version: 66.06
glider: 148
mission: 11
dive: 157
start: 7 2 112 2 43 31
data:
$ID,148
$MISSION,11
$DIVE,157
$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,-921476.31
$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,28
$R_STBD_OVSHOOT,97
$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
$GPS1,023632,2251.276,-15806.521,42,1.6,42,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.1
$GPS2,024237,2251.300,-15806.526,14,1.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.048,0.255
$KALMAN_X,78447.7,-136.8,-319.5,-89543.5,883.1
$KALMAN_Y,-29289.2,217.2,76.9,35099.5,-836.3
$MHEAD_RNG_PITCHd_Wd,339.4,24592,-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,-74.57,0.000,2,0.000,0.000,415,1562,3254,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.3,-4.5,10,120,13.98,2.40,-4.65,0.000,4,0.159,0.034,3056,3078,3516,0,0,0,0,0,0
$GC,258,-1.06,-146.0,40.7,-16.7,31,263,0.22,2.47,0.00,0.000,6,0.097,0.030,3106,1538,3518,0,0,0,0,0,0
$GC,527,-0.93,-146.0,82.9,-14.0,55,532,0.15,2.45,0.00,0.000,4,0.110,0.025,3138,3071,3519,0,0,0,0,0,0
$GC,564,-0.93,-146.0,88.4,-10.6,58,569,0.00,2.45,0.00,0.000,6,0.000,0.028,3138,1543,3519,0,0,0,0,0,0
$GC,827,-0.93,-146.0,115.6,-10.2,82,831,0.00,2.42,0.00,0.000,4,0.000,0.024,3138,3078,3520,0,0,0,0,0,0
$GC,846,-0.93,-146.0,117.2,-9.1,83,850,0.00,2.42,0.00,0.000,6,0.000,0.027,3138,1553,3520,0,0,0,0,0,0
$GC,1112,-0.93,-146.0,142.3,-9.7,107,1116,0.00,2.25,0.00,0.000,4,0.000,0.042,3138,174,3521,0,0,0,0,0,0
$GC,1161,-1.01,-146.0,147.3,-10.1,111,1165,0.00,2.08,0.00,0.000,6,0.000,0.018,3138,1553,3521,0,0,0,0,0,0
$GC,1432,-1.01,-146.0,173.2,-9.7,136,1436,0.00,2.40,0.00,0.000,4,0.000,0.024,3138,3095,3522,0,0,0,0,0,0
$GC,1462,-1.13,-146.0,176.4,-8.5,138,1472,0.15,2.50,0.00,0.000,6,0.019,0.028,3049,1559,3522,0,0,0,0,0,0
$GC,1732,-0.92,-146.0,212.5,-13.9,158,1737,0.38,2.25,0.00,0.000,4,0.094,0.040,3134,168,3522,0,0,0,0,0,0
$GC,1809,-1.11,-146.0,221.3,-8.9,159,1814,0.15,2.05,0.00,0.000,6,0.055,0.018,3064,1541,3522,0,0,0,0,0,0
$GC,2064,-0.99,-146.0,250.6,-11.9,166,2069,0.25,2.42,0.00,0.000,4,0.094,0.025,3123,3091,3522,0,0,0,0,0,0
$GC,2105,-1.15,-146.0,254.3,-8.3,166,2111,0.12,2.50,0.00,0.000,6,0.062,0.029,3038,1544,3523,0,0,0,0,0,0
$GC,2355,-0.96,-146.0,288.3,-14.4,173,2360,0.38,2.25,0.00,0.000,4,0.088,0.044,3126,164,3522,0,0,0,0,0,0
$GC,2412,-1.09,-146.0,294.9,-10.3,174,2416,0.10,2.08,0.00,0.000,6,0.074,0.021,3070,1527,3522,0,0,0,0,0,0
$GC,2691,-1.02,-146.0,327.1,-11.6,181,2696,0.20,2.53,0.00,0.000,4,0.096,0.028,3114,3103,3522,0,0,0,0,0,0
$GC,2725,-1.14,-146.0,330.8,-9.1,181,2730,0.00,2.55,0.00,0.000,6,0.000,0.031,3114,1536,3522,0,0,0,0,0,0
$GC,2977,-1.21,-146.0,350.3,-7.5,187,2982,0.15,2.55,0.00,0.000,4,0.055,0.031,3040,3104,3522,0,0,0,0,0,0
$GC,3002,-1.14,-146.0,352.8,-10.4,187,3007,0.22,2.55,0.00,0.000,6,0.088,0.032,3091,1540,3522,0,0,0,0,0,0
$GC,3262,-1.14,-146.0,374.5,-8.3,194,3266,0.00,2.30,0.00,0.000,4,0.000,0.055,3091,171,3521,0,0,0,0,0,0
$GC,3338,-1.14,-146.0,381.3,-8.9,195,3342,0.00,2.10,0.00,0.000,6,0.000,0.023,3091,1529,3521,0,0,0,0,0,0
