version: 66.06
glider: 148
mission: 11
dive: 477
start: 8 17 112 10 5 24
data:
$ID,148
$MISSION,11
$DIVE,477
$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,-928546
$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,84
$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
$GPS1,095751,2255.056,-15759.773,17,3.0,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-76.1
$GPS2,100430,2255.053,-15759.820,9,1.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.260,-0.008
$KALMAN_X,-357372.6,7.5,233.4,357029.3,-1963.6
$KALMAN_Y,120286.3,295.4,124.9,-107650.2,-835.7
$MHEAD_RNG_PITCHd_Wd,81.7,48429,-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,-74.47,0.000,2,0.000,0.000,415,1635,3247,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-6.2,10,121,13.62,2.45,-3.97,0.000,4,0.150,0.034,3038,3188,3476,0,0,0,0,0,0
$GC,161,-0.88,-146.0,25.8,-22.0,19,170,0.38,2.58,0.00,0.000,6,0.081,0.029,3126,1622,3478,0,0,0,0,0,0
$GC,436,-0.66,-146.0,66.6,-13.9,45,441,0.22,2.45,0.00,0.000,4,0.097,0.022,3175,3174,3479,0,0,0,0,0,0
$GC,457,-0.53,-146.0,70.0,-13.6,46,462,0.12,2.47,0.00,0.000,6,0.101,0.025,3205,1618,3479,0,0,0,0,0,0
$GC,722,-0.66,-146.0,90.0,-6.3,70,727,0.12,2.40,0.00,0.000,4,0.061,0.043,3138,166,3480,0,0,0,0,0,0
$GC,749,-0.66,-146.0,92.5,-9.5,72,754,0.17,2.22,0.00,0.000,6,0.094,0.018,3176,1633,3480,0,0,0,0,0,0
$GC,1024,-0.72,-146.0,114.9,-8.9,97,1029,0.00,2.42,0.00,0.000,4,0.000,0.023,3176,3193,3481,0,0,0,0,0,0
$GC,1064,-0.92,-146.0,119.6,-9.1,100,1073,0.20,2.53,0.00,0.000,6,0.018,0.027,3076,1641,3481,0,0,0,0,0,0
$GC,1328,-0.68,-146.0,159.3,-16.0,125,1333,0.38,2.38,0.00,0.000,4,0.087,0.038,3164,170,3481,0,0,0,0,0,0
$GC,1364,-0.74,-146.0,165.1,-12.5,128,1369,0.00,2.22,0.00,0.000,6,0.000,0.018,3164,1637,3482,0,0,0,0,0,0
$GC,1628,-0.74,-146.0,189.6,-8.6,152,1632,0.00,2.42,0.00,0.000,4,0.000,0.041,3164,164,3482,0,0,0,0,0,0
$GC,1645,-0.74,-146.0,191.1,-8.5,153,1649,0.00,2.22,0.00,0.000,6,0.000,0.018,3164,1644,3482,0,0,0,0,0,0
$GC,1925,-0.81,-146.0,212.5,-7.3,168,1929,0.00,2.40,0.00,0.000,4,0.000,0.024,3164,3187,3482,0,0,0,0,0,0
$GC,1966,-1.02,-146.0,215.4,-7.1,168,1972,0.28,2.50,0.00,0.000,6,0.031,0.027,3042,1632,3482,0,0,0,0,0,0
$GC,2216,-0.73,-146.0,250.9,-15.3,175,2222,0.50,2.38,0.00,0.000,4,0.084,0.041,3158,166,3482,0,0,0,0,0,0
$GC,2265,-0.92,-146.0,256.1,-8.4,176,2270,0.17,2.20,0.00,0.000,6,0.046,0.018,3074,1624,3482,0,0,0,0,0,0
$GC,2550,-0.75,-146.0,290.3,-12.2,183,2552,0.35,0.00,0.00,0.000,6,0.079,0.000,3153,1626,3483,0,0,0,0,0,0
$GC,2792,-0.87,-146.0,308.8,-7.2,189,2797,0.10,2.50,0.00,0.000,4,0.074,0.028,3091,3187,3482,0,0,0,0,0,0
$GC,2850,-0.87,-146.0,314.1,-8.4,190,2855,0.17,2.50,0.00,0.000,6,0.084,0.028,3132,1629,3483,0,0,0,0,0,0
$GC,3125,-0.94,-146.0,334.2,-6.9,197,3129,0.00,2.50,0.00,0.000,4,0.000,0.030,3132,3191,3482,0,0,0,0,0,0
$GC,3154,-1.06,-146.0,336.2,-6.8,197,3159,0.17,2.53,0.00,0.000,6,0.047,0.030,3035,1625,3482,0,0,0,0,0,0
$GC,3411,-0.81,-146.0,369.0,-13.7,204,3418,0.47,2.42,0.00,0.000,4,0.082,0.052,3138,176,3482,0,0,0,0,0,0
