version: 66.06
glider: 148
mission: 11
dive: 413
start: 8 8 112 4 2 51
data:
$ID,148
$MISSION,11
$DIVE,413
$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,-927314.06
$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,29
$R_STBD_OVSHOOT,113
$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
$GPS1,034738,2305.022,-15735.891,32,1.4,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.6
$GPS2,040157,2305.089,-15736.055,10,6.7,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,-0.240
$KALMAN_X,-217987.0,-136.9,159.9,258438.9,-2078.4
$KALMAN_Y,89548.6,214.6,270.7,-58392.5,-34.2
$MHEAD_RNG_PITCHd_Wd,192.4,68502,-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,-67.80,0.000,2,0.000,0.000,409,1603,3093,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-5.1,9,123,13.85,2.38,-7.68,0.000,4,0.152,0.049,3056,167,3520,0,0,0,0,0,0
$GC,224,-0.88,-146.0,37.6,-22.0,26,229,0.43,2.08,0.00,0.000,6,0.096,0.018,3148,1530,3521,0,0,0,0,0,0
$GC,493,-0.75,-146.0,79.5,-14.0,50,498,0.12,2.58,0.00,0.000,4,0.111,0.025,3174,3148,3522,0,0,0,0,0,0
$GC,547,-0.93,-146.0,85.8,-8.1,54,556,0.12,2.55,0.00,0.000,6,0.021,0.028,3069,1583,3522,0,0,0,0,0,0
$GC,814,-0.65,-146.0,124.6,-15.6,79,823,0.55,2.50,0.00,0.000,4,0.084,0.023,3195,3152,3523,0,0,0,0,0,0
$GC,846,-0.73,-146.0,129.2,-9.9,82,850,0.00,2.50,0.00,0.000,6,0.000,0.026,3195,1582,3523,0,0,0,0,0,0
$GC,1111,-0.86,-146.0,148.8,-8.4,106,1116,0.17,2.30,0.00,0.000,4,0.046,0.050,3111,170,3523,0,0,0,0,0,0
$GC,1133,-0.86,-146.0,151.7,-11.1,107,1140,0.17,2.15,0.00,0.000,6,0.095,0.018,3150,1611,3523,0,0,0,0,0,0
$GC,1398,-0.86,-146.0,181.8,-10.2,132,1402,0.00,2.38,0.00,0.000,4,0.000,0.024,3150,3125,3523,0,0,0,0,0,0
$GC,1416,-0.86,-146.0,183.5,-9.7,133,1421,0.00,2.47,0.00,0.000,6,0.000,0.026,3150,1578,3523,0,0,0,0,0,0
$GC,1674,-0.86,-146.0,209.5,-10.3,151,1678,0.00,2.45,0.00,0.000,4,0.000,0.025,3150,3124,3524,0,0,0,0,0,0
$GC,1727,-1.03,-146.0,214.7,-9.3,152,1732,0.15,2.45,0.00,0.000,6,0.051,0.028,3066,1601,3524,0,0,0,0,0,0
$GC,2006,-0.84,-146.0,251.9,-13.7,159,2011,0.38,2.33,0.00,0.000,4,0.081,0.041,3153,171,3524,0,0,0,0,0,0
$GC,2069,-1.01,-146.0,257.6,-7.4,160,2074,0.15,2.17,0.00,0.000,6,0.052,0.018,3076,1601,3524,0,0,0,0,0,0
$GC,2339,-0.88,-146.0,287.6,-11.3,167,2344,0.28,2.45,0.00,0.000,4,0.083,0.026,3142,3139,3524,0,0,0,0,0,0
$GC,2375,-1.02,-146.0,290.8,-7.8,167,2379,0.10,2.47,0.00,0.000,6,0.074,0.028,3073,1596,3524,0,0,0,0,0,0
$GC,2625,-0.89,-146.0,318.0,-11.1,173,2630,0.30,2.35,0.00,0.000,4,0.084,0.047,3141,164,3524,0,0,0,0,0,0
$GC,2644,-0.89,-146.0,320.3,-10.6,173,2648,0.00,2.20,0.00,0.000,6,0.000,0.020,3140,1599,3524,0,0,0,0,0,0
$GC,2910,-1.00,-146.0,338.5,-6.9,180,2914,0.00,2.47,0.00,0.000,4,0.000,0.031,3141,3146,3523,0,0,0,0,0,0
$GC,2943,-1.18,-146.0,340.9,-6.0,180,2949,0.25,2.50,0.00,0.000,6,0.035,0.034,3040,1609,3523,0,0,0,0,0,0
$GC,3194,-0.98,-146.0,369.7,-12.0,186,3199,0.35,2.42,0.00,0.000,4,0.084,0.056,3123,162,3521,0,0,0,0,0,0
$GC,3271,-1.09,-146.0,376.6,-7.6,187,3275,0.00,2.25,0.00,0.000,6,0.000,0.022,3123,1598,3521,0,0,0,0,0,0
$GC,3531,-1.15,-146.0,397.1,-8.2,194,3536,0.15,2.53,0.00,0.000,4,0.054,0.035,3057,3160,3519,0,0,0,0,0,0
