version: 66.06
glider: 148
mission: 11
dive: 178
start: 7 5 112 4 13 14
data:
$ID,148
$MISSION,11
$DIVE,178
$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,-921995.44
$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,26
$R_STBD_OVSHOOT,59
$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
$GPS1,040136,2253.657,-15752.754,37,1.2,37,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-72.6
$GPS2,041220,2253.671,-15752.786,13,2.2,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.129,-0.226
$KALMAN_X,73930.4,72.6,-504.9,-61590.7,306.5
$KALMAN_Y,-44649.9,419.3,-534.3,55260.1,685.5
$MHEAD_RNG_PITCHd_Wd,140.2,37890,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,413,1602,3321,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-7.6,10,119,13.80,2.33,-3.30,0.000,4,0.152,0.045,3058,163,3517,0,0,0,0,0,0
$GC,204,-1.04,-146.0,36.0,-17.2,24,212,0.22,2.12,0.00,0.000,6,0.091,0.018,3111,1537,3519,0,0,0,0,0,0
$GC,472,-0.93,-146.0,76.0,-14.9,49,477,0.12,2.50,0.00,0.000,4,0.115,0.026,3139,3108,3520,0,0,0,0,0,0
$GC,557,-1.06,-146.0,86.6,-9.4,56,567,0.08,2.55,0.00,0.000,6,0.031,0.029,3087,1544,3520,0,0,0,0,0,0
$GC,823,-0.92,-146.0,120.4,-13.6,81,828,0.22,0.00,0.00,0.000,6,0.103,0.000,3135,1544,3521,0,0,0,0,0,0
$GC,1085,-0.92,-146.0,149.1,-10.8,106,1090,0.00,2.45,0.00,0.000,4,0.000,0.024,3135,3109,3522,0,0,0,0,0,0
$GC,1106,-0.99,-146.0,151.6,-11.5,107,1111,0.00,2.50,0.00,0.000,6,0.000,0.027,3135,1553,3522,0,0,0,0,0,0
$GC,1371,-1.06,-146.0,177.8,-9.3,132,1379,0.10,0.00,0.00,0.000,6,0.074,0.000,3071,1553,3523,0,0,0,0,0,0
$GC,1628,-0.94,-146.0,211.8,-13.3,151,1634,0.25,2.45,0.00,0.000,4,0.089,0.023,3131,3109,3523,0,0,0,0,0,0
$GC,1664,-1.07,-146.0,215.4,-8.3,151,1669,0.10,2.47,0.00,0.000,6,0.074,0.028,3064,1558,3523,0,0,0,0,0,0
$GC,1914,-0.94,-146.0,244.6,-11.8,157,1919,0.30,2.45,0.00,0.000,4,0.091,0.025,3131,3109,3523,0,0,0,0,0,0
$GC,1939,-0.94,-146.0,247.0,-8.6,157,1943,0.00,2.50,0.00,0.000,6,0.000,0.029,3131,1561,3523,0,0,0,0,0,0
$GC,2200,-1.05,-146.0,265.8,-7.4,164,2204,0.00,2.30,0.00,0.000,4,0.000,0.048,3131,163,3523,0,0,0,0,0,0
$GC,2228,-1.15,-146.0,268.3,-8.2,164,2233,0.17,2.15,0.00,0.000,6,0.049,0.020,3058,1568,3523,0,0,0,0,0,0
$GC,2484,-1.05,-146.0,296.5,-11.2,171,2489,0.22,2.42,0.00,0.000,4,0.091,0.027,3109,3104,3523,0,0,0,0,0,0
$GC,2505,-1.05,-146.0,298.6,-10.4,171,2509,0.00,2.50,0.00,0.000,6,0.000,0.031,3109,1564,3523,0,0,0,0,0,0
$GC,2769,-1.11,-146.0,320.9,-8.7,178,2773,0.00,2.30,0.00,0.000,4,0.000,0.051,3109,166,3523,0,0,0,0,0,0
$GC,2817,-1.23,-146.0,325.7,-10.1,179,2822,0.15,2.12,0.00,0.000,6,0.054,0.021,3036,1550,3523,0,0,0,0,0,0
$GC,3100,-1.08,-146.0,363.5,-13.5,186,3106,0.28,2.50,0.00,0.000,4,0.088,0.032,3101,3114,3521,0,0,0,0,0,0
$GC,3139,-1.20,-146.0,367.6,-9.4,186,3145,0.00,2.53,0.00,0.000,6,0.000,0.035,3101,1571,3522,0,0,0,0,0,0
$GC,3391,-1.26,-146.0,389.3,-8.7,193,3393,0.15,0.00,0.00,0.000,6,0.054,0.000,3025,1571,3519,0,0,0,0,0,0
