version: 66.06
glider: 148
mission: 11
dive: 414
start: 8 8 112 7 31 55
data:
$ID,148
$MISSION,11
$DIVE,414
$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,-927330.75
$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,1580
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,89
$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
$GPS1,072005,2303.504,-15737.904,32,1.0,32,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.3
$GPS2,073101,2303.545,-15738.102,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,-0.258
$KALMAN_X,-220350.1,33.5,52.0,257244.0,-2332.0
$KALMAN_Y,90153.7,263.8,-364.3,-61271.1,666.9
$MHEAD_RNG_PITCHd_Wd,176.8,63988,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.38,0.000,2,0.000,0.000,418,1602,3092,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.6,-6.2,9,124,13.55,2.40,-7.88,0.000,4,0.146,0.052,3056,169,3520,0,0,0,0,0,0
$GC,227,-0.89,-146.0,38.5,-21.6,26,237,0.35,2.12,0.00,0.000,6,0.088,0.018,3137,1541,3521,0,0,0,0,0,0
$GC,494,-0.78,-146.0,77.8,-13.5,51,499,0.15,2.58,0.00,0.000,4,0.107,0.025,3170,3160,3522,0,0,0,0,0,0
$GC,556,-0.92,-146.0,85.4,-10.1,56,561,0.12,2.55,0.00,0.000,6,0.059,0.028,3079,1573,3522,0,0,0,0,0,0
$GC,819,-0.62,-146.0,130.9,-17.7,80,831,0.62,2.28,0.00,0.000,4,0.083,0.038,3202,167,3523,0,0,0,0,0,0
$GC,843,-0.54,-146.0,134.4,-14.3,82,847,0.00,2.17,0.00,0.000,6,0.000,0.018,3202,1607,3523,0,0,0,0,0,0
$GC,1111,-0.71,-146.0,158.2,-9.5,106,1115,0.00,2.38,0.00,0.000,4,0.000,0.023,3202,3135,3523,0,0,0,0,0,0
$GC,1140,-0.94,-146.0,161.6,-9.7,108,1150,0.25,2.53,0.00,0.000,6,0.018,0.027,3098,1584,3524,0,0,0,0,0,0
$GC,1404,-0.80,-146.0,197.4,-13.1,133,1409,0.28,2.42,0.00,0.000,4,0.087,0.022,3163,3126,3524,0,0,0,0,0,0
$GC,1424,-0.80,-146.0,200.7,-13.1,134,1428,0.00,2.47,0.00,0.000,6,0.000,0.025,3163,1570,3524,0,0,0,0,0,0
$GC,1690,-0.89,-146.0,223.9,-8.8,141,1694,0.00,2.45,0.00,0.000,4,0.000,0.023,3163,3132,3524,0,0,0,0,0,0
$GC,1714,-1.05,-146.0,226.2,-8.5,141,1719,0.22,2.45,0.00,0.000,6,0.038,0.027,3059,1597,3524,0,0,0,0,0,0
$GC,1974,-0.82,-146.0,263.8,-15.1,148,1980,0.47,2.33,0.00,0.000,4,0.082,0.041,3158,162,3524,0,0,0,0,0,0
$GC,1996,-0.82,-146.0,266.6,-13.2,148,2000,0.00,2.15,0.00,0.000,6,0.000,0.019,3158,1586,3524,0,0,0,0,0,0
$GC,2260,-0.95,-146.0,289.0,-8.4,155,2265,0.12,2.45,0.00,0.000,4,0.061,0.025,3089,3136,3525,0,0,0,0,0,0
$GC,2289,-0.95,-146.0,292.2,-11.4,155,2294,0.20,2.47,0.00,0.000,6,0.084,0.028,3135,1594,3524,0,0,0,0,0,0
