version: 66.06
glider: 148
mission: 11
dive: 158
start: 7 2 112 6 8 47
data:
$ID,148
$MISSION,11
$DIVE,158
$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,-921493.06
$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,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,105
$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
$GPS1,060106,2252.383,-15806.440,32,1.0,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.9
$GPS2,060754,2252.389,-15806.432,9,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,0.259
$KALMAN_X,78533.0,39.0,154.2,-90115.0,403.3
$KALMAN_Y,-30641.2,328.7,274.7,38162.0,-1827.5
$MHEAD_RNG_PITCHd_Wd,345.9,22571,-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,-74.53,0.000,2,0.000,0.000,415,1581,3287,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.8,-7.1,10,122,14.38,2.35,-3.83,0.000,4,0.170,0.038,3056,3064,3516,0,0,0,0,0,0
$GC,162,-0.87,-146.0,28.7,-26.9,19,172,0.38,2.53,0.00,0.000,6,0.124,0.031,3144,1532,3518,0,0,0,0,0,0
$GC,431,-0.87,-146.0,68.1,-14.4,44,436,0.00,2.42,0.00,0.000,4,0.000,0.026,3144,3065,3519,0,0,0,0,0,0
$GC,475,-0.87,-146.0,75.6,-12.9,47,484,0.00,2.47,0.00,0.000,6,0.000,0.029,3144,1546,3519,0,0,0,0,0,0
$GC,740,-0.87,-146.0,105.3,-9.8,72,744,0.00,2.38,0.00,0.000,4,0.000,0.023,3144,3063,3520,0,0,0,0,0,0
$GC,761,-0.93,-146.0,107.7,-9.3,73,766,0.00,2.45,0.00,0.000,6,0.000,0.035,3144,1543,3521,0,0,0,0,0,0
$GC,1022,-0.93,-146.0,130.9,-9.4,98,1026,0.00,2.22,0.00,0.000,4,0.000,0.044,3144,166,3521,0,0,0,0,0,0
$GC,1053,-0.93,-146.0,133.9,-9.4,100,1062,0.00,2.08,0.00,0.000,6,0.000,0.018,3144,1528,3521,0,0,0,0,0,0
$GC,1316,-1.01,-146.0,158.2,-9.1,125,1321,0.10,2.45,0.00,0.000,4,0.076,0.024,3091,3091,3522,0,0,0,0,0,0
$GC,1362,-1.01,-146.0,163.2,-10.9,129,1367,0.12,2.47,0.00,0.000,6,0.106,0.028,3119,1542,3522,0,0,0,0,0,0
$GC,1625,-1.01,-146.0,188.6,-8.9,153,1629,0.00,2.25,0.00,0.000,4,0.000,0.044,3119,165,3523,0,0,0,0,0,0
$GC,1675,-1.01,-146.0,193.1,-9.3,157,1679,0.00,2.08,0.00,0.000,6,0.000,0.018,3119,1556,3523,0,0,0,0,0,0
$GC,1948,-1.01,-146.0,219.0,-9.2,168,1952,0.00,2.40,0.00,0.000,4,0.000,0.025,3119,3094,3523,0,0,0,0,0,0
$GC,2008,-1.16,-146.0,224.3,-8.2,169,2013,0.15,2.47,0.00,0.000,6,0.054,0.029,3040,1550,3523,0,0,0,0,0,0
$GC,2284,-0.97,-146.0,260.1,-13.5,176,2289,0.38,2.25,0.00,0.000,4,0.095,0.043,3124,166,3523,0,0,0,0,0,0
$GC,2346,-1.11,-146.0,266.0,-8.1,177,2351,0.12,2.10,0.00,0.000,6,0.064,0.020,3059,1535,3523,0,0,0,0,0,0
$GC,2616,-1.01,-146.0,294.4,-10.7,184,2622,0.25,2.50,0.00,0.000,4,0.094,0.028,3118,3106,3523,0,0,0,0,0,0
$GC,2661,-1.21,-146.0,298.6,-7.8,185,2666,0.17,2.50,0.00,0.000,6,0.046,0.033,3045,1561,3523,0,0,0,0,0,0
$GC,2951,-1.07,-146.0,333.6,-12.9,192,2956,0.25,2.33,0.00,0.000,4,0.097,0.049,3103,167,3523,0,0,0,0,0,0
$GC,3003,-1.13,-146.0,339.5,-9.5,193,3007,0.00,2.15,0.00,0.000,6,0.000,0.021,3103,1549,3523,0,0,0,0,0,0
$GC,3281,-1.13,-146.0,363.3,-8.4,200,3285,0.00,2.33,0.00,0.000,4,0.000,0.054,3103,174,3522,0,0,0,0,0,0
$GC,3317,-1.13,-146.0,366.1,-8.7,200,3321,0.00,2.15,0.00,0.000,6,0.000,0.024,3103,1556,3522,0,0,0,0,0,0
