version: 66.06
glider: 148
mission: 11
dive: 194
start: 7 7 112 13 27 30
data:
$ID,148
$MISSION,11
$DIVE,194
$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,-922349.25
$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,84
$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
$GPS1,131150,2239.939,-15738.813,40,2.3,59,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.5
$GPS2,132636,2239.944,-15738.843,11,1.9,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,-0.070
$KALMAN_X,61233.9,411.2,534.9,-26469.5,-1539.6
$KALMAN_Y,-39883.3,244.1,382.1,24333.1,-1235.7
$MHEAD_RNG_PITCHd_Wd,95.5,3070,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.47,0.000,2,0.000,0.000,412,1556,3332,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.2,-8.1,10,120,13.75,2.30,-3.08,0.000,4,0.151,0.046,3057,162,3516,0,0,0,0,0,0
$GC,180,-0.94,-146.0,34.0,-24.3,21,185,0.35,2.08,0.00,0.000,6,0.094,0.018,3132,1521,3518,0,0,0,0,0,0
$GC,449,-0.85,-146.0,74.2,-12.6,45,454,0.10,2.53,0.00,0.000,4,0.125,0.025,3153,3107,3519,0,0,0,0,0,0
$GC,494,-0.93,-146.0,79.9,-10.9,48,498,0.00,2.53,0.00,0.000,6,0.000,0.030,3153,1536,3519,0,0,0,0,0,0
$GC,757,-0.93,-146.0,105.3,-8.4,72,761,0.00,2.47,0.00,0.000,4,0.000,0.024,3153,3111,3519,0,0,0,0,0,0
$GC,798,-1.08,-146.0,108.3,-7.6,75,803,0.20,2.53,0.00,0.000,6,0.042,0.029,3076,1539,3519,0,0,0,0,0,0
$GC,1064,-0.92,-146.0,143.5,-13.8,99,1069,0.25,0.00,0.00,0.000,6,0.100,0.000,3134,1539,3520,0,0,0,0,0,0
$GC,1330,-0.92,-146.0,170.9,-10.0,124,1334,0.00,2.47,0.00,0.000,4,0.000,0.024,3133,3106,3521,0,0,0,0,0,0
$GC,1358,-1.00,-146.0,174.3,-10.2,126,1367,0.00,2.53,0.00,0.000,6,0.000,0.028,3134,1554,3521,0,0,0,0,0,0
$GC,1627,-1.08,-146.0,198.1,-8.9,151,1632,0.12,0.00,0.00,0.000,6,0.061,0.000,3063,1554,3521,0,0,0,0,0,0
$GC,1887,-0.94,-146.0,230.2,-12.1,159,1893,0.28,2.45,0.00,0.000,4,0.087,0.024,3130,3104,3521,0,0,0,0,0,0
$GC,1922,-1.06,-146.0,233.5,-8.0,159,1926,0.00,2.50,0.00,0.000,6,0.000,0.029,3130,1558,3521,0,0,0,0,0,0
$GC,2173,-1.14,-146.0,252.2,-7.6,165,2178,0.17,2.28,0.00,0.000,4,0.049,0.048,3047,173,3521,0,0,0,0,0,0
$GC,2194,-1.07,-146.0,254.3,-9.5,165,2198,0.28,2.12,0.00,0.000,6,0.094,0.018,3107,1570,3521,0,0,0,0,0,0
$GC,2460,-1.07,-146.0,278.4,-9.3,172,2464,0.00,2.33,0.00,0.000,4,0.000,0.047,3107,163,3521,0,0,0,0,0,0
$GC,2478,-1.07,-146.0,280.6,-10.3,172,2482,0.00,2.12,0.00,0.000,6,0.000,0.020,3107,1560,3521,0,0,0,0,0,0
$GC,2742,-1.07,-146.0,303.5,-8.5,179,2746,0.00,2.45,0.00,0.000,4,0.000,0.028,3107,3102,3521,0,0,0,0,0,0
$GC,2763,-1.15,-146.0,305.1,-7.6,179,2767,0.00,2.53,0.00,0.000,6,0.000,0.032,3107,1554,3520,0,0,0,0,0,0
$GC,3027,-1.15,-146.0,327.1,-8.2,186,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1554,3519,0,0,0,0,0,0
$GC,3271,-1.21,-146.0,346.6,-7.9,192,3273,0.12,0.00,0.00,0.000,6,0.064,0.000,3045,1554,3518,0,0,0,0,0,0
$GC,3516,-1.08,-146.0,372.5,-10.8,198,3521,0.25,2.53,0.00,0.000,4,0.091,0.033,3105,3101,3516,0,0,0,0,0,0
$GC,3540,-1.08,-146.0,374.9,-8.5,198,3545,0.00,2.50,0.00,0.000,6,0.000,0.035,3104,1569,3516,0,0,0,0,0,0
