version: 66.06
glider: 148
mission: 11
dive: 563
start: 9 1 112 9 39 25
data:
$ID,148
$MISSION,11
$DIVE,563
$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,-930295.31
$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,103
$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
$GPS1,091220,2302.561,-15807.034,36,2.6,55,10.1
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.9
$GPS2,093831,2302.518,-15807.275,19,1.6,19,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.162
$KALMAN_X,-536424.4,-403.4,200.2,523808.3,-2132.3
$KALMAN_Y,70557.9,155.4,576.3,-44408.9,-1968.9
$MHEAD_RNG_PITCHd_Wd,38.3,5897,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.34,-126.5,0.0,0.0,0,122,0.00,0.00,-103.80,0.000,2,0.000,0.000,411,1699,3122,0,0,0,0,0,0
$GC,127,-1.34,-126.5,3.1,-3.5,14,152,13.50,2.35,-5.07,0.000,4,0.146,0.033,3024,3189,3397,0,0,0,0,0,0
$GC,180,-0.76,-126.5,20.8,-27.9,21,189,0.55,2.53,0.00,0.000,6,0.085,0.028,3149,1650,3397,0,0,0,0,0,0
$GC,523,-0.68,-126.5,69.9,-13.6,56,528,0.10,2.45,0.00,0.000,4,0.127,0.024,3170,3185,3397,0,0,0,0,0,0
$GC,557,-0.79,-126.5,74.3,-10.3,58,567,0.08,2.50,0.00,0.000,6,0.031,0.028,3083,1659,3398,0,0,0,0,0,0
$GC,886,-0.62,-126.5,119.0,-12.2,89,891,0.43,2.42,0.00,0.000,4,0.083,0.039,3181,161,3398,0,0,0,0,0,0
$GC,915,-0.62,-126.5,122.2,-9.6,91,919,0.00,2.22,0.00,0.000,6,0.000,0.017,3181,1646,3398,0,0,0,0,0,0
$GC,1244,-0.77,-126.5,145.8,-7.7,121,1249,0.12,2.45,0.00,0.000,4,0.061,0.023,3106,3212,3398,0,0,0,0,0,0
$GC,1264,-0.77,-126.5,148.2,-9.1,122,1273,0.17,2.50,0.00,0.000,6,0.065,0.026,3152,1674,3398,0,0,0,0,0,0
$GC,1589,-0.84,-126.5,177.5,-8.3,153,1593,0.00,2.47,0.00,0.000,4,0.000,0.043,3152,161,3398,0,0,0,0,0,0
$GC,1611,-0.84,-126.5,179.5,-9.0,154,1616,0.00,2.28,0.00,0.000,6,0.000,0.017,3152,1677,3398,0,0,0,0,0,0
$GC,1957,-0.93,-126.5,207.1,-7.9,181,1962,0.15,2.42,0.00,0.000,4,0.054,0.024,3080,3214,3397,0,0,0,0,0,0
$GC,1977,-0.93,-126.5,209.4,-9.4,181,1982,0.17,2.47,0.00,0.000,6,0.088,0.026,3120,1661,3397,0,0,0,0,0,0
$GC,2325,-0.93,-126.5,241.3,-9.1,190,2329,0.00,2.42,0.00,0.000,4,0.000,0.042,3120,164,3397,0,0,0,0,0,0
$GC,2357,-0.93,-126.5,244.8,-10.3,190,2362,0.00,2.30,0.00,0.000,6,0.000,0.018,3120,1665,3397,0,0,0,0,0,0
$GC,2689,-0.93,-126.5,272.8,-8.5,198,2693,0.00,2.45,0.00,0.000,4,0.000,0.043,3120,170,3396,0,0,0,0,0,0
$GC,2717,-0.93,-126.5,275.4,-9.2,198,2722,0.00,2.28,0.00,0.000,6,0.000,0.018,3120,1665,3396,0,0,0,0,0,0
$GC,3056,-0.99,-126.5,301.7,-7.8,207,3060,0.00,2.45,0.00,0.000,4,0.000,0.025,3120,3225,3395,0,0,0,0,0,0
