version: 66.06
glider: 148
mission: 11
dive: 210
start: 7 9 112 21 59 18
data:
$ID,148
$MISSION,11
$DIVE,210
$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,-922739.19
$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,80
$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
$GPS1,214805,2303.354,-15738.468,35,0.9,35,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.4
$GPS2,215824,2303.424,-15738.492,13,1.3,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,-0.259
$KALMAN_X,43887.1,159.6,-368.7,-7371.9,-986.7
$KALMAN_Y,-24167.0,-477.5,-204.8,53405.6,2086.8
$MHEAD_RNG_PITCHd_Wd,172.6,63342,-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,-67.18,0.000,2,0.000,0.000,413,1537,3078,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-4.7,9,122,13.65,2.30,-8.25,0.000,4,0.148,0.054,3056,164,3520,0,0,0,0,0,0
$GC,299,-0.98,-146.0,50.6,-21.0,34,304,0.32,2.05,0.00,0.000,6,0.097,0.018,3127,1517,3521,0,0,0,0,0,0
$GC,563,-0.84,-146.0,89.1,-14.1,58,568,0.12,2.53,0.00,0.000,4,0.118,0.025,3153,3111,3522,0,0,0,0,0,0
$GC,645,-0.96,-146.0,97.8,-8.9,65,650,0.10,2.53,0.00,0.000,6,0.092,0.028,3075,1537,3522,0,0,0,0,0,0
$GC,913,-0.72,-146.0,139.6,-15.8,89,922,0.52,2.50,0.00,0.000,4,0.089,0.024,3180,3105,3523,0,0,0,0,0,0
$GC,965,-0.97,-146.0,145.8,-7.6,94,970,0.22,2.47,0.00,0.000,6,0.044,0.028,3097,1554,3523,0,0,0,0,0,0
$GC,1235,-0.87,-146.0,176.8,-12.1,118,1240,0.22,2.47,0.00,0.000,4,0.094,0.024,3147,3107,3524,0,0,0,0,0,0
$GC,1255,-0.87,-146.0,180.3,-11.9,119,1261,0.00,2.47,0.00,0.000,6,0.000,0.025,3147,1552,3524,0,0,0,0,0,0
$GC,1550,-0.98,-146.0,204.0,-8.3,144,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1551,3524,0,0,0,0,0,0
$GC,1790,-1.08,-146.0,225.7,-8.9,150,1796,0.17,2.50,0.00,0.000,4,0.048,0.025,3063,3113,3524,0,0,0,0,0,0
$GC,1825,-1.08,-146.0,229.8,-12.8,150,1831,0.17,2.50,0.00,0.000,6,0.090,0.029,3104,1568,3524,0,0,0,0,0,0
$GC,2075,-1.08,-146.0,254.8,-9.9,156,2080,0.00,2.45,0.00,0.000,4,0.000,0.025,3104,3109,3524,0,0,0,0,0,0
$GC,2110,-1.15,-146.0,257.8,-8.5,156,2115,0.00,2.47,0.00,0.000,6,0.000,0.029,3104,1567,3524,0,0,0,0,0,0
$GC,2362,-1.15,-146.0,279.4,-8.6,162,2366,0.00,2.42,0.00,0.000,4,0.000,0.026,3104,3104,3524,0,0,0,0,0,0
$GC,2390,-1.15,-146.0,282.3,-9.2,162,2395,0.00,2.45,0.00,0.000,6,0.000,0.031,3104,1582,3524,0,0,0,0,0,0
$GC,2645,-1.15,-146.0,308.4,-10.6,169,2646,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1583,3524,0,0,0,0,0,0
$GC,2889,-1.15,-146.0,331.6,-9.1,175,2893,0.00,2.33,0.00,0.000,4,0.000,0.051,3104,173,3524,0,0,0,0,0,0
$GC,2913,-1.15,-146.0,333.9,-10.0,175,2918,0.00,2.17,0.00,0.000,6,0.000,0.021,3104,1568,3524,0,0,0,0,0,0
$GC,3177,-1.15,-146.0,353.5,-7.1,182,3181,0.00,2.47,0.00,0.000,4,0.000,0.031,3104,3119,3523,0,0,0,0,0,0
$GC,3192,-1.15,-146.0,354.6,-7.1,182,3196,0.00,2.50,0.00,0.000,6,0.000,0.031,3104,1575,3523,0,0,0,0,0,0
$GC,3462,-1.21,-146.0,372.7,-6.8,189,3464,0.12,0.00,0.00,0.000,6,0.064,0.000,3039,1575,3522,0,0,0,0,0,0
