version: 66.06
glider: 148
mission: 11
dive: 535
start: 8 27 112 4 14 2
data:
$ID,148
$MISSION,11
$DIVE,535
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$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,350
$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,-929628.5
$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,3320
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,040535,2254.405,-15747.181,40,2.0,45,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.1
$GPS2,041307,2254.417,-15747.273,15,1.5,15,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.144
$KALMAN_X,-465955.0,-74.8,-93.1,487438.3,-1140.0
$KALMAN_Y,87887.3,303.3,110.6,-76417.9,-1121.4
$MHEAD_RNG_PITCHd_Wd,223.5,41091,-18.9,-10.000
$D_GRID,750
$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,17,-1.34,-126.5,0.0,0.0,0,86,0.00,0.00,-66.68,0.000,2,0.000,0.000,412,1714,3171,0,0,0,0,0,0
$GC,89,-1.34,-126.5,3.8,-6.0,9,114,13.48,2.55,-4.03,0.000,4,0.146,0.044,3025,153,3396,0,0,0,0,0,0
$GC,287,-0.95,-126.5,54.7,-22.2,32,292,0.40,2.38,0.00,0.000,6,0.098,0.018,3110,1688,3399,0,0,0,0,0,0
$GC,612,-0.84,-126.5,101.5,-13.5,62,617,0.12,2.53,0.00,0.000,4,0.114,0.041,3137,161,3400,0,0,0,0,0,0
$GC,646,-0.84,-126.5,106.3,-14.2,64,654,0.00,2.33,0.00,0.000,6,0.000,0.018,3137,1658,3401,0,0,0,0,0,0
$GC,974,-0.84,-126.5,141.1,-8.9,95,978,0.00,2.47,0.00,0.000,4,0.000,0.024,3137,3226,3401,0,0,0,0,0,0
$GC,993,-0.84,-126.5,143.2,-8.8,96,1002,0.00,2.58,0.00,0.000,6,0.000,0.026,3137,1643,3401,0,0,0,0,0,0
$GC,1321,-0.84,-126.5,169.1,-8.4,127,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1643,3403,0,0,0,0,0,0
$GC,1650,-0.84,-126.5,200.5,-10.0,158,1654,0.00,2.53,0.00,0.000,4,0.000,0.024,3137,3232,3403,0,0,0,0,0,0
$GC,1674,-0.94,-126.5,203.4,-10.2,158,1678,0.00,2.53,0.00,0.000,6,0.000,0.026,3137,1654,3403,0,0,0,0,0,0
$GC,2015,-1.00,-126.5,236.3,-9.9,167,2020,0.15,2.42,0.00,0.000,4,0.053,0.044,3061,171,3403,0,0,0,0,0,0
$GC,2052,-0.80,-126.5,241.0,-14.4,167,2057,0.38,2.28,0.00,0.000,6,0.084,0.018,3145,1654,3403,0,0,0,0,0,0
$GC,2384,-0.91,-126.5,269.5,-7.9,175,2389,0.10,2.47,0.00,0.000,4,0.074,0.025,3077,3226,3403,0,0,0,0,0,0
$GC,2408,-0.91,-126.5,272.0,-11.3,175,2413,0.20,2.55,0.00,0.000,6,0.084,0.027,3123,1649,3403,0,0,0,0,0,0
$GC,2752,-0.98,-126.5,300.1,-8.1,184,2756,0.00,2.45,0.00,0.000,4,0.000,0.045,3123,163,3403,0,0,0,0,0,0
$GC,2789,-1.04,-126.5,303.6,-9.1,184,2796,0.12,2.30,0.00,0.000,6,0.061,0.019,3062,1648,3403,0,0,0,0,0,0
