version: 66.06
glider: 148
mission: 11
dive: 153
start: 7 1 112 12 52 31
data:
$ID,148
$MISSION,11
$DIVE,153
$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,-921417.75
$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,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,124535,2247.121,-15806.496,33,0.9,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-74.3
$GPS2,125136,2247.078,-15806.474,8,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.035,0.257
$KALMAN_X,77612.7,36.9,-301.0,-88804.0,614.9
$KALMAN_Y,-24287.5,-75.6,-91.0,22743.5,-1148.3
$MHEAD_RNG_PITCHd_Wd,342.3,32343,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.00,0.000,2,0.000,0.000,414,1542,3309,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.9,-7.3,10,122,13.95,2.45,-3.47,0.000,4,0.158,0.032,3057,3099,3517,0,0,0,0,0,0
$GC,216,-1.05,-146.0,38.2,-16.4,25,226,0.20,2.58,0.00,0.000,6,0.084,0.031,3106,1532,3519,0,0,0,0,0,0
$GC,485,-0.89,-146.0,79.9,-14.5,50,490,0.17,2.22,0.00,0.000,4,0.107,0.043,3143,170,3520,0,0,0,0,0,0
$GC,526,-0.89,-146.0,85.3,-11.4,53,530,0.00,2.03,0.00,0.000,6,0.000,0.018,3143,1530,3521,0,0,0,0,0,0
$GC,794,-0.89,-146.0,110.6,-9.4,77,798,0.00,2.42,0.00,0.000,4,0.000,0.023,3143,3091,3521,0,0,0,0,0,0
$GC,853,-1.07,-146.0,116.6,-8.4,82,863,0.12,2.53,0.00,0.000,6,0.026,0.028,3069,1543,3522,0,0,0,0,0,0
$GC,1117,-0.88,-146.0,152.5,-14.5,107,1123,0.35,0.00,0.00,0.000,6,0.094,0.000,3145,1543,3523,0,0,0,0,0,0
$GC,1381,-0.96,-146.0,177.6,-8.4,132,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1543,3523,0,0,0,0,0,0
$GC,1634,-1.05,-146.0,198.1,-8.3,156,1639,0.15,2.42,0.00,0.000,4,0.056,0.024,3079,3095,3524,0,0,0,0,0,0
$GC,1691,-1.05,-146.0,204.2,-10.4,159,1697,0.15,2.53,0.00,0.000,6,0.099,0.029,3113,1533,3524,0,0,0,0,0,0
$GC,1967,-1.05,-146.0,230.5,-9.7,166,1971,0.00,2.22,0.00,0.000,4,0.000,0.044,3112,161,3524,0,0,0,0,0,0
$GC,2037,-1.12,-146.0,237.7,-9.9,167,2041,0.00,2.08,0.00,0.000,6,0.000,0.019,3113,1526,3524,0,0,0,0,0,0
$GC,2296,-1.12,-146.0,261.4,-9.1,174,2301,0.00,2.47,0.00,0.000,4,0.000,0.026,3113,3103,3524,0,0,0,0,0,0
$GC,2331,-1.22,-146.0,264.5,-8.5,174,2336,0.15,2.53,0.00,0.000,6,0.055,0.029,3034,1541,3524,0,0,0,0,0,0
$GC,2581,-1.03,-146.0,297.5,-13.5,180,2586,0.32,2.25,0.00,0.000,4,0.090,0.045,3108,166,3524,0,0,0,0,0,0
$GC,2649,-1.12,-146.0,304.7,-9.5,181,2653,0.00,2.08,0.00,0.000,6,0.000,0.021,3109,1531,3524,0,0,0,0,0,0
$GC,2913,-1.19,-146.0,328.2,-8.9,188,2918,0.12,2.50,0.00,0.000,4,0.064,0.030,3045,3098,3524,0,0,0,0,0,0
$GC,2951,-1.19,-146.0,332.4,-11.1,188,2958,0.15,2.53,0.00,0.000,6,0.097,0.032,3079,1540,3524,0,0,0,0,0,0
$GC,3203,-1.19,-146.0,357.2,-9.9,195,3207,0.00,2.53,0.00,0.000,4,0.000,0.031,3080,3097,3524,0,0,0,0,0,0
$GC,3221,-1.19,-146.0,359.6,-10.6,195,3226,0.00,2.55,0.00,0.000,6,0.000,0.033,3080,1541,3524,0,0,0,0,0,0
$GC,3485,-1.19,-146.0,384.5,-9.5,202,3489,0.00,2.30,0.00,0.000,4,0.000,0.058,3079,167,3523,0,0,0,0,0,0
