version: 66.06
glider: 148
mission: 11
dive: 188
start: 7 6 112 16 0 59
data:
$ID,148
$MISSION,11
$DIVE,188
$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,-922238.69
$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,27
$R_STBD_OVSHOOT,111
$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
$GPS1,154727,2243.430,-15743.017,13,2.4,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-74.1
$GPS2,160007,2243.455,-15743.180,14,1.9,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.151
$KALMAN_X,67134.2,-5.4,-83.5,-38735.2,-1390.7
$KALMAN_Y,-45008.7,-168.9,-806.6,37552.4,693.9
$MHEAD_RNG_PITCHd_Wd,115.5,12865,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.85,0.000,2,0.000,0.000,415,1574,3323,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.0,-6.7,10,122,13.73,2.33,-3.25,0.000,4,0.151,0.046,3057,165,3516,0,0,0,0,0,0
$GC,227,-0.97,-146.0,39.9,-18.8,26,231,0.32,2.03,0.00,0.000,6,0.099,0.018,3127,1495,3518,0,0,0,0,0,0
$GC,495,-0.97,-146.0,76.7,-12.1,50,500,0.00,2.55,0.00,0.000,4,0.000,0.024,3127,3113,3519,0,0,0,0,0,0
$GC,558,-1.05,-146.0,84.4,-11.0,55,563,0.00,2.53,0.00,0.000,6,0.000,0.028,3127,1540,3519,0,0,0,0,0,0
$GC,824,-1.05,-146.0,114.7,-11.3,79,828,0.00,2.25,0.00,0.000,4,0.000,0.043,3127,164,3520,0,0,0,0,0,0
$GC,859,-1.05,-146.0,119.5,-12.3,82,863,0.00,2.12,0.00,0.000,6,0.000,0.018,3127,1570,3520,0,0,0,0,0,0
$GC,1132,-1.05,-146.0,147.7,-9.3,107,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3521,0,0,0,0,0,0
$GC,1394,-1.05,-146.0,171.0,-8.8,132,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3522,0,0,0,0,0,0
$GC,1651,-1.12,-146.0,192.1,-8.4,156,1656,0.12,2.40,0.00,0.000,4,0.062,0.025,3060,3095,3522,0,0,0,0,0,0
$GC,1681,-1.05,-146.0,195.8,-11.9,158,1687,0.22,2.50,0.00,0.000,6,0.087,0.029,3112,1538,3522,0,0,0,0,0,0
$GC,1933,-1.05,-146.0,220.4,-9.7,168,1937,0.00,2.45,0.00,0.000,4,0.000,0.025,3112,3095,3522,0,0,0,0,0,0
$GC,1949,-1.05,-146.0,222.1,-10.0,168,1953,0.00,2.53,0.00,0.000,6,0.000,0.028,3111,1533,3522,0,0,0,0,0,0
$GC,2217,-1.05,-146.0,248.4,-9.8,175,2221,0.00,2.22,0.00,0.000,4,0.000,0.046,3112,165,3522,0,0,0,0,0,0
$GC,2255,-1.12,-146.0,252.1,-9.5,175,2261,0.00,2.10,0.00,0.000,6,0.000,0.020,3111,1535,3522,0,0,0,0,0,0
$GC,2507,-1.12,-146.0,271.6,-7.6,182,2511,0.00,2.47,0.00,0.000,4,0.000,0.027,3112,3107,3522,0,0,0,0,0,0
$GC,2550,-1.26,-146.0,274.9,-6.7,183,2556,0.20,2.55,0.00,0.000,6,0.042,0.032,3018,1543,3522,0,0,0,0,0,0
$GC,2839,-1.05,-146.0,312.9,-13.5,190,2844,0.40,2.28,0.00,0.000,4,0.091,0.048,3108,171,3521,0,0,0,0,0,0
$GC,2916,-1.16,-146.0,320.2,-8.4,191,2920,0.00,2.12,0.00,0.000,6,0.000,0.021,3108,1539,3520,0,0,0,0,0,0
$GC,3171,-1.23,-146.0,340.9,-8.3,198,3176,0.15,2.53,0.00,0.000,4,0.055,0.031,3038,3111,3519,0,0,0,0,0,0
$GC,3233,-1.23,-146.0,348.1,-12.8,199,3238,0.15,2.58,0.00,0.000,6,0.099,0.035,3071,1545,3519,0,0,0,0,0,0
$GC,3502,-1.23,-146.0,377.7,-11.0,206,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1544,3517,0,0,0,0,0,0
