version: 66.06
glider: 148
mission: 11
dive: 416
start: 8 8 112 14 23 25
data:
$ID,148
$MISSION,11
$DIVE,416
$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,-927376.88
$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,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,24
$R_STBD_OVSHOOT,82
$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
$GPS1,141535,2301.218,-15740.828,43,2.0,49,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.4
$GPS2,142233,2301.219,-15740.905,8,2.7,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,-0.233
$KALMAN_X,-224455.0,185.8,56.5,256401.6,-1891.6
$KALMAN_Y,91542.4,-45.2,424.1,-67443.7,-121.4
$MHEAD_RNG_PITCHd_Wd,196.0,57546,-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,-67.65,0.000,2,0.000,0.000,411,1587,3081,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-5.0,9,122,13.68,2.40,-8.00,0.000,4,0.150,0.056,3057,164,3519,0,0,0,0,0,0
$GC,255,-0.92,-146.0,48.2,-22.7,29,264,0.32,2.15,0.00,0.000,6,0.087,0.018,3133,1548,3521,0,0,0,0,0,0
$GC,519,-0.81,-146.0,88.8,-14.1,54,524,0.12,2.58,0.00,0.000,4,0.116,0.025,3161,3163,3522,0,0,0,0,0,0
$GC,581,-0.93,-146.0,95.7,-9.2,59,586,0.10,2.53,0.00,0.000,6,0.072,0.028,3098,1589,3522,0,0,0,0,0,0
$GC,849,-0.75,-146.0,131.9,-14.1,83,854,0.32,2.30,0.00,0.000,4,0.087,0.039,3173,164,3523,0,0,0,0,0,0
$GC,865,-0.63,-146.0,134.8,-13.2,84,870,0.12,2.20,0.00,0.000,6,0.107,0.018,3201,1626,3523,0,0,0,0,0,0
$GC,1127,-0.78,-146.0,153.7,-6.7,108,1132,0.12,2.35,0.00,0.000,4,0.061,0.023,3119,3129,3524,0,0,0,0,0,0
$GC,1166,-0.78,-146.0,157.6,-10.0,111,1176,0.17,2.50,0.00,0.000,6,0.067,0.028,3165,1595,3524,0,0,0,0,0,0
$GC,1434,-0.85,-146.0,181.0,-9.5,136,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1596,3524,0,0,0,0,0,0
$GC,1705,-0.94,-146.0,203.8,-7.9,159,1710,0.12,2.45,0.00,0.000,4,0.061,0.024,3096,3129,3524,0,0,0,0,0,0
$GC,1740,-0.94,-146.0,207.5,-10.8,159,1745,0.17,2.47,0.00,0.000,6,0.089,0.028,3136,1600,3525,0,0,0,0,0,0
$GC,1989,-0.94,-146.0,232.7,-10.2,165,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1600,3524,0,0,0,0,0,0
$GC,2234,-0.94,-146.0,255.9,-9.3,171,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1600,3525,0,0,0,0,0,0
$GC,2479,-1.00,-146.0,277.9,-9.1,177,2483,0.00,2.42,0.00,0.000,4,0.000,0.025,3136,3130,3525,0,0,0,0,0,0
$GC,2531,-1.16,-146.0,282.9,-8.1,178,2536,0.20,2.47,0.00,0.000,6,0.042,0.029,3036,1591,3525,0,0,0,0,0,0
$GC,2810,-0.89,-146.0,323.0,-14.8,185,2815,0.50,2.33,0.00,0.000,4,0.085,0.046,3139,174,3525,0,0,0,0,0,0
$GC,2864,-1.04,-146.0,328.6,-8.1,186,2869,0.12,2.15,0.00,0.000,6,0.061,0.020,3074,1565,3525,0,0,0,0,0,0
$GC,3147,-0.93,-146.0,359.0,-11.2,193,3153,0.25,2.55,0.00,0.000,4,0.085,0.030,3131,3158,3525,0,0,0,0,0,0
$GC,3179,-1.05,-146.0,361.7,-8.1,193,3183,0.00,2.58,0.00,0.000,6,0.000,0.034,3131,1590,3525,0,0,0,0,0,0
$GC,3434,-1.14,-146.0,383.6,-8.8,200,3439,0.17,2.55,0.00,0.000,4,0.049,0.034,3048,3146,3523,0,0,0,0,0,0
$GC,3454,-1.14,-146.0,386.0,-11.0,200,3459,0.20,2.53,0.00,0.000,6,0.087,0.034,3094,1602,3523,0,0,0,0,0,0
