version: 66.06
glider: 148
mission: 11
dive: 168
start: 7 3 112 17 1 22
data:
$ID,148
$MISSION,11
$DIVE,168
$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,-921746.19
$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,26
$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
$GPS1,165325,2302.938,-15805.141,25,2.2,44,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-73.4
$GPS2,170030,2302.921,-15805.164,16,2.0,21,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.248
$KALMAN_X,75680.4,-123.1,-230.2,-84552.2,6.7
$KALMAN_Y,-40528.9,-402.8,135.4,68425.7,-590.5
$MHEAD_RNG_PITCHd_Wd,7.0,3034,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-75.00,0.000,2,0.000,0.000,410,1591,3327,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-7.7,10,121,13.95,0.00,-3.17,0.000,6,0.157,0.000,3058,1591,3517,0,0,0,0,0,0
$GC,386,-0.89,-146.0,73.8,-20.6,41,395,0.40,0.00,0.00,0.000,6,0.098,0.000,3143,1591,3519,0,0,0,0,0,0
$GC,649,-0.89,-146.0,104.1,-10.4,66,653,0.00,2.28,0.00,0.000,4,0.000,0.023,3143,3051,3520,0,0,0,0,0,0
$GC,671,-0.89,-146.0,106.4,-9.4,67,676,0.00,2.40,0.00,0.000,6,0.000,0.028,3143,1535,3520,0,0,0,0,0,0
$GC,935,-0.89,-146.0,129.4,-8.1,92,939,0.00,2.40,0.00,0.000,4,0.000,0.023,3143,3052,3521,0,0,0,0,0,0
$GC,974,-1.00,-146.0,132.6,-8.0,95,978,0.00,2.42,0.00,0.000,6,0.000,0.028,3143,1536,3521,0,0,0,0,0,0
$GC,1239,-1.06,-146.0,157.1,-9.6,119,1244,0.15,0.00,0.00,0.000,6,0.054,0.000,3071,1536,3522,0,0,0,0,0,0
$GC,1502,-0.92,-146.0,192.6,-13.1,144,1507,0.28,2.22,0.00,0.000,4,0.090,0.041,3137,163,3522,0,0,0,0,0,0
$GC,1528,-0.92,-146.0,196.0,-10.9,146,1532,0.00,2.00,0.00,0.000,6,0.000,0.018,3137,1506,3523,0,0,0,0,0,0
$GC,1785,-1.01,-146.0,218.0,-8.4,156,1789,0.00,2.47,0.00,0.000,4,0.000,0.024,3137,3094,3523,0,0,0,0,0,0
$GC,1814,-1.13,-146.0,220.4,-8.3,156,1819,0.17,2.47,0.00,0.000,6,0.046,0.028,3049,1545,3523,0,0,0,0,0,0
$GC,2070,-0.96,-146.0,253.6,-13.4,163,2072,0.35,0.00,0.00,0.000,6,0.088,0.000,3128,1545,3523,0,0,0,0,0,0
$GC,2313,-1.06,-146.0,274.3,-8.3,169,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1545,3524,0,0,0,0,0,0
$GC,2557,-1.17,-146.0,295.7,-8.9,175,2559,0.17,0.00,0.00,0.000,6,0.049,0.000,3050,1545,3524,0,0,0,0,0,0
$GC,2802,-1.04,-146.0,326.1,-12.6,181,2807,0.25,2.50,0.00,0.000,4,0.091,0.029,3111,3087,3523,0,0,0,0,0,0
$GC,2840,-1.19,-146.0,330.1,-8.5,181,2847,0.12,2.50,0.00,0.000,6,0.062,0.034,3026,1548,3523,0,0,0,0,0,0
$GC,3091,-1.00,-146.0,360.9,-12.6,188,3096,0.40,2.33,0.00,0.000,4,0.091,0.054,3117,168,3522,0,0,0,0,0,0
$GC,3149,-1.15,-146.0,366.1,-8.0,189,3154,0.12,2.08,0.00,0.000,6,0.063,0.021,3058,1518,3522,0,0,0,0,0,0
$GC,3423,-1.07,-146.0,395.0,-10.8,196,3428,0.22,2.60,0.00,0.000,4,0.091,0.035,3108,3113,3520,0,0,0,0,0,0
$GC,3454,-1.19,-146.0,398.1,-9.4,196,3459,0.12,2.60,0.00,0.000,6,0.059,0.038,3023,1540,3520,0,0,0,0,0,0
$GC,3710,-1.00,-146.0,431.2,-13.3,203,3715,0.45,2.35,0.00,0.000,4,0.084,0.063,3122,167,3518,0,0,0,0,0,0