$GC,3704,-1.08,-146.0,400.7,-12.0,195,3709,0.25,2.38,0.00,0.000,4,0.091,0.064,3099,166,3520,0,0,0,0,0,0
$GC,3753,-1.17,-146.0,406.0,-10.4,196,3757,0.00,2.20,0.00,0.000,6,0.000,0.025,3099,1574,3520,0,0,0,0,0,0
$GC,4036,-1.23,-146.0,431.2,-8.8,203,4041,0.12,2.53,0.00,0.000,4,0.064,0.037,3034,3112,3518,0,0,0,0,0,0
$GC,4083,-1.23,-146.0,436.4,-11.0,204,4088,0.17,2.53,0.00,0.000,6,0.094,0.036,3073,1575,3517,0,0,0,0,0,0
$GC,4368,-1.23,-146.0,462.9,-9.2,211,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1576,3516,0,0,0,0,0,0
$GC,4610,-1.23,-146.0,484.1,-8.6,217,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1576,3514,0,0,0,0,0,0
$GC,4854,-1.23,-146.0,506.4,-9.1,223,4858,0.00,2.42,0.00,0.000,4,0.000,0.073,3073,167,3512,0,0,0,0,0,0
$GC,4873,-1.23,-146.0,508.5,-10.8,223,4878,0.00,2.28,0.00,0.000,6,0.000,0.034,3073,1573,3512,0,0,0,0,0,0
$GC,5142,-1.23,-146.0,534.8,-9.9,230,5146,0.00,2.58,0.00,0.000,4,0.000,0.046,3073,3123,3511,0,0,0,0,0,0
$GC,5156,-1.23,-146.0,536.6,-10.1,230,5161,0.00,2.58,0.00,0.000,6,0.000,0.041,3073,1581,3511,0,0,0,0,0,0
$GC,5426,-1.23,-146.0,563.1,-9.9,237,5431,0.00,2.47,0.00,0.000,4,0.000,0.077,3073,170,3509,0,0,0,0,0,0
$GC,5456,-1.23,-146.0,566.4,-10.6,237,5460,0.00,2.30,0.00,0.000,6,0.000,0.037,3073,1578,3508,0,0,0,0,0,0
$GC,5711,-1.23,-146.0,590.6,-9.4,244,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1579,3506,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5837,-0.31,0.0,602.3,9.5,247,5959,0.88,0.00,118.20,0.931,6,0.077,0.000,3272,1369,2920,0,0,0,0,0,0
$STATE,5960,end apogee,CONTROL_FINISHED_OK
$STATE,5960,begin climb
$GC,5962,1.27,146.0,607.2,0.0,250,6096,1.45,2.17,124.28,0.913,4,0.043,0.077,3622,177,2321,0,0,0,0,0,0
$GC,6274,0.91,146.0,584.8,12.2,257,6279,0.40,1.98,0.00,0.000,6,0.100,0.031,3539,1385,2316,0,0,0,0,0,0
$GC,6558,0.98,204.3,563.9,7.3,264,6615,0.00,2.22,50.08,0.884,4,0.000,0.071,3538,178,2086,0,0,0,0,0,0
$GC,6652,0.98,204.3,555.2,11.0,266,6655,0.00,1.95,0.00,0.000,6,0.000,0.030,3538,1381,2085,0,0,0,0,0,0
$GC,6935,0.99,212.2,527.7,9.6,273,6944,0.00,0.00,7.38,0.721,6,0.000,0.000,3538,1381,2054,0,0,0,0,0,0
$GC,7177,1.01,221.3,504.3,9.6,279,7188,0.00,0.00,9.52,0.759,6,0.000,0.000,3538,1382,2017,0,0,0,0,0,0
$GC,7422,1.02,233.8,481.1,9.4,285,7443,0.10,2.12,12.88,0.785,4,0.077,0.063,3579,167,1964,0,0,0,0,0,0
$GC,7494,0.90,233.8,472.8,13.1,286,7499,0.15,1.98,0.00,0.000,6,0.077,0.027,3534,1377,1963,0,0,0,0,0,0
$GC,7763,0.94,264.9,449.0,8.6,293,7800,0.00,2.67,29.17,0.821,4,0.000,0.037,3534,2959,1837,0,0,0,0,0,0
$GC,7827,1.08,284.3,443.5,9.1,294,7854,0.17,2.67,18.17,0.785,6,0.050,0.042,3602,1381,1760,0,0,0,0,0,0
$GC,8099,0.97,284.3,405.5,14.5,301,8101,0.25,0.00,0.00,0.000,6,0.091,0.000,3548,1381,1754,0,0,0,0,0,0
$GC,8342,0.97,284.3,378.7,10.5,307,8346,0.00,2.05,0.00,0.000,4,0.000,0.062,3548,167,1753,0,0,0,0,0,0
$GC,8379,0.97,284.3,374.6,11.0,307,8385,0.00,1.95,0.00,0.000,6,0.000,0.025,3548,1392,1753,0,0,0,0,0,0
$GC,8629,0.97,284.3,349.6,10.1,314,8633,0.00,2.58,0.00,0.000,4,0.000,0.036,3548,2958,1751,0,0,0,0,0,0
