version: 66.06
glider: 148
mission: 11
dive: 224
start: 7 11 112 22 1 59
data:
$ID,148
$MISSION,11
$DIVE,224
$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,-923007.12
$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,25
$R_STBD_OVSHOOT,74
$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
$GPS1,215424,2250.242,-15754.137,11,1.8,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-73.7
$GPS2,220105,2250.312,-15754.179,40,1.0,40,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.078,-0.248
$KALMAN_X,36450.2,187.1,-180.4,-26934.4,-432.4
$KALMAN_Y,-11624.4,-34.8,-271.4,16199.8,1745.7
$MHEAD_RNG_PITCHd_Wd,187.3,27171,-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,-74.25,0.000,2,0.000,0.000,410,1533,3296,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.4,10,121,13.80,2.28,-3.72,0.000,4,0.153,0.049,3057,161,3516,0,0,0,0,0,0
$GC,204,-0.97,-146.0,36.0,-20.9,24,209,0.32,2.10,0.00,0.000,6,0.097,0.018,3127,1521,3518,0,0,0,0,0,0
$GC,473,-0.84,-146.0,75.7,-13.6,48,478,0.12,2.53,0.00,0.000,4,0.118,0.025,3153,3110,3519,0,0,0,0,0,0
$GC,537,-0.95,-146.0,83.9,-9.9,53,542,0.00,2.53,0.00,0.000,6,0.000,0.028,3153,1538,3520,0,0,0,0,0,0
$GC,805,-0.95,-146.0,109.6,-8.4,77,809,0.00,2.50,0.00,0.000,4,0.000,0.024,3153,3113,3521,0,0,0,0,0,0
$GC,845,-1.08,-146.0,113.4,-7.4,80,854,0.17,2.53,0.00,0.000,6,0.020,0.028,3045,1563,3521,0,0,0,0,0,0
$GC,1109,-0.82,-146.0,156.1,-16.6,105,1114,0.47,2.25,0.00,0.000,4,0.088,0.040,3154,168,3522,0,0,0,0,0,0
$GC,1158,-0.97,-146.0,162.0,-9.8,109,1163,0.10,2.12,0.00,0.000,6,0.074,0.018,3090,1573,3522,0,0,0,0,0,0
$GC,1423,-0.88,-146.0,193.3,-11.1,133,1428,0.25,0.00,0.00,0.000,6,0.089,0.000,3145,1576,3523,0,0,0,0,0,0
$GC,1697,-0.97,-146.0,217.8,-8.5,145,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1576,3524,0,0,0,0,0,0
$GC,1940,-1.09,-146.0,238.6,-8.3,151,1945,0.17,2.40,0.00,0.000,4,0.048,0.025,3066,3101,3524,0,0,0,0,0,0
$GC,1970,-1.09,-146.0,241.5,-10.3,151,1976,0.15,2.53,0.00,0.000,6,0.096,0.029,3101,1543,3524,0,0,0,0,0,0
$GC,2226,-1.09,-146.0,265.3,-9.5,158,2230,0.00,2.25,0.00,0.000,4,0.000,0.047,3101,172,3524,0,0,0,0,0,0
$GC,2268,-1.09,-146.0,270.2,-11.9,158,2273,0.00,2.10,0.00,0.000,6,0.000,0.019,3101,1535,3524,0,0,0,0,0,0
$GC,2519,-1.09,-146.0,295.4,-10.2,165,2523,0.00,2.50,0.00,0.000,4,0.000,0.027,3102,3108,3524,0,0,0,0,0,0
$GC,2562,-1.21,-146.0,299.6,-9.2,166,2568,0.10,2.53,0.00,0.000,6,0.074,0.032,3027,1544,3524,0,0,0,0,0,0
$GC,2852,-1.00,-146.0,338.2,-13.2,173,2854,0.43,0.00,0.00,0.000,6,0.087,0.000,3118,1544,3523,0,0,0,0,0,0
$GC,3095,-1.10,-146.0,357.0,-7.5,179,3099,0.00,2.50,0.00,0.000,4,0.000,0.030,3118,3103,3523,0,0,0,0,0,0
$GC,3123,-1.25,-146.0,359.3,-7.6,179,3129,0.20,2.53,0.00,0.000,6,0.041,0.035,3030,1556,3523,0,0,0,0,0,0
$GC,3381,-1.09,-146.0,389.4,-12.1,186,3386,0.30,2.33,0.00,0.000,4,0.090,0.058,3100,167,3522,0,0,0,0,0,0
$GC,3429,-1.18,-146.0,394.4,-8.9,187,3433,0.00,2.15,0.00,0.000,6,0.000,0.025,3100,1535,3522,0,0,0,0,0,0
$GC,3712,-1.18,-146.0,416.3,-7.8,194,3717,0.00,2.58,0.00,0.000,4,0.000,0.035,3100,3119,3520,0,0,0,0,0,0
