version: 66.06
glider: 148
mission: 11
dive: 144
start: 6 30 112 5 40 50
data:
$ID,148
$MISSION,11
$DIVE,144
$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,-921222
$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,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,116
$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
$GPS1,052857,2240.430,-15804.722,15,99.0,34,10.0
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.0
$GPS2,053958,2240.392,-15804.615,10,99.0,29,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.111
$KALMAN_X,68364.9,-65.6,222.8,-76813.9,1675.6
$KALMAN_Y,-12895.2,188.3,136.2,-1523.0,-1236.4
$MHEAD_RNG_PITCHd_Wd,285.3,2376,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.53,0.000,2,0.000,0.000,408,1590,3247,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.2,-3.8,10,120,14.57,2.30,-4.78,0.000,4,0.174,0.035,3056,3052,3514,0,0,0,0,0,0
$GC,179,-0.96,-146.0,28.4,-21.0,22,188,0.30,2.50,0.00,0.000,6,0.082,0.031,3128,1532,3516,0,0,0,0,0,0
$GC,448,-0.86,-146.0,67.4,-14.3,47,452,0.12,2.25,0.00,0.000,4,0.116,0.049,3154,162,3516,0,0,0,0,0,0
$GC,479,-0.86,-146.0,72.3,-12.9,49,483,0.00,2.03,0.00,0.000,6,0.000,0.018,3154,1493,3516,0,0,0,0,0,0
$GC,748,-0.86,-146.0,100.0,-9.6,74,752,0.00,2.50,0.00,0.000,4,0.000,0.025,3154,3099,3517,0,0,0,0,0,0
$GC,815,-1.06,-146.0,106.1,-7.8,80,820,0.20,2.53,0.00,0.000,6,0.041,0.029,3049,1538,3517,0,0,0,0,0,0
$GC,1079,-0.80,-146.0,147.5,-15.7,104,1088,0.55,0.00,0.00,0.000,6,0.092,0.000,3161,1538,3517,0,0,0,0,0,0
$GC,1343,-0.92,-146.0,171.0,-8.8,129,1347,0.00,2.47,0.00,0.000,4,0.000,0.025,3161,3102,3518,0,0,0,0,0,0
$GC,1384,-1.15,-146.0,174.5,-7.6,132,1393,0.25,2.53,0.00,0.000,6,0.020,0.029,3061,1550,3518,0,0,0,0,0,0
$GC,1654,-1.01,-146.0,210.7,-12.8,152,1658,0.25,2.25,0.00,0.000,4,0.096,0.041,3119,168,3518,0,0,0,0,0,0
$GC,1679,-1.01,-146.0,214.0,-11.6,152,1683,0.00,2.10,0.00,0.000,6,0.000,0.018,3120,1559,3518,0,0,0,0,0,0
$GC,1938,-1.01,-146.0,239.5,-9.9,159,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1560,3519,0,0,0,0,0,0
$GC,2182,-1.08,-146.0,261.8,-9.0,165,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1560,3519,0,0,0,0,0,0
$GC,2427,-1.16,-146.0,282.3,-8.2,171,2432,0.12,2.42,0.00,0.000,4,0.064,0.027,3048,3091,3519,0,0,0,0,0,0
$GC,2461,-1.07,-146.0,286.0,-11.5,171,2466,0.25,2.50,0.00,0.000,6,0.085,0.030,3104,1547,3518,0,0,0,0,0,0
$GC,2711,-1.07,-146.0,308.9,-9.1,177,2715,0.00,2.45,0.00,0.000,4,0.000,0.028,3104,3091,3518,0,0,0,0,0,0
$GC,2736,-1.15,-146.0,311.0,-8.8,177,2741,0.00,2.50,0.00,0.000,6,0.000,0.033,3103,1554,3518,0,0,0,0,0,0
$GC,2996,-1.15,-146.0,334.0,-9.0,184,3000,0.00,2.30,0.00,0.000,4,0.000,0.051,3104,169,3519,0,0,0,0,0,0
$GC,3047,-1.25,-146.0,339.0,-9.3,185,3052,0.15,2.12,0.00,0.000,6,0.057,0.022,3033,1530,3518,0,0,0,0,0,0
$GC,3327,-1.10,-146.0,373.5,-12.7,192,3332,0.25,2.28,0.00,0.000,4,0.093,0.054,3093,174,3516,0,0,0,0,0,0
$GC,3356,-1.10,-146.0,377.0,-10.7,192,3360,0.00,2.12,0.00,0.000,6,0.000,0.023,3093,1541,3516,0,0,0,0,0,0