$GC,3720,-1.14,-146.0,410.0,-8.7,207,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1603,3522,0,0,0,0,0,0
$GC,3962,-1.14,-146.0,430.2,-8.5,213,3967,0.00,2.45,0.00,0.000,4,0.000,0.064,3094,171,3521,0,0,0,0,0,0
$GC,3981,-1.14,-146.0,432.3,-9.9,213,3986,0.00,2.25,0.00,0.000,6,0.000,0.026,3094,1593,3520,0,0,0,0,0,0
$GC,4247,-1.14,-146.0,458.3,-10.0,220,4251,0.00,2.55,0.00,0.000,4,0.000,0.038,3094,3158,3518,0,0,0,0,0,0
$GC,4262,-1.14,-146.0,459.8,-9.7,220,4266,0.00,2.55,0.00,0.000,6,0.000,0.035,3094,1609,3518,0,0,0,0,0,0
$GC,4530,-1.14,-146.0,483.8,-8.6,227,4535,0.00,2.47,0.00,0.000,4,0.000,0.070,3094,166,3516,0,0,0,0,0,0
$GC,4551,-1.14,-146.0,485.6,-9.5,227,4555,0.00,2.28,0.00,0.000,6,0.000,0.028,3094,1602,3517,0,0,0,0,0,0
$GC,4815,-1.14,-146.0,508.4,-8.7,234,4819,0.00,2.45,0.00,0.000,4,0.000,0.066,3094,169,3514,0,0,0,0,0,0
$GC,4862,-1.14,-146.0,513.0,-9.7,235,4866,0.00,2.28,0.00,0.000,6,0.000,0.030,3094,1593,3514,0,0,0,0,0,0
$GC,5144,-1.14,-146.0,537.2,-8.5,242,5149,0.00,2.47,0.00,0.000,4,0.000,0.073,3094,163,3512,0,0,0,0,0,0
$GC,5164,-1.14,-146.0,539.0,-8.8,242,5168,0.00,2.30,0.00,0.000,6,0.000,0.031,3094,1599,3512,0,0,0,0,0,0
$GC,5429,-1.14,-146.0,559.4,-7.6,249,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1600,3510,0,0,0,0,0,0
$GC,5671,-1.14,-146.0,578.0,-7.9,255,5675,0.00,2.62,0.00,0.000,4,0.000,0.049,3094,3168,3509,0,0,0,0,0,0
$GC,5710,-1.23,-146.0,581.1,-8.0,255,5716,0.10,2.65,0.00,0.000,6,0.076,0.045,3026,1599,3509,0,0,0,0,0,0
$STATE,5916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5916,begin apogee
$GC,5924,-0.31,0.0,604.8,11.5,261,6046,1.10,0.00,118.22,0.929,6,0.085,0.000,3270,1389,2920,0,0,0,0,0,0
$STATE,6047,end apogee,CONTROL_FINISHED_OK
$STATE,6047,begin climb
$GC,6050,1.27,146.0,608.7,0.0,264,6187,1.48,2.28,123.90,0.910,4,0.044,0.083,3618,169,2323,0,0,0,0,0,0
$GC,6239,0.96,146.0,599.7,12.3,268,6243,0.32,2.05,0.00,0.000,6,0.094,0.031,3550,1406,2318,0,0,0,0,0,0
$GC,6498,1.04,204.0,579.7,7.3,275,6555,0.00,2.28,50.33,0.883,4,0.000,0.072,3550,170,2087,0,0,0,0,0,0
$GC,6580,1.04,210.8,573.0,9.7,276,6593,0.00,2.03,7.60,0.723,6,0.000,0.030,3550,1406,2059,0,0,0,0,0,0
$GC,6876,1.05,215.6,544.5,9.8,284,6887,0.00,2.65,4.50,0.587,4,0.000,0.045,3551,2978,2040,0,0,0,0,0,0
$GC,6909,1.14,224.2,541.4,9.6,284,6926,0.15,2.70,9.50,0.762,6,0.057,0.044,3617,1399,2005,0,0,0,0,0,0
$GC,7217,1.00,224.2,501.6,12.9,292,7222,0.25,2.15,0.00,0.000,4,0.091,0.071,3559,164,2001,0,0,0,0,0,0
$GC,7341,1.00,224.2,487.8,11.0,294,7345,0.00,1.98,0.00,0.000,6,0.000,0.025,3559,1407,2001,0,0,0,0,0,0
$GC,7605,1.03,247.6,463.5,8.9,301,7629,0.00,0.00,22.27,0.817,6,0.000,0.000,3559,1409,1910,0,0,0,0,0,0
$GC,7850,1.03,248.6,440.1,10.0,307,7854,0.00,2.15,0.00,0.000,4,0.000,0.061,3559,157,1906,0,0,0,0,0,0
$GC,7900,1.03,248.6,434.2,11.6,308,7904,0.00,1.98,0.00,0.000,6,0.000,0.025,3559,1398,1906,0,0,0,0,0,0
$GC,8182,1.04,253.4,406.5,9.8,315,8194,0.00,2.17,5.90,0.633,4,0.000,0.059,3559,161,1887,0,0,0,0,0,0
