version: 66.06
glider: 148
mission: 11
dive: 169
start: 7 3 112 20 19 11
data:
$ID,148
$MISSION,11
$DIVE,169
$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,-921781.5
$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,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,87
$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
$GPS1,201123,2304.366,-15804.420,38,1.8,38,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-74.2
$GPS2,201818,2304.371,-15804.444,16,1.7,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.111
$KALMAN_X,75489.0,-215.2,360.5,-83633.6,-425.5
$KALMAN_Y,-41223.7,-332.3,457.2,71408.9,-1178.7
$MHEAD_RNG_PITCHd_Wd,105.2,65975,-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,-74.55,0.000,2,0.000,0.000,412,1556,3293,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.9,-6.6,10,121,13.93,2.40,-3.78,0.000,4,0.156,0.033,3058,3082,3517,0,0,0,0,0,0
$GC,131,0.43,-146.0,19.5,-41.2,14,140,1.65,2.53,0.00,0.000,6,0.091,0.028,3421,1541,3519,0,0,0,0,0,0
$GC,421,-0.42,-146.0,42.0,-8.3,50,433,0.70,2.45,0.00,0.000,4,0.050,0.023,3249,3086,3521,0,0,0,0,0,0
$GC,601,-1.10,-146.0,57.9,-8.7,66,611,0.60,2.62,0.00,0.000,6,0.054,0.028,3097,1471,3521,0,0,0,0,0,0
$GC,871,-0.92,-146.0,96.5,-15.5,91,876,0.20,0.00,0.00,0.000,6,0.103,0.000,3138,1470,3521,0,0,0,0,0,0
$GC,1135,-0.92,-146.0,125.3,-8.4,116,1139,0.00,2.53,0.00,0.000,4,0.000,0.023,3139,3082,3523,0,0,0,0,0,0
$GC,1198,-1.08,-146.0,131.1,-7.9,121,1204,0.15,2.60,0.00,0.000,6,0.053,0.030,3036,1462,3523,0,0,0,0,0,0
$GC,1462,-0.82,-146.0,168.0,-14.3,146,1468,0.55,0.00,0.00,0.000,6,0.092,0.000,3156,1461,3524,0,0,0,0,0,0
$GC,1726,-0.96,-146.0,189.3,-7.6,171,1731,0.10,2.53,0.00,0.000,4,0.076,0.023,3095,3077,3524,0,0,0,0,0,0
$GC,1753,-0.96,-146.0,192.1,-10.4,173,1758,0.15,2.60,0.00,0.000,6,0.094,0.029,3130,1467,3524,0,0,0,0,0,0
$GC,2008,-1.02,-146.0,214.1,-8.4,185,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1467,3525,0,0,0,0,0,0
$GC,2251,-1.09,-146.0,234.1,-8.3,191,2256,0.12,2.55,0.00,0.000,4,0.064,0.025,3064,3076,3525,0,0,0,0,0,0
$GC,2291,-1.09,-146.0,238.1,-10.6,191,2297,0.17,2.60,0.00,0.000,6,0.091,0.031,3103,1473,3525,0,0,0,0,0,0
$GC,2541,-1.09,-146.0,260.3,-8.7,198,2545,0.00,2.53,0.00,0.000,4,0.000,0.025,3104,3075,3525,0,0,0,0,0,0
$GC,2560,-1.09,-146.0,262.3,-9.5,198,2564,0.00,2.58,0.00,0.000,6,0.000,0.030,3104,1484,3525,0,0,0,0,0,0
$GC,2825,-1.09,-146.0,287.4,-9.5,205,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1484,3525,0,0,0,0,0,0
$GC,3068,-1.09,-146.0,310.9,-9.9,211,3072,0.00,2.53,0.00,0.000,4,0.000,0.028,3104,3072,3525,0,0,0,0,0,0
$GC,3102,-1.19,-146.0,314.1,-9.2,211,3108,0.10,2.60,0.00,0.000,6,0.073,0.034,3052,1485,3524,0,0,0,0,0,0
$GC,3354,-1.08,-146.0,343.8,-12.1,217,3359,0.22,2.55,0.00,0.000,4,0.099,0.029,3102,3074,3523,0,0,0,0,0,0
$GC,3378,-1.08,-146.0,346.6,-10.0,217,3383,0.00,2.60,0.00,0.000,6,0.000,0.035,3102,1491,3523,0,0,0,0,0,0
$GC,3638,-1.08,-146.0,370.1,-9.3,224,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1491,3522,0,0,0,0,0,0
