version: 66.06
glider: 148
mission: 11
dive: 172
start: 7 4 112 7 9 18
data:
$ID,148
$MISSION,11
$DIVE,172
$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,-921883.56
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,99
$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
$GPS1,065745,2300.841,-15800.328,62,1.6,77,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.3
$GPS2,070824,2300.811,-15800.266,11,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.162
$KALMAN_X,75057.3,290.2,30.7,-76243.9,292.7
$KALMAN_Y,-43156.0,480.1,384.7,66010.1,-988.7
$MHEAD_RNG_PITCHd_Wd,118.4,56278,-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,-74.65,0.000,2,0.000,0.000,413,1573,3298,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-6.0,10,120,14.48,2.30,-3.65,0.000,4,0.173,0.048,3057,160,3517,0,0,0,0,0,0
$GC,130,0.53,-146.0,19.6,-41.6,14,140,1.83,2.08,0.00,0.000,6,0.101,0.017,3448,1524,3519,0,0,0,0,0,0
$GC,420,-0.37,-146.0,43.9,-8.1,49,432,0.80,2.25,0.00,0.000,4,0.073,0.045,3263,167,3521,0,0,0,0,0,0
$GC,548,-1.07,-146.0,54.6,-8.6,60,558,0.62,2.03,0.00,0.000,6,0.041,0.018,3101,1530,3521,0,0,0,0,0,0
$GC,817,-0.91,-146.0,89.2,-12.5,85,822,0.17,2.42,0.00,0.000,4,0.103,0.024,3138,3057,3521,0,0,0,0,0,0
$GC,846,-0.91,-146.0,92.9,-9.9,87,850,0.00,2.50,0.00,0.000,6,0.000,0.029,3138,1506,3521,0,0,0,0,0,0
$GC,1115,-0.91,-146.0,118.3,-9.9,111,1119,0.00,2.15,0.00,0.000,4,0.000,0.051,3138,170,3522,0,0,0,0,0,0
$GC,1144,-0.91,-146.0,122.5,-11.3,113,1149,0.00,1.95,0.00,0.000,6,0.000,0.022,3138,1482,3522,0,0,0,0,0,0
$GC,1408,-0.91,-146.0,146.0,-9.1,138,1413,0.00,2.47,0.00,0.000,4,0.000,0.023,3138,3059,3522,0,0,0,0,0,0
$GC,1455,-1.05,-146.0,150.4,-8.2,142,1460,0.12,2.47,0.00,0.000,6,0.061,0.028,3061,1508,3522,0,0,0,0,0,0
$GC,1720,-0.86,-146.0,187.2,-14.0,166,1725,0.40,2.42,0.00,0.000,4,0.088,0.021,3149,3054,3523,0,0,0,0,0,0
$GC,1740,-0.86,-146.0,190.2,-12.2,167,1745,0.00,2.47,0.00,0.000,6,0.000,0.027,3148,1501,3523,0,0,0,0,0,0
$GC,2015,-0.99,-146.0,213.4,-8.1,182,2020,0.10,2.47,0.00,0.000,4,0.075,0.024,3089,3058,3523,0,0,0,0,0,0
$GC,2064,-0.99,-146.0,218.1,-10.6,183,2069,0.15,2.47,0.00,0.000,6,0.096,0.029,3125,1521,3524,0,0,0,0,0,0
$GC,2347,-0.99,-146.0,242.3,-8.2,190,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1521,3524,0,0,0,0,0,0
$GC,2592,-1.06,-146.0,263.0,-8.6,196,2597,0.00,2.42,0.00,0.000,4,0.000,0.025,3124,3052,3524,0,0,0,0,0,0
