version: 66.06
glider: 148
mission: 12
dive: 16
start: 5 24 113 19 2 0
data:
$ID,148
$MISSION,12
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$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,440
$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,52665
$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,370
$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,-1015278.9
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3420
$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,1600
$C_ROLL_CLIMB,1420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,74
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3000
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,185542,2246.548,-15800.282,11,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.8
$GPS2,190107,2246.582,-15800.232,11,1.3,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,CAL1
$TGT_LATLONG,2247.830,-15759.900
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.153
$KALMAN_X,-1607.4,-20.9,331.4,998.5,-951.9
$KALMAN_Y,5139.5,-822.1,281.9,-1642.4,471.8
$MHEAD_RNG_PITCHd_Wd,29.6,2380,-23.7,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.58,-82.4,0.0,0.0,0,79,0.00,0.00,-59.58,0.000,2,0.000,0.000,417,1612,2978,0,0,0,0,0,0
$GC,82,-1.66,-146.0,3.0,-4.2,8,115,13.68,2.45,-10.62,0.000,4,0.150,0.031,3053,3155,3593,0,0,0,0,0,0
$GC,139,-1.20,-146.0,23.6,-34.8,15,148,0.45,2.58,0.00,0.000,6,0.087,0.035,3156,1603,3593,0,0,0,0,0,0
$GC,412,-1.20,-146.0,74.2,-16.6,41,416,0.00,2.35,0.00,0.000,4,0.000,0.044,3156,165,3594,0,0,0,0,0,0
$GC,465,-1.36,-146.0,83.4,-15.8,45,470,0.15,2.15,0.00,0.000,6,0.055,0.019,3094,1577,3594,0,0,0,0,0,0
$GC,732,-1.29,-146.0,133.5,-19.4,69,737,0.20,2.53,0.00,0.000,4,0.104,0.025,3137,3174,3594,0,0,0,0,0,0
$GC,762,-1.36,-146.0,138.6,-15.9,71,767,0.00,2.53,0.00,0.000,6,0.000,0.028,3137,1594,3594,0,0,0,0,0,0
$GC,1025,-1.47,-146.0,177.0,-14.3,95,1030,0.15,2.33,0.00,0.000,4,0.060,0.045,3080,169,3594,0,0,0,0,0,0
$GC,1074,-1.47,-146.0,186.7,-19.5,99,1084,0.00,2.22,0.00,0.000,6,0.000,0.021,3080,1593,3594,0,0,0,0,0,0
$GC,1357,-1.47,-146.0,235.7,-17.1,112,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,1594,3594,0,0,0,0,0,0
$GC,1601,-1.47,-146.0,272.9,-14.5,118,1605,0.00,2.53,0.00,0.000,4,0.000,0.031,3080,3176,3594,0,0,0,0,0,0
$GC,1649,-1.67,-146.0,278.9,-11.5,119,1654,0.10,2.55,0.00,0.000,6,0.078,0.031,3033,1598,3594,0,0,0,0,0,0
$GC,1932,-1.67,-146.0,325.8,-17.0,126,1937,0.10,2.40,0.00,0.000,4,0.131,0.060,3054,169,3594,0,0,0,0,0,0
$GC,1979,-1.67,-146.0,334.0,-17.5,127,1983,0.00,2.22,0.00,0.000,6,0.000,0.026,3054,1592,3594,0,0,0,0,0,0
$GC,2262,-1.67,-146.0,376.6,-15.1,134,2266,0.00,2.60,0.00,0.000,4,0.000,0.042,3054,3173,3593,0,0,0,0,0,0
$GC,2300,-1.81,-146.0,382.3,-13.5,134,2306,0.12,2.60,0.00,0.000,6,0.064,0.036,2988,1595,3593,0,0,0,0,0,0
