version: 66.06
glider: 148
mission: 11
dive: 435
start: 8 11 112 6 46 25
data:
$ID,148
$MISSION,11
$DIVE,435
$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,-927717.06
$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,1580
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,111
$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
$GPS1,063905,2244.457,-15805.876,39,1.9,45,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.3
$GPS2,064531,2244.493,-15805.946,9,1.4,9,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,0.207
$KALMAN_X,-256657.0,-316.4,-94.8,246509.3,-1680.0
$KALMAN_Y,99261.3,19.8,-362.1,-105421.1,585.0
$MHEAD_RNG_PITCHd_Wd,27.1,37040,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.57,0.000,2,0.000,0.000,410,1634,3289,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-6.8,10,121,13.85,2.30,-3.80,0.000,4,0.153,0.035,3057,3097,3517,0,0,0,0,0,0
$GC,149,-0.58,-146.0,25.5,-32.8,17,158,0.68,2.50,0.00,0.000,6,0.083,0.028,3210,1568,3518,0,0,0,0,0,0
$GC,424,-0.65,-146.0,55.6,-9.4,43,428,0.00,2.40,0.00,0.000,4,0.000,0.023,3210,3094,3519,0,0,0,0,0,0
$GC,479,-0.88,-146.0,60.8,-8.5,47,484,0.25,2.40,0.00,0.000,6,0.035,0.031,3090,1594,3520,0,0,0,0,0,0
$GC,749,-0.61,-146.0,105.8,-16.9,71,754,0.55,2.30,0.00,0.000,4,0.085,0.038,3202,164,3520,0,0,0,0,0,0
$GC,801,-0.86,-146.0,113.2,-8.7,75,807,0.20,2.10,0.00,0.000,6,0.041,0.017,3107,1575,3521,0,0,0,0,0,0
$GC,1065,-0.72,-146.0,149.3,-13.8,100,1070,0.30,2.40,0.00,0.000,4,0.085,0.022,3179,3114,3522,0,0,0,0,0,0
$GC,1104,-0.87,-146.0,153.4,-8.9,103,1109,0.12,2.42,0.00,0.000,6,0.059,0.027,3094,1590,3522,0,0,0,0,0,0
$GC,1369,-0.66,-146.0,187.1,-13.0,127,1375,0.47,0.00,0.00,0.000,6,0.084,0.000,3190,1589,3523,0,0,0,0,0,0
$GC,1631,-0.83,-146.0,202.7,-5.8,149,1636,0.15,2.42,0.00,0.000,4,0.054,0.023,3109,3123,3523,0,0,0,0,0,0
$GC,1677,-0.83,-146.0,206.4,-8.5,150,1682,0.22,2.45,0.00,0.000,6,0.080,0.028,3161,1589,3523,0,0,0,0,0,0
$GC,1965,-0.93,-146.0,228.6,-7.8,157,1967,0.10,0.00,0.00,0.000,6,0.074,0.000,3100,1589,3524,0,0,0,0,0,0
$GC,2209,-0.85,-146.0,252.4,-9.8,163,2214,0.25,2.42,0.00,0.000,4,0.084,0.024,3160,3117,3524,0,0,0,0,0,0
$GC,2240,-1.00,-146.0,255.0,-7.7,163,2245,0.15,2.45,0.00,0.000,6,0.052,0.028,3067,1602,3524,0,0,0,0,0,0
$GC,2495,-0.78,-146.0,287.3,-13.3,170,2501,0.47,2.35,0.00,0.000,4,0.082,0.044,3165,160,3524,0,0,0,0,0,0
$GC,2521,-0.78,-146.0,290.2,-10.2,170,2525,0.00,2.15,0.00,0.000,6,0.000,0.019,3165,1573,3524,0,0,0,0,0,0
$GC,2781,-0.94,-146.0,307.1,-6.6,177,2783,0.12,0.00,0.00,0.000,6,0.061,0.000,3092,1576,3524,0,0,0,0,0,0
$GC,3024,-0.86,-146.0,332.6,-10.5,183,3029,0.25,2.50,0.00,0.000,4,0.082,0.028,3152,3142,3523,0,0,0,0,0,0
$GC,3074,-1.08,-146.0,336.3,-7.0,184,3079,0.20,2.53,0.00,0.000,6,0.040,0.033,3045,1599,3523,0,0,0,0,0,0
$GC,3358,-0.85,-146.0,374.8,-14.5,191,3363,0.50,2.38,0.00,0.000,4,0.081,0.053,3151,170,3522,0,0,0,0,0,0
$GC,3408,-1.06,-146.0,379.9,-8.7,192,3412,0.17,2.20,0.00,0.000,6,0.046,0.021,3070,1582,3522,0,0,0,0,0,0