$GC,3741,-1.27,-146.0,418.9,-8.3,194,3746,0.15,2.58,0.00,0.000,6,0.054,0.035,3020,1544,3520,0,0,0,0,0,0
$GC,3997,-1.08,-146.0,450.2,-12.5,201,4002,0.35,2.38,0.00,0.000,4,0.091,0.065,3102,163,3518,0,0,0,0,0,0
$GC,4027,-1.08,-146.0,453.3,-10.1,201,4032,0.00,2.17,0.00,0.000,6,0.000,0.028,3102,1529,3519,0,0,0,0,0,0
$GC,4282,-1.17,-146.0,471.0,-6.6,208,4287,0.00,2.60,0.00,0.000,4,0.000,0.038,3101,3118,3517,0,0,0,0,0,0
$GC,4316,-1.32,-146.0,473.1,-5.9,208,4321,0.20,2.60,0.00,0.000,6,0.041,0.041,3027,1545,3517,0,0,0,0,0,0
$GC,4568,-1.18,-146.0,500.2,-11.4,214,4573,0.25,2.38,0.00,0.000,4,0.095,0.071,3085,166,3515,0,0,0,0,0,0
$GC,4615,-1.24,-146.0,505.3,-9.4,215,4620,0.00,2.22,0.00,0.000,6,0.000,0.038,3085,1540,3514,0,0,0,0,0,0
$GC,4899,-1.24,-146.0,530.8,-9.1,222,4904,0.00,2.62,0.00,0.000,4,0.000,0.044,3085,3130,3513,0,0,0,0,0,0
$GC,4923,-1.31,-146.0,533.4,-10.1,222,4928,0.12,2.67,0.00,0.000,6,0.061,0.043,3030,1537,3512,0,0,0,0,0,0
$GC,5184,-1.19,-146.0,563.9,-12.0,229,5189,0.22,2.40,0.00,0.000,4,0.099,0.076,3078,166,3510,0,0,0,0,0,0
$GC,5215,-1.19,-146.0,567.2,-10.3,229,5219,0.00,2.22,0.00,0.000,6,0.000,0.034,3078,1548,3510,0,0,0,0,0,0
$GC,5470,-1.19,-146.0,589.4,-8.6,236,5474,0.00,2.60,0.00,0.000,4,0.000,0.048,3078,3122,3508,0,0,0,0,0,0
$GC,5494,-1.19,-146.0,591.5,-8.4,236,5498,0.00,2.67,0.00,0.000,6,0.000,0.046,3077,1536,3508,0,0,0,0,0,0
$STATE,5630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5630,begin apogee
$GC,5637,-0.31,0.0,602.0,7.8,240,5758,0.85,0.00,118.43,0.929,6,0.078,0.000,3270,1370,2920,0,0,0,0,0,0
$STATE,5759,end apogee,CONTROL_FINISHED_OK
$STATE,5759,begin climb
$GC,5762,1.27,146.0,604.7,0.0,243,5893,1.45,2.20,123.78,0.909,4,0.043,0.084,3620,174,2323,0,0,0,0,0,0
$GC,6002,0.90,146.0,584.4,14.6,248,6007,0.40,1.98,0.00,0.000,6,0.098,0.031,3536,1384,2318,0,0,0,0,0,0
$GC,6268,0.93,169.6,559.4,8.9,255,6292,0.00,2.20,19.85,0.839,4,0.000,0.072,3536,169,2228,0,0,0,0,0,0
$GC,6346,0.85,169.6,551.9,10.1,256,6350,0.00,2.00,0.00,0.000,6,0.000,0.031,3536,1404,2226,0,0,0,0,0,0
$GC,6602,0.90,204.0,529.8,8.4,263,6638,0.00,2.22,31.23,0.854,4,0.000,0.069,3536,174,2088,0,0,0,0,0,0
$GC,6676,0.90,204.0,522.8,10.7,264,6679,0.00,1.95,0.00,0.000,6,0.000,0.028,3536,1373,2086,0,0,0,0,0,0
$GC,6936,0.93,233.7,499.8,8.6,271,6965,0.00,0.00,27.55,0.838,6,0.000,0.000,3536,1374,1967,0,0,0,0,0,0
$GC,7181,0.97,264.1,478.9,8.6,277,7212,0.00,0.00,28.95,0.830,6,0.000,0.000,3536,1374,1842,0,0,0,0,0,0
$GC,7423,1.03,264.1,454.0,10.5,283,7428,0.12,2.62,0.00,0.000,4,0.064,0.041,3590,2955,1837,0,0,0,0,0,0
$GC,7458,1.03,264.1,449.6,13.8,283,7467,0.12,2.67,0.00,0.000,6,0.104,0.044,3563,1370,1834,0,0,0,0,0,0
$GC,7712,1.03,264.1,417.6,12.3,290,7716,0.00,2.08,0.00,0.000,4,0.000,0.067,3563,164,1834,0,0,0,0,0,0
$GC,7740,0.97,264.1,413.9,12.9,290,7744,0.00,1.95,0.00,0.000,6,0.000,0.026,3563,1387,1834,0,0,0,0,0,0
$GC,8003,0.97,264.1,384.8,10.8,297,8008,0.00,2.58,0.00,0.000,4,0.000,0.037,3563,2954,1832,0,0,0,0,0,0
$GC,8023,0.97,264.1,382.7,10.3,297,8028,0.00,2.67,0.00,0.000,6,0.000,0.041,3563,1364,1831,0,0,0,0,0,0
