version: 66.06
glider: 148
mission: 11
dive: 165
start: 7 3 112 6 26 57
data:
$ID,148
$MISSION,11
$DIVE,165
$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,-921649.19
$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,27
$R_STBD_OVSHOOT,91
$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
$GPS1,061055,2300.350,-15805.641,24,2.1,43,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.7
$GPS2,062603,2300.356,-15805.625,9,2.2,28,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,0.259
$KALMAN_X,77203.2,79.3,50.4,-87345.6,197.8
$KALMAN_Y,-37473.0,292.3,401.9,59654.0,-1366.0
$MHEAD_RNG_PITCHd_Wd,354.2,7810,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-74.22,0.000,2,0.000,0.000,411,1558,3309,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-5.7,10,120,14.52,2.40,-3.42,0.000,4,0.173,0.032,3056,3084,3516,0,0,0,0,0,0
$GC,258,-1.08,-146.0,43.5,-17.7,30,267,0.17,2.55,0.00,0.000,6,0.084,0.031,3099,1532,3518,0,0,0,0,0,0
$GC,526,-0.89,-146.0,84.9,-13.9,55,532,0.20,0.00,0.00,0.000,6,0.101,0.000,3144,1532,3518,0,0,0,0,0,0
$GC,787,-0.89,-146.0,114.2,-11.3,80,792,0.00,2.42,0.00,0.000,4,0.000,0.024,3144,3074,3519,0,0,0,0,0,0
$GC,835,-1.01,-146.0,119.0,-9.7,84,840,0.10,2.47,0.00,0.000,6,0.072,0.028,3068,1529,3519,0,0,0,0,0,0
$GC,1098,-0.82,-146.0,157.5,-14.7,108,1100,0.43,0.00,0.00,0.000,6,0.090,0.000,3158,1529,3520,0,0,0,0,0,0
$GC,1355,-0.96,-146.0,180.4,-8.4,132,1360,0.12,2.45,0.00,0.000,4,0.063,0.023,3091,3082,3520,0,0,0,0,0,0
$GC,1376,-0.96,-146.0,182.9,-9.7,133,1383,0.17,2.47,0.00,0.000,6,0.090,0.028,3132,1533,3520,0,0,0,0,0,0
$GC,1637,-1.03,-146.0,208.5,-9.9,152,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1533,3521,0,0,0,0,0,0
$GC,1878,-1.12,-146.0,229.8,-8.9,158,1880,0.15,0.00,0.00,0.000,6,0.054,0.000,3063,1533,3521,0,0,0,0,0,0
$GC,2121,-1.01,-146.0,259.7,-12.3,164,2127,0.25,2.45,0.00,0.000,4,0.087,0.025,3123,3076,3521,0,0,0,0,0,0
$GC,2147,-1.01,-146.0,262.7,-10.8,164,2151,0.00,2.45,0.00,0.000,6,0.000,0.030,3123,1546,3521,0,0,0,0,0,0
$GC,2407,-1.09,-146.0,285.4,-8.6,171,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1546,3521,0,0,0,0,0,0
$GC,2650,-1.18,-146.0,305.3,-8.3,177,2652,0.17,0.00,0.00,0.000,6,0.051,0.000,3045,1546,3520,0,0,0,0,0,0
$GC,2895,-1.04,-146.0,335.7,-12.6,183,2897,0.30,0.00,0.00,0.000,6,0.087,0.000,3113,1546,3519,0,0,0,0,0,0
$GC,3138,-1.12,-146.0,356.6,-8.1,189,3142,0.00,2.45,0.00,0.000,4,0.000,0.031,3113,3067,3518,0,0,0,0,0,0
$GC,3182,-1.29,-146.0,359.8,-6.4,190,3187,0.22,2.47,0.00,0.000,6,0.039,0.035,3029,1550,3518,0,0,0,0,0,0
$GC,3471,-1.13,-146.0,392.3,-11.2,197,3476,0.25,2.33,0.00,0.000,4,0.094,0.057,3088,164,3516,0,0,0,0,0,0
$GC,3532,-1.13,-146.0,398.9,-10.1,198,3536,0.00,2.08,0.00,0.000,6,0.000,0.024,3088,1498,3516,0,0,0,0,0,0
$GC,3802,-1.13,-146.0,423.7,-9.3,205,3807,0.00,2.60,0.00,0.000,4,0.000,0.037,3089,3111,3514,0,0,0,0,0,0
