version: 66.06
glider: 148
mission: 11
dive: 450
start: 8 13 112 10 56 49
data:
$ID,148
$MISSION,11
$DIVE,450
$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,-928013.94
$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,3340
$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,1580
$C_ROLL_CLIMB,1400
$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,2920
$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
$GPS1,104846,2304.287,-15805.225,39,3.5,58,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.2
$GPS2,105557,2304.287,-15805.335,13,2.6,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.118
$KALMAN_X,-289736.0,44.7,-170.0,280348.8,-2257.6
$KALMAN_Y,105974.5,-115.3,-259.8,-75442.7,892.2
$MHEAD_RNG_PITCHd_Wd,106.9,66923,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.32,0.000,2,0.000,0.000,408,1583,3051,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-4.1,9,122,13.77,2.38,-8.73,0.000,4,0.150,0.053,3058,166,3518,0,0,0,0,0,0
$GC,169,-0.87,-146.0,25.3,-23.2,20,177,0.38,2.15,0.00,0.000,6,0.084,0.018,3145,1549,3520,0,0,0,0,0,0
$GC,442,-0.76,-146.0,65.7,-13.2,46,447,0.12,2.53,0.00,0.000,4,0.112,0.023,3173,3153,3521,0,0,0,0,0,0
$GC,474,-0.76,-146.0,70.3,-11.9,48,479,0.00,2.53,0.00,0.000,6,0.000,0.028,3173,1575,3521,0,0,0,0,0,0
$GC,739,-0.76,-146.0,97.8,-9.6,72,743,0.00,2.47,0.00,0.000,4,0.000,0.023,3173,3152,3522,0,0,0,0,0,0
$GC,760,-0.84,-146.0,100.3,-9.7,73,766,0.00,2.50,0.00,0.000,6,0.000,0.027,3173,1583,3522,0,0,0,0,0,0
$GC,1021,-0.84,-146.0,126.6,-10.7,98,1025,0.00,2.30,0.00,0.000,4,0.000,0.042,3173,170,3523,0,0,0,0,0,0
$GC,1041,-0.84,-146.0,128.2,-10.1,99,1045,0.00,2.17,0.00,0.000,6,0.000,0.018,3173,1613,3523,0,0,0,0,0,0
$GC,1304,-0.91,-146.0,155.7,-10.5,123,1309,0.12,2.38,0.00,0.000,4,0.062,0.024,3100,3131,3523,0,0,0,0,0,0
$GC,1354,-0.91,-146.0,161.5,-12.7,127,1359,0.17,2.45,0.00,0.000,6,0.090,0.027,3140,1592,3523,0,0,0,0,0,0
$GC,1621,-0.91,-146.0,189.2,-9.7,151,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1592,3524,0,0,0,0,0,0
$GC,1908,-0.91,-146.0,215.4,-8.9,167,1912,0.00,2.42,0.00,0.000,4,0.000,0.024,3140,3124,3524,0,0,0,0,0,0
$GC,1951,-1.02,-146.0,219.1,-7.9,167,1957,0.00,2.42,0.00,0.000,6,0.000,0.028,3140,1602,3524,0,0,0,0,0,0
$GC,2201,-1.02,-146.0,239.9,-8.7,174,2205,0.00,2.40,0.00,0.000,4,0.000,0.025,3140,3130,3524,0,0,0,0,0,0
$GC,2232,-1.09,-146.0,242.6,-9.0,174,2237,0.15,2.42,0.00,0.000,6,0.053,0.028,3049,1609,3524,0,0,0,0,0,0
$GC,2487,-0.81,-146.0,283.9,-16.9,181,2495,0.55,2.33,0.00,0.000,4,0.084,0.041,3160,171,3524,0,0,0,0,0,0
$GC,2514,-0.90,-146.0,287.6,-11.9,181,2518,0.00,2.17,0.00,0.000,6,0.000,0.019,3160,1587,3524,0,0,0,0,0,0
$GC,2775,-1.05,-146.0,310.5,-8.5,188,2780,0.20,2.47,0.00,0.000,4,0.043,0.026,3072,3156,3524,0,0,0,0,0,0
$GC,2813,-1.05,-146.0,314.6,-10.6,188,2820,0.17,2.50,0.00,0.000,6,0.086,0.029,3112,1612,3525,0,0,0,0,0,0
$GC,3065,-1.05,-146.0,338.1,-9.2,195,3069,0.00,2.38,0.00,0.000,4,0.000,0.048,3113,174,3524,0,0,0,0,0,0
$GC,3079,-1.05,-146.0,339.6,-8.6,195,3084,0.00,2.20,0.00,0.000,6,0.000,0.020,3112,1611,3525,0,0,0,0,0,0
$GC,3353,-1.05,-146.0,361.4,-8.0,202,3357,0.00,2.45,0.00,0.000,4,0.000,0.030,3113,3154,3524,0,0,0,0,0,0
