version: 66.06
glider: 148
mission: 11
dive: 478
start: 8 17 112 13 36 27
data:
$ID,148
$MISSION,11
$DIVE,478
$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,-928578.19
$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,18
$R_STBD_OVSHOOT,87
$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
$GPS1,132827,2254.694,-15759.263,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.0
$GPS2,133535,2254.694,-15759.339,20,1.2,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.241,-0.098
$KALMAN_X,-359338.2,43.1,-122.7,360139.5,-1879.9
$KALMAN_Y,120571.4,1.7,-439.3,-107744.8,356.4
$MHEAD_RNG_PITCHd_Wd,102.0,47372,-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,-74.97,0.000,2,0.000,0.000,413,1646,3259,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-6.4,10,122,13.68,2.42,-3.70,0.000,4,0.152,0.031,3037,3177,3477,0,0,0,0,0,0
$GC,132,0.48,-146.0,20.0,-42.1,14,141,1.73,2.55,0.00,0.000,6,0.091,0.026,3415,1613,3478,0,0,0,0,0,0
$GC,415,-0.39,-146.0,43.8,-7.7,48,427,0.75,2.47,0.00,0.000,4,0.059,0.024,3234,3178,3480,0,0,0,0,0,0
$GC,435,-1.10,-146.0,45.7,-7.2,49,444,0.57,2.65,0.00,0.000,6,0.013,0.026,3058,1544,3480,0,0,0,0,0,0
$GC,699,-0.73,-146.0,91.3,-17.2,74,708,0.43,0.00,0.00,0.000,6,0.092,0.000,3153,1544,3481,0,0,0,0,0,0
$GC,964,-0.73,-146.0,117.3,-9.7,99,969,0.00,2.58,0.00,0.000,4,0.000,0.023,3153,3171,3481,0,0,0,0,0,0
$GC,983,-0.73,-146.0,119.7,-9.7,100,992,0.00,2.62,0.00,0.000,6,0.000,0.026,3153,1548,3482,0,0,0,0,0,0
$GC,1253,-0.73,-146.0,145.2,-9.6,125,1257,0.00,2.55,0.00,0.000,4,0.000,0.023,3153,3175,3482,0,0,0,0,0,0
$GC,1289,-0.84,-146.0,149.7,-10.0,128,1293,0.00,2.60,0.00,0.000,6,0.000,0.028,3153,1557,3482,0,0,0,0,0,0
$GC,1554,-0.84,-146.0,175.0,-8.7,152,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1557,3483,0,0,0,0,0,0
$GC,1815,-0.84,-146.0,197.5,-8.3,177,1820,0.00,2.53,0.00,0.000,4,0.000,0.023,3153,3172,3483,0,0,0,0,0,0
$GC,1856,-1.00,-146.0,200.6,-8.2,180,1863,0.20,2.60,0.00,0.000,6,0.041,0.028,3048,1560,3483,0,0,0,0,0,0
$GC,2107,-0.75,-146.0,235.7,-14.9,187,2112,0.45,2.25,0.00,0.000,4,0.084,0.041,3153,170,3483,0,0,0,0,0,0
$GC,2166,-0.94,-146.0,242.2,-9.3,188,2170,0.15,2.08,0.00,0.000,6,0.051,0.018,3072,1552,3484,0,0,0,0,0,0
$GC,2439,-0.78,-146.0,278.4,-13.3,195,2446,0.32,2.58,0.00,0.000,4,0.081,0.024,3147,3179,3484,0,0,0,0,0,0
$GC,2467,-0.87,-146.0,281.3,-9.7,195,2471,0.00,2.62,0.00,0.000,6,0.000,0.028,3147,1557,3484,0,0,0,0,0,0
$GC,2728,-0.97,-146.0,302.4,-8.1,202,2730,0.17,0.00,0.00,0.000,6,0.048,0.000,3059,1556,3484,0,0,0,0,0,0
$GC,2970,-0.81,-146.0,331.8,-12.0,208,2977,0.35,2.58,0.00,0.000,4,0.081,0.028,3141,3165,3484,0,0,0,0,0,0
$GC,3022,-1.03,-146.0,335.5,-5.6,209,3027,0.17,2.60,0.00,0.000,6,0.046,0.032,3044,1555,3483,0,0,0,0,0,0
$GC,3305,-0.83,-146.0,365.8,-11.4,216,3310,0.40,2.30,0.00,0.000,4,0.081,0.053,3136,171,3483,0,0,0,0,0,0
$GC,3329,-0.83,-146.0,368.5,-9.3,216,3333,0.00,2.08,0.00,0.000,6,0.000,0.021,3136,1526,3484,0,0,0,0,0,0
$GC,3591,-0.93,-146.0,387.4,-7.5,223,3595,0.00,2.65,0.00,0.000,4,0.000,0.032,3136,3170,3482,0,0,0,0,0,0