$GC,8658,1.06,284.3,346.5,10.9,314,8664,0.10,2.62,0.00,0.000,6,0.075,0.041,3597,1389,1749,0,0,0,0,0,0
$GC,8914,0.99,284.3,312.9,13.6,321,8919,0.20,2.10,0.00,0.000,4,0.094,0.060,3554,161,1749,0,0,0,0,0,0
$GC,8957,0.99,284.3,307.3,11.9,322,8961,0.00,1.92,0.00,0.000,6,0.000,0.023,3554,1398,1749,0,0,0,0,0,0
$GC,9249,1.07,284.3,276.8,10.2,329,9253,0.00,2.50,0.00,0.000,4,0.000,0.032,3554,2952,1749,0,0,0,0,0,0
$GC,9286,1.21,284.3,272.9,11.1,329,9293,0.20,2.62,0.00,0.000,6,0.044,0.039,3634,1381,1746,0,0,0,0,0,0
$GC,9538,1.06,284.3,238.8,13.8,336,9543,0.25,2.53,0.00,0.000,4,0.094,0.029,3576,2947,1746,0,0,0,0,0,0
$GC,9572,1.15,284.3,234.5,10.6,336,9576,0.00,2.60,0.00,0.000,6,0.000,0.038,3575,1383,1746,0,0,0,0,0,0
$GC,9822,1.15,284.3,208.5,10.6,342,9825,0.00,2.03,0.00,0.000,4,0.000,0.054,3575,161,1746,0,0,0,0,0,0
$GC,9858,1.15,284.3,204.1,11.9,342,9862,0.00,1.92,0.00,0.000,6,0.000,0.020,3576,1419,1746,0,0,0,0,0,0
$GC,10128,1.18,306.7,177.5,9.0,364,10159,0.00,2.17,18.67,0.598,4,0.000,0.057,3575,167,1669,0,0,0,0,0,0
$GC,10209,1.18,306.7,168.3,11.9,372,10212,0.00,1.85,0.00,0.000,6,0.000,0.020,3575,1394,1669,0,0,0,0,0,0
$GC,10481,1.24,306.7,140.2,10.9,397,10486,0.15,2.45,0.00,0.000,4,0.056,0.027,3642,2927,1667,0,0,0,0,0,0
$GC,10509,1.24,306.7,136.3,13.6,399,10514,0.15,2.55,0.00,0.000,6,0.098,0.035,3610,1374,1665,0,0,0,0,0,0
$GC,10773,1.24,306.7,102.1,12.7,423,10778,0.00,2.47,0.00,0.000,4,0.000,0.027,3610,2935,1665,0,0,0,0,0,0
$GC,10801,1.24,306.7,98.9,11.6,425,10805,0.00,2.53,0.00,0.000,6,0.000,0.034,3610,1395,1664,0,0,0,0,0,0
$GC,11070,1.24,306.7,68.8,11.8,449,11073,0.00,2.03,0.00,0.000,4,0.000,0.050,3609,169,1664,0,0,0,0,0,0
$GC,11161,1.24,306.7,56.6,13.7,457,11164,0.00,1.85,0.00,0.000,6,0.000,0.019,3610,1400,1664,0,0,0,0,0,0
$GC,11437,1.25,309.3,25.6,9.9,485,11446,0.00,2.42,0.00,0.000,4,0.000,0.025,3610,2926,1664,0,0,0,0,0,0
$GC,11461,1.25,309.3,22.7,12.2,488,11470,0.00,2.53,0.00,0.000,6,0.000,0.033,3610,1392,1664,0,0,0,0,0,0
$STATE,11640,end climb,SURFACE_DEPTH_REACHED
$STATE,11641,begin surface coast
$FINISH,0.8,1.017527
$STATE,11711,end surface coast,CONTROL_FINISHED_OK
$STATE,11712,begin surface
$SM_CCo,11735,42.35,0.445,0,0,1369,380.21
$SM_GC,1.50,0.00,0.00,42.35,0.000,0.000,0.445,411,1537,1369,-13.48,-0.08,380.21
$IRIDIUM_FIX,2255.72,-15739.74,031001,222204
$TT8_MAMPS,0.027612
$HUMID,62.28
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,9
$24V_AH,23.5,28.816
$10V_AH,10.0,21.423
$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,33.475,136.400,388.350,42.350,0.000,52.748,72.441,271.736,2.250,0.000,19.764,1130.268,8082.105,484.367,1951.217,746.478,33.379,1301.901,0.000,1943.305,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,77.467,931.138,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.771,297.338,375.698,550.084,966.414,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41741,527
$CAP_FILE_SIZE,130142,0
$CFSIZE,260165632,166191104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100712,011737,2302.735,-15738.910,59,2.5,78,10.1