version: 66.06
glider: 148
mission: 11
dive: 491
start: 8 19 112 11 2 37
data:
$ID,148
$MISSION,11
$DIVE,491
$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,-928818.5
$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,27
$R_STBD_OVSHOOT,114
$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
$GPS1,105506,2246.642,-15751.188,33,1.1,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.7
$GPS2,110143,2246.617,-15751.194,10,1.4,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,0.050
$KALMAN_X,-383105.5,-146.6,187.7,397692.7,-1950.1
$KALMAN_Y,117655.2,82.9,347.4,-120651.1,-1318.1
$MHEAD_RNG_PITCHd_Wd,68.9,27288,-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,-74.47,0.000,2,0.000,0.000,413,1681,3245,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-7.4,10,120,13.70,0.00,-3.97,0.000,6,0.153,0.000,3039,1681,3477,0,0,0,0,0,0
$GC,392,-0.78,-146.0,77.4,-21.7,42,404,0.47,2.47,0.00,0.000,4,0.100,0.035,3145,157,3480,0,0,0,0,0,0
$GC,417,-0.43,-146.0,82.9,-20.4,44,422,0.35,2.15,0.00,0.000,6,0.085,0.018,3224,1582,3480,0,0,0,0,0,0
$GC,680,-0.63,-146.0,100.0,-6.1,68,685,0.17,2.55,0.00,0.000,4,0.045,0.023,3132,3194,3481,0,0,0,0,0,0
$GC,709,-0.63,-146.0,102.5,-9.2,70,715,0.22,2.53,0.00,0.000,6,0.080,0.027,3184,1616,3481,0,0,0,0,0,0
$GC,973,-0.72,-146.0,125.6,-8.9,94,974,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1616,3482,0,0,0,0,0,0
$GC,1228,-0.82,-146.0,146.7,-7.9,118,1233,0.17,2.50,0.00,0.000,4,0.048,0.024,3107,3195,3482,0,0,0,0,0,0
$GC,1247,-0.82,-146.0,148.4,-8.3,119,1252,0.15,2.50,0.00,0.000,6,0.098,0.026,3141,1637,3483,0,0,0,0,0,0
$GC,1512,-0.82,-146.0,173.9,-9.0,143,1516,0.00,2.40,0.00,0.000,4,0.000,0.042,3141,164,3483,0,0,0,0,0,0
$GC,1551,-0.82,-146.0,178.2,-9.7,146,1557,0.00,2.22,0.00,0.000,6,0.000,0.018,3141,1641,3483,0,0,0,0,0,0
$GC,1810,-0.82,-146.0,204.7,-11.0,168,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1644,3483,0,0,0,0,0,0
$GC,2055,-0.82,-146.0,230.4,-10.6,174,2060,0.00,2.42,0.00,0.000,4,0.000,0.041,3141,167,3484,0,0,0,0,0,0
$GC,2069,-0.82,-146.0,232.1,-10.1,174,2074,0.00,2.22,0.00,0.000,6,0.000,0.018,3141,1648,3484,0,0,0,0,0,0
$GC,2338,-0.82,-146.0,255.3,-8.3,181,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1650,3484,0,0,0,0,0,0
$GC,2583,-0.82,-146.0,275.8,-8.6,187,2587,0.00,2.42,0.00,0.000,4,0.000,0.025,3141,3184,3484,0,0,0,0,0,0
$GC,2618,-0.97,-146.0,278.8,-8.1,187,2623,0.15,2.53,0.00,0.000,6,0.053,0.028,3055,1620,3484,0,0,0,0,0,0
$GC,2868,-0.75,-146.0,311.2,-13.4,193,2874,0.45,2.38,0.00,0.000,4,0.080,0.044,3152,175,3484,0,0,0,0,0,0
$GC,2923,-0.93,-146.0,316.1,-7.2,194,2928,0.15,2.20,0.00,0.000,6,0.051,0.019,3086,1607,3484,0,0,0,0,0,0
$GC,3206,-0.80,-146.0,347.6,-11.1,201,3211,0.30,2.53,0.00,0.000,4,0.082,0.028,3142,3195,3483,0,0,0,0,0,0
$GC,3258,-1.03,-146.0,351.4,-6.4,202,3263,0.20,2.55,0.00,0.000,6,0.041,0.032,3037,1631,3484,0,0,0,0,0,0
$GC,3541,-0.79,-146.0,388.8,-14.0,209,3548,0.50,2.45,0.00,0.000,4,0.081,0.057,3143,174,3483,0,0,0,0,0,0
