version: 66.06
glider: 148
mission: 11
dive: 183
start: 7 5 112 22 2 29
data:
$ID,148
$MISSION,11
$DIVE,183
$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,-922115.44
$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,25
$R_STBD_OVSHOOT,89
$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
$GPS1,214459,2248.140,-15748.124,34,2.0,50,10.1
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-73.3
$GPS2,220135,2248.199,-15748.219,14,1.3,24,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.161
$KALMAN_X,71171.8,-417.8,100.2,-51148.1,111.9
$KALMAN_Y,-45115.8,-319.2,821.3,44975.5,-623.7
$MHEAD_RNG_PITCHd_Wd,118.3,25168,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.35,0.000,2,0.000,0.000,413,1571,3091,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.8,9,113,13.70,0.00,-8.00,0.000,6,0.149,0.000,3057,1572,3517,0,0,0,0,0,0
$GC,383,-0.93,-146.0,67.4,-18.2,43,388,0.32,2.30,0.00,0.000,4,0.100,0.038,3131,161,3520,0,0,0,0,0,0
$GC,403,-0.67,-146.0,70.7,-17.2,44,408,0.28,2.08,0.00,0.000,6,0.095,0.017,3189,1542,3520,0,0,0,0,0,0
$GC,668,-0.83,-146.0,89.2,-7.4,68,673,0.15,2.42,0.00,0.000,4,0.052,0.024,3111,3086,3520,0,0,0,0,0,0
$GC,695,-0.83,-146.0,92.1,-10.3,70,700,0.20,2.50,0.00,0.000,6,0.089,0.028,3156,1522,3520,0,0,0,0,0,0
$GC,959,-0.90,-146.0,115.0,-8.7,94,964,0.00,2.45,0.00,0.000,4,0.000,0.024,3156,3083,3521,0,0,0,0,0,0
$GC,1010,-1.07,-146.0,120.0,-9.5,98,1019,0.17,2.53,0.00,0.000,6,0.021,0.036,3051,1536,3521,0,0,0,0,0,0
$GC,1273,-0.86,-146.0,160.0,-14.5,123,1282,0.45,0.00,0.00,0.000,6,0.088,0.000,3150,1535,3522,0,0,0,0,0,0
$GC,1541,-1.00,-146.0,183.2,-8.1,148,1546,0.12,0.00,0.00,0.000,6,0.064,0.000,3080,1535,3522,0,0,0,0,0,0
$GC,1798,-0.92,-146.0,215.4,-12.6,164,1803,0.25,2.42,0.00,0.000,4,0.088,0.023,3140,3080,3522,0,0,0,0,0,0
$GC,1855,-1.12,-146.0,220.9,-7.5,165,1860,0.17,2.45,0.00,0.000,6,0.046,0.028,3054,1546,3522,0,0,0,0,0,0
$GC,2131,-0.98,-146.0,254.8,-12.8,172,2136,0.30,2.28,0.00,0.000,4,0.090,0.044,3123,161,3522,0,0,0,0,0,0
$GC,2162,-1.05,-146.0,258.4,-10.2,172,2166,0.00,2.10,0.00,0.000,6,0.000,0.019,3123,1530,3522,0,0,0,0,0,0
$GC,2416,-1.13,-146.0,281.5,-9.0,179,2421,0.12,2.50,0.00,0.000,4,0.064,0.028,3064,3102,3522,0,0,0,0,0,0
$GC,2470,-1.13,-146.0,287.4,-10.6,180,2475,0.12,2.50,0.00,0.000,6,0.101,0.031,3093,1554,3522,0,0,0,0,0,0
$GC,2749,-1.13,-146.0,313.1,-8.6,187,2753,0.00,2.28,0.00,0.000,4,0.000,0.050,3093,173,3522,0,0,0,0,0,0
$GC,2772,-1.13,-146.0,315.3,-9.4,187,2776,0.00,2.15,0.00,0.000,6,0.000,0.021,3093,1552,3522,0,0,0,0,0,0
$GC,3037,-1.13,-146.0,340.5,-9.8,194,3042,0.00,2.50,0.00,0.000,4,0.000,0.034,3094,3108,3520,0,0,0,0,0,0
$GC,3070,-1.22,-146.0,344.2,-10.3,194,3075,0.00,2.53,0.00,0.000,6,0.000,0.033,3093,1553,3520,0,0,0,0,0,0
$GC,3320,-1.22,-146.0,368.0,-9.4,200,3325,0.00,2.50,0.00,0.000,4,0.000,0.033,3093,3106,3519,0,0,0,0,0,0
$GC,3341,-1.22,-146.0,369.6,-8.5,200,3345,0.00,2.53,0.00,0.000,6,0.000,0.035,3093,1559,3519,0,0,0,0,0,0
$GC,3605,-1.22,-146.0,394.5,-9.8,207,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,1558,3517,0,0,0,0,0,0
