version: 66.06
glider: 148
mission: 11
dive: 420
start: 8 9 112 3 59 13
data:
$ID,148
$MISSION,11
$DIVE,420
$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,-927437.06
$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,24
$R_STBD_OVSHOOT,65
$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
$GPS1,034406,2256.245,-15746.429,35,1.5,35,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.9
$GPS2,035819,2256.330,-15746.535,8,2.0,8,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.128,-0.226
$KALMAN_X,-231251.1,-68.5,197.5,253699.2,-1561.9
$KALMAN_Y,94395.7,196.8,226.8,-79394.3,-25.0
$MHEAD_RNG_PITCHd_Wd,199.5,44339,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.20,0.000,2,0.000,0.000,409,1560,3113,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.8,-7.1,9,120,13.82,2.55,-7.22,0.000,4,0.151,0.034,3060,3145,3518,0,0,0,0,0,0
$GC,212,-0.99,-146.0,35.8,-17.8,25,222,0.25,2.58,0.00,0.000,6,0.081,0.028,3119,1568,3519,0,0,0,0,0,0
$GC,480,-0.81,-146.0,79.8,-14.5,50,485,0.20,2.50,0.00,0.000,4,0.103,0.022,3162,3142,3521,0,0,0,0,0,0
$GC,544,-0.94,-146.0,86.2,-8.3,55,549,0.12,2.47,0.00,0.000,6,0.060,0.034,3073,1600,3520,0,0,0,0,0,0
$GC,810,-0.59,-146.0,126.6,-15.7,79,819,0.75,2.33,0.00,0.000,4,0.085,0.038,3208,160,3522,0,0,0,0,0,0
$GC,843,-0.66,-146.0,131.4,-10.7,82,847,0.00,2.22,0.00,0.000,6,0.000,0.017,3208,1629,3522,0,0,0,0,0,0
$GC,1112,-0.85,-146.0,153.2,-7.6,106,1117,0.22,2.38,0.00,0.000,4,0.038,0.022,3106,3139,3522,0,0,0,0,0,0
$GC,1151,-0.85,-146.0,157.3,-11.7,109,1156,0.22,2.45,0.00,0.000,6,0.081,0.028,3158,1612,3522,0,0,0,0,0,0
$GC,1416,-0.85,-146.0,182.4,-9.8,133,1420,0.00,2.33,0.00,0.000,4,0.000,0.042,3158,171,3523,0,0,0,0,0,0
$GC,1466,-1.02,-146.0,187.8,-9.7,137,1472,0.17,2.17,0.00,0.000,6,0.046,0.017,3075,1609,3523,0,0,0,0,0,0
$GC,1721,-0.83,-146.0,222.6,-13.9,150,1727,0.32,2.38,0.00,0.000,4,0.083,0.023,3152,3130,3523,0,0,0,0,0,0
$GC,1764,-0.96,-146.0,226.5,-7.8,150,1769,0.00,2.45,0.00,0.000,6,0.000,0.027,3152,1609,3523,0,0,0,0,0,0
$GC,2014,-1.04,-146.0,243.7,-6.8,157,2019,0.17,2.35,0.00,0.000,4,0.048,0.044,3065,173,3523,0,0,0,0,0,0
$GC,2043,-0.83,-146.0,247.0,-12.4,157,2048,0.40,2.20,0.00,0.000,6,0.087,0.018,3154,1606,3523,0,0,0,0,0,0
$GC,2301,-0.93,-146.0,269.1,-8.7,164,2305,0.00,2.42,0.00,0.000,4,0.000,0.025,3154,3142,3523,0,0,0,0,0,0
$GC,2325,-1.07,-146.0,271.5,-9.6,164,2330,0.20,2.47,0.00,0.000,6,0.039,0.028,3063,1610,3523,0,0,0,0,0,0
$GC,2585,-0.89,-146.0,304.0,-12.5,171,2590,0.35,2.35,0.00,0.000,4,0.087,0.049,3143,171,3523,0,0,0,0,0,0
$GC,2616,-0.89,-146.0,306.9,-9.0,171,2620,0.00,2.22,0.00,0.000,6,0.000,0.019,3143,1608,3523,0,0,0,0,0,0
$GC,2871,-0.99,-146.0,326.4,-7.9,178,2875,0.00,2.47,0.00,0.000,4,0.000,0.028,3143,3156,3522,0,0,0,0,0,0
$GC,2901,-1.15,-146.0,328.8,-8.5,178,2907,0.22,2.53,0.00,0.000,6,0.038,0.031,3059,1607,3522,0,0,0,0,0,0
$GC,3157,-1.00,-146.0,362.6,-13.6,185,3162,0.25,2.38,0.00,0.000,4,0.090,0.051,3118,172,3520,0,0,0,0,0,0
$GC,3223,-1.00,-146.0,370.3,-10.3,186,3228,0.00,2.25,0.00,0.000,6,0.000,0.021,3118,1608,3520,0,0,0,0,0,0
