version: 66.06
glider: 148
mission: 11
dive: 173
start: 7 4 112 10 48 7
data:
$ID,148
$MISSION,11
$DIVE,173
$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,-921896.94
$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,26
$R_STBD_OVSHOOT,87
$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
$GPS1,103720,2259.283,-15758.687,36,99.0,55,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.7
$GPS2,104713,2259.197,-15758.726,11,1.2,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.256,-0.046
$KALMAN_X,74864.8,259.7,450.4,-73807.9,-1023.1
$KALMAN_Y,-43762.0,221.3,202.9,64067.5,-1635.5
$MHEAD_RNG_PITCHd_Wd,90.1,52296,-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,-67.62,0.000,2,0.000,0.000,414,1561,3091,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-5.2,9,122,13.88,2.33,-7.95,0.000,4,0.155,0.053,3058,169,3519,0,0,0,0,0,0
$GC,146,-0.78,-146.0,19.6,-26.5,16,155,0.47,2.08,0.00,0.000,6,0.087,0.018,3166,1509,3520,0,0,0,0,0,0
$GC,421,-0.78,-146.0,53.6,-11.7,46,426,0.00,2.53,0.00,0.000,4,0.000,0.024,3166,3108,3521,0,0,0,0,0,0
$GC,479,-0.93,-146.0,59.8,-9.8,50,488,0.10,2.55,0.00,0.000,6,0.027,0.029,3082,1549,3521,0,0,0,0,0,0
$GC,746,-0.74,-146.0,97.5,-14.2,75,751,0.40,2.22,0.00,0.000,4,0.085,0.039,3174,165,3522,0,0,0,0,0,0
$GC,767,-0.74,-146.0,101.2,-13.7,76,775,0.00,2.12,0.00,0.000,6,0.000,0.018,3175,1567,3522,0,0,0,0,0,0
$GC,1035,-0.88,-146.0,122.5,-7.9,101,1040,0.12,2.38,0.00,0.000,4,0.062,0.023,3106,3090,3523,0,0,0,0,0,0
$GC,1064,-0.88,-146.0,125.6,-10.7,103,1070,0.17,2.47,0.00,0.000,6,0.092,0.028,3146,1537,3523,0,0,0,0,0,0
$GC,1330,-0.97,-146.0,150.8,-9.4,127,1334,0.00,2.42,0.00,0.000,4,0.000,0.025,3146,3092,3523,0,0,0,0,0,0
$GC,1351,-1.06,-146.0,153.2,-9.3,128,1357,0.15,2.47,0.00,0.000,6,0.054,0.028,3058,1548,3523,0,0,0,0,0,0
$GC,1614,-0.88,-146.0,187.7,-13.8,153,1618,0.38,2.22,0.00,0.000,4,0.085,0.041,3146,170,3523,0,0,0,0,0,0
$GC,1637,-0.88,-146.0,190.9,-12.4,154,1642,0.00,2.08,0.00,0.000,6,0.000,0.018,3146,1554,3524,0,0,0,0,0,0
$GC,1924,-1.00,-146.0,214.1,-8.2,170,1926,0.10,0.00,0.00,0.000,6,0.074,0.000,3086,1557,3524,0,0,0,0,0,0
$GC,2166,-1.00,-146.0,241.2,-11.2,176,2170,0.15,2.30,0.00,0.000,4,0.100,0.044,3121,164,3524,0,0,0,0,0,0
$GC,2180,-1.00,-146.0,242.9,-11.0,176,2184,0.00,2.10,0.00,0.000,6,0.000,0.019,3121,1566,3524,0,0,0,0,0,0
$GC,2451,-1.08,-146.0,266.8,-8.9,183,2455,0.00,2.38,0.00,0.000,4,0.000,0.027,3121,3088,3524,0,0,0,0,0,0
$GC,2474,-1.19,-146.0,269.1,-8.3,183,2480,0.17,2.45,0.00,0.000,6,0.046,0.030,3042,1557,3524,0,0,0,0,0,0
$GC,2736,-1.04,-146.0,300.4,-12.3,190,2741,0.28,2.28,0.00,0.000,4,0.092,0.046,3107,163,3524,0,0,0,0,0,0
$GC,2781,-1.13,-146.0,305.2,-8.9,191,2785,0.00,2.12,0.00,0.000,6,0.000,0.021,3107,1541,3524,0,0,0,0,0,0
$GC,3074,-1.20,-146.0,329.6,-8.6,198,3079,0.12,2.53,0.00,0.000,4,0.064,0.031,3046,3107,3523,0,0,0,0,0,0
$GC,3094,-1.20,-146.0,331.8,-9.9,198,3099,0.15,2.50,0.00,0.000,6,0.097,0.032,3080,1557,3523,0,0,0,0,0,0
$GC,3359,-1.20,-146.0,356.6,-9.4,205,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1557,3521,0,0,0,0,0,0
$GC,3604,-1.20,-146.0,379.8,-9.5,211,3608,0.00,2.53,0.00,0.000,4,0.000,0.034,3080,3106,3520,0,0,0,0,0,0
