version: 66.06
glider: 148
mission: 12
dive: 20
start: 5 25 113 7 52 2
data:
$ID,148
$MISSION,12
$DIVE,20
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,440
$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,52665
$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,370
$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,-1015357.1
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3390
$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,1550
$C_ROLL_CLIMB,1250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,074106,2243.440,-15803.564,36,1.0,36,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.5
$GPS2,075107,2243.457,-15803.609,12,1.1,12,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.143,-0.217
$KALMAN_X,-3155.1,225.5,119.0,-3249.3,-896.1
$KALMAN_Y,3491.8,284.3,383.8,-6996.7,-890.8
$MHEAD_RNG_PITCHd_Wd,203.3,6833,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-60.33,0.000,2,0.000,0.000,415,1605,2947,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.5,-5.7,8,114,14.23,2.40,-9.05,0.000,4,0.155,0.051,3106,169,3476,0,0,0,0,0,0
$GC,204,-0.96,-146.0,36.4,-20.2,24,209,0.32,2.17,0.00,0.000,6,0.094,0.020,3176,1567,3476,0,0,0,0,0,0
$GC,472,-0.89,-146.0,74.9,-13.4,48,477,0.00,2.45,0.00,0.000,4,0.000,0.024,3176,3134,3476,0,0,0,0,0,0
$GC,535,-1.02,-146.0,82.6,-10.0,53,540,0.00,2.58,0.00,0.000,6,0.000,0.031,3176,1541,3477,0,0,0,0,0,0
$GC,803,-1.02,-146.0,114.0,-11.2,77,807,0.00,2.22,0.00,0.000,4,0.000,0.046,3176,173,3477,0,0,0,0,0,0
$GC,842,-1.02,-146.0,119.2,-10.5,80,851,0.00,2.15,0.00,0.000,6,0.000,0.018,3176,1566,3478,0,0,0,0,0,0
$GC,1108,-1.02,-146.0,145.0,-10.5,105,1113,0.00,2.42,0.00,0.000,4,0.000,0.024,3176,3108,3478,0,0,0,0,0,0
$GC,1141,-1.10,-146.0,148.8,-10.8,107,1147,0.10,2.53,0.00,0.000,6,0.074,0.030,3111,1551,3478,0,0,0,0,0,0
$GC,1404,-0.90,-146.0,187.4,-13.7,132,1406,0.38,0.00,0.00,0.000,6,0.087,0.000,3193,1550,3478,0,0,0,0,0,0
$GC,1655,-1.02,-146.0,206.7,-7.2,150,1656,0.10,0.00,0.00,0.000,6,0.077,0.000,3141,1550,3478,0,0,0,0,0,0
$GC,1896,-1.02,-146.0,233.0,-11.0,156,1901,0.12,2.47,0.00,0.000,4,0.106,0.026,3169,3106,3478,0,0,0,0,0,0
$GC,1930,-1.17,-146.0,236.1,-9.2,156,1935,0.15,2.50,0.00,0.000,6,0.053,0.031,3088,1549,3478,0,0,0,0,0,0
$GC,2182,-1.00,-146.0,268.7,-13.4,162,2184,0.38,0.00,0.00,0.000,6,0.085,0.000,3170,1549,3478,0,0,0,0,0,0
$GC,2425,-1.11,-146.0,288.6,-7.8,168,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1549,3478,0,0,0,0,0,0
$GC,2670,-1.23,-146.0,306.9,-7.5,174,2672,0.20,0.00,0.00,0.000,6,0.047,0.000,3096,1549,3478,0,0,0,0,0,0
$GC,2912,-1.13,-146.0,334.6,-11.6,180,2914,0.20,0.00,0.00,0.000,6,0.091,0.000,3142,1549,3476,0,0,0,0,0,0
$GC,3155,-1.13,-146.0,356.6,-8.8,186,3160,0.00,2.53,0.00,0.000,4,0.000,0.035,3142,3096,3475,0,0,0,0,0,0
$GC,3184,-1.23,-146.0,359.2,-8.7,186,3189,0.00,2.50,0.00,0.000,6,0.000,0.035,3142,1563,3475,0,0,0,0,0,0
$GC,3440,-1.23,-146.0,380.3,-8.3,193,3444,0.00,2.35,0.00,0.000,4,0.000,0.062,3142,173,3473,0,0,0,0,0,0
$GC,3459,-1.23,-146.0,381.9,-8.1,193,3463,0.00,2.15,0.00,0.000,6,0.000,0.025,3142,1542,3473,0,0,0,0,0,0
