version: 66.06
glider: 148
mission: 11
dive: 167
start: 7 3 112 13 33 5
data:
$ID,148
$MISSION,11
$DIVE,167
$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,-921722.25
$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,26
$R_STBD_OVSHOOT,96
$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
$GPS1,132126,2301.802,-15805.432,33,2.5,52,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-75.2
$GPS2,133211,2301.733,-15805.532,10,1.9,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,0.236
$KALMAN_X,76177.8,80.6,-266.7,-85844.5,-470.3
$KALMAN_Y,-39513.8,-162.3,-488.0,65594.7,-420.5
$MHEAD_RNG_PITCHd_Wd,14.5,5317,-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,17,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-73.43,0.000,2,0.000,0.000,413,1576,3253,0,0,0,0,0,0
$GC,96,-1.27,-146.0,3.5,-5.4,10,120,13.73,2.38,-4.70,0.000,4,0.150,0.033,3056,3081,3516,0,0,0,0,0,0
$GC,194,-1.02,-146.0,31.7,-19.1,24,204,0.22,2.55,0.00,0.000,6,0.081,0.031,3111,1532,3518,0,0,0,0,0,0
$GC,464,-0.87,-146.0,71.8,-13.5,49,472,0.17,0.00,0.00,0.000,6,0.103,0.000,3149,1532,3519,0,0,0,0,0,0
$GC,724,-0.87,-146.0,100.4,-9.7,74,729,0.00,2.42,0.00,0.000,4,0.000,0.023,3149,3075,3520,0,0,0,0,0,0
$GC,775,-1.04,-146.0,105.0,-8.8,78,785,0.12,2.50,0.00,0.000,6,0.022,0.029,3055,1542,3520,0,0,0,0,0,0
$GC,1041,-0.80,-146.0,145.0,-16.3,103,1046,0.45,2.22,0.00,0.000,4,0.092,0.038,3157,160,3521,0,0,0,0,0,0
$GC,1059,-0.67,-146.0,148.4,-16.1,104,1064,0.17,2.05,0.00,0.000,6,0.100,0.018,3196,1540,3521,0,0,0,0,0,0
$GC,1326,-0.93,-146.0,166.7,-6.1,129,1331,0.25,2.40,0.00,0.000,4,0.035,0.021,3073,3084,3522,0,0,0,0,0,0
$GC,1377,-0.93,-146.0,171.9,-11.4,133,1384,0.28,2.47,0.00,0.000,6,0.084,0.028,3136,1535,3522,0,0,0,0,0,0
$GC,1641,-1.00,-146.0,194.4,-8.1,158,1645,0.00,2.22,0.00,0.000,4,0.000,0.044,3136,161,3522,0,0,0,0,0,0
$GC,1671,-1.00,-146.0,196.8,-8.8,160,1675,0.00,2.05,0.00,0.000,6,0.000,0.018,3136,1542,3522,0,0,0,0,0,0
$GC,1954,-1.09,-146.0,220.6,-8.1,169,1959,0.15,2.42,0.00,0.000,4,0.054,0.025,3067,3086,3522,0,0,0,0,0,0
$GC,1978,-1.09,-146.0,223.2,-10.6,169,1983,0.15,2.47,0.00,0.000,6,0.100,0.028,3100,1537,3522,0,0,0,0,0,0
$GC,2239,-1.09,-146.0,249.6,-10.0,176,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1537,3522,0,0,0,0,0,0
$GC,2482,-1.09,-146.0,273.1,-9.4,182,2486,0.00,2.45,0.00,0.000,4,0.000,0.028,3101,3084,3522,0,0,0,0,0,0
$GC,2515,-1.18,-146.0,276.3,-9.4,182,2519,0.00,2.47,0.00,0.000,6,0.000,0.031,3100,1546,3522,0,0,0,0,0,0
$GC,2766,-1.18,-146.0,298.3,-8.9,188,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1546,3522,0,0,0,0,0,0
$GC,3009,-1.18,-146.0,320.4,-9.2,194,3013,0.00,2.47,0.00,0.000,4,0.000,0.029,3100,3083,3521,0,0,0,0,0,0
$GC,3033,-1.26,-146.0,322.8,-9.8,194,3038,0.15,2.50,0.00,0.000,6,0.054,0.034,3035,1556,3521,0,0,0,0,0,0
$GC,3294,-1.10,-146.0,355.8,-12.9,201,3299,0.25,2.30,0.00,0.000,4,0.097,0.052,3094,172,3520,0,0,0,0,0,0
$GC,3347,-1.17,-146.0,362.1,-10.9,202,3351,0.00,2.08,0.00,0.000,6,0.000,0.021,3094,1517,3520,0,0,0,0,0,0
