version: 66.06
glider: 148
mission: 11
dive: 320
start: 7 25 112 16 33 7
data:
$ID,148
$MISSION,11
$DIVE,320
$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,-925152.56
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,106
$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
$GPS1,162454,2257.035,-15746.120,84,1.4,84,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.5
$GPS2,163213,2257.080,-15746.115,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.100,-0.240
$KALMAN_X,-96735.9,76.2,591.1,119361.5,-1980.9
$KALMAN_Y,37767.9,62.8,80.1,-21096.2,-3.4
$MHEAD_RNG_PITCHd_Wd,192.6,45799,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.68,0.000,2,0.000,0.000,416,1569,3321,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.6,10,120,13.70,2.30,-3.28,0.000,4,0.150,0.048,3056,157,3517,0,0,0,0,0,0
$GC,215,-0.91,-146.0,40.7,-22.3,25,224,0.35,2.08,0.00,0.000,6,0.087,0.018,3137,1498,3519,0,0,0,0,0,0
$GC,483,-0.82,-146.0,76.1,-11.0,50,488,0.10,2.58,0.00,0.000,4,0.127,0.024,3159,3112,3520,0,0,0,0,0,0
$GC,538,-0.99,-146.0,82.0,-8.4,54,548,0.10,2.58,0.00,0.000,6,0.025,0.029,3079,1540,3520,0,0,0,0,0,0
$GC,806,-0.75,-146.0,120.0,-15.2,79,811,0.40,2.22,0.00,0.000,4,0.091,0.040,3171,158,3521,0,0,0,0,0,0
$GC,822,-0.60,-146.0,123.4,-14.9,80,827,0.17,2.12,0.00,0.000,6,0.097,0.018,3210,1580,3522,0,0,0,0,0,0
$GC,1097,-0.83,-146.0,139.7,-4.7,105,1102,0.22,2.38,0.00,0.000,4,0.038,0.026,3097,3092,3523,0,0,0,0,0,0
$GC,1134,-0.83,-146.0,142.8,-8.6,108,1139,0.28,2.47,0.00,0.000,6,0.080,0.028,3159,1549,3523,0,0,0,0,0,0
$GC,1395,-0.89,-146.0,164.2,-8.5,132,1399,0.00,2.22,0.00,0.000,4,0.000,0.043,3160,171,3523,0,0,0,0,0,0
$GC,1416,-0.89,-146.0,166.4,-9.6,133,1421,0.00,2.08,0.00,0.000,6,0.000,0.018,3159,1567,3523,0,0,0,0,0,0
$GC,1681,-0.98,-146.0,189.5,-9.3,158,1686,0.15,2.40,0.00,0.000,4,0.054,0.024,3085,3084,3523,0,0,0,0,0,0
$GC,1711,-0.98,-146.0,192.8,-12.1,160,1716,0.17,2.42,0.00,0.000,6,0.093,0.028,3125,1564,3523,0,0,0,0,0,0
$GC,1974,-0.98,-146.0,223.3,-11.1,170,1979,0.00,2.40,0.00,0.000,4,0.000,0.024,3125,3083,3524,0,0,0,0,0,0
$GC,1993,-0.98,-146.0,225.3,-9.7,170,1998,0.00,2.40,0.00,0.000,6,0.000,0.026,3125,1573,3524,0,0,0,0,0,0
$GC,2257,-0.98,-146.0,248.2,-8.8,177,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1573,3524,0,0,0,0,0,0
$GC,2501,-0.98,-146.0,271.6,-9.4,183,2505,0.00,2.28,0.00,0.000,4,0.000,0.046,3125,176,3524,0,0,0,0,0,0
$GC,2526,-0.98,-146.0,274.0,-10.0,183,2530,0.00,2.10,0.00,0.000,6,0.000,0.019,3125,1555,3524,0,0,0,0,0,0
$GC,2786,-0.98,-146.0,296.8,-8.7,190,2790,0.00,2.45,0.00,0.000,4,0.000,0.028,3125,3099,3524,0,0,0,0,0,0
$GC,2819,-1.09,-146.0,299.4,-7.9,190,2824,0.10,2.45,0.00,0.000,6,0.074,0.030,3058,1577,3524,0,0,0,0,0,0
$GC,3071,-0.93,-146.0,328.0,-11.7,196,3076,0.35,2.47,0.00,0.000,4,0.087,0.030,3135,3099,3523,0,0,0,0,0,0
$GC,3090,-0.93,-146.0,330.7,-11.5,196,3095,0.00,2.47,0.00,0.000,6,0.000,0.032,3135,1579,3523,0,0,0,0,0,0
$GC,3356,-1.04,-146.0,356.6,-10.3,203,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1579,3522,0,0,0,0,0,0
$GC,3599,-1.15,-146.0,379.5,-9.1,209,3604,0.20,2.47,0.00,0.000,4,0.044,0.033,3047,3094,3521,0,0,0,0,0,0
