version: 66.06
glider: 148
mission: 11
dive: 187
start: 7 6 112 12 26 49
data:
$ID,148
$MISSION,11
$DIVE,187
$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,-922207.5
$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,23
$R_STBD_OVSHOOT,78
$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
$GPS1,120856,2243.933,-15743.949,69,2.6,88,10.1
$_CALLS,4
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-73.5
$GPS2,122555,2243.886,-15744.012,13,1.9,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.258,0.025
$KALMAN_X,67986.1,255.0,477.1,-41828.9,-1329.4
$KALMAN_Y,-45496.3,177.1,462.4,37232.5,-1942.3
$MHEAD_RNG_PITCHd_Wd,74.4,14446,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-73.43,0.000,2,0.000,0.000,410,1525,3280,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-6.2,10,121,13.85,2.22,-4.18,0.000,4,0.153,0.049,3059,156,3516,0,0,0,0,0,0
$GC,180,-0.94,-146.0,29.4,-22.2,22,189,0.30,2.10,0.00,0.000,6,0.090,0.018,3129,1518,3517,0,0,0,0,0,0
$GC,448,-0.81,-146.0,67.0,-13.8,47,453,0.15,2.53,0.00,0.000,4,0.110,0.026,3161,3098,3518,0,0,0,0,0,0
$GC,536,-0.97,-146.0,77.6,-10.1,54,541,0.12,2.53,0.00,0.000,6,0.059,0.031,3077,1532,3518,0,0,0,0,0,0
$GC,801,-0.75,-146.0,117.4,-14.2,78,810,0.43,0.00,0.00,0.000,6,0.087,0.000,3172,1532,3519,0,0,0,0,0,0
$GC,1069,-0.90,-146.0,140.1,-8.3,103,1074,0.12,2.50,0.00,0.000,4,0.062,0.031,3101,3113,3519,0,0,0,0,0,0
$GC,1105,-0.90,-146.0,144.4,-11.2,106,1110,0.20,2.53,0.00,0.000,6,0.087,0.028,3147,1545,3520,0,0,0,0,0,0
$GC,1374,-1.00,-146.0,167.4,-7.9,130,1378,0.10,2.28,0.00,0.000,4,0.075,0.044,3087,164,3520,0,0,0,0,0,0
$GC,1390,-1.00,-146.0,169.5,-8.5,131,1395,0.15,2.10,0.00,0.000,6,0.104,0.018,3120,1577,3521,0,0,0,0,0,0
$GC,1656,-1.00,-146.0,195.5,-10.1,156,1660,0.00,2.33,0.00,0.000,4,0.000,0.023,3121,3077,3520,0,0,0,0,0,0
$GC,1687,-1.09,-146.0,198.5,-9.7,158,1693,0.00,2.47,0.00,0.000,6,0.000,0.028,3121,1542,3520,0,0,0,0,0,0
$GC,1948,-1.09,-146.0,223.7,-9.9,166,1952,0.00,2.40,0.00,0.000,4,0.000,0.023,3121,3076,3521,0,0,0,0,0,0
$GC,1981,-1.22,-146.0,226.7,-8.2,166,1986,0.20,2.45,0.00,0.000,6,0.041,0.028,3042,1557,3521,0,0,0,0,0,0
$GC,2233,-1.05,-146.0,258.7,-13.4,172,2238,0.28,2.28,0.00,0.000,4,0.098,0.044,3106,173,3521,0,0,0,0,0,0
$GC,2317,-1.13,-146.0,268.3,-10.2,173,2323,0.00,2.05,0.00,0.000,6,0.000,0.019,3107,1526,3521,0,0,0,0,0,0
$GC,2569,-1.13,-146.0,288.8,-8.0,180,2573,0.00,2.47,0.00,0.000,4,0.000,0.028,3107,3096,3520,0,0,0,0,0,0
$GC,2604,-1.24,-146.0,291.4,-6.8,180,2609,0.15,2.50,0.00,0.000,6,0.051,0.033,3021,1550,3520,0,0,0,0,0,0
$GC,2854,-1.04,-146.0,322.0,-12.8,186,2859,0.38,2.28,0.00,0.000,4,0.091,0.048,3108,171,3519,0,0,0,0,0,0
$GC,2890,-1.13,-146.0,325.6,-8.9,186,2894,0.00,2.10,0.00,0.000,6,0.000,0.021,3108,1535,3520,0,0,0,0,0,0
$GC,3140,-1.20,-146.0,344.7,-7.8,192,3145,0.12,2.55,0.00,0.000,4,0.063,0.033,3046,3113,3518,0,0,0,0,0,0
$GC,3171,-1.14,-146.0,347.5,-10.5,192,3176,0.20,2.58,0.00,0.000,6,0.087,0.035,3092,1547,3518,0,0,0,0,0,0
$GC,3427,-1.14,-146.0,369.9,-8.8,199,3431,0.00,2.53,0.00,0.000,4,0.000,0.033,3092,3108,3516,0,0,0,0,0,0
