version: 66.06
glider: 148
mission: 11
dive: 448
start: 8 13 112 3 55 7
data:
$ID,148
$MISSION,11
$DIVE,448
$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,-927964.56
$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,28
$R_STBD_OVSHOOT,120
$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
$GPS1,034323,2303.400,-15805.754,32,1.4,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.9
$GPS2,035413,2303.488,-15805.850,11,1.2,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.250,0.071
$KALMAN_X,-284683.7,25.6,21.9,274245.6,-2098.8
$KALMAN_Y,104114.7,489.4,385.4,-76320.6,-134.4
$MHEAD_RNG_PITCHd_Wd,64.1,2875,-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,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.62,0.000,2,0.000,0.000,412,1616,3106,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-5.7,9,123,14.30,2.38,-7.43,0.000,4,0.166,0.040,3058,3082,3518,0,0,0,0,0,0
$GC,140,-0.35,-146.0,19.1,-29.8,15,150,0.90,2.45,0.00,0.000,6,0.087,0.025,3260,1570,3519,0,0,0,0,0,0
$GC,428,-0.59,-146.0,43.4,-6.9,48,433,0.20,2.40,0.00,0.000,4,0.041,0.021,3155,3093,3520,0,0,0,0,0,0
$GC,460,-0.59,-146.0,46.6,-11.0,50,465,0.25,2.42,0.00,0.000,6,0.079,0.028,3212,1579,3520,0,0,0,0,0,0
$GC,728,-0.70,-146.0,72.0,-9.3,74,733,0.10,2.40,0.00,0.000,4,0.074,0.024,3146,3093,3521,0,0,0,0,0,0
$GC,773,-0.70,-146.0,76.5,-10.5,77,778,0.17,2.40,0.00,0.000,6,0.086,0.028,3186,1591,3521,0,0,0,0,0,0
$GC,1041,-0.79,-146.0,98.9,-7.9,101,1045,0.00,2.30,0.00,0.000,4,0.000,0.042,3186,166,3522,0,0,0,0,0,0
$GC,1073,-0.91,-146.0,101.9,-7.8,103,1079,0.17,2.10,0.00,0.000,6,0.047,0.017,3100,1562,3522,0,0,0,0,0,0
$GC,1336,-0.73,-146.0,133.9,-13.1,128,1341,0.32,2.45,0.00,0.000,4,0.084,0.022,3177,3128,3522,0,0,0,0,0,0
$GC,1389,-0.95,-146.0,139.1,-7.2,132,1398,0.15,2.47,0.00,0.000,6,0.021,0.027,3086,1606,3523,0,0,0,0,0,0
$GC,1657,-0.76,-146.0,173.1,-13.3,157,1662,0.35,2.40,0.00,0.000,4,0.085,0.022,3169,3130,3523,0,0,0,0,0,0
$GC,1688,-0.84,-146.0,177.1,-8.2,159,1697,0.00,2.47,0.00,0.000,6,0.000,0.026,3170,1608,3523,0,0,0,0,0,0
$GC,1955,-0.94,-146.0,198.0,-7.3,184,1960,0.15,2.38,0.00,0.000,4,0.054,0.023,3094,3128,3524,0,0,0,0,0,0
$GC,1983,-0.94,-146.0,200.9,-10.4,186,1988,0.17,2.42,0.00,0.000,6,0.088,0.027,3135,1612,3524,0,0,0,0,0,0
$GC,2244,-0.94,-146.0,224.7,-8.9,193,2248,0.00,2.40,0.00,0.000,4,0.000,0.023,3135,3127,3523,0,0,0,0,0,0
$GC,2267,-0.94,-146.0,227.2,-10.2,193,2271,0.00,2.40,0.00,0.000,6,0.000,0.026,3135,1620,3524,0,0,0,0,0,0
$GC,2532,-0.94,-146.0,252.2,-9.5,200,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1620,3524,0,0,0,0,0,0
$GC,2774,-0.94,-146.0,275.2,-9.5,206,2779,0.00,2.40,0.00,0.000,4,0.000,0.025,3134,3130,3523,0,0,0,0,0,0
$GC,2812,-1.06,-146.0,278.5,-7.7,206,2819,0.10,2.40,0.00,0.000,6,0.074,0.027,3047,1627,3524,0,0,0,0,0,0
$GC,3064,-0.86,-146.0,311.2,-13.5,213,3069,0.43,2.38,0.00,0.000,4,0.081,0.026,3148,3118,3524,0,0,0,0,0,0
$GC,3094,-0.99,-146.0,314.3,-7.9,213,3099,0.10,2.40,0.00,0.000,6,0.071,0.029,3066,1624,3524,0,0,0,0,0,0
$GC,3351,-0.81,-146.0,344.4,-12.2,220,3358,0.45,2.40,0.00,0.000,4,0.081,0.051,3158,177,3523,0,0,0,0,0,0