$GC,3489,-1.00,-146.0,395.1,-9.2,193,3493,0.00,2.47,0.00,0.000,4,0.000,0.033,3118,3152,3519,0,0,0,0,0,0
$GC,3527,-1.12,-146.0,398.6,-8.5,193,3533,0.00,2.50,0.00,0.000,6,0.000,0.034,3118,1615,3519,0,0,0,0,0,0
$GC,3777,-1.12,-146.0,419.0,-8.1,200,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1616,3517,0,0,0,0,0,0
$GC,4022,-1.12,-146.0,435.7,-6.6,206,4027,0.00,2.45,0.00,0.000,4,0.000,0.064,3118,170,3515,0,0,0,0,0,0
$GC,4041,-1.12,-146.0,437.2,-7.0,206,4046,0.00,2.30,0.00,0.000,6,0.000,0.025,3118,1623,3516,0,0,0,0,0,0
$GC,4306,-1.18,-146.0,456.6,-7.4,213,4308,0.15,0.00,0.00,0.000,6,0.054,0.000,3042,1624,3513,0,0,0,0,0,0
$GC,4551,-1.02,-146.0,484.1,-11.6,219,4556,0.30,2.50,0.00,0.000,4,0.086,0.064,3113,168,3512,0,0,0,0,0,0
$GC,4575,-1.02,-146.0,487.2,-10.6,219,4579,0.00,2.30,0.00,0.000,6,0.000,0.029,3112,1610,3512,0,0,0,0,0,0
$GC,4840,-1.08,-146.0,510.7,-9.0,226,4844,0.00,2.55,0.00,0.000,4,0.000,0.043,3113,3157,3510,0,0,0,0,0,0
$GC,4875,-1.21,-146.0,513.6,-8.3,226,4880,0.15,2.55,0.00,0.000,6,0.053,0.048,3032,1616,3509,0,0,0,0,0,0
$GC,5125,-1.04,-146.0,542.5,-11.7,232,5130,0.32,2.50,0.00,0.000,4,0.093,0.074,3107,170,3507,0,0,0,0,0,0
$GC,5193,-1.10,-146.0,548.8,-8.0,233,5197,0.00,2.33,0.00,0.000,6,0.000,0.035,3107,1608,3507,0,0,0,0,0,0
$GC,5457,-1.10,-146.0,568.5,-7.4,240,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1608,3505,0,0,0,0,0,0
$GC,5701,-1.17,-146.0,587.0,-7.7,246,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1609,3503,0,0,0,0,0,0
$STATE,5901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5901,begin apogee
$GC,5909,-0.31,0.0,603.0,8.0,251,6030,0.73,0.00,117.53,0.929,6,0.073,0.000,3274,1386,2920,0,0,0,0,0,0
$STATE,6031,end apogee,CONTROL_FINISHED_OK
$STATE,6031,begin climb
$GC,6033,1.27,146.0,606.8,0.0,254,6165,1.42,2.22,123.32,0.909,4,0.043,0.077,3617,180,2323,0,0,0,0,0,0
$GC,6337,0.98,146.0,581.6,14.1,260,6343,0.30,2.00,0.00,0.000,6,0.097,0.031,3555,1407,2316,0,0,0,0,0,0
$GC,6588,0.98,146.0,554.6,10.8,267,6592,0.00,2.17,0.00,0.000,4,0.000,0.070,3555,171,2312,0,0,0,0,0,0
$GC,6639,0.89,146.0,548.3,13.0,268,6643,0.00,2.00,0.00,0.000,6,0.000,0.028,3555,1404,2311,0,0,0,0,0,0
$GC,6923,0.93,171.8,521.9,8.8,275,6951,0.00,2.20,21.33,0.836,4,0.000,0.066,3555,173,2218,0,0,0,0,0,0
$GC,7011,0.95,190.2,513.8,9.2,276,7035,0.00,1.98,17.58,0.815,6,0.000,0.026,3555,1400,2143,0,0,0,0,0,0
$GC,7308,0.98,212.3,487.3,9.0,284,7333,0.00,2.17,20.35,0.818,4,0.000,0.063,3554,174,2053,0,0,0,0,0,0
$GC,7375,0.98,212.3,479.9,12.0,285,7379,0.00,1.95,0.00,0.000,6,0.000,0.026,3555,1387,2052,0,0,0,0,0,0
$GC,7638,1.00,232.5,455.8,9.1,292,7663,0.00,2.65,18.77,0.798,4,0.000,0.039,3555,2965,1972,0,0,0,0,0,0
$GC,7679,1.04,264.7,452.3,8.5,292,7716,0.00,2.67,31.10,0.813,6,0.000,0.042,3555,1392,1840,0,0,0,0,0,0
$GC,7973,1.14,282.1,425.4,9.2,300,7991,0.15,0.00,15.55,0.765,6,0.059,0.000,3613,1392,1770,0,0,0,0,0,0
$GC,8216,1.07,282.1,396.4,12.0,306,8221,0.17,2.12,0.00,0.000,4,0.098,0.061,3574,158,1765,0,0,0,0,0,0
$GC,8249,1.07,282.1,392.3,10.8,306,8253,0.00,1.98,0.00,0.000,6,0.000,0.025,3574,1402,1766,0,0,0,0,0,0
