version: 66.06
glider: 148
mission: 11
dive: 160
start: 7 2 112 13 1 19
data:
$ID,148
$MISSION,11
$DIVE,160
$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,-921522.06
$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,121
$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
$GPS1,125359,2254.022,-15806.425,64,1.4,64,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.2
$GPS2,130025,2254.006,-15806.429,12,1.9,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,0.258
$KALMAN_X,78399.5,127.5,-293.1,-89619.0,52.9
$KALMAN_Y,-32912.4,-68.2,-207.2,44304.8,-908.4
$MHEAD_RNG_PITCHd_Wd,355.7,19612,-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,-74.35,0.000,2,0.000,0.000,417,1587,3237,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.3,-4.6,10,121,13.73,2.30,-4.97,0.000,4,0.152,0.035,3056,3048,3517,0,0,0,0,0,0
$GC,174,-0.99,-146.0,27.4,-20.4,21,183,0.28,2.47,0.00,0.000,6,0.082,0.031,3122,1539,3520,0,0,0,0,0,0
$GC,452,-0.85,-146.0,68.6,-14.1,47,461,0.15,0.00,0.00,0.000,6,0.112,0.000,3153,1540,3520,0,0,0,0,0,0
$GC,713,-0.85,-146.0,96.4,-9.4,72,717,0.00,2.38,0.00,0.000,4,0.000,0.023,3154,3046,3521,0,0,0,0,0,0
$GC,762,-1.01,-146.0,100.5,-8.5,76,767,0.15,2.40,0.00,0.000,6,0.053,0.029,3065,1541,3522,0,0,0,0,0,0
$GC,1025,-0.76,-146.0,142.2,-16.8,100,1027,0.57,0.00,0.00,0.000,6,0.093,0.000,3170,1541,3522,0,0,0,0,0,0
$GC,1285,-0.92,-146.0,164.1,-7.7,124,1290,0.12,2.35,0.00,0.000,4,0.062,0.023,3105,3047,3524,0,0,0,0,0,0
$GC,1310,-0.92,-146.0,167.0,-9.8,126,1315,0.15,2.40,0.00,0.000,6,0.097,0.028,3140,1540,3523,0,0,0,0,0,0
$GC,1575,-1.00,-146.0,189.7,-7.7,150,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1540,3524,0,0,0,0,0,0
$GC,1831,-1.09,-146.0,210.6,-8.2,166,1836,0.15,2.38,0.00,0.000,4,0.055,0.025,3072,3049,3524,0,0,0,0,0,0
$GC,1855,-1.09,-146.0,213.4,-11.3,166,1860,0.12,2.40,0.00,0.000,6,0.106,0.028,3100,1544,3524,0,0,0,0,0,0
$GC,2116,-1.09,-146.0,241.0,-10.6,173,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1544,3524,0,0,0,0,0,0
$GC,2359,-1.09,-146.0,265.6,-9.9,179,2363,0.00,2.35,0.00,0.000,4,0.000,0.025,3100,3044,3525,0,0,0,0,0,0
$GC,2382,-1.09,-146.0,267.8,-9.5,179,2386,0.00,2.40,0.00,0.000,6,0.000,0.029,3100,1545,3524,0,0,0,0,0,0
$GC,2643,-1.09,-146.0,289.7,-8.3,186,2647,0.00,2.38,0.00,0.000,4,0.000,0.027,3100,3049,3524,0,0,0,0,0,0
$GC,2662,-1.09,-146.0,291.5,-8.4,186,2666,0.00,2.42,0.00,0.000,6,0.000,0.030,3100,1550,3524,0,0,0,0,0,0
$GC,2926,-1.09,-146.0,314.6,-8.8,193,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1550,3524,0,0,0,0,0,0
$GC,3171,-1.09,-146.0,335.8,-8.7,199,3175,0.00,2.38,0.00,0.000,4,0.000,0.029,3100,3041,3524,0,0,0,0,0,0
$GC,3195,-1.16,-146.0,338.0,-8.9,199,3199,0.00,2.42,0.00,0.000,6,0.000,0.033,3100,1554,3524,0,0,0,0,0,0
$GC,3458,-1.16,-146.0,360.6,-8.6,206,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1554,3523,0,0,0,0,0,0
$GC,3704,-1.16,-146.0,383.5,-9.8,212,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1554,3521,0,0,0,0,0,0
$GC,3946,-1.16,-146.0,405.9,-9.2,218,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1554,3520,0,0,0,0,0,0