$GC,2550,-1.66,-146.0,429.9,-19.6,141,2555,0.28,2.45,0.00,0.000,4,0.103,0.068,3052,164,3591,0,0,0,0,0,0
$GC,2575,-1.66,-146.0,434.8,-18.0,141,2579,0.00,2.28,0.00,0.000,6,0.000,0.033,3051,1580,3591,0,0,0,0,0,0
$GC,2839,-1.73,-146.0,473.2,-14.3,148,2844,0.00,2.65,0.00,0.000,4,0.000,0.048,3051,3185,3590,0,0,0,0,0,0
$GC,2884,-1.93,-146.0,479.1,-13.1,149,2891,0.22,2.67,0.00,0.000,6,0.041,0.045,2966,1589,3589,0,0,0,0,0,0
$GC,3174,-1.77,-146.0,532.9,-18.5,156,3179,0.28,2.47,0.00,0.000,4,0.101,0.074,3029,162,3586,0,0,0,0,0,0
$GC,3212,-1.77,-146.0,539.3,-15.3,156,3219,0.00,2.35,0.00,0.000,6,0.000,0.039,3029,1604,3586,0,0,0,0,0,0
$GC,3463,-1.77,-146.0,574.4,-14.1,163,3467,0.00,2.67,0.00,0.000,4,0.000,0.054,3029,3189,3584,0,0,0,0,0,0
$GC,3477,-1.77,-146.0,577.0,-14.0,163,3482,0.00,2.70,0.00,0.000,6,0.000,0.046,3029,1586,3584,0,0,0,0,0,0
$STATE,3662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3662,begin apogee
$GC,3668,-0.31,0.0,603.3,14.3,168,3786,1.45,0.00,113.65,0.923,6,0.087,0.000,3351,1414,3000,0,0,0,0,0,0
$STATE,3787,end apogee,CONTROL_FINISHED_OK
$STATE,3787,begin climb
$GC,3790,1.66,146.0,609.9,0.0,171,3921,1.50,2.80,120.60,0.905,4,0.043,0.044,3707,3009,2403,0,0,0,0,0,0
$GC,3990,1.54,169.1,613.7,8.1,175,4015,0.00,2.75,20.12,0.850,6,0.000,0.051,3706,1425,2310,0,0,0,0,0,0
$GC,4295,1.37,169.1,580.1,11.3,183,4299,0.00,2.28,0.00,0.000,4,0.000,0.086,3706,168,2304,0,0,0,0,0,0
$GC,4459,1.07,169.1,559.2,11.8,186,4464,0.28,2.03,0.00,0.000,6,0.144,0.031,3656,1424,2302,0,0,0,0,0,0
$GC,4719,1.09,182.8,535.4,8.9,193,4735,0.00,2.28,11.52,0.801,4,0.000,0.074,3656,169,2254,0,0,0,0,0,0
$GC,4775,0.96,182.8,529.7,10.7,194,4779,0.12,2.00,0.00,0.000,6,0.143,0.031,3633,1406,2253,0,0,0,0,0,0
$GC,5053,0.98,204.6,506.1,8.2,201,5078,0.00,2.25,19.65,0.842,4,0.000,0.072,3632,165,2166,0,0,0,0,0,0
$GC,5222,0.98,204.6,488.5,11.7,204,5225,0.00,2.03,0.00,0.000,6,0.000,0.029,3632,1415,2164,0,0,0,0,0,0
$GC,5476,1.07,214.6,465.3,9.2,211,5492,0.00,2.25,9.98,0.761,4,0.000,0.068,3633,173,2125,0,0,0,0,0,0
$GC,5579,1.07,214.6,453.8,11.6,213,5583,0.00,1.98,0.00,0.000,6,0.000,0.029,3632,1405,2124,0,0,0,0,0,0
$GC,5861,1.17,214.6,424.3,10.3,220,5868,0.17,2.67,0.00,0.000,4,0.064,0.049,3680,2992,2121,0,0,0,0,0,0
$GC,5884,1.17,214.6,421.6,12.8,220,5888,0.00,2.72,0.00,0.000,6,0.000,0.052,3681,1394,2120,0,0,0,0,0,0
$GC,6148,1.17,214.6,388.7,12.4,227,6152,0.00,2.12,0.00,0.000,4,0.000,0.071,3681,166,2120,0,0,0,0,0,0
$GC,6265,1.03,214.6,372.8,14.8,229,6270,0.17,1.98,0.00,0.000,6,0.134,0.027,3647,1404,2120,0,0,0,0,0,0
$GC,6526,1.10,214.6,344.8,10.4,236,6530,0.00,2.12,0.00,0.000,4,0.000,0.062,3647,165,2119,0,0,0,0,0,0
$GC,6563,1.10,214.6,340.4,11.0,236,6569,0.00,1.95,0.00,0.000,6,0.000,0.028,3647,1394,2119,0,0,0,0,0,0