$GC,3447,-0.91,-146.0,373.1,-8.4,204,3452,0.00,2.25,0.00,0.000,6,0.000,0.021,3138,1625,3482,0,0,0,0,0,0
$GC,3704,-1.02,-146.0,391.4,-7.2,211,3709,0.17,2.55,0.00,0.000,4,0.047,0.035,3055,3203,3481,0,0,0,0,0,0
$GC,3724,-1.02,-146.0,393.6,-9.2,211,3729,0.20,2.55,0.00,0.000,6,0.084,0.032,3101,1635,3480,0,0,0,0,0,0
$GC,3989,-1.02,-146.0,418.3,-9.3,218,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1635,3479,0,0,0,0,0,0
$GC,4234,-1.02,-146.0,440.8,-9.3,224,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1636,3477,0,0,0,0,0,0
$GC,4476,-1.02,-146.0,462.2,-8.7,230,4481,0.00,2.50,0.00,0.000,4,0.000,0.067,3101,168,3476,0,0,0,0,0,0
$GC,4491,-1.02,-146.0,463.7,-8.7,230,4495,0.00,2.33,0.00,0.000,6,0.000,0.029,3101,1630,3476,0,0,0,0,0,0
$GC,4761,-1.02,-146.0,486.9,-8.5,237,4765,0.00,2.53,0.00,0.000,4,0.000,0.066,3101,168,3474,0,0,0,0,0,0
$GC,4780,-1.02,-146.0,488.8,-9.1,237,4785,0.00,2.35,0.00,0.000,6,0.000,0.031,3101,1631,3474,0,0,0,0,0,0
$GC,5044,-1.02,-146.0,512.2,-8.9,244,5049,0.00,2.60,0.00,0.000,4,0.000,0.044,3101,3213,3472,0,0,0,0,0,0
$GC,5080,-1.10,-146.0,515.2,-8.9,244,5084,0.00,2.62,0.00,0.000,6,0.000,0.041,3102,1637,3471,0,0,0,0,0,0
$GC,5330,-1.10,-146.0,536.5,-8.4,250,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1637,3470,0,0,0,0,0,0
$GC,5574,-1.10,-146.0,558.0,-9.0,256,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1637,3468,0,0,0,0,0,0
$GC,5817,-1.10,-146.0,580.5,-9.1,262,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1638,3467,0,0,0,0,0,0
$STATE,6058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6058,begin apogee
$GC,6066,-0.31,0.0,601.2,8.5,268,6188,0.65,0.00,118.28,0.924,6,0.072,0.000,3251,1345,2880,0,0,0,0,0,0
$STATE,6189,end apogee,CONTROL_FINISHED_OK
$STATE,6189,begin climb
$GC,6191,1.27,146.0,604.8,0.0,271,6323,1.48,2.17,123.12,0.904,4,0.053,0.082,3598,172,2284,0,0,0,0,0,0
$GC,6372,1.05,146.0,594.1,12.0,275,6377,0.20,1.95,0.00,0.000,6,0.072,0.030,3546,1344,2280,0,0,0,0,0,0
$GC,6657,1.12,202.2,572.0,7.4,282,6708,0.00,0.00,49.42,0.877,6,0.000,0.000,3546,1344,2055,0,0,0,0,0,0
$GC,6939,1.16,239.7,549.0,8.3,289,6978,0.12,0.00,34.78,0.858,6,0.065,0.000,3595,1344,1902,0,0,0,0,0,0
$GC,7222,1.16,239.7,517.2,11.4,296,7227,0.00,2.70,0.00,0.000,4,0.000,0.052,3595,2932,1896,0,0,0,0,0,0
$GC,7263,1.16,239.7,512.8,11.2,296,7269,0.10,2.70,0.00,0.000,6,0.113,0.044,3572,1345,1893,0,0,0,0,0,0
$GC,7513,1.16,239.7,487.5,10.1,303,7517,0.00,2.65,0.00,0.000,4,0.000,0.044,3572,2934,1892,0,0,0,0,0,0
$GC,7527,1.16,239.7,485.9,10.1,303,7531,0.00,2.67,0.00,0.000,6,0.000,0.043,3572,1356,1892,0,0,0,0,0,0
$GC,7797,1.16,242.2,459.5,9.9,310,7801,0.00,2.05,0.00,0.000,4,0.000,0.068,3572,165,1891,0,0,0,0,0,0
$GC,7853,1.16,242.2,452.9,12.1,311,7857,0.00,1.92,0.00,0.000,6,0.000,0.025,3572,1383,1891,0,0,0,0,0,0
$GC,8135,1.17,248.3,425.3,9.7,318,8147,0.00,2.15,6.93,0.671,4,0.000,0.061,3572,166,1867,0,0,0,0,0,0
$GC,8168,1.17,248.3,421.8,10.6,318,8171,0.00,1.90,0.00,0.000,6,0.000,0.024,3572,1369,1867,0,0,0,0,0,0
$GC,8426,1.18,254.4,396.2,9.7,325,8439,0.00,2.12,7.15,0.661,4,0.000,0.060,3572,161,1842,0,0,0,0,0,0