$GC,3533,-1.19,-146.0,389.4,-10.3,203,3537,0.00,2.12,0.00,0.000,6,0.000,0.024,3079,1539,3523,0,0,0,0,0,0
$GC,3815,-1.19,-146.0,414.1,-8.2,210,3819,0.00,2.55,0.00,0.000,4,0.000,0.035,3080,3112,3521,0,0,0,0,0,0
$GC,3843,-1.19,-146.0,416.7,-8.0,210,3848,0.00,2.60,0.00,0.000,6,0.000,0.037,3079,1540,3521,0,0,0,0,0,0
$GC,4100,-1.19,-146.0,438.3,-8.7,217,4104,0.00,2.33,0.00,0.000,4,0.000,0.065,3080,169,3520,0,0,0,0,0,0
$GC,4133,-1.19,-146.0,441.7,-9.7,217,4137,0.00,2.15,0.00,0.000,6,0.000,0.028,3080,1535,3519,0,0,0,0,0,0
$GC,4383,-1.19,-146.0,463.6,-8.9,223,4387,0.00,2.58,0.00,0.000,4,0.000,0.040,3080,3120,3518,0,0,0,0,0,0
$GC,4408,-1.19,-146.0,465.9,-9.7,223,4413,0.00,2.60,0.00,0.000,6,0.000,0.038,3080,1549,3518,0,0,0,0,0,0
$GC,4668,-1.19,-146.0,490.5,-9.7,230,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1549,3515,0,0,0,0,0,0
$GC,4911,-1.19,-146.0,514.8,-9.9,236,4916,0.00,2.58,0.00,0.000,4,0.000,0.043,3080,3110,3514,0,0,0,0,0,0
$GC,4936,-1.19,-146.0,517.4,-10.6,236,4941,0.00,2.60,0.00,0.000,6,0.000,0.042,3079,1553,3513,0,0,0,0,0,0
$GC,5196,-1.19,-146.0,542.9,-9.8,243,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1552,3512,0,0,0,0,0,0
$GC,5439,-1.19,-146.0,565.9,-9.5,249,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1553,3510,0,0,0,0,0,0
$GC,5685,-1.19,-146.0,587.6,-8.8,255,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1553,3509,0,0,0,0,0,0
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5843,begin apogee
$GC,5849,-0.31,0.0,601.1,8.3,259,5971,0.85,0.00,118.55,0.936,6,0.087,0.000,3268,1390,2920,0,0,0,0,0,0
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5975,1.27,146.0,604.6,0.0,262,6107,1.45,2.20,124.18,0.916,4,0.045,0.081,3614,174,2322,0,0,0,0,0,0
$GC,6270,0.93,146.0,579.5,14.8,268,6275,0.35,2.00,0.00,0.000,6,0.102,0.030,3542,1401,2316,0,0,0,0,0,0
$GC,6522,0.96,171.7,556.8,8.8,274,6550,0.00,2.25,21.42,0.850,4,0.000,0.069,3542,174,2219,0,0,0,0,0,0
$GC,6614,0.87,171.7,547.7,11.0,276,6617,0.00,1.98,0.00,0.000,6,0.000,0.028,3541,1396,2217,0,0,0,0,0,0
$GC,6905,0.92,210.8,522.4,8.2,283,6944,0.00,0.00,35.55,0.861,6,0.000,0.000,3542,1397,2060,0,0,0,0,0,0
$GC,7188,0.94,226.2,496.5,9.3,290,7205,0.00,0.00,14.60,0.802,6,0.000,0.000,3541,1397,1997,0,0,0,0,0,0
$GC,7432,0.95,234.7,473.1,9.6,296,7447,0.00,2.12,8.82,0.734,4,0.000,0.061,3541,170,1962,0,0,0,0,0,0
$GC,7460,0.96,244.9,470.3,9.5,296,7478,0.00,1.98,11.45,0.761,6,0.000,0.026,3542,1398,1920,0,0,0,0,0,0
$GC,7722,0.96,244.9,443.5,10.1,303,7726,0.00,2.60,0.00,0.000,4,0.000,0.041,3542,2970,1915,0,0,0,0,0,0
$GC,7736,0.96,245.4,442.1,10.0,303,7741,0.00,2.65,0.00,0.000,6,0.000,0.041,3542,1392,1914,0,0,0,0,0,0
$GC,8006,0.96,245.4,415.0,10.1,310,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1392,1913,0,0,0,0,0,0
$GC,8248,0.96,245.4,390.1,10.1,316,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1393,1913,0,0,0,0,0,0
$GC,8492,0.96,245.4,365.6,10.1,322,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1392,1912,0,0,0,0,0,0
