version: 66.06
glider: 148
mission: 11
dive: 215
start: 7 10 112 15 9 13
data:
$ID,148
$MISSION,11
$DIVE,215
$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,-922807.31
$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,84
$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
$GPS1,145744,2258.825,-15743.259,40,2.5,59,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.6
$GPS2,150819,2258.870,-15743.314,14,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.212,-0.151
$KALMAN_X,40825.5,234.1,173.6,-13154.7,-329.4
$KALMAN_Y,-20164.7,156.0,660.8,39472.1,-711.3
$MHEAD_RNG_PITCHd_Wd,224.4,51578,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,2,0.000,0.000,416,1549,3308,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.1,-7.9,10,120,13.70,2.28,-3.53,0.000,4,0.150,0.045,3059,164,3516,0,0,0,0,0,0
$GC,290,-0.98,-146.0,54.3,-20.1,32,295,0.30,2.08,0.00,0.000,6,0.098,0.018,3124,1518,3518,0,0,0,0,0,0
$GC,553,-0.89,-146.0,92.3,-12.9,56,558,0.10,2.53,0.00,0.000,4,0.127,0.025,3144,3115,3519,0,0,0,0,0,0
$GC,624,-1.06,-146.0,100.1,-9.4,62,629,0.15,2.53,0.00,0.000,6,0.051,0.030,3073,1546,3519,0,0,0,0,0,0
$GC,886,-0.89,-146.0,137.5,-13.7,86,891,0.30,2.22,0.00,0.000,4,0.090,0.039,3143,168,3520,0,0,0,0,0,0
$GC,948,-1.04,-146.0,144.3,-10.7,91,953,0.12,2.12,0.00,0.000,6,0.062,0.018,3074,1564,3520,0,0,0,0,0,0
$GC,1215,-0.88,-146.0,180.5,-14.7,115,1220,0.30,0.00,0.00,0.000,6,0.090,0.000,3144,1567,3521,0,0,0,0,0,0
$GC,1478,-1.00,-146.0,203.3,-7.3,137,1482,0.00,2.30,0.00,0.000,4,0.000,0.043,3144,170,3521,0,0,0,0,0,0
$GC,1506,-1.11,-146.0,205.7,-7.0,137,1511,0.20,2.10,0.00,0.000,6,0.043,0.018,3058,1564,3521,0,0,0,0,0,0
$GC,1762,-0.96,-146.0,236.6,-12.8,144,1767,0.30,2.40,0.00,0.000,4,0.087,0.023,3129,3085,3522,0,0,0,0,0,0
$GC,1802,-1.13,-146.0,241.0,-9.8,144,1808,0.15,2.50,0.00,0.000,6,0.054,0.030,3047,1542,3522,0,0,0,0,0,0
$GC,2052,-0.97,-146.0,273.1,-12.9,151,2057,0.32,2.25,0.00,0.000,4,0.085,0.044,3124,164,3521,0,0,0,0,0,0
$GC,2069,-0.91,-146.0,274.9,-11.9,151,2073,0.00,2.10,0.00,0.000,6,0.000,0.019,3124,1540,3522,0,0,0,0,0,0
$GC,2338,-1.01,-146.0,297.3,-8.5,158,2342,0.00,2.45,0.00,0.000,4,0.000,0.028,3124,3092,3522,0,0,0,0,0,0
$GC,2375,-1.20,-146.0,300.6,-7.6,158,2381,0.20,2.53,0.00,0.000,6,0.042,0.033,3036,1549,3522,0,0,0,0,0,0
$GC,2627,-1.06,-146.0,330.8,-12.3,164,2632,0.30,2.30,0.00,0.000,4,0.088,0.051,3107,164,3521,0,0,0,0,0,0
$GC,2675,-1.14,-146.0,335.9,-9.2,165,2679,0.00,2.15,0.00,0.000,6,0.000,0.021,3107,1545,3521,0,0,0,0,0,0
$GC,2959,-1.23,-146.0,359.3,-8.4,172,2964,0.15,2.55,0.00,0.000,4,0.056,0.034,3042,3112,3520,0,0,0,0,0,0
$GC,3003,-1.23,-146.0,363.9,-10.2,173,3008,0.12,2.58,0.00,0.000,6,0.104,0.035,3072,1549,3520,0,0,0,0,0,0
$GC,3291,-1.23,-146.0,391.9,-9.8,180,3295,0.00,2.53,0.00,0.000,4,0.000,0.035,3072,3104,3518,0,0,0,0,0,0
$GC,3325,-1.23,-146.0,395.3,-9.9,180,3330,0.00,2.58,0.00,0.000,6,0.000,0.039,3072,1555,3517,0,0,0,0,0,0
$GC,3575,-1.23,-146.0,419.6,-9.6,186,3579,0.00,2.38,0.00,0.000,4,0.000,0.064,3072,167,3515,0,0,0,0,0,0