$GC,3626,-1.17,-146.0,389.0,-10.0,209,3630,0.00,2.58,0.00,0.000,4,0.000,0.035,3094,3109,3518,0,0,0,0,0,0
$GC,3654,-1.24,-146.0,392.1,-10.1,209,3659,0.10,2.55,0.00,0.000,6,0.075,0.036,3029,1550,3518,0,0,0,0,0,0
$GC,3910,-1.08,-146.0,426.2,-13.5,216,3915,0.30,2.33,0.00,0.000,4,0.093,0.061,3098,172,3516,0,0,0,0,0,0
$GC,3950,-1.15,-146.0,430.7,-10.0,216,3955,0.00,2.15,0.00,0.000,6,0.000,0.027,3099,1543,3516,0,0,0,0,0,0
$GC,4200,-1.22,-146.0,452.3,-8.4,223,4205,0.10,2.55,0.00,0.000,4,0.077,0.039,3046,3112,3514,0,0,0,0,0,0
$GC,4248,-1.22,-146.0,456.6,-8.4,224,4253,0.12,2.58,0.00,0.000,6,0.104,0.040,3075,1549,3514,0,0,0,0,0,0
$GC,4533,-1.22,-146.0,480.5,-8.4,231,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1549,3512,0,0,0,0,0,0
$GC,4775,-1.22,-146.0,499.8,-7.9,237,4776,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1549,3511,0,0,0,0,0,0
$GC,5019,-1.22,-146.0,520.2,-8.5,243,5023,0.00,2.38,0.00,0.000,4,0.000,0.074,3075,169,3509,0,0,0,0,0,0
$GC,5071,-1.22,-146.0,525.4,-9.9,244,5076,0.00,2.20,0.00,0.000,6,0.000,0.034,3075,1542,3509,0,0,0,0,0,0
$GC,5354,-1.22,-146.0,549.9,-8.5,251,5358,0.00,2.62,0.00,0.000,4,0.000,0.046,3075,3125,3507,0,0,0,0,0,0
$GC,5416,-1.33,-146.0,555.1,-8.7,252,5422,0.10,2.62,0.00,0.000,6,0.076,0.045,3024,1556,3506,0,0,0,0,0,0
$GC,5686,-1.19,-146.0,583.9,-10.6,259,5688,0.25,0.00,0.00,0.000,6,0.096,0.000,3078,1556,3505,0,0,0,0,0,0
$STATE,5886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5886,begin apogee
$GC,5893,-0.31,0.0,601.0,8.3,264,6013,0.85,0.00,117.40,0.938,6,0.085,0.000,3268,1377,2920,0,0,0,0,0,0
$STATE,6014,end apogee,CONTROL_FINISHED_OK
$STATE,6014,begin climb
$GC,6018,1.27,146.0,604.5,0.0,267,6152,1.48,2.20,123.75,0.916,4,0.048,0.081,3621,164,2324,0,0,0,0,0,0
$GC,6236,0.88,146.0,589.8,13.3,272,6241,0.43,2.00,0.00,0.000,6,0.100,0.030,3532,1386,2319,0,0,0,0,0,0
$GC,6519,0.92,176.1,564.9,8.6,279,6552,0.00,2.22,26.02,0.864,4,0.000,0.070,3532,172,2200,0,0,0,0,0,0
$GC,6600,0.85,176.1,557.3,10.3,280,6604,0.00,1.95,0.00,0.000,6,0.000,0.029,3532,1385,2199,0,0,0,0,0,0
$GC,6855,0.89,207.1,535.0,8.6,287,6888,0.00,2.72,27.95,0.858,4,0.000,0.048,3532,2959,2075,0,0,0,0,0,0
$GC,6913,0.91,227.8,529.8,9.0,288,6940,0.00,2.72,19.62,0.831,6,0.000,0.046,3532,1375,1990,0,0,0,0,0,0
$GC,7184,0.92,235.8,504.0,9.6,295,7197,0.00,2.12,8.48,0.739,4,0.000,0.071,3532,164,1957,0,0,0,0,0,0
$GC,7275,0.92,235.8,493.9,11.5,297,7279,0.00,1.98,0.00,0.000,6,0.000,0.027,3532,1396,1956,0,0,0,0,0,0
$GC,7566,0.93,247.0,465.8,9.5,304,7579,0.00,0.00,11.32,0.769,6,0.000,0.000,3532,1398,1912,0,0,0,0,0,0
$GC,7810,0.93,247.0,440.4,10.5,310,7814,0.00,2.55,0.00,0.000,4,0.000,0.038,3532,2951,1908,0,0,0,0,0,0
$GC,7844,1.04,247.0,436.8,10.3,310,7849,0.15,2.67,0.00,0.000,6,0.055,0.042,3592,1371,1905,0,0,0,0,0,0
$GC,8094,0.94,247.0,401.9,14.1,316,8099,0.22,2.08,0.00,0.000,4,0.092,0.061,3543,161,1906,0,0,0,0,0,0
$GC,8118,0.94,247.0,398.5,14.0,316,8122,0.00,1.92,0.00,0.000,6,0.000,0.025,3543,1389,1906,0,0,0,0,0,0
$GC,8381,0.94,247.0,369.6,10.7,323,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,3543,1392,1905,0,0,0,0,0,0
