version: 66.06
glider: 148
mission: 11
dive: 220
start: 7 11 112 8 15 13
data:
$ID,148
$MISSION,11
$DIVE,220
$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,-922912.19
$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,27
$R_STBD_OVSHOOT,67
$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
$GPS1,080708,2253.895,-15749.786,65,1.3,73,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.9
$GPS2,081419,2253.917,-15749.828,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.065,-0.252
$KALMAN_X,38021.8,-215.7,-26.8,-20820.0,-833.9
$KALMAN_Y,-15198.4,23.6,-571.5,26696.1,1569.7
$MHEAD_RNG_PITCHd_Wd,184.3,37164,-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,16,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.30,0.000,2,0.000,0.000,413,1535,3044,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.3,9,120,13.75,2.30,-8.95,0.000,4,0.152,0.053,3056,167,3516,0,0,0,0,0,0
$GC,256,-0.96,-146.0,43.3,-19.2,30,261,0.32,2.08,0.00,0.000,6,0.100,0.018,3127,1543,3518,0,0,0,0,0,0
$GC,519,-0.89,-146.0,81.8,-11.7,54,523,0.00,2.47,0.00,0.000,4,0.000,0.025,3127,3107,3520,0,0,0,0,0,0
$GC,612,-0.89,-146.0,92.6,-10.4,62,621,0.00,2.55,0.00,0.000,6,0.000,0.031,3127,1552,3520,0,0,0,0,0,0
$GC,876,-0.89,-146.0,122.9,-12.0,87,880,0.00,2.28,0.00,0.000,4,0.000,0.043,3127,162,3521,0,0,0,0,0,0
$GC,924,-0.89,-146.0,128.9,-12.7,91,927,0.00,2.12,0.00,0.000,6,0.000,0.018,3127,1553,3521,0,0,0,0,0,0
$GC,1191,-0.89,-146.0,159.4,-11.5,116,1195,0.00,2.42,0.00,0.000,4,0.000,0.023,3128,3101,3522,0,0,0,0,0,0
$GC,1239,-1.04,-146.0,164.6,-9.7,120,1248,0.00,2.53,0.00,0.000,6,0.000,0.028,3127,1553,3522,0,0,0,0,0,0
$GC,1507,-1.04,-146.0,191.6,-10.6,145,1511,0.00,2.45,0.00,0.000,4,0.000,0.024,3127,3101,3522,0,0,0,0,0,0
$GC,1546,-1.13,-146.0,195.7,-10.4,148,1551,0.15,2.45,0.00,0.000,6,0.054,0.028,3071,1564,3522,0,0,0,0,0,0
$GC,1829,-1.00,-146.0,232.1,-12.6,157,1834,0.22,2.30,0.00,0.000,4,0.099,0.042,3120,161,3522,0,0,0,0,0,0
$GC,1922,-1.08,-146.0,241.2,-9.1,159,1926,0.00,2.10,0.00,0.000,6,0.000,0.018,3121,1548,3523,0,0,0,0,0,0
$GC,2209,-1.16,-146.0,263.7,-8.1,166,2214,0.15,2.45,0.00,0.000,4,0.054,0.026,3038,3099,3523,0,0,0,0,0,0
$GC,2239,-1.02,-146.0,267.3,-13.4,166,2246,0.35,2.53,0.00,0.000,6,0.081,0.028,3117,1535,3523,0,0,0,0,0,0
$GC,2497,-1.09,-146.0,294.4,-10.6,173,2501,0.00,2.47,0.00,0.000,4,0.000,0.027,3117,3097,3523,0,0,0,0,0,0
$GC,2532,-1.23,-146.0,297.7,-9.1,173,2537,0.20,2.53,0.00,0.000,6,0.041,0.032,3030,1546,3523,0,0,0,0,0,0
$GC,2782,-1.04,-146.0,329.9,-13.0,179,2787,0.35,2.28,0.00,0.000,4,0.090,0.050,3111,167,3523,0,0,0,0,0,0
$GC,2826,-1.13,-146.0,334.3,-9.0,180,2830,0.00,2.12,0.00,0.000,6,0.000,0.021,3111,1537,3523,0,0,0,0,0,0
$GC,3115,-1.21,-146.0,356.6,-7.6,187,3120,0.15,2.55,0.00,0.000,4,0.054,0.031,3039,3111,3522,0,0,0,0,0,0
$GC,3190,-1.21,-146.0,364.4,-10.2,188,3195,0.17,2.55,0.00,0.000,6,0.095,0.035,3077,1563,3522,0,0,0,0,0,0
$GC,3447,-1.21,-146.0,388.3,-9.4,195,3451,0.00,2.38,0.00,0.000,4,0.000,0.061,3077,161,3520,0,0,0,0,0,0
$GC,3470,-1.21,-146.0,390.8,-10.4,195,3474,0.00,2.20,0.00,0.000,6,0.000,0.025,3077,1557,3520,0,0,0,0,0,0