$GC,8467,1.18,254.4,391.9,10.3,325,8472,0.00,1.85,0.00,0.000,6,0.000,0.024,3572,1349,1841,0,0,0,0,0,0
$GC,8718,1.18,254.4,365.8,10.5,332,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1352,1840,0,0,0,0,0,0
$GC,8960,1.18,254.4,339.3,10.8,338,8964,0.00,2.00,0.00,0.000,4,0.000,0.057,3572,163,1839,0,0,0,0,0,0
$GC,9027,1.18,254.4,331.4,12.3,339,9031,0.00,1.85,0.00,0.000,6,0.000,0.029,3572,1365,1839,0,0,0,0,0,0
$GC,9301,1.21,278.8,305.6,8.9,346,9325,0.00,0.00,22.52,0.711,6,0.000,0.000,3572,1367,1742,0,0,0,0,0,0
$GC,9543,1.30,296.7,283.3,9.2,352,9564,0.12,0.00,17.45,0.676,6,0.064,0.000,3630,1368,1670,0,0,0,0,0,0
$GC,9787,1.24,296.7,253.1,12.6,358,9792,0.20,2.05,0.00,0.000,4,0.094,0.061,3586,162,1667,0,0,0,0,0,0
$GC,9864,1.30,296.7,244.5,10.9,359,9867,0.00,1.85,0.00,0.000,6,0.000,0.021,3586,1363,1666,0,0,0,0,0,0
$GC,10123,1.39,308.6,219.5,9.5,366,10140,0.15,2.05,11.62,0.600,4,0.057,0.053,3650,154,1621,0,0,0,0,0,0
$GC,10179,1.25,308.6,211.8,16.5,367,10184,0.28,1.83,0.00,0.000,6,0.087,0.021,3590,1333,1621,0,0,0,0,0,0
$GC,10446,1.33,308.6,183.0,10.7,384,10449,0.00,1.98,0.00,0.000,4,0.000,0.050,3589,156,1619,0,0,0,0,0,0
$GC,10461,1.40,308.6,181.0,10.1,385,10467,0.15,1.83,0.00,0.000,6,0.057,0.021,3647,1365,1619,0,0,0,0,0,0
$GC,10723,1.32,308.6,147.6,13.2,410,10727,0.17,2.03,0.00,0.000,4,0.096,0.049,3608,161,1618,0,0,0,0,0,0
$GC,10824,1.32,308.6,135.0,12.7,419,10828,0.00,1.75,0.00,0.000,6,0.000,0.020,3608,1323,1618,0,0,0,0,0,0
$GC,11091,1.32,308.6,101.1,12.1,444,11092,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1325,1618,0,0,0,0,0,0
$GC,11351,1.42,337.3,74.5,8.7,468,11387,0.00,2.00,26.20,0.502,4,0.000,0.049,3608,162,1502,0,0,0,0,0,0
$GC,11425,1.49,341.7,67.8,9.8,474,11441,0.15,1.75,5.50,0.396,6,0.054,0.020,3661,1339,1485,0,0,0,0,0,0
$GC,11695,1.43,341.7,37.3,12.4,499,11699,0.15,1.98,0.00,0.000,4,0.105,0.048,3629,153,1482,0,0,0,0,0,0
$GC,11720,1.43,341.7,34.2,11.6,501,11724,0.00,1.70,0.00,0.000,6,0.000,0.019,3629,1307,1482,0,0,0,0,0,0
$STATE,11995,end climb,SURFACE_DEPTH_REACHED
$STATE,11995,begin surface coast
$FINISH,0.8,1.012289
$STATE,12040,end surface coast,CONTROL_FINISHED_OK
$STATE,12040,begin surface
$SM_CCo,12063,25.98,0.436,0,0,1329,380.21
$SM_GC,1.52,0.00,0.00,25.98,0.000,0.000,0.436,413,1646,1329,-13.37,0.45,380.21
$IRIDIUM_FIX,2248.70,-15802.79,111101,060623
$TT8_MAMPS,0.028379
$HUMID,67.75
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,12
$24V_AH,23.4,62.164
$10V_AH,9.9,50.419
$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,34.625,127.375,422.975,25.975,0.000,29.575,35.950,183.942,3.000,0.000,15.527,1159.425,8291.949,509.670,1926.436,599.447,33.373,1299.885,0.000,1926.850,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,82.069,924.235,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.654,317.513,393.827,580.568,1019.864,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41719,549
$CAP_FILE_SIZE,126823,0
$CFSIZE,260165632,150020096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170812,132827,2254.694,-15759.263,30,99.0,49,10.1