version: 66.06
glider: 148
mission: 11
dive: 474
start: 8 16 112 23 38 18
data:
$ID,148
$MISSION,11
$DIVE,474
$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,-928505.5
$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,25
$R_STBD_OVSHOOT,94
$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
$GPS1,232025,2256.464,-15801.366,37,99.0,56,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-75.2
$GPS2,233724,2256.477,-15801.601,9,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.083
$KALMAN_X,-351828.8,-100.4,114.0,348677.4,-2365.3
$KALMAN_Y,119912.6,-204.5,-302.9,-103707.5,512.7
$MHEAD_RNG_PITCHd_Wd,98.5,52454,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.55,0.000,2,0.000,0.000,413,1680,3270,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-6.3,10,121,13.68,2.47,-3.58,0.000,4,0.152,0.044,3037,157,3478,0,0,0,0,0,0
$GC,193,-0.82,-146.0,34.4,-22.9,23,198,0.47,2.20,0.00,0.000,6,0.093,0.018,3140,1599,3479,0,0,0,0,0,0
$GC,461,-0.67,-146.0,75.4,-14.4,47,466,0.15,2.53,0.00,0.000,4,0.100,0.025,3173,3201,3480,0,0,0,0,0,0
$GC,496,-0.73,-146.0,80.0,-9.6,49,505,0.00,2.58,0.00,0.000,6,0.000,0.027,3173,1621,3481,0,0,0,0,0,0
$GC,761,-0.73,-146.0,103.6,-8.7,74,765,0.00,2.35,0.00,0.000,4,0.000,0.041,3173,166,3481,0,0,0,0,0,0
$GC,787,-0.73,-146.0,106.3,-9.0,76,791,0.00,2.25,0.00,0.000,6,0.000,0.017,3173,1659,3481,0,0,0,0,0,0
$GC,1060,-0.73,-146.0,128.4,-8.3,101,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1662,3481,0,0,0,0,0,0
$GC,1321,-0.73,-146.0,151.0,-9.0,126,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1662,3481,0,0,0,0,0,0
$GC,1580,-0.80,-146.0,175.1,-9.6,150,1589,0.12,0.00,0.00,0.000,6,0.061,0.000,3093,1662,3482,0,0,0,0,0,0
$GC,1848,-0.63,-146.0,211.3,-13.1,170,1850,0.38,0.00,0.00,0.000,6,0.078,0.000,3180,1662,3481,0,0,0,0,0,0
$GC,2094,-0.78,-146.0,229.4,-6.9,176,2096,0.12,0.00,0.00,0.000,6,0.061,0.000,3104,1663,3482,0,0,0,0,0,0
$GC,2336,-0.70,-146.0,254.6,-10.8,182,2338,0.30,0.00,0.00,0.000,6,0.080,0.000,3171,1663,3482,0,0,0,0,0,0
$GC,2580,-0.85,-146.0,271.7,-6.8,188,2582,0.15,0.00,0.00,0.000,6,0.053,0.000,3087,1663,3482,0,0,0,0,0,0
$GC,2825,-0.73,-146.0,298.4,-11.2,194,2827,0.35,0.00,0.00,0.000,6,0.078,0.000,3161,1663,3482,0,0,0,0,0,0
$GC,3067,-0.88,-146.0,314.3,-6.1,200,3069,0.15,0.00,0.00,0.000,6,0.053,0.000,3079,1663,3481,0,0,0,0,0,0
$GC,3311,-0.77,-146.0,338.6,-10.1,206,3316,0.30,2.47,0.00,0.000,4,0.088,0.048,3148,175,3480,0,0,0,0,0,0
$GC,3357,-0.90,-146.0,342.2,-7.4,207,3362,0.10,2.22,0.00,0.000,6,0.074,0.020,3086,1613,3480,0,0,0,0,0,0
$GC,3652,-0.82,-146.0,368.5,-9.1,214,3657,0.25,2.55,0.00,0.000,4,0.083,0.031,3144,3207,3479,0,0,0,0,0,0
$GC,3672,-0.82,-146.0,370.4,-8.0,214,3676,0.00,2.53,0.00,0.000,6,0.000,0.031,3144,1644,3479,0,0,0,0,0,0
$GC,3938,-0.95,-146.0,386.8,-6.3,221,3943,0.12,2.55,0.00,0.000,4,0.062,0.032,3067,3203,3477,0,0,0,0,0,0
$GC,3958,-0.95,-146.0,388.8,-8.3,221,3963,0.20,2.53,0.00,0.000,6,0.085,0.033,3114,1643,3477,0,0,0,0,0,0
