version: 66.06
glider: 148
mission: 11
dive: 222
start: 7 11 112 15 14 25
data:
$ID,148
$MISSION,11
$DIVE,222
$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,-922947.06
$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,29
$R_STBD_OVSHOOT,79
$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
$GPS1,150236,2252.333,-15751.454,31,1.3,31,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.0
$GPS2,151331,2252.389,-15751.506,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.196,-0.170
$KALMAN_X,37092.6,144.6,172.5,-23315.8,-259.1
$KALMAN_Y,-13561.3,106.0,500.7,21079.9,-285.0
$MHEAD_RNG_PITCHd_Wd,219.0,33141,-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,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.05,0.000,2,0.000,0.000,416,1541,3279,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.6,-5.7,10,121,13.70,2.22,-4.18,0.000,4,0.149,0.048,3058,167,3516,0,0,0,0,0,0
$GC,259,-0.98,-146.0,44.3,-19.3,30,264,0.30,2.08,0.00,0.000,6,0.095,0.019,3123,1514,3518,0,0,0,0,0,0
$GC,522,-0.88,-146.0,81.9,-12.6,54,527,0.12,2.55,0.00,0.000,4,0.116,0.025,3149,3112,3519,0,0,0,0,0,0
$GC,550,-0.88,-146.0,85.3,-11.2,56,554,0.00,2.53,0.00,0.000,6,0.000,0.028,3149,1540,3519,0,0,0,0,0,0
$GC,814,-0.88,-146.0,114.4,-10.2,80,818,0.00,2.28,0.00,0.000,4,0.000,0.044,3149,163,3520,0,0,0,0,0,0
$GC,834,-0.88,-146.0,117.0,-11.0,81,839,0.00,2.12,0.00,0.000,6,0.000,0.018,3149,1579,3520,0,0,0,0,0,0
$GC,1098,-0.88,-146.0,142.4,-9.4,106,1103,0.00,2.33,0.00,0.000,4,0.000,0.023,3149,3082,3520,0,0,0,0,0,0
$GC,1149,-1.06,-146.0,147.1,-7.9,110,1158,0.12,2.50,0.00,0.000,6,0.023,0.028,3078,1549,3521,0,0,0,0,0,0
$GC,1412,-0.91,-146.0,181.7,-12.6,135,1417,0.25,2.42,0.00,0.000,4,0.093,0.022,3138,3081,3521,0,0,0,0,0,0
$GC,1443,-0.98,-146.0,185.5,-9.4,137,1449,0.00,2.45,0.00,0.000,6,0.000,0.028,3138,1559,3521,0,0,0,0,0,0
$GC,1733,-1.06,-146.0,211.2,-8.6,156,1735,0.12,0.00,0.00,0.000,6,0.063,0.000,3066,1559,3522,0,0,0,0,0,0
$GC,1975,-0.95,-146.0,238.6,-11.6,162,1980,0.28,2.28,0.00,0.000,4,0.086,0.042,3132,162,3522,0,0,0,0,0,0
$GC,2019,-1.11,-146.0,242.9,-9.3,163,2024,0.15,2.10,0.00,0.000,6,0.054,0.019,3061,1553,3522,0,0,0,0,0,0
$GC,2308,-1.00,-146.0,275.6,-11.4,170,2313,0.25,2.45,0.00,0.000,4,0.087,0.025,3122,3094,3523,0,0,0,0,0,0
$GC,2342,-1.13,-146.0,279.3,-8.6,170,2348,0.12,2.47,0.00,0.000,6,0.062,0.031,3039,1570,3522,0,0,0,0,0,0
$GC,2594,-0.96,-146.0,311.0,-12.8,176,2596,0.43,0.00,0.00,0.000,6,0.084,0.000,3129,1569,3522,0,0,0,0,0,0
$GC,2837,-1.09,-146.0,328.4,-6.7,182,2842,0.12,2.47,0.00,0.000,4,0.063,0.037,3065,3092,3522,0,0,0,0,0,0
$GC,2852,-1.15,-146.0,329.8,-7.3,182,2857,0.10,2.47,0.00,0.000,6,0.113,0.032,3090,1577,3522,0,0,0,0,0,0
$GC,3123,-1.15,-146.0,355.7,-9.8,189,3127,0.00,2.35,0.00,0.000,4,0.000,0.057,3090,168,3520,0,0,0,0,0,0
$GC,3183,-1.15,-146.0,362.3,-11.0,190,3187,0.00,2.17,0.00,0.000,6,0.000,0.023,3090,1556,3520,0,0,0,0,0,0
$GC,3458,-1.15,-146.0,387.2,-8.9,197,3462,0.00,2.50,0.00,0.000,4,0.000,0.032,3090,3118,3518,0,0,0,0,0,0
$GC,3477,-1.15,-146.0,389.1,-8.8,197,3481,0.00,2.53,0.00,0.000,6,0.000,0.035,3090,1581,3518,0,0,0,0,0,0
