version: 66.06
glider: 148
mission: 11
dive: 407
start: 8 7 112 7 0 19
data:
$ID,148
$MISSION,11
$DIVE,407
$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,-927180.25
$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,1560
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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
$GPS1,064357,2258.305,-15737.287,51,99.0,70,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.6
$GPS2,065924,2258.457,-15737.483,10,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,0.170
$KALMAN_X,-203653.6,-46.8,-218.2,241956.2,-1508.2
$KALMAN_Y,85284.1,352.7,-444.5,-65837.8,1050.6
$MHEAD_RNG_PITCHd_Wd,38.9,13385,-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,-74.88,0.000,2,0.000,0.000,411,1548,3339,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.0,10,120,13.85,2.45,-2.97,0.000,4,0.153,0.031,3057,3107,3517,0,0,0,0,0,0
$GC,136,0.09,-146.0,21.8,-43.4,15,146,1.33,2.55,0.00,0.000,6,0.083,0.031,3355,1562,3518,0,0,0,0,0,0
$GC,423,-0.72,-146.0,44.8,-10.1,49,436,0.70,2.28,0.00,0.000,4,0.047,0.044,3175,167,3520,0,0,0,0,0,0
$GC,475,-0.94,-146.0,49.7,-9.0,53,480,0.17,2.05,0.00,0.000,6,0.048,0.018,3096,1582,3520,0,0,0,0,0,0
$GC,745,-0.72,-146.0,95.2,-17.4,77,750,0.35,2.33,0.00,0.000,4,0.086,0.022,3177,3072,3520,0,0,0,0,0,0
$GC,816,-0.93,-146.0,104.0,-9.8,83,821,0.17,2.45,0.00,0.000,6,0.045,0.030,3078,1548,3520,0,0,0,0,0,0
$GC,1084,-0.65,-146.0,147.2,-17.6,107,1089,0.57,2.22,0.00,0.000,4,0.085,0.038,3194,164,3521,0,0,0,0,0,0
$GC,1115,-0.77,-146.0,152.4,-10.7,109,1122,0.10,2.03,0.00,0.000,6,0.072,0.018,3123,1522,3522,0,0,0,0,0,0
$GC,1380,-0.77,-146.0,183.1,-11.3,134,1385,0.22,2.50,0.00,0.000,4,0.086,0.023,3174,3101,3522,0,0,0,0,0,0
$GC,1439,-1.01,-146.0,188.4,-8.1,139,1444,0.22,2.47,0.00,0.000,6,0.035,0.027,3058,1549,3522,0,0,0,0,0,0
$GC,1724,-0.73,-146.0,232.8,-15.8,151,1732,0.60,2.45,0.00,0.000,4,0.082,0.022,3174,3102,3522,0,0,0,0,0,0
$GC,1756,-0.86,-146.0,237.0,-10.4,151,1760,0.00,2.47,0.00,0.000,6,0.000,0.027,3174,1563,3523,0,0,0,0,0,0
$GC,2011,-1.03,-146.0,257.4,-7.9,158,2016,0.22,2.42,0.00,0.000,4,0.038,0.022,3070,3099,3523,0,0,0,0,0,0
$GC,2032,-1.03,-146.0,259.6,-10.0,158,2037,0.20,2.45,0.00,0.000,6,0.085,0.028,3116,1565,3522,0,0,0,0,0,0
$GC,2297,-1.03,-146.0,286.9,-10.0,165,2301,0.00,2.42,0.00,0.000,4,0.000,0.026,3116,3095,3522,0,0,0,0,0,0
$GC,2320,-1.03,-146.0,289.5,-11.1,165,2324,0.00,2.42,0.00,0.000,6,0.000,0.028,3116,1580,3523,0,0,0,0,0,0
$GC,2581,-1.03,-146.0,314.5,-9.5,172,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1580,3522,0,0,0,0,0,0
$GC,2823,-1.03,-146.0,336.1,-8.8,178,2827,0.00,2.42,0.00,0.000,4,0.000,0.029,3116,3094,3522,0,0,0,0,0,0
$GC,2870,-1.14,-146.0,340.3,-8.0,179,2875,0.10,2.47,0.00,0.000,6,0.074,0.032,3042,1582,3522,0,0,0,0,0,0
$GC,3155,-0.92,-146.0,377.5,-13.1,186,3158,0.47,0.00,0.00,0.000,6,0.081,0.000,3136,1582,3521,0,0,0,0,0,0