$GC,3633,-1.10,-146.0,419.4,-12.8,199,3638,0.30,2.38,0.00,0.000,4,0.089,0.063,3096,170,3518,0,0,0,0,0,0
$GC,3710,-1.17,-146.0,427.3,-9.4,200,3714,0.00,2.17,0.00,0.000,6,0.000,0.028,3096,1554,3518,0,0,0,0,0,0
$GC,3965,-1.17,-146.0,448.8,-8.3,207,3969,0.00,2.53,0.00,0.000,4,0.000,0.038,3096,3122,3517,0,0,0,0,0,0
$GC,3989,-1.26,-146.0,451.0,-8.7,207,3994,0.12,2.58,0.00,0.000,6,0.062,0.038,3019,1563,3516,0,0,0,0,0,0
$GC,4251,-1.09,-146.0,481.4,-12.1,214,4253,0.38,0.00,0.00,0.000,6,0.086,0.000,3103,1563,3514,0,0,0,0,0,0
$GC,4493,-1.19,-146.0,499.6,-7.1,220,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1563,3512,0,0,0,0,0,0
$GC,4737,-1.28,-146.0,515.8,-6.5,226,4742,0.17,2.58,0.00,0.000,4,0.050,0.044,3031,3115,3511,0,0,0,0,0,0
$GC,4754,-1.28,-146.0,517.1,-6.5,226,4759,0.12,2.58,0.00,0.000,6,0.105,0.041,3061,1573,3511,0,0,0,0,0,0
$GC,5023,-1.28,-146.0,540.3,-8.8,233,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1572,3509,0,0,0,0,0,0
$GC,5267,-1.28,-146.0,563.1,-9.5,239,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1573,3508,0,0,0,0,0,0
$GC,5512,-1.28,-146.0,585.7,-9.1,245,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1572,3506,0,0,0,0,0,0
$STATE,5711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5711,begin apogee
$GC,5717,-0.31,0.0,601.9,7.8,250,5838,0.95,0.00,117.55,0.930,6,0.086,0.000,3272,1379,2919,0,0,0,0,0,0
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5839,begin climb
$GC,5842,1.27,146.0,603.9,0.0,253,5973,1.45,2.20,123.47,0.910,4,0.045,0.081,3621,169,2324,0,0,0,0,0,0
$GC,6119,0.90,146.0,578.4,14.2,259,6124,0.40,1.98,0.00,0.000,6,0.100,0.031,3537,1380,2318,0,0,0,0,0,0
$GC,6393,0.96,193.5,555.5,7.8,266,6441,0.00,2.17,41.25,0.874,4,0.000,0.067,3537,167,2128,0,0,0,0,0,0
$GC,6457,1.01,231.3,550.4,8.3,267,6498,0.00,2.00,34.15,0.856,6,0.000,0.030,3537,1386,1977,0,0,0,0,0,0
$GC,6770,1.03,252.5,522.5,9.0,275,6798,0.12,2.70,20.00,0.825,4,0.065,0.048,3588,2956,1888,0,0,0,0,0,0
$GC,6815,0.95,252.5,517.1,12.9,276,6822,0.20,2.70,0.00,0.000,6,0.092,0.044,3545,1377,1886,0,0,0,0,0,0
$GC,7105,0.95,252.5,485.3,11.2,283,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1377,1883,0,0,0,0,0,0
$GC,7348,0.95,252.5,457.0,11.5,289,7353,0.00,2.62,0.00,0.000,4,0.000,0.037,3545,2964,1882,0,0,0,0,0,0
$GC,7388,1.04,252.5,453.0,11.1,289,7393,0.00,2.70,0.00,0.000,6,0.000,0.044,3544,1372,1879,0,0,0,0,0,0
$GC,7638,1.04,255.4,427.4,9.9,296,7642,0.10,2.10,0.00,0.000,4,0.077,0.066,3588,159,1879,0,0,0,0,0,0
$GC,7662,0.93,255.4,424.6,11.6,296,7666,0.22,1.95,0.00,0.000,6,0.094,0.026,3540,1387,1878,0,0,0,0,0,0
$GC,7923,0.95,276.6,400.7,9.0,303,7950,0.00,2.12,20.85,0.777,4,0.000,0.061,3540,165,1791,0,0,0,0,0,0
$GC,7988,0.95,276.6,394.0,11.2,304,7991,0.00,1.92,0.00,0.000,6,0.000,0.025,3539,1370,1791,0,0,0,0,0,0
$GC,8257,1.03,276.6,367.2,10.1,311,8262,0.10,2.58,0.00,0.000,4,0.076,0.036,3586,2954,1787,0,0,0,0,0,0
$GC,8309,1.03,276.6,360.8,12.5,312,8314,0.10,2.65,0.00,0.000,6,0.115,0.041,3563,1371,1785,0,0,0,0,0,0
