version: 66.06
glider: 148
mission: 11
dive: 572
start: 9 3 112 3 47 26
data:
$ID,148
$MISSION,11
$DIVE,572
$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,581.11566
$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,-930531.88
$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,27
$R_STBD_OVSHOOT,76
$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
$GPS1,031602,2303.226,-15804.787,42,1.6,42,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.6
$GPS2,034631,2303.438,-15805.188,13,1.3,13,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.057
$KALMAN_X,-563075.2,17.7,-94.7,553897.2,-2770.1
$KALMAN_Y,66805.9,132.8,-305.8,-38052.9,88.0
$MHEAD_RNG_PITCHd_Wd,93.4,65636,-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,-67.62,0.000,2,0.000,0.000,408,1652,3250,0,0,0,0,0,0
$GC,91,-1.34,-126.5,3.9,-6.4,9,116,13.70,2.45,-2.45,0.000,4,0.153,0.044,3022,165,3397,0,0,0,0,0,0
$GC,138,-0.37,-126.5,24.3,-38.6,15,147,0.95,2.30,0.00,0.000,6,0.096,0.018,3230,1638,3399,0,0,0,0,0,0
$GC,477,-0.56,-126.5,56.1,-7.3,48,482,0.15,2.55,0.00,0.000,4,0.051,0.025,3141,3234,3399,0,0,0,0,0,0
$GC,544,-0.56,-126.5,63.0,-11.6,53,549,0.25,2.55,0.00,0.000,6,0.077,0.028,3198,1661,3399,0,0,0,0,0,0
$GC,873,-0.73,-126.5,89.2,-7.3,83,878,0.15,0.00,0.00,0.000,6,0.053,0.000,3122,1661,3399,0,0,0,0,0,0
$GC,1199,-0.73,-126.5,129.6,-13.0,114,1204,0.17,2.45,0.00,0.000,4,0.092,0.042,3162,169,3400,0,0,0,0,0,0
$GC,1244,-0.86,-126.5,134.2,-11.7,117,1249,0.12,2.33,0.00,0.000,6,0.061,0.017,3091,1701,3400,0,0,0,0,0,0
$GC,1570,-0.75,-126.5,172.7,-9.3,147,1572,0.30,0.00,0.00,0.000,6,0.081,0.000,3158,1703,3400,0,0,0,0,0,0
$GC,1888,-0.88,-126.5,191.5,-6.7,177,1893,0.12,2.40,0.00,0.000,4,0.063,0.023,3090,3223,3400,0,0,0,0,0,0
$GC,1910,-0.88,-126.5,193.6,-8.8,178,1916,0.17,2.50,0.00,0.000,6,0.087,0.026,3131,1663,3400,0,0,0,0,0,0
$GC,2225,-0.88,-126.5,225.7,-10.5,191,2230,0.00,2.45,0.00,0.000,4,0.000,0.023,3130,3213,3400,0,0,0,0,0,0
$GC,2247,-0.95,-126.5,227.8,-9.4,191,2251,0.00,2.45,0.00,0.000,6,0.000,0.026,3130,1675,3400,0,0,0,0,0,0
$GC,2594,-1.01,-126.5,254.3,-7.3,200,2599,0.12,2.47,0.00,0.000,4,0.062,0.045,3055,167,3400,0,0,0,0,0,0
$GC,2628,-0.83,-126.5,258.1,-12.6,200,2633,0.38,2.28,0.00,0.000,6,0.088,0.019,3138,1661,3399,0,0,0,0,0,0
$GC,2960,-0.94,-126.5,284.3,-8.2,208,2965,0.10,2.47,0.00,0.000,4,0.073,0.025,3072,3230,3399,0,0,0,0,0,0
$GC,2986,-0.94,-126.5,286.8,-10.5,208,2991,0.17,2.53,0.00,0.000,6,0.084,0.028,3114,1666,3399,0,0,0,0,0,0
$GC,3327,-0.94,-126.5,319.0,-10.0,217,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1666,3397,0,0,0,0,0,0
$GC,3652,-0.94,-126.5,349.4,-9.2,225,3656,0.00,2.53,0.00,0.000,4,0.000,0.028,3114,3231,3395,0,0,0,0,0,0
$GC,3674,-1.03,-126.5,351.1,-8.6,225,3678,0.00,2.53,0.00,0.000,6,0.000,0.029,3114,1676,3395,0,0,0,0,0,0
$GC,4020,-1.09,-126.5,379.3,-7.8,234,4025,0.12,2.53,0.00,0.000,4,0.061,0.055,3031,173,3393,0,0,0,0,0,0
$GC,4131,-0.86,-126.5,392.7,-13.4,236,4136,0.45,2.33,0.00,0.000,6,0.090,0.022,3129,1666,3392,0,0,0,0,0,0
$GC,4482,-0.98,-126.5,420.6,-7.9,245,4487,0.10,2.55,0.00,0.000,4,0.074,0.033,3068,3240,3390,0,0,0,0,0,0
$GC,4499,-0.98,-126.5,422.2,-8.4,245,4505,0.17,2.55,0.00,0.000,6,0.088,0.032,3109,1671,3390,0,0,0,0,0,0
