version: 66.06
glider: 148
mission: 12
dive: 21
start: 5 25 113 11 19 36
data:
$ID,148
$MISSION,12
$DIVE,21
$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,-1015368
$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,1325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2870
$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
$GPS1,110824,2241.783,-15804.892,47,1.3,47,10.0
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-75.8
$GPS2,111843,2241.777,-15804.979,8,1.7,8,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.103,-0.139
$KALMAN_X,-3505.7,187.3,-130.7,-4955.3,-550.2
$KALMAN_Y,3522.6,40.4,77.4,-9589.9,-760.5
$MHEAD_RNG_PITCHd_Wd,206.7,2939,-27.2,-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,-1.78,-63.0,0.0,0.0,0,78,0.00,0.00,-59.95,0.000,2,0.000,0.000,415,1613,2918,0,0,0,0,0,0
$GC,82,-1.84,-113.2,3.1,-4.7,8,114,13.52,2.42,-7.53,0.000,4,0.154,0.054,2982,169,3333,0,0,0,0,0,0
$GC,213,-1.52,-113.2,43.7,-28.0,24,218,0.35,2.15,0.00,0.000,6,0.116,0.021,3053,1553,3334,0,0,0,0,0,0
$GC,477,-1.52,-113.2,99.4,-18.9,48,482,0.00,2.50,0.00,0.000,4,0.000,0.025,3053,3133,3334,0,0,0,0,0,0
$GC,520,-1.59,-113.2,107.0,-17.8,51,525,0.00,2.58,0.00,0.000,6,0.000,0.031,3053,1543,3334,0,0,0,0,0,0
$GC,784,-1.59,-113.2,157.6,-20.0,75,785,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,1543,3335,0,0,0,0,0,0
$GC,1065,-1.59,-113.2,207.1,-17.0,99,1070,0.00,2.50,0.00,0.000,4,0.000,0.025,3053,3129,3335,0,0,0,0,0,0
$GC,1084,-1.59,-113.2,210.5,-17.4,99,1089,0.00,2.53,0.00,0.000,6,0.000,0.029,3053,1555,3335,0,0,0,0,0,0
$GC,1350,-1.65,-113.2,251.1,-15.6,106,1352,0.10,0.00,0.00,0.000,6,0.080,0.000,3009,1556,3335,0,0,0,0,0,0
$GC,1592,-1.65,-113.2,292.7,-17.0,112,1596,0.00,2.50,0.00,0.000,4,0.000,0.029,3009,3122,3335,0,0,0,0,0,0
$GC,1606,-1.65,-113.2,295.0,-15.7,112,1610,0.00,2.55,0.00,0.000,6,0.000,0.030,3009,1552,3335,0,0,0,0,0,0
$GC,1874,-1.65,-113.2,336.9,-15.3,119,1878,0.00,2.30,0.00,0.000,4,0.000,0.055,3009,168,3335,0,0,0,0,0,0
$GC,1957,-1.65,-113.2,351.0,-16.7,120,1963,0.00,2.17,0.00,0.000,6,0.000,0.025,3009,1544,3335,0,0,0,0,0,0
$GC,2207,-1.65,-113.2,388.7,-15.2,127,2209,0.10,0.00,0.00,0.000,6,0.133,0.000,3029,1544,3334,0,0,0,0,0,0
$GC,2452,-1.78,-113.2,422.6,-13.5,133,2454,0.10,0.00,0.00,0.000,6,0.082,0.000,2985,1545,3332,0,0,0,0,0,0
$GC,2694,-1.78,-113.2,463.2,-17.2,139,2698,0.00,2.38,0.00,0.000,4,0.000,0.070,2984,179,3331,0,0,0,0,0,0
$GC,2750,-1.78,-113.2,473.4,-18.6,140,2754,0.00,2.20,0.00,0.000,6,0.000,0.035,2985,1528,3330,0,0,0,0,0,0