$GC,3446,-1.14,-146.0,371.8,-9.4,199,3450,0.00,2.58,0.00,0.000,6,0.000,0.037,3092,1545,3516,0,0,0,0,0,0
$GC,3711,-1.14,-146.0,395.4,-9.1,206,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1545,3514,0,0,0,0,0,0
$GC,3953,-1.14,-146.0,418.1,-9.4,212,3958,0.00,2.55,0.00,0.000,4,0.000,0.038,3092,3109,3512,0,0,0,0,0,0
$GC,3987,-1.23,-146.0,421.4,-9.4,212,3991,0.00,2.58,0.00,0.000,6,0.000,0.041,3092,1560,3513,0,0,0,0,0,0
$GC,4238,-1.23,-146.0,443.8,-9.1,218,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1560,3511,0,0,0,0,0,0
$GC,4481,-1.23,-146.0,464.9,-8.5,224,4485,0.00,2.53,0.00,0.000,4,0.000,0.039,3092,3102,3509,0,0,0,0,0,0
$GC,4509,-1.33,-146.0,467.4,-7.9,224,4515,0.17,2.58,0.00,0.000,6,0.048,0.041,3014,1563,3509,0,0,0,0,0,0
$GC,4767,-1.15,-146.0,496.2,-11.3,231,4769,0.32,0.00,0.00,0.000,6,0.091,0.000,3086,1562,3507,0,0,0,0,0,0
$GC,5009,-1.15,-146.0,514.8,-7.5,237,5013,0.00,2.42,0.00,0.000,4,0.000,0.074,3086,168,3505,0,0,0,0,0,0
$GC,5032,-1.15,-146.0,516.6,-8.3,237,5036,0.00,2.25,0.00,0.000,6,0.000,0.033,3086,1557,3505,0,0,0,0,0,0
$GC,5293,-1.15,-146.0,536.1,-7.6,244,5297,0.00,2.60,0.00,0.000,4,0.000,0.044,3086,3128,3504,0,0,0,0,0,0
$GC,5322,-1.25,-146.0,538.4,-6.8,244,5326,0.00,2.60,0.00,0.000,6,0.000,0.043,3086,1569,3503,0,0,0,0,0,0
$GC,5577,-1.25,-146.0,557.4,-7.7,251,5581,0.00,2.45,0.00,0.000,4,0.000,0.077,3086,168,3501,0,0,0,0,0,0
$GC,5602,-1.25,-146.0,559.4,-8.1,251,5606,0.00,2.25,0.00,0.000,6,0.000,0.036,3086,1561,3501,0,0,0,0,0,0
$GC,5861,-1.31,-146.0,579.7,-7.8,258,5866,0.12,2.45,0.00,0.000,4,0.066,0.071,3026,166,3500,0,0,0,0,0,0
$GC,5877,-1.31,-146.0,581.4,-8.5,258,5881,0.12,2.28,0.00,0.000,6,0.113,0.034,3053,1564,3499,0,0,0,0,0,0
$STATE,6061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6062,begin apogee
$GC,6069,-0.31,0.0,600.2,10.0,263,6189,0.98,0.00,116.47,0.936,6,0.087,0.000,3270,1371,2920,0,0,0,0,0,0
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6193,1.27,146.0,604.2,0.0,266,6325,1.45,2.17,123.72,0.915,4,0.045,0.077,3621,178,2324,0,0,0,0,0,0
$GC,6595,0.90,146.0,565.7,13.2,275,6599,0.40,1.95,0.00,0.000,6,0.100,0.028,3537,1389,2316,0,0,0,0,0,0
$GC,6884,0.93,175.9,539.5,8.6,282,6915,0.00,2.17,24.95,0.858,4,0.000,0.068,3537,168,2203,0,0,0,0,0,0
$GC,7009,0.87,175.9,526.4,11.8,284,7013,0.00,1.98,0.00,0.000,6,0.000,0.028,3537,1386,2201,0,0,0,0,0,0
$GC,7263,0.89,193.9,502.7,9.2,291,7287,0.00,2.65,17.23,0.820,4,0.000,0.040,3537,2959,2128,0,0,0,0,0,0
$GC,7313,0.96,198.3,498.2,9.8,292,7325,0.00,2.67,5.20,0.626,6,0.000,0.046,3537,1388,2111,0,0,0,0,0,0
$GC,7599,0.98,215.3,472.1,9.2,299,7620,0.00,2.17,15.88,0.802,4,0.000,0.069,3537,161,2042,0,0,0,0,0,0
$GC,7682,0.98,215.3,463.8,11.4,300,7688,0.00,1.98,0.00,0.000,6,0.000,0.025,3537,1392,2041,0,0,0,0,0,0
$GC,7932,0.98,220.2,439.1,9.8,307,7939,0.00,0.00,5.60,0.637,6,0.000,0.000,3537,1394,2022,0,0,0,0,0,0
$GC,8176,0.99,227.2,415.3,9.7,313,8185,0.00,0.00,7.93,0.697,6,0.000,0.000,3537,1394,1993,0,0,0,0,0,0
$GC,8421,1.01,240.0,392.4,9.4,319,8436,0.10,0.00,13.05,0.746,6,0.077,0.000,3581,1394,1941,0,0,0,0,0,0
