version: 66.06
glider: 148
mission: 11
dive: 460
start: 8 14 112 22 58 47
data:
$ID,148
$MISSION,11
$DIVE,460
$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,-928227.88
$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,1620
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,111
$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
$GPS1,224736,2301.509,-15805.854,35,1.2,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-75.6
$GPS2,225753,2301.604,-15806.033,12,1.9,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.109
$KALMAN_X,-318785.5,-307.2,-1.5,308392.2,-2660.7
$KALMAN_Y,113503.7,-42.0,-215.1,-88061.3,1158.6
$MHEAD_RNG_PITCHd_Wd,104.7,64376,-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,-74.90,0.000,2,0.000,0.000,413,1663,3275,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.9,10,122,13.62,2.47,-3.42,0.000,4,0.150,0.052,3037,168,3475,0,0,0,0,0,0
$GC,139,0.10,-146.0,21.1,-40.6,15,147,1.35,2.17,0.00,0.000,6,0.091,0.018,3335,1569,3477,0,0,0,0,0,0
$GC,427,-0.70,-146.0,43.1,-9.2,49,439,0.68,2.47,0.00,0.000,4,0.047,0.022,3161,3148,3478,0,0,0,0,0,0
$GC,490,-0.78,-146.0,49.0,-9.2,54,494,0.00,2.42,0.00,0.000,6,0.000,0.028,3161,1629,3479,0,0,0,0,0,0
$GC,756,-0.78,-146.0,81.0,-12.0,78,763,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1629,3479,0,0,0,0,0,0
$GC,1023,-0.78,-146.0,108.7,-10.7,103,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1629,3479,0,0,0,0,0,0
$GC,1284,-0.78,-146.0,136.3,-10.4,128,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1628,3480,0,0,0,0,0,0
$GC,1541,-0.78,-146.0,162.1,-9.7,152,1545,0.00,2.35,0.00,0.000,4,0.000,0.022,3161,3137,3480,0,0,0,0,0,0
$GC,1571,-0.87,-146.0,165.3,-9.3,154,1577,0.12,2.40,0.00,0.000,6,0.058,0.026,3080,1637,3480,0,0,0,0,0,0
$GC,1866,-0.66,-146.0,206.9,-14.3,179,1871,0.40,2.35,0.00,0.000,4,0.082,0.038,3172,173,3480,0,0,0,0,0,0
$GC,1914,-0.82,-146.0,212.6,-9.2,180,1919,0.12,2.17,0.00,0.000,6,0.059,0.018,3098,1607,3481,0,0,0,0,0,0
$GC,2199,-0.70,-146.0,246.8,-12.5,187,2204,0.28,2.45,0.00,0.000,4,0.081,0.022,3162,3180,3481,0,0,0,0,0,0
$GC,2218,-0.70,-146.0,249.4,-11.4,187,2223,0.00,2.45,0.00,0.000,6,0.000,0.025,3162,1639,3481,0,0,0,0,0,0
$GC,2483,-0.83,-146.0,271.9,-8.3,194,2488,0.10,2.45,0.00,0.000,4,0.074,0.025,3096,3189,3481,0,0,0,0,0,0
$GC,2514,-0.83,-146.0,274.9,-9.8,194,2519,0.17,2.45,0.00,0.000,6,0.084,0.028,3138,1644,3481,0,0,0,0,0,0
$GC,2770,-0.90,-146.0,299.9,-9.9,201,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1645,3481,0,0,0,0,0,0
$GC,3013,-0.98,-146.0,321.6,-8.5,207,3018,0.12,2.47,0.00,0.000,4,0.061,0.028,3068,3183,3481,0,0,0,0,0,0
$GC,3030,-0.98,-146.0,323.1,-8.3,207,3035,0.17,2.47,0.00,0.000,6,0.087,0.028,3109,1643,3481,0,0,0,0,0,0
$GC,3300,-0.98,-146.0,344.4,-7.4,214,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1644,3481,0,0,0,0,0,0
$GC,3545,-0.98,-146.0,362.8,-7.5,220,3549,0.00,2.47,0.00,0.000,4,0.000,0.030,3109,3180,3481,0,0,0,0,0,0
$GC,3583,-1.09,-146.0,365.9,-7.2,220,3589,0.10,2.45,0.00,0.000,6,0.073,0.033,3021,1658,3481,0,0,0,0,0,0
