version: 66.06
glider: 148
mission: 11
dive: 250
start: 7 15 112 16 2 0
data:
$ID,148
$MISSION,11
$DIVE,250
$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,-923625
$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,77
$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
$GPS1,154656,2301.096,-15801.596,7,2.9,26,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.8
$GPS2,160108,2301.115,-15801.639,38,1.3,38,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.184
$KALMAN_X,15472.6,6.4,-50.7,-18633.7,-785.2
$KALMAN_Y,8441.0,-455.5,213.4,16083.6,759.8
$MHEAD_RNG_PITCHd_Wd,125.0,58306,-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,-74.78,0.000,2,0.000,0.000,410,1527,3347,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.7,10,121,14.45,2.25,-2.83,0.000,4,0.171,0.051,3058,167,3517,0,0,0,0,0,0
$GC,169,-0.87,-146.0,31.5,-27.8,20,174,0.43,2.08,0.00,0.000,6,0.098,0.020,3149,1513,3518,0,0,0,0,0,0
$GC,437,-0.77,-146.0,71.1,-13.4,44,442,0.10,2.55,0.00,0.000,4,0.129,0.026,3171,3111,3519,0,0,0,0,0,0
$GC,505,-0.90,-146.0,79.2,-9.7,49,510,0.12,2.53,0.00,0.000,6,0.058,0.028,3092,1537,3519,0,0,0,0,0,0
$GC,771,-0.67,-146.0,120.7,-14.5,73,777,0.47,0.00,0.00,0.000,6,0.087,0.000,3187,1537,3520,0,0,0,0,0,0
$GC,1036,-0.82,-146.0,141.5,-7.6,98,1041,0.12,2.50,0.00,0.000,4,0.062,0.025,3114,3115,3520,0,0,0,0,0,0
$GC,1087,-0.82,-146.0,146.8,-10.2,102,1096,0.17,2.55,0.00,0.000,6,0.067,0.028,3159,1550,3520,0,0,0,0,0,0
$GC,1354,-0.90,-146.0,171.4,-9.6,127,1359,0.00,2.45,0.00,0.000,4,0.000,0.024,3159,3113,3521,0,0,0,0,0,0
$GC,1422,-1.13,-146.0,177.7,-8.0,133,1427,0.28,2.47,0.00,0.000,6,0.033,0.028,3055,1563,3521,0,0,0,0,0,0
$GC,1704,-0.92,-146.0,217.5,-14.1,150,1709,0.32,2.25,0.00,0.000,4,0.087,0.041,3132,170,3522,0,0,0,0,0,0
$GC,1747,-0.92,-146.0,223.3,-10.2,151,1751,0.00,2.15,0.00,0.000,6,0.000,0.018,3132,1592,3522,0,0,0,0,0,0
$GC,2036,-0.99,-146.0,249.6,-8.9,158,2040,0.00,2.38,0.00,0.000,4,0.000,0.025,3132,3113,3522,0,0,0,0,0,0
$GC,2055,-1.07,-146.0,251.5,-8.6,158,2060,0.12,2.47,0.00,0.000,6,0.061,0.027,3050,1572,3522,0,0,0,0,0,0
$GC,2322,-0.85,-146.0,286.3,-13.5,165,2329,0.47,2.47,0.00,0.000,4,0.084,0.025,3147,3119,3522,0,0,0,0,0,0
$GC,2334,-0.75,-146.0,288.1,-12.6,165,2339,0.12,2.50,0.00,0.000,6,0.100,0.026,3177,1566,3522,0,0,0,0,0,0
$GC,2609,-0.99,-146.0,303.9,-5.8,172,2614,0.22,2.47,0.00,0.000,4,0.039,0.026,3064,3109,3522,0,0,0,0,0,0
$GC,2626,-1.11,-146.0,305.3,-6.3,172,2631,0.15,2.47,0.00,0.000,6,0.096,0.031,3098,1580,3522,0,0,0,0,0,0
$GC,2896,-1.11,-146.0,331.2,-9.5,179,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1579,3521,0,0,0,0,0,0
$GC,3139,-1.11,-146.0,353.7,-9.3,185,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1580,3520,0,0,0,0,0,0
$GC,3385,-1.11,-146.0,376.3,-9.3,191,3386,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1580,3519,0,0,0,0,0,0
$GC,3627,-1.11,-146.0,398.5,-9.0,197,3631,0.00,2.47,0.00,0.000,4,0.000,0.034,3098,3108,3517,0,0,0,0,0,0
$GC,3641,-1.11,-146.0,399.9,-9.2,197,3645,0.00,2.50,0.00,0.000,6,0.000,0.034,3098,1585,3517,0,0,0,0,0,0
