.000,4,0.000,0.023,3174,3188,3480,0,0,0,0,0,0
$GC,1092,-0.81,-146.0,134.2,-7.4,102,1101,0.10,2.50,0.00,0.000,6,0.026,0.027,3072,1645,3480,0,0,0,0,0,0
$GC,1358,-0.57,-146.0,169.8,-14.2,127,1367,0.52,2.38,0.00,0.000,4,0.083,0.039,3194,173,3480,0,0,0,0,0,0
$GC,1380,-0.49,-146.0,173.0,-12.3,129,1384,0.00,2.22,0.00,0.000,6,0.000,0.018,3194,1646,3481,0,0,0,0,0,0
$GC,1643,-0.66,-146.0,194.4,-8.2,153,1648,0.00,2.40,0.00,0.000,4,0.000,0.023,3194,3192,3481,0,0,0,0,0,0
$GC,1677,-0.92,-146.0,197.3,-8.2,155,1683,0.30,2.45,0.00,0.000,6,0.031,0.026,3059,1648,3481,0,0,0,0,0,0
$GC,1949,-0.70,-146.0,234.1,-13.6,164,1954,0.45,2.40,0.00,0.000,4,0.083,0.040,3163,169,3481,0,0,0,0,0,0
$GC,1999,-0.86,-146.0,238.9,-8.0,165,2004,0.12,2.22,0.00,0.000,6,0.059,0.018,3089,1636,3482,0,0,0,0,0,0
$GC,2282,-0.76,-146.0,270.9,-11.7,172,2287,0.25,2.45,0.00,0.000,4,0.084,0.024,3149,3195,3481,0,0,0,0,0,0
$GC,2330,-0.96,-146.0,276.0,-9.4,173,2336,0.17,2.47,0.00,0.000,6,0.047,0.027,3053,1653,3481,0,0,0,0,0,0
$GC,2616,-0.75,-146.0,317.2,-14.7,180,2623,0.47,2.42,0.00,0.000,4,0.081,0.044,3154,169,3482,0,0,0,0,0,0
$GC,2671,-0.95,-146.0,323.6,-9.2,181,2676,0.17,2.28,0.00,0.000,6,0.045,0.021,3066,1633,3482,0,0,0,0,0,0
$GC,2951,-0.82,-146.0,356.6,-11.6,188,2957,0.32,2.50,0.00,0.000,4,0.082,0.028,3138,3204,3482,0,0,0,0,0,0
$GC,2990,-1.00,-146.0,359.8,-6.1,188,2997,0.15,2.50,0.00,0.000,6,0.051,0.031,3039,1653,3482,0,0,0,0,0,0
$GC,3243,-0.82,-146.0,384.6,-10.5,195,3250,0.40,2.47,0.00,0.000,4,0.080,0.055,3135,173,3482,0,0,0,0,0,0
$GC,3265,-0.82,-146.0,386.8,-7.8,195,3269,0.00,2.30,0.00,0.000,6,0.000,0.022,3135,1644,3481,0,0,0,0,0,0
$GC,3529,-0.93,-146.0,402.5,-6.3,202,3533,0.00,2.50,0.00,0.000,4,0.000,0.031,3135,3200,3480,0,0,0,0,0,0
$GC,3569,-1.12,-146.0,405.2,-6.4,202,3575,0.25,2.55,0.00,0.000,6,0.035,0.034,3022,1644,3479,0,0,0,0,0,0
$GC,3819,-0.88,-146.0,438.3,-14.1,209,3821,0.47,0.00,0.00,0.000,6,0.081,0.000,3129,1644,3478,0,0,0,0,0,0
$GC,4065,-0.97,-146.0,459.4,-8.4,215,4069,0.00,2.53,0.00,0.000,4,0.000,0.038,3128,3193,3476,0,0,0,0,0,0
$GC,4112,-1.17,-146.0,463.5,-8.1,216,4118,0.25,2.53,0.00,0.000,6,0.036,0.038,3017,1666,3477,0,0,0,0,0,0
$GC,4396,-0.91,-146.0,502.3,-14.1,223,4403,0.47,2.58,0.00,0.000,4,0.084,0.069,3118,164,3474,0,0,0,0,0,0
$GC,4419,-0.91,-146.0,504.9,-10.9,223,4424,0.00,2.38,0.00,0.000,6,0.000,0.030,3118,1644,3474,0,0,0,0,0,0
$GC,4684,-1.00,-146.0,525.3,-7.7,230,4688,0.00,2.55,0.00,0.000,4,0.000,0.043,3118,3207,3472,0,0,0,0,0,0
