version: 66.06
glider: 148
mission: 11
dive: 182
start: 7 5 112 18 26 19
data:
$ID,148
$MISSION,11
$DIVE,182
$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,-922088.81
$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,93
$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
$GPS1,180435,2249.108,-15748.823,76,2.0,82,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-73.0
$GPS2,182525,2249.113,-15749.019,10,1.2,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,-0.232
$KALMAN_X,71823.6,-360.6,-581.7,-52534.5,215.9
$KALMAN_Y,-44959.0,-499.9,-251.3,47765.4,1152.8
$MHEAD_RNG_PITCHd_Wd,143.4,27332,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.12,0.000,2,0.000,0.000,410,1565,3082,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-4.2,9,120,14.40,0.00,-8.15,0.000,6,0.169,0.000,3059,1565,3518,0,0,0,0,0,0
$GC,389,-0.97,-146.0,70.4,-17.4,43,398,0.28,0.00,0.00,0.000,6,0.099,0.000,3122,1566,3520,0,0,0,0,0,0
$GC,650,-0.97,-146.0,101.5,-10.5,68,651,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1565,3520,0,0,0,0,0,0
$GC,905,-0.97,-146.0,129.6,-10.9,92,906,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1565,3521,0,0,0,0,0,0
$GC,1162,-0.97,-146.0,157.0,-11.6,116,1166,0.00,2.35,0.00,0.000,4,0.000,0.024,3122,3073,3521,0,0,0,0,0,0
$GC,1189,-0.97,-146.0,159.9,-11.4,118,1194,0.00,2.45,0.00,0.000,6,0.000,0.027,3122,1535,3521,0,0,0,0,0,0
$GC,1457,-0.97,-146.0,185.8,-9.4,142,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1534,3522,0,0,0,0,0,0
$GC,1724,-0.97,-146.0,211.4,-9.3,159,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1534,3521,0,0,0,0,0,0
$GC,1968,-1.04,-146.0,231.5,-7.9,165,1972,0.00,2.42,0.00,0.000,4,0.000,0.025,3122,3078,3521,0,0,0,0,0,0
$GC,2026,-1.22,-146.0,236.3,-7.9,166,2031,0.20,2.50,0.00,0.000,6,0.040,0.031,3035,1536,3522,0,0,0,0,0,0
$GC,2300,-1.03,-146.0,272.5,-13.5,173,2305,0.32,2.22,0.00,0.000,4,0.091,0.044,3112,170,3521,0,0,0,0,0,0
$GC,2321,-0.96,-146.0,275.1,-12.2,173,2325,0.00,2.05,0.00,0.000,6,0.000,0.020,3111,1516,3522,0,0,0,0,0,0
$GC,2585,-0.96,-146.0,298.0,-8.8,180,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1518,3521,0,0,0,0,0,0
$GC,2829,-1.03,-146.0,318.8,-8.4,186,2833,0.00,2.55,0.00,0.000,4,0.000,0.031,3111,3105,3519,0,0,0,0,0,0
$GC,2869,-1.19,-146.0,322.1,-8.5,186,2875,0.12,2.58,0.00,0.000,6,0.061,0.034,3017,1536,3519,0,0,0,0,0,0
$GC,3119,-0.98,-146.0,354.8,-13.6,193,3124,0.45,2.30,0.00,0.000,4,0.089,0.051,3121,163,3518,0,0,0,0,0,0
$GC,3163,-1.11,-146.0,359.4,-8.7,194,3168,0.10,2.10,0.00,0.000,6,0.076,0.022,3073,1524,3517,0,0,0,0,0,0
$GC,3453,-1.11,-146.0,387.7,-9.8,201,3458,0.12,2.58,0.00,0.000,4,0.106,0.036,3100,3114,3516,0,0,0,0,0,0
$GC,3482,-1.21,-146.0,390.7,-8.6,201,3487,0.10,2.60,0.00,0.000,6,0.074,0.037,3022,1541,3516,0,0,0,0,0,0
