version: 66.06
glider: 148
mission: 11
dive: 181
start: 7 5 112 14 40 7
data:
$ID,148
$MISSION,11
$DIVE,181
$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,-922075.94
$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,28
$R_STBD_OVSHOOT,70
$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
$GPS1,143226,2250.117,-15749.375,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-73.2
$GPS2,143913,2250.069,-15749.431,33,1.6,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,-0.156
$KALMAN_X,72744.7,-65.4,-26.9,-55017.6,-911.1
$KALMAN_Y,-44791.9,-300.3,-720.7,49638.3,179.3
$MHEAD_RNG_PITCHd_Wd,116.8,29097,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.90,0.000,2,0.000,0.000,410,1546,3041,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-5.1,9,121,13.82,2.33,-9.27,0.000,4,0.154,0.055,3056,165,3517,0,0,0,0,0,0
$GC,173,-0.95,-146.0,24.7,-23.3,21,181,0.30,2.12,0.00,0.000,6,0.087,0.020,3126,1519,3518,0,0,0,0,0,0
$GC,448,-0.84,-146.0,67.6,-14.9,48,453,0.15,2.55,0.00,0.000,4,0.110,0.025,3159,3121,3519,0,0,0,0,0,0
$GC,493,-0.99,-146.0,72.4,-9.2,51,498,0.15,2.55,0.00,0.000,6,0.051,0.029,3097,1545,3520,0,0,0,0,0,0
$GC,762,-0.88,-146.0,107.6,-13.5,75,767,0.22,2.25,0.00,0.000,4,0.100,0.041,3146,166,3521,0,0,0,0,0,0
$GC,782,-0.81,-146.0,111.5,-13.4,76,791,0.00,2.15,0.00,0.000,6,0.000,0.018,3146,1578,3521,0,0,0,0,0,0
$GC,1052,-0.89,-146.0,136.6,-9.1,101,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1581,3522,0,0,0,0,0,0
$GC,1315,-0.98,-146.0,158.6,-7.9,126,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1581,3523,0,0,0,0,0,0
$GC,1571,-1.09,-146.0,180.0,-8.2,150,1576,0.17,2.40,0.00,0.000,4,0.048,0.023,3062,3095,3523,0,0,0,0,0,0
$GC,1590,-1.09,-146.0,181.8,-8.6,151,1595,0.17,2.47,0.00,0.000,6,0.095,0.028,3101,1547,3523,0,0,0,0,0,0
$GC,1862,-1.09,-146.0,208.9,-9.8,170,1866,0.00,2.25,0.00,0.000,4,0.000,0.044,3101,170,3524,0,0,0,0,0,0
$GC,1876,-1.09,-146.0,210.8,-9.8,170,1880,0.00,2.10,0.00,0.000,6,0.000,0.018,3101,1568,3524,0,0,0,0,0,0
$GC,2149,-1.09,-146.0,234.5,-8.5,177,2153,0.00,2.38,0.00,0.000,4,0.000,0.025,3101,3077,3524,0,0,0,0,0,0
$GC,2194,-1.18,-146.0,238.6,-9.1,178,2198,0.00,2.45,0.00,0.000,6,0.000,0.029,3101,1559,3524,0,0,0,0,0,0
$GC,2481,-1.18,-146.0,265.1,-8.9,185,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1559,3524,0,0,0,0,0,0
$GC,2724,-1.18,-146.0,286.9,-8.8,191,2729,0.00,2.28,0.00,0.000,4,0.000,0.048,3102,168,3524,0,0,0,0,0,0
$GC,2749,-1.18,-146.0,289.1,-9.5,191,2753,0.00,2.10,0.00,0.000,6,0.000,0.021,3101,1525,3524,0,0,0,0,0,0
$GC,3009,-1.18,-146.0,311.5,-8.7,198,3013,0.00,2.53,0.00,0.000,4,0.000,0.030,3101,3103,3523,0,0,0,0,0,0
$GC,3037,-1.27,-146.0,313.9,-8.2,198,3042,0.15,2.53,0.00,0.000,6,0.054,0.033,3018,1556,3523,0,0,0,0,0,0
$GC,3294,-1.05,-146.0,347.9,-13.8,205,3299,0.43,2.30,0.00,0.000,4,0.088,0.052,3109,170,3522,0,0,0,0,0,0
$GC,3323,-1.05,-146.0,351.4,-8.9,205,3328,0.00,2.15,0.00,0.000,6,0.000,0.023,3109,1541,3522,0,0,0,0,0,0
$GC,3579,-1.13,-146.0,370.4,-7.5,212,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1543,3521,0,0,0,0,0,0
