version: 66.06
glider: 148
mission: 12
dive: 44
start: 5 30 113 7 8 13
data:
$ID,148
$MISSION,12
$DIVE,44
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,300
$T_MISSION,600
$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,390
$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,-1015874.3
$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,3380
$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,0.028999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1570
$C_ROLL_CLIMB,1340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2875
$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
$GPS1,065930,2247.150,-15747.322,76,1.1,76,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-76.3
$GPS2,070719,2247.190,-15747.343,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,-0.223
$KALMAN_X,-10279.0,-205.3,-135.8,32341.2,-89.8
$KALMAN_Y,13804.0,7.0,-507.2,-9227.0,1780.1
$MHEAD_RNG_PITCHd_Wd,139.3,22790,-17.5,-10.000
$D_GRID,900
$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,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.82,0.000,2,0.000,0.000,410,1561,3022,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.2,9,122,14.15,2.33,-7.62,0.000,4,0.153,0.052,3097,167,3473,0,0,0,0,0,0
$GC,210,-1.03,-146.0,38.1,-21.8,24,215,0.28,2.15,0.00,0.000,6,0.104,0.020,3155,1563,3473,0,0,0,0,0,0
$GC,475,-0.91,-146.0,85.2,-15.7,48,480,0.12,2.50,0.00,0.000,4,0.114,0.025,3181,3150,3474,0,0,0,0,0,0
$GC,498,-0.86,-146.0,89.1,-14.3,49,503,0.00,2.58,0.00,0.000,6,0.000,0.028,3181,1560,3474,0,0,0,0,0,0
$GC,760,-0.86,-146.0,123.1,-12.5,74,761,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1560,3474,0,0,0,0,0,0
$GC,1013,-0.86,-146.0,151.6,-10.3,98,1018,0.00,2.53,0.00,0.000,4,0.000,0.024,3181,3149,3475,0,0,0,0,0,0
$GC,1034,-0.86,-146.0,153.5,-9.6,99,1042,0.00,2.58,0.00,0.000,6,0.000,0.028,3181,1575,3474,0,0,0,0,0,0
$GC,1300,-0.86,-146.0,179.3,-9.5,124,1304,0.00,2.30,0.00,0.000,4,0.000,0.044,3181,173,3475,0,0,0,0,0,0
$GC,1315,-0.86,-146.0,181.3,-9.8,125,1319,0.00,2.20,0.00,0.000,6,0.000,0.018,3181,1629,3475,0,0,0,0,0,0
$GC,1608,-0.86,-146.0,207.5,-8.4,146,1612,0.00,2.38,0.00,0.000,4,0.000,0.024,3181,3149,3475,0,0,0,0,0,0
$GC,1622,-0.90,-146.0,208.9,-8.0,146,1626,0.00,2.55,0.00,0.000,6,0.000,0.026,3181,1573,3475,0,0,0,0,0,0
$GC,1897,-0.95,-146.0,229.4,-7.5,153,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1573,3475,0,0,0,0,0,0
$GC,2140,-1.02,-146.0,250.2,-9.0,159,2144,0.10,2.30,0.00,0.000,4,0.077,0.048,3130,173,3475,0,0,0,0,0,0
$GC,2168,-0.97,-146.0,253.9,-13.1,159,2173,0.17,2.17,0.00,0.000,6,0.094,0.020,3169,1581,3475,0,0,0,0,0,0
