version: 66.06
glider: 148
mission: 11
dive: 330
start: 7 27 112 3 2 42
data:
$ID,148
$MISSION,11
$DIVE,330
$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,-925534.75
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,115
$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
$GPS1,025236,2245.837,-15757.784,23,1.8,23,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-74.4
$GPS2,030148,2245.852,-15757.812,11,1.7,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.225,-0.130
$KALMAN_X,-103578.2,20.3,151.3,106732.8,-437.9
$KALMAN_Y,43464.3,-42.0,441.5,-47842.7,-663.3
$MHEAD_RNG_PITCHd_Wd,229.8,17148,-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,16,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.15,0.000,2,0.000,0.000,410,1583,3287,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.0,-6.9,10,120,13.88,2.30,-3.92,0.000,4,0.155,0.044,3057,154,3517,0,0,0,0,0,0
$GC,270,-0.91,-146.0,49.5,-22.0,30,275,0.38,2.03,0.00,0.000,6,0.097,0.018,3138,1486,3520,0,0,0,0,0,0
$GC,533,-0.81,-146.0,89.3,-13.9,54,538,0.10,2.45,0.00,0.000,4,0.126,0.024,3160,3052,3521,0,0,0,0,0,0
$GC,583,-0.91,-146.0,95.1,-11.0,58,587,0.00,2.45,0.00,0.000,6,0.000,0.028,3160,1531,3521,0,0,0,0,0,0
$GC,846,-0.91,-146.0,121.6,-9.4,82,850,0.00,2.22,0.00,0.000,4,0.000,0.042,3160,165,3522,0,0,0,0,0,0
$GC,877,-0.91,-146.0,125.1,-10.9,84,885,0.00,2.03,0.00,0.000,6,0.000,0.018,3160,1506,3522,0,0,0,0,0,0
$GC,1144,-0.91,-146.0,151.2,-10.8,109,1148,0.00,2.47,0.00,0.000,4,0.000,0.024,3160,3078,3523,0,0,0,0,0,0
$GC,1213,-1.09,-146.0,157.8,-8.2,115,1218,0.25,2.47,0.00,0.000,6,0.034,0.028,3053,1539,3523,0,0,0,0,0,0
$GC,1478,-0.84,-146.0,197.0,-14.8,139,1483,0.43,2.42,0.00,0.000,4,0.087,0.022,3150,3079,3524,0,0,0,0,0,0
$GC,1518,-0.97,-146.0,201.9,-9.4,141,1524,0.00,2.45,0.00,0.000,6,0.000,0.027,3150,1553,3524,0,0,0,0,0,0
$GC,1769,-1.04,-146.0,225.5,-9.5,148,1774,0.15,2.45,0.00,0.000,4,0.054,0.024,3073,3091,3524,0,0,0,0,0,0
$GC,1798,-0.96,-146.0,229.1,-12.2,148,1803,0.25,2.45,0.00,0.000,6,0.083,0.028,3130,1567,3524,0,0,0,0,0,0
$GC,2054,-0.96,-146.0,254.4,-9.6,155,2058,0.00,2.30,0.00,0.000,4,0.000,0.045,3130,166,3524,0,0,0,0,0,0
$GC,2097,-1.04,-146.0,258.5,-9.0,156,2101,0.00,2.10,0.00,0.000,6,0.000,0.019,3130,1537,3524,0,0,0,0,0,0
$GC,2385,-1.10,-146.0,281.4,-8.0,163,2390,0.12,2.53,0.00,0.000,4,0.062,0.028,3062,3107,3524,0,0,0,0,0,0
$GC,2447,-1.10,-146.0,288.4,-11.4,164,2452,0.17,2.50,0.00,0.000,6,0.091,0.031,3102,1567,3524,0,0,0,0,0,0
$GC,2716,-1.10,-146.0,315.8,-10.2,171,2721,0.00,2.33,0.00,0.000,4,0.000,0.050,3102,169,3524,0,0,0,0,0,0
$GC,2741,-1.10,-146.0,318.6,-11.7,171,2745,0.00,2.17,0.00,0.000,6,0.000,0.021,3101,1566,3524,0,0,0,0,0,0
$GC,3000,-1.10,-146.0,347.7,-11.3,178,3004,0.00,2.47,0.00,0.000,4,0.000,0.031,3102,3114,3523,0,0,0,0,0,0
$GC,3043,-1.18,-146.0,352.6,-10.8,179,3048,0.00,2.50,0.00,0.000,6,0.000,0.032,3102,1582,3523,0,0,0,0,0,0
$GC,3332,-1.18,-146.0,381.5,-9.6,186,3336,0.00,2.40,0.00,0.000,4,0.000,0.058,3102,162,3521,0,0,0,0,0,0