$GC,3623,-1.08,-146.0,382.3,-10.9,209,3628,0.25,2.45,0.00,0.000,6,0.084,0.034,3104,1585,3521,0,0,0,0,0,0
$GC,3885,-1.08,-146.0,402.8,-7.1,216,3889,0.00,2.38,0.00,0.000,4,0.000,0.061,3104,172,3519,0,0,0,0,0,0
$GC,3913,-1.08,-146.0,405.0,-6.7,216,3917,0.00,2.17,0.00,0.000,6,0.000,0.025,3104,1568,3519,0,0,0,0,0,0
$GC,4168,-1.08,-146.0,423.7,-7.8,223,4172,0.00,2.38,0.00,0.000,4,0.000,0.064,3104,164,3517,0,0,0,0,0,0
$GC,4188,-1.08,-146.0,425.7,-10.2,223,4192,0.00,2.22,0.00,0.000,6,0.000,0.028,3104,1578,3517,0,0,0,0,0,0
$GC,4452,-1.08,-146.0,449.5,-8.9,230,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1580,3515,0,0,0,0,0,0
$GC,4695,-1.08,-146.0,470.4,-8.6,236,4700,0.00,2.53,0.00,0.000,4,0.000,0.040,3104,3117,3514,0,0,0,0,0,0
$GC,4721,-1.15,-146.0,472.7,-9.6,236,4726,0.00,2.53,0.00,0.000,6,0.000,0.037,3104,1581,3514,0,0,0,0,0,0
$GC,4981,-1.15,-146.0,494.4,-8.4,243,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1582,3512,0,0,0,0,0,0
$GC,5224,-1.15,-146.0,515.0,-8.7,249,5229,0.00,2.55,0.00,0.000,4,0.000,0.044,3104,3107,3511,0,0,0,0,0,0
$GC,5253,-1.23,-146.0,517.6,-8.7,249,5258,0.15,2.55,0.00,0.000,6,0.055,0.041,3029,1583,3511,0,0,0,0,0,0
$GC,5511,-1.05,-146.0,549.6,-12.9,256,5516,0.32,2.47,0.00,0.000,4,0.088,0.074,3104,165,3508,0,0,0,0,0,0
$GC,5582,-1.14,-146.0,557.4,-10.0,257,5586,0.00,2.25,0.00,0.000,6,0.000,0.034,3104,1562,3508,0,0,0,0,0,0
$GC,5843,-1.20,-146.0,580.5,-9.1,264,5848,0.12,2.65,0.00,0.000,4,0.065,0.051,3052,3129,3507,0,0,0,0,0,0
$GC,5887,-1.20,-146.0,585.3,-10.5,265,5892,0.12,2.62,0.00,0.000,6,0.104,0.046,3080,1574,3506,0,0,0,0,0,0
$STATE,6050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6050,begin apogee
$GC,6058,-0.31,0.0,601.2,9.5,269,6179,0.85,0.00,117.90,0.928,6,0.082,0.000,3270,1366,2920,0,0,0,0,0,0
$STATE,6180,end apogee,CONTROL_FINISHED_OK
$STATE,6180,begin climb
$GC,6183,1.27,146.0,605.6,0.0,272,6315,1.48,2.20,123.10,0.910,4,0.049,0.081,3616,180,2323,0,0,0,0,0,0
$GC,6422,0.97,146.0,592.3,11.7,277,6427,0.30,1.98,0.00,0.000,6,0.110,0.031,3554,1388,2318,0,0,0,0,0,0
$GC,6688,1.03,192.5,571.4,7.9,284,6733,0.00,2.20,40.05,0.877,4,0.000,0.075,3554,173,2135,0,0,0,0,0,0
$GC,6799,0.97,192.5,560.2,11.1,286,6802,0.00,1.98,0.00,0.000,6,0.000,0.029,3554,1382,2132,0,0,0,0,0,0
$GC,7064,0.97,195.2,534.3,9.9,293,7068,0.00,2.12,0.00,0.000,4,0.000,0.068,3554,172,2128,0,0,0,0,0,0
$GC,7082,0.97,195.2,532.0,10.9,293,7086,0.00,1.92,0.00,0.000,6,0.000,0.027,3554,1379,2128,0,0,0,0,0,0
$GC,7350,0.99,208.8,506.3,9.4,300,7366,0.00,0.00,14.75,0.807,6,0.000,0.000,3554,1381,2068,0,0,0,0,0,0
$GC,7595,1.01,227.6,484.2,9.1,306,7620,0.00,2.70,17.85,0.811,4,0.000,0.044,3554,2944,1991,0,0,0,0,0,0
$GC,7630,1.01,228.8,480.5,9.9,306,7634,0.00,2.67,0.00,0.000,6,0.000,0.044,3554,1375,1989,0,0,0,0,0,0
$GC,7879,1.01,228.8,452.2,11.6,312,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1375,1987,0,0,0,0,0,0
$GC,8125,1.01,229.5,427.0,10.0,318,8129,0.00,2.60,0.00,0.000,4,0.000,0.035,3554,2961,1985,0,0,0,0,0,0
$GC,8149,1.14,282.6,424.7,7.5,318,8208,0.15,2.67,50.22,0.815,6,0.055,0.043,3620,1378,1766,0,0,0,0,0,0
