version: 66.06
glider: 148
mission: 12
dive: 68
start: 6 4 113 16 1 57
data:
$ID,148
$MISSION,12
$DIVE,68
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1016415.4
$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,3385
$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,1580
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,59
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2800
$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
$GPS1,155025,2254.934,-15746.654,26,2.9,45,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.1
$GPS2,160105,2255.050,-15746.714,11,1.7,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.209,-0.155
$KALMAN_X,-60186.7,-167.2,-384.9,83535.0,-177.1
$KALMAN_Y,27118.6,3.4,206.2,-8690.9,-433.3
$MHEAD_RNG_PITCHd_Wd,223.4,42571,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.82,0.000,2,0.000,0.000,408,1617,3176,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.0,-6.7,10,123,14.57,2.38,-3.58,0.000,4,0.165,0.048,3103,162,3397,0,0,0,0,0,0
$GC,237,-1.06,-146.0,39.5,-15.1,26,242,0.22,2.20,0.00,0.000,6,0.104,0.019,3151,1577,3398,0,0,0,0,0,0
$GC,506,-0.96,-146.0,73.8,-13.6,50,515,0.12,0.00,0.00,0.000,6,0.115,0.000,3177,1580,3398,0,0,0,0,0,0
$GC,770,-0.96,-146.0,102.1,-11.2,75,775,0.00,2.47,0.00,0.000,4,0.000,0.023,3177,3158,3399,0,0,0,0,0,0
$GC,824,-1.06,-146.0,107.1,-10.1,79,829,0.10,2.55,0.00,0.000,6,0.075,0.028,3118,1575,3399,0,0,0,0,0,0
$GC,1091,-0.92,-146.0,149.4,-15.7,103,1096,0.25,2.30,0.00,0.000,4,0.091,0.042,3178,162,3400,0,0,0,0,0,0
$GC,1118,-0.85,-146.0,154.0,-14.0,105,1122,0.00,2.20,0.00,0.000,6,0.000,0.018,3178,1603,3400,0,0,0,0,0,0
$GC,1381,-0.85,-146.0,178.3,-8.6,129,1386,0.10,2.40,0.00,0.000,4,0.117,0.023,3201,3141,3400,0,0,0,0,0,0
$GC,1419,-1.01,-146.0,181.1,-6.4,132,1424,0.15,2.50,0.00,0.000,6,0.052,0.028,3120,1583,3400,0,0,0,0,0,0
$GC,1689,-0.90,-146.0,208.6,-10.5,151,1694,0.28,2.30,0.00,0.000,4,0.091,0.042,3182,168,3400,0,0,0,0,0,0
$GC,1753,-1.01,-146.0,213.7,-6.4,152,1757,0.00,2.17,0.00,0.000,6,0.000,0.018,3182,1594,3400,0,0,0,0,0,0
$GC,2022,-1.08,-146.0,233.4,-8.5,159,2027,0.15,2.42,0.00,0.000,4,0.056,0.025,3117,3135,3400,0,0,0,0,0,0
$GC,2046,-1.08,-146.0,237.1,-14.8,159,2051,0.15,2.53,0.00,0.000,6,0.096,0.028,3151,1579,3400,0,0,0,0,0,0
$GC,2308,-1.08,-146.0,263.2,-8.5,166,2312,0.00,2.30,0.00,0.000,4,0.000,0.047,3151,168,3400,0,0,0,0,0,0
$GC,2345,-1.08,-146.0,265.7,-6.2,166,2351,0.00,2.15,0.00,0.000,6,0.000,0.019,3150,1567,3400,0,0,0,0,0,0
$GC,2595,-1.08,-146.0,287.2,-10.0,173,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1570,3400,0,0,0,0,0,0
