version: 66.06
glider: 148
mission: 11
dive: 228
start: 7 12 112 11 44 0
data:
$ID,148
$MISSION,11
$DIVE,228
$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,-923121.62
$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,75
$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
$GPS1,113025,2246.146,-15758.851,10,99.0,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.6
$GPS2,114305,2246.287,-15758.928,42,1.1,47,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,-0.219
$KALMAN_X,34920.5,-193.4,-250.5,-33052.6,32.0
$KALMAN_Y,-8758.8,-14.9,24.6,5571.8,1170.6
$MHEAD_RNG_PITCHd_Wd,202.4,16153,-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,-74.30,0.000,2,0.000,0.000,411,1531,3308,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.1,-7.3,10,121,13.80,2.25,-3.55,0.000,4,0.153,0.047,3057,170,3518,0,0,0,0,0,0
$GC,314,-0.96,-146.0,59.5,-17.4,34,319,0.32,2.08,0.00,0.000,6,0.100,0.018,3127,1522,3519,0,0,0,0,0,0
$GC,577,-0.86,-146.0,98.3,-13.3,58,579,0.10,0.00,0.00,0.000,6,0.125,0.000,3149,1525,3519,0,0,0,0,0,0
$GC,832,-0.86,-146.0,124.7,-9.6,82,837,0.00,2.50,0.00,0.000,4,0.000,0.023,3149,3112,3520,0,0,0,0,0,0
$GC,863,-0.99,-146.0,127.8,-9.3,84,872,0.08,2.58,0.00,0.000,6,0.033,0.028,3059,1529,3521,0,0,0,0,0,0
$GC,1130,-0.78,-146.0,165.5,-15.2,109,1135,0.45,2.20,0.00,0.000,4,0.087,0.040,3164,164,3521,0,0,0,0,0,0
$GC,1169,-0.89,-146.0,170.7,-9.9,112,1173,0.00,2.10,0.00,0.000,6,0.000,0.018,3164,1554,3521,0,0,0,0,0,0
$GC,1437,-1.04,-146.0,191.3,-7.1,136,1442,0.22,2.42,0.00,0.000,4,0.040,0.021,3065,3094,3522,0,0,0,0,0,0
$GC,1505,-1.04,-146.0,198.9,-11.5,142,1510,0.20,2.50,0.00,0.000,6,0.087,0.028,3110,1535,3522,0,0,0,0,0,0
$GC,1767,-1.04,-146.0,226.2,-10.2,149,1771,0.00,2.45,0.00,0.000,4,0.000,0.023,3110,3095,3522,0,0,0,0,0,0
$GC,1828,-1.17,-146.0,231.4,-8.6,150,1833,0.12,2.47,0.00,0.000,6,0.061,0.029,3034,1552,3522,0,0,0,0,0,0
$GC,2097,-0.97,-146.0,266.0,-13.0,157,2099,0.43,0.00,0.00,0.000,6,0.083,0.000,3125,1551,3522,0,0,0,0,0,0
$GC,2341,-1.07,-146.0,286.5,-7.9,163,2345,0.00,2.25,0.00,0.000,4,0.000,0.048,3125,173,3522,0,0,0,0,0,0
$GC,2374,-1.17,-146.0,289.3,-8.1,163,2379,0.17,2.12,0.00,0.000,6,0.048,0.020,3042,1545,3522,0,0,0,0,0,0
$GC,2631,-1.02,-146.0,318.3,-11.5,170,2636,0.30,2.28,0.00,0.000,4,0.085,0.046,3113,166,3522,0,0,0,0,0,0
$GC,2675,-1.13,-146.0,323.1,-9.0,171,2680,0.00,2.17,0.00,0.000,6,0.000,0.023,3113,1552,3522,0,0,0,0,0,0
$GC,2964,-1.22,-146.0,348.4,-8.8,178,2970,0.15,2.53,0.00,0.000,4,0.055,0.034,3042,3116,3521,0,0,0,0,0,0
$GC,3021,-1.22,-146.0,355.1,-10.8,179,3026,0.15,2.55,0.00,0.000,6,0.095,0.035,3077,1560,3521,0,0,0,0,0,0
$GC,3295,-1.22,-146.0,382.8,-10.2,186,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1560,3519,0,0,0,0,0,0
$GC,3540,-1.22,-146.0,407.2,-10.0,192,3545,0.00,2.55,0.00,0.000,4,0.000,0.036,3077,3111,3517,0,0,0,0,0,0
$GC,3559,-1.22,-146.0,409.3,-10.0,192,3563,0.00,2.55,0.00,0.000,6,0.000,0.035,3077,1552,3517,0,0,0,0,0,0
