version: 66.06
glider: 148
mission: 11
dive: 163
start: 7 2 112 23 26 12
data:
$ID,148
$MISSION,11
$DIVE,163
$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,-921602.31
$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,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,99
$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
$GPS1,231905,2257.398,-15806.146,35,1.3,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.2
$GPS2,232518,2257.385,-15806.180,8,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.074,0.249
$KALMAN_X,77742.4,-262.2,17.4,-88456.3,-335.0
$KALMAN_Y,-35808.1,-34.3,-338.3,53555.2,-447.2
$MHEAD_RNG_PITCHd_Wd,6.4,13385,-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,-74.60,0.000,2,0.000,0.000,411,1572,3287,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.8,-6.1,10,120,13.80,2.38,-3.95,0.000,4,0.153,0.037,3058,3067,3517,0,0,0,0,0,0
$GC,142,-0.30,-146.0,22.4,-36.2,16,152,0.95,2.50,0.00,0.000,6,0.088,0.028,3268,1541,3518,0,0,0,0,0,0
$GC,419,-0.68,-146.0,38.9,-4.4,46,427,0.30,0.00,0.00,0.000,6,0.029,0.000,3111,1541,3520,0,0,0,0,0,0
$GC,683,-0.52,-146.0,76.2,-13.8,71,695,0.47,2.42,0.00,0.000,4,0.084,0.024,3220,3064,3520,0,0,0,0,0,0
$GC,734,-0.85,-146.0,80.3,-5.7,75,739,0.28,2.45,0.00,0.000,6,0.037,0.028,3136,1543,3521,0,0,0,0,0,0
$GC,1000,-0.85,-146.0,107.4,-10.5,99,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1542,3522,0,0,0,0,0,0
$GC,1263,-0.85,-146.0,132.3,-9.3,124,1267,0.00,2.40,0.00,0.000,4,0.000,0.024,3135,3073,3523,0,0,0,0,0,0
$GC,1289,-0.85,-146.0,135.1,-9.9,126,1293,0.00,2.42,0.00,0.000,6,0.000,0.035,3135,1551,3522,0,0,0,0,0,0
$GC,1554,-0.85,-146.0,159.7,-9.5,150,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1551,3523,0,0,0,0,0,0
$GC,1820,-0.94,-146.0,184.2,-9.0,175,1825,0.00,2.38,0.00,0.000,4,0.000,0.023,3135,3071,3524,0,0,0,0,0,0
$GC,1860,-1.09,-146.0,188.2,-8.7,178,1866,0.15,2.42,0.00,0.000,6,0.056,0.028,3036,1553,3524,0,0,0,0,0,0
$GC,2115,-0.87,-146.0,225.6,-15.4,191,2118,0.50,0.00,0.00,0.000,6,0.089,0.000,3145,1553,3524,0,0,0,0,0,0
$GC,2358,-1.02,-146.0,244.5,-6.9,197,2363,0.12,2.40,0.00,0.000,4,0.063,0.025,3081,3071,3525,0,0,0,0,0,0
$GC,2384,-1.02,-146.0,246.6,-9.2,197,2389,0.15,2.42,0.00,0.000,6,0.095,0.030,3116,1558,3525,0,0,0,0,0,0
$GC,2644,-1.10,-146.0,268.3,-8.5,204,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1559,3525,0,0,0,0,0,0
$GC,2888,-1.17,-146.0,291.8,-9.7,210,2890,0.12,0.00,0.00,0.000,6,0.064,0.000,3056,1559,3524,0,0,0,0,0,0
$GC,3133,-1.06,-146.0,321.1,-11.9,216,3138,0.22,2.33,0.00,0.000,4,0.090,0.052,3107,164,3525,0,0,0,0,0,0
$GC,3156,-1.06,-146.0,323.9,-10.0,216,3161,0.00,2.10,0.00,0.000,6,0.000,0.022,3107,1512,3524,0,0,0,0,0,0
$GC,3421,-1.12,-146.0,344.8,-7.8,223,3425,0.00,2.55,0.00,0.000,4,0.000,0.032,3107,3107,3523,0,0,0,0,0,0
$GC,3483,-1.28,-146.0,349.4,-7.3,224,3489,0.20,2.53,0.00,0.000,6,0.042,0.034,3027,1569,3523,0,0,0,0,0,0
$GC,3753,-1.09,-146.0,381.0,-12.2,231,3758,0.30,2.35,0.00,0.000,4,0.091,0.054,3097,166,3521,0,0,0,0,0,0