$GC,3641,-1.28,-146.0,383.6,-8.9,211,3646,0.00,2.53,0.00,0.000,6,0.000,0.038,3080,1566,3520,0,0,0,0,0,0
$GC,3891,-1.28,-146.0,407.1,-9.6,217,3896,0.00,2.38,0.00,0.000,4,0.000,0.062,3080,164,3519,0,0,0,0,0,0
$GC,3936,-1.28,-146.0,411.5,-10.0,218,3940,0.00,2.17,0.00,0.000,6,0.000,0.026,3080,1559,3518,0,0,0,0,0,0
$GC,4223,-1.28,-146.0,438.5,-9.4,225,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1559,3516,0,0,0,0,0,0
$GC,4466,-1.28,-146.0,461.2,-9.4,231,4471,0.00,2.50,0.00,0.000,4,0.000,0.038,3080,3108,3515,0,0,0,0,0,0
$GC,4482,-1.28,-146.0,462.8,-9.3,231,4486,0.00,2.55,0.00,0.000,6,0.000,0.036,3080,1563,3515,0,0,0,0,0,0
$GC,4751,-1.28,-146.0,487.9,-9.4,238,4755,0.00,2.55,0.00,0.000,4,0.000,0.039,3080,3107,3513,0,0,0,0,0,0
$GC,4774,-1.28,-146.0,490.3,-9.5,238,4779,0.00,2.55,0.00,0.000,6,0.000,0.040,3080,1574,3513,0,0,0,0,0,0
$GC,5035,-1.28,-146.0,513.2,-8.7,245,5040,0.00,2.42,0.00,0.000,4,0.000,0.074,3080,164,3511,0,0,0,0,0,0
$GC,5096,-1.28,-146.0,519.2,-9.4,246,5100,0.00,2.25,0.00,0.000,6,0.000,0.034,3080,1555,3511,0,0,0,0,0,0
$GC,5369,-1.28,-146.0,541.4,-8.0,253,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1555,3509,0,0,0,0,0,0
$GC,5614,-1.28,-146.0,560.9,-7.9,259,5618,0.00,2.60,0.00,0.000,4,0.000,0.048,3080,3119,3508,0,0,0,0,0,0
$GC,5638,-1.28,-146.0,563.0,-8.6,259,5642,0.00,2.60,0.00,0.000,6,0.000,0.044,3080,1566,3507,0,0,0,0,0,0
$GC,5897,-1.28,-146.0,581.6,-7.1,266,5901,0.00,2.45,0.00,0.000,4,0.000,0.078,3080,166,3506,0,0,0,0,0,0
$GC,5950,-1.28,-146.0,585.9,-8.8,267,5954,0.00,2.25,0.00,0.000,6,0.000,0.035,3080,1556,3505,0,0,0,0,0,0
$STATE,6148,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6148,begin apogee
$GC,6155,-0.31,0.0,600.6,7.3,272,6276,0.85,0.00,117.95,0.937,6,0.085,0.000,3269,1361,2920,0,0,0,0,0,0
$STATE,6277,end apogee,CONTROL_FINISHED_OK
$STATE,6277,begin climb
$GC,6279,1.27,146.0,603.7,0.0,275,6412,1.45,2.12,124.68,0.917,4,0.049,0.073,3614,171,2323,0,0,0,0,0,0
$GC,6502,0.92,146.0,588.3,13.9,280,6506,0.35,1.98,0.00,0.000,6,0.104,0.030,3542,1382,2318,0,0,0,0,0,0
$GC,6780,0.97,183.6,564.3,8.3,287,6817,0.00,2.15,32.40,0.874,4,0.000,0.067,3542,178,2169,0,0,0,0,0,0
$GC,6913,0.89,183.6,551.0,11.2,289,6917,0.00,1.95,0.00,0.000,6,0.000,0.028,3542,1377,2167,0,0,0,0,0,0
$GC,7205,0.92,214.5,525.0,8.6,296,7237,0.00,2.15,27.65,0.858,4,0.000,0.066,3542,178,2044,0,0,0,0,0,0
$GC,7253,0.96,246.9,520.9,8.5,297,7292,0.00,1.92,30.88,0.851,6,0.000,0.028,3542,1375,1912,0,0,0,0,0,0
$GC,7535,0.96,246.9,492.7,10.1,304,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1375,1905,0,0,0,0,0,0
$GC,7779,0.96,246.9,467.3,10.6,310,7783,0.00,2.65,0.00,0.000,4,0.000,0.044,3542,2961,1903,0,0,0,0,0,0
$GC,7805,0.96,246.9,464.8,10.0,310,7810,0.00,2.67,0.00,0.000,6,0.000,0.043,3542,1378,1901,0,0,0,0,0,0
$GC,8065,0.96,246.9,436.5,10.8,317,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1378,1900,0,0,0,0,0,0
$GC,8308,0.96,246.9,409.4,11.0,323,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1378,1900,0,0,0,0,0,0
$GC,8552,0.96,246.9,383.6,10.4,329,8553,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1378,1898,0,0,0,0,0,0
$GC,8797,0.99,269.5,361.2,9.0,335,8818,0.00,0.00,19.12,0.758,6,0.000,0.000,3542,1378,1821,0,0,0,0,0,0