$GC,2612,-1.16,-146.0,264.9,-8.8,196,2617,0.15,2.45,0.00,0.000,6,0.054,0.029,3039,1521,3524,0,0,0,0,0,0
$GC,2877,-0.96,-146.0,299.7,-13.7,203,2882,0.43,2.20,0.00,0.000,4,0.089,0.048,3126,171,3523,0,0,0,0,0,0
$GC,2907,-1.02,-146.0,302.9,-9.5,203,2911,0.00,1.98,0.00,0.000,6,0.000,0.020,3126,1477,3524,0,0,0,0,0,0
$GC,3167,-1.13,-146.0,322.1,-7.0,210,3172,0.15,2.53,0.00,0.000,4,0.054,0.030,3057,3048,3523,0,0,0,0,0,0
$GC,3223,-1.13,-146.0,327.9,-10.3,211,3228,0.15,2.45,0.00,0.000,6,0.093,0.034,3092,1537,3523,0,0,0,0,0,0
$GC,3498,-1.13,-146.0,354.0,-9.6,218,3503,0.00,2.42,0.00,0.000,4,0.000,0.032,3092,3047,3522,0,0,0,0,0,0
$GC,3517,-1.13,-146.0,356.1,-10.4,218,3521,0.00,2.45,0.00,0.000,6,0.000,0.034,3092,1539,3522,0,0,0,0,0,0
$GC,3782,-1.13,-146.0,381.0,-9.5,225,3786,0.00,2.28,0.00,0.000,4,0.000,0.057,3092,173,3521,0,0,0,0,0,0
$GC,3805,-1.13,-146.0,383.5,-10.5,225,3809,0.00,2.03,0.00,0.000,6,0.000,0.022,3092,1491,3520,0,0,0,0,0,0
$GC,4064,-1.13,-146.0,403.7,-7.5,232,4069,0.00,2.62,0.00,0.000,4,0.000,0.035,3093,3107,3518,0,0,0,0,0,0
$GC,4089,-1.13,-146.0,405.5,-7.7,232,4094,0.00,2.55,0.00,0.000,6,0.000,0.037,3092,1551,3518,0,0,0,0,0,0
$GC,4349,-1.13,-146.0,424.2,-7.6,239,4353,0.00,2.35,0.00,0.000,4,0.000,0.063,3092,171,3517,0,0,0,0,0,0
$GC,4382,-1.13,-146.0,427.2,-8.8,239,4386,0.00,2.17,0.00,0.000,6,0.000,0.030,3092,1544,3517,0,0,0,0,0,0
$GC,4633,-1.13,-146.0,448.7,-8.6,245,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1545,3515,0,0,0,0,0,0
$GC,4876,-1.13,-146.0,469.9,-8.6,251,4880,0.00,2.58,0.00,0.000,4,0.000,0.040,3092,3114,3514,0,0,0,0,0,0
$GC,4911,-1.24,-146.0,472.8,-8.2,251,4915,0.00,2.58,0.00,0.000,6,0.000,0.040,3092,1555,3514,0,0,0,0,0,0
$GC,5163,-1.30,-146.0,491.5,-7.4,257,5165,0.15,0.00,0.00,0.000,6,0.055,0.000,3017,1555,3512,0,0,0,0,0,0
$GC,5404,-1.13,-146.0,519.1,-11.5,263,5409,0.30,2.40,0.00,0.000,4,0.094,0.073,3087,165,3510,0,0,0,0,0,0
$GC,5433,-1.13,-146.0,522.2,-9.3,263,5438,0.00,2.22,0.00,0.000,6,0.000,0.033,3087,1545,3509,0,0,0,0,0,0
$GC,5690,-1.13,-146.0,539.9,-6.9,270,5694,0.00,2.62,0.00,0.000,4,0.000,0.046,3087,3125,3508,0,0,0,0,0,0
$GC,5711,-1.20,-146.0,541.5,-7.1,270,5715,0.00,2.62,0.00,0.000,6,0.000,0.043,3087,1558,3508,0,0,0,0,0,0
$GC,5975,-1.20,-146.0,559.4,-6.9,277,5979,0.00,2.42,0.00,0.000,4,0.000,0.077,3087,168,3506,0,0,0,0,0,0
$GC,5999,-1.20,-146.0,561.2,-7.7,277,6004,0.00,2.22,0.00,0.000,6,0.000,0.035,3087,1554,3505,0,0,0,0,0,0
