version: 66.06
glider: 148
mission: 11
dive: 440
start: 8 12 112 0 1 42
data:
$ID,148
$MISSION,11
$DIVE,440
$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,-927805.44
$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,83
$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
$GPS1,235403,2252.212,-15806.007,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.4
$GPS2,000048,2252.253,-15806.047,9,1.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,0.168
$KALMAN_X,-267481.0,99.1,190.7,256454.7,-2124.5
$KALMAN_Y,101058.9,69.7,247.1,-93506.1,147.6
$MHEAD_RNG_PITCHd_Wd,39.5,22737,-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,-74.72,0.000,2,0.000,0.000,414,1589,3313,0,0,0,0,0,0
$GC,95,-1.27,-146.0,4.3,-8.1,10,119,13.80,2.45,-3.38,0.000,4,0.153,0.034,3059,3133,3518,0,0,0,0,0,0
$GC,160,-0.86,-146.0,28.2,-23.9,19,169,0.38,2.58,0.00,0.000,6,0.081,0.031,3147,1575,3519,0,0,0,0,0,0
$GC,429,-0.72,-146.0,68.9,-14.3,44,434,0.15,2.47,0.00,0.000,4,0.113,0.025,3180,3129,3520,0,0,0,0,0,0
$GC,463,-0.72,-146.0,74.4,-11.3,46,472,0.00,2.53,0.00,0.000,6,0.000,0.028,3180,1589,3520,0,0,0,0,0,0
$GC,732,-0.72,-146.0,100.0,-9.1,71,737,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1589,3521,0,0,0,0,0,0
$GC,994,-0.80,-146.0,122.7,-8.7,96,998,0.00,2.40,0.00,0.000,4,0.000,0.024,3180,3119,3523,0,0,0,0,0,0
$GC,1024,-0.95,-146.0,125.1,-7.2,98,1033,0.17,2.47,0.00,0.000,6,0.018,0.028,3074,1602,3523,0,0,0,0,0,0
$GC,1288,-0.71,-146.0,161.2,-14.6,123,1293,0.45,2.33,0.00,0.000,4,0.089,0.040,3177,165,3524,0,0,0,0,0,0
$GC,1325,-0.82,-146.0,166.0,-9.4,126,1329,0.00,2.17,0.00,0.000,6,0.000,0.018,3177,1599,3524,0,0,0,0,0,0
$GC,1590,-0.93,-146.0,188.5,-8.9,150,1595,0.17,2.42,0.00,0.000,4,0.048,0.023,3098,3144,3525,0,0,0,0,0,0
$GC,1679,-0.93,-146.0,199.6,-11.5,158,1686,0.17,2.42,0.00,0.000,6,0.091,0.025,3138,1613,3525,0,0,0,0,0,0
$GC,1931,-0.93,-146.0,224.8,-10.1,165,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1613,3525,0,0,0,0,0,0
$GC,2173,-0.93,-146.0,248.5,-9.7,171,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1613,3525,0,0,0,0,0,0
$GC,2417,-0.93,-146.0,272.5,-9.8,177,2421,0.00,2.40,0.00,0.000,4,0.000,0.024,3138,3139,3525,0,0,0,0,0,0
$GC,2447,-1.03,-146.0,275.5,-9.4,177,2451,0.00,2.45,0.00,0.000,6,0.000,0.027,3138,1618,3525,0,0,0,0,0,0
$GC,2707,-1.11,-146.0,299.3,-8.9,184,2709,0.17,0.00,0.00,0.000,6,0.048,0.000,3056,1617,3525,0,0,0,0,0,0
$GC,2950,-0.93,-146.0,332.1,-13.4,190,2955,0.32,2.45,0.00,0.000,4,0.084,0.028,3133,3142,3525,0,0,0,0,0,0
$GC,2976,-0.93,-146.0,334.9,-11.4,190,2980,0.00,2.47,0.00,0.000,6,0.000,0.031,3133,1622,3525,0,0,0,0,0,0
$GC,3236,-1.02,-146.0,355.2,-7.3,197,3240,0.00,2.45,0.00,0.000,4,0.000,0.031,3133,3135,3525,0,0,0,0,0,0
$GC,3261,-1.14,-146.0,357.1,-8.4,197,3267,0.17,2.45,0.00,0.000,6,0.045,0.033,3036,1625,3525,0,0,0,0,0,0
$GC,3523,-0.92,-146.0,389.1,-12.7,204,3531,0.45,2.45,0.00,0.000,4,0.083,0.058,3137,167,3524,0,0,0,0,0,0
$GC,3551,-0.99,-146.0,392.1,-9.1,204,3555,0.00,2.25,0.00,0.000,6,0.000,0.023,3136,1600,3523,0,0,0,0,0,0