$GC,3868,-1.26,-146.0,430.1,-9.3,206,3873,0.00,2.58,0.00,0.000,6,0.000,0.039,3088,1549,3514,0,0,0,0,0,0
$GC,4134,-1.26,-146.0,454.8,-9.2,213,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1549,3512,0,0,0,0,0,0
$GC,4376,-1.26,-146.0,476.4,-8.8,219,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1549,3510,0,0,0,0,0,0
$GC,4620,-1.26,-146.0,495.7,-7.9,225,4624,0.00,2.38,0.00,0.000,4,0.000,0.072,3088,165,3509,0,0,0,0,0,0
$GC,4663,-1.26,-146.0,499.2,-8.4,226,4667,0.00,2.22,0.00,0.000,6,0.000,0.032,3088,1543,3508,0,0,0,0,0,0
$GC,4951,-1.26,-146.0,522.6,-8.3,233,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1544,3506,0,0,0,0,0,0
$GC,5194,-1.26,-146.0,543.0,-8.5,239,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1544,3505,0,0,0,0,0,0
$GC,5438,-1.32,-146.0,563.4,-8.3,245,5443,0.15,2.65,0.00,0.000,4,0.057,0.049,3021,3122,3503,0,0,0,0,0,0
$GC,5483,-1.32,-146.0,567.9,-10.6,246,5488,0.15,2.62,0.00,0.000,6,0.100,0.047,3054,1556,3503,0,0,0,0,0,0
$GC,5771,-1.32,-146.0,596.1,-9.7,253,5775,0.00,2.42,0.00,0.000,4,0.000,0.077,3054,163,3501,0,0,0,0,0,0
$STATE,5806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5806,begin apogee
$GC,5815,-0.31,0.0,600.2,11.2,253,5936,0.95,0.00,116.68,0.933,6,0.091,0.000,3266,1387,2920,0,0,0,0,0,0
$STATE,5936,end apogee,CONTROL_FINISHED_OK
$STATE,5936,begin climb
$GC,5939,1.27,146.0,603.5,0.0,256,6071,1.48,2.22,123.62,0.912,4,0.046,0.074,3618,167,2323,0,0,0,0,0,0
$GC,6130,0.90,146.0,594.6,12.8,260,6135,0.40,2.00,0.00,0.000,6,0.101,0.030,3536,1383,2319,0,0,0,0,0,0
$GC,6401,0.96,189.6,572.1,8.0,267,6446,0.00,2.25,37.78,0.877,4,0.000,0.071,3536,165,2145,0,0,0,0,0,0
$GC,6536,0.89,189.6,558.7,11.1,270,6539,0.00,1.98,0.00,0.000,6,0.000,0.029,3536,1375,2143,0,0,0,0,0,0
$GC,6828,0.91,198.0,530.6,9.6,277,6841,0.00,2.70,7.85,0.731,4,0.000,0.048,3536,2965,2112,0,0,0,0,0,0
$GC,6847,0.91,198.0,528.5,10.2,277,6851,0.00,2.72,0.00,0.000,6,0.000,0.042,3536,1366,2110,0,0,0,0,0,0
$GC,7111,0.92,209.0,503.5,9.5,284,7127,0.00,2.15,10.55,0.772,4,0.000,0.072,3536,174,2068,0,0,0,0,0,0
$GC,7194,0.92,209.0,495.0,10.4,285,7198,0.00,1.92,0.00,0.000,6,0.000,0.026,3536,1378,2067,0,0,0,0,0,0
$GC,7448,0.94,227.9,471.5,9.1,292,7472,0.00,2.17,18.05,0.809,4,0.000,0.063,3536,167,1990,0,0,0,0,0,0
$GC,7541,0.94,227.9,462.0,11.6,294,7545,0.00,1.85,0.00,0.000,6,0.000,0.025,3536,1348,1989,0,0,0,0,0,0
$GC,7832,0.94,227.9,431.9,10.3,301,7837,0.00,2.62,0.00,0.000,4,0.000,0.038,3536,2942,1986,0,0,0,0,0,0
$GC,7871,1.05,227.9,427.8,10.1,301,7877,0.12,2.72,0.00,0.000,6,0.063,0.043,3589,1335,1983,0,0,0,0,0,0
$GC,8123,0.94,227.9,397.5,12.1,308,8130,0.20,2.70,0.00,0.000,4,0.095,0.038,3546,2952,1983,0,0,0,0,0,0
$GC,8144,0.94,227.9,394.8,10.1,308,8149,0.00,2.70,0.00,0.000,6,0.000,0.044,3546,1350,1982,0,0,0,0,0,0