$GC,3024,-1.78,-113.2,518.7,-16.4,147,3028,0.00,2.35,0.00,0.000,4,0.000,0.071,2984,173,3328,0,0,0,0,0,0
$GC,3070,-1.78,-113.2,526.9,-16.9,148,3074,0.00,2.22,0.00,0.000,6,0.000,0.037,2985,1532,3328,0,0,0,0,0,0
$GC,3352,-1.78,-113.2,567.3,-14.0,155,3356,0.00,2.35,0.00,0.000,4,0.000,0.073,2984,180,3325,0,0,0,0,0,0
$GC,3381,-1.78,-113.2,571.4,-15.1,155,3385,0.00,2.22,0.00,0.000,6,0.000,0.039,2985,1530,3325,0,0,0,0,0,0
$STATE,3592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3592,begin apogee
$GC,3598,-0.31,0.0,601.3,13.8,161,3693,1.52,0.00,90.55,0.916,6,0.091,0.000,3320,1327,2870,0,0,0,0,0,0
$STATE,3694,end apogee,CONTROL_FINISHED_OK
$STATE,3694,begin climb
$GC,3696,1.84,113.2,603.5,0.0,163,3805,1.58,2.75,95.90,0.900,4,0.027,0.047,3716,2912,2406,0,0,0,0,0,0
$GC,3843,1.88,140.9,604.6,7.0,166,3874,0.00,2.75,24.33,0.855,6,0.000,0.051,3716,1336,2295,0,0,0,0,0,0
$GC,4158,1.88,140.9,571.1,10.6,174,4162,0.00,2.12,0.00,0.000,4,0.000,0.086,3716,163,2288,0,0,0,0,0,0
$GC,4242,1.71,140.9,560.6,12.2,175,4247,0.00,1.92,0.00,0.000,6,0.000,0.031,3716,1338,2287,0,0,0,0,0,0
$GC,4493,1.71,143.8,535.9,9.7,182,4497,0.00,2.08,0.00,0.000,4,0.000,0.072,3716,165,2284,0,0,0,0,0,0
$GC,4586,1.55,143.8,524.7,12.4,184,4589,0.00,1.88,0.00,0.000,6,0.000,0.031,3716,1324,2284,0,0,0,0,0,0
$GC,4872,1.55,143.8,493.0,11.0,191,4875,0.00,2.05,0.00,0.000,4,0.000,0.068,3716,159,2282,0,0,0,0,0,0
$GC,5140,1.39,143.8,458.3,12.8,196,5145,0.08,1.85,0.00,0.000,6,0.131,0.029,3699,1293,2281,0,0,0,0,0,0
$GC,5397,1.40,153.6,434.4,9.0,203,5408,0.00,0.00,9.52,0.738,6,0.000,0.000,3699,1295,2243,0,0,0,0,0,0
$GC,5639,1.42,163.4,412.6,9.0,209,5655,0.00,2.05,9.90,0.732,4,0.000,0.064,3699,160,2203,0,0,0,0,0,0
$GC,5758,1.34,163.4,399.7,11.0,211,5762,0.00,1.88,0.00,0.000,6,0.000,0.028,3699,1311,2202,0,0,0,0,0,0
$GC,6022,1.35,170.1,374.7,9.3,218,6034,0.00,2.05,7.12,0.661,4,0.000,0.063,3699,161,2176,0,0,0,0,0,0
$GC,6053,1.35,170.1,371.3,10.8,218,6057,0.00,1.85,0.00,0.000,6,0.000,0.028,3699,1311,2176,0,0,0,0,0,0
$GC,6314,1.42,170.1,344.2,10.4,225,6318,0.00,2.00,0.00,0.000,4,0.000,0.061,3699,166,2174,0,0,0,0,0,0
$GC,6494,1.42,170.1,322.4,11.2,228,6500,0.00,1.80,0.00,0.000,6,0.000,0.027,3699,1303,2174,0,0,0,0,0,0
$GC,6746,1.52,182.4,299.9,8.7,235,6763,0.00,2.00,12.05,0.676,4,0.000,0.059,3699,159,2126,0,0,0,0,0,0
$GC,6830,1.53,189.1,292.3,9.3,236,6843,0.00,1.77,7.45,0.614,6,0.000,0.025,3699,1301,2098,0,0,0,0,0,0
$GC,7129,1.66,193.9,265.1,9.5,244,7136,0.00,0.00,5.22,0.527,6,0.000,0.000,3699,1301,2079,0,0,0,0,0,0
$GC,7369,1.80,193.9,239.9,10.4,250,7373,0.00,1.95,0.00,0.000,4,0.000,0.056,3699,159,2077,0,0,0,0,0,0