$GC,3739,-0.99,-146.0,425.1,-14.0,208,3745,0.47,2.33,0.00,0.000,4,0.086,0.062,3117,168,3514,0,0,0,0,0,0
$GC,3769,-1.09,-146.0,428.4,-8.7,208,3773,0.00,2.15,0.00,0.000,6,0.000,0.027,3117,1535,3514,0,0,0,0,0,0
$GC,4025,-1.21,-146.0,445.1,-6.4,215,4031,0.17,2.58,0.00,0.000,4,0.048,0.038,3044,3116,3512,0,0,0,0,0,0
$GC,4082,-1.21,-146.0,450.1,-8.8,216,4088,0.15,2.58,0.00,0.000,6,0.096,0.038,3078,1547,3512,0,0,0,0,0,0
$GC,4357,-1.21,-146.0,471.5,-7.8,223,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1547,3510,0,0,0,0,0,0
$GC,4602,-1.21,-146.0,492.6,-8.7,229,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1547,3509,0,0,0,0,0,0
$GC,4844,-1.21,-146.0,514.4,-8.9,235,4848,0.00,2.60,0.00,0.000,4,0.000,0.044,3078,3114,3507,0,0,0,0,0,0
$GC,4882,-1.30,-146.0,517.6,-8.1,235,4888,0.00,2.60,0.00,0.000,6,0.000,0.042,3078,1550,3507,0,0,0,0,0,0
$GC,5134,-1.30,-146.0,538.6,-8.2,242,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1550,3505,0,0,0,0,0,0
$GC,5376,-1.30,-146.0,556.7,-7.4,248,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1550,3503,0,0,0,0,0,0
$GC,5620,-1.30,-146.0,574.0,-7.1,254,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1550,3501,0,0,0,0,0,0
$GC,5863,-1.30,-146.0,592.8,-7.9,260,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1550,3500,0,0,0,0,0,0
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5990,-0.31,0.0,602.9,8.2,263,6110,0.85,0.00,116.75,0.936,6,0.082,0.000,3269,1375,2920,0,0,0,0,0,0
$STATE,6111,end apogee,CONTROL_FINISHED_OK
$STATE,6111,begin climb
$GC,6114,1.27,146.0,606.5,0.0,266,6245,1.45,2.22,123.60,0.917,4,0.048,0.083,3612,164,2323,0,0,0,0,0,0
$GC,6474,0.93,146.0,572.2,14.0,274,6479,0.32,2.00,0.00,0.000,6,0.104,0.031,3545,1383,2316,0,0,0,0,0,0
$GC,6757,0.94,153.9,544.2,9.6,281,6769,0.00,2.20,6.20,0.688,4,0.000,0.069,3545,166,2292,0,0,0,0,0,0
$GC,6835,0.83,153.9,535.7,11.2,282,6840,0.12,1.98,0.00,0.000,6,0.117,0.029,3519,1382,2291,0,0,0,0,0,0
$GC,7092,0.89,202.4,514.9,7.8,289,7141,0.00,2.17,43.88,0.864,4,0.000,0.066,3519,168,2093,0,0,0,0,0,0
$GC,7194,0.90,215.4,506.0,9.4,291,7211,0.00,1.95,12.57,0.784,6,0.000,0.027,3519,1373,2041,0,0,0,0,0,0
$GC,7462,1.03,257.1,484.1,8.1,298,7508,0.17,2.72,38.70,0.841,4,0.051,0.044,3579,2946,1870,0,0,0,0,0,0
$GC,7530,1.03,257.1,476.6,12.7,299,7535,0.00,2.70,0.00,0.000,6,0.000,0.043,3579,1365,1866,0,0,0,0,0,0
$GC,7794,0.97,257.1,443.1,12.6,306,7796,0.12,0.00,0.00,0.000,6,0.110,0.000,3552,1365,1863,0,0,0,0,0,0
$GC,8038,0.97,257.1,414.8,11.7,312,8042,0.00,2.65,0.00,0.000,4,0.000,0.035,3552,2965,1861,0,0,0,0,0,0
$GC,8053,0.97,257.1,412.7,12.0,312,8058,0.00,2.70,0.00,0.000,6,0.000,0.041,3552,1362,1860,0,0,0,0,0,0
$GC,8323,0.97,257.1,382.0,11.4,319,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1361,1859,0,0,0,0,0,0
$GC,8565,0.97,257.1,356.7,10.0,325,8570,0.00,2.62,0.00,0.000,4,0.000,0.034,3552,2963,1858,0,0,0,0,0,0