$GC,4851,-1.04,-126.5,456.2,-9.7,254,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1672,3387,0,0,0,0,0,0
$GC,5176,-1.12,-126.5,483.2,-7.5,262,5178,0.15,0.00,0.00,0.000,6,0.054,0.000,3030,1672,3385,0,0,0,0,0,0
$GC,5503,-0.96,-126.5,515.6,-9.8,270,5505,0.38,0.00,0.00,0.000,6,0.084,0.000,3111,1671,3383,0,0,0,0,0,0
$GC,5826,-1.06,-126.5,537.8,-6.9,278,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1671,3381,0,0,0,0,0,0
$GC,6151,-1.15,-126.5,560.8,-7.1,286,6156,0.17,2.62,0.00,0.000,4,0.051,0.077,3031,174,3379,0,0,0,0,0,0
$GC,6186,-0.97,-126.5,564.6,-11.9,286,6192,0.35,2.42,0.00,0.000,6,0.087,0.035,3109,1663,3378,0,0,0,0,0,0
$GC,6518,-1.06,-126.5,590.4,-7.7,294,6523,0.00,2.62,0.00,0.000,4,0.000,0.047,3109,3250,3376,0,0,0,0,0,0
$GC,6535,-1.17,-126.5,591.6,-7.6,294,6541,0.17,2.60,0.00,0.000,6,0.046,0.042,3019,1683,3377,0,0,0,0,0,0
$GC,6886,-0.99,-126.5,633.2,-11.9,303,6894,0.38,2.65,0.00,0.000,4,0.089,0.076,3100,163,3374,0,0,0,0,0,0
$GC,6955,-1.07,-126.5,640.0,-9.5,304,6960,0.00,2.47,0.00,0.000,6,0.000,0.036,3100,1676,3374,0,0,0,0,0,0
$GC,7303,-1.16,-126.5,668.3,-8.3,313,7308,0.15,2.67,0.00,0.000,4,0.055,0.074,3035,163,3372,0,0,0,0,0,0
$GC,7342,-1.02,-126.5,673.0,-12.2,313,7348,0.28,2.45,0.00,0.000,6,0.087,0.038,3096,1667,3371,0,0,0,0,0,0
$GC,7675,-1.10,-126.5,700.2,-7.8,322,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1668,3370,0,0,0,0,0,0
$GC,7998,-1.19,-126.5,724.3,-7.3,330,8003,0.15,2.62,0.00,0.000,4,0.057,0.074,3034,170,3368,0,0,0,0,0,0
$GC,8043,-1.04,-126.5,728.7,-11.1,331,8048,0.25,2.47,0.00,0.000,6,0.094,0.038,3090,1672,3367,0,0,0,0,0,0
$STATE,8369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8369,begin apogee
$GC,8377,-0.31,0.0,752.7,6.8,339,8483,0.70,0.00,102.40,1.043,6,0.072,0.000,3250,1306,2880,0,0,0,0,0,0
$STATE,8483,end apogee,CONTROL_FINISHED_OK
$STATE,8483,begin climb
$GC,8486,1.34,126.5,754.7,0.0,341,8603,1.55,0.00,112.93,1.020,6,0.054,0.000,3610,1307,2364,0,0,0,0,0,0
$GC,8899,1.20,126.5,716.7,11.1,352,8904,0.12,2.03,0.00,0.000,4,0.119,0.077,3584,167,2353,0,0,0,0,0,0
$GC,9041,1.06,126.5,700.1,11.8,355,9045,0.15,1.88,0.00,0.000,6,0.110,0.030,3552,1320,2351,0,0,0,0,0,0
$GC,9370,1.11,167.5,672.9,7.8,363,9408,0.00,0.00,35.72,0.963,6,0.000,0.000,3552,1321,2197,0,0,0,0,0,0
$GC,9734,1.25,222.9,645.9,7.1,372,9792,0.17,2.10,51.75,0.960,4,0.052,0.071,3613,178,1971,0,0,0,0,0,0
$GC,9819,1.12,222.9,637.6,12.5,374,9824,0.25,1.88,0.00,0.000,6,0.100,0.030,3562,1319,1969,0,0,0,0,0,0
$GC,10150,1.24,253.7,609.5,8.4,382,10182,0.12,0.00,29.60,0.919,6,0.066,0.000,3615,1321,1845,0,0,0,0,0,0
$GC,10474,1.24,253.7,567.6,13.4,390,10480,0.12,2.67,0.00,0.000,4,0.110,0.048,3589,2889,1839,0,0,0,0,0,0
$GC,10494,1.24,253.7,564.6,12.9,390,10499,0.00,2.65,0.00,0.000,6,0.000,0.045,3589,1322,1837,0,0,0,0,0,0
$GC,10839,1.24,253.7,521.3,12.6,399,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1322,1836,0,0,0,0,0,0
$GC,11166,1.24,253.7,479.5,13.0,407,11171,0.00,2.60,0.00,0.000,4,0.000,0.036,3589,2889,1834,0,0,0,0,0,0
$GC,11213,1.38,253.7,473.2,13.1,408,11219,0.12,2.67,0.00,0.000,6,0.064,0.044,3653,1312,1831,0,0,0,0,0,0