$GC,3123,-0.94,-126.5,337.2,-10.4,193,3128,0.22,2.53,0.00,0.000,4,0.087,0.028,3113,3224,3403,0,0,0,0,0,0
$GC,3147,-0.94,-126.5,340.0,-9.8,193,3152,0.00,2.55,0.00,0.000,6,0.000,0.030,3113,1657,3403,0,0,0,0,0,0
$GC,3488,-1.01,-126.5,367.3,-6.9,202,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1656,3402,0,0,0,0,0,0
$GC,3815,-1.08,-126.5,389.9,-7.3,210,3817,0.12,0.00,0.00,0.000,6,0.063,0.000,3052,1657,3400,0,0,0,0,0,0
$GC,4138,-0.98,-126.5,426.5,-11.9,218,4143,0.25,2.55,0.00,0.000,4,0.085,0.063,3113,167,3398,0,0,0,0,0,0
$GC,4158,-0.98,-126.5,428.9,-11.3,218,4162,0.00,2.33,0.00,0.000,6,0.000,0.025,3113,1635,3398,0,0,0,0,0,0
$GC,4505,-1.07,-126.5,457.4,-8.0,227,4507,0.10,0.00,0.00,0.000,6,0.076,0.000,3063,1635,3396,0,0,0,0,0,0
$GC,4828,-1.01,-126.5,487.5,-9.2,235,4830,0.17,0.00,0.00,0.000,6,0.094,0.000,3102,1635,3394,0,0,0,0,0,0
$GC,5155,-1.07,-126.5,510.1,-6.7,243,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1635,3392,0,0,0,0,0,0
$GC,5478,-1.15,-126.5,535.0,-8.0,251,5483,0.15,2.58,0.00,0.000,4,0.054,0.070,3036,172,3389,0,0,0,0,0,0
$GC,5517,-1.00,-126.5,539.6,-12.1,251,5523,0.30,2.38,0.00,0.000,6,0.090,0.033,3103,1632,3389,0,0,0,0,0,0
$GC,5850,-1.08,-126.5,567.4,-8.0,260,5855,0.00,2.55,0.00,0.000,4,0.000,0.071,3102,170,3387,0,0,0,0,0,0
$GC,5870,-1.14,-126.5,569.3,-8.3,260,5875,0.15,2.40,0.00,0.000,6,0.056,0.034,3041,1645,3387,0,0,0,0,0,0
$GC,6216,-1.05,-126.5,604.8,-10.4,269,6223,0.22,2.70,0.00,0.000,4,0.089,0.051,3091,3253,3385,0,0,0,0,0,0
$GC,6235,-1.05,-126.5,606.5,-9.3,269,6240,0.00,2.70,0.00,0.000,6,0.000,0.044,3091,1650,3385,0,0,0,0,0,0
$GC,6586,-1.11,-126.5,630.7,-6.7,278,6590,0.00,2.58,0.00,0.000,4,0.000,0.078,3091,170,3383,0,0,0,0,0,0
$GC,6648,-1.11,-126.5,635.7,-7.7,279,6653,0.00,2.42,0.00,0.000,6,0.000,0.036,3091,1648,3382,0,0,0,0,0,0
$GC,6999,-1.17,-126.5,661.9,-7.7,288,7004,0.12,2.60,0.00,0.000,4,0.063,0.074,3030,170,3380,0,0,0,0,0,0
$GC,7033,-1.01,-126.5,665.7,-11.7,288,7038,0.30,2.42,0.00,0.000,6,0.093,0.038,3097,1639,3380,0,0,0,0,0,0
$GC,7366,-1.10,-126.5,691.3,-7.2,296,7371,0.00,2.75,0.00,0.000,4,0.000,0.059,3097,3245,3378,0,0,0,0,0,0
$GC,7390,-1.21,-126.5,693.2,-8.2,296,7398,0.17,2.75,0.00,0.000,6,0.047,0.049,3016,1627,3378,0,0,0,0,0,0
$GC,7736,-1.06,-126.5,728.8,-10.4,305,7743,0.30,2.55,0.00,0.000,4,0.089,0.079,3087,170,3376,0,0,0,0,0,0
$GC,7786,-1.12,-126.5,733.2,-7.8,306,7790,0.00,2.42,0.00,0.000,6,0.000,0.038,3087,1641,3375,0,0,0,0,0,0