$GC,3397,-1.18,-146.0,388.0,-9.9,187,3401,0.00,2.20,0.00,0.000,6,0.000,0.025,3102,1566,3521,0,0,0,0,0,0
$GC,3667,-1.18,-146.0,413.0,-9.8,194,3671,0.00,2.53,0.00,0.000,4,0.000,0.036,3102,3115,3519,0,0,0,0,0,0
$GC,3695,-1.18,-146.0,416.2,-10.3,194,3700,0.00,2.55,0.00,0.000,6,0.000,0.035,3102,1570,3519,0,0,0,0,0,0
$GC,3950,-1.18,-146.0,440.9,-9.8,201,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1570,3518,0,0,0,0,0,0
$GC,4194,-1.18,-146.0,461.0,-8.0,207,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1570,3515,0,0,0,0,0,0
$GC,4439,-1.18,-146.0,477.0,-6.2,213,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1570,3514,0,0,0,0,0,0
$GC,4681,-1.18,-146.0,493.5,-7.0,219,4685,0.00,2.58,0.00,0.000,4,0.000,0.044,3102,3109,3512,0,0,0,0,0,0
$GC,4716,-1.27,-146.0,496.1,-7.1,219,4721,0.15,2.58,0.00,0.000,6,0.053,0.040,3013,1567,3512,0,0,0,0,0,0
$GC,4968,-1.01,-146.0,527.6,-13.2,225,4975,0.50,2.42,0.00,0.000,4,0.091,0.071,3117,171,3510,0,0,0,0,0,0
$GC,4995,-1.01,-146.0,530.6,-8.9,225,4999,0.00,2.25,0.00,0.000,6,0.000,0.033,3117,1560,3510,0,0,0,0,0,0
$GC,5254,-1.11,-146.0,547.6,-6.3,232,5259,0.00,2.60,0.00,0.000,4,0.000,0.046,3118,3127,3509,0,0,0,0,0,0
$GC,5303,-1.28,-146.0,550.7,-6.3,233,5310,0.22,2.60,0.00,0.000,6,0.039,0.043,3015,1579,3508,0,0,0,0,0,0
$GC,5588,-1.07,-146.0,582.2,-11.5,240,5594,0.38,2.45,0.00,0.000,4,0.093,0.074,3101,164,3506,0,0,0,0,0,0
$GC,5643,-1.15,-146.0,587.0,-7.9,241,5647,0.00,2.30,0.00,0.000,6,0.000,0.035,3102,1577,3506,0,0,0,0,0,0
$STATE,5841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5841,begin apogee
$GC,5847,-0.31,0.0,602.2,7.5,246,5968,0.75,0.00,117.80,0.933,6,0.076,0.000,3272,1370,2919,0,0,0,0,0,0
$STATE,5969,end apogee,CONTROL_FINISHED_OK
$STATE,5969,begin climb
$GC,5973,1.27,146.0,605.9,0.0,249,6105,1.45,2.17,123.18,0.914,4,0.049,0.075,3616,171,2323,0,0,0,0,0,0
$GC,6325,0.97,146.0,577.4,13.7,257,6330,0.30,1.98,0.00,0.000,6,0.102,0.029,3553,1386,2316,0,0,0,0,0,0
$GC,6614,1.03,196.1,554.5,7.7,264,6663,0.00,2.20,43.20,0.878,4,0.000,0.070,3553,180,2119,0,0,0,0,0,0
$GC,6723,0.98,206.2,544.2,9.5,266,6740,0.00,1.95,10.10,0.769,6,0.000,0.028,3553,1376,2078,0,0,0,0,0,0
$GC,6991,1.01,227.7,519.8,9.0,273,7017,0.00,2.72,19.90,0.833,4,0.000,0.048,3553,2955,1990,0,0,0,0,0,0
$GC,7036,1.05,263.8,515.6,8.3,274,7077,0.00,2.70,34.33,0.851,6,0.000,0.046,3553,1385,1843,0,0,0,0,0,0
$GC,7365,1.05,263.8,481.6,10.4,282,7370,0.00,2.62,0.00,0.000,4,0.000,0.038,3553,2957,1836,0,0,0,0,0,0
$GC,7394,1.16,280.7,478.8,9.2,282,7415,0.17,2.67,15.25,0.795,6,0.048,0.044,3627,1382,1775,0,0,0,0,0,0
$GC,7697,1.01,280.7,438.7,13.3,290,7702,0.28,2.10,0.00,0.000,4,0.092,0.064,3563,156,1770,0,0,0,0,0,0
$GC,7730,1.01,280.7,433.9,12.8,290,7734,0.00,1.98,0.00,0.000,6,0.000,0.025,3563,1394,1770,0,0,0,0,0,0
$GC,7984,1.01,280.7,403.6,12.2,297,7988,0.00,2.55,0.00,0.000,4,0.000,0.037,3563,2948,1768,0,0,0,0,0,0
$GC,8009,1.07,280.7,400.9,10.6,297,8014,0.00,2.62,0.00,0.000,6,0.000,0.041,3563,1378,1766,0,0,0,0,0,0
$GC,8268,1.07,280.7,374.4,10.0,304,8272,0.00,2.05,0.00,0.000,4,0.000,0.062,3563,161,1766,0,0,0,0,0,0