$GC,3823,-1.22,-146.0,433.8,-9.5,199,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1552,3515,0,0,0,0,0,0
$GC,4068,-1.22,-146.0,458.0,-9.9,205,4073,0.00,2.58,0.00,0.000,4,0.000,0.040,3077,3110,3514,0,0,0,0,0,0
$GC,4092,-1.22,-146.0,460.4,-10.3,205,4096,0.00,2.55,0.00,0.000,6,0.000,0.041,3077,1570,3514,0,0,0,0,0,0
$GC,4351,-1.22,-146.0,483.9,-9.2,212,4356,0.00,2.40,0.00,0.000,4,0.000,0.070,3077,166,3512,0,0,0,0,0,0
$GC,4388,-1.22,-146.0,487.9,-10.2,212,4394,0.00,2.25,0.00,0.000,6,0.000,0.036,3077,1560,3512,0,0,0,0,0,0
$GC,4640,-1.22,-146.0,512.3,-9.7,219,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1560,3510,0,0,0,0,0,0
$GC,4882,-1.22,-146.0,535.2,-9.3,225,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1560,3508,0,0,0,0,0,0
$GC,5126,-1.22,-146.0,556.0,-8.4,231,5130,0.00,2.40,0.00,0.000,4,0.000,0.071,3077,171,3507,0,0,0,0,0,0
$GC,5151,-1.22,-146.0,558.2,-10.1,231,5155,0.00,2.28,0.00,0.000,6,0.000,0.034,3077,1567,3506,0,0,0,0,0,0
$GC,5410,-1.22,-146.0,578.7,-7.6,238,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1568,3505,0,0,0,0,0,0
$GC,5654,-1.22,-146.0,596.4,-7.2,244,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1568,3503,0,0,0,0,0,0
$STATE,5732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5732,begin apogee
$GC,5740,-0.31,0.0,602.4,7.4,246,5861,0.85,0.00,117.47,0.933,6,0.078,0.000,3269,1374,2920,0,0,0,0,0,0
$STATE,5862,end apogee,CONTROL_FINISHED_OK
$STATE,5862,begin climb
$GC,5865,1.27,146.0,605.9,0.0,249,5998,1.45,2.17,123.32,0.915,4,0.041,0.078,3619,171,2322,0,0,0,0,0,0
$GC,6126,0.91,146.0,586.7,13.7,255,6130,0.38,1.98,0.00,0.000,6,0.098,0.031,3540,1389,2316,0,0,0,0,0,0
$GC,6415,0.97,195.5,563.8,7.7,262,6463,0.00,2.22,42.78,0.879,4,0.000,0.071,3540,179,2121,0,0,0,0,0,0
$GC,6548,0.97,195.5,550.7,11.2,265,6551,0.00,1.95,0.00,0.000,6,0.000,0.029,3540,1374,2119,0,0,0,0,0,0
$GC,6840,1.00,223.6,524.6,8.7,272,6867,0.00,0.00,25.25,0.848,6,0.000,0.000,3540,1375,2008,0,0,0,0,0,0
$GC,7082,1.00,223.6,500.2,10.2,278,7086,0.00,2.10,0.00,0.000,4,0.000,0.065,3540,171,2003,0,0,0,0,0,0
$GC,7116,1.00,223.6,496.6,11.3,278,7120,0.00,1.92,0.00,0.000,6,0.000,0.028,3541,1376,2002,0,0,0,0,0,0
$GC,7371,1.00,223.6,468.6,11.0,285,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1378,2000,0,0,0,0,0,0
$GC,7613,1.00,223.6,443.2,10.3,291,7618,0.00,2.60,0.00,0.000,4,0.000,0.038,3540,2957,1999,0,0,0,0,0,0
$GC,7634,1.03,242.4,441.1,9.1,291,7659,0.10,2.67,17.15,0.791,6,0.076,0.041,3590,1376,1930,0,0,0,0,0,0
$GC,7948,0.93,242.4,403.3,12.1,299,7953,0.22,2.10,0.00,0.000,4,0.093,0.063,3542,159,1927,0,0,0,0,0,0
$GC,7991,0.93,242.4,398.4,11.0,300,7995,0.00,1.90,0.00,0.000,6,0.000,0.032,3542,1368,1927,0,0,0,0,0,0
$GC,8284,0.95,252.8,370.7,9.5,307,8300,0.00,2.65,10.27,0.706,4,0.000,0.036,3542,2940,1889,0,0,0,0,0,0
$GC,8338,1.08,253.5,365.2,10.0,308,8345,0.15,2.67,0.00,0.000,6,0.054,0.042,3610,1360,1885,0,0,0,0,0,0