$GC,3622,-1.23,-146.0,424.5,-10.4,187,3626,0.00,2.20,0.00,0.000,6,0.000,0.028,3072,1550,3516,0,0,0,0,0,0
$GC,3905,-1.23,-146.0,451.3,-9.7,194,3910,0.00,2.55,0.00,0.000,4,0.000,0.038,3072,3111,3513,0,0,0,0,0,0
$GC,3943,-1.23,-146.0,455.2,-9.2,194,3948,0.00,2.58,0.00,0.000,6,0.000,0.044,3072,1561,3513,0,0,0,0,0,0
$GC,4194,-1.23,-146.0,478.2,-9.1,201,4199,0.00,2.38,0.00,0.000,4,0.000,0.071,3072,171,3511,0,0,0,0,0,0
$GC,4227,-1.23,-146.0,481.7,-10.1,201,4231,0.00,2.22,0.00,0.000,6,0.000,0.031,3072,1557,3511,0,0,0,0,0,0
$GC,4477,-1.23,-146.0,503.4,-8.6,207,4481,0.00,2.55,0.00,0.000,4,0.000,0.042,3072,3121,3510,0,0,0,0,0,0
$GC,4526,-1.31,-146.0,507.8,-8.3,208,4530,0.00,2.60,0.00,0.000,6,0.000,0.042,3072,1569,3510,0,0,0,0,0,0
$GC,4808,-1.31,-146.0,533.9,-9.3,215,4812,0.00,2.45,0.00,0.000,4,0.000,0.077,3072,164,3507,0,0,0,0,0,0
$GC,4831,-1.31,-146.0,536.3,-10.2,215,4836,0.00,2.28,0.00,0.000,6,0.000,0.035,3073,1566,3507,0,0,0,0,0,0
$GC,5092,-1.31,-146.0,559.5,-8.8,222,5097,0.00,2.58,0.00,0.000,4,0.000,0.051,3072,3121,3505,0,0,0,0,0,0
$GC,5122,-1.31,-146.0,562.1,-8.2,222,5127,0.00,2.60,0.00,0.000,6,0.000,0.044,3072,1575,3505,0,0,0,0,0,0
$GC,5377,-1.31,-146.0,581.2,-7.4,229,5382,0.00,2.58,0.00,0.000,4,0.000,0.046,3072,3128,3503,0,0,0,0,0,0
$GC,5422,-1.40,-146.0,584.5,-7.0,230,5428,0.15,2.58,0.00,0.000,6,0.054,0.051,2997,1587,3503,0,0,0,0,0,0
$STATE,5586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5586,begin apogee
$GC,5592,-0.31,0.0,602.5,11.3,234,5713,1.25,0.00,117.45,0.935,6,0.092,0.000,3269,1377,2920,0,0,0,0,0,0
$STATE,5714,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5718,1.27,146.0,607.4,0.0,237,5850,1.45,2.22,123.68,0.917,4,0.044,0.084,3619,171,2324,0,0,0,0,0,0
$GC,5977,0.90,146.0,589.0,13.8,242,5983,0.40,1.98,0.00,0.000,6,0.100,0.031,3536,1382,2317,0,0,0,0,0,0
$GC,6227,0.92,166.9,566.2,9.0,249,6251,0.00,2.25,17.73,0.843,4,0.000,0.072,3536,164,2238,0,0,0,0,0,0
$GC,6277,0.82,166.9,561.1,11.4,250,6280,0.00,1.98,0.00,0.000,6,0.000,0.031,3536,1374,2237,0,0,0,0,0,0
$GC,6563,0.84,179.9,533.1,9.4,257,6580,0.00,2.15,12.15,0.801,4,0.000,0.067,3536,169,2186,0,0,0,0,0,0
$GC,6633,0.77,179.9,526.1,10.2,258,6638,0.15,1.98,0.00,0.000,6,0.109,0.029,3505,1371,2184,0,0,0,0,0,0
$GC,6900,0.93,245.2,506.1,7.0,265,6962,0.15,0.00,59.83,0.869,6,0.058,0.000,3559,1373,1919,0,0,0,0,0,0
$GC,7187,0.94,252.6,479.0,9.7,272,7200,0.00,2.15,7.12,0.696,4,0.000,0.064,3559,170,1890,0,0,0,0,0,0
$GC,7220,0.87,252.6,475.5,10.8,272,7225,0.15,1.95,0.00,0.000,6,0.103,0.028,3527,1376,1890,0,0,0,0,0,0
$GC,7476,0.94,254.1,450.2,9.9,279,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1378,1886,0,0,0,0,0,0
$GC,7721,1.02,254.1,425.4,10.1,285,7726,0.15,2.62,0.00,0.000,4,0.058,0.037,3582,2960,1885,0,0,0,0,0,0
$GC,7735,1.02,254.1,423.5,10.2,285,7740,0.00,2.70,0.00,0.000,6,0.000,0.041,3582,1364,1883,0,0,0,0,0,0
$GC,8004,0.95,254.1,390.3,12.3,292,8009,0.15,2.08,0.00,0.000,4,0.104,0.064,3549,164,1883,0,0,0,0,0,0
