version: 66.06
glider: 148
mission: 12
dive: 19
start: 5 25 113 4 30 31
data:
$ID,148
$MISSION,12
$DIVE,19
$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,-1015342.2
$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,3390
$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,1550
$C_ROLL_CLIMB,1250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,33
$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,0.0043645771
$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
$GPS1,042305,2244.419,-15801.988,40,1.4,45,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-79.0
$GPS2,042939,2244.495,-15801.954,10,99.0,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.185,-0.182
$KALMAN_X,-2169.7,-42.8,-6.3,-1015.9,171.5
$KALMAN_Y,3607.6,380.1,-83.4,-4814.4,-6.9
$MHEAD_RNG_PITCHd_Wd,215.3,10127,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,77,0.00,0.00,-59.45,0.000,2,0.000,0.000,411,1627,3083,0,0,0,0,0,0
$GC,81,-1.27,-146.0,4.1,-7.3,8,114,14.80,2.42,-6.25,0.000,4,0.170,0.053,3107,175,3478,0,0,0,0,0,0
$GC,242,-1.05,-146.0,50.5,-17.8,26,247,0.25,2.17,0.00,0.000,6,0.103,0.019,3159,1575,3478,0,0,0,0,0,0
$GC,506,-0.91,-146.0,88.5,-12.9,50,510,0.15,2.47,0.00,0.000,4,0.107,0.026,3192,3128,3479,0,0,0,0,0,0
$GC,549,-1.00,-146.0,93.1,-9.9,53,553,0.00,2.55,0.00,0.000,6,0.000,0.030,3192,1540,3479,0,0,0,0,0,0
$GC,817,-1.00,-146.0,120.4,-9.5,77,821,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1540,3480,0,0,0,0,0,0
$GC,1078,-1.00,-146.0,146.0,-9.6,102,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,1540,3481,0,0,0,0,0,0
$GC,1334,-1.00,-146.0,169.1,-8.6,126,1339,0.00,2.50,0.00,0.000,4,0.000,0.024,3192,3121,3481,0,0,0,0,0,0
$GC,1364,-1.13,-146.0,171.6,-7.4,128,1371,0.20,2.55,0.00,0.000,6,0.043,0.030,3096,1545,3480,0,0,0,0,0,0
$GC,1646,-0.89,-146.0,213.1,-15.5,149,1649,0.45,0.00,0.00,0.000,6,0.087,0.000,3194,1545,3481,0,0,0,0,0,0
$GC,1887,-0.99,-146.0,234.0,-7.9,155,1892,0.00,2.47,0.00,0.000,4,0.000,0.025,3195,3122,3481,0,0,0,0,0,0
$GC,1911,-1.17,-146.0,235.9,-7.5,155,1917,0.25,2.53,0.00,0.000,6,0.041,0.030,3094,1550,3481,0,0,0,0,0,0
$GC,2173,-0.98,-146.0,270.3,-13.9,162,2178,0.35,2.53,0.00,0.000,4,0.088,0.027,3174,3124,3481,0,0,0,0,0,0
$GC,2193,-0.98,-146.0,273.1,-12.1,162,2198,0.00,2.53,0.00,0.000,6,0.000,0.031,3174,1565,3481,0,0,0,0,0,0
$GC,2458,-1.08,-146.0,295.2,-8.0,169,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1565,3481,0,0,0,0,0,0
$GC,2703,-1.19,-146.0,312.6,-7.3,175,2705,0.17,0.00,0.00,0.000,6,0.051,0.000,3101,1565,3481,0,0,0,0,0,0
$GC,2945,-1.09,-146.0,341.1,-12.0,181,2947,0.22,0.00,0.00,0.000,6,0.089,0.000,3152,1565,3480,0,0,0,0,0,0
$GC,3189,-1.16,-146.0,360.1,-7.2,187,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1565,3479,0,0,0,0,0,0
$GC,3434,-1.24,-146.0,376.7,-7.1,193,3439,0.15,2.58,0.00,0.000,4,0.058,0.040,3087,3116,3478,0,0,0,0,0,0