$GC,4190,-1.22,-146.0,428.2,-9.0,224,4195,0.10,2.35,0.00,0.000,4,0.077,0.064,3045,176,3519,0,0,0,0,0,0
$GC,4216,-1.12,-146.0,431.1,-12.4,224,4220,0.22,2.05,0.00,0.000,6,0.096,0.027,3093,1484,3518,0,0,0,0,0,0
$GC,4480,-1.12,-146.0,453.7,-8.2,231,4484,0.00,2.50,0.00,0.000,4,0.000,0.038,3094,3038,3517,0,0,0,0,0,0
$GC,4524,-1.25,-146.0,457.2,-7.9,232,4529,0.12,2.42,0.00,0.000,6,0.061,0.038,3028,1571,3517,0,0,0,0,0,0
$GC,4813,-1.11,-146.0,489.6,-11.5,239,4818,0.28,2.40,0.00,0.000,4,0.096,0.067,3092,170,3515,0,0,0,0,0,0
$GC,4842,-1.11,-146.0,492.8,-8.9,239,4846,0.00,2.08,0.00,0.000,6,0.000,0.031,3092,1477,3515,0,0,0,0,0,0
$GC,5096,-1.11,-146.0,515.2,-8.9,246,5101,0.00,2.55,0.00,0.000,4,0.000,0.043,3092,3030,3513,0,0,0,0,0,0
$GC,5154,-1.25,-146.0,520.1,-8.0,247,5159,0.10,2.42,0.00,0.000,6,0.073,0.042,3034,1563,3513,0,0,0,0,0,0
$GC,5428,-1.13,-146.0,550.5,-11.1,254,5433,0.25,2.42,0.00,0.000,4,0.094,0.072,3093,169,3511,0,0,0,0,0,0
$GC,5487,-1.25,-146.0,556.2,-9.4,255,5492,0.10,2.12,0.00,0.000,6,0.078,0.034,3043,1466,3511,0,0,0,0,0,0
$GC,5766,-1.18,-146.0,584.2,-10.0,262,5771,0.17,2.60,0.00,0.000,4,0.098,0.050,3082,3030,3509,0,0,0,0,0,0
$GC,5825,-1.29,-146.0,589.0,-7.5,263,5830,0.10,2.47,0.00,0.000,6,0.073,0.045,3015,1559,3509,0,0,0,0,0,0
$STATE,5933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5933,begin apogee
$GC,5940,-0.31,0.0,600.7,10.9,266,6062,1.15,0.00,118.32,0.933,6,0.091,0.000,3267,1392,2920,0,0,0,0,0,0
$STATE,6063,end apogee,CONTROL_FINISHED_OK
$STATE,6063,begin climb
$GC,6067,1.27,146.0,604.2,0.0,269,6201,1.48,2.28,123.95,0.913,4,0.048,0.080,3621,172,2322,0,0,0,0,0,0
$GC,6282,0.90,146.0,590.1,14.0,274,6286,0.40,1.85,0.00,0.000,6,0.100,0.028,3537,1308,2318,0,0,0,0,0,0
$GC,6569,0.96,192.9,566.4,7.8,281,6612,0.00,0.00,41.00,0.881,6,0.000,0.000,3537,1309,2133,0,0,0,0,0,0
$GC,6853,0.97,198.1,539.8,9.8,288,6864,0.00,2.03,5.18,0.636,4,0.000,0.067,3537,165,2111,0,0,0,0,0,0
$GC,6900,0.90,198.1,534.9,11.5,289,6904,0.00,1.85,0.00,0.000,6,0.000,0.028,3537,1310,2111,0,0,0,0,0,0
$GC,7191,0.92,211.0,506.8,9.4,296,7211,0.00,2.70,12.45,0.792,4,0.000,0.044,3537,2896,2058,0,0,0,0,0,0
$GC,7237,0.92,211.0,502.3,10.4,297,7241,0.00,2.53,0.00,0.000,6,0.000,0.044,3537,1399,2055,0,0,0,0,0,0
$GC,7526,0.92,214.3,473.5,9.8,304,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1399,2054,0,0,0,0,0,0
$GC,7769,0.93,223.6,450.3,9.6,310,7786,0.00,2.17,11.93,0.767,4,0.000,0.064,3537,165,2007,0,0,0,0,0,0
$GC,7806,0.93,223.6,446.5,11.2,310,7812,0.00,1.85,0.00,0.000,6,0.000,0.025,3537,1324,2007,0,0,0,0,0,0
$GC,8056,0.96,243.9,422.7,9.1,317,8081,0.00,2.65,19.92,0.788,4,0.000,0.038,3537,2896,1924,0,0,0,0,0,0
$GC,8106,1.08,270.0,418.4,8.8,318,8140,0.15,2.58,24.73,0.790,6,0.055,0.043,3604,1389,1818,0,0,0,0,0,0
$GC,8387,0.96,270.0,382.6,13.3,325,8392,0.25,2.08,0.00,0.000,4,0.091,0.060,3546,167,1814,0,0,0,0,0,0
$GC,8430,0.96,270.0,377.1,11.2,326,8434,0.00,1.83,0.00,0.000,6,0.000,0.025,3546,1322,1814,0,0,0,0,0,0
$GC,8723,0.96,272.6,347.9,9.9,333,8728,0.00,2.58,0.00,0.000,4,0.000,0.035,3546,2893,1812,0,0,0,0,0,0
