version: 66.06
glider: 148
mission: 11
dive: 170
start: 7 4 112 0 3 40
data:
$ID,148
$MISSION,11
$DIVE,170
$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,590.92767
$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,-921815.31
$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,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,108
$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
$GPS1,234206,2303.080,-15802.961,31,1.3,31,10.1
$_CALLS,5
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.5
$GPS2,000248,2303.042,-15802.969,14,1.6,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.133
$KALMAN_X,75257.8,-132.3,210.2,-80815.2,-671.3
$KALMAN_Y,-42012.9,-23.2,-190.5,70077.1,-527.2
$MHEAD_RNG_PITCHd_Wd,110.6,62454,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.82,0.000,2,0.000,0.000,411,1584,3350,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.2,-8.4,10,121,14.50,2.30,-2.80,0.000,4,0.173,0.053,3058,163,3516,0,0,0,0,0,0
$GC,151,-0.64,-146.0,24.4,-31.6,17,160,0.60,2.05,0.00,0.000,6,0.086,0.018,3195,1483,3518,0,0,0,0,0,0
$GC,430,-0.76,-146.0,52.8,-9.2,44,435,0.00,2.50,0.00,0.000,4,0.000,0.024,3194,3063,3519,0,0,0,0,0,0
$GC,508,-1.03,-146.0,59.8,-8.0,50,513,0.32,2.45,0.00,0.000,6,0.035,0.029,3090,1551,3519,0,0,0,0,0,0
$GC,771,-0.84,-146.0,102.1,-15.1,74,776,0.28,2.25,0.00,0.000,4,0.095,0.049,3153,164,3519,0,0,0,0,0,0
$GC,814,-0.92,-146.0,108.1,-11.3,77,819,0.00,2.05,0.00,0.000,6,0.000,0.018,3153,1524,3519,0,0,0,0,0,0
$GC,1077,-1.00,-146.0,132.0,-8.9,102,1082,0.12,2.47,0.00,0.000,4,0.064,0.024,3087,3098,3519,0,0,0,0,0,0
$GC,1125,-1.00,-146.0,137.4,-10.8,106,1130,0.15,2.50,0.00,0.000,6,0.097,0.030,3121,1552,3519,0,0,0,0,0,0
$GC,1391,-1.00,-146.0,164.4,-10.0,130,1395,0.00,2.22,0.00,0.000,4,0.000,0.043,3122,171,3520,0,0,0,0,0,0
$GC,1430,-1.00,-146.0,168.4,-10.5,133,1434,0.00,2.10,0.00,0.000,6,0.000,0.018,3122,1565,3520,0,0,0,0,0,0
$GC,1698,-1.00,-146.0,194.0,-8.8,157,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1567,3520,0,0,0,0,0,0
$GC,1971,-1.00,-146.0,220.9,-10.0,169,1975,0.00,2.38,0.00,0.000,4,0.000,0.024,3121,3090,3520,0,0,0,0,0,0
$GC,2005,-1.09,-146.0,224.4,-9.9,169,2010,0.00,2.47,0.00,0.000,6,0.000,0.028,3122,1552,3520,0,0,0,0,0,0
$GC,2260,-1.15,-146.0,247.2,-9.0,176,2265,0.15,2.45,0.00,0.000,4,0.055,0.025,3049,3088,3520,0,0,0,0,0,0
$GC,2276,-1.15,-146.0,248.9,-8.7,176,2281,0.17,2.42,0.00,0.000,6,0.093,0.028,3088,1568,3520,0,0,0,0,0,0
$GC,2547,-1.15,-146.0,274.2,-9.4,183,2551,0.00,2.28,0.00,0.000,4,0.000,0.047,3088,171,3520,0,0,0,0,0,0
$GC,2598,-1.15,-146.0,279.6,-9.8,184,2602,0.00,2.10,0.00,0.000,6,0.000,0.019,3088,1540,3520,0,0,0,0,0,0
$GC,2882,-1.15,-146.0,305.4,-9.2,191,2886,0.00,2.47,0.00,0.000,4,0.000,0.028,3088,3102,3519,0,0,0,0,0,0
$GC,2926,-1.25,-146.0,309.4,-8.1,192,2930,0.00,2.50,0.00,0.000,6,0.000,0.033,3088,1559,3519,0,0,0,0,0,0
$GC,3213,-1.25,-146.0,334.3,-8.6,199,3217,0.00,2.30,0.00,0.000,4,0.000,0.052,3088,166,3517,0,0,0,0,0,0
$GC,3261,-1.25,-146.0,338.7,-9.5,200,3265,0.00,2.15,0.00,0.000,6,0.000,0.021,3088,1549,3517,0,0,0,0,0,0