$GC,3824,-1.22,-146.0,389.9,-8.0,218,3825,0.15,0.00,0.00,0.000,6,0.054,0.000,3046,1543,3519,0,0,0,0,0,0
$GC,4065,-1.13,-146.0,417.3,-11.4,224,4071,0.20,2.55,0.00,0.000,4,0.094,0.035,3092,3109,3518,0,0,0,0,0,0
$GC,4080,-1.13,-146.0,419.0,-11.0,224,4085,0.00,2.58,0.00,0.000,6,0.000,0.035,3092,1544,3518,0,0,0,0,0,0
$GC,4351,-1.13,-146.0,441.6,-8.6,231,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1544,3516,0,0,0,0,0,0
$GC,4593,-1.13,-146.0,463.9,-9.2,237,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1544,3515,0,0,0,0,0,0
$GC,4837,-1.19,-146.0,486.0,-9.0,243,4841,0.00,2.58,0.00,0.000,4,0.000,0.041,3092,3112,3514,0,0,0,0,0,0
$GC,4877,-1.32,-146.0,489.2,-8.2,243,4883,0.17,2.60,0.00,0.000,6,0.047,0.041,2992,1553,3514,0,0,0,0,0,0
$GC,5127,-1.09,-146.0,522.1,-13.6,250,5132,0.45,2.38,0.00,0.000,4,0.091,0.071,3097,168,3512,0,0,0,0,0,0
$GC,5184,-1.20,-146.0,528.1,-8.8,251,5189,0.00,2.20,0.00,0.000,6,0.000,0.033,3097,1537,3511,0,0,0,0,0,0
$GC,5464,-1.29,-146.0,549.1,-7.4,258,5466,0.15,0.00,0.00,0.000,6,0.058,0.000,3039,1537,3509,0,0,0,0,0,0
$GC,5706,-1.21,-146.0,573.2,-10.0,264,5711,0.17,2.67,0.00,0.000,4,0.098,0.049,3077,3128,3508,0,0,0,0,0,0
$GC,5719,-1.15,-146.0,574.4,-9.9,264,5724,0.00,2.67,0.00,0.000,6,0.000,0.042,3078,1533,3508,0,0,0,0,0,0
$GC,5993,-1.15,-146.0,596.0,-7.8,271,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1533,3506,0,0,0,0,0,0
$STATE,6071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6071,begin apogee
$GC,6078,-0.31,0.0,602.5,8.0,273,6199,0.85,0.00,117.93,0.940,6,0.079,0.000,3269,1371,2920,0,0,0,0,0,0
$STATE,6200,end apogee,CONTROL_FINISHED_OK
$STATE,6200,begin climb
$GC,6204,1.27,146.0,606.3,0.0,276,6338,1.45,2.17,123.95,0.920,4,0.044,0.081,3619,172,2321,0,0,0,0,0,0
$GC,6473,0.90,146.0,586.3,12.5,282,6478,0.38,1.98,0.00,0.000,6,0.100,0.031,3540,1384,2316,0,0,0,0,0,0
$GC,6752,0.97,200.0,564.3,7.5,289,6804,0.00,2.22,46.55,0.884,4,0.000,0.071,3539,172,2103,0,0,0,0,0,0
$GC,6888,0.97,200.0,551.2,10.6,292,6892,0.00,1.95,0.00,0.000,6,0.000,0.029,3540,1370,2101,0,0,0,0,0,0
$GC,7175,0.98,208.5,523.9,9.6,299,7187,0.00,2.12,7.88,0.731,4,0.000,0.066,3539,171,2069,0,0,0,0,0,0
$GC,7218,0.98,208.5,519.2,11.9,300,7222,0.00,1.92,0.00,0.000,6,0.000,0.028,3540,1371,2069,0,0,0,0,0,0
$GC,7510,0.98,208.5,488.6,10.5,307,7514,0.00,2.08,0.00,0.000,4,0.000,0.063,3539,169,2065,0,0,0,0,0,0
$GC,7533,0.98,208.5,485.7,12.4,307,7537,0.00,1.90,0.00,0.000,6,0.000,0.026,3539,1371,2065,0,0,0,0,0,0
$GC,7802,0.98,208.5,458.5,10.1,314,7807,0.00,2.62,0.00,0.000,4,0.000,0.040,3539,2956,2063,0,0,0,0,0,0
$GC,7831,1.05,213.3,455.4,9.8,314,7845,0.12,2.67,4.45,0.578,6,0.064,0.044,3593,1367,2050,0,0,0,0,0,0
$GC,8090,0.93,213.3,423.1,12.8,321,8095,0.22,2.05,0.00,0.000,4,0.095,0.062,3543,162,2049,0,0,0,0,0,0
$GC,8151,0.93,213.3,415.1,12.3,322,8155,0.00,1.92,0.00,0.000,6,0.000,0.025,3543,1374,2049,0,0,0,0,0,0
$GC,8423,0.93,213.3,386.7,10.1,329,8427,0.00,2.58,0.00,0.000,4,0.000,0.037,3543,2958,2048,0,0,0,0,0,0
$GC,8448,0.96,240.2,384.3,8.8,329,8481,0.00,2.65,25.90,0.785,6,0.000,0.043,3543,1371,1939,0,0,0,0,0,0
