version: 66.06
glider: 148
mission: 11
dive: 571
start: 9 2 112 22 55 46
data:
$ID,148
$MISSION,11
$DIVE,571
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$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,350
$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,-930516.38
$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,3320
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,79
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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
$GPS1,224105,2303.948,-15805.039,36,1.0,36,10.1
$_CALLS,1
$_XMS_NAKs,26
$_XMS_TOUTs,2
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-75.4
$GPS2,225448,2303.970,-15805.178,10,1.6,21,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.242,-0.020
$KALMAN_X,-559673.0,-12.4,147.1,550298.5,-2193.9
$KALMAN_Y,66951.8,36.3,350.4,-37761.7,-1149.2
$MHEAD_RNG_PITCHd_Wd,84.7,66317,-18.9,-10.000
$D_GRID,750
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.34,-126.5,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,414,1668,3231,0,0,0,0,0,0
$GC,89,-1.34,-126.5,4.2,-7.1,9,113,13.62,0.00,-2.88,0.000,6,0.151,0.000,3022,1669,3398,0,0,0,0,0,0
$GC,449,-0.93,-126.5,93.2,-19.2,47,455,0.40,2.45,0.00,0.000,4,0.095,0.024,3113,3207,3400,0,0,0,0,0,0
$GC,478,-0.77,-126.5,98.2,-14.6,49,484,0.17,2.50,0.00,0.000,6,0.091,0.027,3153,1655,3401,0,0,0,0,0,0
$GC,809,-0.77,-126.5,126.0,-8.3,79,813,0.00,2.45,0.00,0.000,4,0.000,0.023,3153,3217,3401,0,0,0,0,0,0
$GC,828,-0.77,-126.5,128.1,-8.4,80,836,0.00,2.53,0.00,0.000,6,0.000,0.026,3153,1663,3401,0,0,0,0,0,0
$GC,1156,-0.77,-126.5,156.3,-9.0,111,1160,0.00,2.42,0.00,0.000,4,0.000,0.041,3153,162,3402,0,0,0,0,0,0
$GC,1176,-0.77,-126.5,158.1,-8.9,112,1181,0.00,2.25,0.00,0.000,6,0.000,0.017,3153,1666,3402,0,0,0,0,0,0
$GC,1505,-0.83,-126.5,185.3,-8.0,142,1510,0.00,2.42,0.00,0.000,4,0.000,0.022,3153,3210,3402,0,0,0,0,0,0
$GC,1521,-0.91,-126.5,186.8,-8.4,143,1526,0.12,2.47,0.00,0.000,6,0.061,0.025,3070,1654,3402,0,0,0,0,0,0
$GC,1841,-0.75,-126.5,226.0,-12.5,158,1843,0.40,0.00,0.00,0.000,6,0.084,0.000,3155,1654,3402,0,0,0,0,0,0
$GC,2162,-0.89,-126.5,250.6,-7.1,166,2167,0.12,2.50,0.00,0.000,4,0.062,0.024,3082,3217,3403,0,0,0,0,0,0
$GC,2191,-0.89,-126.5,253.4,-9.2,166,2197,0.20,2.50,0.00,0.000,6,0.083,0.027,3128,1666,3403,0,0,0,0,0,0
$GC,2530,-0.96,-126.5,276.0,-6.8,175,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1667,3403,0,0,0,0,0,0
$GC,2854,-1.05,-126.5,302.3,-8.7,183,2859,0.15,2.47,0.00,0.000,4,0.054,0.046,3045,164,3403,0,0,0,0,0,0
$GC,2878,-0.90,-126.5,305.4,-12.8,183,2883,0.35,2.28,0.00,0.000,6,0.087,0.019,3123,1648,3403,0,0,0,0,0,0