$GC,2840,-1.08,-146.0,303.7,-5.5,179,2845,0.00,2.53,0.00,0.000,4,0.000,0.028,3151,3148,3399,0,0,0,0,0,0
$GC,2874,-1.16,-146.0,305.6,-5.2,179,2878,0.00,2.58,0.00,0.000,6,0.000,0.032,3151,1579,3399,0,0,0,0,0,0
$GC,3124,-1.16,-146.0,324.5,-8.2,185,3128,0.00,2.35,0.00,0.000,4,0.000,0.053,3151,168,3399,0,0,0,0,0,0
$GC,3144,-1.16,-146.0,326.1,-8.5,185,3148,0.00,2.17,0.00,0.000,6,0.000,0.022,3151,1561,3399,0,0,0,0,0,0
$GC,3408,-1.16,-146.0,345.7,-7.1,192,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1565,3397,0,0,0,0,0,0
$GC,3652,-1.21,-146.0,362.7,-7.2,198,3657,0.12,2.38,0.00,0.000,4,0.065,0.057,3093,170,3396,0,0,0,0,0,0
$GC,3669,-1.21,-146.0,364.1,-7.5,198,3673,0.12,2.20,0.00,0.000,6,0.107,0.022,3120,1576,3396,0,0,0,0,0,0
$GC,3938,-1.21,-146.0,390.5,-9.7,205,3942,0.00,2.55,0.00,0.000,4,0.000,0.033,3120,3147,3394,0,0,0,0,0,0
$GC,3957,-1.21,-146.0,392.2,-9.2,205,3961,0.00,2.60,0.00,0.000,6,0.000,0.036,3121,1571,3394,0,0,0,0,0,0
$GC,4222,-1.21,-146.0,412.6,-7.5,212,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1571,3392,0,0,0,0,0,0
$GC,4465,-1.21,-146.0,435.0,-9.4,218,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1571,3391,0,0,0,0,0,0
$GC,4708,-1.21,-146.0,456.8,-8.8,224,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1571,3390,0,0,0,0,0,0
$GC,4953,-1.21,-146.0,477.5,-8.5,230,4958,0.00,2.40,0.00,0.000,4,0.000,0.071,3120,174,3388,0,0,0,0,0,0
$GC,4997,-1.21,-146.0,481.6,-8.8,231,5001,0.00,2.22,0.00,0.000,6,0.000,0.029,3120,1558,3387,0,0,0,0,0,0
$GC,5284,-1.21,-146.0,505.1,-8.1,238,5288,0.00,2.65,0.00,0.000,4,0.000,0.040,3120,3164,3386,0,0,0,0,0,0
$GC,5299,-1.21,-146.0,506.4,-8.0,238,5304,0.00,2.62,0.00,0.000,6,0.000,0.039,3120,1577,3386,0,0,0,0,0,0
$GC,5568,-1.21,-146.0,529.4,-8.6,245,5573,0.00,2.47,0.00,0.000,4,0.000,0.075,3120,163,3384,0,0,0,0,0,0
$GC,5612,-1.21,-146.0,533.4,-9.3,246,5616,0.00,2.28,0.00,0.000,6,0.000,0.032,3120,1566,3383,0,0,0,0,0,0
$GC,5900,-1.21,-146.0,554.8,-7.1,253,5904,0.00,2.42,0.00,0.000,4,0.000,0.070,3120,168,3382,0,0,0,0,0,0
$GC,5923,-1.21,-146.0,556.7,-7.7,253,5928,0.00,2.28,0.00,0.000,6,0.000,0.033,3120,1564,3382,0,0,0,0,0,0
$GC,6187,-1.21,-146.0,574.4,-6.7,260,6192,0.00,2.67,0.00,0.000,4,0.000,0.044,3120,3170,3380,0,0,0,0,0,0
$GC,6208,-1.21,-146.0,576.1,-8.2,260,6212,0.00,2.67,0.00,0.000,6,0.000,0.043,3120,1568,3380,0,0,0,0,0,0
$GC,6472,-1.21,-146.0,596.6,-7.9,267,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1568,3379,0,0,0,0,0,0
$GC,6716,-1.21,-146.0,618.1,-8.8,273,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1568,3378,0,0,0,0,0,0