$GC,3592,-1.14,-146.0,403.2,-8.7,202,3597,0.00,2.55,0.00,0.000,4,0.000,0.035,3091,3117,3519,0,0,0,0,0,0
$GC,3656,-1.25,-146.0,408.5,-8.7,203,3661,0.10,2.60,0.00,0.000,6,0.076,0.036,3027,1541,3519,0,0,0,0,0,0
$GC,3926,-1.09,-146.0,442.2,-12.7,210,3931,0.32,2.35,0.00,0.000,4,0.092,0.064,3101,172,3517,0,0,0,0,0,0
$GC,3955,-1.09,-146.0,445.3,-9.2,210,3959,0.00,2.15,0.00,0.000,6,0.000,0.028,3101,1534,3517,0,0,0,0,0,0
$GC,4216,-1.16,-146.0,467.3,-8.5,217,4220,0.00,2.55,0.00,0.000,4,0.000,0.039,3102,3115,3515,0,0,0,0,0,0
$GC,4254,-1.31,-146.0,470.8,-8.2,217,4260,0.20,2.58,0.00,0.000,6,0.044,0.039,3008,1549,3515,0,0,0,0,0,0
$GC,4505,-1.12,-146.0,500.3,-12.1,224,4511,0.38,2.40,0.00,0.000,4,0.091,0.069,3094,164,3514,0,0,0,0,0,0
$GC,4540,-1.20,-146.0,504.2,-8.9,224,4544,0.00,2.20,0.00,0.000,6,0.000,0.033,3094,1539,3514,0,0,0,0,0,0
$GC,4790,-1.27,-146.0,522.2,-7.2,230,4795,0.12,2.65,0.00,0.000,4,0.066,0.044,3039,3128,3513,0,0,0,0,0,0
$GC,4807,-1.27,-146.0,523.7,-7.2,230,4812,0.12,2.65,0.00,0.000,6,0.106,0.041,3067,1541,3512,0,0,0,0,0,0
$GC,5076,-1.27,-146.0,546.6,-8.5,237,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1540,3511,0,0,0,0,0,0
$GC,5320,-1.27,-146.0,567.3,-8.6,243,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1540,3509,0,0,0,0,0,0
$GC,5565,-1.27,-146.0,588.2,-8.7,249,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,1540,3507,0,0,0,0,0,0
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5724,begin apogee
$GC,5730,-0.31,0.0,601.8,8.3,253,5851,0.90,0.00,117.68,0.935,6,0.084,0.000,3268,1393,2920,0,0,0,0,0,0
$STATE,5852,end apogee,CONTROL_FINISHED_OK
$STATE,5852,begin climb
$GC,5854,1.27,146.0,605.1,0.0,256,5986,1.48,2.25,123.90,0.913,4,0.048,0.081,3618,167,2323,0,0,0,0,0,0
$GC,6169,0.91,146.0,576.7,14.1,263,6174,0.38,2.00,0.00,0.000,6,0.098,0.030,3540,1401,2317,0,0,0,0,0,0
$GC,6447,0.94,175.4,551.4,8.6,270,6479,0.00,2.17,25.02,0.856,4,0.000,0.066,3540,171,2204,0,0,0,0,0,0
$GC,6596,0.87,175.4,536.0,11.3,273,6600,0.00,1.98,0.00,0.000,6,0.000,0.028,3540,1391,2202,0,0,0,0,0,0
$GC,6873,0.90,200.6,511.6,8.8,280,6901,0.00,2.20,22.80,0.839,4,0.000,0.065,3540,170,2102,0,0,0,0,0,0
$GC,6940,0.90,200.6,504.6,11.2,281,6944,0.00,1.98,0.00,0.000,6,0.000,0.027,3540,1393,2101,0,0,0,0,0,0
$GC,7209,0.90,200.6,476.2,10.5,288,7210,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,1394,2097,0,0,0,0,0,0
$GC,7453,0.91,210.4,452.4,9.5,294,7469,0.00,2.12,9.25,0.735,4,0.000,0.060,3540,161,2061,0,0,0,0,0,0
$GC,7513,0.92,213.1,446.9,9.9,295,7521,0.00,1.98,4.00,0.530,6,0.000,0.025,3540,1394,2051,0,0,0,0,0,0
$GC,7790,0.96,247.4,423.5,8.4,302,7827,0.00,2.12,32.25,0.809,4,0.000,0.059,3540,168,1910,0,0,0,0,0,0
$GC,7922,0.96,247.4,410.2,10.5,304,7925,0.00,1.92,0.00,0.000,6,0.000,0.025,3540,1375,1909,0,0,0,0,0,0
$GC,8212,0.96,247.4,381.8,10.2,311,8217,0.00,2.60,0.00,0.000,4,0.000,0.038,3540,2973,1905,0,0,0,0,0,0
$GC,8247,1.07,247.4,378.3,11.0,311,8252,0.12,2.70,0.00,0.000,6,0.063,0.041,3594,1372,1903,0,0,0,0,0,0
$GC,8497,0.97,247.4,344.8,13.5,317,8502,0.20,2.08,0.00,0.000,4,0.095,0.060,3552,159,1902,0,0,0,0,0,0
