version: 66.06
glider: 148
mission: 11
dive: 189
start: 7 6 112 19 29 50
data:
$ID,148
$MISSION,11
$DIVE,189
$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,-922256.25
$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,29
$R_STBD_OVSHOOT,79
$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
$GPS1,191754,2242.985,-15742.457,39,1.6,39,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.0
$GPS2,192856,2243.058,-15742.552,12,1.3,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.229
$KALMAN_X,66417.8,-297.3,-536.8,-36203.6,34.9
$KALMAN_Y,-44602.8,-345.8,41.4,35745.4,1223.0
$MHEAD_RNG_PITCHd_Wd,141.9,11587,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.38,0.000,2,0.000,0.000,413,1548,3309,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-7.4,10,121,13.93,2.28,-3.42,0.000,4,0.156,0.051,3056,173,3517,0,0,0,0,0,0
$GC,204,-0.95,-146.0,39.8,-21.2,23,214,0.30,2.08,0.00,0.000,6,0.087,0.018,3126,1512,3519,0,0,0,0,0,0
$GC,472,-0.95,-146.0,79.3,-15.0,48,477,0.00,2.53,0.00,0.000,4,0.000,0.024,3126,3109,3520,0,0,0,0,0,0
$GC,544,-0.95,-146.0,89.9,-12.0,54,553,0.00,2.55,0.00,0.000,6,0.000,0.029,3126,1552,3520,0,0,0,0,0,0
$GC,809,-0.95,-146.0,120.7,-10.3,79,814,0.00,2.45,0.00,0.000,4,0.000,0.024,3126,3108,3521,0,0,0,0,0,0
$GC,844,-0.95,-146.0,124.7,-10.1,82,849,0.00,2.50,0.00,0.000,6,0.000,0.029,3126,1555,3521,0,0,0,0,0,0
$GC,1112,-0.95,-146.0,151.5,-10.6,106,1116,0.00,2.25,0.00,0.000,4,0.000,0.041,3126,171,3522,0,0,0,0,0,0
$GC,1150,-0.95,-146.0,156.0,-11.6,109,1154,0.00,2.12,0.00,0.000,6,0.000,0.018,3127,1582,3522,0,0,0,0,0,0
$GC,1417,-0.95,-146.0,180.8,-9.0,134,1421,0.00,2.35,0.00,0.000,4,0.000,0.024,3126,3097,3522,0,0,0,0,0,0
$GC,1434,-0.95,-146.0,182.5,-9.5,135,1439,0.00,2.47,0.00,0.000,6,0.000,0.027,3126,1550,3523,0,0,0,0,0,0
$GC,1715,-0.95,-146.0,208.3,-9.4,155,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1550,3523,0,0,0,0,0,0
$GC,1957,-1.02,-146.0,230.8,-9.0,161,1961,0.00,2.42,0.00,0.000,4,0.000,0.023,3127,3097,3524,0,0,0,0,0,0
$GC,1982,-1.15,-146.0,232.9,-8.8,161,1988,0.15,2.47,0.00,0.000,6,0.054,0.030,3054,1564,3523,0,0,0,0,0,0
$GC,2243,-1.02,-146.0,265.4,-13.2,168,2248,0.25,2.28,0.00,0.000,4,0.094,0.044,3114,168,3523,0,0,0,0,0,0
$GC,2305,-1.14,-146.0,272.3,-10.5,169,2310,0.10,2.12,0.00,0.000,6,0.076,0.020,3059,1559,3523,0,0,0,0,0,0
$GC,2579,-1.03,-146.0,303.7,-11.1,176,2584,0.25,2.33,0.00,0.000,4,0.090,0.045,3113,165,3523,0,0,0,0,0,0
$GC,2598,-1.03,-146.0,306.0,-11.2,176,2602,0.00,2.12,0.00,0.000,6,0.000,0.020,3113,1554,3523,0,0,0,0,0,0
$GC,2864,-1.10,-146.0,326.7,-7.9,183,2868,0.00,2.30,0.00,0.000,4,0.000,0.049,3113,174,3523,0,0,0,0,0,0
$GC,2883,-1.16,-146.0,328.6,-8.5,183,2888,0.12,2.12,0.00,0.000,6,0.064,0.021,3052,1549,3523,0,0,0,0,0,0
$GC,3152,-1.07,-146.0,358.9,-11.3,190,3157,0.25,2.50,0.00,0.000,4,0.090,0.030,3112,3109,3522,0,0,0,0,0,0
$GC,3202,-1.23,-146.0,363.3,-8.4,191,3207,0.17,2.53,0.00,0.000,6,0.047,0.035,3023,1557,3521,0,0,0,0,0,0
$GC,3485,-1.05,-146.0,399.8,-13.0,198,3490,0.38,2.35,0.00,0.000,4,0.087,0.059,3108,162,3520,0,0,0,0,0,0