$GC,11537,1.26,253.7,425.2,14.3,416,11542,0.25,1.98,0.00,0.000,4,0.094,0.065,3596,164,1832,0,0,0,0,0,0
$GC,11568,1.26,253.7,421.5,12.1,416,11571,0.00,1.85,0.00,0.000,6,0.000,0.024,3596,1338,1832,0,0,0,0,0,0
$GC,11908,1.29,277.4,390.2,8.7,425,11935,0.00,2.58,20.35,0.775,4,0.000,0.034,3595,2874,1747,0,0,0,0,0,0
$GC,11953,1.40,306.8,386.2,8.4,426,11990,0.12,2.65,28.83,0.777,6,0.062,0.041,3651,1315,1629,0,0,0,0,0,0
$GC,12322,1.33,306.8,333.1,15.3,435,12327,0.20,1.98,0.00,0.000,4,0.096,0.059,3609,163,1623,0,0,0,0,0,0
$GC,12385,1.33,306.8,323.9,14.6,436,12389,0.00,1.80,0.00,0.000,6,0.000,0.022,3609,1328,1623,0,0,0,0,0,0
$GC,12698,1.40,306.8,282.1,13.4,444,12703,0.00,2.47,0.00,0.000,4,0.000,0.030,3609,2870,1622,0,0,0,0,0,0
$GC,12745,1.54,306.8,276.0,13.0,445,12751,0.20,2.60,0.00,0.000,6,0.044,0.040,3677,1319,1619,0,0,0,0,0,0
$GC,13071,1.44,306.8,224.9,14.9,453,13076,0.20,1.95,0.00,0.000,4,0.100,0.055,3635,164,1619,0,0,0,0,0,0
$GC,13151,1.44,306.8,215.7,10.6,454,13154,0.00,1.80,0.00,0.000,6,0.000,0.021,3635,1337,1619,0,0,0,0,0,0
$GC,13478,1.44,306.8,182.9,10.9,473,13483,0.00,2.45,0.00,0.000,4,0.000,0.028,3635,2871,1619,0,0,0,0,0,0
$GC,13507,1.52,307.8,180.1,9.9,475,13511,0.00,2.58,0.00,0.000,6,0.000,0.036,3634,1308,1618,0,0,0,0,0,0
$GC,13835,1.52,307.8,142.2,10.4,505,13839,0.00,1.88,0.00,0.000,4,0.000,0.051,3634,164,1618,0,0,0,0,0,0
$GC,13898,1.52,307.8,135.1,11.1,511,13902,0.00,1.73,0.00,0.000,6,0.000,0.021,3634,1318,1618,0,0,0,0,0,0
$GC,14227,1.58,307.8,101.7,10.7,542,14231,0.12,1.95,0.00,0.000,4,0.067,0.057,3687,160,1618,0,0,0,0,0,0
$GC,14263,1.46,307.8,96.4,14.3,545,14270,0.22,1.73,0.00,0.000,6,0.096,0.020,3638,1319,1617,0,0,0,0,0,0
$GC,14591,1.55,307.8,61.6,10.2,576,14595,0.00,1.92,0.00,0.000,4,0.000,0.049,3638,173,1618,0,0,0,0,0,0
$GC,14628,1.55,307.8,57.8,10.6,579,14632,0.00,1.70,0.00,0.000,6,0.000,0.020,3638,1319,1618,0,0,0,0,0,0
$GC,14971,1.65,307.8,24.3,10.4,614,14980,0.17,2.45,0.00,0.000,4,0.052,0.027,3705,2849,1618,0,0,0,0,0,0
$GC,15026,1.65,307.8,17.9,11.8,622,15036,0.08,2.55,0.00,0.000,6,0.084,0.035,3683,1305,1618,0,0,0,0,0,0
$STATE,15143,end climb,SURFACE_DEPTH_REACHED
$STATE,15143,begin surface coast
$FINISH,0.9,1.023052
$STATE,15185,end surface coast,CONTROL_FINISHED_OK
$STATE,15185,begin surface
$SM_CCo,15209,179.73,0.440,3,0,511,581.12
$SM_GC,1.51,0.00,0.00,179.73,0.000,0.000,0.440,412,1654,511,-13.37,-0.17,581.12
$IRIDIUM_FIX,2253.38,-15807.13,281101,030315
$TT8_MAMPS,0.027612
$HUMID,64.33
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,22.20
$XPDR_PINGS,81
$24V_AH,23.2,74.723
$10V_AH,9.8,61.643
$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,38.250,136.950,381.575,179.725,0.000,147.078,202.390,1032.371,20.250,0.000,14.849,1344.338,11197.778,694.611,2159.116,1832.130,33.382,1522.622,0.000,2177.389,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,77.467,1043.120,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.739,353.823,442.699,631.083,1108.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,50837,646
$CAP_FILE_SIZE,159776,0
$CFSIZE,260165632,143749120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030912,080536,2303.236,-15804.601,41,1.2,41,10.1