$GC,8738,1.04,258.7,342.5,9.4,328,8755,0.10,2.10,12.30,0.710,4,0.077,0.060,3586,165,1864,0,0,0,0,0,0
$GC,8789,0.92,258.7,336.5,12.4,329,8793,0.20,1.98,0.00,0.000,6,0.097,0.024,3542,1410,1864,0,0,0,0,0,0
$GC,9069,1.03,285.1,312.0,8.8,336,9095,0.00,0.00,24.38,0.727,6,0.000,0.000,3542,1412,1757,0,0,0,0,0,0
$GC,9311,1.12,288.0,288.2,9.9,342,9316,0.17,2.12,0.00,0.000,4,0.051,0.058,3612,165,1752,0,0,0,0,0,0
$GC,9335,1.00,288.0,285.0,13.5,342,9340,0.25,1.95,0.00,0.000,6,0.097,0.023,3559,1406,1752,0,0,0,0,0,0
$GC,9596,1.00,288.0,256.2,10.9,349,9600,0.00,2.53,0.00,0.000,4,0.000,0.031,3559,2966,1751,0,0,0,0,0,0
$GC,9624,1.09,288.0,253.0,10.6,349,9629,0.00,2.60,0.00,0.000,6,0.000,0.037,3559,1391,1749,0,0,0,0,0,0
$GC,9879,1.16,288.0,226.7,10.4,356,9881,0.15,0.00,0.00,0.000,6,0.055,0.000,3621,1391,1749,0,0,0,0,0,0
$GC,10124,1.05,288.0,196.9,12.0,362,10129,0.25,2.05,0.00,0.000,4,0.093,0.051,3566,167,1749,0,0,0,0,0,0
$GC,10229,1.05,288.0,185.4,10.5,372,10233,0.00,1.92,0.00,0.000,6,0.000,0.021,3566,1418,1749,0,0,0,0,0,0
$GC,10502,1.13,294.5,159.7,9.7,397,10515,0.00,2.50,8.43,0.531,4,0.000,0.029,3566,2969,1718,0,0,0,0,0,0
$GC,10530,1.23,294.5,156.0,10.0,399,10540,0.12,2.62,0.00,0.000,6,0.025,0.035,3637,1397,1716,0,0,0,0,0,0
$GC,10791,1.12,294.5,119.7,14.2,424,10795,0.25,2.03,0.00,0.000,4,0.091,0.048,3577,165,1716,0,0,0,0,0,0
$GC,10827,1.12,294.5,115.1,11.5,427,10833,0.00,1.85,0.00,0.000,6,0.000,0.021,3577,1401,1716,0,0,0,0,0,0
$GC,11092,1.19,294.8,88.4,10.0,452,11101,0.10,0.00,0.00,0.000,6,0.077,0.000,3628,1404,1716,0,0,0,0,0,0
$GC,11358,1.21,312.6,59.4,9.2,477,11383,0.10,2.10,17.58,0.493,4,0.117,0.048,3603,175,1645,0,0,0,0,0,0
$GC,11473,1.21,312.6,46.4,12.2,487,11477,0.00,1.83,0.00,0.000,6,0.000,0.019,3603,1398,1644,0,0,0,0,0,0
$GC,11761,1.21,312.6,15.3,12.4,522,11769,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1401,1642,0,0,0,0,0,0
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,0.6,1.023798
$STATE,11923,end surface coast,CONTROL_FINISHED_OK
$STATE,11924,begin surface
$SM_CCo,11947,38.28,0.452,0,0,1370,380.21
$SM_GC,1.38,0.00,0.00,38.28,0.000,0.000,0.452,412,1581,1370,-13.47,1.16,380.21
$IRIDIUM_FIX,2239.35,-15820.16,250901,090945
$TT8_MAMPS,0.027612
$HUMID,62.20
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.00
$XPDR_PINGS,5
$24V_AH,23.5,21.429
$10V_AH,9.9,15.123
$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,32.975,115.675,397.250,38.275,0.000,29.591,34.683,164.998,1.250,0.000,14.732,1138.633,8227.556,495.637,1942.592,542.255,33.370,1292.648,0.000,1940.253,0.000,0.537,0.000
$DEVICE_MAMPS,158.002,80.535,935.740,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.587,306.123,393.669,568.774,996.508,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41510,547
$CAP_FILE_SIZE,122688,0
$CFSIZE,260165632,169697280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010712,161355,2248.210,-15806.461,38,2.6,57,10.1