$GC,3812,-1.11,-146.0,410.6,-7.1,211,3817,0.17,2.53,0.00,0.000,4,0.048,0.035,3054,3161,3522,0,0,0,0,0,0
$GC,3878,-1.11,-146.0,417.7,-10.6,212,3883,0.17,2.53,0.00,0.000,6,0.088,0.035,3096,1628,3522,0,0,0,0,0,0
$GC,4143,-1.11,-146.0,440.5,-8.4,219,4147,0.00,2.50,0.00,0.000,4,0.000,0.038,3096,3152,3520,0,0,0,0,0,0
$GC,4168,-1.11,-146.0,442.7,-8.9,219,4173,0.00,2.50,0.00,0.000,6,0.000,0.036,3096,1635,3520,0,0,0,0,0,0
$GC,4428,-1.11,-146.0,462.9,-7.7,226,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1634,3518,0,0,0,0,0,0
$GC,4671,-1.11,-146.0,482.4,-8.2,232,4676,0.00,2.50,0.00,0.000,4,0.000,0.040,3096,3150,3517,0,0,0,0,0,0
$GC,4692,-1.11,-146.0,484.0,-8.8,232,4696,0.00,2.50,0.00,0.000,6,0.000,0.038,3096,1642,3517,0,0,0,0,0,0
$GC,4956,-1.11,-146.0,508.5,-9.4,239,4960,0.00,2.55,0.00,0.000,4,0.000,0.072,3096,168,3515,0,0,0,0,0,0
$GC,4975,-1.11,-146.0,510.6,-10.7,239,4979,0.00,2.38,0.00,0.000,6,0.000,0.030,3096,1645,3515,0,0,0,0,0,0
$GC,5240,-1.11,-146.0,535.2,-9.3,246,5245,0.00,2.47,0.00,0.000,4,0.000,0.049,3096,3157,3513,0,0,0,0,0,0
$GC,5284,-1.21,-146.0,539.1,-8.7,247,5288,0.00,2.50,0.00,0.000,6,0.000,0.042,3096,1648,3513,0,0,0,0,0,0
$GC,5571,-1.21,-146.0,561.0,-7.5,254,5576,0.00,2.50,0.00,0.000,4,0.000,0.044,3096,3160,3510,0,0,0,0,0,0
$GC,5587,-1.21,-146.0,562.1,-7.3,254,5592,0.00,2.53,0.00,0.000,6,0.000,0.043,3096,1656,3510,0,0,0,0,0,0
$GC,5856,-1.21,-146.0,581.7,-7.1,261,5860,0.00,2.58,0.00,0.000,4,0.000,0.077,3097,169,3508,0,0,0,0,0,0
$GC,5880,-1.21,-146.0,583.7,-8.2,261,5884,0.00,2.38,0.00,0.000,6,0.000,0.038,3096,1642,3508,0,0,0,0,0,0
$STATE,6096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6096,begin apogee
$GC,6104,-0.31,0.0,600.1,7.5,267,6225,0.77,0.00,118.15,0.927,6,0.078,0.000,3271,1390,2919,0,0,0,0,0,0
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6229,1.27,146.0,603.6,0.0,270,6361,1.45,2.22,123.10,0.908,4,0.044,0.075,3620,179,2323,0,0,0,0,0,0
$GC,6624,0.96,146.0,573.5,11.3,278,6629,0.25,1.98,0.00,0.000,6,0.084,0.028,3551,1389,2315,0,0,0,0,0,0
$GC,6880,1.06,227.3,556.6,6.2,285,6957,0.00,2.22,70.32,0.883,4,0.000,0.070,3550,181,1993,0,0,0,0,0,0
$GC,7106,1.08,244.1,537.3,9.2,290,7127,0.10,1.95,16.40,0.810,6,0.081,0.027,3591,1391,1924,0,0,0,0,0,0
$GC,7396,1.08,244.1,506.6,10.9,297,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1391,1917,0,0,0,0,0,0
$GC,7637,1.08,244.1,478.3,11.6,303,7640,0.00,2.08,0.00,0.000,4,0.000,0.061,3591,177,1916,0,0,0,0,0,0
$GC,7740,0.98,244.1,464.4,13.2,305,7745,0.17,1.92,0.00,0.000,6,0.209,0.025,3554,1400,1916,0,0,0,0,0,0
$GC,8020,1.05,244.1,434.5,10.6,312,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,1402,1913,0,0,0,0,0,0
$GC,8262,1.12,244.1,409.1,10.3,318,8267,0.12,2.10,0.00,0.000,4,0.066,0.059,3608,168,1912,0,0,0,0,0,0
$GC,8354,0.98,244.1,396.2,14.8,320,8359,0.25,1.92,0.00,0.000,6,0.089,0.025,3554,1383,1912,0,0,0,0,0,0
$GC,8646,1.07,248.2,366.5,9.8,327,8650,0.00,2.08,0.00,0.000,4,0.000,0.058,3553,165,1910,0,0,0,0,0,0