$GC,3382,-0.96,-146.0,347.9,-8.3,220,3387,0.12,2.20,0.00,0.000,6,0.061,0.020,3089,1594,3523,0,0,0,0,0,0
$GC,3638,-0.96,-146.0,372.7,-9.7,227,3643,0.17,2.50,0.00,0.000,4,0.091,0.041,3131,3149,3522,0,0,0,0,0,0
$GC,3687,-1.13,-146.0,376.6,-6.5,228,3693,0.15,2.47,0.00,0.000,6,0.051,0.035,3040,1627,3522,0,0,0,0,0,0
$GC,3971,-0.90,-146.0,409.6,-11.4,235,3978,0.47,2.45,0.00,0.000,4,0.082,0.059,3137,173,3520,0,0,0,0,0,0
$GC,4032,-1.06,-146.0,414.1,-5.8,236,4037,0.12,2.25,0.00,0.000,6,0.061,0.025,3069,1613,3520,0,0,0,0,0,0
$GC,4306,-0.97,-146.0,440.7,-10.3,243,4311,0.25,2.50,0.00,0.000,4,0.084,0.036,3130,3156,3518,0,0,0,0,0,0
$GC,4333,-1.05,-146.0,443.0,-9.3,243,4337,0.00,2.53,0.00,0.000,6,0.000,0.035,3130,1621,3518,0,0,0,0,0,0
$GC,4593,-1.17,-146.0,463.0,-7.6,250,4595,0.20,0.00,0.00,0.000,6,0.044,0.000,3044,1621,3516,0,0,0,0,0,0
$GC,4836,-1.03,-146.0,491.4,-12.0,256,4838,0.32,0.00,0.00,0.000,6,0.081,0.000,3118,1621,3514,0,0,0,0,0,0
$GC,5082,-1.12,-146.0,510.2,-7.5,262,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1621,3513,0,0,0,0,0,0
$GC,5324,-1.20,-146.0,528.5,-7.5,268,5326,0.17,0.00,0.00,0.000,6,0.049,0.000,3045,1621,3511,0,0,0,0,0,0
$GC,5567,-1.08,-146.0,553.9,-10.5,274,5569,0.28,0.00,0.00,0.000,6,0.086,0.000,3107,1621,3509,0,0,0,0,0,0
$GC,5811,-1.14,-146.0,572.3,-7.3,280,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1621,3507,0,0,0,0,0,0
$GC,6057,-1.21,-146.0,590.2,-7.4,286,6062,0.12,2.60,0.00,0.000,4,0.064,0.051,3051,3150,3506,0,0,0,0,0,0
$GC,6095,-1.21,-146.0,594.1,-9.2,286,6101,0.12,2.58,0.00,0.000,6,0.102,0.047,3078,1623,3505,0,0,0,0,0,0
$STATE,6180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6180,begin apogee
$GC,6188,-0.31,0.0,601.8,9.1,289,6309,0.82,0.00,117.68,0.923,6,0.072,0.000,3270,1389,2920,0,0,0,0,0,0
$STATE,6310,end apogee,CONTROL_FINISHED_OK
$STATE,6310,begin climb
$GC,6312,1.27,146.0,605.3,0.0,292,6445,1.45,2.22,123.22,0.903,4,0.046,0.083,3617,164,2323,0,0,0,0,0,0
$GC,6462,1.00,171.4,601.0,8.8,295,6492,0.28,2.03,22.65,0.846,6,0.097,0.029,3559,1403,2220,0,0,0,0,0,0
$GC,6770,1.04,207.0,574.8,8.4,303,6806,0.00,2.25,31.30,0.861,4,0.000,0.071,3559,177,2076,0,0,0,0,0,0
$GC,6818,1.08,243.6,570.7,8.3,304,6859,0.00,2.03,34.42,0.857,6,0.000,0.032,3559,1409,1927,0,0,0,0,0,0
$GC,7149,1.10,257.9,539.9,9.3,312,7165,0.00,0.00,13.52,0.797,6,0.000,0.000,3559,1409,1868,0,0,0,0,0,0
$GC,7392,1.12,275.9,517.5,9.2,318,7412,0.10,0.00,17.40,0.815,6,0.077,0.000,3602,1410,1795,0,0,0,0,0,0
$GC,7635,1.12,275.9,487.1,12.8,324,7639,0.00,2.15,0.00,0.000,4,0.000,0.062,3603,159,1790,0,0,0,0,0,0
$GC,7660,1.02,275.9,483.7,14.2,324,7665,0.20,2.05,0.00,0.000,6,0.092,0.027,3560,1416,1790,0,0,0,0,0,0
$GC,7924,1.10,275.9,450.8,12.6,331,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1418,1788,0,0,0,0,0,0
$GC,8168,1.18,275.9,419.2,12.9,337,8170,0.15,0.00,0.00,0.000,6,0.058,0.000,3622,1418,1787,0,0,0,0,0,0
$GC,8412,1.09,275.9,383.6,14.7,343,8417,0.20,2.15,0.00,0.000,4,0.094,0.057,3577,164,1785,0,0,0,0,0,0
$GC,8461,1.09,275.9,376.8,13.8,344,8464,0.00,1.98,0.00,0.000,6,0.000,0.024,3577,1413,1785,0,0,0,0,0,0