$GC,2547,-1.02,-146.0,315.2,-8.8,162,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1594,3524,0,0,0,0,0,0
$GC,2789,-1.10,-146.0,335.8,-8.5,168,2794,0.15,2.50,0.00,0.000,4,0.054,0.028,3063,3138,3524,0,0,0,0,0,0
$GC,2824,-1.04,-146.0,339.7,-11.4,168,2829,0.22,2.50,0.00,0.000,6,0.081,0.032,3115,1604,3525,0,0,0,0,0,0
$GC,3074,-1.04,-146.0,364.4,-9.6,174,3078,0.00,2.40,0.00,0.000,4,0.000,0.054,3115,171,3523,0,0,0,0,0,0
$GC,3120,-1.04,-146.0,369.1,-10.2,175,3125,0.00,2.17,0.00,0.000,6,0.000,0.021,3115,1573,3523,0,0,0,0,0,0
$GC,3404,-1.04,-146.0,393.9,-8.7,182,3409,0.00,2.58,0.00,0.000,4,0.000,0.034,3115,3164,3521,0,0,0,0,0,0
$GC,3438,-1.13,-146.0,397.0,-8.2,182,3442,0.00,2.58,0.00,0.000,6,0.000,0.035,3115,1602,3521,0,0,0,0,0,0
$GC,3688,-1.13,-146.0,418.0,-8.5,188,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1601,3519,0,0,0,0,0,0
$GC,3933,-1.13,-146.0,437.8,-7.9,194,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1601,3518,0,0,0,0,0,0
$GC,4175,-1.13,-146.0,455.6,-7.3,200,4179,0.00,2.45,0.00,0.000,4,0.000,0.068,3115,167,3516,0,0,0,0,0,0
$GC,4204,-1.13,-146.0,458.1,-9.5,200,4208,0.00,2.28,0.00,0.000,6,0.000,0.028,3115,1602,3516,0,0,0,0,0,0
$GC,4460,-1.19,-146.0,478.2,-8.0,207,4465,0.15,2.55,0.00,0.000,4,0.055,0.040,3052,3160,3515,0,0,0,0,0,0
$GC,4485,-1.12,-146.0,481.0,-10.9,207,4490,0.20,2.55,0.00,0.000,6,0.085,0.038,3098,1608,3515,0,0,0,0,0,0
$GC,4745,-1.12,-146.0,505.4,-9.4,214,4750,0.00,2.58,0.00,0.000,4,0.000,0.040,3098,3163,3513,0,0,0,0,0,0
$GC,4776,-1.12,-146.0,508.2,-9.7,214,4780,0.00,2.58,0.00,0.000,6,0.000,0.040,3097,1607,3513,0,0,0,0,0,0
$GC,5031,-1.12,-146.0,531.1,-9.0,221,5035,0.00,2.50,0.00,0.000,4,0.000,0.074,3098,168,3511,0,0,0,0,0,0
$GC,5082,-1.12,-146.0,536.3,-9.9,222,5086,0.00,2.33,0.00,0.000,6,0.000,0.032,3098,1604,3510,0,0,0,0,0,0
$GC,5361,-1.12,-146.0,560.9,-8.9,229,5366,0.00,2.50,0.00,0.000,4,0.000,0.069,3098,166,3509,0,0,0,0,0,0
$GC,5404,-1.12,-146.0,565.6,-10.3,230,5408,0.00,2.33,0.00,0.000,6,0.000,0.033,3098,1598,3508,0,0,0,0,0,0
$GC,5693,-1.12,-146.0,592.8,-9.4,237,5697,0.00,2.62,0.00,0.000,4,0.000,0.049,3098,3173,3506,0,0,0,0,0,0
$GC,5717,-1.12,-146.0,595.3,-9.4,237,5721,0.00,2.65,0.00,0.000,6,0.000,0.044,3098,1602,3506,0,0,0,0,0,0
$STATE,5770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5770,begin apogee
$GC,5777,-0.31,0.0,600.1,8.7,239,5898,0.75,0.00,117.70,0.927,6,0.074,0.000,3270,1390,2920,0,0,0,0,0,0