$GC,3222,-0.99,-126.5,333.3,-7.3,192,3227,0.00,2.53,0.00,0.000,4,0.000,0.028,3124,3232,3402,0,0,0,0,0,0
$GC,3251,-1.14,-126.5,335.5,-6.6,192,3256,0.22,2.53,0.00,0.000,6,0.038,0.029,3019,1666,3402,0,0,0,0,0,0
$GC,3590,-0.92,-126.5,375.5,-12.5,201,3598,0.45,2.53,0.00,0.000,4,0.087,0.051,3118,163,3400,0,0,0,0,0,0
$GC,3637,-1.03,-126.5,380.5,-9.6,202,3641,0.00,2.33,0.00,0.000,6,0.000,0.021,3118,1653,3400,0,0,0,0,0,0
$GC,3972,-1.13,-126.5,406.9,-8.0,210,3977,0.17,2.58,0.00,0.000,4,0.048,0.033,3032,3230,3398,0,0,0,0,0,0
$GC,3987,-1.13,-126.5,408.6,-8.1,210,3992,0.17,2.55,0.00,0.000,6,0.093,0.031,3073,1660,3398,0,0,0,0,0,0
$GC,4338,-1.13,-126.5,440.8,-8.8,219,4342,0.00,2.58,0.00,0.000,4,0.000,0.064,3073,171,3395,0,0,0,0,0,0
$GC,4358,-1.13,-126.5,442.8,-10.2,219,4362,0.00,2.35,0.00,0.000,6,0.000,0.025,3073,1661,3395,0,0,0,0,0,0
$GC,4708,-1.13,-126.5,474.9,-9.1,228,4712,0.00,2.55,0.00,0.000,4,0.000,0.063,3073,170,3393,0,0,0,0,0,0
$GC,4726,-1.13,-126.5,477.0,-10.7,228,4731,0.00,2.38,0.00,0.000,6,0.000,0.030,3073,1658,3393,0,0,0,0,0,0
$GC,5073,-1.13,-126.5,508.3,-8.9,237,5078,0.00,2.62,0.00,0.000,4,0.000,0.042,3073,3245,3390,0,0,0,0,0,0
$GC,5088,-1.13,-126.5,509.8,-8.9,237,5093,0.00,2.60,0.00,0.000,6,0.000,0.038,3073,1666,3390,0,0,0,0,0,0
$GC,5438,-1.13,-126.5,540.4,-9.0,246,5443,0.00,2.60,0.00,0.000,4,0.000,0.072,3073,169,3387,0,0,0,0,0,0
$GC,5496,-1.13,-126.5,546.2,-10.2,247,5500,0.00,2.40,0.00,0.000,6,0.000,0.035,3072,1653,3387,0,0,0,0,0,0
$GC,5810,-1.13,-126.5,575.0,-8.9,255,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1653,3385,0,0,0,0,0,0
$GC,6135,-1.13,-126.5,602.0,-7.8,263,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1653,3383,0,0,0,0,0,0
$GC,6462,-1.13,-126.5,623.5,-6.3,271,6466,0.00,2.60,0.00,0.000,4,0.000,0.074,3073,163,3381,0,0,0,0,0,0
$GC,6518,-1.13,-126.5,627.7,-7.5,272,6522,0.00,2.45,0.00,0.000,6,0.000,0.038,3073,1650,3381,0,0,0,0,0,0
$GC,6832,-1.13,-126.5,647.0,-6.1,280,6833,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,1650,3379,0,0,0,0,0,0
$GC,7159,-1.13,-126.5,669.4,-7.2,288,7163,0.00,2.60,0.00,0.000,4,0.000,0.074,3073,170,3377,0,0,0,0,0,0
$GC,7178,-1.13,-126.5,671.1,-8.4,288,7182,0.00,2.45,0.00,0.000,6,0.000,0.038,3073,1658,3377,0,0,0,0,0,0
$GC,7523,-1.13,-126.5,698.2,-8.1,297,7527,0.00,2.60,0.00,0.000,4,0.000,0.074,3073,169,3375,0,0,0,0,0,0
$GC,7581,-1.13,-126.5,703.7,-9.8,298,7585,0.00,2.45,0.00,0.000,6,0.000,0.038,3072,1652,3374,0,0,0,0,0,0
$GC,7895,-1.13,-126.5,732.7,-9.3,306,7899,0.00,2.62,0.00,0.000,4,0.000,0.074,3073,163,3373,0,0,0,0,0,0