$GC,6815,1.19,217.9,316.1,9.7,243,6820,0.12,2.10,0.00,0.000,4,0.078,0.061,3683,165,2119,0,0,0,0,0,0
$GC,6982,1.07,217.9,294.9,11.8,246,6986,0.15,1.92,0.00,0.000,6,0.138,0.027,3655,1383,2119,0,0,0,0,0,0
$GC,7244,1.15,223.3,269.8,9.6,253,7257,0.00,2.12,7.97,0.620,4,0.000,0.061,3655,158,2089,0,0,0,0,0,0
$GC,7272,1.15,229.6,266.9,9.5,253,7286,0.00,1.90,6.80,0.591,6,0.000,0.025,3655,1377,2065,0,0,0,0,0,0
$GC,7530,1.27,248.9,244.8,8.4,260,7551,0.17,0.00,18.17,0.669,6,0.066,0.000,3700,1377,1985,0,0,0,0,0,0
$GC,7775,1.27,248.9,218.9,11.1,266,7779,0.00,2.08,0.00,0.000,4,0.000,0.058,3700,160,1982,0,0,0,0,0,0
$GC,7830,1.19,248.9,211.1,14.0,267,7834,0.00,1.90,0.00,0.000,6,0.000,0.024,3700,1373,1982,0,0,0,0,0,0
$GC,8095,1.19,248.9,181.5,11.1,284,8098,0.00,2.05,0.00,0.000,4,0.000,0.054,3700,163,1981,0,0,0,0,0,0
$GC,8194,1.10,248.9,169.3,11.1,294,8199,0.20,1.88,0.00,0.000,6,0.132,0.023,3662,1383,1981,0,0,0,0,0,0
$GC,8456,1.25,257.0,145.1,9.3,318,8471,0.12,2.05,8.10,0.516,4,0.077,0.051,3700,163,1953,0,0,0,0,0,0
$GC,8515,1.17,257.0,138.1,14.3,323,8519,0.12,1.83,0.00,0.000,6,0.139,0.021,3678,1368,1953,0,0,0,0,0,0
$GC,8784,1.29,261.1,109.0,9.7,348,8799,0.10,2.60,5.25,0.428,4,0.087,0.028,3710,2973,1935,0,0,0,0,0,0
$GC,8811,1.38,261.1,105.8,11.1,350,8815,0.00,2.62,0.00,0.000,6,0.000,0.035,3711,1364,1934,0,0,0,0,0,0
$GC,9075,1.40,276.6,80.5,8.7,374,9094,0.00,0.00,15.57,0.502,6,0.000,0.000,3711,1365,1870,0,0,0,0,0,0
$GC,9353,1.46,276.6,54.2,10.4,400,9357,0.00,2.00,0.00,0.000,4,0.000,0.051,3711,158,1869,0,0,0,0,0,0
$GC,9381,1.46,276.6,50.3,12.1,402,9390,0.00,1.88,0.00,0.000,6,0.000,0.020,3711,1375,1869,0,0,0,0,0,0
$GC,9657,1.58,289.7,24.3,8.9,431,9674,0.00,0.00,12.55,0.441,6,0.000,0.000,3711,1377,1818,0,0,0,0,0,0
$STATE,9856,end climb,SURFACE_DEPTH_REACHED
$STATE,9856,begin surface coast
$FINISH,0.5,1.011294
$STATE,9902,end surface coast,CONTROL_FINISHED_OK
$STATE,9903,begin surface
$SM_CCo,9926,50.70,0.453,0,0,1490,370.16
$SM_GC,1.32,0.00,0.00,50.70,0.000,0.000,0.453,414,1626,1490,-13.83,0.74,370.16
$IRIDIUM_FIX,2237.01,-15758.03,180802,171704
$TT8_MAMPS,0.027612
$HUMID,65.51
$INTERNAL_PRESSURE,9.45736
$TCM_TEMP,22.60
$XPDR_PINGS,26
$24V_AH,23.4,1.709
$10V_AH,9.9,1.655
$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,33.800,119.950,369.950,50.700,0.000,31.541,40.019,138.140,6.500,0.000,13.231,1032.573,6399.871,454.513,1925.694,495.478,33.329,1258.846,0.000,1928.173,0.000,0.538,0.000
$DEVICE_MAMPS,149.565,85.904,923.468,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.970,274.710,346.506,694.938,949.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,35167,469
$CAP_FILE_SIZE,114030,0
$CFSIZE,260165632,171249664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,215006,2247.489,-15759.763,68,1.8,68,10.1