$GC,8625,0.94,247.0,344.0,10.5,329,8629,0.00,2.55,0.00,0.000,4,0.000,0.035,3543,2946,1905,0,0,0,0,0,0
$GC,8644,0.96,260.5,342.0,9.4,329,8665,0.00,2.62,12.40,0.716,6,0.000,0.041,3543,1368,1857,0,0,0,0,0,0
$GC,8910,0.97,269.7,316.3,9.6,336,8926,0.00,2.12,9.50,0.671,4,0.000,0.061,3543,167,1819,0,0,0,0,0,0
$GC,8969,1.03,269.7,310.4,10.2,337,8973,0.00,1.92,0.00,0.000,6,0.000,0.025,3543,1378,1819,0,0,0,0,0,0
$GC,9248,1.14,294.7,285.5,8.8,344,9277,0.17,2.62,23.05,0.708,4,0.051,0.036,3610,2946,1718,0,0,0,0,0,0
$GC,9321,1.14,294.7,276.4,12.5,345,9326,0.12,2.65,0.00,0.000,6,0.110,0.041,3584,1364,1713,0,0,0,0,0,0
$GC,9576,1.14,294.7,245.0,12.0,352,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1364,1712,0,0,0,0,0,0
$GC,9821,1.14,294.7,216.3,11.8,358,9826,0.00,2.60,0.00,0.000,4,0.000,0.030,3583,2958,1711,0,0,0,0,0,0
$GC,9845,1.14,294.7,213.4,11.0,358,9849,0.00,2.65,0.00,0.000,6,0.000,0.036,3584,1365,1709,0,0,0,0,0,0
$GC,10110,1.14,294.7,183.5,11.2,374,10113,0.00,2.00,0.00,0.000,4,0.000,0.052,3584,168,1710,0,0,0,0,0,0
$GC,10170,1.14,294.7,176.5,11.8,380,10174,0.00,1.88,0.00,0.000,6,0.000,0.021,3584,1395,1709,0,0,0,0,0,0
$GC,10437,1.15,302.7,150.1,9.6,405,10450,0.00,0.00,7.22,0.512,6,0.000,0.000,3583,1398,1685,0,0,0,0,0,0
$GC,10706,1.15,305.6,123.8,9.9,430,10715,0.00,0.00,4.15,0.397,6,0.000,0.000,3584,1397,1674,0,0,0,0,0,0
$GC,10974,1.15,305.6,96.7,10.4,455,10977,0.00,2.03,0.00,0.000,4,0.000,0.057,3584,166,1674,0,0,0,0,0,0
$GC,10997,1.15,305.6,94.0,10.4,457,11001,0.00,1.83,0.00,0.000,6,0.000,0.028,3584,1394,1673,0,0,0,0,0,0
$GC,11269,1.25,312.7,67.9,9.7,482,11284,0.12,2.42,8.50,0.455,4,0.062,0.025,3628,2923,1644,0,0,0,0,0,0
$GC,11312,1.25,312.7,63.1,12.0,485,11316,0.00,2.55,0.00,0.000,6,0.000,0.034,3628,1371,1642,0,0,0,0,0,0
$GC,11580,1.19,312.7,31.3,12.4,509,11584,0.12,2.00,0.00,0.000,4,0.111,0.048,3599,161,1642,0,0,0,0,0,0
$GC,11603,1.19,312.7,28.3,12.2,511,11612,0.00,1.85,0.00,0.000,6,0.000,0.019,3599,1379,1642,0,0,0,0,0,0
$STATE,11824,end climb,SURFACE_DEPTH_REACHED
$STATE,11824,begin surface coast
$FINISH,0.8,1.023825
$STATE,11869,end surface coast,CONTROL_FINISHED_OK
$STATE,11869,begin surface
$SM_CCo,11892,38.42,0.452,0,0,1368,380.21
$SM_GC,1.54,0.00,0.00,38.42,0.000,0.000,0.452,410,1590,1368,-13.48,1.41,380.21
$IRIDIUM_FIX,2251.04,-15804.96,270901,131321
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,22.10
$XPDR_PINGS,4
$24V_AH,23.5,23.131
$10V_AH,10.0,16.660
$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,33.600,130.925,399.375,38.425,0.000,51.910,68.582,313.437,1.000,0.000,16.023,1165.538,8171.291,478.532,1986.580,773.658,33.369,1313.002,0.000,1990.373,0.000,0.537,0.000
$DEVICE_MAMPS,150.332,80.535,938.041,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,375.092,334.251,407.344,583.021,1023.027,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,44654,553
$CAP_FILE_SIZE,132076,0
$CFSIZE,260165632,168828928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,165325,2302.938,-15805.141,25,2.2,44,10.1