version: 66.06
glider: 148
mission: 11
dive: 217
start: 7 10 112 22 0 45
data:
$ID,148
$MISSION,11
$DIVE,217
$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,-922868.38
$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,28
$R_STBD_OVSHOOT,91
$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
$GPS1,214854,2256.917,-15746.341,18,1.7,27,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-74.4
$GPS2,215953,2257.007,-15746.438,24,99.0,43,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,-0.258
$KALMAN_X,39584.6,96.6,-289.8,-16645.8,-785.6
$KALMAN_Y,-17506.5,-153.4,-373.9,34705.3,2072.9
$MHEAD_RNG_PITCHd_Wd,176.1,45301,-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,-74.62,0.000,2,0.000,0.000,413,1568,3310,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-7.0,10,121,14.45,2.28,-3.47,0.000,4,0.171,0.046,3056,163,3516,0,0,0,0,0,0
$GC,259,-0.96,-146.0,48.3,-19.7,29,267,0.30,2.08,0.00,0.000,6,0.092,0.019,3125,1498,3519,0,0,0,0,0,0
$GC,523,-0.86,-146.0,86.9,-12.5,54,528,0.12,2.58,0.00,0.000,4,0.120,0.025,3151,3112,3519,0,0,0,0,0,0
$GC,546,-0.86,-146.0,90.0,-11.6,55,551,0.00,2.55,0.00,0.000,6,0.000,0.027,3151,1529,3520,0,0,0,0,0,0
$GC,808,-0.86,-146.0,119.3,-11.4,80,812,0.00,2.53,0.00,0.000,4,0.000,0.024,3151,3117,3521,0,0,0,0,0,0
$GC,859,-0.99,-146.0,124.9,-10.2,84,868,0.08,2.58,0.00,0.000,6,0.032,0.028,3066,1540,3521,0,0,0,0,0,0
$GC,1126,-0.78,-146.0,162.7,-14.0,109,1131,0.43,0.00,0.00,0.000,6,0.087,0.000,3165,1540,3521,0,0,0,0,0,0
$GC,1390,-0.94,-146.0,184.3,-7.3,134,1394,0.12,2.50,0.00,0.000,4,0.063,0.024,3095,3120,3522,0,0,0,0,0,0
$GC,1431,-0.94,-146.0,188.3,-9.9,137,1437,0.17,2.55,0.00,0.000,6,0.090,0.028,3134,1544,3522,0,0,0,0,0,0
$GC,1699,-1.01,-146.0,210.3,-8.0,154,1703,0.00,2.47,0.00,0.000,4,0.000,0.023,3134,3121,3523,0,0,0,0,0,0
$GC,1719,-1.10,-146.0,212.1,-8.0,154,1724,0.15,2.50,0.00,0.000,6,0.053,0.027,3047,1554,3523,0,0,0,0,0,0
$GC,1985,-0.91,-146.0,247.1,-13.6,161,1990,0.40,2.25,0.00,0.000,4,0.094,0.044,3134,171,3523,0,0,0,0,0,0
$GC,2038,-1.05,-146.0,252.9,-9.1,162,2043,0.10,2.10,0.00,0.000,6,0.073,0.019,3069,1557,3523,0,0,0,0,0,0
$GC,2318,-0.96,-146.0,284.5,-11.6,169,2320,0.28,0.00,0.00,0.000,6,0.087,0.000,3129,1559,3523,0,0,0,0,0,0
$GC,2560,-1.07,-146.0,301.9,-6.8,175,2565,0.10,2.47,0.00,0.000,4,0.076,0.028,3070,3097,3523,0,0,0,0,0,0
$GC,2595,-1.07,-146.0,304.7,-8.4,175,2601,0.15,2.53,0.00,0.000,6,0.096,0.032,3105,1542,3523,0,0,0,0,0,0
$GC,2846,-1.07,-146.0,324.9,-8.2,181,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1542,3522,0,0,0,0,0,0
$GC,3089,-1.07,-146.0,346.1,-8.6,187,3093,0.00,2.53,0.00,0.000,4,0.000,0.031,3106,3102,3521,0,0,0,0,0,0
$GC,3115,-1.15,-146.0,348.1,-8.8,187,3119,0.00,2.58,0.00,0.000,6,0.000,0.036,3106,1530,3521,0,0,0,0,0,0
$GC,3375,-1.21,-146.0,368.5,-7.8,194,3380,0.12,2.55,0.00,0.000,4,0.064,0.032,3051,3094,3519,0,0,0,0,0,0
$GC,3399,-1.21,-146.0,371.0,-10.7,194,3404,0.10,2.58,0.00,0.000,6,0.115,0.037,3075,1536,3519,0,0,0,0,0,0
$GC,3660,-1.21,-146.0,396.2,-9.9,201,3661,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1536,3518,0,0,0,0,0,0