$GC,8287,0.97,264.1,355.4,10.4,304,8291,0.00,2.03,0.00,0.000,4,0.000,0.063,3563,162,1831,0,0,0,0,0,0
$GC,8310,0.97,264.1,352.6,11.6,304,8314,0.00,1.90,0.00,0.000,6,0.000,0.024,3563,1372,1831,0,0,0,0,0,0
$GC,8579,0.97,264.1,322.2,11.4,311,8583,0.00,2.58,0.00,0.000,4,0.000,0.033,3563,2954,1830,0,0,0,0,0,0
$GC,8598,0.97,264.1,319.7,11.1,311,8602,0.00,2.65,0.00,0.000,6,0.000,0.039,3563,1357,1828,0,0,0,0,0,0
$GC,8862,0.97,264.1,291.0,10.9,318,8866,0.00,2.60,0.00,0.000,4,0.000,0.031,3563,2954,1828,0,0,0,0,0,0
$GC,8891,0.97,264.1,287.9,11.2,318,8896,0.00,2.62,0.00,0.000,6,0.000,0.038,3563,1365,1827,0,0,0,0,0,0
$GC,9146,0.97,264.1,259.7,10.9,325,9150,0.00,2.58,0.00,0.000,4,0.000,0.028,3564,2960,1827,0,0,0,0,0,0
$GC,9164,0.97,264.1,257.6,10.2,325,9169,0.00,2.65,0.00,0.000,6,0.000,0.038,3563,1364,1827,0,0,0,0,0,0
$GC,9428,0.97,265.1,231.1,10.0,332,9432,0.00,2.00,0.00,0.000,4,0.000,0.056,3563,167,1827,0,0,0,0,0,0
$GC,9477,0.97,265.1,225.7,11.7,333,9480,0.00,1.88,0.00,0.000,6,0.000,0.021,3563,1385,1827,0,0,0,0,0,0
$GC,9741,1.03,265.1,197.4,11.3,340,9745,0.00,2.05,0.00,0.000,4,0.000,0.052,3563,166,1827,0,0,0,0,0,0
$GC,9773,1.03,265.1,193.6,13.1,343,9777,0.00,1.85,0.00,0.000,6,0.000,0.021,3563,1374,1827,0,0,0,0,0,0
$GC,10042,1.17,324.1,169.2,7.3,368,10100,0.12,2.08,50.90,0.609,4,0.064,0.050,3619,167,1598,0,0,0,0,0,0
$GC,10192,1.09,324.1,148.6,14.8,383,10197,0.20,1.77,0.00,0.000,6,0.096,0.020,3575,1324,1596,0,0,0,0,0,0
$GC,10458,1.17,324.1,117.9,10.6,408,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1327,1593,0,0,0,0,0,0
$GC,10717,1.28,328.8,92.5,9.8,432,10733,0.17,2.58,5.12,0.404,4,0.050,0.025,3629,2920,1577,0,0,0,0,0,0
$GC,10764,1.28,328.8,86.7,11.9,436,10769,0.00,2.60,0.00,0.000,6,0.000,0.041,3629,1330,1574,0,0,0,0,0,0
$GC,11033,1.28,328.8,53.4,12.7,460,11037,0.00,2.55,0.00,0.000,4,0.000,0.026,3629,2925,1574,0,0,0,0,0,0
$GC,11087,1.35,328.8,46.0,11.6,464,11095,0.00,2.60,0.00,0.000,6,0.000,0.034,3629,1353,1573,0,0,0,0,0,0
$GC,11373,1.35,328.8,11.0,12.4,501,11382,0.00,1.98,0.00,0.000,4,0.000,0.049,3629,170,1573,0,0,0,0,0,0
$STATE,11426,end climb,SURFACE_DEPTH_REACHED
$STATE,11426,begin surface coast
$FINISH,0.6,0.999840
$STATE,11452,end surface coast,CONTROL_FINISHED_OK
$STATE,11452,begin surface
$SM_CCo,11478,25.67,0.432,0,0,1369,380.21
$SM_GC,1.44,0.00,0.00,25.67,0.000,0.000,0.432,410,1576,1369,-13.48,1.02,380.21
$IRIDIUM_FIX,2241.69,-15754.11,051001,181818
$TT8_MAMPS,0.027612
$HUMID,63.70
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.5,30.506
$10V_AH,10.0,22.910
$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,34.225,150.350,405.800,25.675,0.000,25.344,36.509,177.099,0.500,0.000,43.585,1116.892,7838.194,491.895,1896.084,561.214,33.373,1304.336,0.000,1865.609,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,83.603,928.837,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.369,286.678,362.664,519.343,913.010,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38422,513
$CAP_FILE_SIZE,128554,0
$CFSIZE,260165632,165347328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120712,011457,2249.468,-15754.794,11,2.3,30,10.1