$GC,3741,-1.15,-146.0,412.5,-9.0,204,3745,0.00,2.38,0.00,0.000,4,0.000,0.063,3090,170,3517,0,0,0,0,0,0
$GC,3770,-1.15,-146.0,415.4,-9.7,204,3775,0.00,2.22,0.00,0.000,6,0.000,0.027,3089,1571,3516,0,0,0,0,0,0
$GC,4025,-1.15,-146.0,438.2,-8.8,211,4029,0.00,2.50,0.00,0.000,4,0.000,0.036,3090,3112,3515,0,0,0,0,0,0
$GC,4077,-1.26,-146.0,442.6,-8.1,212,4082,0.10,2.55,0.00,0.000,6,0.074,0.038,3021,1573,3515,0,0,0,0,0,0
$GC,4358,-1.08,-146.0,477.7,-12.7,219,4363,0.38,2.40,0.00,0.000,4,0.089,0.069,3101,173,3512,0,0,0,0,0,0
$GC,4415,-1.20,-146.0,483.9,-9.9,220,4420,0.10,2.25,0.00,0.000,6,0.076,0.031,3051,1568,3512,0,0,0,0,0,0
$GC,4690,-1.14,-146.0,512.2,-10.4,227,4695,0.17,2.58,0.00,0.000,4,0.096,0.044,3091,3128,3510,0,0,0,0,0,0
$GC,4720,-1.24,-146.0,515.3,-8.7,227,4724,0.00,2.60,0.00,0.000,6,0.000,0.041,3090,1573,3510,0,0,0,0,0,0
$GC,4975,-1.24,-146.0,536.8,-8.4,234,4979,0.00,2.45,0.00,0.000,4,0.000,0.076,3091,167,3508,0,0,0,0,0,0
$GC,5024,-1.32,-146.0,541.0,-8.8,235,5029,0.15,2.28,0.00,0.000,6,0.057,0.033,3027,1567,3508,0,0,0,0,0,0
$GC,5307,-1.19,-146.0,569.5,-9.9,242,5309,0.22,0.00,0.00,0.000,6,0.093,0.000,3077,1566,3506,0,0,0,0,0,0
$GC,5552,-1.19,-146.0,587.6,-7.3,248,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,1567,3504,0,0,0,0,0,0
$STATE,5710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5710,begin apogee
$GC,5716,-0.31,0.0,600.1,7.7,252,5837,0.85,0.00,117.55,0.933,6,0.075,0.000,3271,1375,2919,0,0,0,0,0,0
$STATE,5838,end apogee,CONTROL_FINISHED_OK
$STATE,5838,begin climb
$GC,5841,1.27,146.0,603.7,0.0,255,5973,1.42,2.22,123.57,0.912,4,0.039,0.078,3618,174,2323,0,0,0,0,0,0
$GC,6198,0.92,146.0,573.0,13.1,263,6203,0.38,2.00,0.00,0.000,6,0.103,0.030,3541,1394,2316,0,0,0,0,0,0
$GC,6486,0.95,174.1,547.4,8.7,270,6514,0.00,2.20,23.45,0.854,4,0.000,0.071,3540,177,2210,0,0,0,0,0,0
$GC,6574,0.86,174.1,538.8,11.3,271,6579,0.00,1.98,0.00,0.000,6,0.000,0.038,3540,1381,2208,0,0,0,0,0,0
$GC,6826,0.90,204.3,516.2,8.6,278,6858,0.00,2.17,27.58,0.851,4,0.000,0.067,3540,169,2087,0,0,0,0,0,0
$GC,6920,0.90,204.3,507.4,11.1,280,6924,0.00,1.95,0.00,0.000,6,0.000,0.030,3540,1373,2085,0,0,0,0,0,0
$GC,7211,0.92,221.6,479.6,9.2,287,7233,0.00,2.70,16.02,0.805,4,0.000,0.044,3540,2959,2015,0,0,0,0,0,0
$GC,7285,1.03,236.4,473.1,9.3,288,7306,0.10,2.70,14.82,0.789,6,0.076,0.044,3586,1379,1955,0,0,0,0,0,0
$GC,7593,0.93,236.4,437.7,11.0,296,7598,0.20,2.10,0.00,0.000,4,0.096,0.064,3543,160,1950,0,0,0,0,0,0
$GC,7618,0.93,236.4,435.1,10.2,296,7622,0.00,1.98,0.00,0.000,6,0.000,0.026,3543,1394,1950,0,0,0,0,0,0
$GC,7886,0.94,240.1,409.2,9.8,303,7891,0.00,2.53,0.00,0.000,4,0.000,0.036,3544,2948,1948,0,0,0,0,0,0
$GC,7933,1.07,255.3,404.6,9.3,304,7958,0.12,2.65,17.58,0.773,6,0.064,0.042,3598,1377,1879,0,0,0,0,0,0
$GC,8221,0.97,255.3,369.0,12.4,311,8226,0.22,2.08,0.00,0.000,4,0.093,0.061,3550,165,1875,0,0,0,0,0,0
$GC,8259,0.97,255.3,364.0,11.4,311,8264,0.00,1.95,0.00,0.000,6,0.000,0.024,3550,1397,1875,0,0,0,0,0,0
$GC,8510,0.97,255.3,338.4,10.5,318,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,3551,1399,1873,0,0,0,0,0,0