$GC,3691,-0.95,-146.0,411.8,-11.3,199,3696,0.25,2.53,0.00,0.000,4,0.085,0.034,3130,3151,3520,0,0,0,0,0,0
$GC,3721,-1.08,-146.0,414.5,-7.8,199,3726,0.12,2.55,0.00,0.000,6,0.061,0.035,3052,1591,3520,0,0,0,0,0,0
$GC,3978,-0.91,-146.0,444.9,-12.1,206,3980,0.43,0.00,0.00,0.000,6,0.080,0.000,3138,1591,3519,0,0,0,0,0,0
$GC,4220,-1.04,-146.0,461.4,-6.1,212,4225,0.10,2.58,0.00,0.000,4,0.075,0.041,3081,3146,3517,0,0,0,0,0,0
$GC,4251,-1.04,-146.0,463.7,-8.6,212,4256,0.15,2.55,0.00,0.000,6,0.091,0.038,3116,1596,3518,0,0,0,0,0,0
$GC,4507,-1.11,-146.0,482.1,-7.1,219,4512,0.00,2.45,0.00,0.000,4,0.000,0.070,3116,161,3515,0,0,0,0,0,0
$GC,4541,-1.19,-146.0,485.0,-7.9,219,4546,0.15,2.25,0.00,0.000,6,0.053,0.029,3048,1584,3515,0,0,0,0,0,0
$GC,4793,-1.05,-146.0,512.1,-11.3,225,4795,0.28,0.00,0.00,0.000,6,0.084,0.000,3110,1584,3513,0,0,0,0,0,0
$GC,5035,-1.05,-146.0,531.4,-7.7,231,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1584,3512,0,0,0,0,0,0
$GC,5279,-1.11,-146.0,549.1,-7.2,237,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1584,3510,0,0,0,0,0,0
$GC,5523,-1.18,-146.0,566.3,-7.0,243,5528,0.12,2.65,0.00,0.000,4,0.064,0.048,3053,3166,3508,0,0,0,0,0,0
$GC,5557,-1.18,-146.0,569.3,-8.9,243,5562,0.12,2.65,0.00,0.000,6,0.101,0.045,3083,1593,3509,0,0,0,0,0,0
$GC,5807,-1.18,-146.0,588.9,-7.8,249,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1593,3506,0,0,0,0,0,0
$STATE,5967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5967,begin apogee
$GC,5975,-0.31,0.0,601.1,7.5,253,6097,0.82,0.00,118.25,0.927,6,0.077,0.000,3270,1397,2920,0,0,0,0,0,0
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6100,1.27,146.0,603.0,0.0,256,6232,1.45,2.28,123.47,0.905,4,0.050,0.081,3613,170,2323,0,0,0,0,0,0
$GC,6320,0.99,146.0,587.0,13.0,261,6325,0.28,2.00,0.00,0.000,6,0.097,0.029,3556,1404,2318,0,0,0,0,0,0
$GC,6605,1.04,189.4,562.7,8.0,268,6648,0.00,2.28,37.45,0.867,4,0.000,0.069,3555,163,2147,0,0,0,0,0,0
$GC,6671,1.04,189.4,556.8,10.2,269,6675,0.00,2.00,0.00,0.000,6,0.000,0.029,3555,1403,2145,0,0,0,0,0,0
$GC,6939,1.10,236.6,535.0,7.8,276,6989,0.10,2.75,42.58,0.860,4,0.078,0.052,3600,2971,1954,0,0,0,0,0,0
$GC,7007,1.03,236.6,528.6,10.3,277,7014,0.15,2.70,0.00,0.000,6,0.096,0.044,3565,1395,1949,0,0,0,0,0,0
$GC,7274,1.07,270.7,505.1,8.4,284,7310,0.00,2.20,31.20,0.838,4,0.000,0.073,3565,168,1816,0,0,0,0,0,0
$GC,7369,1.07,270.7,496.3,11.3,286,7373,0.00,1.95,0.00,0.000,6,0.000,0.025,3565,1402,1814,0,0,0,0,0,0
$GC,7661,1.08,274.3,467.4,9.8,293,7670,0.00,2.60,3.80,0.512,4,0.000,0.042,3565,2967,1801,0,0,0,0,0,0
$GC,7686,1.08,275.0,464.8,10.0,293,7690,0.00,2.67,0.00,0.000,6,0.000,0.041,3565,1383,1799,0,0,0,0,0,0
$GC,7945,1.08,275.0,436.4,11.1,300,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1383,1798,0,0,0,0,0,0
$GC,8189,1.08,275.0,407.9,11.7,306,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1383,1797,0,0,0,0,0,0
$GC,8435,1.15,275.0,380.1,11.3,312,8440,0.10,2.62,0.00,0.000,4,0.077,0.035,3613,2977,1796,0,0,0,0,0,0
$GC,8468,1.15,275.0,375.7,12.2,312,8473,0.10,2.65,0.00,0.000,6,0.117,0.041,3590,1396,1794,0,0,0,0,0,0