$GC,3734,-1.21,-146.0,415.0,-9.1,202,3738,0.00,2.53,0.00,0.000,4,0.000,0.035,3077,3112,3518,0,0,0,0,0,0
$GC,3755,-1.21,-146.0,416.9,-9.8,202,3759,0.00,2.55,0.00,0.000,6,0.000,0.035,3077,1555,3518,0,0,0,0,0,0
$GC,4019,-1.21,-146.0,440.8,-9.1,209,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1555,3516,0,0,0,0,0,0
$GC,4263,-1.21,-146.0,462.8,-9.1,215,4266,0.00,2.38,0.00,0.000,4,0.000,0.070,3077,171,3515,0,0,0,0,0,0
$GC,4282,-1.21,-146.0,464.7,-9.7,215,4287,0.00,2.22,0.00,0.000,6,0.000,0.030,3077,1557,3515,0,0,0,0,0,0
$GC,4551,-1.21,-146.0,488.4,-8.7,222,4555,0.00,2.55,0.00,0.000,4,0.000,0.041,3077,3122,3513,0,0,0,0,0,0
$GC,4570,-1.21,-146.0,490.3,-9.7,222,4575,0.00,2.58,0.00,0.000,6,0.000,0.039,3077,1558,3513,0,0,0,0,0,0
$GC,4836,-1.21,-146.0,513.0,-8.6,229,4837,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1557,3511,0,0,0,0,0,0
$GC,5078,-1.21,-146.0,534.9,-9.0,235,5082,0.00,2.40,0.00,0.000,4,0.000,0.077,3077,168,3509,0,0,0,0,0,0
$GC,5106,-1.21,-146.0,537.8,-10.4,235,5110,0.00,2.25,0.00,0.000,6,0.000,0.034,3077,1556,3509,0,0,0,0,0,0
$GC,5367,-1.21,-146.0,561.5,-9.1,242,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1556,3507,0,0,0,0,0,0
$GC,5609,-1.21,-146.0,583.5,-9.0,248,5613,0.00,2.60,0.00,0.000,4,0.000,0.051,3077,3121,3505,0,0,0,0,0,0
$GC,5632,-1.21,-146.0,585.8,-10.1,248,5636,0.00,2.65,0.00,0.000,6,0.000,0.050,3077,1550,3506,0,0,0,0,0,0
$STATE,5807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5807,begin apogee
$GC,5814,-0.31,0.0,601.4,8.8,253,5935,0.85,0.00,117.97,0.935,6,0.081,0.000,3269,1373,2920,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5940,1.27,146.0,606.2,0.0,256,6074,1.45,2.20,123.95,0.914,4,0.043,0.082,3622,171,2322,0,0,0,0,0,0
$GC,6182,0.91,146.0,591.5,12.5,261,6187,0.40,1.98,0.00,0.000,6,0.099,0.031,3538,1389,2317,0,0,0,0,0,0
$GC,6442,0.97,195.0,571.0,7.7,268,6487,0.00,0.00,42.62,0.884,6,0.000,0.000,3538,1388,2124,0,0,0,0,0,0
$GC,6727,0.97,195.0,543.4,10.0,275,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1388,2118,0,0,0,0,0,0
$GC,6969,0.97,195.0,518.6,10.1,281,6973,0.00,2.12,0.00,0.000,4,0.000,0.066,3538,170,2117,0,0,0,0,0,0
$GC,7012,0.97,195.0,514.2,10.4,282,7015,0.00,1.98,0.00,0.000,6,0.000,0.028,3538,1394,2117,0,0,0,0,0,0
$GC,7305,0.98,205.3,485.6,9.5,289,7316,0.00,0.00,8.73,0.745,6,0.000,0.000,3538,1396,2083,0,0,0,0,0,0
$GC,7548,0.99,215.9,462.6,9.5,295,7564,0.00,2.17,10.57,0.762,4,0.000,0.062,3538,174,2040,0,0,0,0,0,0
$GC,7579,0.99,215.9,459.4,11.0,295,7582,0.00,1.92,0.00,0.000,6,0.000,0.026,3538,1382,2040,0,0,0,0,0,0
$GC,7839,1.01,230.9,435.1,9.3,302,7856,0.10,0.00,15.12,0.783,6,0.078,0.000,3580,1384,1978,0,0,0,0,0,0
$GC,8081,0.93,230.9,408.9,10.8,308,8083,0.17,0.00,0.00,0.000,6,0.097,0.000,3542,1384,1974,0,0,0,0,0,0
$GC,8325,0.97,260.1,387.6,8.7,314,8357,0.00,2.15,27.60,0.786,4,0.000,0.061,3542,168,1858,0,0,0,0,0,0
$GC,8396,0.97,260.1,380.6,11.0,315,8400,0.00,1.95,0.00,0.000,6,0.000,0.025,3542,1389,1857,0,0,0,0,0,0
$GC,8659,0.97,262.9,354.4,9.9,322,8664,0.00,2.55,0.00,0.000,4,0.000,0.035,3542,2947,1854,0,0,0,0,0,0