$GC,3833,-0.86,-146.0,395.4,-12.2,227,3840,0.45,2.50,0.00,0.000,4,0.081,0.058,3127,166,3479,0,0,0,0,0,0
$GC,3871,-0.96,-146.0,399.2,-8.1,227,3875,0.00,2.30,0.00,0.000,6,0.000,0.023,3127,1627,3479,0,0,0,0,0,0
$GC,4122,-1.05,-146.0,419.5,-8.4,233,4127,0.15,2.55,0.00,0.000,4,0.054,0.035,3054,3203,3478,0,0,0,0,0,0
$GC,4165,-1.05,-146.0,424.5,-11.8,234,4171,0.17,2.50,0.00,0.000,6,0.087,0.035,3095,1658,3477,0,0,0,0,0,0
$GC,4453,-1.05,-146.0,455.4,-10.7,241,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1658,3476,0,0,0,0,0,0
$GC,4697,-1.05,-146.0,480.2,-10.1,247,4701,0.00,2.53,0.00,0.000,4,0.000,0.068,3096,171,3473,0,0,0,0,0,0
$GC,4731,-1.05,-146.0,483.5,-10.3,247,4735,0.00,2.35,0.00,0.000,6,0.000,0.029,3096,1648,3473,0,0,0,0,0,0
$GC,4983,-1.05,-146.0,502.3,-7.1,253,4987,0.00,2.53,0.00,0.000,4,0.000,0.041,3095,3201,3471,0,0,0,0,0,0
$GC,5016,-1.11,-146.0,504.7,-6.3,253,5021,0.00,2.53,0.00,0.000,6,0.000,0.039,3095,1665,3471,0,0,0,0,0,0
$GC,5266,-1.11,-146.0,518.0,-5.1,259,5271,0.00,2.55,0.00,0.000,4,0.000,0.041,3096,3207,3470,0,0,0,0,0,0
$GC,5283,-1.11,-146.0,518.8,-4.8,259,5287,0.00,2.55,0.00,0.000,6,0.000,0.040,3095,1661,3470,0,0,0,0,0,0
$GC,5551,-1.11,-146.0,533.2,-5.6,266,5556,0.00,2.58,0.00,0.000,4,0.000,0.073,3095,164,3468,0,0,0,0,0,0
$GC,5575,-1.11,-146.0,534.9,-7.6,266,5579,0.00,2.42,0.00,0.000,6,0.000,0.031,3096,1665,3468,0,0,0,0,0,0
$GC,5836,-1.11,-146.0,553.6,-7.6,273,5840,0.00,2.53,0.00,0.000,4,0.000,0.044,3096,3201,3466,0,0,0,0,0,0
$GC,5874,-1.21,-146.0,557.1,-8.6,273,5880,0.17,2.58,0.00,0.000,6,0.051,0.043,3018,1662,3466,0,0,0,0,0,0
$GC,6124,-1.00,-146.0,588.8,-13.1,280,6131,0.32,2.60,0.00,0.000,4,0.085,0.075,3095,165,3463,0,0,0,0,0,0
$GC,6203,-1.00,-146.0,597.5,-10.8,281,6208,0.00,2.42,0.00,0.000,6,0.000,0.033,3095,1659,3463,0,0,0,0,0,0
$STATE,6252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6252,begin apogee
$GC,6259,-0.31,0.0,602.8,10.1,283,6380,0.68,0.00,117.72,0.923,6,0.070,0.000,3251,1391,2880,0,0,0,0,0,0
$STATE,6380,end apogee,CONTROL_FINISHED_OK
$STATE,6380,begin climb
$GC,6385,1.27,146.0,608.9,0.0,286,6519,1.45,2.20,123.82,0.905,4,0.050,0.075,3596,175,2283,0,0,0,0,0,0
$GC,6752,1.05,146.0,584.8,10.5,294,6757,0.22,2.00,0.00,0.000,6,0.094,0.028,3549,1411,2276,0,0,0,0,0,0
$GC,7029,1.09,175.1,562.0,8.7,301,7060,0.00,2.22,24.73,0.855,4,0.000,0.076,3548,175,2165,0,0,0,0,0,0
$GC,7134,1.09,175.1,551.0,10.7,303,7138,0.00,1.98,0.00,0.000,6,0.000,0.028,3548,1398,2163,0,0,0,0,0,0
$GC,7408,1.13,211.5,527.4,8.3,310,7450,0.00,2.17,33.08,0.856,4,0.000,0.065,3548,170,2016,0,0,0,0,0,0
$GC,7566,1.16,238.3,513.0,8.8,313,7599,0.10,1.95,25.55,0.830,6,0.079,0.027,3588,1391,1908,0,0,0,0,0,0
$GC,7877,1.16,238.3,478.7,11.6,321,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1392,1901,0,0,0,0,0,0
$GC,8121,1.16,238.3,448.3,12.6,327,8125,0.00,2.10,0.00,0.000,4,0.000,0.060,3589,169,1899,0,0,0,0,0,0
$GC,8216,1.09,238.3,434.6,15.0,329,8221,0.10,1.98,0.00,0.000,6,0.081,0.025,3554,1396,1899,0,0,0,0,0,0