$GC,3746,-1.23,-146.0,403.5,-10.4,212,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1545,3516,0,0,0,0,0,0
$GC,3991,-1.23,-146.0,428.5,-10.2,218,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1545,3515,0,0,0,0,0,0
$GC,4234,-1.23,-146.0,452.5,-9.8,224,4238,0.00,2.55,0.00,0.000,4,0.000,0.038,3072,3105,3513,0,0,0,0,0,0
$GC,4253,-1.23,-146.0,454.5,-10.0,224,4257,0.00,2.55,0.00,0.000,6,0.000,0.038,3072,1554,3513,0,0,0,0,0,0
$GC,4518,-1.23,-146.0,478.6,-9.2,231,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1554,3511,0,0,0,0,0,0
$GC,4760,-1.23,-146.0,498.9,-8.3,237,4764,0.00,2.38,0.00,0.000,4,0.000,0.071,3072,171,3510,0,0,0,0,0,0
$GC,4779,-1.23,-146.0,500.6,-8.7,237,4783,0.00,2.20,0.00,0.000,6,0.000,0.030,3072,1540,3510,0,0,0,0,0,0
$GC,5049,-1.23,-146.0,523.0,-8.4,244,5053,0.00,2.65,0.00,0.000,4,0.000,0.044,3071,3126,3508,0,0,0,0,0,0
$GC,5063,-1.23,-146.0,524.4,-8.8,244,5068,0.00,2.62,0.00,0.000,6,0.000,0.040,3072,1554,3508,0,0,0,0,0,0
$GC,5332,-1.23,-146.0,548.4,-9.2,251,5337,0.00,2.62,0.00,0.000,4,0.000,0.044,3071,3126,3506,0,0,0,0,0,0
$GC,5356,-1.23,-146.0,550.7,-9.9,251,5360,0.00,2.65,0.00,0.000,6,0.000,0.044,3071,1552,3506,0,0,0,0,0,0
$GC,5617,-1.23,-146.0,573.7,-8.9,258,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1552,3504,0,0,0,0,0,0
$GC,5859,-1.23,-146.0,594.7,-8.7,264,5863,0.00,2.40,0.00,0.000,4,0.000,0.079,3072,168,3503,0,0,0,0,0,0
$GC,5883,-1.23,-146.0,597.1,-9.8,264,5887,0.00,2.28,0.00,0.000,6,0.000,0.043,3072,1556,3502,0,0,0,0,0,0
$STATE,5938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5938,begin apogee
$GC,5945,-0.31,0.0,601.7,8.5,266,6066,0.88,0.00,117.35,0.937,6,0.076,0.000,3270,1362,2920,0,0,0,0,0,0
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6070,1.27,146.0,606.0,0.0,269,6202,1.45,2.17,123.57,0.917,4,0.045,0.076,3618,181,2324,0,0,0,0,0,0
$GC,6366,0.91,146.0,583.7,12.7,275,6370,0.38,1.98,0.00,0.000,6,0.098,0.030,3540,1390,2318,0,0,0,0,0,0
$GC,6621,0.96,188.6,562.7,8.0,282,6663,0.00,2.17,37.05,0.877,4,0.000,0.069,3540,174,2149,0,0,0,0,0,0
$GC,6724,0.96,188.6,552.1,11.5,284,6728,0.00,1.98,0.00,0.000,6,0.000,0.029,3539,1384,2148,0,0,0,0,0,0
$GC,7003,0.97,192.4,525.1,9.8,291,7007,0.00,2.65,0.00,0.000,4,0.000,0.044,3539,2962,2143,0,0,0,0,0,0
$GC,7022,1.00,222.0,523.1,8.6,291,7059,0.00,2.70,29.88,0.856,6,0.000,0.045,3539,1383,2014,0,0,0,0,0,0
$GC,7333,1.00,222.0,491.4,10.2,299,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1383,2008,0,0,0,0,0,0
$GC,7577,1.01,229.3,467.9,9.7,305,7589,0.00,2.17,6.72,0.686,4,0.000,0.067,3540,166,1985,0,0,0,0,0,0
$GC,7627,1.01,229.3,462.7,10.7,306,7631,0.00,1.98,0.00,0.000,6,0.000,0.025,3540,1401,1985,0,0,0,0,0,0
$GC,7915,1.02,238.0,434.9,9.6,313,7932,0.10,2.62,9.43,0.731,4,0.077,0.038,3582,2954,1948,0,0,0,0,0,0
$GC,7951,1.02,238.0,430.7,10.9,313,7955,0.00,2.67,0.00,0.000,6,0.000,0.043,3582,1382,1946,0,0,0,0,0,0
$GC,8201,0.94,238.0,402.3,11.4,319,8203,0.17,0.00,0.00,0.000,6,0.100,0.000,3545,1382,1945,0,0,0,0,0,0