$GC,3398,-1.04,-146.0,394.9,-6.6,192,3403,0.10,2.45,0.00,0.000,4,0.074,0.033,3075,3088,3519,0,0,0,0,0,0
$GC,3422,-1.04,-146.0,397.2,-10.9,192,3427,0.15,2.45,0.00,0.000,6,0.093,0.035,3112,1586,3519,0,0,0,0,0,0
$GC,3684,-1.04,-146.0,419.2,-8.6,199,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1586,3517,0,0,0,0,0,0
$GC,3926,-1.04,-146.0,440.5,-8.7,205,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1586,3515,0,0,0,0,0,0
$GC,4170,-1.11,-146.0,460.7,-8.3,211,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1586,3513,0,0,0,0,0,0
$GC,4415,-1.17,-146.0,484.1,-9.9,217,4417,0.10,0.00,0.00,0.000,6,0.076,0.000,3058,1586,3512,0,0,0,0,0,0
$GC,4657,-1.08,-146.0,514.7,-12.8,223,4659,0.20,0.00,0.00,0.000,6,0.091,0.000,3104,1586,3510,0,0,0,0,0,0
$GC,4901,-1.08,-146.0,537.7,-8.9,229,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1586,3508,0,0,0,0,0,0
$GC,5146,-1.08,-146.0,556.5,-7.5,235,5151,0.00,2.50,0.00,0.000,4,0.000,0.044,3104,3092,3506,0,0,0,0,0,0
$GC,5180,-1.20,-146.0,559.1,-7.2,235,5185,0.10,2.53,0.00,0.000,6,0.077,0.048,3041,1596,3506,0,0,0,0,0,0
$GC,5430,-1.07,-146.0,582.2,-9.3,241,5435,0.28,2.50,0.00,0.000,4,0.087,0.078,3106,166,3504,0,0,0,0,0,0
$GC,5514,-1.17,-146.0,587.8,-6.9,242,5518,0.00,2.22,0.00,0.000,6,0.000,0.034,3106,1532,3503,0,0,0,0,0,0
$STATE,5721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5721,begin apogee
$GC,5727,-0.31,0.0,600.6,6.1,247,5848,0.73,0.00,117.15,0.925,6,0.071,0.000,3273,1382,2919,0,0,0,0,0,0
$STATE,5848,end apogee,CONTROL_FINISHED_OK
$STATE,5848,begin climb
$GC,5853,1.27,146.0,602.9,0.0,250,5987,1.42,2.15,124.07,0.904,4,0.044,0.074,3614,180,2323,0,0,0,0,0,0
$GC,6235,0.98,146.0,572.1,11.3,258,6240,0.28,2.00,0.00,0.000,6,0.100,0.029,3557,1405,2315,0,0,0,0,0,0
$GC,6497,1.05,197.2,551.5,7.6,265,6546,0.00,2.22,44.00,0.872,4,0.000,0.070,3557,171,2115,0,0,0,0,0,0
$GC,6634,1.05,197.2,538.1,11.2,268,6638,0.00,2.00,0.00,0.000,6,0.000,0.028,3557,1397,2113,0,0,0,0,0,0
$GC,6917,1.05,197.3,510.5,10.0,275,6922,0.00,2.67,0.00,0.000,4,0.000,0.047,3557,2983,2108,0,0,0,0,0,0
$GC,6936,1.05,197.3,508.3,10.0,275,6941,0.00,2.70,0.00,0.000,6,0.000,0.043,3557,1394,2105,0,0,0,0,0,0
$GC,7200,1.05,200.2,481.9,9.9,282,7204,0.00,2.12,0.00,0.000,4,0.000,0.070,3557,168,2104,0,0,0,0,0,0
$GC,7262,1.05,200.2,475.4,10.5,283,7266,0.00,1.98,0.00,0.000,6,0.000,0.025,3557,1413,2104,0,0,0,0,0,0
$GC,7534,1.12,253.7,453.7,7.5,290,7587,0.10,0.00,50.12,0.834,6,0.078,0.000,3600,1414,1885,0,0,0,0,0,0
$GC,7824,1.12,253.7,425.6,10.1,297,7828,0.00,2.15,0.00,0.000,4,0.000,0.061,3599,167,1878,0,0,0,0,0,0
$GC,7884,1.04,253.7,418.4,11.3,298,7889,0.15,1.92,0.00,0.000,6,0.101,0.024,3568,1381,1878,0,0,0,0,0,0
$GC,8153,1.06,270.8,393.9,9.2,305,8173,0.00,2.65,14.95,0.748,4,0.000,0.035,3568,2969,1814,0,0,0,0,0,0
$GC,8195,1.15,279.7,390.0,9.6,305,8211,0.00,2.70,8.88,0.684,6,0.000,0.040,3568,1379,1779,0,0,0,0,0,0
