version: 66.06
glider: 148
mission: 11
dive: 234
start: 7 13 112 8 0 55
data:
$ID,148
$MISSION,11
$DIVE,234
$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,-923232.88
$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,28
$R_STBD_OVSHOOT,80
$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
$GPS1,074935,2240.437,-15805.853,25,1.9,25,10.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.3
$GPS2,080003,2240.506,-15805.859,12,2.2,31,10.0
$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,31835.5,94.6,131.4,-42477.8,-689.2
$KALMAN_Y,-4564.8,100.7,-457.4,-8965.3,954.0
$MHEAD_RNG_PITCHd_Wd,6.6,44402,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-73.40,0.000,2,0.000,0.000,411,1550,3233,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.3,-4.5,10,122,13.80,2.42,-5.10,0.000,4,0.153,0.032,3057,3092,3516,0,0,0,0,0,0
$GC,220,-1.07,-146.0,33.7,-18.7,27,225,0.22,2.53,0.00,0.000,6,0.097,0.032,3106,1535,3518,0,0,0,0,0,0
$GC,489,-0.83,-146.0,79.2,-16.0,51,494,0.25,2.45,0.00,0.000,4,0.106,0.023,3161,3085,3518,0,0,0,0,0,0
$GC,519,-0.75,-146.0,84.3,-12.8,53,524,0.00,2.47,0.00,0.000,6,0.000,0.031,3161,1540,3519,0,0,0,0,0,0
$GC,788,-0.75,-146.0,110.4,-10.2,77,792,0.00,2.22,0.00,0.000,4,0.000,0.043,3161,171,3520,0,0,0,0,0,0
$GC,860,-0.88,-146.0,119.7,-11.1,83,865,0.00,2.05,0.00,0.000,6,0.000,0.017,3161,1550,3520,0,0,0,0,0,0
$GC,1125,-0.97,-146.0,145.1,-8.7,108,1130,0.15,2.40,0.00,0.000,4,0.055,0.023,3090,3085,3521,0,0,0,0,0,0
$GC,1190,-0.97,-146.0,152.5,-10.5,114,1195,0.17,2.45,0.00,0.000,6,0.090,0.029,3131,1549,3520,0,0,0,0,0,0
$GC,1451,-0.97,-146.0,177.6,-9.8,138,1455,0.00,2.22,0.00,0.000,4,0.000,0.043,3131,168,3521,0,0,0,0,0,0
$GC,1487,-1.03,-146.0,181.2,-9.8,141,1491,0.00,2.05,0.00,0.000,6,0.000,0.018,3131,1546,3522,0,0,0,0,0,0
$GC,1779,-1.03,-146.0,208.5,-9.5,162,1783,0.00,2.40,0.00,0.000,4,0.000,0.024,3131,3088,3522,0,0,0,0,0,0
$GC,1842,-1.22,-146.0,214.6,-8.6,163,1847,0.22,2.45,0.00,0.000,6,0.040,0.029,3029,1553,3522,0,0,0,0,0,0
$GC,2113,-0.97,-146.0,256.5,-15.5,170,2118,0.43,2.25,0.00,0.000,4,0.087,0.043,3124,170,3522,0,0,0,0,0,0
$GC,2161,-1.11,-146.0,262.3,-9.5,171,2166,0.12,2.08,0.00,0.000,6,0.061,0.018,3058,1543,3523,0,0,0,0,0,0
$GC,2444,-1.00,-146.0,295.0,-11.5,178,2449,0.25,2.25,0.00,0.000,4,0.087,0.045,3119,174,3523,0,0,0,0,0,0
$GC,2474,-1.00,-146.0,298.1,-9.5,178,2478,0.00,2.10,0.00,0.000,6,0.000,0.019,3119,1550,3523,0,0,0,0,0,0
$GC,2734,-1.09,-146.0,318.5,-7.7,185,2738,0.00,2.45,0.00,0.000,4,0.000,0.028,3119,3101,3523,0,0,0,0,0,0
$GC,2764,-1.22,-146.0,320.7,-7.6,185,2769,0.20,2.50,0.00,0.000,6,0.041,0.032,3015,1555,3522,0,0,0,0,0,0
$GC,3020,-1.00,-146.0,354.0,-13.6,192,3022,0.47,0.00,0.00,0.000,6,0.082,0.000,3118,1555,3521,0,0,0,0,0,0
$GC,3264,-1.11,-146.0,374.7,-8.2,198,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1555,3520,0,0,0,0,0,0
$GC,3509,-1.23,-146.0,393.5,-7.6,204,3514,0.20,2.50,0.00,0.000,4,0.045,0.032,3038,3096,3518,0,0,0,0,0,0