$GC,6263,-1.20,-146.0,580.7,-7.3,284,6268,0.00,2.62,0.00,0.000,4,0.000,0.049,3087,3124,3504,0,0,0,0,0,0
$GC,6287,-1.28,-146.0,582.6,-8.1,284,6293,0.12,2.65,0.00,0.000,6,0.063,0.045,3017,1549,3504,0,0,0,0,0,0
$STATE,6464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6464,begin apogee
$GC,6471,-0.31,0.0,601.7,11.1,289,6593,1.15,0.00,117.70,0.939,6,0.096,0.000,3267,1369,2920,0,0,0,0,0,0
$STATE,6595,end apogee,CONTROL_FINISHED_OK
$STATE,6595,begin climb
$GC,6598,1.27,146.0,605.9,0.0,292,6732,1.45,2.17,124.62,0.918,4,0.042,0.080,3618,167,2322,0,0,0,0,0,0
$GC,6807,0.90,146.0,594.2,13.0,296,6814,0.40,2.00,0.00,0.000,6,0.100,0.030,3536,1388,2318,0,0,0,0,0,0
$GC,7059,0.98,216.5,576.1,6.7,303,7127,0.00,2.17,61.00,0.895,4,0.000,0.076,3535,172,2037,0,0,0,0,0,0
$GC,7144,1.02,245.3,569.6,8.7,305,7177,0.10,1.98,27.58,0.860,6,0.081,0.029,3570,1377,1919,0,0,0,0,0,0
$GC,7436,0.96,245.3,537.0,11.6,312,7437,0.10,0.00,0.00,0.000,6,0.121,0.000,3549,1377,1910,0,0,0,0,0,0
$GC,7676,0.96,245.3,509.3,11.5,318,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,1377,1908,0,0,0,0,0,0
$GC,7919,0.96,245.3,481.4,11.4,324,7923,0.00,2.08,0.00,0.000,4,0.000,0.063,3548,165,1906,0,0,0,0,0,0
$GC,7947,0.96,245.3,477.8,13.2,324,7951,0.00,1.98,0.00,0.000,6,0.000,0.027,3548,1391,1906,0,0,0,0,0,0
$GC,8211,0.96,245.3,450.5,10.0,331,8216,0.00,2.60,0.00,0.000,4,0.000,0.041,3548,2958,1905,0,0,0,0,0,0
$GC,8255,1.05,245.3,446.0,10.7,332,8259,0.00,2.67,0.00,0.000,6,0.000,0.043,3548,1374,1902,0,0,0,0,0,0
$GC,8543,1.05,245.8,417.3,10.0,339,8547,0.00,2.08,0.00,0.000,4,0.000,0.064,3548,160,1902,0,0,0,0,0,0
$GC,8575,1.05,245.8,413.4,12.3,339,8579,0.00,1.95,0.00,0.000,6,0.000,0.025,3548,1383,1902,0,0,0,0,0,0
$GC,8829,1.05,245.8,386.1,10.7,346,8833,0.00,2.10,0.00,0.000,4,0.000,0.061,3548,160,1901,0,0,0,0,0,0
$GC,8852,1.05,245.8,383.4,11.1,346,8856,0.00,1.95,0.00,0.000,6,0.000,0.033,3548,1369,1902,0,0,0,0,0,0
$GC,9117,1.05,245.8,355.0,10.7,353,9121,0.00,2.60,0.00,0.000,4,0.000,0.036,3548,2959,1900,0,0,0,0,0,0
$GC,9154,1.16,245.8,350.7,11.2,353,9161,0.17,2.67,0.00,0.000,6,0.049,0.043,3615,1367,1899,0,0,0,0,0,0
$GC,9406,1.01,245.8,315.2,14.5,360,9411,0.25,2.03,0.00,0.000,4,0.094,0.059,3557,165,1899,0,0,0,0,0,0
$GC,9485,1.01,245.8,305.0,12.8,361,9489,0.00,1.92,0.00,0.000,6,0.000,0.023,3557,1376,1899,0,0,0,0,0,0
$GC,9740,1.03,262.8,281.0,9.2,368,9755,0.00,0.00,13.38,0.680,6,0.000,0.000,3557,1377,1848,0,0,0,0,0,0