$GC,8718,1.15,275.0,348.2,10.7,318,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1396,1794,0,0,0,0,0,0
$GC,8964,1.15,275.0,321.3,11.1,324,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1396,1794,0,0,0,0,0,0
$GC,9205,1.15,275.0,291.3,12.3,330,9209,0.00,2.08,0.00,0.000,4,0.000,0.058,3590,167,1793,0,0,0,0,0,0
$GC,9237,1.15,275.0,287.1,13.5,330,9241,0.00,1.95,0.00,0.000,6,0.000,0.022,3590,1427,1793,0,0,0,0,0,0
$GC,9491,1.15,275.0,258.1,11.3,337,9495,0.00,2.12,0.00,0.000,4,0.000,0.055,3590,167,1793,0,0,0,0,0,0
$GC,9535,1.15,275.0,252.7,13.2,338,9539,0.00,1.88,0.00,0.000,6,0.000,0.021,3590,1407,1793,0,0,0,0,0,0
$GC,9826,1.15,275.0,220.8,10.6,345,9831,0.00,2.45,0.00,0.000,4,0.000,0.029,3590,2954,1792,0,0,0,0,0,0
$GC,9878,1.30,304.2,216.3,8.7,346,9913,0.12,2.58,26.30,0.643,6,0.063,0.037,3659,1396,1679,0,0,0,0,0,0
$GC,10162,1.17,304.2,182.9,11.8,362,10166,0.28,2.05,0.00,0.000,4,0.087,0.051,3596,163,1676,0,0,0,0,0,0
$GC,10223,1.17,305.1,176.6,10.0,367,10229,0.00,1.92,0.00,0.000,6,0.000,0.021,3596,1426,1676,0,0,0,0,0,0
$GC,10486,1.18,312.0,152.6,9.7,392,10496,0.00,0.00,7.78,0.507,6,0.000,0.000,3596,1428,1648,0,0,0,0,0,0
$GC,10757,1.25,318.3,126.9,9.7,417,10769,0.00,2.15,7.15,0.475,4,0.000,0.050,3596,169,1621,0,0,0,0,0,0
$GC,10820,1.25,318.3,120.1,11.3,423,10823,0.00,1.85,0.00,0.000,6,0.000,0.020,3596,1401,1621,0,0,0,0,0,0
$GC,11089,1.35,332.5,94.2,9.3,448,11111,0.15,2.12,14.40,0.499,4,0.054,0.048,3659,164,1564,0,0,0,0,0,0
$GC,11175,1.21,332.5,82.3,14.4,456,11180,0.25,1.85,0.00,0.000,6,0.084,0.020,3604,1395,1563,0,0,0,0,0,0
$GC,11440,1.34,357.3,58.8,8.9,480,11468,0.12,2.05,22.95,0.482,4,0.063,0.044,3668,167,1462,0,0,0,0,0,0
$GC,11519,1.23,357.3,48.4,14.0,486,11529,0.25,1.88,0.00,0.000,6,0.071,0.019,3608,1385,1461,0,0,0,0,0,0
$GC,11799,1.36,366.0,22.0,9.6,517,11816,0.12,2.53,8.88,0.407,4,0.063,0.025,3678,2949,1426,0,0,0,0,0,0
$GC,11838,1.36,366.0,17.1,13.1,522,11847,0.17,2.58,0.00,0.000,6,0.066,0.036,3633,1390,1424,0,0,0,0,0,0
$STATE,11952,end climb,SURFACE_DEPTH_REACHED
$STATE,11952,begin surface coast
$FINISH,0.6,1.010352
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11995,begin surface
$SM_CCo,12018,11.62,0.409,0,0,1368,380.21
$SM_GC,1.64,0.00,0.00,11.62,0.000,0.000,0.409,415,1604,1368,-13.45,0.68,380.21
$IRIDIUM_FIX,2234.68,-15807.58,051101,030311
$TT8_MAMPS,0.028379
$HUMID,66.10
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,23.5,56.958
$10V_AH,9.9,45.742
$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,38.175,126.150,444.200,11.625,0.000,30.536,39.093,177.507,2.000,0.000,11.204,1155.896,8211.194,473.244,1976.410,599.637,33.372,1311.982,0.000,1980.901,0.000,0.537,0.000
$DEVICE_MAMPS,153.400,81.302,927.303,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,368.296,311.979,394.211,580.313,1019.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41604,546
$CAP_FILE_SIZE,131225,0
$CFSIZE,260165632,152616960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110812,100836,2246.159,-15805.991,57,1.7,57,10.1