$STATE,8065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8065,begin apogee
$GC,8074,-0.31,0.0,750.2,5.9,313,8181,0.73,0.00,103.88,1.052,6,0.070,0.000,3253,1306,2880,0,0,0,0,0,0
$STATE,8181,end apogee,CONTROL_FINISHED_OK
$STATE,8182,begin climb
$GC,8184,1.34,126.5,751.9,0.0,315,8303,1.50,2.08,111.47,1.025,4,0.048,0.079,3609,174,2362,0,0,0,0,0,0
$GC,8464,1.10,126.5,726.9,13.3,320,8469,0.22,1.88,0.00,0.000,6,0.100,0.030,3561,1316,2355,0,0,0,0,0,0
$GC,8817,1.13,153.3,695.4,8.6,329,8846,0.00,2.12,23.12,0.954,4,0.000,0.073,3561,170,2254,0,0,0,0,0,0
$GC,8879,1.07,153.3,689.3,10.5,330,8883,0.00,1.88,0.00,0.000,6,0.000,0.038,3561,1309,2253,0,0,0,0,0,0
$GC,9192,1.10,178.2,661.4,8.7,338,9218,0.00,0.00,23.42,0.943,6,0.000,0.000,3561,1310,2153,0,0,0,0,0,0
$GC,9519,1.12,194.0,632.3,9.2,346,9539,0.00,2.10,15.30,0.897,4,0.000,0.071,3561,168,2089,0,0,0,0,0,0
$GC,9572,1.12,194.0,626.5,11.6,347,9576,0.00,1.88,0.00,0.000,6,0.000,0.029,3561,1316,2087,0,0,0,0,0,0
$GC,9896,1.12,194.0,592.0,10.9,355,9900,0.00,2.03,0.00,0.000,4,0.000,0.069,3561,167,2084,0,0,0,0,0,0
$GC,9956,1.12,194.0,584.3,12.5,356,9960,0.00,1.85,0.00,0.000,6,0.000,0.028,3561,1308,2084,0,0,0,0,0,0
$GC,10274,1.19,198.5,551.5,9.8,364,10286,0.00,2.70,4.97,0.663,4,0.000,0.047,3561,2894,2069,0,0,0,0,0,0
$GC,10308,1.30,205.7,548.4,9.6,364,10323,0.17,2.72,7.97,0.774,6,0.050,0.047,3624,1305,2041,0,0,0,0,0,0
$GC,10649,1.20,205.7,506.7,12.5,373,10654,0.20,2.00,0.00,0.000,4,0.097,0.070,3581,164,2039,0,0,0,0,0,0
$GC,10698,1.20,205.7,500.2,12.6,374,10701,0.00,1.83,0.00,0.000,6,0.000,0.025,3581,1314,2038,0,0,0,0,0,0
$GC,11025,1.21,215.3,467.0,9.5,382,11037,0.00,0.00,10.02,0.771,6,0.000,0.000,3581,1317,2002,0,0,0,0,0,0
$GC,11349,1.21,215.3,435.4,10.1,390,11354,0.00,2.55,0.00,0.000,4,0.000,0.038,3581,2877,2000,0,0,0,0,0,0
$GC,11380,1.29,215.3,432.4,10.0,390,11384,0.00,2.67,0.00,0.000,6,0.000,0.044,3581,1300,1998,0,0,0,0,0,0
$GC,11716,1.29,215.3,395.6,11.2,399,11719,0.00,1.95,0.00,0.000,4,0.000,0.064,3581,163,1998,0,0,0,0,0,0
$GC,11748,1.29,215.3,391.8,11.3,399,11751,0.00,1.80,0.00,0.000,6,0.000,0.024,3581,1310,1998,0,0,0,0,0,0
$GC,12089,1.33,241.1,360.4,8.6,408,12122,0.12,2.60,24.80,0.769,4,0.067,0.035,3630,2871,1896,0,0,0,0,0,0
$GC,12148,1.33,241.1,353.6,12.0,409,12153,0.10,2.67,0.00,0.000,6,0.117,0.042,3609,1298,1894,0,0,0,0,0,0
$GC,12464,1.33,241.1,315.2,12.6,417,12468,0.00,2.60,0.00,0.000,4,0.000,0.031,3609,2879,1892,0,0,0,0,0,0
$GC,12478,1.33,241.1,313.2,12.6,417,12483,0.00,2.67,0.00,0.000,6,0.000,0.039,3608,1288,1891,0,0,0,0,0,0