$GC,3070,-1.07,-126.5,303.1,-7.4,207,3075,0.15,2.53,0.00,0.000,6,0.053,0.027,3033,1662,3395,0,0,0,0,0,0
$GC,3423,-0.85,-126.5,347.1,-13.0,216,3430,0.47,2.47,0.00,0.000,4,0.085,0.047,3132,169,3393,0,0,0,0,0,0
$GC,3449,-0.85,-126.5,350.4,-10.1,216,3453,0.00,2.33,0.00,0.000,6,0.000,0.020,3133,1665,3393,0,0,0,0,0,0
$GC,3790,-0.98,-126.5,372.5,-6.4,225,3795,0.12,2.50,0.00,0.000,4,0.062,0.029,3072,3227,3391,0,0,0,0,0,0
$GC,3836,-0.98,-126.5,375.8,-7.5,226,3841,0.15,2.55,0.00,0.000,6,0.091,0.032,3107,1669,3391,0,0,0,0,0,0
$GC,4167,-1.04,-126.5,397.9,-6.5,234,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1669,3388,0,0,0,0,0,0
$GC,4490,-1.11,-126.5,422.0,-7.7,242,4495,0.12,2.55,0.00,0.000,4,0.062,0.061,3042,170,3386,0,0,0,0,0,0
$GC,4538,-0.94,-126.5,427.6,-12.2,243,4543,0.32,2.35,0.00,0.000,6,0.084,0.025,3115,1653,3386,0,0,0,0,0,0
$GC,4866,-1.04,-126.5,454.2,-8.2,251,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1654,3384,0,0,0,0,0,0
$GC,5188,-1.14,-126.5,479.4,-7.6,259,5193,0.17,2.62,0.00,0.000,4,0.049,0.039,3039,3236,3381,0,0,0,0,0,0
$GC,5203,-1.14,-126.5,481.0,-7.7,259,5208,0.15,2.58,0.00,0.000,6,0.095,0.036,3074,1666,3381,0,0,0,0,0,0
$GC,5556,-1.14,-126.5,512.2,-9.2,268,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1666,3378,0,0,0,0,0,0
$GC,5879,-1.14,-126.5,541.2,-8.8,276,5884,0.00,2.60,0.00,0.000,4,0.000,0.072,3073,161,3376,0,0,0,0,0,0
$GC,5923,-1.14,-126.5,545.5,-9.8,277,5927,0.00,2.40,0.00,0.000,6,0.000,0.032,3073,1656,3375,0,0,0,0,0,0
$GC,6252,-1.14,-126.5,576.2,-9.5,285,6257,0.00,2.62,0.00,0.000,4,0.000,0.047,3073,3241,3373,0,0,0,0,0,0
$GC,6267,-1.14,-126.5,578.2,-9.8,285,6271,0.00,2.65,0.00,0.000,6,0.000,0.049,3073,1661,3373,0,0,0,0,0,0
$GC,6617,-1.14,-126.5,610.7,-9.3,294,6621,0.00,2.60,0.00,0.000,4,0.000,0.075,3073,171,3370,0,0,0,0,0,0
$GC,6656,-1.14,-126.5,614.6,-10.3,294,6661,0.00,2.45,0.00,0.000,6,0.000,0.035,3073,1670,3370,0,0,0,0,0,0
$GC,6987,-1.14,-126.5,642.1,-8.1,303,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,1670,3368,0,0,0,0,0,0
$GC,7312,-1.14,-126.5,667.0,-7.7,311,7316,0.00,2.65,0.00,0.000,4,0.000,0.074,3073,167,3366,0,0,0,0,0,0
$GC,7342,-1.14,-126.5,669.4,-8.2,311,7347,0.00,2.45,0.00,0.000,6,0.000,0.038,3073,1666,3365,0,0,0,0,0,0
$GC,7679,-1.14,-126.5,694.6,-7.2,320,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1666,3364,0,0,0,0,0,0
$GC,8003,-1.14,-126.5,718.0,-7.1,328,8008,0.00,2.62,0.00,0.000,4,0.000,0.074,3074,163,3362,0,0,0,0,0,0