$GC,8211,1.04,253.4,403.5,10.4,315,8214,0.00,1.92,0.00,0.000,6,0.000,0.025,3559,1391,1887,0,0,0,0,0,0
$GC,8474,1.11,253.4,374.2,11.2,322,8478,0.00,2.53,0.00,0.000,4,0.000,0.032,3559,2961,1885,0,0,0,0,0,0
$GC,8507,1.23,253.4,370.5,10.4,322,8516,0.20,2.65,0.00,0.000,6,0.048,0.041,3631,1377,1882,0,0,0,0,0,0
$GC,8762,1.10,253.4,337.8,12.7,329,8764,0.22,0.00,0.00,0.000,6,0.094,0.000,3582,1377,1882,0,0,0,0,0,0
$GC,9004,1.12,269.6,314.8,9.2,335,9024,0.00,2.10,15.70,0.703,4,0.000,0.060,3582,168,1820,0,0,0,0,0,0
$GC,9043,1.12,269.6,310.8,10.1,335,9049,0.00,1.92,0.00,0.000,6,0.000,0.032,3582,1392,1820,0,0,0,0,0,0
$GC,9295,1.12,269.6,284.2,11.0,342,9299,0.00,2.10,0.00,0.000,4,0.000,0.056,3582,161,1817,0,0,0,0,0,0
$GC,9308,1.12,269.6,282.3,11.5,342,9312,0.00,1.92,0.00,0.000,6,0.000,0.023,3582,1397,1817,0,0,0,0,0,0
$GC,9586,1.14,282.4,254.6,9.4,349,9603,0.00,2.53,12.15,0.636,4,0.000,0.028,3582,2959,1766,0,0,0,0,0,0
$GC,9630,1.28,306.8,251.0,8.9,350,9660,0.15,2.65,23.23,0.663,6,0.057,0.038,3635,1378,1669,0,0,0,0,0,0
$GC,9916,1.21,306.8,215.9,12.8,357,9921,0.15,2.05,0.00,0.000,4,0.103,0.054,3603,169,1666,0,0,0,0,0,0
$GC,10002,1.21,306.8,205.1,12.1,358,10007,0.00,1.90,0.00,0.000,6,0.000,0.021,3603,1412,1665,0,0,0,0,0,0
$GC,10261,1.21,306.8,173.3,12.0,380,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1414,1664,0,0,0,0,0,0
$GC,10518,1.21,306.8,146.6,10.1,404,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1414,1663,0,0,0,0,0,0
$GC,10771,1.21,306.8,119.5,11.4,428,10775,0.00,2.08,0.00,0.000,4,0.000,0.049,3603,167,1663,0,0,0,0,0,0
$GC,10832,1.21,306.8,111.8,13.0,433,10838,0.00,1.83,0.00,0.000,6,0.000,0.020,3603,1392,1663,0,0,0,0,0,0
$GC,11096,1.29,324.7,84.5,9.2,458,11115,0.00,0.00,16.70,0.499,6,0.000,0.000,3603,1394,1595,0,0,0,0,0,0
$GC,11377,1.41,336.6,58.6,9.5,484,11397,0.17,0.00,11.98,0.459,6,0.049,0.000,3660,1394,1545,0,0,0,0,0,0
$GC,11661,1.34,336.6,21.9,14.3,514,11670,0.12,0.00,0.00,0.000,6,0.104,0.000,3633,1394,1543,0,0,0,0,0,0
$STATE,11813,end climb,SURFACE_DEPTH_REACHED
$STATE,11813,begin surface coast
$FINISH,0.7,1.008444
$STATE,11860,end surface coast,CONTROL_FINISHED_OK
$STATE,11860,begin surface
$SM_CCo,11883,29.83,0.437,0,0,1368,380.21
$SM_GC,1.62,0.00,0.00,29.83,0.000,0.000,0.437,412,1613,1368,-13.47,0.93,380.21
$IRIDIUM_FIX,2253.38,-15737.57,021101,111120
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,4
$24V_AH,23.5,54.605
$10V_AH,9.9,43.730
$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,34.175,125.950,421.975,29.825,0.000,30.011,44.428,185.226,1.000,0.000,29.787,1146.915,8088.818,502.646,1986.713,604.101,33.376,1334.740,0.000,1971.616,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,82.836,928.837,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.296,308.863,393.512,560.198,984.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41724,545
$CAP_FILE_SIZE,127603,0
$CFSIZE,260165632,153755648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080812,174325,2259.653,-15742.563,22,2.1,41,10.1