version: 66.06
glider: 148
mission: 11
dive: 166
start: 7 3 112 9 59 56
data:
$ID,148
$MISSION,11
$DIVE,166
$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,-921705.62
$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,23
$R_STBD_OVSHOOT,65
$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
$GPS1,094351,2301.321,-15805.553,8,3.9,27,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.4
$GPS2,095904,2301.208,-15805.640,34,4.0,53,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.237
$KALMAN_X,76681.5,165.7,236.4,-87117.9,-814.0
$KALMAN_Y,-38385.6,154.4,-73.4,62759.4,-1377.7
$MHEAD_RNG_PITCHd_Wd,14.1,6298,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.35,0.000,2,0.000,0.000,412,1533,3279,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.8,-7.2,10,122,14.50,2.50,-4.10,0.000,4,0.173,0.033,3056,3112,3517,0,0,0,0,0,0
$GC,137,-0.00,-146.0,20.4,-40.0,15,147,1.25,2.58,0.00,0.000,6,0.089,0.028,3334,1535,3519,0,0,0,0,0,0
$GC,427,-0.75,-146.0,45.0,-9.1,51,439,0.62,2.25,0.00,0.000,4,0.039,0.045,3166,164,3520,0,0,0,0,0,0
$GC,458,-1.20,-146.0,48.3,-9.5,53,467,0.32,2.10,0.00,0.000,6,0.017,0.018,3040,1585,3520,0,0,0,0,0,0
$GC,722,-0.83,-146.0,96.4,-19.5,78,731,0.52,0.00,0.00,0.000,6,0.090,0.000,3155,1585,3520,0,0,0,0,0,0
$GC,989,-0.91,-146.0,121.1,-7.4,103,993,0.00,2.28,0.00,0.000,4,0.000,0.022,3155,3053,3521,0,0,0,0,0,0
$GC,1019,-1.03,-146.0,123.5,-8.2,105,1024,0.17,2.45,0.00,0.000,6,0.047,0.028,3071,1520,3521,0,0,0,0,0,0
$GC,1280,-0.84,-146.0,156.7,-13.8,129,1282,0.38,0.00,0.00,0.000,6,0.085,0.000,3154,1519,3522,0,0,0,0,0,0
$GC,1538,-0.95,-146.0,177.7,-8.4,153,1542,0.00,2.40,0.00,0.000,4,0.000,0.023,3154,3055,3522,0,0,0,0,0,0
$GC,1588,-1.19,-146.0,181.7,-7.8,157,1593,0.30,2.45,0.00,0.000,6,0.031,0.029,3028,1520,3522,0,0,0,0,0,0
$GC,1876,-0.92,-146.0,226.9,-15.9,172,1881,0.47,2.17,0.00,0.000,4,0.090,0.041,3133,170,3522,0,0,0,0,0,0
$GC,1958,-1.06,-146.0,235.5,-8.8,173,1962,0.10,1.98,0.00,0.000,6,0.074,0.018,3074,1498,3523,0,0,0,0,0,0
$GC,2209,-0.98,-146.0,261.3,-10.3,179,2214,0.22,2.50,0.00,0.000,4,0.090,0.025,3124,3085,3523,0,0,0,0,0,0
$GC,2248,-1.14,-146.0,264.5,-7.0,179,2254,0.15,2.50,0.00,0.000,6,0.053,0.038,3033,1530,3523,0,0,0,0,0,0
$GC,2500,-0.95,-146.0,294.3,-12.4,186,2505,0.40,2.22,0.00,0.000,4,0.089,0.046,3125,169,3523,0,0,0,0,0,0
$GC,2519,-0.95,-146.0,296.6,-10.3,186,2523,0.00,2.05,0.00,0.000,6,0.000,0.020,3126,1511,3523,0,0,0,0,0,0
$GC,2788,-1.06,-146.0,316.0,-7.4,193,2792,0.00,2.53,0.00,0.000,4,0.000,0.030,3125,3101,3522,0,0,0,0,0,0
$GC,2827,-1.26,-146.0,319.1,-7.9,193,2833,0.25,2.58,0.00,0.000,6,0.037,0.035,3034,1529,3523,0,0,0,0,0,0
$GC,3077,-1.09,-146.0,351.8,-13.6,200,3082,0.28,2.25,0.00,0.000,4,0.094,0.051,3098,171,3521,0,0,0,0,0,0
$GC,3106,-1.09,-146.0,355.5,-11.1,200,3110,0.00,2.08,0.00,0.000,6,0.000,0.021,3098,1513,3521,0,0,0,0,0,0
$GC,3366,-1.09,-146.0,379.6,-9.0,207,3371,0.00,2.60,0.00,0.000,4,0.000,0.035,3098,3117,3519,0,0,0,0,0,0
