version: 66.06
glider: 148
mission: 11
dive: 208
start: 7 9 112 15 8 37
data:
$ID,148
$MISSION,11
$DIVE,208
$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,-922701.56
$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
$GPS1,150113,2305.630,-15735.456,34,1.7,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.0
$GPS2,150743,2305.633,-15735.480,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.171
$KALMAN_X,45546.8,340.3,355.4,-4789.1,-1083.4
$KALMAN_Y,-26674.0,233.4,539.2,58547.5,-1010.9
$MHEAD_RNG_PITCHd_Wd,218.7,69904,-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,-74.20,0.000,2,0.000,0.000,410,1584,3284,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.1,10,121,13.85,2.33,-3.95,0.000,4,0.154,0.048,3057,158,3517,0,0,0,0,0,0
$GC,312,-0.96,-146.0,59.0,-19.5,34,317,0.32,2.05,0.00,0.000,6,0.101,0.018,3127,1502,3519,0,0,0,0,0,0
$GC,576,-0.96,-146.0,94.5,-12.9,58,580,0.00,2.53,0.00,0.000,4,0.000,0.025,3127,3098,3521,0,0,0,0,0,0
$GC,647,-1.04,-146.0,102.8,-10.2,64,656,0.00,2.53,0.00,0.000,6,0.000,0.037,3127,1547,3521,0,0,0,0,0,0
$GC,914,-1.04,-146.0,132.3,-11.3,89,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1548,3522,0,0,0,0,0,0
$GC,1175,-1.04,-146.0,162.6,-10.9,114,1179,0.00,2.47,0.00,0.000,4,0.000,0.025,3127,3106,3523,0,0,0,0,0,0
$GC,1225,-1.15,-146.0,167.7,-11.2,118,1230,0.15,2.53,0.00,0.000,6,0.053,0.029,3061,1533,3523,0,0,0,0,0,0
$GC,1496,-0.97,-146.0,205.9,-13.6,140,1498,0.30,0.00,0.00,0.000,6,0.091,0.000,3126,1532,3523,0,0,0,0,0,0
$GC,1740,-0.97,-146.0,229.5,-9.3,146,1744,0.00,2.47,0.00,0.000,4,0.000,0.025,3126,3104,3524,0,0,0,0,0,0
$GC,1792,-1.15,-146.0,233.8,-7.4,147,1797,0.15,2.53,0.00,0.000,6,0.052,0.030,3048,1544,3525,0,0,0,0,0,0
$GC,2070,-1.00,-146.0,264.6,-11.2,154,2075,0.30,2.25,0.00,0.000,4,0.089,0.043,3118,166,3525,0,0,0,0,0,0
$GC,2120,-1.11,-146.0,268.4,-7.4,155,2124,0.00,2.12,0.00,0.000,6,0.000,0.019,3118,1548,3525,0,0,0,0,0,0
$GC,2407,-1.18,-146.0,291.5,-7.9,162,2412,0.15,2.50,0.00,0.000,4,0.055,0.028,3048,3104,3525,0,0,0,0,0,0
$GC,2460,-1.18,-146.0,297.4,-11.2,163,2465,0.15,2.55,0.00,0.000,6,0.096,0.033,3083,1545,3525,0,0,0,0,0,0
$GC,2739,-1.18,-146.0,325.5,-9.8,170,2743,0.00,2.50,0.00,0.000,4,0.000,0.030,3083,3100,3524,0,0,0,0,0,0
$GC,2759,-1.18,-146.0,327.2,-9.0,170,2764,0.00,2.53,0.00,0.000,6,0.000,0.033,3082,1553,3525,0,0,0,0,0,0
$GC,3023,-1.18,-146.0,352.1,-9.6,177,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,1553,3524,0,0,0,0,0,0
$GC,3267,-1.18,-146.0,375.6,-9.5,183,3271,0.00,2.53,0.00,0.000,4,0.000,0.032,3083,3104,3523,0,0,0,0,0,0
$GC,3286,-1.18,-146.0,377.4,-9.4,183,3290,0.00,2.55,0.00,0.000,6,0.000,0.035,3082,1553,3523,0,0,0,0,0,0
$GC,3552,-1.18,-146.0,399.8,-8.4,190,3556,0.00,2.53,0.00,0.000,4,0.000,0.033,3083,3101,3521,0,0,0,0,0,0
$GC,3575,-1.18,-146.0,402.1,-8.8,190,3580,0.00,2.55,0.00,0.000,6,0.000,0.036,3083,1554,3521,0,0,0,0,0,0