$GC,3911,-1.11,-146.0,423.7,-8.9,204,3915,0.00,2.47,0.00,0.000,4,0.000,0.035,3098,3101,3515,0,0,0,0,0,0
$GC,3926,-1.11,-146.0,425.1,-8.4,204,3930,0.00,2.50,0.00,0.000,6,0.000,0.033,3098,1577,3515,0,0,0,0,0,0
$GC,4194,-1.11,-146.0,447.4,-8.1,211,4198,0.00,2.40,0.00,0.000,4,0.000,0.067,3098,174,3513,0,0,0,0,0,0
$GC,4213,-1.11,-146.0,449.2,-9.0,211,4217,0.00,2.20,0.00,0.000,6,0.000,0.027,3099,1570,3513,0,0,0,0,0,0
$GC,4478,-1.11,-146.0,470.3,-8.0,218,4483,0.00,2.53,0.00,0.000,4,0.000,0.039,3098,3114,3511,0,0,0,0,0,0
$GC,4527,-1.25,-146.0,474.1,-7.5,219,4532,0.12,2.53,0.00,0.000,6,0.063,0.038,3029,1594,3511,0,0,0,0,0,0
$GC,4812,-1.10,-146.0,504.6,-11.0,226,4817,0.28,2.45,0.00,0.000,4,0.091,0.075,3094,167,3509,0,0,0,0,0,0
$GC,4881,-1.17,-146.0,510.5,-8.0,227,4885,0.00,2.28,0.00,0.000,6,0.000,0.031,3094,1586,3509,0,0,0,0,0,0
$GC,5146,-1.17,-146.0,529.7,-7.3,234,5150,0.00,2.55,0.00,0.000,4,0.000,0.045,3094,3126,3507,0,0,0,0,0,0
$GC,5166,-1.23,-146.0,531.5,-8.6,234,5171,0.10,2.58,0.00,0.000,6,0.076,0.041,3037,1582,3507,0,0,0,0,0,0
$GC,5433,-1.12,-146.0,560.5,-11.4,241,5438,0.25,2.45,0.00,0.000,4,0.097,0.075,3095,166,3504,0,0,0,0,0,0
$GC,5473,-1.19,-146.0,564.8,-9.4,241,5478,0.00,2.28,0.00,0.000,6,0.000,0.033,3094,1579,3505,0,0,0,0,0,0
$GC,5723,-1.26,-146.0,585.6,-8.2,248,5728,0.12,2.58,0.00,0.000,4,0.064,0.049,3037,3128,3503,0,0,0,0,0,0
$GC,5739,-1.26,-146.0,587.1,-8.2,248,5744,0.12,2.60,0.00,0.000,6,0.105,0.044,3064,1578,3503,0,0,0,0,0,0
$STATE,5883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5883,begin apogee
$GC,5891,-0.31,0.0,600.8,9.4,252,6012,0.93,0.00,117.18,0.930,6,0.084,0.000,3271,1370,2920,0,0,0,0,0,0
$STATE,6013,end apogee,CONTROL_FINISHED_OK
$STATE,6013,begin climb
$GC,6015,1.27,146.0,604.6,0.0,255,6147,1.45,2.22,123.22,0.909,4,0.043,0.081,3621,170,2324,0,0,0,0,0,0
$GC,6236,0.92,146.0,589.6,14.1,260,6241,0.38,1.98,0.00,0.000,6,0.098,0.031,3542,1383,2319,0,0,0,0,0,0
$GC,6520,0.96,177.3,564.6,8.6,267,6553,0.00,2.22,26.73,0.859,4,0.000,0.071,3542,170,2196,0,0,0,0,0,0
$GC,6616,0.89,177.3,555.1,10.5,269,6619,0.00,1.98,0.00,0.000,6,0.000,0.029,3543,1380,2194,0,0,0,0,0,0
$GC,6903,0.92,201.6,529.2,8.9,276,6932,0.00,2.20,22.20,0.842,4,0.000,0.068,3542,170,2097,0,0,0,0,0,0
$GC,6953,0.92,204.0,524.5,9.9,277,6956,0.00,1.98,0.00,0.000,6,0.000,0.028,3542,1381,2096,0,0,0,0,0,0
$GC,7239,0.96,240.9,499.8,8.3,284,7281,0.00,2.15,36.15,0.848,4,0.000,0.064,3542,164,1935,0,0,0,0,0,0
$GC,7300,0.96,240.9,494.0,10.1,285,7304,0.00,1.98,0.00,0.000,6,0.000,0.030,3542,1381,1935,0,0,0,0,0,0
$GC,7574,0.97,247.6,468.1,9.7,292,7587,0.00,2.67,6.30,0.667,4,0.000,0.044,3542,2947,1910,0,0,0,0,0,0
$GC,7606,1.04,247.6,464.6,10.0,292,7611,0.10,2.65,0.00,0.000,6,0.075,0.044,3589,1378,1908,0,0,0,0,0,0
$GC,7862,0.96,247.6,431.7,13.3,299,7864,0.17,0.00,0.00,0.000,6,0.098,0.000,3550,1378,1907,0,0,0,0,0,0
$GC,8107,0.96,247.6,404.3,11.1,305,8110,0.00,2.08,0.00,0.000,4,0.000,0.065,3550,166,1906,0,0,0,0,0,0