$GC,3543,-1.25,-146.0,362.9,-8.6,207,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1550,3515,0,0,0,0,0,0
$GC,3787,-1.25,-146.0,384.7,-9.0,213,3791,0.00,2.35,0.00,0.000,4,0.000,0.058,3088,164,3513,0,0,0,0,0,0
$GC,3811,-1.25,-146.0,387.0,-10.4,213,3815,0.00,2.20,0.00,0.000,6,0.000,0.024,3088,1562,3513,0,0,0,0,0,0
$GC,4075,-1.25,-146.0,410.9,-8.9,220,4079,0.00,2.35,0.00,0.000,4,0.000,0.061,3088,175,3512,0,0,0,0,0,0
$GC,4100,-1.25,-146.0,413.0,-9.3,220,4104,0.00,2.17,0.00,0.000,6,0.000,0.025,3088,1555,3512,0,0,0,0,0,0
$GC,4361,-1.25,-146.0,434.8,-8.4,227,4365,0.00,2.50,0.00,0.000,4,0.000,0.036,3088,3108,3510,0,0,0,0,0,0
$GC,4384,-1.25,-146.0,437.1,-10.1,227,4389,0.00,2.58,0.00,0.000,6,0.000,0.038,3088,1556,3510,0,0,0,0,0,0
$GC,4644,-1.25,-146.0,458.3,-8.3,234,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1556,3508,0,0,0,0,0,0
$GC,4888,-1.25,-146.0,478.1,-8.0,240,4892,0.00,2.55,0.00,0.000,4,0.000,0.038,3088,3111,3506,0,0,0,0,0,0
$GC,4912,-1.34,-146.0,480.1,-9.2,240,4917,0.17,2.60,0.00,0.000,6,0.048,0.041,3005,1559,3506,0,0,0,0,0,0
$GC,5173,-1.14,-146.0,512.1,-12.8,247,5178,0.35,2.40,0.00,0.000,4,0.097,0.071,3085,168,3504,0,0,0,0,0,0
$GC,5236,-1.20,-146.0,518.8,-9.8,248,5240,0.00,2.22,0.00,0.000,6,0.000,0.033,3085,1548,3504,0,0,0,0,0,0
$GC,5504,-1.20,-146.0,541.6,-8.3,255,5509,0.00,2.40,0.00,0.000,4,0.000,0.070,3085,165,3502,0,0,0,0,0,0
$GC,5520,-1.20,-146.0,543.0,-8.4,255,5524,0.00,2.22,0.00,0.000,6,0.000,0.033,3085,1554,3502,0,0,0,0,0,0
$GC,5793,-1.20,-146.0,563.6,-7.4,262,5798,0.00,2.60,0.00,0.000,4,0.000,0.048,3085,3123,3500,0,0,0,0,0,0
$GC,5808,-1.20,-146.0,564.8,-7.3,262,5812,0.00,2.60,0.00,0.000,6,0.000,0.043,3085,1558,3500,0,0,0,0,0,0
$GC,6078,-1.20,-146.0,584.4,-7.3,269,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1558,3498,0,0,0,0,0,0
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6277,begin apogee
$GC,6283,-0.31,0.0,600.0,7.8,274,6403,0.82,0.00,116.55,0.940,6,0.082,0.000,3270,1378,2920,0,0,0,0,0,0
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6406,1.27,146.0,603.9,0.0,277,6538,1.45,2.22,123.68,0.920,4,0.046,0.081,3617,165,2323,0,0,0,0,0,0
$GC,6713,0.91,146.0,578.8,14.1,284,6718,0.38,2.00,0.00,0.000,6,0.102,0.030,3539,1387,2317,0,0,0,0,0,0
$GC,7002,0.97,190.5,554.5,7.9,291,7046,0.00,2.22,38.35,0.879,4,0.000,0.069,3539,172,2142,0,0,0,0,0,0
$GC,7093,0.90,190.5,546.6,10.9,293,7097,0.00,2.00,0.00,0.000,6,0.000,0.028,3539,1397,2141,0,0,0,0,0,0
$GC,7385,0.94,225.4,521.2,8.4,300,7421,0.00,2.20,31.25,0.858,4,0.000,0.067,3539,171,2001,0,0,0,0,0,0
$GC,7471,0.94,225.4,512.6,11.7,301,7476,0.00,1.98,0.00,0.000,6,0.000,0.028,3538,1388,1999,0,0,0,0,0,0
$GC,7721,0.94,226.2,487.3,10.0,308,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1390,1995,0,0,0,0,0,0
$GC,7964,0.94,226.3,462.9,10.0,314,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1390,1993,0,0,0,0,0,0
$GC,8208,0.95,233.2,439.1,9.7,320,8217,0.00,0.00,7.07,0.690,6,0.000,0.000,3539,1390,1969,0,0,0,0,0,0
$GC,8453,0.96,239.4,415.0,9.7,326,8466,0.00,2.62,7.38,0.687,4,0.000,0.038,3539,2956,1943,0,0,0,0,0,0