$GC,3561,-1.07,-146.0,400.4,-11.3,194,3567,0.22,2.55,0.00,0.000,6,0.081,0.035,3109,1603,3519,0,0,0,0,0,0
$GC,3817,-1.07,-146.0,426.6,-10.4,201,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1603,3518,0,0,0,0,0,0
$GC,4061,-1.07,-146.0,449.6,-9.2,207,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1603,3516,0,0,0,0,0,0
$GC,4306,-1.07,-146.0,469.8,-7.9,213,4311,0.00,2.45,0.00,0.000,4,0.000,0.068,3109,170,3514,0,0,0,0,0,0
$GC,4335,-1.07,-146.0,472.5,-9.0,213,4339,0.00,2.30,0.00,0.000,6,0.000,0.030,3109,1603,3514,0,0,0,0,0,0
$GC,4589,-1.07,-146.0,492.5,-7.8,220,4594,0.00,2.55,0.00,0.000,4,0.000,0.041,3109,3166,3512,0,0,0,0,0,0
$GC,4624,-1.18,-146.0,495.1,-7.8,220,4630,0.12,2.58,0.00,0.000,6,0.059,0.039,3032,1609,3512,0,0,0,0,0,0
$GC,4875,-1.00,-146.0,525.8,-12.9,226,4882,0.38,2.50,0.00,0.000,4,0.086,0.071,3119,160,3510,0,0,0,0,0,0
$GC,4906,-1.08,-146.0,529.2,-9.1,226,4910,0.00,2.33,0.00,0.000,6,0.000,0.032,3120,1610,3510,0,0,0,0,0,0
$GC,5163,-1.17,-146.0,549.1,-7.7,233,5165,0.15,0.00,0.00,0.000,6,0.055,0.000,3051,1610,3508,0,0,0,0,0,0
$GC,5406,-1.06,-146.0,575.2,-10.8,239,5412,0.25,2.50,0.00,0.000,4,0.087,0.069,3113,164,3506,0,0,0,0,0,0
$GC,5433,-1.06,-146.0,577.9,-9.8,239,5437,0.00,2.33,0.00,0.000,6,0.000,0.033,3113,1605,3506,0,0,0,0,0,0
$GC,5694,-1.14,-146.0,599.2,-8.3,246,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1606,3504,0,0,0,0,0,0
$STATE,5730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5730,begin apogee
$GC,5736,-0.31,0.0,602.4,8.2,247,5857,0.68,0.00,117.75,0.924,6,0.068,0.000,3270,1383,2920,0,0,0,0,0,0
$STATE,5858,end apogee,CONTROL_FINISHED_OK
$STATE,5858,begin climb
$GC,5861,1.27,146.0,606.6,0.0,250,5993,1.45,2.20,123.35,0.907,4,0.051,0.076,3616,185,2323,0,0,0,0,0,0
$GC,6130,0.99,146.0,587.3,13.1,256,6135,0.28,1.98,0.00,0.000,6,0.097,0.028,3558,1410,2316,0,0,0,0,0,0
$GC,6413,1.04,186.2,562.6,8.1,263,6455,0.00,2.25,34.45,0.869,4,0.000,0.070,3558,180,2160,0,0,0,0,0,0
$GC,6501,1.04,187.0,554.9,10.0,264,6506,0.00,1.98,0.00,0.000,6,0.000,0.028,3558,1392,2158,0,0,0,0,0,0
$GC,6751,1.10,229.3,533.9,8.0,271,6796,0.00,2.20,38.70,0.861,4,0.000,0.067,3558,185,1984,0,0,0,0,0,0
$GC,6818,1.10,229.3,528.1,10.2,272,6822,0.00,1.98,0.00,0.000,6,0.000,0.028,3558,1394,1984,0,0,0,0,0,0
$GC,7086,1.13,254.3,503.7,8.8,279,7116,0.12,2.72,23.70,0.829,4,0.065,0.050,3609,2977,1881,0,0,0,0,0,0
$GC,7138,1.06,254.3,498.4,11.1,280,7145,0.17,2.70,0.00,0.000,6,0.090,0.044,3571,1400,1878,0,0,0,0,0,0
$GC,7420,1.06,254.3,469.5,10.2,287,7424,0.00,2.67,0.00,0.000,4,0.000,0.039,3571,2978,1876,0,0,0,0,0,0
$GC,7444,1.07,264.2,466.7,9.5,287,7462,0.00,2.70,9.52,0.736,6,0.000,0.043,3570,1390,1841,0,0,0,0,0,0
$GC,7707,1.07,264.2,439.2,10.6,294,7711,0.00,2.12,0.00,0.000,4,0.000,0.066,3571,160,1838,0,0,0,0,0,0
$GC,7744,1.07,264.2,434.5,12.2,294,7750,0.00,1.98,0.00,0.000,6,0.000,0.025,3570,1403,1838,0,0,0,0,0,0
$GC,7994,1.07,264.2,406.1,11.4,301,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,1405,1836,0,0,0,0,0,0
$GC,8238,1.07,264.2,377.7,11.7,307,8242,0.00,2.55,0.00,0.000,4,0.000,0.035,3571,2969,1835,0,0,0,0,0,0