$GC,3543,-1.16,-146.0,397.0,-10.3,204,3548,0.20,2.53,0.00,0.000,6,0.088,0.037,3085,1555,3518,0,0,0,0,0,0
$GC,3793,-1.16,-146.0,418.9,-8.6,210,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1555,3517,0,0,0,0,0,0
$GC,4038,-1.16,-146.0,440.1,-8.9,216,4042,0.00,2.53,0.00,0.000,4,0.000,0.038,3085,3091,3515,0,0,0,0,0,0
$GC,4057,-1.16,-146.0,441.9,-8.7,216,4061,0.00,2.53,0.00,0.000,6,0.000,0.036,3085,1548,3515,0,0,0,0,0,0
$GC,4321,-1.16,-146.0,467.1,-9.7,223,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1547,3513,0,0,0,0,0,0
$GC,4565,-1.16,-146.0,490.2,-9.5,229,4569,0.00,2.53,0.00,0.000,4,0.000,0.041,3085,3089,3511,0,0,0,0,0,0
$GC,4590,-1.16,-146.0,492.6,-10.4,229,4594,0.00,2.55,0.00,0.000,6,0.000,0.040,3085,1557,3511,0,0,0,0,0,0
$GC,4849,-1.16,-146.0,515.7,-8.9,236,4853,0.00,2.42,0.00,0.000,4,0.000,0.075,3085,163,3509,0,0,0,0,0,0
$GC,4873,-1.16,-146.0,518.2,-10.0,236,4877,0.00,2.20,0.00,0.000,6,0.000,0.031,3085,1536,3509,0,0,0,0,0,0
$GC,5138,-1.16,-146.0,540.8,-8.6,243,5142,0.00,2.62,0.00,0.000,4,0.000,0.044,3085,3121,3507,0,0,0,0,0,0
$GC,5162,-1.23,-146.0,543.0,-9.2,243,5166,0.00,2.62,0.00,0.000,6,0.000,0.043,3085,1553,3507,0,0,0,0,0,0
$GC,5421,-1.23,-146.0,564.9,-8.5,250,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1553,3505,0,0,0,0,0,0
$GC,5666,-1.23,-146.0,584.6,-7.9,256,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1553,3503,0,0,0,0,0,0
$STATE,5865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5865,begin apogee
$GC,5872,-0.31,0.0,600.4,7.8,261,5993,0.82,0.00,117.65,0.934,6,0.078,0.000,3272,1377,2920,0,0,0,0,0,0
$STATE,5993,end apogee,CONTROL_FINISHED_OK
$STATE,5993,begin climb
$GC,5996,1.27,146.0,604.3,0.0,264,6128,1.42,2.20,124.18,0.913,4,0.041,0.081,3617,171,2323,0,0,0,0,0,0
$GC,6376,0.92,146.0,570.1,12.6,272,6381,0.38,1.98,0.00,0.000,6,0.100,0.029,3539,1389,2315,0,0,0,0,0,0
$GC,6636,0.99,203.0,550.2,7.4,279,6687,0.00,0.00,49.60,0.879,6,0.000,0.000,3539,1390,2092,0,0,0,0,0,0
$GC,6921,1.01,221.9,524.8,9.1,286,6945,0.00,2.17,17.42,0.823,4,0.000,0.065,3539,169,2013,0,0,0,0,0,0
$GC,6996,1.01,221.9,516.5,11.3,287,7000,0.00,1.98,0.00,0.000,6,0.000,0.028,3539,1374,2013,0,0,0,0,0,0
$GC,7255,1.01,221.9,490.6,10.1,294,7260,0.00,2.65,0.00,0.000,4,0.000,0.046,3539,2955,2009,0,0,0,0,0,0
$GC,7271,1.01,221.9,489.1,10.3,294,7276,0.00,2.67,0.00,0.000,6,0.000,0.042,3539,1378,2007,0,0,0,0,0,0
$GC,7541,1.01,221.9,461.3,10.4,301,7545,0.00,2.10,0.00,0.000,4,0.000,0.068,3539,164,2007,0,0,0,0,0,0
$GC,7596,1.01,221.9,455.0,10.9,302,7600,0.00,1.92,0.00,0.000,6,0.000,0.025,3539,1383,2007,0,0,0,0,0,0
$GC,7875,1.01,223.4,427.2,9.9,309,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,1386,2005,0,0,0,0,0,0
$GC,8117,1.03,233.7,403.8,9.5,315,8134,0.10,2.65,10.32,0.729,4,0.078,0.040,3584,2944,1966,0,0,0,0,0,0
$GC,8149,0.96,234.0,400.4,10.0,315,8156,0.17,2.67,0.00,0.000,6,0.094,0.042,3546,1368,1965,0,0,0,0,0,0
$GC,8408,0.98,248.3,376.2,9.3,322,8425,0.00,0.00,14.90,0.744,6,0.000,0.000,3546,1368,1907,0,0,0,0,0,0