$GC,8504,1.11,257.6,410.1,9.2,327,8529,0.17,2.70,18.42,0.780,6,0.050,0.043,3610,1367,1868,0,0,0,0,0,0
$GC,8787,0.96,257.6,375.3,12.4,334,8792,0.25,2.03,0.00,0.000,4,0.092,0.059,3551,169,1864,0,0,0,0,0,0
$GC,8852,0.96,257.6,367.8,10.4,335,8856,0.00,1.92,0.00,0.000,6,0.000,0.025,3551,1367,1864,0,0,0,0,0,0
$GC,9122,0.96,261.2,341.9,9.8,342,9126,0.00,2.60,0.00,0.000,4,0.000,0.035,3551,2955,1862,0,0,0,0,0,0
$GC,9169,1.11,278.2,337.2,9.2,343,9194,0.12,2.67,18.52,0.736,6,0.064,0.042,3606,1365,1784,0,0,0,0,0,0
$GC,9455,1.01,278.2,299.4,13.8,350,9460,0.22,2.05,0.00,0.000,4,0.093,0.058,3558,162,1780,0,0,0,0,0,0
$GC,9500,1.01,278.2,293.7,12.0,351,9503,0.00,1.92,0.00,0.000,6,0.000,0.024,3558,1387,1780,0,0,0,0,0,0
$GC,9791,1.01,279.3,263.8,9.9,358,9795,0.00,2.50,0.00,0.000,4,0.000,0.031,3558,2945,1779,0,0,0,0,0,0
$GC,9836,1.16,284.1,259.7,9.8,359,9848,0.15,2.60,5.28,0.536,6,0.055,0.038,3621,1374,1761,0,0,0,0,0,0
$GC,10128,1.04,284.1,221.2,13.6,366,10133,0.25,2.03,0.00,0.000,4,0.092,0.053,3563,164,1761,0,0,0,0,0,0
$GC,10200,1.04,284.1,212.3,11.8,367,10203,0.00,1.90,0.00,0.000,6,0.000,0.021,3563,1400,1760,0,0,0,0,0,0
$GC,10468,1.12,296.9,186.9,9.4,382,10487,0.00,2.50,12.95,0.597,4,0.000,0.027,3562,2937,1707,0,0,0,0,0,0
$GC,10523,1.31,329.9,181.4,8.5,387,10562,0.22,2.62,31.00,0.625,6,0.021,0.037,3646,1377,1573,0,0,0,0,0,0
$GC,10816,1.18,329.9,138.9,14.2,415,10821,0.22,2.03,0.00,0.000,4,0.091,0.048,3597,166,1568,0,0,0,0,0,0
$GC,10886,1.18,329.9,129.7,13.6,421,10890,0.00,1.85,0.00,0.000,6,0.000,0.020,3597,1369,1568,0,0,0,0,0,0
$GC,11152,1.18,329.9,96.0,12.7,446,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1371,1567,0,0,0,0,0,0
$GC,11410,1.18,329.9,65.8,11.3,470,11415,0.00,2.50,0.00,0.000,4,0.000,0.027,3597,2939,1567,0,0,0,0,0,0
$GC,11441,1.27,329.9,62.4,10.6,472,11445,0.00,2.58,0.00,0.000,6,0.000,0.035,3597,1371,1565,0,0,0,0,0,0
$GC,11709,1.27,329.9,32.4,10.2,496,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1370,1565,0,0,0,0,0,0
$STATE,11956,end climb,SURFACE_DEPTH_REACHED
$STATE,11957,begin surface coast
$FINISH,0.9,1.023741
$STATE,11995,end surface coast,CONTROL_FINISHED_OK
$STATE,11995,begin surface
$SM_CCo,12019,176.85,0.450,3,0,510,590.93
$SM_GC,1.36,0.00,0.00,176.85,0.000,0.000,0.450,413,1604,510,-13.46,1.81,590.93
$IRIDIUM_FIX,2253.38,-15801.91,280901,000027
$TT8_MAMPS,0.027612
$HUMID,60.00
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,21.70
$XPDR_PINGS,4
$24V_AH,23.5,23.529
$10V_AH,9.9,17.000
$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,33.850,134.950,410.450,176.850,0.000,150.227,176.676,478.058,1.000,0.000,33.171,1164.475,8392.199,630.942,2086.500,1174.426,33.368,1497.251,0.000,2060.601,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,81.302,940.342,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.496,303.907,385.179,569.891,1000.992,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41576,541
$CAP_FILE_SIZE,145410,0
$CFSIZE,260165632,168620032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040712,032830,2301.998,-15801.740,36,1.2,36,10.1