$GC,3727,-1.23,-146.0,401.3,-7.0,200,3732,0.00,2.58,0.00,0.000,4,0.000,0.037,3142,3118,3471,0,0,0,0,0,0
$GC,3772,-1.40,-146.0,404.4,-6.7,201,3778,0.22,2.58,0.00,0.000,6,0.041,0.038,3057,1563,3471,0,0,0,0,0,0
$GC,4061,-1.21,-146.0,439.4,-12.7,208,4066,0.28,2.38,0.00,0.000,4,0.095,0.065,3122,171,3469,0,0,0,0,0,0
$GC,4086,-1.21,-146.0,442.3,-10.3,208,4090,0.00,2.22,0.00,0.000,6,0.000,0.029,3122,1564,3469,0,0,0,0,0,0
$GC,4345,-1.21,-146.0,465.8,-9.1,215,4349,0.00,2.60,0.00,0.000,4,0.000,0.044,3122,3129,3467,0,0,0,0,0,0
$GC,4392,-1.35,-146.0,470.0,-8.1,216,4398,0.10,2.58,0.00,0.000,6,0.076,0.041,3069,1586,3467,0,0,0,0,0,0
$GC,4677,-1.20,-146.0,502.9,-11.9,223,4682,0.25,2.45,0.00,0.000,4,0.092,0.074,3129,171,3465,0,0,0,0,0,0
$GC,4692,-1.12,-146.0,504.8,-11.6,223,4697,0.00,2.30,0.00,0.000,6,0.000,0.034,3129,1586,3465,0,0,0,0,0,0
$GC,4962,-1.12,-146.0,525.5,-7.7,230,4967,0.00,2.60,0.00,0.000,4,0.000,0.052,3129,3136,3464,0,0,0,0,0,0
$GC,4986,-1.21,-146.0,527.4,-8.1,230,4991,0.00,2.60,0.00,0.000,6,0.000,0.045,3128,1588,3464,0,0,0,0,0,0
$GC,5246,-1.21,-146.0,545.9,-7.2,237,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1588,3462,0,0,0,0,0,0
$GC,5489,-1.21,-146.0,564.6,-7.7,243,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1588,3460,0,0,0,0,0,0
$GC,5733,-1.21,-146.0,583.4,-7.8,249,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1588,3458,0,0,0,0,0,0
$STATE,5974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5974,begin apogee
$GC,5981,-0.31,0.0,602.8,8.1,255,6099,0.85,0.00,114.82,0.941,6,0.074,0.000,3323,1253,2880,0,0,0,0,0,0
$STATE,6100,end apogee,CONTROL_FINISHED_OK
$STATE,6100,begin climb
$GC,6104,1.27,146.0,608.6,0.0,258,6237,1.40,2.78,122.55,0.924,4,0.030,0.053,3670,2828,2282,0,0,0,0,0,0
$GC,6326,1.04,155.3,605.7,9.6,263,6342,0.25,2.75,8.00,0.752,6,0.110,0.054,3619,1253,2247,0,0,0,0,0,0
$GC,6609,0.91,187.0,581.3,8.5,270,6645,0.15,2.08,29.27,0.882,4,0.119,0.091,3589,166,2116,0,0,0,0,0,0
$GC,6659,0.82,213.4,577.0,8.8,271,6689,0.10,1.80,24.50,0.863,6,0.134,0.033,3571,1259,2009,0,0,0,0,0,0
$GC,6941,0.82,213.4,546.7,11.2,278,6945,0.00,2.67,0.00,0.000,4,0.000,0.049,3571,2831,2003,0,0,0,0,0,0
$GC,6956,0.82,213.4,544.8,11.7,278,6961,0.00,2.75,0.00,0.000,6,0.000,0.051,3571,1240,2001,0,0,0,0,0,0
$GC,7224,0.82,213.4,516.0,10.3,285,7229,0.00,2.65,0.00,0.000,4,0.000,0.042,3572,2824,2000,0,0,0,0,0,0
$GC,7253,0.94,259.0,513.4,7.9,285,7302,0.10,2.72,40.75,0.871,6,0.084,0.051,3607,1245,1824,0,0,0,0,0,0
$GC,7554,0.94,260.3,482.4,9.9,293,7558,0.00,2.67,0.00,0.000,4,0.000,0.042,3607,2828,1818,0,0,0,0,0,0
$GC,7582,0.96,269.0,479.7,9.6,293,7599,0.00,2.72,9.30,0.747,6,0.000,0.051,3607,1248,1783,0,0,0,0,0,0
$GC,7887,0.96,269.0,445.7,12.0,301,7892,0.00,2.65,0.00,0.000,4,0.000,0.041,3607,2828,1780,0,0,0,0,0,0
$GC,7920,0.96,269.0,440.9,13.6,301,7924,0.00,2.70,0.00,0.000,6,0.000,0.051,3607,1259,1778,0,0,0,0,0,0
$GC,8170,0.96,269.0,406.7,13.9,307,8174,0.00,2.60,0.00,0.000,4,0.000,0.040,3607,2826,1778,0,0,0,0,0,0
$GC,8204,0.96,269.0,402.2,13.3,307,8208,0.00,2.65,0.00,0.000,6,0.000,0.050,3607,1270,1776,0,0,0,0,0,0