$GC,3593,-0.95,-146.0,393.8,-8.2,210,3598,0.12,2.25,0.00,0.000,6,0.060,0.021,3073,1625,3483,0,0,0,0,0,0
$GC,3876,-0.86,-146.0,425.6,-11.7,217,3882,0.25,2.55,0.00,0.000,4,0.082,0.034,3134,3204,3481,0,0,0,0,0,0
$GC,3896,-0.86,-146.0,427.9,-10.7,217,3901,0.00,2.58,0.00,0.000,6,0.000,0.032,3134,1630,3481,0,0,0,0,0,0
$GC,4162,-0.98,-146.0,450.4,-8.5,224,4164,0.12,0.00,0.00,0.000,6,0.062,0.000,3067,1630,3480,0,0,0,0,0,0
$GC,4404,-0.89,-146.0,477.6,-11.0,230,4406,0.25,0.00,0.00,0.000,6,0.085,0.000,3125,1630,3478,0,0,0,0,0,0
$GC,4648,-0.98,-146.0,495.5,-6.9,236,4652,0.00,2.62,0.00,0.000,4,0.000,0.042,3125,3205,3476,0,0,0,0,0,0
$GC,4688,-1.17,-146.0,498.0,-6.5,236,4696,0.22,2.60,0.00,0.000,6,0.018,0.040,3013,1636,3476,0,0,0,0,0,0
$GC,4938,-0.93,-146.0,525.6,-11.3,243,4945,0.43,2.53,0.00,0.000,4,0.092,0.069,3111,168,3474,0,0,0,0,0,0
$GC,4971,-0.93,-146.0,528.6,-7.7,243,4975,0.00,2.33,0.00,0.000,6,0.000,0.031,3111,1624,3474,0,0,0,0,0,0
$GC,5226,-0.99,-146.0,545.3,-6.4,250,5231,0.00,2.65,0.00,0.000,4,0.000,0.044,3111,3215,3472,0,0,0,0,0,0
$GC,5260,-1.12,-146.0,547.9,-6.9,250,5265,0.15,2.65,0.00,0.000,6,0.051,0.043,3030,1636,3472,0,0,0,0,0,0
$GC,5512,-0.92,-146.0,577.2,-12.3,256,5519,0.40,2.53,0.00,0.000,4,0.089,0.072,3115,172,3470,0,0,0,0,0,0
$GC,5548,-1.01,-146.0,581.4,-9.4,256,5552,0.00,2.38,0.00,0.000,6,0.000,0.032,3115,1640,3470,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5796,begin apogee
$GC,5804,-0.31,0.0,602.5,8.5,262,5926,0.60,0.00,119.50,0.920,6,0.071,0.000,3254,1345,2880,0,0,0,0,0,0
$STATE,5927,end apogee,CONTROL_FINISHED_OK
$STATE,5927,begin climb
$GC,5930,1.27,146.0,607.5,0.0,265,6064,1.48,2.10,123.78,0.903,4,0.049,0.077,3601,181,2283,0,0,0,0,0,0
$GC,6104,1.03,146.0,600.0,10.3,269,6109,0.28,1.92,0.00,0.000,6,0.091,0.028,3543,1366,2280,0,0,0,0,0,0
$GC,6373,1.11,210.6,580.6,7.0,276,6437,0.00,2.15,56.83,0.882,4,0.000,0.070,3543,177,2019,0,0,0,0,0,0
$GC,6531,1.11,210.6,566.6,10.6,279,6535,0.00,1.92,0.00,0.000,6,0.000,0.028,3543,1347,2016,0,0,0,0,0,0
$GC,6795,1.22,244.9,544.6,8.4,286,6833,0.17,0.00,31.92,0.853,6,0.051,0.000,3610,1347,1881,0,0,0,0,0,0
$GC,7079,1.15,244.9,508.9,13.0,293,7084,0.17,2.67,0.00,0.000,4,0.098,0.046,3570,2927,1874,0,0,0,0,0,0
$GC,7110,1.21,244.9,505.2,11.4,293,7115,0.00,2.67,0.00,0.000,6,0.000,0.043,3570,1352,1872,0,0,0,0,0,0
$GC,7367,1.21,244.9,475.1,11.7,300,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1352,1871,0,0,0,0,0,0
$GC,7612,1.21,244.9,445.8,12.1,306,7616,0.00,2.05,0.00,0.000,4,0.000,0.067,3570,164,1870,0,0,0,0,0,0
$GC,7642,1.21,244.9,442.0,13.3,306,7646,0.00,1.90,0.00,0.000,6,0.000,0.025,3570,1364,1870,0,0,0,0,0,0
$GC,7905,1.21,244.9,413.7,10.2,313,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1366,1869,0,0,0,0,0,0
$GC,8149,1.22,250.5,389.9,9.7,319,8158,0.00,2.08,4.25,0.532,4,0.000,0.058,3570,163,1857,0,0,0,0,0,0
$GC,8216,1.22,250.5,382.6,11.9,320,8220,0.00,1.88,0.00,0.000,6,0.000,0.024,3570,1352,1857,0,0,0,0,0,0
$GC,8484,1.22,250.5,355.5,10.1,327,8488,0.00,2.03,0.00,0.000,4,0.000,0.057,3570,160,1856,0,0,0,0,0,0