$GC,3883,-1.08,-146.0,391.6,-8.7,230,3887,0.00,2.55,0.00,0.000,4,0.000,0.033,3102,3071,3520,0,0,0,0,0,0
$GC,3902,-1.15,-146.0,393.5,-8.7,230,3907,0.00,2.60,0.00,0.000,6,0.000,0.036,3102,1493,3520,0,0,0,0,0,0
$GC,4168,-1.15,-146.0,413.8,-7.8,237,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1493,3519,0,0,0,0,0,0
$GC,4412,-1.21,-146.0,430.7,-6.8,243,4417,0.12,2.58,0.00,0.000,4,0.064,0.036,3040,3067,3517,0,0,0,0,0,0
$GC,4432,-1.21,-146.0,432.6,-8.7,243,4437,0.15,2.58,0.00,0.000,6,0.100,0.037,3075,1499,3517,0,0,0,0,0,0
$GC,4697,-1.21,-146.0,454.3,-8.2,250,4701,0.00,2.58,0.00,0.000,4,0.000,0.036,3075,3069,3516,0,0,0,0,0,0
$GC,4718,-1.21,-146.0,455.9,-7.9,250,4722,0.00,2.60,0.00,0.000,6,0.000,0.038,3075,1501,3515,0,0,0,0,0,0
$GC,4982,-1.21,-146.0,477.7,-8.4,257,4986,0.00,2.55,0.00,0.000,4,0.000,0.038,3075,3065,3514,0,0,0,0,0,0
$GC,5010,-1.21,-146.0,480.3,-8.8,257,5015,0.00,2.60,0.00,0.000,6,0.000,0.040,3074,1504,3514,0,0,0,0,0,0
$GC,5267,-1.21,-146.0,503.5,-9.3,264,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1504,3512,0,0,0,0,0,0
$GC,5509,-1.21,-146.0,526.4,-9.4,270,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1504,3511,0,0,0,0,0,0
$GC,5753,-1.21,-146.0,549.7,-9.5,276,5757,0.00,2.33,0.00,0.000,4,0.000,0.077,3074,166,3509,0,0,0,0,0,0
$GC,5785,-1.21,-146.0,552.9,-9.4,276,5789,0.00,2.10,0.00,0.000,6,0.000,0.034,3074,1461,3509,0,0,0,0,0,0
$GC,6041,-1.21,-146.0,575.7,-8.8,283,6045,0.00,2.67,0.00,0.000,4,0.000,0.048,3075,3069,3508,0,0,0,0,0,0
$GC,6088,-1.33,-146.0,580.0,-8.4,284,6094,0.10,2.62,0.00,0.000,6,0.076,0.047,3016,1515,3507,0,0,0,0,0,0
$STATE,6288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6288,begin apogee
$GC,6295,-0.31,0.0,601.5,11.1,289,6417,1.15,0.00,118.15,0.937,6,0.086,0.000,3270,1377,2920,0,0,0,0,0,0
$STATE,6418,end apogee,CONTROL_FINISHED_OK
$STATE,6418,begin climb
$GC,6421,1.27,146.0,604.8,0.0,292,6552,1.45,2.20,123.72,0.917,4,0.046,0.082,3618,172,2323,0,0,0,0,0,0
$GC,6595,0.90,146.0,595.7,13.4,296,6600,0.38,1.85,0.00,0.000,6,0.101,0.029,3539,1324,2319,0,0,0,0,0,0
$GC,6879,0.96,189.5,571.8,8.0,303,6922,0.00,2.08,37.30,0.882,4,0.000,0.068,3539,172,2147,0,0,0,0,0,0
$GC,6957,0.87,189.5,564.9,10.7,304,6960,0.00,1.88,0.00,0.000,6,0.000,0.028,3539,1323,2146,0,0,0,0,0,0
$GC,7215,0.91,215.7,541.7,8.8,311,7245,0.00,2.72,23.88,0.851,4,0.000,0.048,3539,2904,2039,0,0,0,0,0,0
$GC,7276,0.94,243.0,536.2,8.7,312,7309,0.00,2.62,26.15,0.847,6,0.000,0.046,3539,1376,1928,0,0,0,0,0,0
$GC,7591,0.94,243.0,500.8,11.6,320,7595,0.00,2.12,0.00,0.000,4,0.000,0.073,3539,161,1923,0,0,0,0,0,0
$GC,7719,0.94,243.0,484.9,12.8,322,7722,0.00,1.85,0.00,0.000,6,0.000,0.026,3539,1335,1922,0,0,0,0,0,0
$GC,7977,0.94,243.0,457.8,10.1,329,7981,0.00,2.67,0.00,0.000,4,0.000,0.040,3539,2950,1920,0,0,0,0,0,0
$GC,8022,1.05,243.1,453.6,10.0,330,8027,0.12,2.67,0.00,0.000,6,0.064,0.043,3592,1363,1917,0,0,0,0,0,0
$GC,8310,0.94,243.1,418.6,12.1,337,8315,0.22,2.05,0.00,0.000,4,0.094,0.061,3544,167,1917,0,0,0,0,0,0
$GC,8334,0.94,243.1,415.6,11.4,337,8338,0.00,1.90,0.00,0.000,6,0.000,0.024,3544,1372,1917,0,0,0,0,0,0