$GC,3902,-1.21,-146.0,421.2,-10.3,207,3907,0.00,2.55,0.00,0.000,4,0.000,0.036,3075,3091,3516,0,0,0,0,0,0
$GC,3935,-1.21,-146.0,424.6,-9.3,207,3940,0.00,2.58,0.00,0.000,6,0.000,0.038,3075,1541,3516,0,0,0,0,0,0
$GC,4187,-1.21,-146.0,448.6,-9.5,213,4191,0.00,2.55,0.00,0.000,4,0.000,0.040,3075,3091,3514,0,0,0,0,0,0
$GC,4210,-1.21,-146.0,451.0,-9.7,213,4215,0.00,2.55,0.00,0.000,6,0.000,0.037,3075,1552,3514,0,0,0,0,0,0
$GC,4470,-1.21,-146.0,473.9,-8.8,220,4474,0.00,2.38,0.00,0.000,4,0.000,0.069,3075,173,3512,0,0,0,0,0,0
$GC,4489,-1.21,-146.0,475.8,-9.7,220,4493,0.00,2.17,0.00,0.000,6,0.000,0.028,3075,1535,3512,0,0,0,0,0,0
$GC,4759,-1.21,-146.0,498.5,-8.5,227,4763,0.00,2.60,0.00,0.000,4,0.000,0.041,3075,3114,3510,0,0,0,0,0,0
$GC,4787,-1.21,-146.0,501.4,-8.6,227,4792,0.00,2.58,0.00,0.000,6,0.000,0.040,3075,1557,3511,0,0,0,0,0,0
$GC,5043,-1.21,-146.0,525.5,-9.7,234,5048,0.00,2.40,0.00,0.000,4,0.000,0.075,3076,167,3509,0,0,0,0,0,0
$GC,5073,-1.21,-146.0,528.9,-11.6,234,5077,0.00,2.22,0.00,0.000,6,0.000,0.033,3075,1545,3509,0,0,0,0,0,0
$GC,5328,-1.21,-146.0,553.3,-9.6,241,5332,0.00,2.62,0.00,0.000,4,0.000,0.047,3075,3125,3507,0,0,0,0,0,0
$GC,5367,-1.29,-146.0,556.9,-8.7,241,5372,0.00,2.65,0.00,0.000,6,0.000,0.044,3075,1550,3507,0,0,0,0,0,0
$GC,5617,-1.29,-146.0,577.7,-8.1,248,5621,0.00,2.40,0.00,0.000,4,0.000,0.078,3075,169,3505,0,0,0,0,0,0
$GC,5631,-1.29,-146.0,579.1,-8.2,248,5635,0.00,2.22,0.00,0.000,6,0.000,0.034,3075,1555,3505,0,0,0,0,0,0
$STATE,5897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5897,begin apogee
$GC,5905,-0.31,0.0,600.8,8.1,255,6026,0.88,0.00,117.85,0.936,6,0.081,0.000,3272,1361,2920,0,0,0,0,0,0
$STATE,6027,end apogee,CONTROL_FINISHED_OK
$STATE,6027,begin climb
$GC,6029,1.27,146.0,605.0,0.0,258,6164,1.45,2.20,124.07,0.916,4,0.043,0.076,3623,178,2322,0,0,0,0,0,0
$GC,6384,0.90,146.0,577.9,11.9,266,6388,0.40,1.95,0.00,0.000,6,0.099,0.030,3538,1382,2316,0,0,0,0,0,0
$GC,6673,1.01,232.2,559.7,6.0,273,6758,0.10,2.20,75.07,0.893,4,0.078,0.069,3579,182,1972,0,0,0,0,0,0
$GC,6839,0.87,232.2,541.7,13.1,276,6844,0.22,1.98,0.00,0.000,6,0.096,0.029,3531,1391,1969,0,0,0,0,0,0
$GC,7094,0.89,247.0,517.6,9.3,283,7109,0.00,0.00,13.55,0.800,6,0.000,0.000,3531,1392,1913,0,0,0,0,0,0
$GC,7339,0.95,247.4,493.4,10.0,289,7344,0.00,2.62,0.00,0.000,4,0.000,0.044,3532,2957,1908,0,0,0,0,0,0
$GC,7364,1.04,257.6,490.7,9.5,289,7382,0.15,2.67,10.75,0.769,6,0.053,0.044,3589,1379,1869,0,0,0,0,0,0
$GC,7626,0.96,257.6,457.3,13.0,296,7630,0.17,2.12,0.00,0.000,4,0.104,0.067,3549,164,1865,0,0,0,0,0,0
$GC,7651,0.96,257.6,454.2,12.1,296,7655,0.00,1.98,0.00,0.000,6,0.000,0.026,3550,1380,1865,0,0,0,0,0,0
$GC,7914,0.96,258.1,427.1,10.0,303,7919,0.00,2.58,0.00,0.000,4,0.000,0.038,3550,2951,1863,0,0,0,0,0,0
$GC,7948,1.05,267.8,423.9,9.6,303,7965,0.00,2.65,9.62,0.728,6,0.000,0.043,3550,1379,1828,0,0,0,0,0,0
$GC,8249,1.05,267.8,394.2,10.3,311,8253,0.00,2.60,0.00,0.000,4,0.000,0.035,3550,2958,1825,0,0,0,0,0,0
$GC,8272,1.05,268.2,391.6,10.0,311,8277,0.00,2.65,0.00,0.000,6,0.000,0.041,3550,1389,1823,0,0,0,0,0,0