$GC,3802,-1.18,-146.0,385.9,-9.1,232,3807,0.00,2.17,0.00,0.000,6,0.000,0.024,3097,1564,3521,0,0,0,0,0,0
$GC,4085,-1.18,-146.0,409.5,-8.6,239,4089,0.00,2.53,0.00,0.000,4,0.000,0.035,3097,3113,3519,0,0,0,0,0,0
$GC,4123,-1.30,-146.0,412.7,-8.2,239,4129,0.17,2.55,0.00,0.000,6,0.047,0.037,3012,1574,3520,0,0,0,0,0,0
$GC,4374,-1.09,-146.0,442.2,-12.2,246,4379,0.38,2.40,0.00,0.000,4,0.092,0.062,3098,174,3518,0,0,0,0,0,0
$GC,4432,-1.21,-146.0,448.0,-8.6,247,4436,0.00,2.20,0.00,0.000,6,0.000,0.028,3098,1561,3518,0,0,0,0,0,0
$GC,4707,-1.28,-146.0,470.0,-8.2,254,4712,0.15,2.55,0.00,0.000,4,0.058,0.041,3035,3118,3516,0,0,0,0,0,0
$GC,4750,-1.28,-146.0,474.8,-10.9,255,4756,0.12,2.55,0.00,0.000,6,0.104,0.040,3064,1574,3516,0,0,0,0,0,0
$GC,5038,-1.28,-146.0,504.2,-10.1,262,5042,0.00,2.42,0.00,0.000,4,0.000,0.071,3064,161,3513,0,0,0,0,0,0
$GC,5077,-1.28,-146.0,508.2,-11.0,262,5082,0.00,2.25,0.00,0.000,6,0.000,0.034,3064,1563,3514,0,0,0,0,0,0
$GC,5327,-1.28,-146.0,529.5,-8.1,269,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1564,3512,0,0,0,0,0,0
$GC,5570,-1.28,-146.0,548.8,-8.0,275,5574,0.00,2.42,0.00,0.000,4,0.000,0.069,3064,166,3510,0,0,0,0,0,0
$GC,5595,-1.28,-146.0,550.9,-9.3,275,5599,0.00,2.25,0.00,0.000,6,0.000,0.035,3064,1560,3510,0,0,0,0,0,0
$GC,5855,-1.28,-146.0,572.4,-8.3,282,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1560,3508,0,0,0,0,0,0
$GC,6098,-1.28,-146.0,593.6,-8.8,288,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1560,3507,0,0,0,0,0,0
$STATE,6177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6177,begin apogee
$GC,6184,-0.31,0.0,600.9,9.0,290,6306,0.93,0.00,118.07,0.938,6,0.085,0.000,3270,1367,2920,0,0,0,0,0,0
$STATE,6307,end apogee,CONTROL_FINISHED_OK
$STATE,6307,begin climb
$GC,6309,1.27,146.0,605.2,0.0,293,6443,1.48,2.17,123.97,0.918,4,0.045,0.075,3623,175,2323,0,0,0,0,0,0
$GC,6676,0.89,146.0,569.7,15.1,301,6681,0.43,1.95,0.00,0.000,6,0.100,0.029,3534,1385,2316,0,0,0,0,0,0
$GC,6951,0.94,181.2,545.7,8.4,308,6987,0.00,2.20,30.12,0.864,4,0.000,0.068,3534,179,2180,0,0,0,0,0,0
$GC,7016,0.87,181.2,539.3,10.7,309,7019,0.00,1.95,0.00,0.000,6,0.000,0.029,3534,1381,2179,0,0,0,0,0,0
$GC,7285,0.87,187.7,513.3,9.7,316,7297,0.00,2.17,6.53,0.692,4,0.000,0.067,3534,171,2154,0,0,0,0,0,0
$GC,7431,0.87,187.7,498.0,10.0,319,7435,0.00,1.92,0.00,0.000,6,0.000,0.026,3534,1369,2153,0,0,0,0,0,0
$GC,7716,0.93,236.2,475.4,7.8,326,7765,0.00,2.10,44.28,0.851,4,0.000,0.061,3534,176,1956,0,0,0,0,0,0
$GC,7786,0.96,258.6,469.5,9.0,327,7815,0.00,1.90,21.77,0.808,6,0.000,0.025,3534,1366,1864,0,0,0,0,0,0
$GC,8091,0.98,275.6,442.1,9.2,335,8112,0.00,2.70,15.40,0.778,4,0.000,0.041,3534,2948,1795,0,0,0,0,0,0
$GC,8146,1.13,283.3,436.4,9.6,336,8162,0.22,2.70,7.97,0.694,6,0.041,0.050,3606,1361,1764,0,0,0,0,0,0
$GC,8425,1.01,283.3,396.9,14.5,343,8429,0.22,2.08,0.00,0.000,4,0.094,0.061,3558,161,1761,0,0,0,0,0,0