$GC,3612,-1.10,-146.0,397.8,-8.0,199,3616,0.00,2.55,0.00,0.000,4,0.000,0.036,3093,3114,3515,0,0,0,0,0,0
$GC,3664,-1.24,-146.0,401.9,-7.1,200,3669,0.10,2.55,0.00,0.000,6,0.077,0.038,3026,1556,3514,0,0,0,0,0,0
$GC,3943,-1.09,-146.0,432.1,-10.9,207,3948,0.30,2.35,0.00,0.000,4,0.092,0.062,3097,171,3513,0,0,0,0,0,0
$GC,4001,-1.19,-146.0,437.5,-8.1,208,4005,0.00,2.17,0.00,0.000,6,0.000,0.028,3096,1543,3512,0,0,0,0,0,0
$GC,4275,-1.26,-146.0,457.6,-7.3,215,4280,0.12,2.60,0.00,0.000,4,0.066,0.039,3045,3119,3511,0,0,0,0,0,0
$GC,4305,-1.26,-146.0,460.1,-9.0,215,4310,0.00,2.60,0.00,0.000,6,0.000,0.040,3044,1543,3511,0,0,0,0,0,0
$GC,4560,-1.18,-146.0,485.6,-10.2,222,4562,0.17,0.00,0.00,0.000,6,0.099,0.000,3083,1542,3509,0,0,0,0,0,0
$GC,4804,-1.18,-146.0,505.0,-7.8,228,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1543,3507,0,0,0,0,0,0
$GC,5049,-1.18,-146.0,524.3,-7.7,234,5053,0.00,2.62,0.00,0.000,4,0.000,0.044,3083,3114,3506,0,0,0,0,0,0
$GC,5073,-1.24,-146.0,526.5,-8.8,234,5077,0.00,2.60,0.00,0.000,6,0.000,0.043,3083,1550,3506,0,0,0,0,0,0
$GC,5332,-1.24,-146.0,547.9,-8.4,241,5337,0.00,2.42,0.00,0.000,4,0.000,0.077,3083,163,3504,0,0,0,0,0,0
$GC,5377,-1.24,-146.0,551.7,-9.1,242,5381,0.00,2.22,0.00,0.000,6,0.000,0.034,3083,1536,3504,0,0,0,0,0,0
$GC,5664,-1.24,-146.0,575.4,-8.0,249,5668,0.00,2.65,0.00,0.000,4,0.000,0.050,3083,3122,3501,0,0,0,0,0,0
$GC,5713,-1.37,-146.0,579.2,-7.8,250,5720,0.17,2.67,0.00,0.000,6,0.050,0.047,3013,1539,3501,0,0,0,0,0,0
$STATE,5914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5914,begin apogee
$GC,5921,-0.31,0.0,601.2,11.0,255,6041,1.17,0.00,116.78,0.939,6,0.089,0.000,3270,1415,2920,0,0,0,0,0,0
$STATE,6042,end apogee,CONTROL_FINISHED_OK
$STATE,6042,begin climb
$GC,6045,1.27,146.0,604.6,0.0,258,6180,1.48,2.28,124.62,0.917,4,0.045,0.082,3622,175,2324,0,0,0,0,0,0
$GC,6241,0.89,146.0,591.8,13.9,262,6247,0.43,2.05,0.00,0.000,6,0.098,0.033,3534,1420,2320,0,0,0,0,0,0
$GC,6492,0.94,184.7,570.2,8.2,269,6535,0.00,2.22,33.65,0.878,4,0.000,0.071,3534,174,2166,0,0,0,0,0,0
$GC,6560,0.86,184.7,563.8,10.6,270,6564,0.00,2.05,0.00,0.000,6,0.000,0.031,3534,1423,2165,0,0,0,0,0,0
$GC,6824,0.87,193.2,538.4,9.6,277,6837,0.00,2.22,8.20,0.742,4,0.000,0.067,3534,172,2131,0,0,0,0,0,0
$GC,6876,0.87,193.2,533.0,11.4,278,6879,0.00,2.03,0.00,0.000,6,0.000,0.029,3533,1419,2131,0,0,0,0,0,0
$GC,7159,0.88,205.6,505.8,9.4,285,7173,0.00,0.00,12.23,0.795,6,0.000,0.000,3534,1421,2081,0,0,0,0,0,0
$GC,7404,0.89,213.2,482.4,9.7,291,7416,0.00,2.20,7.72,0.722,4,0.000,0.064,3533,170,2050,0,0,0,0,0,0
$GC,7468,0.89,213.2,475.2,11.7,292,7472,0.00,2.03,0.00,0.000,6,0.000,0.027,3534,1438,2049,0,0,0,0,0,0
$GC,7736,0.90,216.0,448.8,9.9,299,7740,0.00,2.20,0.00,0.000,4,0.000,0.062,3534,162,2046,0,0,0,0,0,0
$GC,7765,0.90,216.0,445.8,10.6,299,7769,0.00,2.00,0.00,0.000,6,0.000,0.026,3534,1415,2047,0,0,0,0,0,0
$GC,8024,0.92,236.3,421.6,9.1,306,8052,0.00,2.22,21.80,0.800,4,0.000,0.061,3534,172,1955,0,0,0,0,0,0
$GC,8090,0.92,236.3,414.6,11.8,307,8093,0.00,1.98,0.00,0.000,6,0.000,0.025,3533,1402,1955,0,0,0,0,0,0