$GC,8509,1.16,238.3,398.2,11.9,336,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1398,1896,0,0,0,0,0,0
$GC,8753,1.25,248.1,373.9,9.5,342,8766,0.15,2.10,8.40,0.673,4,0.058,0.057,3614,171,1867,0,0,0,0,0,0
$GC,8848,1.14,248.1,362.9,11.8,344,8852,0.22,1.92,0.00,0.000,6,0.094,0.025,3565,1381,1867,0,0,0,0,0,0
$GC,9131,1.28,310.5,342.5,7.1,351,9193,0.12,2.12,56.38,0.752,4,0.065,0.056,3621,167,1613,0,0,0,0,0,0
$GC,9212,1.18,310.5,332.5,14.4,352,9218,0.20,1.92,0.00,0.000,6,0.094,0.024,3577,1387,1612,0,0,0,0,0,0
$GC,9464,1.25,310.5,301.2,12.7,359,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1390,1606,0,0,0,0,0,0
$GC,9705,1.33,310.5,272.1,11.6,365,9707,0.12,0.00,0.00,0.000,6,0.064,0.000,3629,1390,1605,0,0,0,0,0,0
$GC,9949,1.33,310.5,240.2,12.8,371,9952,0.00,2.05,0.00,0.000,4,0.000,0.058,3629,174,1603,0,0,0,0,0,0
$GC,9999,1.33,310.5,233.6,12.9,372,10003,0.00,1.88,0.00,0.000,6,0.000,0.021,3629,1383,1603,0,0,0,0,0,0
$GC,10287,1.33,310.5,199.7,11.8,379,10292,0.00,2.55,0.00,0.000,4,0.000,0.028,3629,2974,1602,0,0,0,0,0,0
$GC,10315,1.33,310.5,196.1,12.1,381,10324,0.00,2.65,0.00,0.000,6,0.000,0.035,3629,1381,1599,0,0,0,0,0,0
$GC,10583,1.33,310.5,164.0,12.5,406,10587,0.00,2.00,0.00,0.000,4,0.000,0.051,3629,168,1599,0,0,0,0,0,0
$GC,10656,1.33,310.5,152.7,14.0,413,10661,0.00,1.85,0.00,0.000,6,0.000,0.020,3629,1386,1599,0,0,0,0,0,0
$GC,10920,1.33,310.5,118.1,13.4,438,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1388,1599,0,0,0,0,0,0
$GC,11186,1.33,310.5,86.1,11.8,463,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1388,1599,0,0,0,0,0,0
$GC,11450,1.33,313.4,58.3,9.9,488,11454,0.00,2.03,0.00,0.000,4,0.000,0.048,3629,158,1599,0,0,0,0,0,0
$GC,11489,1.33,313.4,54.6,11.2,491,11492,0.00,1.83,0.00,0.000,6,0.000,0.019,3630,1373,1599,0,0,0,0,0,0
$GC,11766,1.34,314.5,26.7,10.0,518,11774,0.00,2.50,0.00,0.000,4,0.000,0.026,3629,2938,1599,0,0,0,0,0,0
$GC,11805,1.43,320.6,22.7,9.7,523,11821,0.00,2.58,7.90,0.397,6,0.000,0.034,3629,1372,1572,0,0,0,0,0,0
$STATE,11971,end climb,SURFACE_DEPTH_REACHED
$STATE,11971,begin surface coast
$FINISH,0.7,1.023459
$STATE,12010,end surface coast,CONTROL_FINISHED_OK
$STATE,12010,begin surface
$SM_CCo,12035,36.10,0.435,0,0,1329,380.21
$SM_GC,1.72,0.00,0.00,36.10,0.000,0.000,0.435,408,1653,1329,-13.40,0.93,380.21
$IRIDIUM_FIX,2253.38,-15804.96,081101,222242
$TT8_MAMPS,0.027612
$HUMID,67.40
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,6
$24V_AH,23.5,60.124
$10V_AH,9.9,48.567
$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,34.700,125.850,397.575,36.100,0.000,56.901,82.815,261.024,1.500,0.000,17.722,1178.071,8106.220,481.736,2156.620,761.144,33.370,1369.569,0.000,2152.013,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,75.933,923.468,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.838,331.306,405.300,628.149,1103.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41560,555
$CAP_FILE_SIZE,132517,0
$CFSIZE,260165632,151052288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150812,022124,2301.553,-15806.038,43,1.3,43,10.1