$GC,3772,-1.17,-146.0,437.2,-8.2,204,3777,0.15,2.12,0.00,0.000,6,0.056,0.026,3061,1525,3518,0,0,0,0,0,0
$GC,4042,-1.17,-146.0,465.4,-10.7,211,4047,0.10,2.60,0.00,0.000,4,0.119,0.042,3084,3107,3516,0,0,0,0,0,0
$GC,4076,-1.26,-146.0,468.9,-8.4,211,4081,0.00,2.60,0.00,0.000,6,0.000,0.039,3084,1533,3516,0,0,0,0,0,0
$GC,4328,-1.26,-146.0,490.1,-8.4,217,4332,0.00,2.60,0.00,0.000,4,0.000,0.041,3084,3106,3515,0,0,0,0,0,0
$GC,4352,-1.26,-146.0,492.3,-8.9,217,4356,0.00,2.60,0.00,0.000,6,0.000,0.041,3084,1538,3515,0,0,0,0,0,0
$GC,4611,-1.26,-146.0,512.7,-7.9,224,4615,0.00,2.60,0.00,0.000,4,0.000,0.043,3084,3110,3513,0,0,0,0,0,0
$GC,4642,-1.32,-146.0,515.2,-7.9,224,4647,0.15,2.62,0.00,0.000,6,0.055,0.044,3005,1535,3513,0,0,0,0,0,0
$GC,4897,-1.12,-146.0,545.3,-12.2,231,4903,0.38,2.38,0.00,0.000,4,0.091,0.074,3091,164,3511,0,0,0,0,0,0
$GC,4970,-1.21,-146.0,552.4,-9.5,232,4974,0.00,2.20,0.00,0.000,6,0.000,0.035,3091,1531,3511,0,0,0,0,0,0
$GC,5231,-1.28,-146.0,573.4,-8.1,239,5237,0.12,2.67,0.00,0.000,4,0.064,0.050,3031,3123,3509,0,0,0,0,0,0
$GC,5265,-1.28,-146.0,576.8,-10.1,239,5274,0.15,2.67,0.00,0.000,6,0.097,0.046,3065,1536,3509,0,0,0,0,0,0
$GC,5519,-1.28,-146.0,598.8,-8.6,246,5520,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1536,3507,0,0,0,0,0,0
$STATE,5556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5556,begin apogee
$GC,5562,-0.31,0.0,602.2,8.6,247,5684,0.93,0.00,118.22,0.935,6,0.081,0.000,3272,1369,2920,0,0,0,0,0,0
$STATE,5684,end apogee,CONTROL_FINISHED_OK
$STATE,5685,begin climb
$GC,5687,1.27,146.0,605.3,0.0,250,5819,1.42,2.20,123.75,0.913,4,0.043,0.081,3620,167,2323,0,0,0,0,0,0
$GC,5873,0.89,146.0,595.0,13.4,254,5878,0.40,2.03,0.00,0.000,6,0.098,0.032,3536,1397,2320,0,0,0,0,0,0
$GC,6143,0.94,185.4,571.9,8.2,261,6186,0.00,2.25,33.88,0.874,4,0.000,0.070,3536,173,2163,0,0,0,0,0,0
$GC,6246,0.87,185.4,562.3,10.0,263,6250,0.00,1.98,0.00,0.000,6,0.000,0.029,3536,1382,2162,0,0,0,0,0,0
$GC,6525,0.92,224.8,539.2,8.2,270,6567,0.00,2.17,35.42,0.867,4,0.000,0.068,3536,175,2002,0,0,0,0,0,0
$GC,6637,0.92,224.8,527.9,10.4,272,6641,0.00,1.95,0.00,0.000,6,0.000,0.028,3536,1374,2001,0,0,0,0,0,0
$GC,6907,0.95,249.4,503.8,8.9,279,6935,0.00,2.72,23.00,0.833,4,0.000,0.048,3536,2955,1902,0,0,0,0,0,0
$GC,6979,1.09,275.2,496.8,8.8,280,7012,0.17,2.67,24.25,0.828,6,0.050,0.045,3601,1380,1797,0,0,0,0,0,0
$GC,7287,0.97,275.2,453.3,14.5,288,7289,0.22,0.00,0.00,0.000,6,0.094,0.000,3551,1380,1792,0,0,0,0,0,0
$GC,7530,0.97,275.2,422.6,12.5,294,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1380,1791,0,0,0,0,0,0
$GC,7774,0.97,275.2,393.9,11.7,300,7778,0.00,2.05,0.00,0.000,4,0.000,0.062,3551,165,1790,0,0,0,0,0,0
$GC,7803,0.97,275.2,390.3,12.6,300,7807,0.00,1.95,0.00,0.000,6,0.000,0.025,3551,1392,1790,0,0,0,0,0,0
$GC,8062,0.97,275.2,362.4,10.3,307,8066,0.00,2.55,0.00,0.000,4,0.000,0.037,3551,2948,1787,0,0,0,0,0,0