$GC,8650,0.98,251.6,352.7,9.8,328,8658,0.00,0.00,4.32,0.528,6,0.000,0.000,3546,1367,1893,0,0,0,0,0,0
$GC,8942,0.98,251.6,323.6,10.1,335,8947,0.00,2.60,0.00,0.000,4,0.000,0.032,3546,2955,1892,0,0,0,0,0,0
$GC,8999,1.12,252.5,318.2,10.0,336,9004,0.15,2.65,0.00,0.000,6,0.056,0.039,3611,1374,1889,0,0,0,0,0,0
$GC,9273,1.00,252.5,284.7,12.1,343,9278,0.25,2.03,0.00,0.000,4,0.094,0.058,3554,166,1889,0,0,0,0,0,0
$GC,9335,1.00,252.5,277.8,10.4,344,9339,0.00,1.88,0.00,0.000,6,0.000,0.022,3554,1386,1890,0,0,0,0,0,0
$GC,9608,1.08,270.2,252.4,9.2,351,9633,0.00,2.58,17.45,0.666,4,0.000,0.030,3554,2937,1817,0,0,0,0,0,0
$GC,9649,1.22,310.2,248.8,8.2,351,9696,0.22,2.62,36.78,0.678,6,0.041,0.038,3629,1361,1654,0,0,0,0,0,0
$GC,9940,1.11,310.2,208.4,13.9,359,9944,0.22,2.03,0.00,0.000,4,0.096,0.052,3581,161,1650,0,0,0,0,0,0
$GC,9988,1.11,310.2,201.9,12.6,360,9991,0.00,1.85,0.00,0.000,6,0.000,0.027,3581,1374,1650,0,0,0,0,0,0
$GC,10257,1.11,310.2,170.2,12.4,382,10261,0.00,2.50,0.00,0.000,4,0.000,0.027,3581,2937,1648,0,0,0,0,0,0
$GC,10288,1.21,310.2,166.4,11.5,384,10297,0.00,2.62,0.00,0.000,6,0.000,0.035,3581,1364,1645,0,0,0,0,0,0
$GC,10554,1.21,310.2,136.7,11.5,409,10557,0.00,2.00,0.00,0.000,4,0.000,0.050,3581,159,1645,0,0,0,0,0,0
$GC,10607,1.21,310.2,129.6,11.6,414,10616,0.00,1.88,0.00,0.000,6,0.000,0.028,3581,1377,1645,0,0,0,0,0,0
$GC,10874,1.27,310.2,102.7,10.4,439,10879,0.15,2.45,0.00,0.000,4,0.060,0.026,3632,2934,1645,0,0,0,0,0,0
$GC,10894,1.27,310.2,99.8,10.5,440,10903,0.00,2.62,0.00,0.000,6,0.000,0.038,3632,1348,1645,0,0,0,0,0,0
$GC,11163,1.27,310.2,67.2,11.4,465,11167,0.00,1.95,0.00,0.000,4,0.000,0.048,3632,161,1644,0,0,0,0,0,0
$GC,11244,1.27,310.2,56.4,13.3,472,11248,0.00,1.80,0.00,0.000,6,0.000,0.018,3632,1355,1645,0,0,0,0,0,0
$GC,11521,1.27,310.2,24.4,11.2,500,11529,0.00,2.50,0.00,0.000,4,0.000,0.025,3632,2929,1644,0,0,0,0,0,0
$GC,11545,1.28,312.0,22.1,9.9,503,11554,0.00,2.60,0.00,0.000,6,0.000,0.032,3632,1345,1644,0,0,0,0,0,0
$STATE,11697,end climb,SURFACE_DEPTH_REACHED
$STATE,11697,begin surface coast
$FINISH,0.7,0.999313
$STATE,11732,end surface coast,CONTROL_FINISHED_OK
$STATE,11733,begin surface
$SM_CCo,11755,38.03,0.442,0,0,1370,380.21
$SM_GC,1.71,0.00,0.00,38.03,0.000,0.000,0.442,416,1601,1370,-13.45,1.72,380.21
$IRIDIUM_FIX,2234.68,-15806.28,071001,080830
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,6
$24V_AH,23.5,31.721
$10V_AH,9.9,23.984
$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,33.575,131.475,392.625,38.025,0.000,53.696,72.795,279.834,1.500,0.000,34.032,1139.023,8080.608,491.313,1968.562,739.049,33.370,1307.379,0.000,1949.675,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,80.535,934.206,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.572,306.445,382.642,545.004,957.512,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,41479,532
$CAP_FILE_SIZE,129528,0
$CFSIZE,260165632,164745216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130712,111839,2242.305,-15806.017,8,99.0,27,10.0