$GC,3800,-1.08,-146.0,395.0,-7.9,205,3804,0.00,2.38,0.00,0.000,4,0.000,0.061,3104,168,3514,0,0,0,0,0,0
$GC,3820,-1.08,-146.0,396.6,-8.3,205,3824,0.00,2.17,0.00,0.000,6,0.000,0.024,3104,1554,3514,0,0,0,0,0,0
$GC,4089,-1.16,-146.0,417.3,-7.7,212,4093,0.00,2.50,0.00,0.000,4,0.000,0.040,3105,3110,3513,0,0,0,0,0,0
$GC,4108,-1.25,-146.0,418.8,-7.8,212,4113,0.15,2.53,0.00,0.000,6,0.054,0.037,3020,1569,3512,0,0,0,0,0,0
$GC,4374,-1.07,-146.0,450.1,-12.2,219,4380,0.35,2.38,0.00,0.000,4,0.089,0.065,3100,172,3511,0,0,0,0,0,0
$GC,4413,-1.16,-146.0,454.3,-8.1,219,4419,0.00,2.20,0.00,0.000,6,0.000,0.028,3100,1561,3511,0,0,0,0,0,0
$GC,4664,-1.23,-146.0,473.3,-7.6,226,4669,0.12,2.55,0.00,0.000,4,0.063,0.039,3041,3124,3509,0,0,0,0,0,0
$GC,4699,-1.23,-146.0,476.5,-9.3,226,4704,0.12,2.58,0.00,0.000,6,0.102,0.040,3070,1576,3509,0,0,0,0,0,0
$GC,4949,-1.23,-146.0,498.7,-8.9,232,4953,0.00,2.45,0.00,0.000,4,0.000,0.073,3070,162,3507,0,0,0,0,0,0
$GC,4969,-1.23,-146.0,500.6,-9.1,232,4973,0.00,2.28,0.00,0.000,6,0.000,0.031,3070,1578,3507,0,0,0,0,0,0
$GC,5238,-1.23,-146.0,524.3,-8.5,239,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1578,3505,0,0,0,0,0,0
$GC,5481,-1.23,-146.0,544.9,-8.5,245,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1578,3504,0,0,0,0,0,0
$GC,5725,-1.23,-146.0,565.6,-8.4,251,5729,0.00,2.47,0.00,0.000,4,0.000,0.074,3070,164,3502,0,0,0,0,0,0
$GC,5747,-1.23,-146.0,567.4,-9.3,251,5751,0.00,2.30,0.00,0.000,6,0.000,0.035,3070,1573,3502,0,0,0,0,0,0
$GC,6011,-1.23,-146.0,591.2,-8.9,258,6015,0.00,2.45,0.00,0.000,4,0.000,0.072,3070,167,3500,0,0,0,0,0,0
$GC,6025,-1.23,-146.0,592.7,-8.9,258,6030,0.00,2.30,0.00,0.000,6,0.000,0.035,3070,1574,3500,0,0,0,0,0,0
$STATE,6128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6129,begin apogee
$GC,6136,-0.31,0.0,602.4,9.3,261,6257,0.90,0.00,117.12,0.943,6,0.081,0.000,3273,1366,2920,0,0,0,0,0,0
$STATE,6258,end apogee,CONTROL_FINISHED_OK
$STATE,6258,begin climb
$GC,6260,1.27,146.0,606.9,0.0,264,6392,1.45,2.17,124.00,0.923,4,0.044,0.077,3620,180,2323,0,0,0,0,0,0
$GC,6550,0.90,146.0,585.6,13.0,270,6555,0.40,1.98,0.00,0.000,6,0.100,0.030,3537,1398,2317,0,0,0,0,0,0
$GC,6811,0.98,210.9,566.7,7.0,277,6873,0.00,2.17,56.33,0.896,4,0.000,0.068,3536,179,2059,0,0,0,0,0,0
$GC,6973,0.98,210.9,550.7,11.1,280,6977,0.00,1.98,0.00,0.000,6,0.000,0.029,3536,1371,2055,0,0,0,0,0,0
$GC,7232,0.99,215.5,525.2,9.8,287,7238,0.00,0.00,4.10,0.564,6,0.000,0.000,3536,1372,2041,0,0,0,0,0,0
$GC,7475,1.00,226.3,501.6,9.5,293,7492,0.00,2.70,11.40,0.790,4,0.000,0.044,3536,2963,1996,0,0,0,0,0,0
$GC,7504,1.03,248.0,499.0,9.0,293,7533,0.10,2.70,21.73,0.835,6,0.077,0.044,3582,1387,1907,0,0,0,0,0,0
$GC,7807,0.93,248.0,463.7,11.5,301,7808,0.17,0.00,0.00,0.000,6,0.100,0.000,3544,1387,1902,0,0,0,0,0,0
$GC,8051,0.95,264.4,440.9,9.2,307,8072,0.00,2.65,15.02,0.789,4,0.000,0.037,3544,2961,1842,0,0,0,0,0,0
$GC,8101,1.05,274.1,436.0,9.6,308,8118,0.10,2.70,10.07,0.740,6,0.076,0.044,3588,1379,1802,0,0,0,0,0,0
$GC,8390,0.97,274.1,401.6,12.2,315,8395,0.17,2.10,0.00,0.000,4,0.099,0.063,3551,165,1798,0,0,0,0,0,0
$GC,8433,0.97,274.1,395.9,12.8,316,8437,0.00,1.95,0.00,0.000,6,0.000,0.025,3551,1388,1798,0,0,0,0,0,0