$GC,9984,1.03,262.8,256.8,10.0,374,9989,0.00,2.55,0.00,0.000,4,0.000,0.031,3557,2948,1844,0,0,0,0,0,0
$GC,10003,1.09,262.8,254.6,10.3,374,10008,0.00,2.65,0.00,0.000,6,0.000,0.038,3557,1359,1843,0,0,0,0,0,0
$GC,10268,1.16,263.3,227.5,10.0,381,10273,0.15,2.58,0.00,0.000,4,0.056,0.029,3615,2949,1843,0,0,0,0,0,0
$GC,10285,1.17,270.8,225.8,9.7,381,10298,0.00,2.65,7.70,0.578,6,0.000,0.038,3614,1356,1816,0,0,0,0,0,0
$GC,10558,1.07,270.8,193.7,12.6,391,10563,0.20,2.00,0.00,0.000,4,0.097,0.051,3572,163,1814,0,0,0,0,0,0
$GC,10597,1.07,270.8,189.2,12.0,394,10601,0.00,1.85,0.00,0.000,6,0.000,0.023,3572,1384,1814,0,0,0,0,0,0
$GC,10865,1.09,285.2,162.4,9.3,419,10886,0.00,2.50,13.88,0.581,4,0.000,0.027,3572,2937,1756,0,0,0,0,0,0
$GC,10929,1.23,293.4,156.2,9.6,425,10943,0.15,2.62,8.02,0.525,6,0.055,0.035,3640,1351,1724,0,0,0,0,0,0
$GC,11198,1.10,293.4,119.2,13.8,450,11200,0.28,0.00,0.00,0.000,6,0.092,0.000,3581,1352,1722,0,0,0,0,0,0
$GC,11456,1.10,293.4,93.7,10.0,474,11460,0.00,1.95,0.00,0.000,4,0.000,0.050,3581,160,1722,0,0,0,0,0,0
$GC,11510,1.10,293.4,87.5,12.2,479,11513,0.00,1.85,0.00,0.000,6,0.000,0.019,3581,1380,1722,0,0,0,0,0,0
$GC,11783,1.21,299.7,60.2,9.7,504,11793,0.10,0.00,7.15,0.434,6,0.076,0.000,3634,1383,1698,0,0,0,0,0,0
$GC,12052,1.15,299.7,26.0,12.3,531,12061,0.20,0.00,0.00,0.000,6,0.092,0.000,3589,1383,1697,0,0,0,0,0,0
$STATE,12273,end climb,SURFACE_DEPTH_REACHED
$STATE,12273,begin surface coast
$FINISH,0.7,1.023755
$STATE,12312,end surface coast,CONTROL_FINISHED_OK
$STATE,12312,begin surface
$SM_CCo,12335,47.00,0.454,0,0,1369,380.21
$SM_GC,1.50,0.00,0.00,47.00,0.000,0.000,0.454,415,1560,1369,-13.46,0.57,380.21
$IRIDIUM_FIX,2253.38,-15759.74,280901,070747
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.90
$XPDR_PINGS,10
$24V_AH,23.5,23.771
$10V_AH,10.0,17.232
$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,37.525,148.950,381.025,47.000,0.000,60.110,81.742,280.350,2.500,0.000,16.330,1211.455,8456.148,485.042,2077.102,791.075,33.367,1334.050,0.000,2080.579,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,79.768,938.808,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,387.646,340.938,417.810,635.399,1115.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,44581,572
$CAP_FILE_SIZE,139434,0
$CFSIZE,260165632,168505344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040712,103720,2259.283,-15758.687,36,99.0,55,10.1