$GC,4224,-0.95,-146.0,411.8,-8.7,228,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1643,3475,0,0,0,0,0,0
$GC,4467,-0.95,-146.0,432.9,-8.7,234,4471,0.00,2.50,0.00,0.000,4,0.000,0.063,3114,169,3474,0,0,0,0,0,0
$GC,4490,-0.95,-146.0,435.1,-9.2,234,4495,0.00,2.28,0.00,0.000,6,0.000,0.025,3114,1627,3474,0,0,0,0,0,0
$GC,4750,-0.95,-146.0,456.0,-7.9,241,4754,0.00,2.58,0.00,0.000,4,0.000,0.036,3114,3208,3471,0,0,0,0,0,0
$GC,4778,-1.04,-146.0,458.3,-7.2,241,4783,0.00,2.58,0.00,0.000,6,0.000,0.036,3114,1635,3471,0,0,0,0,0,0
$GC,5033,-1.04,-146.0,478.1,-7.9,248,5038,0.00,2.60,0.00,0.000,4,0.000,0.041,3114,3203,3469,0,0,0,0,0,0
$GC,5064,-1.13,-146.0,480.5,-8.1,248,5070,0.17,2.58,0.00,0.000,6,0.048,0.038,3020,1649,3469,0,0,0,0,0,0
$GC,5320,-0.91,-146.0,512.9,-13.0,255,5327,0.43,2.58,0.00,0.000,4,0.085,0.069,3117,160,3468,0,0,0,0,0,0
$GC,5346,-0.91,-146.0,515.9,-10.6,255,5351,0.00,2.38,0.00,0.000,6,0.000,0.031,3117,1640,3468,0,0,0,0,0,0
$GC,5608,-0.99,-146.0,536.9,-8.2,262,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1640,3466,0,0,0,0,0,0
$GC,5850,-1.06,-146.0,557.7,-8.5,268,5855,0.12,2.62,0.00,0.000,4,0.063,0.046,3055,3210,3464,0,0,0,0,0,0
$GC,5870,-1.06,-146.0,560.0,-11.0,268,5875,0.15,2.62,0.00,0.000,6,0.091,0.043,3090,1640,3464,0,0,0,0,0,0
$GC,6137,-1.06,-146.0,585.6,-9.5,275,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1640,3462,0,0,0,0,0,0
$STATE,6294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6294,begin apogee
$GC,6301,-0.31,0.0,600.0,8.9,279,6421,0.70,0.00,117.25,0.919,6,0.072,0.000,3251,1343,2880,0,0,0,0,0,0
$STATE,6422,end apogee,CONTROL_FINISHED_OK
$STATE,6422,begin climb
$GC,6425,1.27,146.0,603.9,0.0,282,6557,1.48,2.17,122.88,0.900,4,0.055,0.081,3597,170,2284,0,0,0,0,0,0
$GC,6718,1.07,146.0,582.1,10.4,288,6722,0.20,1.92,0.00,0.000,6,0.100,0.028,3555,1358,2278,0,0,0,0,0,0
$GC,6977,1.13,195.9,561.3,7.7,295,7026,0.00,2.15,43.25,0.867,4,0.000,0.069,3554,178,2081,0,0,0,0,0,0
$GC,7115,1.13,195.9,547.0,12.0,298,7119,0.00,1.90,0.00,0.000,6,0.000,0.028,3554,1347,2079,0,0,0,0,0,0
$GC,7401,1.13,195.9,517.1,10.6,305,7405,0.00,2.03,0.00,0.000,4,0.000,0.065,3554,172,2073,0,0,0,0,0,0
$GC,7518,1.13,195.9,504.1,11.3,307,7522,0.00,1.90,0.00,0.000,6,0.000,0.026,3554,1363,2073,0,0,0,0,0,0
$GC,7786,1.17,227.3,479.9,8.6,314,7816,0.00,0.00,28.23,0.824,6,0.000,0.000,3554,1364,1953,0,0,0,0,0,0
$GC,8030,1.22,266.1,459.8,8.2,320,8073,0.12,2.10,35.97,0.817,4,0.064,0.067,3606,171,1794,0,0,0,0,0,0
$GC,8112,1.11,266.1,450.3,13.7,321,8116,0.20,1.88,0.00,0.000,6,0.095,0.025,3563,1344,1793,0,0,0,0,0,0
$GC,8362,1.12,277.4,426.5,9.5,327,8378,0.00,2.08,10.48,0.720,4,0.000,0.059,3563,174,1749,0,0,0,0,0,0
$GC,8441,1.12,277.4,418.1,10.6,328,8444,0.00,1.85,0.00,0.000,6,0.000,0.024,3562,1339,1748,0,0,0,0,0,0
$GC,8700,1.20,277.4,391.2,10.5,335,8704,0.00,2.60,0.00,0.000,4,0.000,0.038,3562,2914,1745,0,0,0,0,0,0
$GC,8751,1.36,277.4,385.5,10.5,336,8758,0.22,2.65,0.00,0.000,6,0.040,0.041,3640,1326,1742,0,0,0,0,0,0