$GC,3472,-1.24,-146.0,380.8,-10.5,193,3478,0.15,2.55,0.00,0.000,6,0.097,0.035,3121,1568,3478,0,0,0,0,0,0
$GC,3722,-1.24,-146.0,405.8,-10.2,200,3726,0.00,2.35,0.00,0.000,4,0.000,0.064,3121,173,3476,0,0,0,0,0,0
$GC,3742,-1.24,-146.0,408.0,-11.4,200,3746,0.00,2.20,0.00,0.000,6,0.000,0.027,3121,1558,3476,0,0,0,0,0,0
$GC,4005,-1.24,-146.0,433.7,-9.4,207,4010,0.00,2.58,0.00,0.000,4,0.000,0.043,3121,3120,3475,0,0,0,0,0,0
$GC,4029,-1.24,-146.0,435.9,-9.0,207,4033,0.00,2.55,0.00,0.000,6,0.000,0.038,3121,1564,3474,0,0,0,0,0,0
$GC,4290,-1.24,-146.0,457.0,-8.0,214,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1564,3472,0,0,0,0,0,0
$GC,4532,-1.24,-146.0,477.0,-8.4,220,4537,0.00,2.60,0.00,0.000,4,0.000,0.044,3121,3119,3471,0,0,0,0,0,0
$GC,4566,-1.35,-146.0,479.9,-8.9,220,4571,0.10,2.58,0.00,0.000,6,0.076,0.043,3072,1577,3471,0,0,0,0,0,0
$GC,4817,-1.23,-146.0,507.6,-11.3,226,4822,0.22,2.47,0.00,0.000,4,0.095,0.076,3121,166,3469,0,0,0,0,0,0
$GC,4862,-1.29,-146.0,512.0,-9.1,227,4866,0.00,2.28,0.00,0.000,6,0.000,0.036,3121,1563,3468,0,0,0,0,0,0
$GC,5150,-1.29,-146.0,535.0,-8.0,234,5155,0.00,2.62,0.00,0.000,4,0.000,0.053,3121,3135,3467,0,0,0,0,0,0
$GC,5179,-1.38,-146.0,537.5,-8.0,234,5184,0.15,2.62,0.00,0.000,6,0.057,0.046,3071,1564,3467,0,0,0,0,0,0
$GC,5436,-1.27,-146.0,565.1,-11.2,241,5438,0.20,0.00,0.00,0.000,6,0.097,0.000,3115,1564,3465,0,0,0,0,0,0
$GC,5680,-1.27,-146.0,587.9,-9.3,247,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1564,3463,0,0,0,0,0,0
$STATE,5838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5838,begin apogee
$GC,5844,-0.31,0.0,602.0,8.6,251,5963,0.90,0.00,115.20,0.941,6,0.073,0.000,3321,1243,2881,0,0,0,0,0,0
$STATE,5964,end apogee,CONTROL_FINISHED_OK
$STATE,5964,begin climb
$GC,5966,1.27,146.0,606.3,0.0,254,6098,1.42,2.03,122.65,0.918,4,0.035,0.087,3664,172,2284,0,0,0,0,0,0
$GC,6219,0.85,146.0,593.1,13.5,259,6224,0.43,1.77,0.00,0.000,6,0.117,0.032,3579,1258,2279,0,0,0,0,0,0
$GC,6471,0.83,183.7,571.1,8.3,265,6512,0.00,2.00,32.75,0.885,4,0.000,0.077,3579,165,2130,0,0,0,0,0,0
$GC,6579,0.72,183.7,560.1,11.1,267,6584,0.15,1.77,0.00,0.000,6,0.118,0.032,3549,1247,2129,0,0,0,0,0,0
$GC,6852,0.79,239.6,538.5,7.4,274,6909,0.00,2.78,49.88,0.886,4,0.000,0.052,3549,2819,1902,0,0,0,0,0,0
$GC,6953,1.00,281.2,531.1,8.1,276,6999,0.25,2.72,37.80,0.863,6,0.044,0.052,3630,1251,1732,0,0,0,0,0,0
$GC,7272,0.89,281.2,489.0,13.4,284,7274,0.22,0.00,0.00,0.000,6,0.105,0.000,3585,1251,1727,0,0,0,0,0,0
$GC,7516,0.89,281.2,462.7,10.8,290,7521,0.00,2.62,0.00,0.000,4,0.000,0.041,3584,2824,1725,0,0,0,0,0,0
$GC,7560,0.99,281.2,457.9,10.5,291,7564,0.00,2.70,0.00,0.000,6,0.000,0.051,3584,1252,1721,0,0,0,0,0,0
$GC,7848,0.99,281.2,424.5,11.6,298,7853,0.00,2.65,0.00,0.000,4,0.000,0.043,3584,2825,1721,0,0,0,0,0,0
$GC,7920,1.10,281.2,416.6,10.8,299,7927,0.20,2.67,0.00,0.000,6,0.050,0.050,3648,1264,1719,0,0,0,0,0,0