$GC,7501,1.80,193.9,225.9,12.0,252,7505,0.00,1.77,0.00,0.000,6,0.000,0.024,3699,1284,2077,0,0,0,0,0,0
$GC,7756,1.95,205.8,202.8,8.7,259,7772,0.00,1.95,11.35,0.584,4,0.000,0.053,3699,163,2031,0,0,0,0,0,0
$GC,7784,2.07,211.2,200.0,9.4,259,7796,0.00,1.75,6.75,0.518,6,0.000,0.022,3699,1295,2007,0,0,0,0,0,0
$GC,8058,2.24,211.2,172.7,10.2,284,8062,0.00,2.55,0.00,0.000,4,0.000,0.028,3699,2887,2005,0,0,0,0,0,0
$GC,8098,2.49,211.2,168.5,11.0,287,8104,0.00,2.67,0.00,0.000,6,0.000,0.037,3699,1267,2003,0,0,0,0,0,0
$GC,8363,2.67,211.2,141.2,11.1,312,8367,0.00,2.60,0.00,0.000,4,0.000,0.027,3699,2887,2003,0,0,0,0,0,0
$GC,8394,2.92,218.5,137.6,9.2,314,8407,0.00,2.70,7.22,0.479,6,0.000,0.038,3699,1269,1979,0,0,0,0,0,0
$GC,8667,3.12,227.5,110.3,9.0,339,8690,0.00,2.62,9.80,0.488,4,0.000,0.027,3699,2870,1941,0,0,0,0,0,0
$GC,8736,3.40,227.5,102.9,10.5,345,8742,0.00,2.62,0.00,0.000,6,0.000,0.036,3699,1279,1939,0,0,0,0,0,0
$GC,9004,3.66,250.0,78.3,7.6,370,9030,0.00,2.65,20.98,0.499,4,0.000,0.026,3699,2876,1849,0,0,0,0,0,0
$GC,9057,3.98,261.7,73.6,8.8,374,9073,0.00,2.65,10.98,0.463,6,0.000,0.035,3699,1279,1803,0,0,0,0,0,0
$GC,9340,4.27,261.7,45.8,11.4,400,9344,0.00,2.55,0.00,0.000,4,0.000,0.026,3699,2882,1801,0,0,0,0,0,0
$GC,9370,4.27,261.7,42.5,10.0,402,9374,0.00,2.62,0.00,0.000,6,0.000,0.035,3699,1283,1799,0,0,0,0,0,0
$GC,9664,4.27,263.8,11.1,9.8,440,9672,0.00,1.85,0.00,0.000,4,0.000,0.051,3698,177,1799,0,0,0,0,0,0
$GC,9715,4.48,263.8,5.1,12.2,447,9724,0.00,1.67,0.00,0.000,6,0.000,0.019,3699,1277,1799,0,0,0,0,0,0
$STATE,9731,end climb,SURFACE_DEPTH_REACHED
$STATE,9731,begin surface coast
$FINISH,0.6,1.016243
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9803,54.20,0.444,0,0,1361,370.16
$SM_GC,1.66,0.00,0.00,54.20,0.000,0.000,0.444,410,1573,1361,-13.71,0.65,370.16
$IRIDIUM_FIX,2232.34,-15828.40,190802,111120
$TT8_MAMPS,0.027612
$HUMID,61.57
$INTERNAL_PRESSURE,9.44759
$TCM_TEMP,23.10
$XPDR_PINGS,5
$24V_AH,23.4,2.303
$10V_AH,9.8,2.184
$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,30.650,108.625,329.125,54.200,0.000,55.026,82.020,277.381,1.250,0.000,10.271,1001.783,6470.351,435.244,1848.337,718.619,33.346,1192.916,0.000,1851.165,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,85.904,915.798,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.139,260.235,334.748,652.093,890.638,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,35245,456
$CAP_FILE_SIZE,112926,0
$CFSIZE,260165632,170962944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250513,140506,2240.430,-15805.950,32,1.6,32,10.0