$GC,6961,-1.21,-146.0,634.8,-6.4,279,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1568,3377,0,0,0,0,0,0
$GC,7203,-1.21,-146.0,650.2,-6.5,285,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1568,3375,0,0,0,0,0,0
$GC,7447,-1.21,-146.0,668.3,-7.5,291,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1568,3374,0,0,0,0,0,0
$GC,7691,-1.21,-146.0,686.1,-7.2,297,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1567,3373,0,0,0,0,0,0
$GC,7936,-1.21,-146.0,702.9,-7.0,303,7940,0.00,2.47,0.00,0.000,4,0.000,0.084,3120,166,3372,0,0,0,0,0,0
$GC,7979,-1.21,-146.0,706.2,-7.7,304,7983,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1568,3372,0,0,0,0,0,0
$GC,8266,-1.21,-146.0,722.9,-5.4,311,8270,0.00,2.47,0.00,0.000,4,0.000,0.076,3120,165,3371,0,0,0,0,0,0
$GC,8282,-1.21,-146.0,723.9,-5.0,311,8286,0.00,2.30,0.00,0.000,6,0.000,0.034,3120,1570,3371,0,0,0,0,0,0
$GC,8550,-1.21,-146.0,738.8,-5.7,318,8555,0.00,2.67,0.00,0.000,4,0.000,0.051,3120,3169,3370,0,0,0,0,0,0
$GC,8576,-1.27,-146.0,740.4,-7.0,318,8581,0.00,2.72,0.00,0.000,6,0.000,0.049,3120,1570,3369,0,0,0,0,0,0
$GC,8837,-1.27,-146.0,756.3,-6.0,325,8841,0.00,2.47,0.00,0.000,4,0.000,0.083,3120,169,3369,0,0,0,0,0,0
$GC,8889,-1.27,-146.0,759.9,-7.1,326,8893,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1573,3368,0,0,0,0,0,0
$GC,9168,-1.27,-146.0,775.2,-5.5,333,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1572,3368,0,0,0,0,0,0
$GC,9410,-1.27,-146.0,789.8,-6.2,339,9414,0.00,2.50,0.00,0.000,4,0.000,0.077,3120,163,3367,0,0,0,0,0,0
$GC,9472,-1.27,-146.0,794.4,-7.5,340,9477,0.00,2.30,0.00,0.000,6,0.000,0.036,3121,1563,3367,0,0,0,0,0,0
$GC,9742,-1.27,-146.0,813.9,-7.3,347,9747,0.00,2.67,0.00,0.000,4,0.000,0.051,3121,3166,3366,0,0,0,0,0,0
$GC,9762,-1.33,-146.0,815.4,-7.1,347,9769,0.10,2.72,0.00,0.000,6,0.074,0.049,3070,1563,3366,0,0,0,0,0,0
$GC,10029,-1.26,-146.0,838.5,-8.7,354,10034,0.17,2.47,0.00,0.000,4,0.102,0.083,3109,167,3365,0,0,0,0,0,0
$GC,10069,-1.26,-146.0,841.6,-8.0,354,10075,0.00,2.30,0.00,0.000,6,0.000,0.035,3108,1569,3365,0,0,0,0,0,0
$GC,10319,-1.26,-146.0,857.4,-6.2,361,10324,0.00,2.47,0.00,0.000,4,0.000,0.076,3108,169,3364,0,0,0,0,0,0
$GC,10343,-1.26,-146.0,859.0,-7.8,361,10347,0.00,2.28,0.00,0.000,6,0.000,0.035,3109,1556,3364,0,0,0,0,0,0
$GC,10608,-1.26,-146.0,876.0,-6.5,368,10612,0.00,2.45,0.00,0.000,4,0.000,0.076,3109,169,3363,0,0,0,0,0,0
$GC,10632,-1.26,-146.0,877.9,-8.1,368,10636,0.00,2.25,0.00,0.000,6,0.000,0.035,3109,1550,3363,0,0,0,0,0,0