$GC,8409,0.95,238.1,369.4,9.5,315,8424,0.00,2.03,9.43,0.696,4,0.000,0.062,3546,168,1949,0,0,0,0,0,0
$GC,8486,0.95,238.1,361.4,10.5,316,8490,0.00,1.88,0.00,0.000,6,0.000,0.025,3546,1349,1949,0,0,0,0,0,0
$GC,8745,0.97,254.6,337.3,9.2,323,8769,0.00,2.67,16.73,0.726,4,0.000,0.035,3546,2951,1881,0,0,0,0,0,0
$GC,8791,1.07,275.4,333.5,9.0,324,8817,0.12,2.70,19.48,0.724,6,0.063,0.041,3600,1342,1797,0,0,0,0,0,0
$GC,9078,0.98,275.4,296.5,13.1,331,9080,0.22,0.00,0.00,0.000,6,0.094,0.000,3552,1342,1793,0,0,0,0,0,0
$GC,9321,0.99,280.8,272.4,9.8,337,9333,0.00,2.67,5.53,0.546,4,0.000,0.031,3552,2946,1773,0,0,0,0,0,0
$GC,9353,1.09,288.2,269.2,9.7,337,9368,0.10,2.67,7.80,0.601,6,0.074,0.038,3599,1347,1745,0,0,0,0,0,0
$GC,9611,1.03,288.2,236.3,13.2,344,9613,0.17,0.00,0.00,0.000,6,0.100,0.000,3562,1347,1743,0,0,0,0,0,0
$GC,9856,1.03,288.2,209.5,10.9,350,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,1347,1742,0,0,0,0,0,0
$GC,10105,1.10,293.7,183.5,9.7,365,10115,0.00,2.05,6.03,0.509,4,0.000,0.054,3561,167,1722,0,0,0,0,0,0
$GC,10140,1.10,293.7,179.4,11.8,368,10146,0.00,1.85,0.00,0.000,6,0.000,0.021,3561,1380,1722,0,0,0,0,0,0
$GC,10405,1.21,303.2,153.3,9.6,393,10421,0.17,2.53,10.07,0.545,4,0.050,0.035,3618,2919,1683,0,0,0,0,0,0
$GC,10461,1.21,303.2,146.3,12.2,398,10470,0.00,2.62,0.00,0.000,6,0.000,0.035,3617,1353,1680,0,0,0,0,0,0
$GC,10728,1.21,303.2,112.0,13.1,423,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1353,1680,0,0,0,0,0,0
$GC,10989,1.21,303.2,80.3,11.7,448,10990,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1353,1680,0,0,0,0,0,0
$GC,11249,1.21,303.2,49.6,11.6,472,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1353,1680,0,0,0,0,0,0
$GC,11530,1.21,303.2,16.5,10.9,506,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1353,1680,0,0,0,0,0,0
$STATE,11639,end climb,SURFACE_DEPTH_REACHED
$STATE,11639,begin surface coast
$FINISH,0.7,1.023798
$STATE,11679,end surface coast,CONTROL_FINISHED_OK
$STATE,11679,begin surface
$SM_CCo,11702,42.53,0.455,0,0,1368,380.21
$SM_GC,1.33,0.00,0.00,42.53,0.000,0.000,0.455,413,1533,1368,-13.47,-0.23,380.21
$IRIDIUM_FIX,2251.04,-15802.79,270901,060649
$TT8_MAMPS,0.028379
$HUMID,62.99
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.60
$XPDR_PINGS,6
$24V_AH,23.5,22.876
$10V_AH,9.9,16.432
$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,34.225,105.125,389.575,42.525,0.000,53.019,76.757,553.050,1.500,0.000,30.600,1097.485,8160.999,467.751,1923.063,1002.991,33.367,1263.174,0.000,1903.387,0.000,0.536,0.000
$DEVICE_MAMPS,173.342,77.467,932.672,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.570,293.246,375.634,542.377,951.288,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,41465,529
$CAP_FILE_SIZE,126858,0
$CFSIZE,260165632,168964096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,094351,2301.321,-15805.553,8,3.9,27,10.1