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5903,1.27,146.0,604.1,0.0,242,6036,1.45,2.20,123.32,0.905,4,0.048,0.081,3617,175,2324,0,0,0,0,0,0
$GC,6176,0.99,146.0,584.9,11.7,248,6181,0.28,2.00,0.00,0.000,6,0.097,0.028,3558,1407,2317,0,0,0,0,0,0
$GC,6450,1.07,209.5,564.3,7.1,255,6511,0.00,2.25,54.90,0.878,4,0.000,0.076,3557,177,2065,0,0,0,0,0,0
$GC,6587,1.09,222.5,553.0,9.4,258,6604,0.00,1.98,12.73,0.791,6,0.000,0.027,3557,1406,2013,0,0,0,0,0,0
$GC,6871,1.13,255.0,529.4,8.5,265,6908,0.12,2.22,30.60,0.847,4,0.065,0.065,3607,180,1879,0,0,0,0,0,0
$GC,6969,1.00,255.0,516.6,14.6,267,6974,0.22,1.98,0.00,0.000,6,0.091,0.030,3559,1398,1878,0,0,0,0,0,0
$GC,7249,1.00,255.0,485.7,11.1,274,7254,0.00,2.62,0.00,0.000,4,0.000,0.044,3559,2978,1873,0,0,0,0,0,0
$GC,7287,1.12,255.0,481.4,11.2,274,7293,0.10,2.67,0.00,0.000,6,0.075,0.043,3614,1398,1870,0,0,0,0,0,0
$GC,7537,1.03,255.0,449.0,13.0,281,7542,0.22,2.12,0.00,0.000,4,0.089,0.064,3564,168,1870,0,0,0,0,0,0
$GC,7600,1.03,255.0,441.7,11.7,282,7603,0.00,1.95,0.00,0.000,6,0.000,0.025,3565,1408,1870,0,0,0,0,0,0
$GC,7877,1.04,258.4,414.3,9.8,289,7881,0.00,2.15,0.00,0.000,4,0.000,0.060,3564,158,1869,0,0,0,0,0,0
$GC,7905,1.04,258.4,411.1,12.2,289,7908,0.00,1.92,0.00,0.000,6,0.000,0.025,3565,1390,1869,0,0,0,0,0,0
$GC,8165,1.10,258.4,384.6,10.2,296,8170,0.00,2.58,0.00,0.000,4,0.000,0.035,3564,2968,1867,0,0,0,0,0,0
$GC,8198,1.21,258.4,381.0,10.1,296,8204,0.15,2.65,0.00,0.000,6,0.056,0.041,3635,1384,1865,0,0,0,0,0,0
$GC,8450,1.09,258.4,349.8,12.6,302,8455,0.25,2.08,0.00,0.000,4,0.091,0.060,3576,169,1865,0,0,0,0,0,0
$GC,8554,1.09,258.4,337.9,11.6,304,8558,0.00,1.90,0.00,0.000,6,0.000,0.023,3576,1383,1865,0,0,0,0,0,0
$GC,8831,1.09,258.4,307.0,11.2,311,8835,0.00,2.55,0.00,0.000,4,0.000,0.031,3576,2963,1865,0,0,0,0,0,0
$GC,8852,1.16,258.4,304.6,11.9,311,8857,0.00,2.62,0.00,0.000,6,0.000,0.039,3575,1376,1863,0,0,0,0,0,0
$GC,9116,1.23,258.4,276.5,10.2,318,9121,0.12,2.60,0.00,0.000,4,0.065,0.033,3630,2969,1863,0,0,0,0,0,0
$GC,9131,1.23,261.6,274.7,9.9,318,9144,0.10,2.62,4.15,0.475,6,0.117,0.038,3607,1376,1853,0,0,0,0,0,0
$GC,9403,1.28,299.8,249.7,8.2,325,9446,0.00,2.10,35.28,0.675,4,0.000,0.058,3607,168,1696,0,0,0,0,0,0
$GC,9480,1.28,299.8,243.1,10.2,326,9484,0.00,1.92,0.00,0.000,6,0.000,0.021,3607,1399,1696,0,0,0,0,0,0
$GC,9740,1.28,299.8,211.7,13.1,333,9745,0.00,2.50,0.00,0.000,4,0.000,0.028,3607,2971,1692,0,0,0,0,0,0