$GC,3849,-1.22,-146.0,416.5,-8.7,213,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1559,3516,0,0,0,0,0,0
$GC,4094,-1.22,-146.0,434.9,-7.5,219,4098,0.00,2.53,0.00,0.000,4,0.000,0.038,3093,3104,3514,0,0,0,0,0,0
$GC,4118,-1.30,-146.0,437.0,-8.6,219,4123,0.15,2.58,0.00,0.000,6,0.055,0.038,3018,1553,3514,0,0,0,0,0,0
$GC,4378,-1.13,-146.0,465.2,-10.9,226,4383,0.30,2.38,0.00,0.000,4,0.091,0.068,3088,166,3512,0,0,0,0,0,0
$GC,4442,-1.20,-146.0,471.1,-8.9,227,4446,0.00,2.20,0.00,0.000,6,0.000,0.031,3088,1546,3512,0,0,0,0,0,0
$GC,4710,-1.20,-146.0,491.2,-7.3,234,4715,0.00,2.60,0.00,0.000,4,0.000,0.042,3088,3124,3510,0,0,0,0,0,0
$GC,4731,-1.20,-146.0,492.6,-7.3,234,4736,0.00,2.62,0.00,0.000,6,0.000,0.039,3088,1548,3510,0,0,0,0,0,0
$GC,4997,-1.20,-146.0,510.3,-6.8,241,5001,0.00,2.40,0.00,0.000,4,0.000,0.073,3088,164,3508,0,0,0,0,0,0
$GC,5030,-1.26,-146.0,513.0,-8.0,241,5034,0.00,2.22,0.00,0.000,6,0.000,0.034,3088,1550,3507,0,0,0,0,0,0
$GC,5287,-1.32,-146.0,530.0,-6.6,248,5292,0.15,2.62,0.00,0.000,4,0.058,0.044,3026,3129,3506,0,0,0,0,0,0
$GC,5311,-1.32,-146.0,532.3,-9.1,248,5317,0.12,2.65,0.00,0.000,6,0.104,0.044,3054,1550,3506,0,0,0,0,0,0
$GC,5572,-1.32,-146.0,554.9,-8.9,255,5576,0.00,2.40,0.00,0.000,4,0.000,0.076,3054,165,3503,0,0,0,0,0,0
$GC,5592,-1.32,-146.0,556.8,-10.5,255,5596,0.00,2.25,0.00,0.000,6,0.000,0.042,3054,1547,3503,0,0,0,0,0,0
$GC,5860,-1.32,-146.0,581.9,-9.2,262,5864,0.00,2.38,0.00,0.000,4,0.000,0.071,3054,168,3502,0,0,0,0,0,0
$GC,5903,-1.32,-146.0,586.3,-10.5,263,5907,0.00,2.25,0.00,0.000,6,0.000,0.036,3054,1546,3501,0,0,0,0,0,0
$STATE,6065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6065,begin apogee
$GC,6073,-0.31,0.0,602.0,9.4,267,6193,0.98,0.00,117.03,0.943,6,0.085,0.000,3271,1368,2920,0,0,0,0,0,0
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6194,begin climb
$GC,6197,1.27,146.0,606.5,0.0,270,6329,1.45,2.15,123.82,0.920,4,0.047,0.077,3617,177,2323,0,0,0,0,0,0
$GC,6516,0.91,146.0,580.0,13.0,277,6521,0.38,1.98,0.00,0.000,6,0.100,0.031,3539,1388,2316,0,0,0,0,0,0
$GC,6795,0.98,200.9,558.1,7.5,284,6848,0.00,2.22,47.10,0.891,4,0.000,0.071,3539,175,2100,0,0,0,0,0,0
$GC,6928,0.98,200.9,544.5,12.1,287,6932,0.00,1.98,0.00,0.000,6,0.000,0.029,3539,1381,2098,0,0,0,0,0,0
$GC,7220,0.98,200.9,514.0,10.6,294,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1383,2093,0,0,0,0,0,0
$GC,7464,0.98,200.9,488.9,10.2,300,7468,0.00,2.08,0.00,0.000,4,0.000,0.064,3539,174,2092,0,0,0,0,0,0
$GC,7539,0.98,202.0,481.2,10.0,301,7543,0.00,1.95,0.00,0.000,6,0.000,0.026,3539,1373,2092,0,0,0,0,0,0
$GC,7798,1.05,261.0,461.2,7.3,308,7860,0.12,2.17,53.47,0.851,4,0.066,0.061,3590,174,1855,0,0,0,0,0,0
$GC,7910,0.92,261.0,448.7,13.0,310,7914,0.22,1.92,0.00,0.000,6,0.097,0.025,3542,1366,1853,0,0,0,0,0,0
$GC,8174,0.93,266.7,423.1,9.7,317,8182,0.00,0.00,5.62,0.630,6,0.000,0.000,3542,1368,1832,0,0,0,0,0,0
$GC,8419,0.93,266.7,396.7,11.1,323,8423,0.00,2.60,0.00,0.000,4,0.000,0.038,3542,2955,1829,0,0,0,0,0,0
$GC,8454,1.05,266.7,392.7,10.7,323,8459,0.10,2.70,0.00,0.000,6,0.074,0.044,3594,1363,1827,0,0,0,0,0,0