$GC,8754,0.97,256.6,313.7,9.9,324,8758,0.00,2.50,0.00,0.000,4,0.000,0.032,3550,2948,1872,0,0,0,0,0,0
$GC,8815,1.10,256.6,307.7,10.1,325,8820,0.12,2.62,0.00,0.000,6,0.064,0.041,3606,1378,1870,0,0,0,0,0,0
$GC,9086,1.01,256.6,277.7,11.0,332,9091,0.20,2.58,0.00,0.000,4,0.094,0.031,3562,2946,1870,0,0,0,0,0,0
$GC,9110,1.03,271.6,274.9,9.3,332,9131,0.00,2.60,14.70,0.672,6,0.000,0.038,3561,1385,1810,0,0,0,0,0,0
$GC,9422,1.03,271.6,244.4,10.4,340,9426,0.00,2.55,0.00,0.000,4,0.000,0.029,3561,2956,1808,0,0,0,0,0,0
$GC,9447,1.11,280.0,241.4,9.6,340,9460,0.00,2.60,8.10,0.588,6,0.000,0.037,3561,1392,1778,0,0,0,0,0,0
$GC,9705,1.11,281.2,215.6,9.9,346,9709,0.00,2.08,0.00,0.000,4,0.000,0.056,3561,160,1776,0,0,0,0,0,0
$GC,9757,1.11,281.2,209.9,11.4,347,9761,0.00,1.92,0.00,0.000,6,0.000,0.021,3561,1407,1777,0,0,0,0,0,0
$GC,10031,1.20,290.0,184.7,9.6,364,10050,0.17,2.53,10.25,0.568,4,0.051,0.029,3635,2938,1736,0,0,0,0,0,0
$GC,10067,1.11,290.0,180.7,12.1,367,10073,0.25,2.58,0.00,0.000,6,0.087,0.035,3579,1384,1734,0,0,0,0,0,0
$GC,10332,1.11,290.0,152.1,10.4,391,10337,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1384,1733,0,0,0,0,0,0
$GC,10595,1.11,293.5,125.4,9.8,416,10608,0.00,2.53,4.32,0.403,4,0.000,0.027,3580,2934,1722,0,0,0,0,0,0
$GC,10620,1.19,293.5,122.6,10.2,418,10624,0.00,2.53,0.00,0.000,6,0.000,0.034,3580,1395,1721,0,0,0,0,0,0
$GC,10884,1.30,317.5,97.2,8.9,442,10918,0.17,2.10,22.98,0.528,4,0.049,0.057,3661,169,1624,0,0,0,0,0,0
$GC,10966,1.14,317.5,85.0,17.3,449,10972,0.32,1.88,0.00,0.000,6,0.084,0.020,3589,1382,1623,0,0,0,0,0,0
$GC,11231,1.26,332.8,57.7,9.3,474,11256,0.10,2.08,14.77,0.475,4,0.075,0.048,3644,174,1562,0,0,0,0,0,0
$GC,11272,1.17,332.8,53.1,12.6,477,11277,0.22,1.85,0.00,0.000,6,0.088,0.019,3595,1383,1561,0,0,0,0,0,0
$GC,11545,1.25,332.8,24.9,11.1,504,11553,0.00,2.47,0.00,0.000,4,0.000,0.025,3595,2932,1559,0,0,0,0,0,0
$GC,11569,1.36,332.8,22.0,11.2,507,11579,0.12,2.58,0.00,0.000,6,0.026,0.034,3673,1375,1557,0,0,0,0,0,0
$STATE,11692,end climb,SURFACE_DEPTH_REACHED
$STATE,11695,begin surface coast
$FINISH,0.6,1.023221
$STATE,11727,end surface coast,CONTROL_FINISHED_OK
$STATE,11727,begin surface
$SM_CCo,11751,27.98,0.439,0,0,1369,380.21
$SM_GC,1.79,0.00,0.00,27.98,0.000,0.000,0.439,418,1541,1369,-13.44,0.03,380.21
$IRIDIUM_FIX,2244.02,-15748.90,051001,151538
$TT8_MAMPS,0.026845
$HUMID,62.91
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,8
$24V_AH,23.5,30.275
$10V_AH,10.0,22.704
$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,35.400,145.750,415.700,27.975,0.000,58.293,67.524,316.617,2.000,0.000,16.394,1168.732,7917.467,484.406,2051.090,810.522,33.381,1374.063,0.000,2049.027,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,78.234,933.439,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.931,310.142,386.423,554.837,973.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,41478,531
$CAP_FILE_SIZE,142127,0
$CFSIZE,260165632,165453824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110712,183225,2251.113,-15753.103,39,1.6,58,10.1