$GC,3567,-1.21,-146.0,385.2,-7.6,206,3572,0.12,2.53,0.00,0.000,4,0.064,0.035,3041,3117,3521,0,0,0,0,0,0
$GC,3631,-1.21,-146.0,391.4,-10.5,207,3637,0.15,2.55,0.00,0.000,6,0.098,0.036,3076,1568,3521,0,0,0,0,0,0
$GC,3901,-1.21,-146.0,415.9,-8.6,214,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1568,3519,0,0,0,0,0,0
$GC,4145,-1.21,-146.0,437.0,-8.6,220,4149,0.00,2.40,0.00,0.000,4,0.000,0.066,3076,168,3517,0,0,0,0,0,0
$GC,4183,-1.21,-146.0,440.9,-9.7,220,4189,0.00,2.20,0.00,0.000,6,0.000,0.029,3076,1556,3517,0,0,0,0,0,0
$GC,4433,-1.21,-146.0,464.0,-9.1,227,4438,0.00,2.53,0.00,0.000,4,0.000,0.038,3076,3120,3515,0,0,0,0,0,0
$GC,4452,-1.21,-146.0,465.9,-9.4,227,4457,0.00,2.58,0.00,0.000,6,0.000,0.037,3076,1564,3515,0,0,0,0,0,0
$GC,4718,-1.21,-146.0,489.3,-9.0,234,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1564,3514,0,0,0,0,0,0
$GC,4960,-1.21,-146.0,511.7,-9.3,240,4965,0.00,2.42,0.00,0.000,4,0.000,0.073,3076,169,3512,0,0,0,0,0,0
$GC,4983,-1.21,-146.0,514.3,-11.1,240,4988,0.00,2.28,0.00,0.000,6,0.000,0.034,3076,1573,3512,0,0,0,0,0,0
$GC,5244,-1.21,-146.0,538.0,-9.1,247,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1573,3510,0,0,0,0,0,0
$GC,5486,-1.21,-146.0,558.3,-8.3,253,5491,0.00,2.58,0.00,0.000,4,0.000,0.047,3076,3122,3509,0,0,0,0,0,0
$GC,5505,-1.21,-146.0,560.0,-8.5,253,5510,0.00,2.60,0.00,0.000,6,0.000,0.044,3076,1570,3509,0,0,0,0,0,0
$GC,5770,-1.21,-146.0,579.7,-7.4,260,5773,0.00,2.42,0.00,0.000,4,0.000,0.077,3076,171,3507,0,0,0,0,0,0
$GC,5794,-1.21,-146.0,581.8,-8.9,260,5798,0.00,2.28,0.00,0.000,6,0.000,0.035,3076,1567,3507,0,0,0,0,0,0
$STATE,6055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6055,begin apogee
$GC,6062,-0.31,0.0,600.3,6.8,267,6183,0.88,0.00,117.68,0.940,6,0.089,0.000,3269,1384,2920,0,0,0,0,0,0
$STATE,6184,end apogee,CONTROL_FINISHED_OK
$STATE,6184,begin climb
$GC,6188,1.27,146.0,602.5,0.0,270,6321,1.45,2.17,123.65,0.917,4,0.042,0.071,3618,178,2322,0,0,0,0,0,0
$GC,6544,0.91,146.0,567.1,13.6,278,6549,0.38,2.00,0.00,0.000,6,0.100,0.029,3540,1406,2316,0,0,0,0,0,0
$GC,6827,0.95,177.2,542.4,8.6,285,6860,0.00,2.22,26.35,0.859,4,0.000,0.067,3540,182,2196,0,0,0,0,0,0
$GC,6920,0.87,177.2,533.8,10.4,287,6924,0.00,2.00,0.00,0.000,6,0.000,0.028,3540,1411,2195,0,0,0,0,0,0
$GC,7213,0.91,210.0,507.9,8.5,294,7249,0.00,2.25,29.58,0.852,4,0.000,0.064,3540,178,2062,0,0,0,0,0,0
$GC,7270,0.86,217.7,503.0,9.6,295,7284,0.00,2.00,8.40,0.730,6,0.000,0.027,3540,1408,2031,0,0,0,0,0,0
$GC,7543,0.87,227.0,476.3,9.6,302,7559,0.00,2.65,9.25,0.744,4,0.000,0.042,3540,2973,1992,0,0,0,0,0,0
$GC,7571,0.87,227.6,473.7,10.0,302,7575,0.00,2.67,0.00,0.000,6,0.000,0.042,3540,1404,1991,0,0,0,0,0,0
$GC,7830,0.87,227.6,447.1,10.1,309,7834,0.00,2.12,0.00,0.000,4,0.000,0.064,3539,168,1989,0,0,0,0,0,0
$GC,7895,0.87,227.6,439.8,11.5,310,7899,0.00,1.98,0.00,0.000,6,0.000,0.025,3540,1409,1989,0,0,0,0,0,0
$GC,8169,0.88,233.9,413.1,9.7,317,8181,0.00,2.62,6.82,0.670,4,0.000,0.041,3540,2959,1965,0,0,0,0,0,0
$GC,8196,0.90,251.5,410.3,9.2,317,8219,0.00,2.65,17.88,0.778,6,0.000,0.043,3540,1395,1894,0,0,0,0,0,0