$GC,2426,-1.03,-146.0,280.9,-10.5,166,2430,0.00,2.47,0.00,0.000,4,0.000,0.028,3169,3137,3475,0,0,0,0,0,0
$GC,2449,-1.12,-146.0,283.4,-9.7,166,2455,0.15,2.55,0.00,0.000,6,0.052,0.031,3088,1577,3475,0,0,0,0,0,0
$GC,2710,-1.00,-146.0,315.4,-12.2,173,2712,0.32,0.00,0.00,0.000,6,0.084,0.000,3159,1577,3475,0,0,0,0,0,0
$GC,2955,-1.06,-146.0,334.2,-7.5,179,2960,0.00,2.38,0.00,0.000,4,0.000,0.056,3159,164,3474,0,0,0,0,0,0
$GC,2975,-1.11,-146.0,336.0,-8.5,179,2979,0.00,2.20,0.00,0.000,6,0.000,0.022,3159,1567,3474,0,0,0,0,0,0
$GC,3240,-1.18,-146.0,357.2,-8.1,186,3245,0.15,2.40,0.00,0.000,4,0.058,0.059,3095,169,3472,0,0,0,0,0,0
$GC,3255,-1.18,-146.0,358.8,-8.2,186,3260,0.12,2.20,0.00,0.000,6,0.106,0.024,3123,1561,3473,0,0,0,0,0,0
$GC,3524,-1.18,-146.0,386.5,-10.2,193,3529,0.00,2.38,0.00,0.000,4,0.000,0.060,3123,175,3471,0,0,0,0,0,0
$GC,3540,-1.18,-146.0,388.1,-10.2,193,3544,0.00,2.20,0.00,0.000,6,0.000,0.025,3123,1561,3471,0,0,0,0,0,0
$GC,3809,-1.18,-146.0,414.3,-9.5,200,3813,0.00,2.60,0.00,0.000,4,0.000,0.041,3123,3147,3469,0,0,0,0,0,0
$GC,3852,-1.24,-146.0,418.3,-8.7,201,3857,0.00,2.60,0.00,0.000,6,0.000,0.037,3123,1572,3469,0,0,0,0,0,0
$GC,4141,-1.24,-146.0,443.2,-8.7,208,4145,0.00,2.42,0.00,0.000,4,0.000,0.069,3123,168,3467,0,0,0,0,0,0
$GC,4164,-1.24,-146.0,445.5,-9.1,208,4168,0.00,2.22,0.00,0.000,6,0.000,0.028,3123,1570,3466,0,0,0,0,0,0
$GC,4428,-1.24,-146.0,467.1,-8.2,215,4432,0.00,2.40,0.00,0.000,4,0.000,0.067,3122,173,3465,0,0,0,0,0,0
$GC,4448,-1.24,-146.0,468.9,-9.0,215,4452,0.00,2.22,0.00,0.000,6,0.000,0.029,3123,1573,3464,0,0,0,0,0,0
$GC,4712,-1.24,-146.0,491.1,-8.4,222,4716,0.00,2.60,0.00,0.000,4,0.000,0.047,3123,3142,3463,0,0,0,0,0,0
$GC,4731,-1.24,-146.0,492.9,-9.2,222,4735,0.00,2.60,0.00,0.000,6,0.000,0.038,3123,1566,3462,0,0,0,0,0,0
$GC,4996,-1.24,-146.0,515.0,-8.3,229,5001,0.00,2.45,0.00,0.000,4,0.000,0.076,3123,166,3461,0,0,0,0,0,0
$GC,5015,-1.24,-146.0,516.9,-9.5,229,5020,0.00,2.25,0.00,0.000,6,0.000,0.032,3123,1556,3461,0,0,0,0,0,0
$GC,5279,-1.24,-146.0,540.1,-8.9,236,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1557,3459,0,0,0,0,0,0
$GC,5524,-1.24,-146.0,563.6,-9.9,242,5529,0.00,2.67,0.00,0.000,4,0.000,0.050,3123,3148,3458,0,0,0,0,0,0
$GC,5548,-1.29,-146.0,566.4,-10.9,242,5553,0.10,2.67,0.00,0.000,6,0.073,0.045,3063,1564,3458,0,0,0,0,0,0
$GC,5809,-1.19,-146.0,601.4,-14.0,249,5811,0.25,0.00,0.00,0.000,6,0.092,0.000,3119,1564,3456,0,0,0,0,0,0
$GC,6054,-1.19,-146.0,626.2,-9.7,255,6058,0.00,2.67,0.00,0.000,4,0.000,0.049,3119,3148,3454,0,0,0,0,0,0