$GC,8603,1.08,262.5,352.8,9.7,325,8610,0.10,2.67,0.00,0.000,6,0.077,0.041,3600,1368,1857,0,0,0,0,0,0
$GC,8855,0.99,262.5,320.8,12.9,332,8857,0.20,0.00,0.00,0.000,6,0.097,0.000,3557,1368,1857,0,0,0,0,0,0
$GC,9097,0.99,262.5,295.0,10.3,338,9100,0.00,2.03,0.00,0.000,4,0.000,0.061,3557,164,1856,0,0,0,0,0,0
$GC,9170,0.99,262.5,286.5,12.0,339,9174,0.00,1.90,0.00,0.000,6,0.000,0.024,3557,1372,1856,0,0,0,0,0,0
$GC,9435,0.99,262.5,260.4,10.1,346,9439,0.00,2.55,0.00,0.000,4,0.000,0.031,3557,2958,1856,0,0,0,0,0,0
$GC,9509,1.11,262.5,252.1,10.7,347,9515,0.10,2.67,0.00,0.000,6,0.075,0.040,3607,1355,1853,0,0,0,0,0,0
$GC,9767,1.02,262.5,221.4,11.7,354,9771,0.20,1.98,0.00,0.000,4,0.094,0.054,3564,167,1853,0,0,0,0,0,0
$GC,9813,1.02,262.5,216.3,10.2,355,9817,0.00,1.85,0.00,0.000,6,0.000,0.021,3564,1374,1853,0,0,0,0,0,0
$GC,10072,1.08,262.5,191.5,10.5,365,10076,0.00,2.50,0.00,0.000,4,0.000,0.028,3564,2942,1853,0,0,0,0,0,0
$GC,10122,1.22,271.7,186.7,9.6,369,10140,0.12,2.62,10.88,0.574,6,0.031,0.037,3619,1365,1811,0,0,0,0,0,0
$GC,10396,1.12,271.7,152.9,11.8,395,10401,0.15,2.03,0.00,0.000,4,0.101,0.060,3586,161,1809,0,0,0,0,0,0
$GC,10484,1.12,271.7,142.3,12.4,403,10488,0.00,1.85,0.00,0.000,6,0.000,0.022,3586,1377,1809,0,0,0,0,0,0
$GC,10752,1.12,271.7,112.6,11.0,428,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1378,1808,0,0,0,0,0,0
$GC,11017,1.15,291.8,87.1,9.1,453,11038,0.00,0.00,18.23,0.518,6,0.000,0.000,3586,1378,1730,0,0,0,0,0,0
$GC,11294,1.27,328.3,61.9,8.3,479,11333,0.12,0.00,33.58,0.506,6,0.067,0.000,3639,1378,1579,0,0,0,0,0,0
$GC,11594,1.27,328.3,22.9,13.0,511,11603,0.10,2.08,0.00,0.000,4,0.119,0.053,3616,169,1576,0,0,0,0,0,0
$GC,11640,1.27,328.3,16.4,14.0,517,11649,0.00,1.85,0.00,0.000,6,0.000,0.019,3616,1371,1576,0,0,0,0,0,0
$STATE,11735,end climb,SURFACE_DEPTH_REACHED
$STATE,11736,begin surface coast
$FINISH,0.7,0.998944
$STATE,11778,end surface coast,CONTROL_FINISHED_OK
$STATE,11778,begin surface
$SM_CCo,11801,26.67,0.443,0,0,1369,380.21
$SM_GC,1.33,0.00,0.00,26.67,0.000,0.000,0.443,414,1569,1369,-13.46,0.85,380.21
$IRIDIUM_FIX,2239.35,-15749.78,290901,181834
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,4
$24V_AH,23.5,24.990
$10V_AH,9.9,18.322
$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,33.900,98.525,404.375,26.675,0.000,127.271,235.353,474.785,1.000,0.000,12.229,1106.029,8411.172,448.150,1930.715,1179.696,33.365,1260.450,0.000,1933.505,0.000,0.536,0.000
$DEVICE_MAMPS,168.740,82.836,935.740,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.476,304.892,383.430,552.606,970.869,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,41459,538
$CAP_FILE_SIZE,131998,0
$CFSIZE,260165632,167907328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,214459,2248.140,-15748.124,34,2.0,50,10.1