version: 66.06
glider: 148
mission: 11
dive: 475
start: 8 17 112 3 9 14
data:
$ID,148
$MISSION,11
$DIVE,475
$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,-928516.44
$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,105
$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
$GPS1,030154,2256.242,-15801.074,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.6
$GPS2,030819,2256.281,-15801.151,8,2.0,8,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.159
$KALMAN_X,-353641.7,-107.5,-261.4,351633.4,-1467.8
$KALMAN_Y,120122.5,203.0,-297.9,-104699.1,1096.9
$MHEAD_RNG_PITCHd_Wd,117.8,51630,-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,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.78,0.000,2,0.000,0.000,411,1672,3253,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.5,10,121,13.82,2.45,-3.83,0.000,4,0.156,0.043,3038,159,3478,0,0,0,0,0,0
$GC,182,-0.82,-146.0,33.4,-23.4,22,192,0.40,2.20,0.00,0.000,6,0.087,0.018,3130,1573,3479,0,0,0,0,0,0
$GC,452,-0.64,-146.0,74.1,-13.7,47,457,0.22,2.50,0.00,0.000,4,0.090,0.023,3181,3152,3481,0,0,0,0,0,0
$GC,498,-0.74,-146.0,79.7,-8.5,50,507,0.00,2.47,0.00,0.000,6,0.000,0.027,3181,1624,3481,0,0,0,0,0,0
$GC,767,-0.74,-146.0,103.0,-9.2,75,772,0.00,2.40,0.00,0.000,4,0.000,0.023,3181,3154,3481,0,0,0,0,0,0
$GC,798,-0.87,-146.0,106.7,-9.3,77,806,0.17,2.40,0.00,0.000,6,0.018,0.027,3065,1639,3482,0,0,0,0,0,0
$GC,1061,-0.57,-146.0,147.9,-16.6,102,1073,0.55,2.38,0.00,0.000,4,0.084,0.038,3192,166,3483,0,0,0,0,0,0
$GC,1125,-0.78,-146.0,155.0,-8.5,108,1130,0.17,2.15,0.00,0.000,6,0.045,0.018,3104,1609,3483,0,0,0,0,0,0
$GC,1388,-0.61,-146.0,190.7,-14.2,132,1394,0.35,2.47,0.00,0.000,4,0.081,0.024,3182,3188,3483,0,0,0,0,0,0
$GC,1446,-0.86,-146.0,196.4,-8.2,137,1451,0.20,2.47,0.00,0.000,6,0.041,0.026,3083,1632,3483,0,0,0,0,0,0
$GC,1728,-0.66,-146.0,236.6,-14.8,146,1733,0.38,2.38,0.00,0.000,4,0.083,0.041,3170,170,3483,0,0,0,0,0,0
$GC,1759,-0.73,-146.0,240.3,-11.3,146,1763,0.00,2.22,0.00,0.000,6,0.000,0.018,3170,1627,3484,0,0,0,0,0,0
$GC,2014,-0.86,-146.0,259.2,-6.9,153,2019,0.17,2.47,0.00,0.000,4,0.047,0.025,3088,3199,3484,0,0,0,0,0,0
$GC,2040,-0.86,-146.0,261.3,-8.6,153,2045,0.17,2.50,0.00,0.000,6,0.087,0.027,3131,1633,3484,0,0,0,0,0,0
$GC,2300,-0.86,-146.0,280.8,-7.4,160,2305,0.00,2.38,0.00,0.000,4,0.000,0.044,3131,170,3485,0,0,0,0,0,0
$GC,2333,-0.86,-146.0,283.7,-8.3,160,2337,0.00,2.25,0.00,0.000,6,0.000,0.019,3131,1641,3485,0,0,0,0,0,0
$GC,2589,-0.86,-146.0,303.6,-8.1,167,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1644,3485,0,0,0,0,0,0
$GC,2831,-0.86,-146.0,326.1,-9.3,173,2835,0.00,2.45,0.00,0.000,4,0.000,0.029,3131,3190,3485,0,0,0,0,0,0
$GC,2855,-0.96,-146.0,328.4,-9.6,173,2859,0.00,2.50,0.00,0.000,6,0.000,0.029,3131,1630,3484,0,0,0,0,0,0
$GC,3121,-1.03,-146.0,350.6,-8.3,180,3123,0.15,0.00,0.00,0.000,6,0.054,0.000,3060,1630,3484,0,0,0,0,0,0
$GC,3363,-0.89,-146.0,378.2,-11.7,186,3368,0.25,2.53,0.00,0.000,4,0.086,0.031,3122,3189,3483,0,0,0,0,0,0
$GC,3402,-1.05,-146.0,381.4,-7.2,186,3408,0.12,2.55,0.00,0.000,6,0.061,0.035,3024,1626,3483,0,0,0,0,0,0