$GC,6068,-1.19,-146.0,627.8,-9.3,255,6073,0.00,2.67,0.00,0.000,6,0.000,0.047,3119,1568,3454,0,0,0,0,0,0
$GC,6337,-1.19,-146.0,650.4,-8.2,262,6341,0.00,2.65,0.00,0.000,4,0.000,0.048,3119,3153,3453,0,0,0,0,0,0
$GC,6358,-1.24,-146.0,652.0,-8.1,262,6362,0.00,2.70,0.00,0.000,6,0.000,0.050,3119,1566,3453,0,0,0,0,0,0
$GC,6622,-1.24,-146.0,670.5,-6.8,269,6626,0.00,2.50,0.00,0.000,4,0.000,0.086,3119,165,3452,0,0,0,0,0,0
$GC,6641,-1.24,-146.0,671.8,-6.7,269,6645,0.00,2.30,0.00,0.000,6,0.000,0.037,3119,1569,3451,0,0,0,0,0,0
$GC,6908,-1.24,-146.0,689.8,-6.7,276,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1569,3450,0,0,0,0,0,0
$GC,7150,-1.24,-146.0,707.3,-7.2,282,7155,0.00,2.65,0.00,0.000,4,0.000,0.053,3119,3152,3449,0,0,0,0,0,0
$GC,7170,-1.29,-146.0,708.9,-8.0,282,7174,0.00,2.70,0.00,0.000,6,0.000,0.050,3119,1567,3448,0,0,0,0,0,0
$GC,7436,-1.29,-146.0,728.8,-7.7,289,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1566,3447,0,0,0,0,0,0
$GC,7678,-1.29,-146.0,749.3,-8.6,295,7682,0.00,2.67,0.00,0.000,4,0.000,0.048,3119,3157,3446,0,0,0,0,0,0
$GC,7693,-1.33,-146.0,750.7,-8.7,295,7700,0.12,2.70,0.00,0.000,6,0.064,0.050,3057,1573,3446,0,0,0,0,0,0
$GC,7965,-1.24,-146.0,780.9,-11.2,302,7967,0.22,0.00,0.00,0.000,6,0.095,0.000,3106,1573,3444,0,0,0,0,0,0
$GC,8208,-1.24,-146.0,800.9,-7.9,308,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1573,3444,0,0,0,0,0,0
$GC,8451,-1.24,-146.0,817.9,-6.9,314,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1573,3443,0,0,0,0,0,0
$GC,8695,-1.24,-146.0,835.0,-7.1,320,8700,0.00,2.50,0.00,0.000,4,0.000,0.084,3106,169,3442,0,0,0,0,0,0
$GC,8720,-1.24,-146.0,836.7,-8.0,320,8724,0.00,2.30,0.00,0.000,6,0.000,0.038,3106,1576,3442,0,0,0,0,0,0
$GC,8984,-1.24,-146.0,855.8,-7.1,327,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1577,3441,0,0,0,0,0,0
$GC,9228,-1.24,-146.0,872.3,-6.7,333,9232,0.00,2.50,0.00,0.000,4,0.000,0.079,3106,169,3440,0,0,0,0,0,0
$GC,9248,-1.24,-146.0,873.9,-8.2,333,9252,0.00,2.30,0.00,0.000,6,0.000,0.038,3107,1572,3440,0,0,0,0,0,0
$GC,9516,-1.24,-146.0,892.7,-7.0,340,9521,0.00,2.70,0.00,0.000,4,0.000,0.058,3107,3155,3439,0,0,0,0,0,0
$GC,9536,-1.24,-146.0,894.2,-7.8,340,9540,0.00,2.72,0.00,0.000,6,0.000,0.051,3106,1565,3439,0,0,0,0,0,0
$STATE,9634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9635,begin apogee
$GC,9642,-0.31,0.0,901.3,7.0,343,9764,0.90,0.00,118.18,1.171,6,0.073,0.000,3313,1333,2874,0,0,0,0,0,0
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9767,1.27,146.0,905.5,0.0,346,9905,1.42,0.00,129.38,1.147,6,0.031,0.000,3661,1333,2279,0,0,0,0,0,0
$GC,10134,1.04,146.0,879.6,11.4,355,10136,0.25,0.00,0.00,0.000,6,0.117,0.000,3610,1333,2270,0,0,0,0,0,0
