version: 66.06
glider: 148
mission: 11
dive: 151
start: 7 1 112 6 3 53
data:
$ID,148
$MISSION,11
$DIVE,151
$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,-921387
$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,26
$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
$GPS1,055551,2245.763,-15805.869,10,99.0,29,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-72.4
$GPS2,060259,2245.713,-15805.808,37,1.0,43,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.096,0.241
$KALMAN_X,76874.2,-57.3,62.0,-87200.5,1235.0
$KALMAN_Y,-21335.5,269.3,60.7,16768.8,-1573.3
$MHEAD_RNG_PITCHd_Wd,328.3,34770,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,2,0.000,0.000,415,1549,3264,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.5,-5.4,10,121,14.00,2.45,-4.35,0.000,4,0.160,0.036,3058,3091,3517,0,0,0,0,0,0
$GC,161,-0.89,-146.0,26.4,-23.0,19,170,0.35,2.55,0.00,0.000,6,0.082,0.030,3140,1539,3519,0,0,0,0,0,0
$GC,435,-0.82,-146.0,63.6,-11.9,45,440,0.10,2.25,0.00,0.000,4,0.128,0.046,3161,163,3520,0,0,0,0,0,0
$GC,469,-0.82,-146.0,69.0,-11.7,47,478,0.00,2.10,0.00,0.000,6,0.000,0.018,3161,1539,3520,0,0,0,0,0,0
$GC,733,-0.89,-146.0,93.4,-9.3,72,737,0.00,2.42,0.00,0.000,4,0.000,0.023,3161,3096,3521,0,0,0,0,0,0
$GC,816,-1.10,-146.0,101.1,-8.6,79,822,0.25,2.50,0.00,0.000,6,0.035,0.028,3039,1545,3521,0,0,0,0,0,0
$GC,1080,-0.80,-146.0,141.9,-17.2,104,1086,0.52,2.22,0.00,0.000,4,0.091,0.047,3158,164,3521,0,0,0,0,0,0
$GC,1108,-0.80,-146.0,146.4,-13.3,106,1112,0.00,2.08,0.00,0.000,6,0.000,0.018,3157,1552,3522,0,0,0,0,0,0
$GC,1375,-0.93,-146.0,165.4,-6.8,130,1379,0.00,2.40,0.00,0.000,4,0.000,0.023,3157,3099,3522,0,0,0,0,0,0
$GC,1403,-1.12,-146.0,167.6,-7.6,132,1408,0.25,2.50,0.00,0.000,6,0.037,0.028,3046,1546,3523,0,0,0,0,0,0
$GC,1685,-0.91,-146.0,206.3,-15.1,155,1690,0.40,2.25,0.00,0.000,4,0.087,0.041,3139,171,3523,0,0,0,0,0,0
$GC,1782,-1.06,-146.0,216.3,-8.9,157,1787,0.12,2.05,0.00,0.000,6,0.064,0.018,3076,1546,3523,0,0,0,0,0,0
$GC,2065,-0.98,-146.0,249.8,-12.0,164,2070,0.22,2.42,0.00,0.000,4,0.091,0.025,3125,3093,3523,0,0,0,0,0,0
$GC,2105,-1.16,-146.0,253.5,-8.7,164,2112,0.15,2.53,0.00,0.000,6,0.053,0.030,3043,1536,3523,0,0,0,0,0,0
$GC,2355,-0.99,-146.0,284.6,-12.7,171,2360,0.32,2.22,0.00,0.000,4,0.090,0.044,3119,171,3523,0,0,0,0,0,0
$GC,2419,-1.13,-146.0,290.6,-8.6,172,2423,0.10,2.05,0.00,0.000,6,0.077,0.020,3060,1514,3523,0,0,0,0,0,0
$GC,2688,-1.03,-146.0,320.7,-11.5,179,2693,0.25,2.53,0.00,0.000,4,0.091,0.028,3119,3102,3523,0,0,0,0,0,0
$GC,2723,-1.19,-146.0,324.1,-8.2,179,2729,0.17,2.55,0.00,0.000,6,0.045,0.033,3044,1531,3523,0,0,0,0,0,0
$GC,2973,-1.07,-146.0,353.2,-11.7,185,2978,0.25,2.28,0.00,0.000,4,0.092,0.053,3103,166,3523,0,0,0,0,0,0
$GC,3026,-1.17,-146.0,358.8,-10.0,186,3030,0.00,2.10,0.00,0.000,6,0.000,0.022,3103,1514,3523,0,0,0,0,0,0
$GC,3305,-1.24,-146.0,381.6,-7.9,193,3310,0.15,2.60,0.00,0.000,4,0.056,0.034,3036,3114,3521,0,0,0,0,0,0