$GC,8491,1.22,287.7,361.4,9.6,313,8505,0.15,2.08,8.27,0.663,4,0.061,0.063,3624,167,1746,0,0,0,0,0,0
$GC,8554,1.11,287.7,353.0,15.2,314,8559,0.12,1.95,0.00,0.000,6,0.080,0.024,3583,1377,1746,0,0,0,0,0,0
$GC,8829,1.11,287.7,322.3,11.4,321,8834,0.00,2.60,0.00,0.000,4,0.000,0.034,3583,2971,1743,0,0,0,0,0,0
$GC,8878,1.24,287.7,316.3,12.4,322,8883,0.12,2.67,0.00,0.000,6,0.060,0.039,3650,1377,1740,0,0,0,0,0,0
$GC,9161,1.11,287.7,269.0,16.7,329,9163,0.32,0.00,0.00,0.000,6,0.084,0.000,3580,1377,1740,0,0,0,0,0,0
$GC,9405,1.19,287.7,241.6,10.7,335,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1377,1739,0,0,0,0,0,0
$GC,9651,1.32,317.5,220.1,8.6,341,9684,0.20,2.65,27.00,0.641,4,0.046,0.029,3656,2977,1624,0,0,0,0,0,0
$GC,9723,1.32,317.5,211.9,11.9,342,9731,0.15,2.67,0.00,0.000,6,0.095,0.036,3623,1363,1620,0,0,0,0,0,0
$GC,9992,1.32,317.5,183.1,12.1,358,9996,0.00,2.60,0.00,0.000,4,0.000,0.028,3623,2982,1619,0,0,0,0,0,0
$GC,10030,1.32,317.5,178.2,12.1,361,10035,0.00,2.62,0.00,0.000,6,0.000,0.035,3623,1379,1616,0,0,0,0,0,0
$GC,10298,1.32,317.5,142.7,13.2,385,10303,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1379,1616,0,0,0,0,0,0
$GC,10559,1.32,317.5,108.2,12.2,410,10560,0.00,0.00,0.00,0.000,6,0.000,0.000,3624,1379,1616,0,0,0,0,0,0
$GC,10814,1.35,344.9,82.3,8.7,434,10847,0.00,0.00,24.10,0.505,6,0.000,0.000,3623,1379,1511,0,0,0,0,0,0
$GC,11107,1.35,344.9,54.0,10.2,461,11110,0.00,2.00,0.00,0.000,4,0.000,0.048,3623,168,1509,0,0,0,0,0,0
$GC,11131,1.35,344.9,50.8,11.0,463,11135,0.00,1.88,0.00,0.000,6,0.000,0.019,3623,1420,1509,0,0,0,0,0,0
$GC,11411,1.35,345.7,22.8,10.0,493,11420,0.00,2.45,0.00,0.000,4,0.000,0.028,3624,2947,1509,0,0,0,0,0,0
$GC,11429,1.35,345.7,20.8,10.5,495,11438,0.00,2.58,0.00,0.000,6,0.000,0.031,3624,1381,1508,0,0,0,0,0,0
$STATE,11569,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,1.0,1.023516
$STATE,11611,end surface coast,CONTROL_FINISHED_OK
$STATE,11612,begin surface
$SM_CCo,11635,22.38,0.426,0,0,1369,380.21
$SM_GC,1.61,0.00,0.00,22.38,0.000,0.000,0.426,413,1601,1369,-13.46,1.16,380.21
$IRIDIUM_FIX,2248.70,-15738.46,011101,070732
$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.50
$XPDR_PINGS,7
$24V_AH,23.5,53.490
$10V_AH,9.9,42.718
$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,36.775,114.025,418.550,22.375,0.000,116.087,138.101,328.379,1.750,0.000,16.604,1106.151,8096.903,472.832,1963.066,943.593,33.368,1285.851,0.000,1964.073,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,78.234,925.002,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,352.692,303.034,374.202,574.523,1009.868,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,41415,523
$CAP_FILE_SIZE,129754,0
$CFSIZE,260165632,154312704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070812,101700,2300.143,-15737.487,102,1.2,102,10.1