$GC,8511,1.22,250.5,352.5,10.7,327,8515,0.00,1.85,0.00,0.000,6,0.000,0.024,3570,1343,1855,0,0,0,0,0,0
$GC,8777,1.30,263.9,327.6,9.4,334,8797,0.12,2.05,13.25,0.696,4,0.064,0.055,3625,159,1803,0,0,0,0,0,0
$GC,8822,1.17,263.9,322.0,13.9,335,8827,0.25,1.85,0.00,0.000,6,0.088,0.024,3571,1331,1803,0,0,0,0,0,0
$GC,9114,1.24,271.2,293.9,9.7,342,9126,0.00,2.05,7.43,0.607,4,0.000,0.057,3572,146,1774,0,0,0,0,0,0
$GC,9173,1.24,271.2,287.2,10.5,343,9177,0.00,1.88,0.00,0.000,6,0.000,0.023,3571,1346,1774,0,0,0,0,0,0
$GC,9452,1.36,288.4,261.4,9.2,350,9477,0.20,2.55,16.95,0.657,4,0.044,0.029,3638,2909,1703,0,0,0,0,0,0
$GC,9515,1.36,288.4,253.8,11.6,351,9520,0.10,2.67,0.00,0.000,6,0.113,0.038,3617,1319,1700,0,0,0,0,0,0
$GC,9786,1.36,288.4,223.2,11.2,358,9790,0.00,2.58,0.00,0.000,4,0.000,0.027,3616,2908,1699,0,0,0,0,0,0
$GC,9833,1.44,288.4,218.0,11.1,359,9837,0.00,2.62,0.00,0.000,6,0.000,0.037,3617,1331,1697,0,0,0,0,0,0
$GC,10101,1.44,288.4,188.2,11.2,370,10105,0.00,1.98,0.00,0.000,4,0.000,0.052,3616,165,1697,0,0,0,0,0,0
$GC,10151,1.44,288.4,181.5,13.6,375,10155,0.00,1.77,0.00,0.000,6,0.000,0.021,3616,1354,1697,0,0,0,0,0,0
$GC,10421,1.44,288.4,151.7,11.1,400,10425,0.00,1.98,0.00,0.000,4,0.000,0.057,3617,164,1697,0,0,0,0,0,0
$GC,10587,1.44,288.4,130.8,12.7,416,10596,0.00,1.77,0.00,0.000,6,0.000,0.021,3617,1325,1697,0,0,0,0,0,0
$GC,10853,1.44,288.4,103.5,10.1,441,10857,0.00,1.95,0.00,0.000,4,0.000,0.052,3617,158,1697,0,0,0,0,0,0
$GC,10905,1.44,288.4,97.3,11.7,446,10908,0.00,1.75,0.00,0.000,6,0.000,0.020,3617,1330,1697,0,0,0,0,0,0
$GC,11179,1.47,311.4,71.6,8.9,471,11205,0.10,2.03,21.08,0.493,4,0.077,0.048,3662,163,1609,0,0,0,0,0,0
$GC,11268,1.37,311.4,61.8,13.8,478,11272,0.20,1.73,0.00,0.000,6,0.092,0.019,3618,1309,1609,0,0,0,0,0,0
$GC,11537,1.37,315.4,35.3,9.8,503,11550,0.00,1.95,4.90,0.343,4,0.000,0.047,3617,158,1594,0,0,0,0,0,0
$GC,11601,1.45,315.4,29.0,10.9,508,11610,0.00,1.75,0.00,0.000,6,0.000,0.018,3617,1317,1594,0,0,0,0,0,0
$STATE,11847,end climb,SURFACE_DEPTH_REACHED
$STATE,11847,begin surface coast
$FINISH,0.9,1.023488
$STATE,11893,end surface coast,CONTROL_FINISHED_OK
$STATE,11893,begin surface
$SM_CCo,11918,37.85,0.436,0,0,1329,380.21
$SM_GC,1.57,0.00,0.00,37.85,0.000,0.000,0.436,413,1672,1329,-13.37,1.19,380.21
$IRIDIUM_FIX,2239.35,-15749.78,131101,070706
$TT8_MAMPS,0.027612
$HUMID,66.10
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.4,63.804
$10V_AH,9.9,51.963
$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,35.475,131.700,399.875,37.850,0.000,30.164,43.504,172.182,3.000,0.000,11.898,1186.337,8025.805,496.066,2033.320,606.629,33.374,1343.238,0.000,2038.022,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,77.467,920.400,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.377,319.215,407.086,585.802,1028.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,44594,554
$CAP_FILE_SIZE,129569,0
$CFSIZE,260165632,149159936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190812,142306,2246.370,-15750.528,30,1.4,30,10.1