$GC,3372,-1.05,-146.0,363.1,-8.2,202,3376,0.00,2.53,0.00,0.000,6,0.000,0.031,3113,1608,3524,0,0,0,0,0,0
$GC,3638,-1.05,-146.0,386.8,-9.2,209,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1608,3523,0,0,0,0,0,0
$GC,3880,-1.05,-146.0,408.9,-9.0,215,3884,0.00,2.47,0.00,0.000,4,0.000,0.034,3112,3140,3521,0,0,0,0,0,0
$GC,3899,-1.05,-146.0,410.7,-9.1,215,3903,0.00,2.50,0.00,0.000,6,0.000,0.033,3113,1603,3522,0,0,0,0,0,0
$GC,4164,-1.05,-146.0,433.7,-8.7,222,4168,0.00,2.45,0.00,0.000,4,0.000,0.063,3113,165,3520,0,0,0,0,0,0
$GC,4183,-1.05,-146.0,435.7,-9.2,222,4188,0.00,2.25,0.00,0.000,6,0.000,0.025,3113,1602,3520,0,0,0,0,0,0
$GC,4447,-1.05,-146.0,457.2,-8.1,229,4451,0.00,2.53,0.00,0.000,4,0.000,0.036,3113,3164,3518,0,0,0,0,0,0
$GC,4473,-1.12,-146.0,459.2,-8.3,229,4477,0.00,2.58,0.00,0.000,6,0.000,0.036,3113,1606,3518,0,0,0,0,0,0
$GC,4733,-1.12,-146.0,482.0,-9.0,236,4737,0.00,2.47,0.00,0.000,4,0.000,0.069,3112,168,3516,0,0,0,0,0,0
$GC,4761,-1.12,-146.0,484.9,-9.5,236,4765,0.00,2.30,0.00,0.000,6,0.000,0.029,3113,1605,3516,0,0,0,0,0,0
$GC,5018,-1.19,-146.0,507.5,-8.8,243,5023,0.12,2.55,0.00,0.000,4,0.063,0.042,3053,3158,3514,0,0,0,0,0,0
$GC,5065,-1.19,-146.0,512.8,-10.8,244,5070,0.12,2.55,0.00,0.000,6,0.100,0.041,3082,1618,3514,0,0,0,0,0,0
$GC,5350,-1.19,-146.0,539.8,-9.6,251,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1618,3512,0,0,0,0,0,0
$GC,5592,-1.19,-146.0,563.2,-9.7,257,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1618,3511,0,0,0,0,0,0
$GC,5835,-1.19,-146.0,587.8,-10.2,263,5840,0.00,2.60,0.00,0.000,4,0.000,0.049,3082,3162,3509,0,0,0,0,0,0
$GC,5855,-1.19,-146.0,589.8,-10.6,263,5859,0.00,2.60,0.00,0.000,6,0.000,0.044,3082,1615,3509,0,0,0,0,0,0
$STATE,5953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5961,-0.31,0.0,600.4,10.6,266,6083,0.82,0.00,118.38,0.923,6,0.074,0.000,3270,1394,2920,0,0,0,0,0,0
$STATE,6084,end apogee,CONTROL_FINISHED_OK
$STATE,6084,begin climb
$GC,6087,1.27,146.0,605.8,0.0,269,6219,1.45,2.28,122.88,0.904,4,0.045,0.083,3619,169,2323,0,0,0,0,0,0
$GC,6344,0.98,146.0,592.5,11.3,274,6350,0.30,2.00,0.00,0.000,6,0.095,0.029,3556,1400,2317,0,0,0,0,0,0
$GC,6596,1.04,196.9,573.5,7.7,281,6645,0.00,2.22,43.83,0.876,4,0.000,0.071,3556,168,2116,0,0,0,0,0,0
$GC,6679,1.04,196.9,566.2,10.7,283,6682,0.00,1.98,0.00,0.000,6,0.000,0.029,3556,1392,2115,0,0,0,0,0,0
$GC,6971,1.06,207.7,538.4,9.5,290,6987,0.00,2.75,9.70,0.763,4,0.000,0.048,3556,2978,2072,0,0,0,0,0,0
$GC,6998,1.08,229.4,535.7,9.0,290,7026,0.00,2.70,21.23,0.831,6,0.000,0.042,3556,1394,1983,0,0,0,0,0,0
$GC,7307,1.11,250.9,507.2,9.0,298,7333,0.10,2.17,20.23,0.821,4,0.077,0.074,3600,168,1897,0,0,0,0,0,0
$GC,7413,1.01,250.9,493.8,13.0,300,7418,0.20,1.98,0.00,0.000,6,0.095,0.026,3558,1395,1896,0,0,0,0,0,0
$GC,7683,1.02,263.6,468.0,9.4,307,7703,0.00,2.15,12.85,0.771,4,0.000,0.061,3557,161,1844,0,0,0,0,0,0
$GC,7731,1.02,263.6,462.6,12.5,308,7735,0.00,1.98,0.00,0.000,6,0.000,0.025,3557,1396,1843,0,0,0,0,0,0
$GC,8020,1.10,264.8,433.8,9.9,315,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,1398,1839,0,0,0,0,0,0
$GC,8262,1.19,279.8,411.0,9.3,321,8282,0.17,2.17,14.90,0.755,4,0.051,0.059,3623,170,1778,0,0,0,0,0,0