$GC,8571,0.97,247.4,335.7,13.2,318,8575,0.00,1.92,0.00,0.000,6,0.000,0.024,3552,1386,1902,0,0,0,0,0,0
$GC,8831,0.97,247.4,308.5,10.4,325,8836,0.00,2.58,0.00,0.000,4,0.000,0.034,3552,2968,1901,0,0,0,0,0,0
$GC,8860,1.08,247.4,305.3,10.4,325,8865,0.10,2.67,0.00,0.000,6,0.075,0.040,3601,1369,1900,0,0,0,0,0,0
$GC,9115,0.99,247.4,273.5,12.7,332,9121,0.20,2.60,0.00,0.000,4,0.095,0.034,3558,2959,1899,0,0,0,0,0,0
$GC,9141,0.99,247.4,270.4,11.2,332,9146,0.00,2.65,0.00,0.000,6,0.000,0.039,3558,1372,1899,0,0,0,0,0,0
$GC,9401,1.01,256.6,245.2,9.6,339,9413,0.00,2.05,7.80,0.594,4,0.000,0.058,3558,165,1873,0,0,0,0,0,0
$GC,9459,1.01,256.6,238.6,11.4,340,9463,0.00,1.90,0.00,0.000,6,0.000,0.021,3558,1389,1873,0,0,0,0,0,0
$GC,9738,1.09,262.7,211.8,9.7,347,9747,0.00,0.00,6.93,0.552,6,0.000,0.000,3558,1392,1849,0,0,0,0,0,0
$GC,9986,1.16,268.0,187.1,9.8,362,9999,0.15,2.58,6.20,0.515,4,0.055,0.030,3616,2953,1827,0,0,0,0,0,0
$GC,10018,1.16,268.0,183.4,12.5,365,10023,0.12,2.62,0.00,0.000,6,0.101,0.036,3588,1373,1825,0,0,0,0,0,0
$GC,10279,1.16,268.0,155.0,10.7,389,10282,0.00,2.00,0.00,0.000,4,0.000,0.051,3588,170,1823,0,0,0,0,0,0
$GC,10426,1.16,268.0,138.3,11.4,403,10430,0.00,1.85,0.00,0.000,6,0.000,0.021,3588,1389,1823,0,0,0,0,0,0
$GC,10693,1.16,268.0,110.8,10.3,428,10697,0.00,2.03,0.00,0.000,4,0.000,0.049,3587,168,1823,0,0,0,0,0,0
$GC,10731,1.16,268.0,106.4,11.3,431,10736,0.00,1.83,0.00,0.000,6,0.000,0.021,3588,1380,1824,0,0,0,0,0,0
$GC,10994,1.16,271.2,79.8,9.9,456,11007,0.00,2.53,3.95,0.354,4,0.000,0.028,3588,2940,1813,0,0,0,0,0,0
$GC,11036,1.31,299.7,75.7,8.7,459,11070,0.10,2.60,25.92,0.519,6,0.029,0.035,3641,1374,1697,0,0,0,0,0,0
$GC,11324,1.23,299.7,40.2,13.0,486,11329,0.15,2.00,0.00,0.000,4,0.102,0.058,3607,168,1695,0,0,0,0,0,0
$GC,11351,1.23,299.7,37.2,11.9,488,11355,0.00,1.83,0.00,0.000,6,0.000,0.020,3607,1380,1695,0,0,0,0,0,0
$GC,11654,1.26,323.6,5.6,8.9,532,11671,0.00,0.00,14.73,0.439,2,0.000,0.000,3606,1382,1635,0,0,0,0,0,0
$STATE,11671,end climb,SURFACE_DEPTH_REACHED
$STATE,11672,begin surface coast
$FINISH,0.7,1.010294
$STATE,11716,end surface coast,CONTROL_FINISHED_OK
$STATE,11716,begin surface
$SM_CCo,11741,39.70,0.456,0,0,1369,380.21
$SM_GC,1.38,0.00,0.00,39.70,0.000,0.000,0.456,415,1579,1369,-13.45,1.13,380.21
$IRIDIUM_FIX,2239.35,-15804.53,250901,232317
$TT8_MAMPS,0.027612
$HUMID,61.89
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,2
$24V_AH,23.5,21.911
$10V_AH,9.9,15.557
$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,34.575,143.400,400.425,39.700,0.000,27.364,33.880,169.383,0.500,0.000,16.177,1183.831,7825.110,468.993,2106.894,560.330,33.370,1358.757,0.000,2100.969,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,81.302,934.973,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,366.205,312.248,395.293,581.516,1017.783,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41421,541
$CAP_FILE_SIZE,134229,0
$CFSIZE,260165632,169443328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020712,060106,2252.383,-15806.440,32,1.0,32,10.1