$GC,8757,1.09,278.9,344.4,9.7,333,8771,0.12,2.50,8.10,0.657,6,0.064,0.041,3606,1394,1781,0,0,0,0,0,0
$GC,9058,0.98,278.9,304.5,13.6,341,9063,0.25,2.08,0.00,0.000,4,0.093,0.058,3547,165,1780,0,0,0,0,0,0
$GC,9082,0.98,278.9,300.8,12.0,341,9086,0.00,1.83,0.00,0.000,6,0.000,0.023,3547,1339,1779,0,0,0,0,0,0
$GC,9346,1.05,278.9,273.1,10.7,348,9351,0.10,2.55,0.00,0.000,4,0.077,0.031,3592,2903,1778,0,0,0,0,0,0
$GC,9385,1.05,278.9,268.4,11.1,348,9391,0.10,2.53,0.00,0.000,6,0.115,0.039,3570,1392,1776,0,0,0,0,0,0
$GC,9634,1.05,278.9,240.5,11.0,355,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1392,1776,0,0,0,0,0,0
$GC,9879,1.06,284.3,216.3,9.8,361,9886,0.00,0.00,5.45,0.512,6,0.000,0.000,3570,1392,1759,0,0,0,0,0,0
$GC,10129,1.06,284.3,191.5,10.2,370,10132,0.00,2.03,0.00,0.000,4,0.000,0.053,3570,168,1758,0,0,0,0,0,0
$GC,10172,1.06,284.3,185.8,12.7,374,10177,0.00,1.80,0.00,0.000,6,0.000,0.021,3570,1350,1758,0,0,0,0,0,0
$GC,10436,1.12,284.3,156.7,11.9,399,10441,0.00,2.55,0.00,0.000,4,0.000,0.027,3570,2951,1758,0,0,0,0,0,0
$GC,10466,1.22,284.3,152.8,11.5,401,10472,0.15,2.55,0.00,0.000,6,0.055,0.041,3625,1395,1756,0,0,0,0,0,0
$GC,10727,1.14,284.3,119.1,11.8,426,10732,0.17,2.03,0.00,0.000,4,0.100,0.058,3587,172,1756,0,0,0,0,0,0
$GC,10764,1.14,284.3,115.6,11.0,429,10767,0.00,1.85,0.00,0.000,6,0.000,0.020,3587,1406,1756,0,0,0,0,0,0
$GC,11030,1.14,284.3,89.2,10.0,454,11035,0.00,2.45,0.00,0.000,4,0.000,0.027,3587,2952,1756,0,0,0,0,0,0
$GC,11050,1.20,284.3,87.5,10.4,455,11055,0.00,2.53,0.00,0.000,6,0.000,0.032,3587,1389,1756,0,0,0,0,0,0
$GC,11319,1.29,295.3,62.5,9.5,479,11335,0.12,2.05,11.00,0.469,4,0.064,0.049,3641,177,1714,0,0,0,0,0,0
$GC,11380,1.15,295.3,54.9,13.4,484,11385,0.22,1.85,0.00,0.000,6,0.095,0.019,3592,1397,1714,0,0,0,0,0,0
$GC,11650,1.21,295.3,26.7,10.4,510,11659,0.00,2.05,0.00,0.000,4,0.000,0.048,3592,177,1714,0,0,0,0,0,0
$GC,11689,1.21,295.3,22.7,10.9,515,11698,0.00,1.85,0.00,0.000,6,0.000,0.019,3591,1399,1714,0,0,0,0,0,0
$STATE,11890,end climb,SURFACE_DEPTH_REACHED
$STATE,11891,begin surface coast
$FINISH,0.6,1.010717
$STATE,11935,end surface coast,CONTROL_FINISHED_OK
$STATE,11935,begin surface
$SM_CCo,11960,46.30,0.451,0,0,1369,380.21
$SM_GC,1.48,0.00,0.00,46.30,0.000,0.000,0.451,411,1561,1369,-13.47,0.59,380.21
$IRIDIUM_FIX,2244.02,-15806.70,260901,090903
$TT8_MAMPS,0.027612
$HUMID,61.06
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,4
$24V_AH,23.5,22.260
$10V_AH,10.0,15.880
$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,34.275,128.225,382.025,46.300,0.000,25.327,38.022,186.062,1.000,0.000,14.139,1166.937,8172.054,488.928,1981.851,582.516,33.369,1304.809,0.000,1988.479,0.000,0.537,0.000
$DEVICE_MAMPS,151.866,79.768,932.672,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.075,323.130,402.476,595.706,1046.589,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,41586,554
$CAP_FILE_SIZE,128247,0
$CFSIZE,260165632,169263104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020712,162235,2255.376,-15806.439,27,1.4,27,10.1