$GC,8139,0.96,247.6,400.3,12.3,305,8143,0.00,1.92,0.00,0.000,6,0.000,0.026,3550,1377,1905,0,0,0,0,0,0
$GC,8393,0.96,247.6,373.8,10.3,312,8397,0.00,2.58,0.00,0.000,4,0.000,0.038,3550,2949,1904,0,0,0,0,0,0
$GC,8441,1.08,248.5,368.9,10.0,313,8446,0.10,2.65,0.00,0.000,6,0.076,0.041,3600,1370,1902,0,0,0,0,0,0
$GC,8725,0.99,248.5,332.3,13.0,320,8729,0.20,2.05,0.00,0.000,4,0.097,0.061,3556,158,1902,0,0,0,0,0,0
$GC,8804,0.99,248.5,322.5,12.5,321,8808,0.00,1.92,0.00,0.000,6,0.000,0.025,3556,1379,1902,0,0,0,0,0,0
$GC,9059,1.00,257.5,297.7,9.6,328,9075,0.00,2.55,9.25,0.650,4,0.000,0.032,3556,2948,1869,0,0,0,0,0,0
$GC,9090,1.08,257.5,294.5,10.0,328,9095,0.00,2.65,0.00,0.000,6,0.000,0.040,3556,1370,1867,0,0,0,0,0,0
$GC,9347,1.15,261.5,269.3,9.8,335,9359,0.15,2.05,5.22,0.539,4,0.058,0.059,3616,157,1852,0,0,0,0,0,0
$GC,9442,1.00,261.5,257.2,14.8,337,9446,0.28,1.88,0.00,0.000,6,0.092,0.022,3557,1373,1852,0,0,0,0,0,0
$GC,9733,1.13,292.7,231.5,8.6,344,9765,0.12,0.00,28.33,0.662,6,0.064,0.000,3604,1375,1724,0,0,0,0,0,0
$GC,10020,1.13,292.7,195.3,12.9,351,10024,0.00,2.55,0.00,0.000,4,0.000,0.028,3604,2958,1721,0,0,0,0,0,0
$GC,10046,1.13,292.7,192.1,12.4,353,10051,0.00,2.62,0.00,0.000,6,0.000,0.036,3604,1357,1718,0,0,0,0,0,0
$GC,10310,1.13,292.7,158.9,12.3,377,10314,0.00,1.95,0.00,0.000,4,0.000,0.051,3604,167,1718,0,0,0,0,0,0
$GC,10344,1.13,292.7,154.3,12.9,380,10349,0.00,1.85,0.00,0.000,6,0.000,0.027,3604,1382,1718,0,0,0,0,0,0
$GC,10613,1.13,292.7,124.7,11.0,405,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1384,1718,0,0,0,0,0,0
$GC,10874,1.13,292.7,94.3,10.9,430,10877,0.00,2.05,0.00,0.000,4,0.000,0.049,3604,157,1718,0,0,0,0,0,0
$GC,10919,1.13,292.7,88.8,12.7,434,10928,0.00,1.83,0.00,0.000,6,0.000,0.019,3604,1361,1718,0,0,0,0,0,0
$GC,11186,1.14,297.5,62.3,9.8,459,11195,0.00,0.00,4.25,0.354,6,0.000,0.000,3604,1363,1708,0,0,0,0,0,0
$GC,11455,1.14,299.9,36.4,9.9,484,11464,0.00,0.00,4.50,0.350,6,0.000,0.000,3604,1363,1696,0,0,0,0,0,0
$GC,11752,1.14,299.9,5.9,10.9,527,11761,0.00,2.47,0.00,0.000,4,0.000,0.026,3604,2920,1696,0,0,0,0,0,0
$STATE,11768,end climb,SURFACE_DEPTH_REACHED
$STATE,11768,begin surface coast
$FINISH,3.0,1.023668
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11803,48.30,0.443,0,0,1369,380.21
$SM_GC,1.39,0.00,0.00,48.30,0.000,0.000,0.443,414,1522,1369,-13.46,-0.48,380.21
$IRIDIUM_FIX,2251.04,-15800.62,091001,161616
$TT8_MAMPS,0.029146
$HUMID,62.32
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,23.5,33.713
$10V_AH,10.0,25.712
$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,35.650,140.225,383.325,48.300,0.000,83.262,112.572,341.165,2.000,0.000,39.915,1153.578,8152.892,481.990,2005.448,906.990,33.372,1325.733,0.000,1977.660,0.000,0.537,0.000
$DEVICE_MAMPS,171.041,81.302,930.371,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.564,300.756,376.930,552.608,970.901,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,41555,530
$CAP_FILE_SIZE,137964,0
$CFSIZE,260165632,163766272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150712,192059,2300.408,-15800.822,41,1.6,44,10.1