$GC,8506,0.92,265.5,380.5,9.4,325,8522,0.00,0.00,13.85,0.745,6,0.000,0.000,3540,1395,1837,0,0,0,0,0,0
$GC,8746,0.98,265.8,356.6,10.0,331,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1395,1833,0,0,0,0,0,0
$GC,8989,1.06,265.8,330.9,10.6,337,8994,0.12,2.10,0.00,0.000,4,0.064,0.061,3595,163,1831,0,0,0,0,0,0
$GC,9058,0.95,265.8,321.2,15.4,338,9062,0.22,1.95,0.00,0.000,6,0.095,0.025,3547,1394,1831,0,0,0,0,0,0
$GC,9322,1.02,265.8,291.1,11.0,345,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3547,1396,1831,0,0,0,0,0,0
$GC,9566,1.08,265.8,265.2,10.6,351,9571,0.12,2.58,0.00,0.000,4,0.064,0.033,3601,2972,1830,0,0,0,0,0,0
$GC,9615,1.08,265.8,259.6,12.9,352,9620,0.12,2.65,0.00,0.000,6,0.104,0.039,3574,1382,1828,0,0,0,0,0,0
$GC,9898,1.08,265.8,229.4,10.4,359,9901,0.00,2.05,0.00,0.000,4,0.000,0.056,3574,168,1828,0,0,0,0,0,0
$GC,9954,1.08,265.8,223.4,10.7,360,9958,0.00,1.95,0.00,0.000,6,0.000,0.022,3574,1413,1827,0,0,0,0,0,0
$GC,10236,1.12,294.8,197.6,8.7,367,10266,0.00,2.20,24.95,0.638,4,0.000,0.051,3574,165,1717,0,0,0,0,0,0
$GC,10286,1.12,294.8,192.6,10.4,372,10290,0.00,1.88,0.00,0.000,6,0.000,0.021,3574,1389,1717,0,0,0,0,0,0
$GC,10558,1.12,294.8,165.9,10.2,397,10562,0.00,2.53,0.00,0.000,4,0.000,0.028,3574,2963,1715,0,0,0,0,0,0
$GC,10577,1.19,294.8,163.0,10.9,398,10583,0.10,2.62,0.00,0.000,6,0.074,0.035,3633,1371,1712,0,0,0,0,0,0
$GC,10841,1.08,294.8,127.3,13.5,423,10847,0.25,0.00,0.00,0.000,6,0.088,0.000,3577,1371,1712,0,0,0,0,0,0
$GC,11105,1.17,297.2,99.3,9.9,448,11108,0.00,1.98,0.00,0.000,4,0.000,0.057,3576,161,1712,0,0,0,0,0,0
$GC,11139,1.17,297.2,95.8,11.4,451,11143,0.00,1.88,0.00,0.000,6,0.000,0.020,3576,1382,1712,0,0,0,0,0,0
$GC,11412,1.32,345.0,70.7,7.8,476,11462,0.20,2.60,44.28,0.522,4,0.045,0.028,3647,2949,1512,0,0,0,0,0,0
$GC,11490,1.32,345.0,61.2,13.1,482,11500,0.00,2.62,0.00,0.000,6,0.000,0.035,3647,1381,1508,0,0,0,0,0,0
$GC,11765,1.22,345.0,22.3,14.4,511,11774,0.17,2.05,0.00,0.000,4,0.098,0.048,3608,163,1508,0,0,0,0,0,0
$GC,11803,1.22,345.0,17.1,13.4,516,11812,0.00,1.88,0.00,0.000,6,0.000,0.019,3608,1391,1508,0,0,0,0,0,0
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.6,1.015048
$STATE,11947,end surface coast,CONTROL_FINISHED_OK
$STATE,11947,begin surface
$SM_CCo,11970,28.58,0.455,0,0,1368,380.21
$SM_GC,1.75,0.00,0.00,28.58,0.000,0.000,0.455,414,1572,1368,-13.46,0.90,380.21
$IRIDIUM_FIX,2244.02,-15806.70,260901,020224
$TT8_MAMPS,0.028379
$HUMID,62.60
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.70
$XPDR_PINGS,5
$24V_AH,23.5,22.030
$10V_AH,9.9,15.664
$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,33.575,143.975,422.675,28.575,0.000,24.551,40.879,195.837,1.250,0.000,16.123,1165.255,8123.481,484.279,2023.254,609.075,33.371,1374.965,0.000,2025.146,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,77.467,939.575,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.516,308.035,386.955,542.335,953.078,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41402,538
$CAP_FILE_SIZE,132080,0
$CFSIZE,260165632,169377792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020712,093003,2253.187,-15806.539,13,3.9,32,10.1