$GC,9034,1.22,277.4,343.7,15.2,343,9038,0.25,1.98,0.00,0.000,4,0.092,0.059,3583,158,1742,0,0,0,0,0,0
$GC,9113,1.22,277.4,332.8,12.3,344,9117,0.00,1.85,0.00,0.000,6,0.000,0.023,3583,1324,1742,0,0,0,0,0,0
$GC,9369,1.22,277.4,305.5,10.7,351,9370,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1326,1741,0,0,0,0,0,0
$GC,9611,1.25,298.2,282.6,9.0,357,9635,0.00,2.05,19.02,0.678,4,0.000,0.057,3583,167,1664,0,0,0,0,0,0
$GC,9677,1.25,298.2,276.3,10.6,358,9681,0.00,1.80,0.00,0.000,6,0.000,0.021,3583,1339,1664,0,0,0,0,0,0
$GC,9947,1.34,313.5,251.8,9.3,365,9968,0.12,2.05,15.05,0.635,4,0.066,0.053,3644,167,1601,0,0,0,0,0,0
$GC,10002,1.20,313.5,243.9,16.6,366,10006,0.28,1.80,0.00,0.000,6,0.086,0.021,3583,1325,1601,0,0,0,0,0,0
$GC,10281,1.31,313.5,212.9,11.0,373,10286,0.10,2.55,0.00,0.000,4,0.076,0.028,3630,2912,1598,0,0,0,0,0,0
$GC,10315,1.31,313.5,208.6,12.2,373,10320,0.12,2.65,0.00,0.000,6,0.100,0.036,3602,1313,1595,0,0,0,0,0,0
$GC,10579,1.31,313.5,179.9,10.4,391,10583,0.00,2.55,0.00,0.000,4,0.000,0.027,3602,2911,1595,0,0,0,0,0,0
$GC,10604,1.40,313.5,176.4,10.4,393,10608,0.00,2.58,0.00,0.000,6,0.000,0.034,3602,1330,1594,0,0,0,0,0,0
$GC,10872,1.40,313.5,147.6,10.7,417,10877,0.10,0.00,0.00,0.000,6,0.076,0.000,3655,1329,1594,0,0,0,0,0,0
$GC,11135,1.32,313.5,110.3,13.8,442,11140,0.22,1.92,0.00,0.000,4,0.088,0.055,3605,167,1594,0,0,0,0,0,0
$GC,11174,1.32,313.5,105.7,11.3,445,11178,0.00,1.80,0.00,0.000,6,0.000,0.020,3606,1349,1594,0,0,0,0,0,0
$GC,11443,1.43,353.2,79.9,8.2,470,11485,0.10,2.53,34.90,0.506,4,0.076,0.027,3658,2885,1438,0,0,0,0,0,0
$GC,11543,1.51,353.2,68.4,12.2,478,11552,0.00,2.60,0.00,0.000,6,0.000,0.035,3658,1331,1435,0,0,0,0,0,0
$GC,11808,1.51,353.2,34.5,13.4,503,11812,0.00,1.95,0.00,0.000,4,0.000,0.048,3658,163,1435,0,0,0,0,0,0
$GC,11835,1.43,353.2,30.9,13.8,505,11839,0.12,1.77,0.00,0.000,6,0.105,0.019,3630,1342,1435,0,0,0,0,0,0
$STATE,12060,end climb,SURFACE_DEPTH_REACHED
$STATE,12060,begin surface coast
$FINISH,0.7,1.023448
$STATE,12099,end surface coast,CONTROL_FINISHED_OK
$STATE,12099,begin surface
$SM_CCo,12122,14.30,0.410,0,0,1329,380.21
$SM_GC,1.67,0.00,0.00,14.30,0.000,0.000,0.410,412,1671,1329,-13.38,1.16,380.21
$IRIDIUM_FIX,2248.70,-15800.62,101101,232339
$TT8_MAMPS,0.027612
$HUMID,67.64
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.5,61.805
$10V_AH,9.9,50.096
$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,34.875,115.050,427.025,14.300,0.000,114.961,244.152,314.214,2.000,0.000,16.010,1157.259,8502.589,460.126,1992.809,1040.370,33.373,1300.208,0.000,1991.336,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,81.302,918.866,409.578,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.396,296.216,389.179,554.729,974.278,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41447,546
$CAP_FILE_SIZE,131854,0
$CFSIZE,260165632,150192128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170812,030154,2256.242,-15801.074,36,1.4,36,10.1