$GC,8587,1.03,276.6,328.7,11.6,319,8592,0.00,2.60,0.00,0.000,4,0.000,0.034,3563,2959,1784,0,0,0,0,0,0
$GC,8626,1.13,276.6,324.4,12.4,319,8633,0.10,2.62,0.00,0.000,6,0.076,0.041,3612,1379,1782,0,0,0,0,0,0
$GC,8876,1.02,276.6,289.1,14.0,326,8881,0.22,2.05,0.00,0.000,4,0.097,0.056,3563,167,1783,0,0,0,0,0,0
$GC,8932,1.02,276.6,281.6,12.6,327,8936,0.00,1.90,0.00,0.000,6,0.000,0.022,3563,1399,1783,0,0,0,0,0,0
$GC,9211,1.02,276.6,251.4,10.7,334,9212,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1401,1782,0,0,0,0,0,0
$GC,9453,1.02,277.1,227.1,10.0,340,9458,0.00,2.45,0.00,0.000,4,0.000,0.030,3563,2948,1782,0,0,0,0,0,0
$GC,9491,1.15,280.4,223.3,9.8,340,9497,0.10,2.60,0.00,0.000,6,0.074,0.037,3621,1377,1781,0,0,0,0,0,0
$GC,9745,1.05,280.4,191.2,12.8,350,9749,0.22,2.03,0.00,0.000,4,0.093,0.051,3571,164,1781,0,0,0,0,0,0
$GC,9802,1.05,280.4,184.8,11.5,355,9806,0.00,1.88,0.00,0.000,6,0.000,0.021,3571,1392,1781,0,0,0,0,0,0
$GC,10071,1.12,280.4,158.3,10.2,380,10075,0.00,2.42,0.00,0.000,4,0.000,0.027,3571,2938,1781,0,0,0,0,0,0
$GC,10086,1.18,280.4,156.5,10.1,381,10091,0.12,2.55,0.00,0.000,6,0.063,0.034,3637,1368,1781,0,0,0,0,0,0
$GC,10351,1.07,280.4,121.2,13.3,405,10356,0.28,1.98,0.00,0.000,4,0.087,0.055,3573,164,1781,0,0,0,0,0,0
$GC,10419,1.07,280.4,113.2,10.9,411,10423,0.00,1.80,0.00,0.000,6,0.000,0.020,3573,1384,1781,0,0,0,0,0,0
$GC,10688,1.18,309.0,88.7,8.7,436,10722,0.10,2.47,28.02,0.530,4,0.077,0.026,3627,2922,1658,0,0,0,0,0,0
$GC,10779,1.18,309.0,78.5,11.2,444,10788,0.10,2.58,0.00,0.000,6,0.070,0.036,3599,1379,1655,0,0,0,0,0,0
$GC,11042,1.18,309.0,52.5,10.4,469,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1379,1655,0,0,0,0,0,0
$GC,11316,1.26,325.0,24.2,9.3,498,11341,0.00,2.50,15.25,0.451,4,0.000,0.024,3599,2922,1591,0,0,0,0,0,0
$GC,11376,1.39,325.0,17.5,11.7,506,11385,0.15,2.53,0.00,0.000,6,0.024,0.031,3657,1389,1589,0,0,0,0,0,0
$STATE,11474,end climb,SURFACE_DEPTH_REACHED
$STATE,11474,begin surface coast
$FINISH,0.7,1.011453
$STATE,11510,end surface coast,CONTROL_FINISHED_OK
$STATE,11510,begin surface
$SM_CCo,11535,33.62,0.448,0,0,1369,380.21
$SM_GC,1.56,0.00,0.00,33.62,0.000,0.000,0.448,413,1557,1369,-13.46,0.48,380.21
$IRIDIUM_FIX,2244.02,-15751.06,290901,040434
$TT8_MAMPS,0.027612
$HUMID,62.79
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.80
$XPDR_PINGS,6
$24V_AH,23.5,24.487
$10V_AH,9.9,17.877
$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,35.600,127.775,400.550,33.625,0.000,59.903,115.675,250.323,1.500,0.000,36.530,1110.051,7943.482,473.574,1934.738,749.987,33.368,1297.517,0.000,1915.091,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,81.302,930.371,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.569,289.852,378.399,549.473,963.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,41471,526
$CAP_FILE_SIZE,128623,0
$CFSIZE,260165632,168148992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,072749,2252.881,-15751.810,45,99.0,64,10.1