$GC,8066,0.95,254.1,383.0,12.3,293,8070,0.00,1.92,0.00,0.000,6,0.000,0.025,3549,1365,1883,0,0,0,0,0,0
$GC,8339,0.96,254.8,354.9,10.0,300,8344,0.00,2.58,0.00,0.000,4,0.000,0.034,3549,2947,1882,0,0,0,0,0,0
$GC,8363,0.99,286.1,352.6,8.6,300,8400,0.00,2.67,29.65,0.766,6,0.000,0.041,3549,1360,1752,0,0,0,0,0,0
$GC,8671,0.99,286.1,320.2,10.7,308,8675,0.00,2.05,0.00,0.000,4,0.000,0.061,3549,161,1748,0,0,0,0,0,0
$GC,8695,0.99,286.1,317.0,12.2,308,8698,0.00,1.92,0.00,0.000,6,0.000,0.023,3549,1383,1748,0,0,0,0,0,0
$GC,8964,1.06,286.1,287.8,10.8,315,8966,0.10,0.00,0.00,0.000,6,0.077,0.000,3593,1386,1747,0,0,0,0,0,0
$GC,9206,1.06,286.1,258.9,11.8,321,9207,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1386,1745,0,0,0,0,0,0
$GC,9450,1.06,286.1,229.4,12.1,327,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1386,1744,0,0,0,0,0,0
$GC,9693,1.06,286.1,200.7,11.8,333,9698,0.00,2.50,0.00,0.000,4,0.000,0.029,3592,2957,1743,0,0,0,0,0,0
$GC,9738,1.17,286.1,196.0,11.4,334,9743,0.00,2.65,0.00,0.000,6,0.000,0.038,3593,1357,1741,0,0,0,0,0,0
$GC,10004,1.17,286.1,168.8,10.6,358,10008,0.00,2.00,0.00,0.000,4,0.000,0.052,3593,161,1741,0,0,0,0,0,0
$GC,10166,1.17,286.1,148.1,12.5,374,10174,0.00,1.85,0.00,0.000,6,0.000,0.020,3593,1363,1741,0,0,0,0,0,0
$GC,10434,1.17,291.8,121.3,9.7,399,10443,0.00,2.03,4.35,0.401,4,0.000,0.051,3593,165,1730,0,0,0,0,0,0
$GC,10469,1.17,291.8,116.7,12.3,402,10478,0.00,1.83,0.00,0.000,6,0.000,0.020,3593,1360,1730,0,0,0,0,0,0
$GC,10735,1.17,292.4,90.1,10.0,427,10739,0.00,2.00,0.00,0.000,4,0.000,0.049,3593,160,1729,0,0,0,0,0,0
$GC,10779,1.17,292.4,85.5,10.4,431,10783,0.00,1.80,0.00,0.000,6,0.000,0.019,3593,1349,1730,0,0,0,0,0,0
$GC,11051,1.30,340.6,59.9,7.8,456,11101,0.12,2.60,44.53,0.500,4,0.061,0.026,3660,2924,1530,0,0,0,0,0,0
$GC,11119,1.22,340.6,51.7,13.9,462,11132,0.25,2.62,0.00,0.000,6,0.083,0.033,3604,1338,1527,0,0,0,0,0,0
$GC,11401,1.28,340.6,16.6,13.6,495,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1339,1525,0,0,0,0,0,0
$STATE,11501,end climb,SURFACE_DEPTH_REACHED
$STATE,11502,begin surface coast
$FINISH,0.6,0.999792
$STATE,11551,end surface coast,CONTROL_FINISHED_OK
$STATE,11551,begin surface
$SM_CCo,11574,18.58,0.425,0,0,1370,380.21
$SM_GC,1.49,0.00,0.00,18.58,0.000,0.000,0.425,417,1552,1370,-13.45,0.34,380.21
$IRIDIUM_FIX,2251.04,-15742.79,041001,111129
$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,8
$24V_AH,23.5,29.429
$10V_AH,9.9,21.949
$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,34.100,139.200,416.475,18.575,0.000,95.715,99.742,177.799,2.000,0.000,15.872,1127.837,7959.763,472.411,1963.712,702.787,33.377,1324.728,0.000,1955.008,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,84.370,934.973,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.680,290.143,368.169,537.389,944.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41512,518
$CAP_FILE_SIZE,130112,0
$CFSIZE,260165632,165892096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100712,182335,2257.948,-15744.999,26,1.1,26,10.1