$GC,8453,1.02,282.6,382.6,14.5,326,8458,0.25,2.10,0.00,0.000,4,0.093,0.064,3562,166,1761,0,0,0,0,0,0
$GC,8532,1.02,282.6,372.7,11.6,327,8536,0.00,1.90,0.00,0.000,6,0.000,0.024,3562,1383,1760,0,0,0,0,0,0
$GC,8786,1.02,282.6,346.0,10.5,334,8791,0.00,2.53,0.00,0.000,4,0.000,0.035,3562,2944,1758,0,0,0,0,0,0
$GC,8816,1.12,282.6,343.2,11.0,334,8821,0.00,2.65,0.00,0.000,6,0.000,0.041,3562,1373,1755,0,0,0,0,0,0
$GC,9072,1.18,282.6,316.9,10.4,341,9073,0.15,0.00,0.00,0.000,6,0.058,0.000,3626,1373,1755,0,0,0,0,0,0
$GC,9315,1.07,282.6,284.7,13.2,347,9320,0.25,2.58,0.00,0.000,4,0.092,0.032,3568,2945,1755,0,0,0,0,0,0
$GC,9346,1.16,282.6,281.4,10.1,347,9351,0.10,2.62,0.00,0.000,6,0.074,0.041,3621,1381,1753,0,0,0,0,0,0
$GC,9602,1.09,282.6,248.5,13.1,354,9606,0.20,2.05,0.00,0.000,4,0.096,0.055,3578,167,1753,0,0,0,0,0,0
$GC,9648,1.09,282.6,242.3,13.2,355,9652,0.00,1.90,0.00,0.000,6,0.000,0.021,3577,1400,1753,0,0,0,0,0,0
$GC,9935,1.17,303.0,214.2,9.1,362,9959,0.00,2.47,16.67,0.629,4,0.000,0.027,3578,2935,1682,0,0,0,0,0,0
$GC,9983,1.33,334.6,209.8,8.5,363,10022,0.22,2.60,29.67,0.640,6,0.040,0.036,3667,1378,1555,0,0,0,0,0,0
$GC,10279,1.16,334.6,162.5,15.9,385,10284,0.32,2.53,0.00,0.000,4,0.088,0.028,3592,2941,1551,0,0,0,0,0,0
$GC,10299,1.16,334.6,158.6,16.0,386,10304,0.00,2.58,0.00,0.000,6,0.000,0.034,3592,1382,1549,0,0,0,0,0,0
$GC,10568,1.16,334.6,127.4,11.8,411,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1382,1549,0,0,0,0,0,0
$GC,10829,1.16,334.6,94.7,11.8,436,10833,0.00,2.47,0.00,0.000,4,0.000,0.033,3592,2932,1549,0,0,0,0,0,0
$GC,10869,1.29,334.6,90.7,11.2,439,10874,0.12,2.55,0.00,0.000,6,0.061,0.041,3659,1383,1546,0,0,0,0,0,0
$GC,11134,1.16,334.6,51.8,15.4,463,11138,0.28,2.00,0.00,0.000,4,0.087,0.046,3594,168,1546,0,0,0,0,0,0
$GC,11150,1.07,334.6,49.5,16.2,464,11154,0.00,1.85,0.00,0.000,6,0.000,0.020,3594,1414,1546,0,0,0,0,0,0
$GC,11434,1.19,354.8,19.1,9.1,497,11458,0.00,2.42,17.42,0.453,4,0.000,0.025,3594,2930,1473,0,0,0,0,0,0
$GC,11500,1.42,367.3,13.1,9.4,506,11525,0.20,2.55,12.05,0.423,6,0.020,0.035,3684,1397,1422,0,0,0,0,0,0
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,0.7,1.016196
$STATE,11595,end surface coast,CONTROL_FINISHED_OK
$STATE,11595,begin surface
$SM_CCo,11620,10.90,0.416,0,0,1369,380.21
$SM_GC,1.63,0.00,0.00,10.90,0.000,0.000,0.416,413,1587,1369,-13.46,1.33,380.21
$IRIDIUM_FIX,2248.70,-15745.85,191001,131308
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,20.90
$XPDR_PINGS,12
$24V_AH,23.5,42.333
$10V_AH,9.9,33.220
$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,35.300,147.000,439.700,10.900,0.000,23.811,37.571,235.985,3.000,0.000,14.086,1122.948,7945.558,480.815,1872.408,645.897,33.379,1311.788,0.000,1873.138,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,81.302,928.070,415.714,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.308,295.012,369.307,529.003,929.705,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41399,519
$CAP_FILE_SIZE,132524,0
$CFSIZE,260165632,159576064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250712,194815,2255.438,-15747.746,14,99.0,33,10.1