$GC,8446,0.95,246.6,378.5,9.6,325,8459,0.00,2.10,8.52,0.690,4,0.000,0.061,3544,160,1914,0,0,0,0,0,0
$GC,8510,0.95,246.6,371.4,11.9,326,8514,0.00,1.98,0.00,0.000,6,0.000,0.024,3544,1388,1914,0,0,0,0,0,0
$GC,8780,0.97,258.8,345.9,9.4,333,8800,0.00,2.58,13.02,0.716,4,0.000,0.035,3545,2948,1863,0,0,0,0,0,0
$GC,8854,1.08,263.6,338.9,9.8,334,8866,0.12,2.62,5.12,0.567,6,0.064,0.041,3601,1390,1845,0,0,0,0,0,0
$GC,9119,0.98,263.6,304.7,13.1,341,9123,0.22,2.08,0.00,0.000,4,0.094,0.060,3553,165,1844,0,0,0,0,0,0
$GC,9208,0.98,263.6,293.5,13.0,343,9212,0.00,1.92,0.00,0.000,6,0.000,0.023,3553,1395,1844,0,0,0,0,0,0
$GC,9499,1.00,282.9,265.0,9.1,350,9523,0.00,2.60,18.12,0.682,4,0.000,0.031,3553,2948,1766,0,0,0,0,0,0
$GC,9579,1.18,295.8,257.9,9.4,351,9599,0.17,2.60,12.40,0.644,6,0.049,0.040,3615,1392,1713,0,0,0,0,0,0
$GC,9885,1.07,295.8,215.9,14.3,359,9890,0.20,2.08,0.00,0.000,4,0.096,0.055,3572,167,1711,0,0,0,0,0,0
$GC,9998,1.07,295.8,201.1,11.6,361,10002,0.00,1.88,0.00,0.000,6,0.000,0.021,3572,1391,1711,0,0,0,0,0,0
$GC,10264,1.08,304.4,173.9,9.6,384,10280,0.00,2.58,9.12,0.556,4,0.000,0.028,3572,2948,1677,0,0,0,0,0,0
$GC,10299,1.19,318.4,170.1,9.4,387,10321,0.08,2.65,13.98,0.583,6,0.034,0.035,3625,1371,1620,0,0,0,0,0,0
$GC,10582,1.11,318.4,131.7,13.9,414,10586,0.20,2.03,0.00,0.000,4,0.094,0.048,3581,159,1617,0,0,0,0,0,0
$GC,10641,1.11,318.4,124.4,12.6,419,10645,0.00,1.90,0.00,0.000,6,0.000,0.020,3581,1400,1617,0,0,0,0,0,0
$GC,10909,1.11,318.4,96.8,10.4,444,10913,0.00,2.42,0.00,0.000,4,0.000,0.026,3581,2939,1617,0,0,0,0,0,0
$GC,10928,1.19,326.8,94.9,9.6,445,10942,0.00,2.55,8.35,0.479,6,0.000,0.032,3581,1381,1587,0,0,0,0,0,0
$GC,11201,1.26,326.8,64.7,11.2,470,11211,0.15,0.00,0.00,0.000,6,0.055,0.000,3635,1381,1585,0,0,0,0,0,0
$GC,11467,1.20,326.8,30.2,14.0,495,11472,0.17,2.47,0.00,0.000,4,0.099,0.026,3598,2935,1585,0,0,0,0,0,0
$GC,11509,1.31,326.8,25.0,11.5,500,11518,0.08,2.53,0.00,0.000,6,0.034,0.033,3662,1401,1583,0,0,0,0,0,0
$STATE,11650,end climb,SURFACE_DEPTH_REACHED
$STATE,11651,begin surface coast
$FINISH,0.7,1.023726
$STATE,11677,end surface coast,CONTROL_FINISHED_OK
$STATE,11677,begin surface
$SM_CCo,11702,31.62,0.453,0,0,1370,380.21
$SM_GC,1.47,0.00,0.00,31.62,0.000,0.000,0.453,414,1548,1370,-13.46,0.23,380.21
$IRIDIUM_FIX,2234.68,-15740.24,300901,161606
$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.10
$XPDR_PINGS,3
$24V_AH,23.5,25.836
$10V_AH,9.9,18.985
$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,32.800,132.550,412.650,31.625,0.000,84.504,151.458,238.742,0.750,0.000,30.586,1137.740,8055.647,471.549,2009.143,816.019,33.362,1333.929,0.000,1986.968,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,79.001,936.507,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.352,296.525,376.607,527.251,926.350,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41618,526
$CAP_FILE_SIZE,132210,0
$CFSIZE,260165632,167542784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,191754,2242.985,-15742.457,39,1.6,39,10.1