$GC,12828,1.33,246.7,277.7,9.7,426,12840,0.00,1.98,5.65,0.561,4,0.000,0.061,3609,167,1874,0,0,0,0,0,0
$GC,12876,1.33,246.7,272.7,10.7,427,12880,0.00,1.77,0.00,0.000,6,0.000,0.022,3609,1316,1874,0,0,0,0,0,0
$GC,13208,1.33,246.7,237.1,10.4,435,13212,0.00,2.50,0.00,0.000,4,0.000,0.029,3609,2866,1873,0,0,0,0,0,0
$GC,13233,1.43,260.9,234.7,9.2,435,13254,0.10,2.62,14.70,0.637,6,0.075,0.040,3659,1297,1815,0,0,0,0,0,0
$GC,13574,1.36,260.9,193.1,12.5,446,13578,0.20,1.92,0.00,0.000,4,0.093,0.054,3615,162,1813,0,0,0,0,0,0
$GC,13624,1.36,260.9,187.0,12.3,450,13633,0.00,1.77,0.00,0.000,6,0.000,0.021,3615,1305,1812,0,0,0,0,0,0
$GC,13952,1.38,274.0,153.6,9.3,481,13970,0.00,1.98,12.25,0.554,4,0.000,0.061,3615,158,1763,0,0,0,0,0,0
$GC,14018,1.38,274.0,146.5,11.7,487,14022,0.00,1.75,0.00,0.000,6,0.000,0.021,3615,1309,1762,0,0,0,0,0,0
$GC,14347,1.45,274.0,111.7,10.4,518,14351,0.00,2.47,0.00,0.000,4,0.000,0.026,3615,2859,1761,0,0,0,0,0,0
$GC,14370,1.58,300.4,109.6,8.6,519,14401,0.20,2.60,24.62,0.537,6,0.044,0.035,3698,1286,1655,0,0,0,0,0,0
$GC,14731,1.49,300.4,57.6,12.0,553,14736,0.25,1.88,0.00,0.000,4,0.086,0.050,3637,163,1653,0,0,0,0,0,0
$GC,14791,1.49,300.4,51.2,11.0,558,14795,0.00,1.70,0.00,0.000,6,0.000,0.020,3637,1301,1653,0,0,0,0,0,0
$GC,15140,1.58,313.0,19.4,9.3,597,15159,0.10,0.00,12.70,0.433,6,0.079,0.000,3679,1304,1603,0,0,0,0,0,0
$STATE,15278,end climb,SURFACE_DEPTH_REACHED
$STATE,15279,begin surface coast
$FINISH,0.8,1.012906
$STATE,15317,end surface coast,CONTROL_FINISHED_OK
$STATE,15317,begin surface
$SM_CCo,15343,24.73,0.436,0,0,1453,350.04
$SM_GC,1.72,0.00,0.00,24.73,0.000,0.000,0.436,414,1660,1453,-13.37,0.00,350.04
$IRIDIUM_FIX,2251.04,-15742.79,201101,232320
$TT8_MAMPS,0.027612
$HUMID,68.35
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,17
$24V_AH,23.2,69.412
$10V_AH,9.8,57.106
$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,34.725,150.675,394.900,24.725,0.000,25.494,45.138,224.718,4.250,0.000,16.560,1318.946,11195.043,471.563,2155.511,673.498,33.372,1393.035,0.000,2144.458,0.000,0.535,0.000
$DEVICE_MAMPS,146.497,79.001,1052.324,435.656,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,423.187,327.262,405.746,560.235,984.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,47745,624
$CAP_FILE_SIZE,144497,0
$CFSIZE,260165632,146264064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270812,083154,2252.112,-15749.824,61,1.6,61,10.1