$GC,8503,1.07,282.1,366.1,10.7,313,8508,0.00,2.55,0.00,0.000,4,0.000,0.035,3574,2968,1763,0,0,0,0,0,0
$GC,8529,1.14,282.1,363.3,10.5,313,8533,0.00,2.67,0.00,0.000,6,0.000,0.041,3574,1380,1762,0,0,0,0,0,0
$GC,8788,1.14,282.1,332.6,11.7,320,8792,0.00,2.08,0.00,0.000,4,0.000,0.060,3575,161,1762,0,0,0,0,0,0
$GC,8820,1.14,282.1,328.8,12.2,320,8824,0.00,1.95,0.00,0.000,6,0.000,0.023,3575,1383,1762,0,0,0,0,0,0
$GC,9076,1.17,303.7,304.8,9.0,327,9097,0.00,0.00,19.58,0.708,6,0.000,0.000,3575,1385,1682,0,0,0,0,0,0
$GC,9318,1.25,303.7,278.7,10.9,333,9323,0.15,2.60,0.00,0.000,4,0.057,0.031,3639,2975,1678,0,0,0,0,0,0
$GC,9342,1.25,303.7,275.5,13.1,333,9348,0.12,2.65,0.00,0.000,6,0.109,0.038,3612,1390,1676,0,0,0,0,0,0
$GC,9604,1.25,303.7,243.2,12.3,340,9608,0.00,2.05,0.00,0.000,4,0.000,0.056,3611,168,1676,0,0,0,0,0,0
$GC,9641,1.25,303.7,238.5,12.2,340,9644,0.00,1.92,0.00,0.000,6,0.000,0.021,3612,1414,1676,0,0,0,0,0,0
$GC,9894,1.25,303.7,210.7,11.1,347,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1416,1676,0,0,0,0,0,0
$GC,10144,1.25,303.7,182.5,10.8,362,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1417,1676,0,0,0,0,0,0
$GC,10399,1.25,303.7,155.2,10.5,386,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1417,1675,0,0,0,0,0,0
$GC,10655,1.25,303.7,127.1,11.1,410,10656,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1416,1675,0,0,0,0,0,0
$GC,10908,1.25,303.7,97.9,11.9,434,10913,0.00,2.45,0.00,0.000,4,0.000,0.027,3611,2958,1675,0,0,0,0,0,0
$GC,10929,1.25,303.7,95.4,10.8,435,10936,0.00,2.55,0.00,0.000,6,0.000,0.033,3612,1388,1673,0,0,0,0,0,0
$GC,11198,1.31,303.7,66.1,10.4,460,11203,0.00,2.50,0.00,0.000,4,0.000,0.025,3612,2958,1674,0,0,0,0,0,0
$GC,11220,1.44,332.4,63.4,8.7,461,11253,0.12,2.58,25.88,0.494,6,0.026,0.033,3685,1392,1563,0,0,0,0,0,0
$GC,11514,1.31,332.4,23.4,13.2,492,11523,0.25,2.05,0.00,0.000,4,0.084,0.049,3624,174,1560,0,0,0,0,0,0
$GC,11588,1.31,332.4,13.5,12.4,503,11596,0.00,1.85,0.00,0.000,6,0.000,0.018,3625,1395,1560,0,0,0,0,0,0
$STATE,11679,end climb,SURFACE_DEPTH_REACHED
$STATE,11679,begin surface coast
$FINISH,0.7,1.023615
$STATE,11735,end surface coast,CONTROL_FINISHED_OK
$STATE,11735,begin surface
$SM_CCo,11758,22.92,0.429,0,0,1369,380.21
$SM_GC,1.45,0.00,0.00,22.92,0.000,0.000,0.429,412,1571,1369,-13.47,-0.28,380.21
$IRIDIUM_FIX,2246.36,-15748.90,031101,030306
$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.00
$XPDR_PINGS,11
$24V_AH,23.5,55.111
$10V_AH,9.9,44.149
$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,34.975,136.050,410.975,22.925,0.000,51.725,78.198,513.466,2.750,0.000,10.364,1128.565,8148.471,480.484,1882.267,992.235,33.379,1294.162,0.000,1884.247,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,76.700,928.837,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.253,291.117,370.109,532.354,935.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,41780,525
$CAP_FILE_SIZE,134873,0
$CFSIZE,260165632,153505792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090812,071720,2254.772,-15748.521,43,2.9,62,10.1