$GC,8747,1.09,275.9,342.5,11.8,351,8751,0.00,2.55,0.00,0.000,4,0.000,0.034,3577,2974,1784,0,0,0,0,0,0
$GC,8768,1.16,275.9,340.1,11.4,351,8772,0.00,2.62,0.00,0.000,6,0.000,0.038,3577,1388,1782,0,0,0,0,0,0
$GC,9032,1.16,275.9,309.4,11.2,358,9036,0.00,2.08,0.00,0.000,4,0.000,0.060,3577,167,1782,0,0,0,0,0,0
$GC,9101,1.16,275.9,301.2,12.8,359,9105,0.00,1.92,0.00,0.000,6,0.000,0.023,3577,1398,1782,0,0,0,0,0,0
$GC,9366,1.23,275.9,273.5,10.4,366,9371,0.12,2.55,0.00,0.000,4,0.066,0.031,3629,2965,1782,0,0,0,0,0,0
$GC,9436,1.23,275.9,264.9,12.3,367,9442,0.10,2.62,0.00,0.000,6,0.116,0.038,3607,1390,1779,0,0,0,0,0,0
$GC,9696,1.23,275.9,235.1,11.3,374,9698,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1390,1780,0,0,0,0,0,0
$GC,9942,1.23,275.9,207.6,11.3,380,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1391,1780,0,0,0,0,0,0
$GC,10191,1.23,277.7,181.6,9.9,398,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1391,1780,0,0,0,0,0,0
$GC,10448,1.23,277.7,156.2,10.3,422,10451,0.00,2.03,0.00,0.000,4,0.000,0.054,3606,160,1780,0,0,0,0,0,0
$GC,10500,1.23,277.7,150.7,11.1,427,10504,0.00,1.92,0.00,0.000,6,0.000,0.020,3606,1433,1779,0,0,0,0,0,0
$GC,10767,1.26,304.6,125.4,8.8,452,10800,0.00,2.20,23.73,0.546,4,0.000,0.050,3606,165,1677,0,0,0,0,0,0
$GC,10846,1.26,304.6,118.2,11.4,459,10850,0.00,1.88,0.00,0.000,6,0.000,0.026,3607,1395,1677,0,0,0,0,0,0
$GC,11113,1.29,330.6,94.7,8.8,484,11147,0.00,2.12,24.52,0.513,4,0.000,0.047,3606,162,1571,0,0,0,0,0,0
$GC,11183,1.29,330.6,87.8,10.9,490,11192,0.00,1.90,0.00,0.000,6,0.000,0.019,3606,1394,1570,0,0,0,0,0,0
$GC,11453,1.39,335.4,62.6,9.8,515,11468,0.15,2.10,5.50,0.385,4,0.054,0.045,3670,161,1551,0,0,0,0,0,0
$GC,11572,1.25,335.4,43.9,15.8,525,11581,0.22,1.88,0.00,0.000,6,0.073,0.018,3614,1380,1551,0,0,0,0,0,0
$GC,11859,1.33,335.4,12.5,10.9,562,11868,0.00,2.05,0.00,0.000,4,0.000,0.046,3614,160,1551,0,0,0,0,0,0
$GC,11896,1.33,335.4,8.1,11.4,567,11905,0.00,1.88,0.00,0.000,6,0.000,0.018,3614,1395,1551,0,0,0,0,0,0
$STATE,11930,end climb,SURFACE_DEPTH_REACHED
$STATE,11930,begin surface coast
$FINISH,0.9,1.023481
$STATE,11975,end surface coast,CONTROL_FINISHED_OK
$STATE,11975,begin surface
$SM_CCo,12000,21.65,0.421,0,0,1369,380.21
$SM_GC,1.52,0.00,0.00,21.65,0.000,0.000,0.421,413,1605,1369,-13.46,0.71,380.21
$IRIDIUM_FIX,2258.07,-15711.46,071101,030339
$TT8_MAMPS,0.026845
$HUMID,66.14
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.5,58.537
$10V_AH,9.9,47.178
$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,37.450,124.050,413.950,21.650,0.000,53.529,88.732,285.215,1.750,0.000,13.342,1193.969,8137.122,479.808,2047.326,810.877,33.384,1321.906,0.000,2062.067,0.000,0.538,0.000
$DEVICE_MAMPS,166.439,82.836,922.701,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.182,346.277,435.974,648.796,1140.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,44549,579
$CAP_FILE_SIZE,133167,0
$CFSIZE,260165632,151814144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130812,071656,2304.194,-15805.357,24,99.0,43,10.1