$GC,7925,-1.13,-126.5,735.7,-10.4,306,7929,0.00,2.45,0.00,0.000,6,0.000,0.038,3073,1646,3373,0,0,0,0,0,0
$STATE,8095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8095,begin apogee
$GC,8104,-0.31,0.0,751.8,9.2,311,8211,0.77,0.00,103.70,1.052,6,0.074,0.000,3250,1299,2880,0,0,0,0,0,0
$STATE,8211,end apogee,CONTROL_FINISHED_OK
$STATE,8212,begin climb
$GC,8214,1.34,126.5,755.4,0.0,313,8334,1.55,2.08,111.78,1.027,4,0.053,0.081,3611,171,2363,0,0,0,0,0,0
$GC,8426,1.10,126.5,741.5,12.0,317,8431,0.25,1.90,0.00,0.000,6,0.098,0.032,3559,1323,2358,0,0,0,0,0,0
$GC,8760,1.11,139.9,711.3,9.3,325,8776,0.00,2.10,11.32,0.890,4,0.000,0.074,3559,181,2309,0,0,0,0,0,0
$GC,8814,1.05,139.9,705.4,11.0,326,8818,0.00,1.83,0.00,0.000,6,0.000,0.030,3559,1307,2307,0,0,0,0,0,0
$GC,9138,1.05,139.9,672.6,10.1,334,9142,0.00,2.03,0.00,0.000,4,0.000,0.071,3559,179,2303,0,0,0,0,0,0
$GC,9198,1.05,139.9,665.6,12.3,335,9202,0.00,1.85,0.00,0.000,6,0.000,0.030,3559,1313,2303,0,0,0,0,0,0
$GC,9516,1.07,160.3,636.3,8.9,343,9540,0.00,2.72,18.90,0.921,4,0.000,0.049,3559,2895,2224,0,0,0,0,0,0
$GC,9563,1.18,192.0,632.5,8.3,344,9600,0.00,2.75,30.65,0.937,6,0.000,0.049,3559,1306,2095,0,0,0,0,0,0
$GC,9934,1.27,220.1,599.9,8.5,353,9966,0.15,2.12,26.35,0.914,4,0.058,0.081,3626,165,1981,0,0,0,0,0,0
$GC,10020,1.11,220.1,588.5,14.5,354,10026,0.30,1.88,0.00,0.000,6,0.090,0.029,3562,1317,1980,0,0,0,0,0,0
$GC,10351,1.19,220.1,554.1,10.7,363,10355,0.00,2.62,0.00,0.000,4,0.000,0.044,3562,2885,1976,0,0,0,0,0,0
$GC,10381,1.31,220.1,550.9,11.2,363,10388,0.17,2.70,0.00,0.000,6,0.050,0.047,3634,1302,1974,0,0,0,0,0,0
$GC,10720,1.20,220.1,502.8,14.2,372,10725,0.25,1.98,0.00,0.000,4,0.091,0.069,3580,164,1973,0,0,0,0,0,0
$GC,10764,1.20,220.1,497.1,13.1,373,10767,0.00,1.80,0.00,0.000,6,0.000,0.026,3580,1314,1973,0,0,0,0,0,0
$GC,11097,1.20,223.6,463.4,9.8,381,11102,0.00,2.58,0.00,0.000,4,0.000,0.038,3580,2875,1973,0,0,0,0,0,0
$GC,11135,1.33,229.9,459.6,9.7,381,11152,0.12,2.67,9.02,0.749,6,0.064,0.044,3633,1293,1942,0,0,0,0,0,0
$GC,11477,1.25,229.9,418.2,12.5,390,11481,0.20,1.95,0.00,0.000,4,0.096,0.063,3590,161,1940,0,0,0,0,0,0
$GC,11514,1.25,229.9,412.7,12.3,390,11520,0.00,1.80,0.00,0.000,6,0.000,0.024,3590,1312,1941,0,0,0,0,0,0
$GC,11847,1.25,229.9,376.5,10.9,399,11852,0.00,2.53,0.00,0.000,4,0.000,0.035,3590,2868,1939,0,0,0,0,0,0
$GC,11885,1.37,229.9,372.3,10.4,399,11891,0.12,2.60,0.00,0.000,6,0.064,0.042,3650,1309,1937,0,0,0,0,0,0
$GC,12217,1.26,229.9,332.2,12.0,408,12221,0.25,1.95,0.00,0.000,4,0.091,0.059,3591,165,1937,0,0,0,0,0,0
$GC,12288,1.26,229.9,324.4,11.5,409,12292,0.00,1.77,0.00,0.000,6,0.000,0.023,3591,1315,1937,0,0,0,0,0,0