$GC,8699,1.11,266.8,350.7,9.8,322,8712,0.17,2.62,6.50,0.625,6,0.051,0.041,3605,1393,1831,0,0,0,0,0,0
$GC,8998,1.00,266.8,313.0,12.5,330,9003,0.22,2.10,0.00,0.000,4,0.095,0.060,3556,163,1830,0,0,0,0,0,0
$GC,9056,1.00,266.8,305.9,12.3,331,9060,0.00,1.95,0.00,0.000,6,0.000,0.023,3557,1398,1830,0,0,0,0,0,0
$GC,9333,1.00,266.8,276.0,10.8,338,9337,0.00,2.53,0.00,0.000,4,0.000,0.032,3556,2955,1828,0,0,0,0,0,0
$GC,9380,1.12,266.8,271.5,10.3,339,9385,0.10,2.62,0.00,0.000,6,0.075,0.040,3604,1387,1826,0,0,0,0,0,0
$GC,9664,1.03,266.8,235.6,12.7,346,9670,0.17,2.55,0.00,0.000,4,0.100,0.030,3565,2958,1826,0,0,0,0,0,0
$GC,9675,1.03,266.8,234.3,12.0,346,9680,0.00,2.60,0.00,0.000,6,0.000,0.035,3565,1383,1825,0,0,0,0,0,0
$GC,9948,1.06,286.3,209.6,9.1,353,9972,0.00,2.12,17.50,0.629,4,0.000,0.054,3565,168,1751,0,0,0,0,0,0
$GC,9998,1.06,286.3,204.5,11.9,354,10001,0.00,1.92,0.00,0.000,6,0.000,0.021,3565,1422,1751,0,0,0,0,0,0
$GC,10267,1.14,286.3,175.7,11.0,376,10272,0.10,2.42,0.00,0.000,4,0.076,0.027,3612,2940,1748,0,0,0,0,0,0
$GC,10308,1.14,286.3,171.1,11.7,379,10313,0.10,2.53,0.00,0.000,6,0.115,0.035,3588,1395,1746,0,0,0,0,0,0
$GC,10572,1.15,294.5,142.4,9.6,403,10582,0.00,0.00,7.88,0.505,6,0.000,0.000,3588,1395,1719,0,0,0,0,0,0
$GC,10836,1.15,294.5,114.3,10.4,428,10840,0.00,2.00,0.00,0.000,4,0.000,0.058,3588,171,1717,0,0,0,0,0,0
$GC,10892,1.15,294.5,108.2,11.9,433,10895,0.00,1.88,0.00,0.000,6,0.000,0.020,3588,1419,1717,0,0,0,0,0,0
$GC,11161,1.23,305.6,80.9,9.5,458,11177,0.00,2.10,11.82,0.481,4,0.000,0.046,3588,169,1673,0,0,0,0,0,0
$GC,11214,1.23,305.6,75.4,11.2,462,11218,0.00,1.90,0.00,0.000,6,0.000,0.019,3588,1420,1673,0,0,0,0,0,0
$GC,11488,1.32,305.6,49.2,10.7,487,11497,0.15,0.00,0.00,0.000,6,0.054,0.000,3631,1422,1672,0,0,0,0,0,0
$GC,11774,1.32,305.6,12.9,12.1,523,11782,0.00,2.10,0.00,0.000,4,0.000,0.046,3631,168,1672,0,0,0,0,0,0
$GC,11800,1.25,305.6,9.3,14.3,526,11808,0.00,1.92,0.00,0.000,6,0.000,0.019,3631,1432,1672,0,0,0,0,0,0
$STATE,11833,end climb,SURFACE_DEPTH_REACHED
$STATE,11834,begin surface coast
$FINISH,0.6,1.023552
$STATE,11866,end surface coast,CONTROL_FINISHED_OK
$STATE,11866,begin surface
$SM_CCo,11889,44.03,0.444,0,0,1369,380.21
$SM_GC,1.48,0.00,0.00,44.03,0.000,0.000,0.444,414,1554,1369,-13.46,0.40,380.21
$IRIDIUM_FIX,2248.70,-15735.41,051001,040420
$TT8_MAMPS,0.027612
$HUMID,61.41
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,5
$24V_AH,23.5,30.031
$10V_AH,10.0,22.483
$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,32.825,134.100,390.275,44.025,0.000,31.054,35.491,224.557,1.250,0.000,14.511,1152.722,8129.111,494.455,1964.621,624.371,33.371,1316.740,0.000,1964.292,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,82.069,934.973,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.324,303.117,383.488,550.091,966.452,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41465,536
$CAP_FILE_SIZE,127406,0
$CFSIZE,260165632,165588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110712,113535,2253.226,-15750.573,24,2.4,43,10.1