$GC,3834,-1.18,-146.0,427.4,-10.2,197,3839,0.00,2.53,0.00,0.000,4,0.000,0.036,3083,3094,3519,0,0,0,0,0,0
$GC,3864,-1.18,-146.0,430.5,-10.9,197,3868,0.00,2.55,0.00,0.000,6,0.000,0.038,3083,1558,3519,0,0,0,0,0,0
$GC,4118,-1.18,-146.0,454.0,-8.8,204,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1557,3518,0,0,0,0,0,0
$GC,4362,-1.18,-146.0,471.7,-7.2,210,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1558,3516,0,0,0,0,0,0
$GC,4607,-1.18,-146.0,489.9,-7.6,216,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1558,3514,0,0,0,0,0,0
$GC,4849,-1.18,-146.0,510.7,-8.8,222,4854,0.00,2.40,0.00,0.000,4,0.000,0.075,3083,168,3513,0,0,0,0,0,0
$GC,4886,-1.18,-146.0,514.4,-10.1,222,4892,0.00,2.22,0.00,0.000,6,0.000,0.035,3083,1536,3513,0,0,0,0,0,0
$GC,5137,-1.18,-146.0,536.5,-8.9,229,5141,0.00,2.62,0.00,0.000,4,0.000,0.045,3083,3131,3511,0,0,0,0,0,0
$GC,5182,-1.31,-146.0,540.1,-7.8,230,5187,0.12,2.62,0.00,0.000,6,0.063,0.044,3007,1571,3511,0,0,0,0,0,0
$GC,5470,-1.12,-146.0,574.4,-12.1,237,5475,0.40,2.45,0.00,0.000,4,0.094,0.076,3093,168,3509,0,0,0,0,0,0
$GC,5534,-1.24,-146.0,580.0,-8.2,238,5538,0.00,2.28,0.00,0.000,6,0.000,0.037,3093,1561,3508,0,0,0,0,0,0
$STATE,5799,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5800,begin apogee
$GC,5806,-0.31,0.0,600.3,7.5,245,5928,0.77,0.00,118.55,0.935,6,0.075,0.000,3270,1369,2920,0,0,0,0,0,0
$STATE,5929,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5933,1.27,146.0,604.2,0.0,248,6067,1.45,2.22,124.07,0.914,4,0.047,0.077,3620,179,2324,0,0,0,0,0,0
$GC,6336,0.91,146.0,567.2,13.9,257,6341,0.38,1.98,0.00,0.000,6,0.099,0.030,3541,1391,2316,0,0,0,0,0,0
$GC,6625,0.95,172.7,541.2,8.8,264,6654,0.00,2.22,22.40,0.850,4,0.000,0.070,3541,174,2215,0,0,0,0,0,0
$GC,6770,0.86,172.7,525.9,11.2,267,6773,0.00,1.95,0.00,0.000,6,0.000,0.028,3541,1382,2212,0,0,0,0,0,0
$GC,7053,0.90,205.7,501.0,8.5,274,7089,0.00,2.17,29.88,0.850,4,0.000,0.065,3541,179,2080,0,0,0,0,0,0
$GC,7122,0.90,205.7,494.8,10.2,275,7126,0.00,1.92,0.00,0.000,6,0.000,0.027,3541,1373,2080,0,0,0,0,0,0
$GC,7387,0.91,214.1,470.2,9.6,282,7400,0.00,2.12,7.93,0.719,4,0.000,0.064,3541,168,2047,0,0,0,0,0,0
$GC,7437,0.91,214.1,463.9,12.7,283,7441,0.00,1.95,0.00,0.000,6,0.000,0.026,3541,1382,2046,0,0,0,0,0,0
$GC,7719,0.91,214.1,432.0,11.2,290,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3541,1384,2043,0,0,0,0,0,0
$GC,7964,0.95,248.3,410.4,8.4,296,8001,0.00,2.15,32.17,0.809,4,0.000,0.060,3541,167,1906,0,0,0,0,0,0
$GC,8021,0.98,277.1,405.5,8.7,296,8053,0.00,1.95,27.02,0.790,6,0.000,0.025,3541,1378,1790,0,0,0,0,0,0
$GC,8338,1.05,277.1,374.6,10.2,304,8343,0.10,2.60,0.00,0.000,4,0.076,0.035,3586,2955,1782,0,0,0,0,0,0
$GC,8399,1.05,277.1,367.3,11.5,305,8403,0.00,2.65,0.00,0.000,6,0.000,0.041,3586,1381,1779,0,0,0,0,0,0