$GC,3539,-1.17,-146.0,405.4,-9.9,199,3544,0.10,2.15,0.00,0.000,6,0.076,0.025,3057,1540,3520,0,0,0,0,0,0
$GC,3823,-1.10,-146.0,433.4,-9.8,206,3828,0.20,2.55,0.00,0.000,4,0.094,0.036,3101,3114,3518,0,0,0,0,0,0
$GC,3874,-1.27,-146.0,437.2,-7.0,207,3879,0.15,2.60,0.00,0.000,6,0.051,0.040,3013,1552,3518,0,0,0,0,0,0
$GC,4158,-1.07,-146.0,468.4,-11.5,214,4160,0.45,0.00,0.00,0.000,6,0.085,0.000,3107,1552,3516,0,0,0,0,0,0
$GC,4403,-1.17,-146.0,485.7,-7.0,220,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1552,3514,0,0,0,0,0,0
$GC,4645,-1.27,-146.0,501.7,-6.5,226,4650,0.17,2.60,0.00,0.000,4,0.052,0.044,3041,3108,3513,0,0,0,0,0,0
$GC,4661,-1.27,-146.0,502.9,-6.6,226,4666,0.10,2.60,0.00,0.000,6,0.117,0.040,3063,1553,3513,0,0,0,0,0,0
$GC,4931,-1.27,-146.0,526.2,-8.7,233,4936,0.00,2.60,0.00,0.000,4,0.000,0.041,3063,3116,3511,0,0,0,0,0,0
$GC,4955,-1.27,-146.0,528.5,-8.8,233,4959,0.00,2.60,0.00,0.000,6,0.000,0.045,3063,1557,3511,0,0,0,0,0,0
$GC,5215,-1.27,-146.0,550.8,-8.8,240,5219,0.00,2.42,0.00,0.000,4,0.000,0.077,3063,170,3509,0,0,0,0,0,0
$GC,5235,-1.27,-146.0,552.9,-10.3,240,5239,0.00,2.25,0.00,0.000,6,0.000,0.035,3063,1553,3509,0,0,0,0,0,0
$GC,5503,-1.27,-146.0,576.4,-8.7,247,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1553,3507,0,0,0,0,0,0
$GC,5747,-1.27,-146.0,598.4,-9.1,253,5751,0.00,2.62,0.00,0.000,4,0.000,0.051,3063,3125,3505,0,0,0,0,0,0
$GC,5761,-1.27,-146.0,600.0,-9.4,253,5765,0.00,2.10,0.00,0.000,3,0.000,0.041,3063,1860,3505,0,0,0,0,0,0
$STATE,5766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5766,begin apogee
$GC,5774,-0.31,0.0,600.2,9.5,253,5896,0.90,0.00,117.90,0.936,6,0.081,0.000,3268,1382,2920,0,0,0,0,0,0
$STATE,5896,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5899,1.27,146.0,605.0,0.0,256,6031,1.48,2.22,123.70,0.917,4,0.052,0.082,3615,170,2323,0,0,0,0,0,0
$GC,6175,0.92,146.0,586.1,13.9,262,6180,0.35,2.00,0.00,0.000,6,0.101,0.031,3542,1390,2317,0,0,0,0,0,0
$GC,6446,0.97,188.9,563.8,8.0,269,6485,0.00,0.00,37.33,0.879,6,0.000,0.000,3542,1389,2150,0,0,0,0,0,0
$GC,6728,0.97,189.0,536.4,10.0,276,6732,0.00,2.12,0.00,0.000,4,0.000,0.068,3542,166,2144,0,0,0,0,0,0
$GC,6799,0.90,189.0,528.4,11.6,277,6802,0.00,1.98,0.00,0.000,6,0.000,0.028,3542,1383,2143,0,0,0,0,0,0
$GC,7063,0.91,193.0,502.0,9.8,284,7068,0.00,2.62,0.00,0.000,4,0.000,0.044,3543,2955,2141,0,0,0,0,0,0
$GC,7087,0.91,193.0,499.4,10.3,284,7091,0.00,2.70,0.00,0.000,6,0.000,0.046,3542,1372,2139,0,0,0,0,0,0
$GC,7348,0.91,194.0,473.4,10.0,291,7357,0.00,2.10,4.62,0.596,4,0.000,0.068,3541,160,2127,0,0,0,0,0,0
$GC,7395,0.84,194.0,468.0,12.2,292,7399,0.00,1.98,0.00,0.000,6,0.000,0.034,3542,1388,2126,0,0,0,0,0,0
$GC,7681,0.86,206.1,440.8,9.4,299,7698,0.00,2.62,11.75,0.767,4,0.000,0.039,3542,2954,2079,0,0,0,0,0,0
$GC,7725,0.93,213.3,436.7,9.7,300,7738,0.00,2.70,7.65,0.700,6,0.000,0.044,3542,1365,2050,0,0,0,0,0,0
$GC,8012,0.96,236.4,410.3,8.9,307,8036,0.00,0.00,22.62,0.794,6,0.000,0.000,3542,1364,1955,0,0,0,0,0,0
$GC,8257,0.97,244.0,386.9,9.6,313,8269,0.00,2.10,7.88,0.680,4,0.000,0.064,3542,160,1925,0,0,0,0,0,0