$GC,8034,-1.14,-126.5,720.2,-8.4,328,8038,0.00,2.45,0.00,0.000,6,0.000,0.038,3073,1661,3362,0,0,0,0,0,0
$GC,8370,-1.14,-126.5,743.0,-6.8,337,8374,0.00,2.62,0.00,0.000,4,0.000,0.074,3073,170,3360,0,0,0,0,0,0
$GC,8403,-1.14,-126.5,745.8,-7.6,337,8407,0.00,2.47,0.00,0.000,6,0.000,0.039,3073,1666,3359,0,0,0,0,0,0
$STATE,8487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8487,begin apogee
$GC,8496,-0.31,0.0,751.9,7.2,339,8599,0.77,0.00,100.62,1.050,6,0.076,0.000,3248,1304,2880,0,0,0,0,0,0
$STATE,8600,end apogee,CONTROL_FINISHED_OK
$STATE,8600,begin climb
$GC,8603,1.34,126.5,753.7,0.0,341,8727,1.52,2.10,112.90,1.023,4,0.050,0.081,3608,178,2363,0,0,0,0,0,0
$GC,8753,1.09,126.5,744.5,11.3,344,8757,0.25,1.88,0.00,0.000,6,0.096,0.031,3555,1316,2360,0,0,0,0,0,0
$GC,9098,1.13,156.6,714.5,8.4,353,9130,0.00,2.12,25.98,0.966,4,0.000,0.074,3555,172,2241,0,0,0,0,0,0
$GC,9229,1.13,157.2,701.8,10.0,355,9234,0.00,1.88,0.00,0.000,6,0.000,0.031,3555,1312,2237,0,0,0,0,0,0
$GC,9560,1.17,191.1,673.5,8.2,364,9594,0.00,0.00,32.20,0.964,6,0.000,0.000,3555,1313,2100,0,0,0,0,0,0
$GC,9887,1.26,214.2,645.4,8.8,372,9916,0.15,2.78,21.58,0.930,4,0.059,0.051,3610,2886,2005,0,0,0,0,0,0
$GC,9926,1.19,214.2,640.8,11.2,372,9933,0.15,2.72,0.00,0.000,6,0.097,0.047,3578,1313,2002,0,0,0,0,0,0
$GC,10259,1.19,214.2,604.0,11.4,381,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1313,1999,0,0,0,0,0,0
$GC,10583,1.19,214.2,563.9,12.6,389,10587,0.00,2.65,0.00,0.000,4,0.000,0.038,3578,2896,1997,0,0,0,0,0,0
$GC,10620,1.28,214.2,559.3,10.9,389,10626,0.00,2.72,0.00,0.000,6,0.000,0.047,3578,1305,1995,0,0,0,0,0,0
$GC,10951,1.28,214.2,522.3,10.8,398,10955,0.00,1.98,0.00,0.000,4,0.000,0.074,3578,161,1995,0,0,0,0,0,0
$GC,11041,1.28,216.4,512.8,9.9,399,11046,0.00,1.85,0.00,0.000,6,0.000,0.026,3578,1322,1994,0,0,0,0,0,0
$GC,11372,1.32,247.0,484.1,8.4,408,11409,0.12,2.67,30.10,0.864,4,0.066,0.041,3631,2871,1871,0,0,0,0,0,0
$GC,11432,1.32,247.0,478.0,11.4,409,11437,0.12,2.70,0.00,0.000,6,0.108,0.044,3606,1298,1868,0,0,0,0,0,0
$GC,11747,1.32,247.0,444.4,10.9,417,11750,0.00,1.98,0.00,0.000,4,0.000,0.067,3606,158,1865,0,0,0,0,0,0
$GC,11774,1.32,247.0,441.0,12.3,417,11778,0.00,1.85,0.00,0.000,6,0.000,0.034,3606,1317,1865,0,0,0,0,0,0
$GC,12120,1.32,247.0,399.7,12.4,426,12124,0.00,2.00,0.00,0.000,4,0.000,0.060,3606,161,1863,0,0,0,0,0,0
$GC,12185,1.32,247.0,390.0,14.6,427,12188,0.00,1.83,0.00,0.000,6,0.000,0.025,3606,1313,1863,0,0,0,0,0,0