$GC,3386,-1.16,-146.0,381.5,-9.0,207,3390,0.00,2.62,0.00,0.000,6,0.000,0.035,3098,1523,3520,0,0,0,0,0,0
$GC,3650,-1.16,-146.0,404.0,-8.6,214,3654,0.00,2.28,0.00,0.000,4,0.000,0.060,3098,168,3518,0,0,0,0,0,0
$GC,3679,-1.16,-146.0,406.7,-9.8,214,3683,0.00,2.12,0.00,0.000,6,0.000,0.025,3098,1532,3517,0,0,0,0,0,0
$GC,3938,-1.16,-146.0,427.5,-7.8,221,3943,0.00,2.58,0.00,0.000,4,0.000,0.036,3098,3112,3516,0,0,0,0,0,0
$GC,3967,-1.26,-146.0,429.9,-7.6,221,3972,0.12,2.65,0.00,0.000,6,0.060,0.038,3031,1515,3516,0,0,0,0,0,0
$GC,4224,-1.11,-146.0,456.8,-10.5,228,4226,0.30,0.00,0.00,0.000,6,0.096,0.000,3096,1515,3514,0,0,0,0,0,0
$GC,4467,-1.11,-146.0,475.9,-7.7,234,4471,0.00,2.65,0.00,0.000,4,0.000,0.041,3096,3112,3512,0,0,0,0,0,0
$GC,4486,-1.19,-146.0,477.6,-8.8,234,4491,0.00,2.62,0.00,0.000,6,0.000,0.039,3096,1522,3512,0,0,0,0,0,0
$GC,4751,-1.25,-146.0,498.5,-8.0,241,4756,0.12,2.38,0.00,0.000,4,0.066,0.073,3036,163,3511,0,0,0,0,0,0
$GC,4785,-1.09,-146.0,502.3,-11.4,241,4790,0.28,2.17,0.00,0.000,6,0.094,0.031,3097,1515,3510,0,0,0,0,0,0
$GC,5036,-1.17,-146.0,522.0,-7.8,247,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1515,3509,0,0,0,0,0,0
$GC,5279,-1.25,-146.0,541.4,-7.9,253,5284,0.12,2.67,0.00,0.000,4,0.064,0.044,3035,3119,3507,0,0,0,0,0,0
$GC,5308,-1.19,-146.0,544.3,-10.1,253,5315,0.20,2.67,0.00,0.000,6,0.091,0.044,3080,1522,3507,0,0,0,0,0,0
$GC,5567,-1.19,-146.0,565.4,-8.0,260,5572,0.00,2.65,0.00,0.000,4,0.000,0.045,3080,3119,3505,0,0,0,0,0,0
$GC,5596,-1.27,-146.0,567.7,-7.3,260,5600,0.00,2.70,0.00,0.000,6,0.000,0.046,3080,1520,3505,0,0,0,0,0,0
$GC,5851,-1.27,-146.0,587.9,-8.0,267,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1520,3503,0,0,0,0,0,0
$STATE,6012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6012,begin apogee
$GC,6020,-0.31,0.0,600.7,7.9,271,6141,0.85,0.00,117.35,0.937,6,0.087,0.000,3268,1372,2919,0,0,0,0,0,0
$STATE,6141,end apogee,CONTROL_FINISHED_OK
$STATE,6142,begin climb
$GC,6144,1.27,146.0,603.9,0.0,274,6276,1.45,2.20,123.75,0.917,4,0.048,0.081,3619,171,2323,0,0,0,0,0,0
$GC,6403,0.91,146.0,583.0,14.6,280,6408,0.38,1.98,0.00,0.000,6,0.098,0.030,3540,1379,2318,0,0,0,0,0,0
$GC,6692,0.95,179.3,557.8,8.5,287,6725,0.00,2.15,28.35,0.865,4,0.000,0.068,3540,171,2189,0,0,0,0,0,0
$GC,6760,0.87,179.3,551.6,10.3,288,6764,0.00,1.98,0.00,0.000,6,0.000,0.028,3540,1379,2187,0,0,0,0,0,0
$GC,7026,0.91,217.6,528.9,8.2,295,7067,0.00,0.00,34.67,0.862,6,0.000,0.000,3540,1379,2032,0,0,0,0,0,0
$GC,7312,0.92,223.6,501.9,9.7,302,7324,0.00,2.15,5.97,0.667,4,0.000,0.064,3540,172,2007,0,0,0,0,0,0
$GC,7431,0.92,223.6,488.8,11.4,304,7435,0.00,1.92,0.00,0.000,6,0.000,0.025,3540,1387,2007,0,0,0,0,0,0
$GC,7694,0.92,224.1,462.4,10.0,311,7699,0.00,2.58,0.00,0.000,4,0.000,0.041,3540,2948,2004,0,0,0,0,0,0
$GC,7728,1.01,228.2,459.1,9.8,311,7738,0.00,2.67,4.75,0.597,6,0.000,0.044,3540,1371,1989,0,0,0,0,0,0
$GC,7983,1.02,237.7,434.2,9.6,318,7998,0.10,0.00,10.90,0.750,6,0.078,0.000,3584,1371,1949,0,0,0,0,0,0
$GC,8272,0.94,237.7,400.0,12.0,325,8274,0.17,0.00,0.00,0.000,6,0.100,0.000,3546,1371,1946,0,0,0,0,0,0