$GC,8453,0.96,269.0,371.2,12.0,313,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1270,1776,0,0,0,0,0,0
$GC,8697,0.96,269.0,343.9,11.2,319,8701,0.00,2.58,0.00,0.000,4,0.000,0.037,3607,2826,1776,0,0,0,0,0,0
$GC,8755,1.02,269.0,338.0,11.1,320,8759,0.00,2.62,0.00,0.000,6,0.000,0.048,3607,1278,1774,0,0,0,0,0,0
$GC,9028,1.02,269.0,308.0,11.3,327,9032,0.00,1.92,0.00,0.000,4,0.000,0.067,3607,173,1775,0,0,0,0,0,0
$GC,9079,1.02,269.0,301.0,13.6,328,9082,0.00,1.77,0.00,0.000,6,0.000,0.026,3607,1299,1775,0,0,0,0,0,0
$GC,9366,1.02,269.0,270.4,10.1,335,9371,0.00,2.45,0.00,0.000,4,0.000,0.032,3607,2818,1775,0,0,0,0,0,0
$GC,9413,1.16,288.3,266.2,9.1,336,9438,0.15,2.60,17.15,0.682,6,0.058,0.044,3658,1270,1704,0,0,0,0,0,0
$GC,9701,1.06,288.3,232.3,12.4,343,9706,0.17,2.55,0.00,0.000,4,0.113,0.029,3623,2829,1702,0,0,0,0,0,0
$GC,9758,1.16,288.3,225.5,11.0,344,9762,0.00,2.58,0.00,0.000,6,0.000,0.042,3623,1288,1699,0,0,0,0,0,0
$GC,10016,1.16,288.3,197.3,11.1,352,10020,0.00,1.90,0.00,0.000,4,0.000,0.057,3623,160,1700,0,0,0,0,0,0
$GC,10087,1.16,288.3,188.3,12.4,359,10091,0.00,1.77,0.00,0.000,6,0.000,0.024,3623,1303,1700,0,0,0,0,0,0
$GC,10354,1.16,288.3,158.0,10.5,384,10359,0.00,2.40,0.00,0.000,4,0.000,0.027,3623,2830,1700,0,0,0,0,0,0
$GC,10416,1.28,304.1,151.9,9.3,389,10437,0.20,2.55,15.02,0.563,6,0.051,0.038,3686,1288,1640,0,0,0,0,0,0
$GC,10699,1.15,304.1,110.4,15.9,416,10704,0.20,2.47,0.00,0.000,4,0.109,0.026,3643,2826,1638,0,0,0,0,0,0
$GC,10728,1.15,304.1,106.5,13.4,418,10732,0.00,2.53,0.00,0.000,6,0.000,0.037,3642,1295,1637,0,0,0,0,0,0
$GC,10995,1.15,304.1,73.4,12.1,442,11000,0.00,2.42,0.00,0.000,4,0.000,0.026,3643,2829,1637,0,0,0,0,0,0
$GC,11029,1.24,304.1,68.7,11.3,444,11038,0.00,2.53,0.00,0.000,6,0.000,0.038,3643,1315,1636,0,0,0,0,0,0
$GC,11297,1.35,342.0,44.4,8.3,469,11337,0.17,2.50,33.90,0.489,4,0.057,0.026,3697,2827,1484,0,0,0,0,0,0
$GC,11384,1.35,342.0,35.0,13.0,476,11388,0.00,2.53,0.00,0.000,6,0.000,0.037,3698,1306,1481,0,0,0,0,0,0
$STATE,11603,end climb,SURFACE_DEPTH_REACHED
$STATE,11604,begin surface coast
$FINISH,0.6,1.023109
$STATE,11644,end surface coast,CONTROL_FINISHED_OK
$STATE,11644,begin surface
$SM_CCo,11669,23.40,0.445,0,0,1370,370.16
$SM_GC,2.26,0.00,0.00,23.40,0.000,0.000,0.445,416,1613,1370,-13.69,1.78,370.16
$IRIDIUM_FIX,2237.01,-15803.24,190802,070755
$TT8_MAMPS,0.027612
$HUMID,65.67
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.4,2.200
$10V_AH,9.9,2.080
$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,34.100,138.100,415.275,23.400,0.000,49.811,74.877,274.995,2.500,0.000,14.325,1105.624,8101.033,458.330,1889.574,740.518,33.355,1272.442,0.000,1892.474,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,91.273,941.109,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.451,280.328,363.182,681.739,928.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38518,514
$CAP_FILE_SIZE,128964,0
$CFSIZE,260165632,170999808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250513,110824,2241.783,-15804.892,47,1.3,47,10.0