$GC,3643,-1.12,-146.0,391.9,-8.3,224,3650,0.25,2.60,0.00,0.000,6,0.034,0.035,3019,1575,3482,0,0,0,0,0,0
$GC,3926,-0.87,-146.0,430.0,-14.1,231,3931,0.47,2.40,0.00,0.000,4,0.084,0.061,3130,169,3481,0,0,0,0,0,0
$GC,3974,-0.99,-146.0,435.2,-8.6,232,3978,0.12,2.12,0.00,0.000,6,0.062,0.025,3067,1532,3480,0,0,0,0,0,0
$GC,4257,-0.90,-146.0,463.6,-10.2,239,4264,0.25,2.65,0.00,0.000,4,0.084,0.037,3129,3159,3479,0,0,0,0,0,0
$GC,4284,-1.03,-146.0,466.1,-8.9,239,4289,0.12,2.62,0.00,0.000,6,0.061,0.037,3045,1571,3479,0,0,0,0,0,0
$GC,4545,-0.86,-146.0,497.5,-12.6,246,4550,0.38,2.38,0.00,0.000,4,0.081,0.067,3129,178,3476,0,0,0,0,0,0
$GC,4585,-0.99,-146.0,501.8,-9.8,246,4591,0.10,2.15,0.00,0.000,6,0.074,0.030,3073,1520,3476,0,0,0,0,0,0
$GC,4835,-0.99,-146.0,528.4,-10.7,253,4842,0.15,2.72,0.00,0.000,4,0.096,0.045,3107,3159,3474,0,0,0,0,0,0
$GC,4862,-1.06,-146.0,531.0,-9.2,253,4866,0.00,2.62,0.00,0.000,6,0.000,0.045,3107,1578,3474,0,0,0,0,0,0
$GC,5123,-1.06,-146.0,552.0,-7.7,260,5128,0.00,2.60,0.00,0.000,4,0.000,0.042,3107,3156,3472,0,0,0,0,0,0
$GC,5157,-1.18,-146.0,554.4,-6.2,260,5162,0.17,2.60,0.00,0.000,6,0.048,0.044,3018,1592,3472,0,0,0,0,0,0
$GC,5409,-0.95,-146.0,582.0,-11.3,266,5411,0.45,0.00,0.00,0.000,6,0.082,0.000,3112,1592,3470,0,0,0,0,0,0
$GC,5651,-1.02,-146.0,598.6,-6.6,272,5656,0.00,2.62,0.00,0.000,4,0.000,0.046,3111,3159,3469,0,0,0,0,0,0
$STATE,5668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5668,begin apogee
$GC,5677,-0.31,0.0,600.3,8.2,272,5799,0.57,0.00,118.75,0.920,6,0.068,0.000,3249,1345,2880,0,0,0,0,0,0
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5800,begin climb
$GC,5804,1.27,146.0,603.8,0.0,275,5935,1.48,2.17,122.85,0.900,4,0.055,0.084,3594,163,2284,0,0,0,0,0,0
$GC,5981,1.07,156.6,597.2,9.5,279,5998,0.15,1.88,10.18,0.766,6,0.081,0.029,3557,1297,2241,0,0,0,0,0,0
$GC,6262,1.17,239.6,578.8,6.2,286,6342,0.00,0.00,74.70,0.883,6,0.000,0.000,3557,1298,1902,0,0,0,0,0,0
$GC,6588,1.19,258.8,551.4,9.1,294,6613,0.10,2.75,17.75,0.821,4,0.077,0.051,3601,2865,1823,0,0,0,0,0,0
$GC,6656,1.19,258.8,543.3,12.2,295,6660,0.00,2.58,0.00,0.000,6,0.000,0.044,3601,1354,1818,0,0,0,0,0,0
$GC,6920,1.13,258.8,507.7,14.0,302,6922,0.17,0.00,0.00,0.000,6,0.097,0.000,3563,1354,1817,0,0,0,0,0,0
$GC,7165,1.13,258.8,477.9,12.2,308,7169,0.00,2.08,0.00,0.000,4,0.000,0.071,3563,153,1815,0,0,0,0,0,0
$GC,7206,1.13,258.8,472.1,12.9,308,7212,0.00,1.80,0.00,0.000,6,0.000,0.025,3563,1313,1814,0,0,0,0,0,0
$GC,7456,1.13,258.8,441.6,11.9,315,7461,0.00,2.62,0.00,0.000,4,0.000,0.036,3563,2914,1813,0,0,0,0,0,0
$GC,7501,1.26,258.8,436.6,11.2,316,7507,0.12,2.60,0.00,0.000,6,0.062,0.042,3618,1354,1810,0,0,0,0,0,0
$GC,7790,1.17,258.8,397.9,13.2,323,7794,0.20,2.05,0.00,0.000,4,0.094,0.061,3575,157,1810,0,0,0,0,0,0
$GC,7866,1.17,258.8,389.0,11.1,324,7870,0.00,1.85,0.00,0.000,6,0.000,0.024,3575,1348,1810,0,0,0,0,0,0
$GC,8124,1.17,260.1,363.3,9.9,331,8129,0.00,2.55,0.00,0.000,4,0.000,0.035,3575,2919,1810,0,0,0,0,0,0
$GC,8148,1.18,270.1,360.9,9.5,331,8166,0.00,2.65,8.73,0.669,6,0.000,0.041,3575,1335,1778,0,0,0,0,0,0
