version: 66.06
glider: 148
mission: 11
dive: 191
start: 7 7 112 2 34 37
data:
$ID,148
$MISSION,11
$DIVE,191
$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,-922302.88
$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,80
$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
$GPS1,021824,2241.525,-15741.050,40,2.0,40,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-75.3
$GPS2,023345,2241.683,-15741.186,11,2.2,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.134
$KALMAN_X,63971.9,-381.1,238.0,-32110.5,-1243.7
$KALMAN_Y,-43231.9,291.0,-151.1,31378.9,190.0
$MHEAD_RNG_PITCHd_Wd,110.9,8135,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.15,0.000,2,0.000,0.000,410,1550,3072,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-5.0,9,123,13.80,2.33,-8.02,0.000,4,0.151,0.054,3060,164,3518,0,0,0,0,0,0
$GC,182,-0.99,-146.0,27.6,-17.8,22,191,0.25,2.10,0.00,0.000,6,0.091,0.018,3119,1525,3519,0,0,0,0,0,0
$GC,460,-0.84,-146.0,69.3,-14.9,48,466,0.17,2.50,0.00,0.000,4,0.106,0.025,3156,3104,3519,0,0,0,0,0,0
$GC,527,-0.99,-146.0,77.2,-8.3,53,532,0.12,2.50,0.00,0.000,6,0.059,0.030,3088,1549,3520,0,0,0,0,0,0
$GC,796,-0.82,-146.0,111.7,-13.2,77,801,0.30,2.25,0.00,0.000,4,0.091,0.040,3156,170,3520,0,0,0,0,0,0
$GC,847,-0.96,-146.0,118.4,-9.8,81,854,0.10,2.10,0.00,0.000,6,0.075,0.018,3097,1562,3521,0,0,0,0,0,0
$GC,1112,-0.86,-146.0,148.9,-11.2,106,1117,0.25,2.38,0.00,0.000,4,0.090,0.022,3156,3089,3521,0,0,0,0,0,0
$GC,1168,-1.05,-146.0,153.8,-7.0,111,1174,0.20,2.47,0.00,0.000,6,0.042,0.028,3064,1539,3521,0,0,0,0,0,0
$GC,1429,-0.88,-146.0,185.6,-13.3,135,1431,0.38,0.00,0.00,0.000,6,0.086,0.000,3145,1539,3522,0,0,0,0,0,0
$GC,1681,-1.00,-146.0,207.6,-8.7,153,1686,0.10,2.45,0.00,0.000,4,0.076,0.024,3087,3090,3522,0,0,0,0,0,0
$GC,1706,-1.00,-146.0,210.2,-10.7,153,1711,0.15,2.45,0.00,0.000,6,0.097,0.028,3121,1553,3523,0,0,0,0,0,0
$GC,1966,-1.00,-146.0,232.9,-8.2,160,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1553,3523,0,0,0,0,0,0
$GC,2210,-1.07,-146.0,252.2,-8.0,166,2214,0.00,2.42,0.00,0.000,4,0.000,0.026,3121,3089,3522,0,0,0,0,0,0
$GC,2226,-1.14,-146.0,253.5,-8.1,166,2231,0.12,2.47,0.00,0.000,6,0.061,0.028,3040,1556,3522,0,0,0,0,0,0
$GC,2496,-0.93,-146.0,287.5,-12.5,173,2498,0.47,0.00,0.00,0.000,6,0.084,0.000,3132,1556,3522,0,0,0,0,0,0
$GC,2740,-1.07,-146.0,303.3,-6.1,179,2745,0.10,2.47,0.00,0.000,4,0.076,0.028,3076,3088,3522,0,0,0,0,0,0
$GC,2757,-1.14,-146.0,304.5,-7.0,179,2761,0.00,2.47,0.00,0.000,6,0.000,0.031,3077,1559,3522,0,0,0,0,0,0
$GC,3025,-1.14,-146.0,331.5,-10.3,186,3029,0.00,2.30,0.00,0.000,4,0.000,0.052,3076,167,3520,0,0,0,0,0,0
$GC,3080,-1.14,-146.0,337.8,-11.7,187,3085,0.00,2.12,0.00,0.000,6,0.000,0.021,3076,1531,3520,0,0,0,0,0,0
$GC,3355,-1.14,-146.0,364.1,-9.7,194,3359,0.00,2.28,0.00,0.000,4,0.000,0.055,3076,173,3518,0,0,0,0,0,0
$GC,3369,-1.14,-146.0,365.7,-9.9,194,3374,0.00,2.15,0.00,0.000,6,0.000,0.021,3076,1554,3518,0,0,0,0,0,0