$GC,10891,-1.26,-146.0,894.8,-6.4,375,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1551,3363,0,0,0,0,0,0
$STATE,11010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11010,begin apogee
$GC,11016,-0.31,0.0,902.5,6.3,378,11139,0.93,0.00,119.28,1.170,6,0.078,0.000,3317,1348,2800,0,0,0,0,0,0
$STATE,11140,end apogee,CONTROL_FINISHED_OK
$STATE,11140,begin climb
$GC,11143,1.27,146.0,905.1,0.0,381,11284,1.42,2.15,130.70,1.145,4,0.032,0.077,3665,179,2204,0,0,0,0,0,0
$GC,11299,1.00,146.0,895.9,14.1,384,11303,0.30,1.98,0.00,0.000,6,0.117,0.032,3606,1363,2202,0,0,0,0,0,0
$GC,11554,0.89,146.0,864.1,12.2,391,11559,0.12,2.12,0.00,0.000,4,0.123,0.074,3581,174,2194,0,0,0,0,0,0
$GC,11621,0.79,146.0,855.9,12.7,392,11626,0.12,1.95,0.00,0.000,6,0.123,0.031,3556,1354,2194,0,0,0,0,0,0
$GC,11890,0.82,172.4,830.9,8.8,399,11918,0.00,2.17,23.40,1.058,4,0.000,0.074,3556,176,2097,0,0,0,0,0,0
$GC,11930,0.85,192.1,827.3,9.1,399,11954,0.00,1.98,19.83,1.035,6,0.000,0.032,3556,1360,2016,0,0,0,0,0,0
$GC,12225,0.88,220.0,801.5,8.7,407,12257,0.00,2.80,26.42,1.049,4,0.000,0.052,3556,2938,1902,0,0,0,0,0,0
$GC,12274,0.97,256.0,796.9,8.3,408,12315,0.17,2.75,34.62,1.051,6,0.053,0.050,3614,1364,1755,0,0,0,0,0,0
$GC,12602,0.91,256.0,753.1,13.8,416,12604,0.15,0.00,0.00,0.000,6,0.110,0.000,3583,1364,1749,0,0,0,0,0,0
$GC,12847,0.91,256.0,721.6,12.9,422,12851,0.00,2.70,0.00,0.000,4,0.000,0.045,3583,2942,1748,0,0,0,0,0,0
$GC,12866,0.91,256.0,718.8,12.9,422,12871,0.00,2.72,0.00,0.000,6,0.000,0.048,3583,1359,1745,0,0,0,0,0,0
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$STATE,18709,end climb,SURFACE_DEPTH_REACHED
$STATE,18710,begin surface coast
$FINISH,0.8,1.011464
$STATE,18758,end surface coast,CONTROL_FINISHED_OK
$STATE,18758,begin surface
$SM_CCo,18783,58.42,0.446,0,0,1209,390.03
$SM_GC,1.98,0.00,0.00,58.42,0.000,0.000,0.446,412,1602,1209,-13.68,0.62,390.03
$IRIDIUM_FIX,2246.36,-15745.85,290802,161631
$TT8_MAMPS,0.027612
$HUMID,62.67
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.90
$XPDR_PINGS,15
$24V_AH,23.2,9.570
$10V_AH,9.9,8.325
$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
$DEVICE_SECS,34.050,215.625,382.975,58.425,0.000,50.761,72.907,283.091,3.750,0.000,28.545,1547.717,14125.671,550.913,2381.251,865.486,33.369,1629.546,0.000,2358.829,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.896,315.096,402.680,688.358,935.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54264,691
$CAP_FILE_SIZE,186727,0
$CFSIZE,260165632,167317504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040613,211723,2253.134,-15749.486,25,1.0,42,10.1