$GC,8411,1.18,270.1,333.2,10.9,338,8415,0.00,1.98,0.00,0.000,4,0.000,0.060,3575,166,1776,0,0,0,0,0,0
$GC,8512,1.18,270.1,321.6,10.9,340,8516,0.00,1.83,0.00,0.000,6,0.000,0.022,3575,1352,1776,0,0,0,0,0,0
$GC,8797,1.25,279.6,294.4,9.6,347,8812,0.00,2.05,9.62,0.637,4,0.000,0.055,3575,160,1739,0,0,0,0,0,0
$GC,8842,1.25,279.6,289.3,11.6,348,8846,0.00,1.83,0.00,0.000,6,0.000,0.022,3575,1345,1740,0,0,0,0,0,0
$GC,9133,1.33,279.6,258.3,10.6,355,9138,0.15,2.55,0.00,0.000,4,0.058,0.028,3635,2920,1738,0,0,0,0,0,0
$GC,9159,1.33,279.6,255.2,13.5,355,9164,0.12,2.62,0.00,0.000,6,0.102,0.038,3607,1337,1735,0,0,0,0,0,0
$GC,9419,1.33,279.6,222.3,12.4,362,9423,0.00,1.98,0.00,0.000,4,0.000,0.055,3607,158,1735,0,0,0,0,0,0
$GC,9502,1.33,279.6,211.5,12.6,363,9506,0.00,1.85,0.00,0.000,6,0.000,0.021,3607,1346,1735,0,0,0,0,0,0
$GC,9767,1.34,290.4,184.1,9.5,379,9786,0.00,2.03,10.68,0.559,4,0.000,0.051,3607,169,1696,0,0,0,0,0,0
$GC,9820,1.34,290.4,177.7,10.4,384,9829,0.00,1.83,0.00,0.000,6,0.000,0.021,3607,1344,1696,0,0,0,0,0,0
$GC,10088,1.34,290.4,150.7,10.1,409,10091,0.00,1.95,0.00,0.000,4,0.000,0.050,3607,163,1694,0,0,0,0,0,0
$GC,10158,1.34,290.4,142.2,10.7,416,10162,0.00,1.77,0.00,0.000,6,0.000,0.021,3607,1344,1694,0,0,0,0,0,0
$GC,10430,1.35,291.1,117.1,10.0,441,10435,0.00,2.42,0.00,0.000,4,0.000,0.026,3607,2893,1694,0,0,0,0,0,0
$GC,10470,1.48,301.6,112.5,9.5,444,10489,0.10,2.60,11.57,0.501,6,0.033,0.041,3663,1326,1649,0,0,0,0,0,0
$GC,10746,1.38,301.6,77.1,12.8,470,10750,0.20,1.92,0.00,0.000,4,0.092,0.047,3619,160,1648,0,0,0,0,0,0
$GC,10830,1.38,301.6,67.2,12.1,477,10833,0.00,1.73,0.00,0.000,6,0.000,0.019,3619,1330,1648,0,0,0,0,0,0
$GC,11103,1.45,301.6,40.9,10.2,502,11107,0.00,1.92,0.00,0.000,4,0.000,0.048,3619,167,1648,0,0,0,0,0,0
$GC,11130,1.45,301.6,36.8,11.4,504,11139,0.00,1.75,0.00,0.000,6,0.000,0.019,3620,1329,1648,0,0,0,0,0,0
$GC,11424,1.45,301.6,8.4,10.8,546,11433,0.00,2.47,0.00,0.000,4,0.000,0.025,3619,2885,1648,0,0,0,0,0,0
$GC,11467,1.60,301.6,4.0,10.4,552,11477,0.15,2.58,0.00,0.000,6,0.028,0.033,3691,1322,1647,0,0,0,0,0,0
$STATE,11484,end climb,SURFACE_DEPTH_REACHED
$STATE,11484,begin surface coast
$FINISH,0.7,1.011696
$STATE,11529,end surface coast,CONTROL_FINISHED_OK
$STATE,11529,begin surface
$SM_CCo,11554,44.45,0.440,0,0,1329,380.21
$SM_GC,1.53,0.00,0.00,44.45,0.000,0.000,0.440,411,1628,1329,-13.38,-0.06,380.21
$IRIDIUM_FIX,2246.36,-15758.45,111101,101059
$TT8_MAMPS,0.027612
$HUMID,66.42
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,6
$24V_AH,23.5,62.279
$10V_AH,9.9,50.537
$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,38.575,150.125,384.825,44.450,0.000,30.317,35.309,199.248,1.500,0.000,31.539,1190.384,7553.994,519.074,2128.374,629.742,33.375,1392.959,0.000,2122.756,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,83.603,919.633,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.718,343.656,427.290,636.170,1117.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,44666,561
$CAP_FILE_SIZE,133395,0
$CFSIZE,260165632,149954560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170812,165126,2254.360,-15758.763,37,99.0,56,10.1