$GC,4703,-1.09,-146.0,526.8,-7.7,230,4708,0.15,2.58,0.00,0.000,6,0.051,0.039,3033,1658,3472,0,0,0,0,0,0
$GC,4970,-0.91,-146.0,556.6,-11.2,237,4972,0.40,0.00,0.00,0.000,6,0.082,0.000,3119,1658,3470,0,0,0,0,0,0
$GC,5212,-1.01,-146.0,573.0,-6.4,243,5217,0.00,2.58,0.00,0.000,4,0.000,0.045,3119,3207,3469,0,0,0,0,0,0
$GC,5232,-1.11,-146.0,574.5,-7.3,243,5237,0.17,2.60,0.00,0.000,6,0.045,0.043,3035,1654,3468,0,0,0,0,0,0
$STATE,5494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5494,begin apogee
$GC,5502,-0.31,0.0,602.2,11.1,250,5625,0.95,0.00,118.70,0.917,6,0.080,0.000,3249,1344,2880,0,0,0,0,0,0
$STATE,5625,end apogee,CONTROL_FINISHED_OK
$STATE,5625,begin climb
$GC,5628,1.27,146.0,605.8,0.0,253,5764,1.50,2.17,123.80,0.897,4,0.049,0.084,3601,176,2283,0,0,0,0,0,0
$GC,5848,1.04,146.0,589.8,11.1,258,5853,0.25,1.90,0.00,0.000,6,0.094,0.028,3548,1352,2279,0,0,0,0,0,0
$GC,6119,1.11,198.5,568.7,7.6,265,6171,0.00,2.17,45.78,0.869,4,0.000,0.070,3548,171,2070,0,0,0,0,0,0
$GC,6255,1.13,219.3,556.6,9.0,268,6279,0.00,1.90,19.55,0.824,6,0.000,0.028,3548,1345,1985,0,0,0,0,0,0
$GC,6541,1.18,257.3,532.9,8.2,275,6583,0.12,2.12,35.42,0.848,4,0.065,0.067,3603,163,1830,0,0,0,0,0,0
$GC,6626,1.07,257.3,522.5,13.7,276,6632,0.22,1.92,0.00,0.000,6,0.094,0.028,3554,1352,1829,0,0,0,0,0,0
$GC,6878,1.14,262.7,498.1,9.8,283,6889,0.00,2.08,5.07,0.611,4,0.000,0.063,3554,169,1809,0,0,0,0,0,0
$GC,6915,1.14,262.7,493.8,12.0,283,6918,0.00,1.88,0.00,0.000,6,0.000,0.027,3554,1342,1809,0,0,0,0,0,0
$GC,7171,1.21,262.7,466.6,10.7,290,7172,0.12,0.00,0.00,0.000,6,0.065,0.000,3612,1344,1806,0,0,0,0,0,0
$GC,7412,1.13,262.7,434.5,13.2,296,7418,0.22,2.62,0.00,0.000,4,0.092,0.040,3563,2921,1805,0,0,0,0,0,0
$GC,7437,1.13,262.7,431.5,11.9,296,7441,0.00,2.67,0.00,0.000,6,0.000,0.041,3563,1332,1802,0,0,0,0,0,0
$GC,7698,1.13,265.2,405.7,9.9,303,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1331,1802,0,0,0,0,0,0
$GC,7940,1.19,265.2,381.2,10.0,309,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1331,1801,0,0,0,0,0,0
$GC,8184,1.26,265.2,356.3,10.2,315,8188,0.12,2.00,0.00,0.000,4,0.065,0.067,3618,163,1800,0,0,0,0,0,0
$GC,8212,1.11,265.2,352.5,15.0,315,8217,0.20,1.88,0.00,0.000,6,0.077,0.024,3562,1342,1800,0,0,0,0,0,0
$GC,8474,1.20,270.5,326.1,9.8,322,8487,0.00,2.60,6.80,0.611,4,0.000,0.032,3563,2913,1777,0,0,0,0,0,0
$GC,8497,1.31,282.5,323.6,9.4,322,8520,0.17,2.65,12.52,0.680,6,0.048,0.039,3625,1333,1727,0,0,0,0,0,0
$GC,8767,1.22,282.5,290.7,12.4,329,8771,0.17,2.00,0.00,0.000,4,0.098,0.061,3587,163,1724,0,0,0,0,0,0