$GC,3339,-1.24,-146.0,385.1,-10.9,193,3344,0.15,2.60,0.00,0.000,6,0.100,0.036,3071,1524,3521,0,0,0,0,0,0
$GC,3590,-1.24,-146.0,408.5,-9.5,199,3594,0.00,2.28,0.00,0.000,4,0.000,0.061,3070,170,3520,0,0,0,0,0,0
$GC,3623,-1.24,-146.0,412.1,-10.0,199,3627,0.00,2.12,0.00,0.000,6,0.000,0.025,3070,1520,3520,0,0,0,0,0,0
$GC,3873,-1.24,-146.0,434.4,-8.9,205,3877,0.00,2.58,0.00,0.000,4,0.000,0.038,3070,3109,3518,0,0,0,0,0,0
$GC,3907,-1.24,-146.0,437.3,-7.5,205,3912,0.00,2.60,0.00,0.000,6,0.000,0.038,3070,1526,3518,0,0,0,0,0,0
$GC,4157,-1.24,-146.0,459.0,-8.9,211,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1526,3516,0,0,0,0,0,0
$GC,4401,-1.24,-146.0,481.1,-9.0,217,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1526,3515,0,0,0,0,0,0
$GC,4645,-1.24,-146.0,503.1,-8.9,223,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1526,3513,0,0,0,0,0,0
$GC,4890,-1.24,-146.0,526.0,-9.6,229,4894,0.00,2.62,0.00,0.000,4,0.000,0.044,3070,3105,3511,0,0,0,0,0,0
$GC,4923,-1.24,-146.0,529.4,-9.5,229,4928,0.00,2.65,0.00,0.000,6,0.000,0.044,3070,1529,3511,0,0,0,0,0,0
$GC,5173,-1.24,-146.0,554.0,-10.0,235,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1529,3510,0,0,0,0,0,0
$GC,5418,-1.24,-146.0,578.1,-9.9,241,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1529,3508,0,0,0,0,0,0
$STATE,5658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5658,begin apogee
$GC,5664,-0.31,0.0,601.1,9.3,247,5786,0.90,0.00,118.20,0.935,6,0.087,0.000,3269,1395,2920,0,0,0,0,0,0
$STATE,5787,end apogee,CONTROL_FINISHED_OK
$STATE,5787,begin climb
$GC,5789,1.27,146.0,605.1,0.0,250,5922,1.48,2.22,124.25,0.917,4,0.048,0.080,3618,168,2323,0,0,0,0,0,0
$GC,6024,0.91,146.0,588.5,12.8,255,6029,0.38,2.00,0.00,0.000,6,0.101,0.030,3540,1394,2317,0,0,0,0,0,0
$GC,6294,0.97,196.7,566.5,7.7,262,6343,0.00,2.22,43.75,0.884,4,0.000,0.071,3540,167,2118,0,0,0,0,0,0
$GC,6414,0.91,196.7,555.6,10.1,264,6418,0.00,2.00,0.00,0.000,6,0.000,0.028,3540,1396,2116,0,0,0,0,0,0
$GC,6669,0.94,223.8,533.1,8.7,271,6695,0.00,0.00,24.83,0.852,6,0.000,0.000,3540,1396,2006,0,0,0,0,0,0
$GC,6912,0.94,225.3,509.1,9.9,277,6917,0.00,2.67,0.00,0.000,4,0.000,0.048,3540,2976,2001,0,0,0,0,0,0
$GC,6936,0.94,225.3,506.5,10.2,277,6940,0.00,2.70,0.00,0.000,6,0.000,0.043,3540,1393,1999,0,0,0,0,0,0
$GC,7196,0.94,225.3,480.3,10.0,284,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1393,1998,0,0,0,0,0,0
$GC,7439,0.95,228.2,456.2,9.9,290,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1393,1997,0,0,0,0,0,0
$GC,7682,0.96,235.5,432.4,9.7,296,7695,0.00,0.00,10.43,0.748,6,0.000,0.000,3540,1393,1959,0,0,0,0,0,0
$GC,7928,0.97,249.3,409.4,9.4,302,7948,0.00,2.70,13.93,0.762,4,0.000,0.035,3540,2976,1902,0,0,0,0,0,0
$GC,7958,0.99,263.0,406.1,9.4,302,7979,0.00,2.67,13.95,0.752,6,0.000,0.041,3540,1391,1847,0,0,0,0,0,0
$GC,8266,1.06,263.0,373.1,10.9,310,8268,0.12,0.00,0.00,0.000,6,0.065,0.000,3588,1391,1844,0,0,0,0,0,0
$GC,8505,0.99,263.0,342.0,12.8,316,8507,0.15,0.00,0.00,0.000,6,0.102,0.000,3556,1391,1843,0,0,0,0,0,0