$GC,8515,0.94,237.7,373.4,11.0,331,8519,0.00,2.05,0.00,0.000,4,0.000,0.062,3545,167,1945,0,0,0,0,0,0
$GC,8535,0.94,237.7,371.1,11.6,331,8539,0.00,1.90,0.00,0.000,6,0.000,0.025,3545,1383,1945,0,0,0,0,0,0
$GC,8807,0.94,237.7,341.6,10.5,338,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3545,1385,1944,0,0,0,0,0,0
$GC,9052,0.95,248.8,318.0,9.5,344,9068,0.00,2.15,10.35,0.680,4,0.000,0.058,3545,164,1905,0,0,0,0,0,0
$GC,9088,0.95,248.8,314.3,11.1,344,9092,0.00,1.92,0.00,0.000,6,0.000,0.024,3545,1379,1904,0,0,0,0,0,0
$GC,9343,1.02,256.0,289.4,9.7,351,9356,0.00,2.58,8.18,0.630,4,0.000,0.032,3545,2945,1875,0,0,0,0,0,0
$GC,9394,1.20,284.7,284.8,8.7,352,9429,0.22,2.62,26.48,0.707,6,0.041,0.040,3615,1373,1758,0,0,0,0,0,0
$GC,9676,1.09,284.7,248.6,13.3,359,9678,0.17,0.00,0.00,0.000,6,0.101,0.000,3578,1373,1754,0,0,0,0,0,0
$GC,9916,1.09,284.7,221.9,10.7,365,9917,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1373,1753,0,0,0,0,0,0
$GC,10161,1.09,284.7,196.5,10.3,371,10162,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1373,1752,0,0,0,0,0,0
$GC,10415,1.10,294.2,171.3,9.6,395,10428,0.00,2.03,8.73,0.549,4,0.000,0.052,3578,163,1719,0,0,0,0,0,0
$GC,10483,1.10,294.2,163.8,11.6,401,10489,0.00,1.92,0.00,0.000,6,0.000,0.021,3578,1412,1719,0,0,0,0,0,0
$GC,10747,1.10,294.2,136.8,10.6,426,10751,0.00,2.42,0.00,0.000,4,0.000,0.028,3578,2935,1717,0,0,0,0,0,0
$GC,10777,1.20,297.6,133.5,9.8,428,10787,0.05,2.58,4.03,0.396,6,0.045,0.041,3623,1387,1706,0,0,0,0,0,0
$GC,11042,1.12,297.6,99.2,13.0,453,11046,0.17,2.05,0.00,0.000,4,0.100,0.051,3584,161,1706,0,0,0,0,0,0
$GC,11070,1.12,297.6,95.5,13.5,455,11073,0.00,1.85,0.00,0.000,6,0.000,0.020,3584,1389,1706,0,0,0,0,0,0
$GC,11343,1.14,315.1,69.5,9.2,480,11362,0.00,0.00,17.40,0.505,6,0.000,0.000,3584,1391,1635,0,0,0,0,0,0
$GC,11621,1.26,336.7,43.4,9.0,506,11650,0.12,0.00,20.23,0.484,6,0.063,0.000,3634,1391,1545,0,0,0,0,0,0
$STATE,11914,end climb,SURFACE_DEPTH_REACHED
$STATE,11914,begin surface coast
$FINISH,0.7,1.023876
$STATE,11941,end surface coast,CONTROL_FINISHED_OK
$STATE,11941,begin surface
$SM_CCo,11966,28.85,0.454,0,0,1369,380.21
$SM_GC,1.59,0.00,0.00,28.85,0.000,0.000,0.454,414,1575,1369,-13.46,0.99,380.21
$IRIDIUM_FIX,2253.38,-15804.96,270901,090942
$TT8_MAMPS,0.027612
$HUMID,63.90
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.40
$XPDR_PINGS,5
$24V_AH,23.5,23.005
$10V_AH,9.9,16.547
$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,37.825,121.350,421.125,28.850,0.000,107.162,184.316,249.932,1.250,0.000,55.790,1145.155,8387.067,475.508,2015.609,880.490,33.369,1306.275,0.000,1978.317,0.000,0.536,0.000
$DEVICE_MAMPS,173.342,81.302,936.507,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,374.465,324.453,398.949,599.245,1049.922,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,41586,551
$CAP_FILE_SIZE,132385,0
$CFSIZE,260165632,168898560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,132126,2301.802,-15805.432,33,2.5,52,10.1