$GC,9040,1.06,269.5,337.0,10.3,341,9045,0.12,2.62,0.00,0.000,4,0.066,0.034,3597,2961,1816,0,0,0,0,0,0
$GC,9069,1.00,269.5,333.4,12.7,341,9076,0.17,2.65,0.00,0.000,6,0.097,0.041,3559,1371,1815,0,0,0,0,0,0
$GC,9327,1.00,269.5,303.5,11.5,348,9331,0.00,2.05,0.00,0.000,4,0.000,0.060,3559,165,1814,0,0,0,0,0,0
$GC,9355,1.00,269.5,300.0,11.8,348,9358,0.00,1.90,0.00,0.000,6,0.000,0.023,3559,1394,1814,0,0,0,0,0,0
$GC,9618,1.00,269.5,272.7,10.2,355,9622,0.00,2.53,0.00,0.000,4,0.000,0.032,3559,2951,1814,0,0,0,0,0,0
$GC,9652,1.08,269.5,269.3,10.0,355,9657,0.00,2.62,0.00,0.000,6,0.000,0.041,3559,1371,1812,0,0,0,0,0,0
$GC,9902,1.08,269.5,242.7,10.6,361,9905,0.00,2.03,0.00,0.000,4,0.000,0.058,3559,167,1811,0,0,0,0,0,0
$GC,9961,1.08,269.5,236.1,10.7,362,9965,0.00,1.88,0.00,0.000,6,0.000,0.022,3559,1389,1811,0,0,0,0,0,0
$GC,10240,1.17,284.0,209.9,9.3,369,10260,0.15,2.50,12.52,0.615,4,0.055,0.030,3616,2935,1761,0,0,0,0,0,0
$GC,10298,1.17,284.0,203.1,12.0,370,10303,0.10,2.60,0.00,0.000,6,0.122,0.038,3594,1375,1758,0,0,0,0,0,0
$GC,10562,1.17,284.0,173.7,11.2,393,10566,0.00,2.00,0.00,0.000,4,0.000,0.051,3594,161,1757,0,0,0,0,0,0
$GC,10586,1.17,284.0,170.7,12.3,395,10592,0.00,1.88,0.00,0.000,6,0.000,0.021,3594,1379,1757,0,0,0,0,0,0
$GC,10850,1.17,284.0,142.5,11.2,420,10854,0.00,2.03,0.00,0.000,4,0.000,0.058,3594,165,1757,0,0,0,0,0,0
$GC,10883,1.17,284.0,138.6,12.6,423,10887,0.00,1.88,0.00,0.000,6,0.000,0.021,3594,1380,1757,0,0,0,0,0,0
$GC,11150,1.17,284.0,108.1,11.8,448,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,3594,1383,1757,0,0,0,0,0,0
$GC,11405,1.17,284.0,81.4,10.0,472,11408,0.00,2.03,0.00,0.000,4,0.000,0.049,3594,162,1758,0,0,0,0,0,0
$GC,11452,1.17,284.0,76.4,11.8,476,11456,0.00,1.83,0.00,0.000,6,0.000,0.019,3594,1385,1757,0,0,0,0,0,0
$GC,11725,1.21,315.4,51.0,8.6,501,11755,0.00,0.00,28.38,0.498,6,0.000,0.000,3594,1387,1634,0,0,0,0,0,0
$GC,12023,1.29,330.2,20.2,9.3,535,12048,0.10,2.53,14.02,0.446,4,0.074,0.028,3644,2930,1572,0,0,0,0,0,0
$GC,12077,1.29,330.2,13.9,12.4,542,12086,0.08,2.58,0.00,0.000,6,0.084,0.035,3622,1380,1569,0,0,0,0,0,0
$STATE,12148,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FINISH,0.9,1.023732
$STATE,12191,end surface coast,CONTROL_FINISHED_OK
$STATE,12191,begin surface
$SM_CCo,12215,33.03,0.451,0,0,1369,380.21
$SM_GC,1.56,0.00,0.00,33.03,0.000,0.000,0.451,411,1579,1369,-13.48,1.10,380.21
$IRIDIUM_FIX,2248.70,-15756.28,280901,101025
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.70
$XPDR_PINGS,5
$24V_AH,23.5,23.894
$10V_AH,9.9,17.346
$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,32.925,139.075,407.600,33.025,0.000,56.281,75.167,251.083,1.250,0.000,12.769,1178.495,8415.312,476.692,2033.337,733.248,33.361,1332.421,0.000,2037.112,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,78.234,936.507,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.914,327.652,405.266,603.064,1059.959,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,44725,559
$CAP_FILE_SIZE,132790,0
$CFSIZE,260165632,168448000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040712,141336,2258.158,-15757.408,39,1.6,39,10.1