$GC,8095,1.08,283.0,359.1,9.6,307,8108,0.10,2.65,6.30,0.625,6,0.075,0.041,3599,1373,1765,0,0,0,0,0,0
$GC,8400,0.99,283.0,321.0,12.7,315,8402,0.20,0.00,0.00,0.000,6,0.095,0.000,3557,1373,1764,0,0,0,0,0,0
$GC,8640,0.99,283.0,293.7,11.3,321,8645,0.00,2.60,0.00,0.000,4,0.000,0.035,3556,2956,1763,0,0,0,0,0,0
$GC,8661,1.05,283.0,291.3,11.0,321,8666,0.00,2.60,0.00,0.000,6,0.000,0.039,3556,1384,1762,0,0,0,0,0,0
$GC,8926,1.05,283.0,261.6,10.9,328,8930,0.00,2.03,0.00,0.000,4,0.000,0.058,3556,168,1762,0,0,0,0,0,0
$GC,8963,1.05,283.0,257.2,11.2,328,8967,0.00,1.92,0.00,0.000,6,0.000,0.022,3556,1405,1762,0,0,0,0,0,0
$GC,9217,1.13,286.7,231.6,9.8,335,9224,0.12,0.00,4.07,0.456,6,0.065,0.000,3610,1407,1751,0,0,0,0,0,0
$GC,9463,1.06,286.7,199.7,13.6,341,9464,0.17,0.00,0.00,0.000,6,0.097,0.000,3571,1407,1750,0,0,0,0,0,0
$GC,9715,1.06,286.7,171.7,10.7,365,9719,0.00,2.47,0.00,0.000,4,0.000,0.028,3572,2949,1750,0,0,0,0,0,0
$GC,9735,1.12,286.7,169.6,10.2,366,9744,0.00,2.60,0.00,0.000,6,0.000,0.035,3571,1382,1749,0,0,0,0,0,0
$GC,10002,1.19,288.8,142.8,9.9,391,10007,0.12,2.03,0.00,0.000,4,0.065,0.051,3630,169,1749,0,0,0,0,0,0
$GC,10040,1.02,288.8,137.5,14.6,394,10044,0.30,1.85,0.00,0.000,6,0.087,0.021,3564,1397,1749,0,0,0,0,0,0
$GC,10301,1.13,293.6,111.2,9.8,418,10314,0.00,2.45,7.72,0.482,4,0.000,0.025,3564,2937,1722,0,0,0,0,0,0
$GC,10331,1.27,305.1,108.4,9.5,420,10349,0.17,2.58,11.90,0.512,6,0.022,0.036,3648,1389,1675,0,0,0,0,0,0
$GC,10607,1.17,305.1,70.3,12.4,446,10612,0.25,2.03,0.00,0.000,4,0.085,0.047,3588,165,1674,0,0,0,0,0,0
$GC,10647,1.17,305.1,65.8,11.8,449,10650,0.00,1.88,0.00,0.000,6,0.000,0.019,3589,1404,1674,0,0,0,0,0,0
$GC,10919,1.26,319.5,40.4,9.3,474,10945,0.10,2.47,14.12,0.464,4,0.077,0.028,3641,2924,1616,0,0,0,0,0,0
$GC,10952,1.26,319.5,35.9,12.2,476,10962,0.10,2.53,0.00,0.000,6,0.074,0.033,3614,1401,1615,0,0,0,0,0,0
$STATE,11222,end climb,SURFACE_DEPTH_REACHED
$STATE,11222,begin surface coast
$FINISH,0.8,1.023775
$STATE,11261,end surface coast,CONTROL_FINISHED_OK
$STATE,11261,begin surface
$SM_CCo,11286,36.00,0.450,0,0,1369,380.21
$SM_GC,1.66,0.00,0.00,36.00,0.000,0.000,0.450,412,1556,1369,-13.47,0.45,380.21
$IRIDIUM_FIX,2255.72,-15801.91,270901,131344
$TT8_MAMPS,0.027612
$HUMID,62.08
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,5
$24V_AH,23.5,23.250
$10V_AH,9.9,16.764
$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,35.900,122.925,402.650,36.000,0.000,27.310,37.999,209.649,1.250,0.000,23.339,1101.075,7683.322,475.130,1882.354,601.720,33.370,1276.426,0.000,1879.486,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,80.535,934.973,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.583,303.886,379.870,547.515,961.195,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,41641,522
$CAP_FILE_SIZE,124808,0
$CFSIZE,260165632,168779776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030712,201123,2304.366,-15804.420,38,1.8,38,10.1