$GC,8283,1.20,264.2,373.0,10.6,308,8288,0.12,2.62,0.00,0.000,6,0.064,0.041,3627,1396,1833,0,0,0,0,0,0
$GC,8571,1.10,264.2,334.3,13.3,315,8575,0.22,2.10,0.00,0.000,4,0.089,0.059,3577,165,1833,0,0,0,0,0,0
$GC,8647,1.10,264.2,325.5,12.0,316,8651,0.00,1.95,0.00,0.000,6,0.000,0.023,3577,1396,1833,0,0,0,0,0,0
$GC,8906,1.10,264.2,298.4,10.5,323,8910,0.00,2.53,0.00,0.000,4,0.000,0.033,3577,2967,1832,0,0,0,0,0,0
$GC,8930,1.21,277.3,295.9,9.4,323,8949,0.10,2.60,11.30,0.663,6,0.076,0.040,3628,1398,1788,0,0,0,0,0,0
$GC,9194,1.14,277.3,264.7,11.9,330,9199,0.20,2.10,0.00,0.000,4,0.091,0.057,3584,162,1786,0,0,0,0,0,0
$GC,9237,1.14,277.3,259.3,11.7,331,9241,0.00,1.92,0.00,0.000,6,0.000,0.021,3584,1407,1786,0,0,0,0,0,0
$GC,9530,1.15,287.7,230.5,9.5,338,9546,0.00,2.15,10.05,0.599,4,0.000,0.054,3584,171,1746,0,0,0,0,0,0
$GC,9579,1.15,287.7,225.1,11.2,339,9583,0.00,1.90,0.00,0.000,6,0.000,0.021,3584,1397,1746,0,0,0,0,0,0
$GC,9839,1.23,287.7,198.4,10.3,346,9844,0.10,2.53,0.00,0.000,4,0.076,0.028,3632,2964,1744,0,0,0,0,0,0
$GC,9860,1.23,287.7,195.7,11.1,347,9867,0.10,2.58,0.00,0.000,6,0.116,0.035,3608,1392,1742,0,0,0,0,0,0
$GC,10121,1.23,287.7,167.8,10.6,372,10125,0.00,2.03,0.00,0.000,4,0.000,0.051,3608,171,1742,0,0,0,0,0,0
$GC,10186,1.23,287.7,160.4,11.3,378,10195,0.00,1.92,0.00,0.000,6,0.000,0.021,3608,1415,1742,0,0,0,0,0,0
$GC,10453,1.24,293.9,133.6,9.7,403,10466,0.00,2.12,6.38,0.468,4,0.000,0.049,3608,174,1722,0,0,0,0,0,0
$GC,10498,1.24,293.9,128.8,11.0,407,10501,0.00,1.85,0.00,0.000,6,0.000,0.020,3608,1405,1722,0,0,0,0,0,0
$GC,10767,1.25,302.5,102.7,9.6,432,10782,0.00,0.00,9.77,0.486,6,0.000,0.000,3608,1407,1685,0,0,0,0,0,0
$GC,11046,1.29,331.1,77.7,8.7,458,11078,0.00,2.50,26.58,0.505,4,0.000,0.025,3608,2955,1569,0,0,0,0,0,0
$GC,11095,1.38,344.7,73.0,9.4,462,11121,0.12,2.60,13.05,0.472,6,0.061,0.034,3663,1386,1513,0,0,0,0,0,0
$GC,11375,1.31,344.7,37.5,13.8,488,11380,0.17,2.03,0.00,0.000,4,0.091,0.048,3623,166,1511,0,0,0,0,0,0
$GC,11413,1.31,344.7,32.6,12.8,491,11417,0.00,1.85,0.00,0.000,6,0.000,0.019,3623,1405,1511,0,0,0,0,0,0
$STATE,11672,end climb,SURFACE_DEPTH_REACHED
$STATE,11673,begin surface coast
$FINISH,0.7,1.023288
$STATE,11717,end surface coast,CONTROL_FINISHED_OK
$STATE,11718,begin surface
$SM_CCo,11741,17.77,0.420,0,0,1369,380.21
$SM_GC,2.02,0.00,0.00,17.77,0.000,0.000,0.420,418,1601,1369,-13.44,0.59,380.21
$IRIDIUM_FIX,2258.07,-15738.85,021101,040405
$TT8_MAMPS,0.027612
$HUMID,66.61
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.5,54.237
$10V_AH,9.9,43.406
$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,35.425,149.475,424.600,17.775,0.000,92.423,113.049,347.228,1.750,0.000,32.037,1168.282,7987.333,481.052,2041.637,935.143,33.376,1360.196,0.000,2021.618,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,75.933,924.235,420.316,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.125,309.784,391.431,567.669,997.715,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41479,538
$CAP_FILE_SIZE,143313,0
$CFSIZE,260165632,153919488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080812,072005,2303.504,-15737.904,32,1.0,32,10.1