$GC,8726,0.97,274.1,363.7,11.1,323,8730,0.00,2.55,0.00,0.000,4,0.000,0.036,3551,2956,1796,0,0,0,0,0,0
$GC,8770,1.07,274.1,358.8,10.7,324,8775,0.00,2.65,0.00,0.000,6,0.000,0.042,3551,1373,1794,0,0,0,0,0,0
$GC,9057,1.07,274.1,326.8,11.2,331,9061,0.00,2.05,0.00,0.000,4,0.000,0.061,3551,161,1794,0,0,0,0,0,0
$GC,9091,1.07,274.1,322.7,12.6,331,9095,0.00,1.92,0.00,0.000,6,0.000,0.024,3551,1396,1794,0,0,0,0,0,0
$GC,9351,1.07,274.1,293.6,11.2,338,9356,0.00,2.53,0.00,0.000,4,0.000,0.035,3551,2948,1793,0,0,0,0,0,0
$GC,9395,1.19,274.1,288.6,10.9,339,9402,0.20,2.62,0.00,0.000,6,0.045,0.041,3627,1381,1791,0,0,0,0,0,0
$GC,9685,1.04,274.1,244.1,15.4,346,9689,0.25,2.05,0.00,0.000,4,0.093,0.057,3569,162,1791,0,0,0,0,0,0
$GC,9765,1.04,274.1,233.7,12.5,347,9769,0.00,1.90,0.00,0.000,6,0.000,0.021,3569,1394,1791,0,0,0,0,0,0
$GC,10023,1.04,274.1,206.6,10.1,354,10028,0.00,2.47,0.00,0.000,4,0.000,0.029,3569,2940,1791,0,0,0,0,0,0
$GC,10063,1.17,307.9,203.2,8.4,354,10100,0.10,2.60,29.42,0.653,6,0.076,0.037,3618,1367,1663,0,0,0,0,0,0
$GC,10367,1.08,307.9,164.8,12.4,380,10371,0.20,2.00,0.00,0.000,4,0.095,0.050,3576,170,1660,0,0,0,0,0,0
$GC,10396,1.08,307.9,161.7,12.1,382,10400,0.00,1.88,0.00,0.000,6,0.000,0.021,3576,1383,1660,0,0,0,0,0,0
$GC,10666,1.08,307.9,130.8,11.0,407,10671,0.00,2.45,0.00,0.000,4,0.000,0.027,3576,2935,1660,0,0,0,0,0,0
$GC,10736,1.25,307.9,123.5,10.9,413,10741,0.15,2.55,0.00,0.000,6,0.054,0.035,3628,1380,1656,0,0,0,0,0,0
$GC,11001,1.17,307.9,88.3,13.9,437,11005,0.15,2.03,0.00,0.000,4,0.102,0.054,3594,167,1656,0,0,0,0,0,0
$GC,11041,1.17,307.9,82.4,13.7,440,11050,0.00,1.88,0.00,0.000,6,0.000,0.022,3594,1382,1656,0,0,0,0,0,0
$GC,11308,1.23,307.9,53.5,11.2,465,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1384,1656,0,0,0,0,0,0
$GC,11581,1.30,307.9,24.8,12.0,493,11590,0.12,2.47,0.00,0.000,4,0.064,0.027,3646,2938,1656,0,0,0,0,0,0
$GC,11600,1.30,307.9,22.1,12.0,495,11609,0.08,2.58,0.00,0.000,6,0.080,0.032,3623,1369,1656,0,0,0,0,0,0
$STATE,11743,end climb,SURFACE_DEPTH_REACHED
$STATE,11743,begin surface coast
$FINISH,0.7,1.003859
$STATE,11776,end surface coast,CONTROL_FINISHED_OK
$STATE,11776,begin surface
$SM_CCo,11799,40.58,0.453,0,0,1369,380.21
$SM_GC,1.53,0.00,0.00,40.58,0.000,0.000,0.453,411,1556,1369,-13.47,0.48,380.21
$IRIDIUM_FIX,2232.34,-15735.92,011001,131357
$TT8_MAMPS,0.027612
$HUMID,63.46
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.50
$XPDR_PINGS,6
$24V_AH,23.5,26.670
$10V_AH,9.9,19.648
$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,34.025,141.600,389.200,40.575,0.000,55.514,96.820,518.053,1.500,0.000,17.751,1137.892,8154.870,477.102,1941.746,1012.154,33.364,1316.452,0.000,1933.344,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,76.700,942.643,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.825,287.636,368.820,532.337,935.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,41586,522
$CAP_FILE_SIZE,138086,0
$CFSIZE,260165632,167170048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070712,164611,2239.314,-15737.779,34,1.8,39,10.1