$GC,12499,1.32,247.0,351.6,11.8,435,12504,0.00,2.55,0.00,0.000,4,0.000,0.034,3606,2876,1862,0,0,0,0,0,0
$GC,12523,1.32,247.0,348.6,10.4,435,12527,0.00,2.65,0.00,0.000,6,0.000,0.041,3606,1300,1860,0,0,0,0,0,0
$GC,12864,1.33,255.8,314.3,9.5,444,12876,0.00,2.60,7.05,0.622,4,0.000,0.031,3606,2876,1836,0,0,0,0,0,0
$GC,12930,1.49,299.9,308.3,7.7,445,12979,0.15,2.65,41.10,0.734,6,0.055,0.041,3670,1305,1657,0,0,0,0,0,0
$GC,13324,1.39,299.9,251.2,14.9,455,13326,0.22,0.00,0.00,0.000,6,0.091,0.000,3621,1305,1650,0,0,0,0,0,0
$GC,13651,1.39,299.9,208.0,13.2,463,13655,0.00,2.55,0.00,0.000,4,0.000,0.028,3621,2882,1649,0,0,0,0,0,0
$GC,13684,1.52,299.9,203.7,11.6,463,13689,0.12,2.62,0.00,0.000,6,0.061,0.037,3678,1310,1646,0,0,0,0,0,0
$GC,14011,1.43,299.9,158.8,13.5,490,14015,0.22,1.92,0.00,0.000,4,0.086,0.051,3628,161,1646,0,0,0,0,0,0
$GC,14049,1.43,299.9,154.1,10.9,493,14053,0.00,1.80,0.00,0.000,6,0.000,0.021,3628,1347,1646,0,0,0,0,0,0
$GC,14379,1.50,299.9,117.3,11.7,524,14382,0.00,1.98,0.00,0.000,4,0.000,0.050,3628,167,1646,0,0,0,0,0,0
$GC,14412,1.50,299.9,113.4,13.1,527,14416,0.00,1.75,0.00,0.000,6,0.000,0.021,3628,1315,1646,0,0,0,0,0,0
$GC,14744,1.60,299.9,70.4,12.4,558,14749,0.17,2.42,0.00,0.000,4,0.050,0.025,3698,2854,1646,0,0,0,0,0,0
$GC,14775,1.60,299.9,66.7,12.9,560,14780,0.12,2.53,0.00,0.000,6,0.102,0.035,3669,1315,1646,0,0,0,0,0,0
$GC,15103,1.60,299.9,30.2,10.4,590,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,3669,1315,1645,0,0,0,0,0,0
$STATE,15348,end climb,SURFACE_DEPTH_REACHED
$STATE,15348,begin surface coast
$FINISH,0.9,1.022443
$STATE,15405,end surface coast,CONTROL_FINISHED_OK
$STATE,15405,begin surface
$SM_CCo,15431,26.05,0.437,0,0,1452,350.04
$SM_GC,1.52,0.00,0.00,26.05,0.000,0.000,0.437,411,1693,1452,-13.39,0.93,350.04
$IRIDIUM_FIX,2255.72,-15809.31,261101,090907
$TT8_MAMPS,0.026845
$HUMID,70.35
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,81
$24V_AH,23.2,73.158
$10V_AH,9.8,60.461
$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,34.225,158.875,371.525,26.050,0.000,82.774,127.118,1056.489,20.250,0.000,20.922,1312.545,11376.952,483.905,2173.489,1675.011,33.379,1404.545,0.000,2165.345,0.000,0.537,0.000
$DEVICE_MAMPS,146.497,81.302,1050.023,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,432.152,343.568,420.639,600.404,1055.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,47851,638
$CAP_FILE_SIZE,157473,0
$CFSIZE,260165632,144396288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010912,135853,2302.981,-15807.436,68,1.0,68,10.1