$GC,8288,0.97,244.0,383.4,10.9,313,8292,0.00,1.98,0.00,0.000,6,0.000,0.025,3541,1396,1924,0,0,0,0,0,0
$GC,8547,0.98,253.9,358.2,9.5,320,8563,0.00,2.62,10.55,0.696,4,0.000,0.037,3542,2951,1883,0,0,0,0,0,0
$GC,8607,1.13,271.9,352.5,9.2,321,8632,0.17,2.65,17.45,0.734,6,0.049,0.041,3611,1382,1810,0,0,0,0,0,0
$GC,8885,1.01,271.9,317.5,12.8,328,8889,0.22,2.08,0.00,0.000,4,0.094,0.058,3561,166,1806,0,0,0,0,0,0
$GC,8984,1.01,271.9,304.3,13.2,330,8987,0.00,1.90,0.00,0.000,6,0.000,0.023,3561,1380,1806,0,0,0,0,0,0
$GC,9265,1.01,271.9,271.4,11.5,337,9270,0.00,2.55,0.00,0.000,4,0.000,0.032,3561,2954,1804,0,0,0,0,0,0
$GC,9337,1.13,273.5,264.0,9.9,338,9342,0.10,2.62,0.00,0.000,6,0.075,0.041,3618,1376,1801,0,0,0,0,0,0
$GC,9598,1.01,273.5,230.0,13.0,345,9602,0.25,2.03,0.00,0.000,4,0.091,0.056,3561,165,1801,0,0,0,0,0,0
$GC,9732,1.01,273.5,213.6,13.0,347,9738,0.00,1.90,0.00,0.000,6,0.000,0.021,3561,1383,1801,0,0,0,0,0,0
$GC,9989,1.09,294.4,187.9,9.0,363,10010,0.00,0.00,19.27,0.615,6,0.000,0.000,3561,1385,1719,0,0,0,0,0,0
$GC,10266,1.18,294.4,160.0,10.2,389,10272,0.15,0.00,0.00,0.000,6,0.056,0.000,3625,1385,1716,0,0,0,0,0,0
$GC,10529,1.08,294.4,127.7,11.9,414,10534,0.22,2.03,0.00,0.000,4,0.091,0.049,3576,165,1715,0,0,0,0,0,0
$GC,10570,1.08,294.4,123.3,11.3,417,10574,0.00,1.85,0.00,0.000,6,0.000,0.020,3576,1367,1715,0,0,0,0,0,0
$GC,10837,1.18,319.0,98.6,8.9,442,10871,0.00,2.55,22.77,0.535,4,0.000,0.027,3576,2925,1617,0,0,0,0,0,0
$GC,10908,1.39,332.0,92.3,9.4,448,10927,0.22,2.62,12.57,0.499,6,0.020,0.037,3656,1355,1565,0,0,0,0,0,0
$GC,11184,1.29,332.0,51.4,15.4,474,11189,0.17,1.98,0.00,0.000,4,0.098,0.048,3617,159,1563,0,0,0,0,0,0
$GC,11224,1.29,332.0,46.1,13.8,477,11228,0.00,1.80,0.00,0.000,6,0.000,0.018,3617,1376,1563,0,0,0,0,0,0
$GC,11517,1.29,332.0,9.3,10.6,515,11525,0.00,2.45,0.00,0.000,4,0.000,0.025,3617,2918,1562,0,0,0,0,0,0
$GC,11542,1.29,332.0,6.2,11.9,518,11551,0.00,2.55,0.00,0.000,6,0.000,0.031,3617,1360,1561,0,0,0,0,0,0
$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11564,begin surface coast
$FINISH,0.7,1.022559
$STATE,11609,end surface coast,CONTROL_FINISHED_OK
$STATE,11609,begin surface
$SM_CCo,11632,28.85,0.446,0,0,1368,380.21
$SM_GC,1.64,0.00,0.00,28.85,0.000,0.000,0.446,415,1534,1368,-13.45,-0.17,380.21
$IRIDIUM_FIX,2237.01,-15750.66,300901,191950
$TT8_MAMPS,0.027612
$HUMID,63.07
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.60
$XPDR_PINGS,7
$24V_AH,23.5,25.963
$10V_AH,9.9,19.093
$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,34.300,140.550,416.075,28.850,0.000,60.636,76.856,314.922,1.750,0.000,16.954,1151.947,7896.133,487.045,1988.419,800.304,33.359,1346.673,0.000,1985.758,0.000,0.536,0.000
$DEVICE_MAMPS,155.701,82.069,935.740,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.216,298.328,381.356,532.322,935.321,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41717,528
$CAP_FILE_SIZE,135382,0
$CFSIZE,260165632,167473152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,224610,2242.317,-15741.943,59,1.2,75,10.1