$GC,8599,0.95,250.3,389.8,9.7,344,8611,0.00,2.12,5.85,0.627,4,0.000,0.059,3544,166,1899,0,0,0,0,0,0
$GC,8639,0.95,250.3,385.0,12.2,344,8645,0.00,1.90,0.00,0.000,6,0.000,0.024,3543,1367,1898,0,0,0,0,0,0
$GC,8889,0.95,250.3,358.9,10.4,351,8893,0.00,2.55,0.00,0.000,4,0.000,0.035,3544,2946,1898,0,0,0,0,0,0
$GC,8914,1.07,280.9,356.6,8.6,351,8951,0.12,2.65,28.60,0.766,6,0.064,0.041,3600,1361,1774,0,0,0,0,0,0
$GC,9220,0.97,280.9,318.2,12.7,359,9222,0.22,0.00,0.00,0.000,6,0.094,0.000,3552,1361,1769,0,0,0,0,0,0
$GC,9464,1.04,280.9,292.9,10.4,365,9468,0.00,2.58,0.00,0.000,4,0.000,0.032,3551,2946,1768,0,0,0,0,0,0
$GC,9520,1.19,280.9,287.0,10.3,366,9527,0.20,2.65,0.00,0.000,6,0.044,0.040,3618,1363,1765,0,0,0,0,0,0
$GC,9798,1.07,280.9,247.6,14.6,373,9802,0.22,2.00,0.00,0.000,4,0.094,0.056,3570,166,1765,0,0,0,0,0,0
$GC,9844,1.07,280.9,240.9,13.1,374,9848,0.00,1.88,0.00,0.000,6,0.000,0.021,3570,1389,1765,0,0,0,0,0,0
$GC,10131,1.08,287.3,211.5,9.7,381,10143,0.00,2.47,5.70,0.520,4,0.000,0.028,3570,2938,1747,0,0,0,0,0,0
$GC,10196,1.22,287.3,205.2,10.2,382,10201,0.15,2.60,0.00,0.000,6,0.055,0.038,3628,1376,1745,0,0,0,0,0,0
$GC,10468,1.10,287.3,169.2,14.1,403,10473,0.22,2.03,0.00,0.000,4,0.094,0.051,3580,165,1745,0,0,0,0,0,0
$GC,10544,1.10,287.3,159.0,12.7,410,10547,0.00,1.85,0.00,0.000,6,0.000,0.021,3580,1384,1745,0,0,0,0,0,0
$GC,10815,1.10,292.5,130.2,9.8,435,10823,0.00,0.00,5.72,0.464,6,0.000,0.000,3580,1387,1727,0,0,0,0,0,0
$GC,11080,1.13,310.3,104.1,9.2,460,11099,0.00,0.00,17.67,0.535,6,0.000,0.000,3580,1386,1655,0,0,0,0,0,0
$GC,11359,1.23,310.3,76.4,11.5,486,11368,0.10,0.00,0.00,0.000,6,0.075,0.000,3632,1387,1653,0,0,0,0,0,0
$GC,11624,1.23,310.3,43.4,12.3,511,11629,0.12,2.47,0.00,0.000,4,0.104,0.028,3606,2941,1652,0,0,0,0,0,0
$GC,11656,1.23,310.3,40.0,10.1,513,11660,0.00,2.55,0.00,0.000,6,0.000,0.034,3606,1379,1651,0,0,0,0,0,0
$GC,11949,1.23,310.3,8.0,11.9,553,11958,0.00,2.50,0.00,0.000,4,0.000,0.026,3605,2932,1651,0,0,0,0,0,0
$GC,11980,1.29,310.3,4.4,11.5,557,11988,0.00,2.53,0.00,0.000,6,0.000,0.034,3606,1396,1650,0,0,0,0,0,0
$STATE,11995,end climb,SURFACE_DEPTH_REACHED
$STATE,11995,begin surface coast
$FINISH,0.8,1.023741
$STATE,12040,end surface coast,CONTROL_FINISHED_OK
$STATE,12040,begin surface
$SM_CCo,12065,37.10,0.449,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,37.10,0.000,0.000,0.449,412,1584,1369,-13.47,1.24,380.21
$IRIDIUM_FIX,2253.38,-15804.96,270901,171727
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,3
$24V_AH,23.5,23.365
$10V_AH,10.0,16.881
$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,36.625,135.475,392.750,37.100,0.000,24.594,37.033,193.261,0.750,0.000,34.665,1185.417,8129.811,481.923,2127.537,590.861,33.371,1341.440,0.000,2106.692,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,82.069,936.507,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.850,340.673,415.099,638.768,1122.302,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44546,566
$CAP_FILE_SIZE,130427,0
$CFSIZE,260165632,168710144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,234206,2303.080,-15802.961,31,1.3,31,10.1