$GC,8663,0.94,240.0,363.8,11.9,325,8668,0.17,2.12,0.00,0.000,4,0.098,0.061,3543,165,1938,0,0,0,0,0,0
$GC,8691,0.94,240.0,360.4,11.0,325,8696,0.00,1.98,0.00,0.000,6,0.000,0.025,3543,1393,1938,0,0,0,0,0,0
$GC,8952,0.95,248.4,335.5,9.6,332,8967,0.00,2.58,8.65,0.669,4,0.000,0.033,3543,2957,1905,0,0,0,0,0,0
$GC,8987,1.05,255.4,331.9,9.7,332,9001,0.10,2.67,8.07,0.653,6,0.075,0.041,3594,1377,1878,0,0,0,0,0,0
$GC,9289,0.97,255.4,294.7,12.7,340,9291,0.20,0.00,0.00,0.000,6,0.098,0.000,3551,1377,1875,0,0,0,0,0,0
$GC,9528,0.97,256.0,269.7,10.0,346,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1377,1874,0,0,0,0,0,0
$GC,9772,1.05,268.0,246.8,9.4,352,9786,0.00,0.00,12.27,0.645,6,0.000,0.000,3551,1377,1826,0,0,0,0,0,0
$GC,10016,1.14,282.6,224.0,9.3,358,10036,0.15,2.15,13.45,0.630,4,0.057,0.058,3605,162,1768,0,0,0,0,0,0
$GC,10098,1.06,282.6,213.9,14.1,359,10102,0.17,1.92,0.00,0.000,6,0.099,0.021,3568,1394,1767,0,0,0,0,0,0
$GC,10357,1.07,297.1,189.2,9.3,372,10378,0.00,2.58,14.02,0.604,4,0.000,0.029,3568,2951,1707,0,0,0,0,0,0
$GC,10415,1.23,307.4,183.7,9.5,377,10434,0.17,2.60,10.73,0.575,6,0.047,0.037,3635,1380,1666,0,0,0,0,0,0
$GC,10690,1.11,307.4,145.2,15.3,403,10695,0.25,2.03,0.00,0.000,4,0.094,0.049,3577,169,1664,0,0,0,0,0,0
$GC,10760,1.11,307.4,135.2,12.2,409,10766,0.00,1.88,0.00,0.000,6,0.000,0.023,3577,1408,1664,0,0,0,0,0,0
$GC,11025,1.17,307.4,105.4,12.2,434,11029,0.00,2.10,0.00,0.000,4,0.000,0.058,3577,159,1663,0,0,0,0,0,0
$GC,11074,1.17,307.4,98.0,13.8,438,11083,0.00,1.88,0.00,0.000,6,0.000,0.020,3577,1371,1663,0,0,0,0,0,0
$GC,11344,1.26,307.4,68.1,10.5,463,11349,0.15,2.50,0.00,0.000,4,0.054,0.027,3637,2936,1663,0,0,0,0,0,0
$GC,11419,1.26,307.4,58.4,13.2,469,11424,0.10,2.55,0.00,0.000,6,0.120,0.035,3614,1379,1661,0,0,0,0,0,0
$GC,11686,1.26,307.4,28.3,11.8,494,11695,0.00,2.03,0.00,0.000,4,0.000,0.048,3614,164,1660,0,0,0,0,0,0
$GC,11716,1.26,307.4,24.5,11.8,498,11725,0.00,1.88,0.00,0.000,6,0.000,0.019,3614,1401,1660,0,0,0,0,0,0
$STATE,11868,end climb,SURFACE_DEPTH_REACHED
$STATE,11870,begin surface coast
$FINISH,1.1,1.023721
$STATE,11902,end surface coast,CONTROL_FINISHED_OK
$STATE,11902,begin surface
$SM_CCo,11927,35.50,0.452,0,0,1369,380.21
$SM_GC,1.64,0.00,0.00,35.50,0.000,0.000,0.452,416,1573,1369,-13.45,0.93,380.21
$IRIDIUM_FIX,2234.68,-15745.45,300901,121223
$TT8_MAMPS,0.027612
$HUMID,64.56
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.10
$XPDR_PINGS,7
$24V_AH,23.5,25.709
$10V_AH,9.9,18.877
$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,34.850,135.475,397.225,35.500,0.000,105.312,192.895,380.416,1.750,0.000,14.538,1149.561,8360.811,491.385,1937.564,1039.288,33.357,1322.044,0.000,1939.711,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,77.467,935.740,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.247,295.179,373.989,539.935,946.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41405,527
$CAP_FILE_SIZE,141072,0
$CFSIZE,260165632,167591936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060712,154727,2243.430,-15743.017,13,2.4,32,10.1