$GC,8682,1.07,248.2,362.3,10.4,327,8686,0.00,1.92,0.00,0.000,6,0.000,0.025,3553,1389,1910,0,0,0,0,0,0
$GC,8939,1.21,286.8,340.9,8.2,334,8982,0.20,2.12,36.88,0.755,4,0.045,0.054,3623,173,1749,0,0,0,0,0,0
$GC,9003,1.07,286.8,333.6,13.2,335,9008,0.22,1.92,0.00,0.000,6,0.093,0.032,3573,1380,1748,0,0,0,0,0,0
$GC,9274,1.09,308.8,308.3,9.0,342,9301,0.00,2.62,20.80,0.704,4,0.000,0.033,3572,2968,1659,0,0,0,0,0,0
$GC,9312,1.22,350.7,304.7,8.1,342,9359,0.15,2.67,38.88,0.713,6,0.053,0.038,3623,1381,1489,0,0,0,0,0,0
$GC,9602,1.22,350.7,265.8,13.7,350,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1382,1482,0,0,0,0,0,0
$GC,9846,1.22,350.7,234.5,12.6,356,9850,0.00,2.60,0.00,0.000,4,0.000,0.029,3622,2976,1482,0,0,0,0,0,0
$GC,9865,1.22,350.7,232.1,12.0,356,9869,0.00,2.65,0.00,0.000,6,0.000,0.035,3623,1382,1479,0,0,0,0,0,0
$GC,10129,1.22,350.7,200.9,11.8,363,10132,0.00,2.05,0.00,0.000,4,0.000,0.053,3623,161,1479,0,0,0,0,0,0
$GC,10188,1.22,350.7,193.5,13.0,365,10192,0.00,1.90,0.00,0.000,6,0.000,0.021,3623,1405,1479,0,0,0,0,0,0
$GC,10455,1.22,350.7,158.7,13.5,390,10459,0.00,2.45,0.00,0.000,4,0.000,0.028,3623,2951,1479,0,0,0,0,0,0
$GC,10475,1.22,350.7,156.4,13.9,391,10480,0.00,2.60,0.00,0.000,6,0.000,0.035,3623,1370,1477,0,0,0,0,0,0
$GC,10741,1.22,350.7,123.3,11.9,415,10745,0.00,2.00,0.00,0.000,4,0.000,0.050,3623,167,1477,0,0,0,0,0,0
$GC,10784,1.22,350.7,117.7,13.4,419,10788,0.00,1.85,0.00,0.000,6,0.000,0.021,3623,1376,1476,0,0,0,0,0,0
$GC,11052,1.22,350.7,86.5,10.8,444,11057,0.00,2.50,0.00,0.000,4,0.000,0.027,3623,2958,1476,0,0,0,0,0,0
$GC,11079,1.32,376.1,83.6,8.8,446,11112,0.00,2.58,21.55,0.505,6,0.000,0.033,3623,1376,1385,0,0,0,0,0,0
$GC,11367,1.32,376.1,53.6,11.3,473,11370,0.00,2.03,0.00,0.000,4,0.000,0.048,3623,150,1384,0,0,0,0,0,0
$GC,11404,1.32,376.1,49.7,12.0,476,11407,0.00,1.85,0.00,0.000,6,0.000,0.019,3623,1400,1384,0,0,0,0,0,0
$GC,11689,1.38,376.1,17.7,12.2,509,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1402,1384,0,0,0,0,0,0
$STATE,11803,end climb,SURFACE_DEPTH_REACHED
$STATE,11803,begin surface coast
$FINISH,0.9,1.023486
$STATE,11844,end surface coast,CONTROL_FINISHED_OK
$STATE,11844,begin surface
$SM_CCo,11869,1.20,0.072,0,0,1370,380.21
$SM_GC,2.49,0.00,0.00,1.20,0.000,0.000,0.072,410,1616,1370,-13.48,1.02,380.21
$IRIDIUM_FIX,2241.69,-15804.53,051101,202020
$TT8_MAMPS,0.027612
$HUMID,67.01
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.5,57.567
$10V_AH,9.9,46.283
$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,33.350,135.950,446.075,1.200,0.000,24.046,34.529,195.160,1.750,0.000,16.058,1145.944,8014.323,466.418,2029.599,616.500,33.375,1346.540,0.000,2027.568,0.000,0.536,0.000
$DEVICE_MAMPS,209.391,76.700,927.303,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.219,305.060,379.457,552.054,969.807,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41412,533
$CAP_FILE_SIZE,128367,0
$CFSIZE,260165632,152313856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120812,032114,2253.464,-15805.432,39,2.4,58,10.1