$GC,8297,1.05,279.8,406.6,12.7,321,8302,0.25,1.92,0.00,0.000,6,0.090,0.024,3568,1381,1778,0,0,0,0,0,0
$GC,8549,1.08,303.4,383.5,8.9,327,8574,0.00,0.00,22.70,0.761,6,0.000,0.000,3568,1383,1682,0,0,0,0,0,0
$GC,8792,1.15,305.8,360.0,9.9,333,8796,0.10,2.10,0.00,0.000,4,0.077,0.058,3613,164,1678,0,0,0,0,0,0
$GC,8816,1.09,305.8,356.9,13.1,333,8820,0.17,1.90,0.00,0.000,6,0.097,0.024,3575,1381,1678,0,0,0,0,0,0
$GC,9077,1.09,305.8,328.2,11.1,340,9081,0.00,2.58,0.00,0.000,4,0.000,0.033,3575,2963,1676,0,0,0,0,0,0
$GC,9114,1.24,305.8,323.7,11.7,340,9121,0.15,2.67,0.00,0.000,6,0.054,0.039,3648,1366,1674,0,0,0,0,0,0
$GC,9364,1.10,305.8,285.0,15.9,347,9369,0.28,2.03,0.00,0.000,4,0.086,0.057,3584,161,1674,0,0,0,0,0,0
$GC,9422,1.10,305.8,277.2,12.0,348,9426,0.00,1.90,0.00,0.000,6,0.000,0.022,3584,1382,1674,0,0,0,0,0,0
$GC,9704,1.18,317.2,249.0,9.5,355,9719,0.00,0.00,12.57,0.627,6,0.000,0.000,3584,1384,1627,0,0,0,0,0,0
$GC,9950,1.25,317.2,224.5,10.2,361,9954,0.12,2.08,0.00,0.000,4,0.069,0.054,3628,167,1623,0,0,0,0,0,0
$GC,9983,1.18,317.2,219.7,14.7,361,9987,0.15,1.88,0.00,0.000,6,0.099,0.021,3594,1385,1623,0,0,0,0,0,0
$GC,10240,1.24,320.3,192.2,9.9,371,10250,0.00,2.53,3.92,0.408,4,0.000,0.028,3595,2958,1613,0,0,0,0,0,0
$GC,10268,1.33,329.4,190.1,9.6,373,10287,0.15,2.62,10.23,0.557,6,0.054,0.035,3672,1367,1576,0,0,0,0,0,0
$GC,10544,1.20,329.4,152.4,13.7,399,10548,0.30,1.98,0.00,0.000,4,0.083,0.048,3602,170,1573,0,0,0,0,0,0
$GC,10657,1.20,329.4,139.5,10.4,409,10662,0.00,1.83,0.00,0.000,6,0.000,0.020,3602,1387,1573,0,0,0,0,0,0
$GC,10921,1.20,329.4,112.2,10.8,434,10929,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1390,1573,0,0,0,0,0,0
$GC,11187,1.20,329.4,81.7,11.6,459,11191,0.00,2.03,0.00,0.000,4,0.000,0.050,3601,170,1573,0,0,0,0,0,0
$GC,11233,1.20,329.4,75.8,13.7,463,11237,0.00,1.77,0.00,0.000,6,0.000,0.020,3602,1370,1574,0,0,0,0,0,0
$GC,11507,1.29,329.4,47.2,10.1,488,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1373,1573,0,0,0,0,0,0
$GC,11792,1.43,341.8,18.9,9.4,522,11810,0.20,2.08,12.30,0.425,4,0.044,0.047,3690,161,1525,0,0,0,0,0,0
$GC,11832,1.26,341.8,13.5,13.5,527,11841,0.30,1.83,0.00,0.000,6,0.070,0.018,3617,1359,1525,0,0,0,0,0,0
$STATE,11928,end climb,SURFACE_DEPTH_REACHED
$STATE,11928,begin surface coast
$FINISH,1.0,1.023543
$STATE,11981,end surface coast,CONTROL_FINISHED_OK
$STATE,11981,begin surface
$SM_CCo,12005,24.35,0.432,0,0,1369,380.21
$SM_GC,1.47,0.00,0.00,24.35,0.000,0.000,0.432,412,1597,1369,-13.47,0.51,380.21
$IRIDIUM_FIX,2258.07,-15807.13,071101,070744
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.5,58.785
$10V_AH,9.9,47.408
$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,34.100,143.100,425.700,24.350,0.000,27.689,35.225,196.602,1.250,0.000,34.633,1170.268,8140.099,502.632,2020.518,620.752,33.372,1350.828,0.000,2003.910,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,82.836,922.701,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.448,324.750,397.957,587.565,1032.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41550,550
$CAP_FILE_SIZE,133192,0
$CFSIZE,260165632,151683072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130812,141835,2303.810,-15805.277,33,1.0,33,10.1