$GC,8359,1.01,254.6,389.3,9.2,314,8384,0.10,2.72,17.70,0.767,4,0.077,0.042,3578,2992,1881,0,0,0,0,0,0
$GC,8405,1.01,254.6,384.4,10.9,315,8409,0.00,2.67,0.00,0.000,6,0.000,0.041,3578,1412,1878,0,0,0,0,0,0
$GC,8693,1.01,254.6,353.3,10.7,322,8697,0.00,2.10,0.00,0.000,4,0.000,0.062,3578,167,1876,0,0,0,0,0,0
$GC,8820,0.93,254.6,337.9,12.1,324,8825,0.17,1.98,0.00,0.000,6,0.098,0.025,3540,1417,1876,0,0,0,0,0,0
$GC,9072,1.04,279.4,315.6,8.9,330,9101,0.10,2.22,22.00,0.729,4,0.077,0.058,3586,164,1781,0,0,0,0,0,0
$GC,9140,0.97,279.4,307.5,14.6,331,9145,0.15,1.95,0.00,0.000,6,0.103,0.025,3553,1387,1780,0,0,0,0,0,0
$GC,9406,1.05,283.1,280.6,9.8,338,9418,0.00,2.60,4.32,0.493,4,0.000,0.031,3553,2991,1765,0,0,0,0,0,0
$GC,9470,1.20,301.4,274.1,9.2,339,9497,0.20,2.67,17.60,0.681,6,0.044,0.039,3628,1389,1691,0,0,0,0,0,0
$GC,9743,1.06,301.4,236.8,14.1,346,9748,0.25,2.08,0.00,0.000,4,0.091,0.054,3570,161,1688,0,0,0,0,0,0
$GC,9833,1.06,301.4,225.7,11.9,348,9836,0.00,1.92,0.00,0.000,6,0.000,0.022,3570,1400,1688,0,0,0,0,0,0
$GC,10126,1.15,313.5,197.1,9.4,355,10144,0.00,2.58,12.12,0.593,4,0.000,0.030,3570,2983,1639,0,0,0,0,0,0
$GC,10161,1.25,320.1,193.9,9.7,358,10174,0.17,2.67,7.07,0.532,6,0.048,0.035,3642,1371,1614,0,0,0,0,0,0
$GC,10436,1.15,320.1,151.9,15.1,384,10438,0.25,0.00,0.00,0.000,6,0.089,0.000,3589,1371,1613,0,0,0,0,0,0
$GC,10692,1.15,320.1,123.8,10.6,408,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1371,1612,0,0,0,0,0,0
$GC,10949,1.21,322.6,97.7,9.9,432,10952,0.00,1.98,0.00,0.000,4,0.000,0.048,3588,168,1612,0,0,0,0,0,0
$GC,10995,1.21,322.6,92.6,10.9,436,11005,0.00,1.90,3.70,0.344,6,0.000,0.021,3588,1404,1604,0,0,0,0,0,0
$GC,11260,1.30,322.6,68.6,10.2,461,11264,0.15,2.08,0.00,0.000,4,0.057,0.048,3656,160,1603,0,0,0,0,0,0
$GC,11365,1.15,322.6,52.6,16.8,470,11375,0.28,1.88,0.00,0.000,6,0.078,0.020,3591,1377,1603,0,0,0,0,0,0
$GC,11640,1.27,355.2,23.3,8.5,500,11680,0.10,2.10,29.20,0.470,4,0.078,0.050,3649,164,1471,0,0,0,0,0,0
$GC,11690,1.16,355.2,16.9,14.2,506,11699,0.22,1.90,0.00,0.000,6,0.073,0.020,3595,1381,1471,0,0,0,0,0,0
$STATE,11818,end climb,SURFACE_DEPTH_REACHED
$STATE,11821,begin surface coast
$FINISH,0.6,1.012160
$STATE,11866,end surface coast,CONTROL_FINISHED_OK
$STATE,11866,begin surface
$SM_CCo,11889,20.85,0.445,0,0,1370,380.21
$SM_GC,1.61,0.00,0.00,20.85,0.000,0.000,0.445,413,1599,1370,-13.47,1.67,380.21
$IRIDIUM_FIX,2234.68,-15803.24,240901,050555
$TT8_MAMPS,0.027612
$HUMID,61.06
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.5,20.325
$10V_AH,9.9,14.163
$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,36.000,138.050,438.725,20.850,0.000,55.960,72.981,304.575,1.000,0.000,32.247,1158.002,8099.919,511.344,2015.623,782.712,33.360,1373.484,0.000,1998.740,0.000,0.537,0.000
$DEVICE_MAMPS,174.109,82.069,938.808,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.334,309.757,381.210,557.538,979.468,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,41627,533
$CAP_FILE_SIZE,138942,0
$CFSIZE,260165632,170217472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300612,090121,2240.209,-15805.455,59,99.0,78,10.0