$GC,8756,0.96,240.2,353.1,10.4,337,8760,0.00,2.08,0.00,0.000,4,0.000,0.063,3543,160,1935,0,0,0,0,0,0
$GC,8874,0.96,240.2,340.0,10.7,339,8878,0.00,1.88,0.00,0.000,6,0.000,0.024,3543,1364,1935,0,0,0,0,0,0
$GC,9137,0.98,252.5,314.5,9.4,346,9154,0.00,2.60,11.70,0.683,4,0.000,0.035,3543,2944,1889,0,0,0,0,0,0
$GC,9181,1.11,267.1,310.7,9.3,347,9202,0.15,2.67,14.38,0.697,6,0.054,0.041,3612,1364,1830,0,0,0,0,0,0
$GC,9473,0.99,267.1,275.3,12.1,354,9478,0.25,2.03,0.00,0.000,4,0.093,0.059,3554,168,1827,0,0,0,0,0,0
$GC,9554,0.99,267.1,265.7,11.7,355,9557,0.00,1.85,0.00,0.000,6,0.000,0.023,3554,1367,1827,0,0,0,0,0,0
$GC,9809,0.99,267.1,238.6,10.6,362,9813,0.00,2.53,0.00,0.000,4,0.000,0.029,3554,2942,1825,0,0,0,0,0,0
$GC,9833,1.09,267.1,235.9,10.1,362,9838,0.10,2.65,0.00,0.000,6,0.075,0.038,3605,1354,1824,0,0,0,0,0,0
$GC,10095,1.01,267.1,204.7,11.8,369,10100,0.20,2.58,0.00,0.000,4,0.094,0.028,3562,2939,1824,0,0,0,0,0,0
$GC,10110,1.01,267.1,202.6,12.0,369,10114,0.00,2.62,0.00,0.000,6,0.000,0.035,3562,1351,1823,0,0,0,0,0,0
$GC,10379,1.03,277.0,176.9,9.5,390,10392,0.00,2.05,9.10,0.558,4,0.000,0.052,3561,167,1789,0,0,0,0,0,0
$GC,10427,1.03,277.0,172.2,11.2,394,10431,0.00,1.88,0.00,0.000,6,0.000,0.030,3562,1385,1789,0,0,0,0,0,0
$GC,10698,1.12,285.3,147.1,9.6,419,10712,0.10,2.05,8.70,0.528,4,0.077,0.049,3611,164,1755,0,0,0,0,0,0
$GC,10739,1.01,285.3,141.6,13.9,422,10747,0.20,1.88,0.00,0.000,6,0.074,0.021,3562,1369,1755,0,0,0,0,0,0
$GC,11005,1.11,289.5,115.1,9.8,447,11012,0.00,0.00,5.03,0.429,6,0.000,0.000,3562,1371,1739,0,0,0,0,0,0
$GC,11268,1.22,289.5,89.1,10.0,472,11273,0.17,2.50,0.00,0.000,4,0.048,0.028,3620,2941,1737,0,0,0,0,0,0
$GC,11302,1.22,289.5,85.1,12.0,474,11310,0.00,2.62,0.00,0.000,6,0.000,0.041,3620,1362,1736,0,0,0,0,0,0
$GC,11571,1.22,289.5,53.7,11.3,499,11574,0.00,1.98,0.00,0.000,4,0.000,0.057,3620,164,1736,0,0,0,0,0,0
$GC,11630,1.22,289.5,46.0,11.5,504,11638,0.00,1.83,0.00,0.000,6,0.000,0.019,3620,1362,1736,0,0,0,0,0,0
$GC,11915,1.22,289.5,14.2,10.8,540,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1364,1736,0,0,0,0,0,0
$STATE,12028,end climb,SURFACE_DEPTH_REACHED
$STATE,12028,begin surface coast
$FINISH,0.5,1.010733
$STATE,12070,end surface coast,CONTROL_FINISHED_OK
$STATE,12070,begin surface
$SM_CCo,12094,49.40,0.452,0,0,1369,380.21
$SM_GC,1.49,0.00,0.00,49.40,0.000,0.000,0.452,411,1564,1369,-13.48,0.68,380.21
$IRIDIUM_FIX,2241.69,-15751.94,290901,111105
$TT8_MAMPS,0.027612
$HUMID,62.60
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.70
$XPDR_PINGS,3
$24V_AH,23.5,24.847
$10V_AH,9.9,18.207
$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,33.925,133.675,375.550,49.400,0.000,22.464,35.250,192.912,0.750,0.000,36.330,1203.465,8183.783,472.357,2093.751,596.674,33.374,1338.891,0.000,2074.799,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,80.535,940.342,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.217,335.182,413.490,591.769,1039.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,44627,564
$CAP_FILE_SIZE,133045,0
$CFSIZE,260165632,167964672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050712,180435,2249.108,-15748.823,76,2.0,82,10.1