$GC,8704,0.97,266.7,355.8,15.1,329,8708,0.20,2.05,0.00,0.000,4,0.094,0.061,3550,165,1826,0,0,0,0,0,0
$GC,8729,0.97,266.7,352.3,13.6,329,8733,0.00,1.92,0.00,0.000,6,0.000,0.025,3550,1380,1826,0,0,0,0,0,0
$GC,8992,0.97,266.7,323.7,10.2,336,8993,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1383,1825,0,0,0,0,0,0
$GC,9236,0.99,289.8,301.5,8.9,342,9263,0.00,2.60,20.45,0.719,4,0.000,0.033,3550,2958,1736,0,0,0,0,0,0
$GC,9275,1.09,311.6,298.0,9.0,342,9304,0.12,2.70,21.20,0.709,6,0.064,0.040,3620,1363,1648,0,0,0,0,0,0
$GC,9571,0.98,311.6,255.1,15.3,350,9573,0.30,0.00,0.00,0.000,6,0.090,0.000,3556,1363,1644,0,0,0,0,0,0
$GC,9813,1.07,311.6,226.0,11.5,356,9817,0.00,2.60,0.00,0.000,4,0.000,0.029,3556,2959,1642,0,0,0,0,0,0
$GC,9852,1.23,311.6,221.8,11.0,356,9858,0.22,2.65,0.00,0.000,6,0.040,0.038,3647,1369,1639,0,0,0,0,0,0
$GC,10106,1.06,311.6,182.4,15.8,369,10110,0.32,2.03,0.00,0.000,4,0.092,0.051,3572,165,1639,0,0,0,0,0,0
$GC,10137,1.06,311.6,178.0,13.7,371,10143,0.00,1.90,0.00,0.000,6,0.000,0.021,3572,1399,1639,0,0,0,0,0,0
$GC,10400,1.13,311.6,147.7,10.9,396,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,1402,1639,0,0,0,0,0,0
$GC,10654,1.22,311.6,119.2,11.0,420,10659,0.12,2.42,0.00,0.000,4,0.064,0.028,3630,2936,1639,0,0,0,0,0,0
$GC,10674,1.22,311.6,117.2,11.3,421,10679,0.12,2.58,0.00,0.000,6,0.104,0.035,3602,1366,1637,0,0,0,0,0,0
$GC,10939,1.22,311.6,84.9,12.1,445,10944,0.00,2.50,0.00,0.000,4,0.000,0.027,3602,2942,1638,0,0,0,0,0,0
$GC,10958,1.22,311.6,82.2,11.3,446,10967,0.00,2.58,0.00,0.000,6,0.000,0.034,3602,1381,1637,0,0,0,0,0,0
$GC,11226,1.22,316.6,52.2,9.8,471,11239,0.00,2.03,4.10,0.354,4,0.000,0.048,3602,177,1628,0,0,0,0,0,0
$GC,11257,1.22,316.6,48.2,10.5,473,11266,0.00,1.85,0.00,0.000,6,0.000,0.019,3602,1394,1628,0,0,0,0,0,0
$GC,11534,1.23,327.4,19.7,9.5,505,11550,0.00,2.42,11.52,0.441,4,0.000,0.023,3602,2926,1584,0,0,0,0,0,0
$GC,11561,1.23,327.4,17.0,10.0,508,11570,0.00,2.55,0.00,0.000,6,0.000,0.032,3602,1386,1582,0,0,0,0,0,0
$STATE,11677,end climb,SURFACE_DEPTH_REACHED
$STATE,11677,begin surface coast
$FINISH,0.6,1.023761
$STATE,11717,end surface coast,CONTROL_FINISHED_OK
$STATE,11717,begin surface
$SM_CCo,11740,32.00,0.451,0,0,1369,380.21
$SM_GC,1.76,0.00,0.00,32.00,0.000,0.000,0.451,416,1527,1369,-13.45,-0.37,380.21
$IRIDIUM_FIX,2239.35,-15749.78,290901,222207
$TT8_MAMPS,0.027612
$HUMID,64.21
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.60
$XPDR_PINGS,10
$24V_AH,23.5,25.132
$10V_AH,9.9,18.436
$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,34.600,136.675,404.325,32.000,0.000,87.223,119.210,480.002,2.500,0.000,25.987,1143.838,8089.631,474.900,1994.141,1066.630,33.359,1323.945,0.000,1983.850,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,77.467,943.410,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.093,305.717,382.464,566.554,991.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,41715,532
$CAP_FILE_SIZE,140215,0
$CFSIZE,260165632,167833600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,012013,2246.493,-15747.021,47,1.7,47,10.1