$GC,8319,1.07,280.7,368.4,12.0,305,8323,0.00,1.95,0.00,0.000,6,0.000,0.034,3563,1391,1766,0,0,0,0,0,0
$GC,8602,1.07,280.7,336.7,11.6,312,8606,0.00,2.55,0.00,0.000,4,0.000,0.034,3563,2952,1765,0,0,0,0,0,0
$GC,8626,1.15,280.7,333.7,11.1,312,8631,0.12,2.62,0.00,0.000,6,0.062,0.040,3622,1388,1763,0,0,0,0,0,0
$GC,8886,1.05,280.7,297.4,13.8,319,8891,0.25,2.08,0.00,0.000,4,0.093,0.058,3565,166,1763,0,0,0,0,0,0
$GC,8916,1.05,280.7,293.7,11.5,319,8920,0.00,1.95,0.00,0.000,6,0.000,0.024,3565,1396,1763,0,0,0,0,0,0
$GC,9175,1.14,293.6,268.8,9.4,326,9192,0.10,2.53,10.95,0.646,4,0.076,0.031,3617,2942,1721,0,0,0,0,0,0
$GC,9207,1.14,293.6,265.3,11.0,326,9212,0.12,2.62,0.00,0.000,6,0.100,0.038,3589,1380,1719,0,0,0,0,0,0
$GC,9464,1.14,293.6,236.6,11.3,333,9467,0.00,2.08,0.00,0.000,4,0.000,0.056,3589,163,1719,0,0,0,0,0,0
$GC,9482,1.14,293.6,234.2,11.3,333,9486,0.00,1.92,0.00,0.000,6,0.000,0.021,3589,1413,1719,0,0,0,0,0,0
$GC,9754,1.14,293.6,205.6,10.3,340,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1415,1718,0,0,0,0,0,0
$GC,10010,1.14,293.6,177.5,12.5,358,10014,0.00,2.40,0.00,0.000,4,0.000,0.028,3589,2932,1718,0,0,0,0,0,0
$GC,10068,1.28,293.6,170.4,10.0,363,10078,0.08,2.58,0.00,0.000,6,0.035,0.035,3640,1382,1715,0,0,0,0,0,0
$GC,10329,1.19,293.6,138.8,11.4,388,10334,0.20,2.50,0.00,0.000,4,0.094,0.027,3596,2932,1716,0,0,0,0,0,0
$GC,10348,1.19,293.6,136.9,11.5,389,10352,0.00,2.53,0.00,0.000,6,0.000,0.032,3597,1385,1715,0,0,0,0,0,0
$GC,10617,1.21,313.2,112.2,9.1,413,10640,0.00,0.00,17.80,0.532,6,0.000,0.000,3597,1385,1643,0,0,0,0,0,0
$GC,10897,1.21,313.2,83.7,10.9,439,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1385,1641,0,0,0,0,0,0
$GC,11166,1.31,330.2,56.3,9.2,464,11188,0.12,2.08,16.75,0.476,4,0.064,0.049,3653,170,1573,0,0,0,0,0,0
$GC,11211,1.21,330.2,51.3,11.9,468,11215,0.22,1.88,0.00,0.000,6,0.093,0.019,3604,1403,1573,0,0,0,0,0,0
$GC,11484,1.30,334.2,25.7,9.8,495,11492,0.00,0.00,5.25,0.364,6,0.000,0.000,3604,1405,1556,0,0,0,0,0,0
$STATE,11705,end climb,SURFACE_DEPTH_REACHED
$STATE,11705,begin surface coast
$FINISH,0.6,1.012272
$STATE,11750,end surface coast,CONTROL_FINISHED_OK
$STATE,11750,begin surface
$SM_CCo,11774,29.70,0.436,0,0,1369,380.21
$SM_GC,1.50,0.00,0.00,29.70,0.000,0.000,0.436,410,1600,1369,-13.48,1.70,380.21
$IRIDIUM_FIX,2237.01,-15754.99,201001,232353
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.5,43.609
$10V_AH,9.9,34.314
$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,33.975,141.625,414.500,29.700,0.000,31.230,34.953,341.881,1.500,0.000,17.716,1167.012,7885.831,473.824,2080.490,746.494,33.380,1350.970,0.000,2072.276,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,75.166,933.439,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.595,313.289,385.750,578.036,1015.445,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,41612,537
$CAP_FILE_SIZE,133556,0
$CFSIZE,260165632,158969856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270712,062056,2244.752,-15759.492,27,99.0,46,10.1