$GC,8490,1.01,283.3,387.3,14.1,344,8494,0.00,1.90,0.00,0.000,6,0.000,0.025,3558,1366,1761,0,0,0,0,0,0
$GC,8759,1.01,283.3,356.2,11.2,351,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1368,1759,0,0,0,0,0,0
$GC,9001,1.01,283.3,328.5,11.4,357,9006,0.00,2.60,0.00,0.000,4,0.000,0.035,3558,2953,1758,0,0,0,0,0,0
$GC,9058,1.13,283.3,321.8,11.7,358,9065,0.12,2.70,0.00,0.000,6,0.064,0.041,3615,1351,1754,0,0,0,0,0,0
$GC,9335,1.01,283.3,281.4,14.7,365,9340,0.25,2.00,0.00,0.000,4,0.094,0.058,3558,165,1754,0,0,0,0,0,0
$GC,9396,1.01,283.3,273.8,11.6,366,9400,0.00,1.88,0.00,0.000,6,0.000,0.024,3558,1368,1754,0,0,0,0,0,0
$GC,9669,1.01,289.1,246.9,9.7,373,9681,0.00,2.55,4.97,0.518,4,0.000,0.029,3558,2952,1740,0,0,0,0,0,0
$GC,9702,1.13,301.9,243.8,9.4,373,9723,0.12,2.65,13.12,0.645,6,0.063,0.038,3613,1360,1688,0,0,0,0,0,0
$GC,10007,1.05,301.9,204.1,13.2,381,10009,0.20,0.00,0.00,0.000,6,0.096,0.000,3569,1360,1686,0,0,0,0,0,0
$GC,10262,1.11,301.9,175.3,11.5,402,10266,0.00,2.55,0.00,0.000,4,0.000,0.028,3569,2955,1685,0,0,0,0,0,0
$GC,10297,1.24,301.9,171.2,10.5,405,10303,0.17,2.60,0.00,0.000,6,0.047,0.042,3624,1366,1682,0,0,0,0,0,0
$GC,10562,1.15,301.9,134.7,13.6,429,10566,0.15,2.00,0.00,0.000,4,0.105,0.050,3592,169,1683,0,0,0,0,0,0
$GC,10630,1.15,301.9,126.0,12.6,435,10634,0.00,1.83,0.00,0.000,6,0.000,0.020,3592,1377,1683,0,0,0,0,0,0
$GC,10898,1.15,301.9,97.4,10.5,460,10903,0.00,2.47,0.00,0.000,4,0.000,0.027,3592,2937,1683,0,0,0,0,0,0
$GC,10928,1.24,301.9,94.0,10.5,462,10937,0.00,2.60,0.00,0.000,6,0.000,0.037,3592,1367,1682,0,0,0,0,0,0
$GC,11197,1.27,321.8,67.2,9.1,487,11222,0.10,2.00,18.52,0.502,4,0.077,0.048,3636,165,1606,0,0,0,0,0,0
$GC,11283,1.18,321.8,56.9,13.5,494,11287,0.20,1.80,0.00,0.000,6,0.098,0.019,3594,1364,1607,0,0,0,0,0,0
$GC,11552,1.25,321.8,29.6,10.4,519,11560,0.00,2.50,0.00,0.000,4,0.000,0.027,3594,2922,1605,0,0,0,0,0,0
$GC,11583,1.37,335.3,26.6,9.4,523,11607,0.15,2.60,12.98,0.443,6,0.026,0.034,3647,1352,1552,0,0,0,0,0,0
$STATE,11758,end climb,SURFACE_DEPTH_REACHED
$STATE,11758,begin surface coast
$FINISH,0.7,1.012361
$STATE,11797,end surface coast,CONTROL_FINISHED_OK
$STATE,11797,begin surface
$SM_CCo,11820,32.62,0.453,0,0,1368,380.21
$SM_GC,1.65,0.00,0.00,32.62,0.000,0.000,0.453,413,1539,1368,-13.47,-0.03,380.21
$IRIDIUM_FIX,2248.70,-15803.66,260901,202006
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,11
$24V_AH,23.5,22.610
$10V_AH,9.9,16.212
$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,36.150,125.975,417.725,32.625,0.000,25.770,39.004,165.793,2.750,0.000,14.622,1177.867,7851.663,483.178,2140.649,572.663,33.370,1377.873,0.000,2140.652,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,75.166,938.041,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.339,332.278,411.653,620.965,1089.561,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44698,556
$CAP_FILE_SIZE,131007,0
$CFSIZE,260165632,169082880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,024516,2258.748,-15805.959,38,1.8,49,10.1