$GC,3654,-0.82,-146.0,410.0,-11.7,193,3656,0.50,0.00,0.00,0.000,6,0.081,0.000,3138,1626,3482,0,0,0,0,0,0
$GC,3896,-0.94,-146.0,424.5,-5.7,199,3901,0.10,2.55,0.00,0.000,4,0.074,0.038,3077,3182,3481,0,0,0,0,0,0
$GC,3920,-0.94,-146.0,426.4,-8.4,199,3926,0.15,2.55,0.00,0.000,6,0.091,0.035,3114,1630,3481,0,0,0,0,0,0
$GC,4182,-0.94,-146.0,448.1,-8.7,206,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1630,3479,0,0,0,0,0,0
$GC,4424,-0.94,-146.0,472.4,-10.3,212,4428,0.00,2.58,0.00,0.000,4,0.000,0.042,3114,3179,3477,0,0,0,0,0,0
$GC,4457,-1.08,-146.0,475.9,-9.9,212,4462,0.12,2.55,0.00,0.000,6,0.062,0.038,3040,1630,3477,0,0,0,0,0,0
$GC,4709,-0.90,-146.0,510.7,-14.3,218,4711,0.40,0.00,0.00,0.000,6,0.082,0.000,3125,1630,3475,0,0,0,0,0,0
$GC,4952,-1.01,-146.0,531.0,-7.8,224,4953,0.10,0.00,0.00,0.000,6,0.077,0.000,3070,1630,3473,0,0,0,0,0,0
$GC,5195,-1.01,-146.0,552.8,-9.0,230,5200,0.12,2.53,0.00,0.000,4,0.106,0.074,3098,173,3472,0,0,0,0,0,0
$GC,5212,-1.01,-146.0,554.2,-8.9,230,5216,0.00,2.33,0.00,0.000,6,0.000,0.032,3099,1613,3472,0,0,0,0,0,0
$GC,5480,-1.01,-146.0,574.1,-7.2,237,5485,0.00,2.67,0.00,0.000,4,0.000,0.051,3098,3209,3470,0,0,0,0,0,0
$GC,5499,-1.01,-146.0,575.7,-8.0,237,5504,0.00,2.62,0.00,0.000,6,0.000,0.042,3098,1637,3470,0,0,0,0,0,0
$GC,5764,-1.01,-146.0,593.7,-6.8,244,5768,0.00,2.55,0.00,0.000,4,0.000,0.076,3099,165,3468,0,0,0,0,0,0
$GC,5787,-1.01,-146.0,595.7,-8.3,244,5792,0.00,2.40,0.00,0.000,6,0.000,0.033,3098,1646,3468,0,0,0,0,0,0
$STATE,5881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5881,begin apogee
$GC,5888,-0.31,0.0,602.5,7.2,247,6009,0.68,0.00,118.57,0.923,6,0.071,0.000,3254,1347,2880,0,0,0,0,0,0
$STATE,6010,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6015,1.27,146.0,604.8,0.0,250,6146,1.48,2.12,123.12,0.902,4,0.057,0.074,3597,172,2283,0,0,0,0,0,0
$GC,6245,1.05,146.0,587.8,11.6,255,6250,0.17,1.95,0.00,0.000,6,0.071,0.028,3547,1357,2278,0,0,0,0,0,0
$GC,6518,1.12,199.0,566.4,7.6,262,6571,0.00,2.17,45.90,0.874,4,0.000,0.068,3547,167,2067,0,0,0,0,0,0
$GC,6642,1.12,199.0,555.2,10.3,264,6645,0.00,1.90,0.00,0.000,6,0.000,0.028,3546,1346,2065,0,0,0,0,0,0
$GC,6896,1.15,221.9,532.6,8.9,271,6924,0.10,2.10,20.85,0.835,4,0.077,0.066,3592,171,1974,0,0,0,0,0,0
$GC,6996,1.04,221.9,519.9,13.5,273,7001,0.22,1.90,0.00,0.000,6,0.091,0.027,3543,1351,1973,0,0,0,0,0,0
$GC,7275,1.13,228.1,492.6,9.7,280,7288,0.10,2.10,6.12,0.673,4,0.077,0.064,3590,174,1950,0,0,0,0,0,0
$GC,7335,1.04,228.1,484.7,13.9,281,7340,0.15,1.88,0.00,0.000,6,0.078,0.033,3545,1334,1949,0,0,0,0,0,0
$GC,7614,1.13,228.1,456.0,10.1,288,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1336,1947,0,0,0,0,0,0
$GC,7859,1.24,246.6,433.2,9.1,294,7885,0.17,2.08,18.27,0.788,4,0.050,0.061,3605,175,1873,0,0,0,0,0,0
$GC,7948,1.15,246.6,422.5,13.3,295,7954,0.17,1.83,0.00,0.000,6,0.098,0.025,3568,1321,1872,0,0,0,0,0,0
$GC,8199,1.18,273.1,399.5,8.8,302,8226,0.00,0.00,24.50,0.778,6,0.000,0.000,3568,1323,1766,0,0,0,0,0,0
$GC,8441,1.18,273.1,375.1,10.2,308,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,1323,1762,0,0,0,0,0,0