$GC,8891,1.22,282.5,275.8,12.1,331,8895,0.00,1.83,0.00,0.000,6,0.000,0.022,3587,1323,1724,0,0,0,0,0,0
$GC,9147,1.23,289.0,250.9,9.7,338,9160,0.00,2.62,6.88,0.563,4,0.000,0.028,3587,2916,1701,0,0,0,0,0,0
$GC,9203,1.39,296.1,245.5,9.7,339,9217,0.15,2.67,7.85,0.571,6,0.054,0.038,3638,1317,1673,0,0,0,0,0,0
$GC,9485,1.32,296.1,210.3,13.0,346,9489,0.15,1.95,0.00,0.000,4,0.101,0.054,3605,160,1671,0,0,0,0,0,0
$GC,9540,1.32,296.1,202.9,11.1,347,9544,0.00,1.83,0.00,0.000,6,0.000,0.021,3606,1344,1671,0,0,0,0,0,0
$GC,9817,1.32,296.1,174.1,10.7,370,9821,0.00,2.45,0.00,0.000,4,0.000,0.026,3605,2898,1670,0,0,0,0,0,0
$GC,9844,1.40,296.1,170.9,10.1,372,9848,0.00,2.60,0.00,0.000,6,0.000,0.035,3606,1319,1668,0,0,0,0,0,0
$GC,10106,1.40,296.1,143.5,10.8,396,10111,0.00,2.53,0.00,0.000,4,0.000,0.026,3606,2897,1668,0,0,0,0,0,0
$GC,10138,1.49,296.1,140.2,10.5,398,10147,0.12,2.60,0.00,0.000,6,0.025,0.035,3654,1331,1668,0,0,0,0,0,0
$GC,10405,1.39,296.1,105.0,13.9,423,10410,0.15,1.95,0.00,0.000,4,0.100,0.057,3621,160,1668,0,0,0,0,0,0
$GC,10438,1.39,296.1,99.9,13.2,426,10442,0.00,1.77,0.00,0.000,6,0.000,0.020,3621,1334,1668,0,0,0,0,0,0
$GC,10710,1.43,326.7,72.8,8.6,451,10740,0.00,0.00,28.33,0.499,6,0.000,0.000,3621,1336,1547,0,0,0,0,0,0
$GC,10994,1.43,326.7,44.0,10.5,478,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1336,1545,0,0,0,0,0,0
$GC,11282,1.49,326.7,12.8,10.7,515,11291,0.10,0.00,0.00,0.000,6,0.075,0.000,3666,1336,1544,0,0,0,0,0,0
$STATE,11353,end climb,SURFACE_DEPTH_REACHED
$STATE,11353,begin surface coast
$FINISH,0.7,1.023451
$STATE,11385,end surface coast,CONTROL_FINISHED_OK
$STATE,11385,begin surface
$SM_CCo,11411,30.75,0.431,0,0,1329,380.21
$SM_GC,1.74,0.00,0.00,30.75,0.000,0.000,0.431,411,1655,1329,-13.38,0.71,380.21
$IRIDIUM_FIX,2251.04,-15802.79,101101,131332
$TT8_MAMPS,0.027612
$HUMID,66.53
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.40
$XPDR_PINGS,10
$24V_AH,23.5,61.550
$10V_AH,9.9,49.865
$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,37.700,136.300,410.700,30.750,0.000,27.478,37.458,187.212,2.500,0.000,16.760,1148.612,7623.637,509.192,1949.825,615.863,33.379,1330.705,0.000,1954.215,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,83.603,917.332,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.622,321.851,390.921,565.279,993.156,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41464,531
$CAP_FILE_SIZE,130408,0
$CFSIZE,260165632,150323200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160812,194600,2257.227,-15801.802,37,1.5,47,10.1