$GC,3638,-1.14,-146.0,393.1,-10.2,201,3642,0.00,2.50,0.00,0.000,4,0.000,0.035,3076,3102,3516,0,0,0,0,0,0
$GC,3676,-1.21,-146.0,397.0,-10.5,201,3683,0.00,2.55,0.00,0.000,6,0.000,0.038,3076,1562,3516,0,0,0,0,0,0
$GC,3927,-1.21,-146.0,421.8,-9.9,208,3931,0.00,2.35,0.00,0.000,4,0.000,0.064,3076,171,3515,0,0,0,0,0,0
$GC,3964,-1.21,-146.0,426.1,-11.0,208,3969,0.00,2.17,0.00,0.000,6,0.000,0.027,3076,1543,3514,0,0,0,0,0,0
$GC,4215,-1.21,-146.0,448.8,-8.8,215,4220,0.00,2.58,0.00,0.000,4,0.000,0.040,3076,3118,3513,0,0,0,0,0,0
$GC,4249,-1.28,-146.0,451.9,-8.2,215,4253,0.00,2.60,0.00,0.000,6,0.000,0.039,3076,1556,3512,0,0,0,0,0,0
$GC,4499,-1.28,-146.0,472.3,-8.3,221,4503,0.00,2.40,0.00,0.000,4,0.000,0.070,3076,167,3511,0,0,0,0,0,0
$GC,4519,-1.28,-146.0,474.3,-10.1,221,4523,0.00,2.22,0.00,0.000,6,0.000,0.030,3076,1557,3511,0,0,0,0,0,0
$GC,4787,-1.28,-146.0,497.1,-8.6,228,4791,0.00,2.40,0.00,0.000,4,0.000,0.066,3076,166,3509,0,0,0,0,0,0
$GC,4815,-1.28,-146.0,500.1,-10.4,228,4819,0.00,2.22,0.00,0.000,6,0.000,0.032,3076,1545,3509,0,0,0,0,0,0
$GC,5071,-1.28,-146.0,521.6,-8.3,235,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1545,3506,0,0,0,0,0,0
$GC,5313,-1.28,-146.0,542.4,-8.7,241,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1545,3505,0,0,0,0,0,0
$GC,5557,-1.28,-146.0,564.8,-9.2,247,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1545,3502,0,0,0,0,0,0
$GC,5802,-1.28,-146.0,586.1,-8.7,253,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1544,3502,0,0,0,0,0,0
$STATE,6001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6001,begin apogee
$GC,6007,-0.31,0.0,603.4,8.4,258,6128,0.88,0.00,117.10,0.942,6,0.080,0.000,3273,1369,2919,0,0,0,0,0,0
$STATE,6128,end apogee,CONTROL_FINISHED_OK
$STATE,6129,begin climb
$GC,6131,1.27,146.0,607.4,0.0,261,6263,1.45,2.20,123.95,0.920,4,0.046,0.079,3615,168,2324,0,0,0,0,0,0
$GC,6380,0.91,146.0,591.6,13.5,266,6385,0.38,1.98,0.00,0.000,6,0.102,0.031,3538,1381,2318,0,0,0,0,0,0
$GC,6631,0.97,194.9,571.4,7.7,272,6680,0.00,2.22,42.55,0.888,4,0.000,0.072,3537,175,2124,0,0,0,0,0,0
$GC,6750,0.97,194.9,559.7,11.7,274,6754,0.00,1.98,0.00,0.000,6,0.000,0.031,3537,1379,2122,0,0,0,0,0,0
$GC,7010,0.97,194.9,533.7,10.0,281,7014,0.00,2.12,0.00,0.000,4,0.000,0.070,3537,170,2117,0,0,0,0,0,0
$GC,7059,0.97,194.9,528.0,12.4,282,7063,0.00,1.95,0.00,0.000,6,0.000,0.029,3538,1372,2117,0,0,0,0,0,0
$GC,7353,0.98,196.2,497.9,9.9,289,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1374,2115,0,0,0,0,0,0
$GC,7595,1.01,223.3,476.5,8.7,295,7627,0.10,2.12,24.83,0.838,4,0.077,0.062,3580,175,2008,0,0,0,0,0,0
$GC,7745,0.86,223.3,458.3,13.1,298,7750,0.25,1.90,0.00,0.000,6,0.094,0.026,3526,1373,2007,0,0,0,0,0,0
$GC,8019,0.96,252.8,433.8,8.6,305,8050,0.10,0.00,27.85,0.818,6,0.077,0.000,3576,1375,1889,0,0,0,0,0,0
$GC,8263,0.90,252.8,405.6,11.8,311,8268,0.20,2.62,0.00,0.000,4,0.097,0.038,3533,2953,1884,0,0,0,0,0,0
$GC,8289,0.96,252.8,402.8,10.9,311,8294,0.00,2.67,0.00,0.000,6,0.000,0.042,3533,1365,1882,0,0,0,0,0,0