$GC,10378,0.93,156.2,856.2,9.5,361,10394,0.12,2.12,8.62,0.939,4,0.128,0.084,3586,170,2237,0,0,0,0,0,0
$GC,10474,0.80,156.2,846.3,10.5,363,10479,0.15,1.95,0.00,0.000,6,0.120,0.033,3557,1344,2236,0,0,0,0,0,0
$GC,10757,0.83,183.1,822.0,8.8,370,10789,0.00,2.22,25.70,1.067,4,0.000,0.077,3556,160,2128,0,0,0,0,0,0
$GC,10819,0.78,183.1,815.9,10.3,371,10823,0.00,1.95,0.00,0.000,6,0.000,0.035,3556,1331,2127,0,0,0,0,0,0
$GC,11092,0.78,184.5,788.5,9.9,378,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1332,2124,0,0,0,0,0,0
$GC,11336,0.79,188.7,764.7,9.8,384,11348,0.00,2.80,5.60,0.795,4,0.000,0.057,3557,2917,2105,0,0,0,0,0,0
$GC,11373,0.87,212.9,761.2,8.9,384,11403,0.00,2.75,23.60,1.030,6,0.000,0.052,3556,1328,2007,0,0,0,0,0,0
$GC,11668,0.87,212.9,729.8,10.9,392,11673,0.00,2.72,0.00,0.000,4,0.000,0.048,3556,2920,2002,0,0,0,0,0,0
$GC,11708,0.94,212.9,725.7,11.2,392,11714,0.12,2.78,0.00,0.000,6,0.070,0.053,3599,1327,2000,0,0,0,0,0,0
$GC,11958,0.89,212.9,693.4,13.2,399,11960,0.12,0.00,0.00,0.000,6,0.117,0.000,3574,1327,2000,0,0,0,0,0,0
$GC,12201,0.89,212.9,665.0,11.7,405,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1327,1999,0,0,0,0,0,0
$GC,12446,0.89,212.9,638.2,10.8,411,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1327,1999,0,0,0,0,0,0
$GC,12689,0.89,213.4,613.5,10.0,417,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,1327,1999,0,0,0,0,0,0
$GC,12932,0.90,225.2,590.3,9.5,423,12949,0.00,2.75,11.35,0.875,4,0.000,0.047,3574,2920,1957,0,0,0,0,0,0
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$STATE,18129,end climb,SURFACE_DEPTH_REACHED
$STATE,18129,begin surface coast
$FINISH,0.8,1.009079
$STATE,18177,end surface coast,CONTROL_FINISHED_OK
$STATE,18178,begin surface
$SM_CCo,18201,40.05,0.447,0,0,1285,390.03
$SM_GC,1.82,0.00,0.00,40.05,0.000,0.000,0.447,409,1574,1285,-13.67,0.11,390.03
$IRIDIUM_FIX,2241.69,-15751.94,240802,010104
$TT8_MAMPS,0.027612
$HUMID,62.36
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,18
$24V_AH,23.2,5.835
$10V_AH,9.9,5.175
$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
$DEVICE_SECS,33.500,201.000,421.400,40.050,0.000,30.627,37.318,251.274,4.500,0.000,13.755,1498.717,13657.586,547.928,2257.147,741.843,33.363,1574.016,0.000,2248.008,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.247,318.796,411.542,708.108,960.844,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,54213,691
$CAP_FILE_SIZE,175459,0
$CFSIZE,260165632,169164800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300513,121345,2245.515,-15746.409,39,1.9,48,10.1