$GC,8685,1.25,273.1,348.5,11.2,314,8689,0.10,1.98,0.00,0.000,4,0.074,0.058,3611,173,1761,0,0,0,0,0,0
$GC,8704,1.25,273.1,346.0,12.8,314,8708,0.00,1.83,0.00,0.000,6,0.000,0.024,3611,1321,1761,0,0,0,0,0,0
$GC,8978,1.25,273.1,307.8,14.3,321,8982,0.00,1.95,0.00,0.000,4,0.000,0.055,3611,171,1760,0,0,0,0,0,0
$GC,9006,1.17,273.1,303.3,14.9,321,9010,0.17,1.80,0.00,0.000,6,0.098,0.023,3573,1325,1760,0,0,0,0,0,0
$GC,9272,1.25,273.1,275.1,10.0,328,9276,0.00,1.95,0.00,0.000,4,0.000,0.054,3573,171,1759,0,0,0,0,0,0
$GC,9309,1.25,273.1,271.3,10.2,328,9312,0.00,1.77,0.00,0.000,6,0.000,0.022,3573,1325,1758,0,0,0,0,0,0
$GC,9563,1.40,309.4,250.3,8.3,335,9605,0.20,2.00,32.53,0.671,4,0.045,0.051,3637,167,1617,0,0,0,0,0,0
$GC,9628,1.28,309.4,243.2,13.6,336,9632,0.17,1.77,0.00,0.000,6,0.096,0.021,3598,1310,1617,0,0,0,0,0,0
$GC,9901,1.28,309.4,213.7,10.8,343,9905,0.00,2.55,0.00,0.000,4,0.000,0.027,3598,2916,1613,0,0,0,0,0,0
$GC,9940,1.41,309.4,209.3,10.9,343,9947,0.12,2.67,0.00,0.000,6,0.061,0.037,3653,1305,1611,0,0,0,0,0,0
$GC,10200,1.31,309.4,172.0,14.9,362,10204,0.22,1.90,0.00,0.000,4,0.091,0.052,3604,165,1611,0,0,0,0,0,0
$GC,10239,1.31,309.4,166.2,14.2,365,10244,0.00,1.75,0.00,0.000,6,0.000,0.021,3604,1333,1611,0,0,0,0,0,0
$GC,10503,1.31,309.4,138.2,10.7,390,10507,0.00,1.92,0.00,0.000,4,0.000,0.048,3604,166,1611,0,0,0,0,0,0
$GC,10564,1.31,309.4,130.6,13.1,396,10568,0.00,1.67,0.00,0.000,6,0.000,0.020,3604,1304,1611,0,0,0,0,0,0
$GC,10836,1.31,309.4,101.7,11.0,421,10840,0.00,2.47,0.00,0.000,4,0.000,0.026,3604,2883,1611,0,0,0,0,0,0
$GC,10875,1.45,309.4,96.6,10.8,424,10885,0.10,2.62,0.00,0.000,6,0.028,0.035,3659,1300,1609,0,0,0,0,0,0
$GC,11139,1.39,309.4,61.5,12.8,449,11147,0.17,0.00,0.00,0.000,6,0.092,0.000,3621,1300,1609,0,0,0,0,0,0
$GC,11405,1.39,309.4,32.8,10.6,474,11409,0.00,1.88,0.00,0.000,4,0.000,0.048,3621,170,1610,0,0,0,0,0,0
$GC,11432,1.39,309.4,30.1,10.6,476,11436,0.00,1.65,0.00,0.000,6,0.000,0.019,3621,1306,1609,0,0,0,0,0,0
$STATE,11672,end climb,SURFACE_DEPTH_REACHED
$STATE,11672,begin surface coast
$FINISH,0.9,1.023483
$STATE,11719,end surface coast,CONTROL_FINISHED_OK
$STATE,11719,begin surface
$SM_CCo,11744,38.22,0.434,0,0,1330,380.21
$SM_GC,1.54,0.00,0.00,38.22,0.000,0.000,0.434,414,1646,1330,-13.37,0.45,380.21
$IRIDIUM_FIX,2246.36,-15801.49,101101,232330
$TT8_MAMPS,0.027612
$HUMID,66.61
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.5,61.919
$10V_AH,9.9,50.200
$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,36.150,130.525,389.875,38.225,0.000,27.475,36.865,175.719,1.250,0.000,10.342,1126.309,8081.032,484.700,1883.875,589.497,33.380,1293.358,0.000,1886.280,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,75.933,923.468,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.950,294.529,366.246,540.034,948.602,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41400,521
$CAP_FILE_SIZE,128619,0
$CFSIZE,260165632,150130688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170812,062714,2255.715,-15800.601,35,2.4,54,10.1