$GC,12633,1.36,254.9,293.6,8.7,418,12663,0.10,2.58,23.65,0.709,4,0.077,0.032,3634,2867,1840,0,0,0,0,0,0
$GC,12700,1.36,254.9,286.8,11.5,419,12704,0.00,2.62,0.00,0.000,6,0.000,0.040,3634,1311,1836,0,0,0,0,0,0
$GC,13045,1.36,254.9,247.6,11.5,428,13049,0.00,2.50,0.00,0.000,4,0.000,0.028,3634,2865,1835,0,0,0,0,0,0
$GC,13078,1.36,256.8,243.8,9.9,428,13082,0.00,2.60,0.00,0.000,6,0.000,0.039,3634,1313,1833,0,0,0,0,0,0
$GC,13410,1.36,256.8,208.0,10.7,436,13414,0.00,1.92,0.00,0.000,4,0.000,0.055,3634,165,1833,0,0,0,0,0,0
$GC,13429,1.36,256.8,205.7,10.3,436,13432,0.00,1.77,0.00,0.000,6,0.000,0.021,3634,1341,1834,0,0,0,0,0,0
$GC,13753,1.36,256.8,173.6,10.5,462,13756,0.00,1.98,0.00,0.000,4,0.000,0.051,3634,165,1833,0,0,0,0,0,0
$GC,13795,1.36,256.8,168.9,11.1,466,13799,0.00,1.75,0.00,0.000,6,0.000,0.021,3634,1324,1833,0,0,0,0,0,0
$GC,14130,1.36,256.8,132.0,11.7,497,14134,0.00,0.00,0.00,0.000,6,0.000,0.000,3634,1326,1834,0,0,0,0,0,0
$GC,14456,1.38,271.1,96.7,9.2,528,14478,0.00,2.00,14.73,0.507,4,0.000,0.051,3634,165,1773,0,0,0,0,0,0
$GC,14517,1.38,275.1,90.9,9.8,533,14526,0.00,1.75,5.20,0.406,6,0.000,0.021,3634,1324,1757,0,0,0,0,0,0
$GC,14850,1.53,326.7,67.0,7.3,564,14908,0.00,2.00,46.75,0.506,4,0.000,0.056,3634,157,1547,0,0,0,0,0,0
$GC,14937,1.56,347.5,60.6,8.9,571,14963,0.10,1.75,19.20,0.479,6,0.075,0.019,3675,1322,1462,0,0,0,0,0,0
$GC,15296,1.56,347.5,19.5,11.6,610,15305,0.00,2.45,0.00,0.000,4,0.000,0.025,3675,2846,1458,0,0,0,0,0,0
$GC,15370,1.64,347.5,10.5,10.7,621,15378,0.00,2.58,0.00,0.000,6,0.000,0.035,3675,1303,1455,0,0,0,0,0,0
$STATE,15416,end climb,SURFACE_DEPTH_REACHED
$STATE,15416,begin surface coast
$FINISH,0.8,1.023242
$STATE,15449,end surface coast,CONTROL_FINISHED_OK
$STATE,15449,begin surface
$SM_CCo,15534,0.00,0.000,0,0,1449,350.78
$SM_GC,1.67,13.20,0.00,0.00,0.023,0.000,0.000,409,1651,1449,-13.31,-0.25,350.78
$IRIDIUM_FIX,2255.72,-15804.08,271101,181800
$TT8_MAMPS,0.027612
$HUMID,68.38
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,4
$24V_AH,23.2,74.516
$10V_AH,9.8,61.505
$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,34.125,164.100,421.250,0.000,0.000,24.835,33.887,606.247,1.000,0.000,26.517,1330.480,11310.671,447.705,2195.716,1068.874,33.380,1423.627,0.000,2187.532,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,81.302,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,428.662,340.113,419.163,565.302,993.180,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,47900,633
$CAP_FILE_SIZE,152608,0
$CFSIZE,260165632,143851520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030912,031602,2303.226,-15804.787,42,1.6,42,10.1