$GC,9759,1.28,299.8,208.9,13.4,333,9764,0.00,2.62,0.00,0.000,6,0.000,0.034,3607,1376,1690,0,0,0,0,0,0
$GC,10022,1.28,299.8,178.7,10.1,351,10026,0.00,2.55,0.00,0.000,4,0.000,0.027,3607,2962,1690,0,0,0,0,0,0
$GC,10040,1.28,300.0,177.0,10.0,352,10045,0.00,2.60,0.00,0.000,6,0.000,0.034,3607,1378,1689,0,0,0,0,0,0
$GC,10303,1.28,300.0,147.4,11.2,376,10307,0.00,2.00,0.00,0.000,4,0.000,0.050,3607,171,1689,0,0,0,0,0,0
$GC,10325,1.28,300.0,144.8,11.3,378,10329,0.00,1.90,0.00,0.000,6,0.000,0.021,3607,1413,1689,0,0,0,0,0,0
$GC,10597,1.28,300.0,115.1,11.8,403,10602,0.00,2.40,0.00,0.000,4,0.000,0.026,3607,2942,1689,0,0,0,0,0,0
$GC,10612,1.28,300.0,112.5,12.1,404,10617,0.00,2.53,0.00,0.000,6,0.000,0.032,3607,1383,1689,0,0,0,0,0,0
$GC,10878,1.39,327.4,87.4,8.7,428,10908,0.15,2.10,24.98,0.505,4,0.054,0.048,3678,168,1584,0,0,0,0,0,0
$GC,10923,1.22,327.4,82.0,11.7,432,10933,0.30,1.90,0.00,0.000,6,0.068,0.019,3606,1397,1584,0,0,0,0,0,0
$GC,11187,1.34,334.9,57.3,9.7,457,11201,0.10,2.47,8.07,0.419,4,0.074,0.023,3662,2958,1552,0,0,0,0,0,0
$GC,11228,1.34,334.9,52.3,13.5,460,11233,0.15,2.53,0.00,0.000,6,0.094,0.031,3628,1395,1550,0,0,0,0,0,0
$GC,11507,1.40,379.9,20.3,7.9,491,11554,0.00,2.08,39.60,0.453,4,0.000,0.044,3628,171,1370,0,0,0,0,0,0
$GC,11583,1.40,379.9,13.5,10.5,501,11592,0.00,1.88,0.00,0.000,6,0.000,0.018,3628,1380,1370,0,0,0,0,0,0
$STATE,11648,end climb,SURFACE_DEPTH_REACHED
$STATE,11648,begin surface coast
$FINISH,1.1,1.023541
$STATE,11681,end surface coast,CONTROL_FINISHED_OK
$STATE,11681,begin surface
$SM_CCo,11764,0.00,0.000,0,0,1360,382.67
$SM_GC,1.52,13.00,0.00,0.00,0.024,0.000,0.000,415,1596,1360,-13.39,0.45,382.67
$IRIDIUM_FIX,2253.38,-15739.74,021101,070710
$TT8_MAMPS,0.027612
$HUMID,64.21
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.70
$XPDR_PINGS,3
$24V_AH,23.5,54.366
$10V_AH,9.9,43.514
$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,34.550,165.175,451.325,0.000,0.000,53.056,74.878,315.635,0.750,0.000,16.046,1141.117,8007.178,472.081,1977.499,814.173,33.371,1378.099,0.000,1975.125,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,80.535,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.869,295.046,368.073,537.387,944.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38463,516
$CAP_FILE_SIZE,142789,0
$CFSIZE,260165632,153862144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080812,104905,2302.432,-15739.625,27,1.0,27,10.1