$GC,8619,0.95,253.5,327.6,13.6,315,8624,0.28,2.05,0.00,0.000,4,0.091,0.062,3547,165,1885,0,0,0,0,0,0
$GC,8640,0.89,253.5,324.8,13.7,315,8644,0.00,1.92,0.00,0.000,6,0.000,0.023,3547,1392,1885,0,0,0,0,0,0
$GC,8909,0.95,253.5,295.7,10.8,322,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1394,1884,0,0,0,0,0,0
$GC,9152,1.04,273.4,272.8,9.1,328,9176,0.00,2.17,18.95,0.686,4,0.000,0.058,3546,164,1804,0,0,0,0,0,0
$GC,9258,1.04,273.4,261.6,11.6,330,9262,0.00,1.85,0.00,0.000,6,0.000,0.022,3547,1365,1803,0,0,0,0,0,0
$GC,9536,1.14,273.4,232.5,10.2,337,9541,0.17,2.53,0.00,0.000,4,0.051,0.029,3612,2936,1801,0,0,0,0,0,0
$GC,9598,1.14,273.4,225.1,11.2,338,9603,0.10,2.62,0.00,0.000,6,0.115,0.038,3588,1357,1798,0,0,0,0,0,0
$GC,9859,1.14,273.4,195.8,10.9,347,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1357,1798,0,0,0,0,0,0
$GC,10115,1.14,273.4,167.4,10.5,371,10119,0.00,2.53,0.00,0.000,4,0.000,0.028,3588,2942,1798,0,0,0,0,0,0
$GC,10135,1.14,273.4,165.1,11.1,372,10144,0.00,2.62,0.00,0.000,6,0.000,0.035,3588,1359,1797,0,0,0,0,0,0
$GC,10403,1.14,273.4,135.9,11.3,397,10406,0.00,1.98,0.00,0.000,4,0.000,0.051,3588,163,1796,0,0,0,0,0,0
$GC,10526,1.14,273.4,121.5,11.2,409,10530,0.00,1.80,0.00,0.000,6,0.000,0.019,3588,1361,1796,0,0,0,0,0,0
$GC,10795,1.15,285.1,97.1,9.5,434,10811,0.00,2.50,10.57,0.493,4,0.000,0.027,3588,2928,1756,0,0,0,0,0,0
$GC,10832,1.25,300.7,93.2,9.3,437,10854,0.10,2.60,15.18,0.511,6,0.074,0.035,3650,1346,1692,0,0,0,0,0,0
$GC,11113,1.14,300.7,58.3,11.7,463,11117,0.25,1.95,0.00,0.000,4,0.088,0.057,3591,161,1690,0,0,0,0,0,0
$GC,11251,1.21,300.7,45.2,10.8,475,11255,0.00,1.73,0.00,0.000,6,0.000,0.018,3591,1332,1690,0,0,0,0,0,0
$GC,11541,1.27,300.7,14.9,10.6,511,11550,0.10,2.55,0.00,0.000,4,0.076,0.026,3643,2920,1690,0,0,0,0,0,0
$GC,11563,1.27,300.7,12.8,10.8,513,11572,0.10,2.62,0.00,0.000,6,0.071,0.034,3615,1328,1690,0,0,0,0,0,0
$STATE,11640,end climb,SURFACE_DEPTH_REACHED
$STATE,11640,begin surface coast
$FINISH,0.7,1.023250
$STATE,11684,end surface coast,CONTROL_FINISHED_OK
$STATE,11684,begin surface
$SM_CCo,11707,42.90,0.443,0,0,1369,380.21
$SM_GC,1.63,0.00,0.00,42.90,0.000,0.000,0.443,412,1529,1369,-13.47,-0.31,380.21
$IRIDIUM_FIX,2237.01,-15800.20,061001,111115
$TT8_MAMPS,0.027612
$HUMID,62.40
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.10
$XPDR_PINGS,10
$24V_AH,23.5,30.999
$10V_AH,9.9,23.339
$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,33.700,120.550,380.950,42.900,0.000,55.196,73.002,396.692,2.500,0.000,48.581,1138.805,8031.846,461.765,2022.460,854.354,33.375,1288.339,0.000,1981.755,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,78.234,933.439,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.582,297.671,379.791,549.988,966.449,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41503,531
$CAP_FILE_SIZE,130285,0
$CFSIZE,260165632,165109760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120712,150106,2245.180,-15800.069,35,1.3,35,10.1