$GC,8182,0.96,281.2,378.2,15.2,306,8187,0.25,1.92,0.00,0.000,4,0.107,0.068,3592,160,1720,0,0,0,0,0,0
$GC,8203,0.87,281.2,375.1,14.5,306,8207,0.00,1.80,0.00,0.000,6,0.000,0.027,3592,1275,1719,0,0,0,0,0,0
$GC,8471,0.87,281.2,343.5,11.6,313,8476,0.00,2.53,0.00,0.000,4,0.000,0.037,3593,2817,1719,0,0,0,0,0,0
$GC,8523,0.99,281.2,337.7,10.0,314,8527,0.00,2.62,0.00,0.000,6,0.000,0.047,3592,1269,1717,0,0,0,0,0,0
$GC,8802,0.99,281.2,305.2,11.8,321,8806,0.00,2.55,0.00,0.000,4,0.000,0.034,3593,2824,1717,0,0,0,0,0,0
$GC,8835,1.09,281.2,300.9,12.2,321,8840,0.15,2.62,0.00,0.000,6,0.059,0.045,3650,1270,1717,0,0,0,0,0,0
$GC,9085,0.98,281.2,265.5,14.0,327,9087,0.22,0.00,0.00,0.000,6,0.105,0.000,3604,1269,1718,0,0,0,0,0,0
$GC,9329,0.98,281.2,238.6,10.8,333,9334,0.00,2.50,0.00,0.000,4,0.000,0.029,3603,2833,1717,0,0,0,0,0,0
$GC,9390,1.11,281.2,232.4,10.2,334,9395,0.12,2.60,0.00,0.000,6,0.066,0.041,3655,1271,1716,0,0,0,0,0,0
$GC,9660,1.02,281.2,200.5,11.5,341,9665,0.20,2.53,0.00,0.000,4,0.107,0.028,3613,2833,1717,0,0,0,0,0,0
$GC,9719,1.17,304.6,195.2,8.9,343,9751,0.12,2.60,19.65,0.624,6,0.067,0.040,3664,1268,1637,0,0,0,0,0,0
$GC,10007,1.08,304.6,157.8,14.3,370,10011,0.17,1.88,0.00,0.000,4,0.116,0.055,3627,159,1634,0,0,0,0,0,0
$GC,10031,1.08,304.6,153.6,13.6,372,10040,0.00,1.77,0.00,0.000,6,0.000,0.023,3627,1306,1635,0,0,0,0,0,0
$GC,10297,1.08,304.6,122.6,12.2,397,10301,0.00,2.40,0.00,0.000,4,0.000,0.027,3627,2832,1635,0,0,0,0,0,0
$GC,10376,1.20,304.6,113.5,10.4,404,10381,0.10,2.58,0.00,0.000,6,0.080,0.038,3671,1275,1632,0,0,0,0,0,0
$GC,10638,1.13,304.6,78.8,12.3,428,10640,0.17,0.00,0.00,0.000,6,0.111,0.000,3635,1275,1632,0,0,0,0,0,0
$GC,10898,1.19,304.6,50.7,10.1,452,10902,0.00,2.45,0.00,0.000,4,0.000,0.026,3635,2829,1632,0,0,0,0,0,0
$GC,10974,1.36,331.5,43.9,8.8,458,11012,0.20,2.53,24.15,0.485,6,0.049,0.035,3719,1286,1527,0,0,0,0,0,0
$STATE,11259,end climb,SURFACE_DEPTH_REACHED
$STATE,11259,begin surface coast
$FINISH,0.5,1.003415
$STATE,11303,end surface coast,CONTROL_FINISHED_OK
$STATE,11303,begin surface
$SM_CCo,11326,31.77,0.453,0,0,1370,370.16
$SM_GC,1.47,0.00,0.00,31.77,0.000,0.000,0.453,416,1604,1370,-13.68,1.53,370.16
$IRIDIUM_FIX,2239.35,-15800.20,190802,010107
$TT8_MAMPS,0.027612
$HUMID,66.14
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,22.00
$XPDR_PINGS,9
$24V_AH,23.4,2.074
$10V_AH,9.8,1.971
$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,36.575,117.250,402.075,31.775,0.000,30.634,33.000,180.282,2.250,0.000,31.852,1072.652,7800.919,460.704,1857.799,559.497,33.356,1245.853,0.000,1848.935,0.000,0.537,0.000
$DEVICE_MAMPS,170.274,86.671,941.109,453.297,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.732,276.671,357.797,658.898,902.919,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38361,502
$CAP_FILE_SIZE,120693,0
$CFSIZE,260165632,171065344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250513,074106,2243.440,-15803.564,36,1.0,36,10.0