$GC,8531,1.05,268.2,364.4,10.7,318,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1389,1823,0,0,0,0,0,0
$GC,8775,1.05,268.2,336.9,11.3,324,8779,0.00,2.58,0.00,0.000,4,0.000,0.033,3550,2957,1823,0,0,0,0,0,0
$GC,8808,1.16,268.2,333.1,11.5,324,8813,0.17,2.60,0.00,0.000,6,0.053,0.041,3611,1398,1821,0,0,0,0,0,0
$GC,9058,1.03,268.2,297.3,14.4,330,9063,0.22,2.10,0.00,0.000,4,0.095,0.060,3563,163,1821,0,0,0,0,0,0
$GC,9115,1.03,268.2,290.0,12.4,331,9119,0.00,1.95,0.00,0.000,6,0.000,0.022,3563,1405,1820,0,0,0,0,0,0
$GC,9397,1.08,308.5,265.0,8.1,338,9437,0.00,0.00,36.85,0.701,6,0.000,0.000,3563,1407,1662,0,0,0,0,0,0
$GC,9681,1.08,308.5,234.9,11.5,345,9685,0.00,2.12,0.00,0.000,4,0.000,0.055,3563,159,1658,0,0,0,0,0,0
$GC,9747,1.08,308.5,226.3,13.4,346,9751,0.00,1.90,0.00,0.000,6,0.000,0.021,3563,1389,1658,0,0,0,0,0,0
$GC,10015,1.15,308.5,197.6,10.2,353,10020,0.12,2.53,0.00,0.000,4,0.066,0.029,3620,2951,1656,0,0,0,0,0,0
$GC,10065,1.15,308.5,191.8,12.1,357,10075,0.10,2.62,0.00,0.000,6,0.075,0.037,3593,1383,1654,0,0,0,0,0,0
$GC,10329,1.15,308.5,160.4,12.0,382,10333,0.00,2.03,0.00,0.000,4,0.000,0.051,3593,169,1654,0,0,0,0,0,0
$GC,10421,1.15,308.5,149.0,12.3,391,10425,0.00,1.85,0.00,0.000,6,0.000,0.021,3593,1396,1654,0,0,0,0,0,0
$GC,10688,1.15,308.5,118.7,11.6,416,10692,0.00,2.45,0.00,0.000,4,0.000,0.033,3594,2948,1654,0,0,0,0,0,0
$GC,10719,1.24,308.5,115.1,11.2,418,10728,0.00,2.60,0.00,0.000,6,0.000,0.035,3594,1385,1652,0,0,0,0,0,0
$GC,10986,1.31,308.5,84.4,11.1,443,10991,0.12,2.00,0.00,0.000,4,0.064,0.051,3655,165,1652,0,0,0,0,0,0
$GC,11001,1.31,308.5,82.0,11.3,444,11006,0.15,1.88,0.00,0.000,6,0.106,0.020,3623,1401,1652,0,0,0,0,0,0
$GC,11270,1.31,308.5,51.6,11.4,469,11274,0.00,2.42,0.00,0.000,4,0.000,0.025,3623,2941,1652,0,0,0,0,0,0
$GC,11300,1.31,308.5,48.3,11.2,471,11304,0.00,2.55,0.00,0.000,6,0.000,0.033,3623,1383,1652,0,0,0,0,0,0
$GC,11583,1.31,308.5,15.4,11.7,505,11592,0.00,2.05,0.00,0.000,4,0.000,0.051,3623,163,1652,0,0,0,0,0,0
$GC,11671,1.24,308.5,4.7,11.5,518,11679,0.00,1.85,0.00,0.000,6,0.000,0.018,3622,1385,1652,0,0,0,0,0,0
$STATE,11686,end climb,SURFACE_DEPTH_REACHED
$STATE,11686,begin surface coast
$FINISH,0.6,1.023623
$STATE,11725,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11750,39.47,0.446,0,0,1369,380.21
$SM_GC,1.48,0.00,0.00,39.47,0.000,0.000,0.446,408,1561,1369,-13.49,0.59,380.21
$IRIDIUM_FIX,2248.70,-15748.01,041001,222249
$TT8_MAMPS,0.027612
$HUMID,62.83
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,5
$24V_AH,23.5,29.673
$10V_AH,9.9,22.160
$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,34.200,147.400,387.775,39.475,0.000,56.907,70.176,294.206,1.250,0.000,45.492,1130.924,8090.873,500.400,1960.455,763.221,33.378,1327.603,0.000,1932.730,0.000,0.536,0.000
$DEVICE_MAMPS,171.041,78.234,935.740,446.394,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.295,308.180,375.870,536.760,943.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41554,526
$CAP_FILE_SIZE,133877,0
$CFSIZE,260165632,165765120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110712,011900,2256.116,-15746.741,63,1.7,63,10.1