$GC,8669,0.98,277.1,335.3,11.6,312,8674,0.15,2.08,0.00,0.000,4,0.103,0.062,3555,161,1778,0,0,0,0,0,0
$GC,8685,0.98,277.1,333.4,11.1,312,8689,0.00,1.92,0.00,0.000,6,0.000,0.024,3555,1384,1778,0,0,0,0,0,0
$GC,8958,0.99,277.9,306.5,10.0,319,8962,0.00,2.53,0.00,0.000,4,0.000,0.034,3555,2945,1777,0,0,0,0,0,0
$GC,9011,1.14,295.0,301.5,9.2,320,9032,0.15,2.62,14.85,0.694,6,0.055,0.040,3613,1378,1716,0,0,0,0,0,0
$GC,9294,1.04,295.0,262.3,14.3,327,9298,0.22,2.08,0.00,0.000,4,0.094,0.066,3564,162,1713,0,0,0,0,0,0
$GC,9333,1.04,295.0,256.5,15.1,327,9338,0.00,1.92,0.00,0.000,6,0.000,0.023,3564,1388,1713,0,0,0,0,0,0
$GC,9582,1.04,295.0,225.5,12.2,334,9586,0.00,2.08,0.00,0.000,4,0.000,0.054,3564,163,1712,0,0,0,0,0,0
$GC,9610,1.04,295.0,222.1,12.7,334,9614,0.00,1.92,0.00,0.000,6,0.000,0.021,3564,1388,1712,0,0,0,0,0,0
$GC,9872,1.11,295.0,194.2,10.4,344,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1391,1712,0,0,0,0,0,0
$GC,10128,1.21,308.8,170.1,9.4,368,10149,0.15,0.00,13.35,0.581,6,0.056,0.000,3621,1391,1659,0,0,0,0,0,0
$GC,10401,1.15,308.8,134.6,13.5,394,10403,0.15,0.00,0.00,0.000,6,0.100,0.000,3589,1391,1657,0,0,0,0,0,0
$GC,10657,1.15,308.8,106.9,10.7,418,10660,0.00,2.05,0.00,0.000,4,0.000,0.050,3588,163,1657,0,0,0,0,0,0
$GC,10681,1.15,308.8,103.6,12.5,420,10690,0.00,1.90,0.00,0.000,6,0.000,0.020,3589,1398,1657,0,0,0,0,0,0
$GC,10951,1.23,308.8,73.8,10.7,445,10955,0.00,2.40,0.00,0.000,4,0.000,0.026,3589,2931,1657,0,0,0,0,0,0
$GC,11004,1.41,308.8,68.0,10.1,449,11009,0.25,2.55,0.00,0.000,6,0.044,0.034,3658,1375,1655,0,0,0,0,0,0
$GC,11268,1.28,308.8,33.2,12.6,473,11273,0.20,2.00,0.00,0.000,4,0.094,0.047,3616,164,1654,0,0,0,0,0,0
$GC,11319,1.28,308.8,26.9,13.8,478,11328,0.00,1.88,0.00,0.000,6,0.000,0.019,3616,1392,1655,0,0,0,0,0,0
$STATE,11509,end climb,SURFACE_DEPTH_REACHED
$STATE,11509,begin surface coast
$FINISH,0.6,1.023736
$STATE,11548,end surface coast,CONTROL_FINISHED_OK
$STATE,11548,begin surface
$SM_CCo,11571,41.62,0.449,0,0,1369,380.21
$SM_GC,1.65,0.00,0.00,41.62,0.000,0.000,0.449,416,1545,1369,-13.45,0.14,380.21
$IRIDIUM_FIX,2255.72,-15734.52,031001,111122
$TT8_MAMPS,0.027612
$HUMID,63.11
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.60
$XPDR_PINGS,3
$24V_AH,23.5,28.575
$10V_AH,9.9,21.208
$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,32.675,120.000,390.225,41.625,0.000,24.587,38.459,188.234,0.750,0.000,15.275,1119.054,7866.124,467.308,1976.653,573.627,33.367,1307.167,0.000,1976.001,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,77.467,934.973,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.040,286.580,365.574,514.574,904.072,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38440,514
$CAP_FILE_SIZE,123086,0
$CFSIZE,260165632,166322176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090712,182402,2304.383,-15737.311,66,1.5,69,10.1