$GC,8549,1.04,264.7,378.0,9.4,318,8565,0.12,0.00,11.27,0.728,6,0.067,0.000,3584,1365,1840,0,0,0,0,0,0
$GC,8839,0.98,264.7,343.4,12.1,325,8840,0.15,0.00,0.00,0.000,6,0.107,0.000,3553,1365,1837,0,0,0,0,0,0
$GC,9082,0.98,264.9,319.1,10.0,331,9085,0.00,2.05,0.00,0.000,4,0.000,0.060,3553,163,1835,0,0,0,0,0,0
$GC,9105,0.98,264.9,316.4,11.0,331,9108,0.00,1.90,0.00,0.000,6,0.000,0.024,3553,1381,1835,0,0,0,0,0,0
$GC,9374,0.98,264.9,287.6,10.7,338,9378,0.00,2.53,0.00,0.000,4,0.000,0.032,3553,2948,1834,0,0,0,0,0,0
$GC,9417,1.09,264.9,283.3,10.0,339,9423,0.10,2.65,0.00,0.000,6,0.077,0.041,3595,1370,1831,0,0,0,0,0,0
$GC,9706,1.02,264.9,250.8,11.0,346,9707,0.15,0.00,0.00,0.000,6,0.110,0.000,3564,1370,1831,0,0,0,0,0,0
$GC,9950,1.02,264.9,226.8,10.0,352,9955,0.00,2.58,0.00,0.000,4,0.000,0.031,3564,2953,1831,0,0,0,0,0,0
$GC,10007,1.19,306.4,221.5,8.1,353,10052,0.15,2.60,36.50,0.670,6,0.054,0.040,3609,1384,1669,0,0,0,0,0,0
$GC,10310,1.13,306.4,183.1,13.2,368,10315,0.12,2.08,0.00,0.000,4,0.117,0.054,3583,161,1666,0,0,0,0,0,0
$GC,10368,1.13,306.4,175.4,14.0,373,10371,0.00,1.92,0.00,0.000,6,0.000,0.021,3583,1408,1666,0,0,0,0,0,0
$GC,10636,1.13,306.4,143.8,11.5,398,10640,0.00,2.45,0.00,0.000,4,0.000,0.034,3583,2939,1665,0,0,0,0,0,0
$GC,10662,1.19,306.4,140.6,11.4,400,10667,0.00,2.55,0.00,0.000,6,0.000,0.035,3583,1384,1662,0,0,0,0,0,0
$GC,10926,1.19,306.4,111.4,10.8,424,10931,0.00,2.50,0.00,0.000,4,0.000,0.027,3583,2939,1662,0,0,0,0,0,0
$GC,10945,1.19,306.4,109.4,10.9,425,10949,0.00,2.55,0.00,0.000,6,0.000,0.033,3583,1383,1662,0,0,0,0,0,0
$GC,11213,1.26,306.4,79.6,11.5,449,11217,0.12,1.98,0.00,0.000,4,0.065,0.052,3624,170,1662,0,0,0,0,0,0
$GC,11324,1.19,306.4,64.6,14.5,458,11328,0.12,1.83,0.00,0.000,6,0.121,0.019,3598,1395,1661,0,0,0,0,0,0
$GC,11592,1.25,306.4,34.8,10.6,483,11596,0.00,2.40,0.00,0.000,4,0.000,0.026,3598,2933,1661,0,0,0,0,0,0
$GC,11641,1.41,324.4,30.4,9.2,487,11663,0.20,2.55,16.12,0.463,6,0.051,0.035,3657,1377,1597,0,0,0,0,0,0
$STATE,11812,end climb,SURFACE_DEPTH_REACHED
$STATE,11812,begin surface coast
$FINISH,0.9,1.023741
$STATE,11841,end surface coast,CONTROL_FINISHED_OK
$STATE,11841,begin surface
$SM_CCo,11866,34.12,0.454,0,0,1369,380.21
$SM_GC,1.62,0.00,0.00,34.12,0.000,0.000,0.454,410,1569,1369,-13.48,0.82,380.21
$IRIDIUM_FIX,2232.34,-15741.13,011001,020222
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.30
$XPDR_PINGS,7
$24V_AH,23.5,26.235
$10V_AH,10.0,19.312
$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,34.200,125.600,400.175,34.125,0.000,61.741,83.015,550.009,1.750,0.000,32.957,1122.918,8294.783,467.441,1899.740,1033.710,33.372,1273.049,0.000,1879.695,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,79.001,941.876,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.488,291.564,363.104,514.676,904.161,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,41588,517
$CAP_FILE_SIZE,134118,0
$CFSIZE,260165632,167362560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070712,055406,2241.323,-15740.445,26,1.4,26,10.1