$GC,8748,0.99,263.0,314.8,11.0,322,8752,0.00,2.08,0.00,0.000,4,0.000,0.060,3556,167,1841,0,0,0,0,0,0
$GC,8799,0.99,263.0,308.9,12.1,323,8803,0.00,1.98,0.00,0.000,6,0.000,0.024,3556,1420,1841,0,0,0,0,0,0
$GC,9082,0.99,263.0,279.9,10.3,330,9086,0.00,2.50,0.00,0.000,4,0.000,0.034,3556,2973,1840,0,0,0,0,0,0
$GC,9110,1.09,281.5,276.9,9.1,330,9132,0.00,2.65,16.30,0.685,6,0.000,0.040,3556,1388,1772,0,0,0,0,0,0
$GC,9413,1.16,281.5,245.7,10.7,338,9418,0.15,2.08,0.00,0.000,4,0.059,0.057,3616,161,1768,0,0,0,0,0,0
$GC,9493,1.02,281.5,233.5,14.5,339,9497,0.25,1.92,0.00,0.000,6,0.098,0.021,3563,1398,1769,0,0,0,0,0,0
$GC,9749,1.03,289.4,207.7,9.6,346,9762,0.00,2.12,7.68,0.564,4,0.000,0.054,3563,158,1740,0,0,0,0,0,0
$GC,9771,1.03,289.4,205.4,10.9,346,9775,0.00,1.92,0.00,0.000,6,0.000,0.022,3563,1401,1740,0,0,0,0,0,0
$GC,10045,1.12,295.1,179.1,9.7,367,10058,0.00,2.12,6.47,0.515,4,0.000,0.051,3563,168,1716,0,0,0,0,0,0
$GC,10127,1.20,295.1,169.4,11.5,375,10137,0.12,1.88,0.00,0.000,6,0.030,0.021,3624,1365,1716,0,0,0,0,0,0
$GC,10388,1.12,295.1,136.1,12.6,400,10393,0.20,2.58,0.00,0.000,4,0.098,0.028,3581,2960,1716,0,0,0,0,0,0
$GC,10407,1.12,295.1,133.9,13.2,401,10412,0.00,2.60,0.00,0.000,6,0.000,0.040,3581,1366,1713,0,0,0,0,0,0
$GC,10676,1.12,295.1,105.2,11.2,425,10680,0.00,1.98,0.00,0.000,4,0.000,0.050,3581,161,1713,0,0,0,0,0,0
$GC,10739,1.12,295.1,97.1,12.1,431,10743,0.00,1.85,0.00,0.000,6,0.000,0.020,3581,1380,1713,0,0,0,0,0,0
$GC,11011,1.19,304.0,70.1,9.6,456,11027,0.00,2.55,9.70,0.472,4,0.000,0.028,3581,2948,1679,0,0,0,0,0,0
$GC,11062,1.39,321.4,65.5,9.2,460,11089,0.25,2.58,17.02,0.497,6,0.036,0.035,3676,1370,1607,0,0,0,0,0,0
$GC,11348,1.22,321.4,24.9,15.7,488,11357,0.30,2.03,0.00,0.000,4,0.088,0.047,3606,162,1605,0,0,0,0,0,0
$GC,11434,1.22,321.4,12.9,14.2,501,11442,0.00,1.85,0.00,0.000,6,0.000,0.021,3606,1396,1605,0,0,0,0,0,0
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,0.6,1.013642
$STATE,11556,end surface coast,CONTROL_FINISHED_OK
$STATE,11556,begin surface
$SM_CCo,11579,34.40,0.454,0,0,1369,380.21
$SM_GC,1.61,0.00,0.00,34.40,0.000,0.000,0.454,418,1544,1369,-13.44,0.11,380.21
$IRIDIUM_FIX,2237.01,-15803.24,250901,020214
$TT8_MAMPS,0.027612
$HUMID,62.79
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.50
$XPDR_PINGS,4
$24V_AH,23.5,21.200
$10V_AH,9.9,14.914
$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,35.025,125.300,406.500,34.400,0.000,23.795,46.564,188.224,1.000,0.000,46.597,1112.675,7938.871,480.054,1913.554,594.815,33.363,1286.749,0.000,1891.826,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,79.768,934.973,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.702,303.780,377.855,542.474,953.067,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41501,519
$CAP_FILE_SIZE,124963,0
$CFSIZE,260165632,169807872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010712,091848,2246.304,-15806.139,30,1.7,41,10.1