version: 66.06
glider: 148
mission: 12
dive: 73
start: 6 5 113 19 36 31
data:
$ID,148
$MISSION,12
$DIVE,73
$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,-1016542.8
$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,1575
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,76
$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
$GPS1,192535,2243.806,-15759.319,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.6
$GPS2,193539,2243.785,-15759.361,21,1.9,21,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,-0.100
$KALMAN_X,-66281.2,-101.6,-65.8,67641.0,-452.6
$KALMAN_Y,23826.6,-409.0,91.5,-25728.5,-751.4
$MHEAD_RNG_PITCHd_Wd,237.2,12874,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-74.38,0.000,2,0.000,0.000,411,1603,3185,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.2,-7.7,10,121,14.10,2.38,-3.50,0.000,4,0.152,0.051,3102,160,3396,0,0,0,0,0,0
$GC,290,-1.02,-146.0,58.5,-20.5,31,300,0.22,2.17,0.00,0.000,6,0.087,0.018,3155,1568,3398,0,0,0,0,0,0
$GC,554,-0.93,-146.0,91.3,-9.2,56,559,0.12,2.50,0.00,0.000,4,0.112,0.023,3182,3143,3398,0,0,0,0,0,0
$GC,575,-0.88,-146.0,93.3,-9.4,57,580,0.00,2.55,0.00,0.000,6,0.000,0.028,3181,1561,3398,0,0,0,0,0,0
$GC,842,-0.88,-146.0,121.5,-11.9,81,846,0.00,2.28,0.00,0.000,4,0.000,0.044,3182,173,3399,0,0,0,0,0,0
$GC,871,-0.88,-146.0,125.0,-11.8,83,875,0.00,2.12,0.00,0.000,6,0.000,0.018,3181,1595,3399,0,0,0,0,0,0
$GC,1138,-0.88,-146.0,149.4,-8.5,107,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1597,3399,0,0,0,0,0,0
$GC,1400,-0.88,-146.0,174.7,-9.1,132,1405,0.00,2.38,0.00,0.000,4,0.000,0.022,3181,3124,3399,0,0,0,0,0,0
$GC,1419,-0.88,-146.0,176.2,-8.8,133,1423,0.00,2.50,0.00,0.000,6,0.000,0.027,3182,1562,3399,0,0,0,0,0,0
$GC,1687,-0.88,-146.0,198.1,-9.0,157,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1562,3399,0,0,0,0,0,0
$GC,1947,-0.88,-146.0,222.2,-8.8,165,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1562,3399,0,0,0,0,0,0
$GC,2192,-0.94,-146.0,236.8,-6.1,171,2196,0.00,2.47,0.00,0.000,4,0.000,0.022,3181,3127,3399,0,0,0,0,0,0
$GC,2231,-1.09,-146.0,240.6,-10.0,171,2238,0.15,2.50,0.00,0.000,6,0.051,0.029,3100,1584,3400,0,0,0,0,0,0
$GC,2481,-0.98,-146.0,276.5,-14.3,178,2486,0.28,2.30,0.00,0.000,4,0.089,0.044,3166,172,3400,0,0,0,0,0,0
$GC,2552,-1.08,-146.0,283.5,-8.5,179,2556,0.00,2.12,0.00,0.000,6,0.000,0.020,3166,1557,3400,0,0,0,0,0,0
$GC,2813,-1.14,-146.0,302.4,-7.9,186,2819,0.12,2.53,0.00,0.000,4,0.064,0.028,3110,3143,3399,0,0,0,0,0,0
$GC,2833,-1.14,-146.0,304.6,-9.3,186,2838,0.12,2.55,0.00,0.000,6,0.102,0.031,3137,1579,3399,0,0,0,0,0,0
$GC,3100,-1.14,-146.0,329.0,-8.7,193,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1579,3399,0,0,0,0,0,0
$GC,3342,-1.14,-146.0,349.2,-8.3,199,3346,0.00,2.35,0.00,0.000,4,0.000,0.055,3138,176,3397,0,0,0,0,0,0
$GC,3361,-1.14,-146.0,350.9,-8.3,199,3365,0.00,2.20,0.00,0.000,6,0.000,0.021,3138,1580,3397,0,0,0,0,0,0
$GC,3626,-1.14,-146.0,369.3,-6.6,206,3630,0.00,2.53,0.00,0.000,4,0.000,0.033,3138,3144,3395,0,0,0,0,0,0
$GC,3659,-1.21,-146.0,371.7,-6.4,206,3664,0.00,2.58,0.00,0.000,6,0.000,0.037,3138,1577,3395,0,0,0,0,0,0
$GC,3909,-1.21,-146.0,392.7,-8.9,212,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3393,0,0,0,0,0,0
$GC,4153,-1.21,-146.0,414.6,-8.9,218,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3392,0,0,0,0,0,0
$GC,4398,-1.21,-146.0,432.1,-7.0,224,4402,0.00,2.38,0.00,0.000,4,0.000,0.064,3138,173,3390,0,0,0,0,0,0
$GC,4441,-1.21,-146.0,435.5,-7.9,225,4445,0.00,2.22,0.00,0.000,6,0.000,0.026,3137,1569,3390,0,0,0,0,0,0
$GC,4729,-1.21,-146.0,455.8,-7.3,232,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3388,0,0,0,0,0,0
$GC,4972,-1.21,-146.0,476.5,-8.5,238,4976,0.00,2.60,0.00,0.000,4,0.000,0.040,3137,3147,3386,0,0,0,0,0,0
$GC,5000,-1.29,-146.0,478.9,-7.8,238,5006,0.15,2.60,0.00,0.000,6,0.055,0.038,3063,1584,3386,0,0,0,0,0,0
$GC,5258,-1.16,-146.0,505.4,-10.4,245,5263,0.28,2.47,0.00,0.000,4,0.092,0.070,3129,161,3385,0,0,0,0,0,0
$GC,5292,-1.16,-146.0,508.5,-7.6,245,5296,0.00,2.30,0.00,0.000,6,0.000,0.030,3128,1586,3384,0,0,0,0,0,0
$GC,5542,-1.16,-146.0,526.1,-7.2,251,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1586,3383,0,0,0,0,0,0
$GC,5787,-1.16,-146.0,548.4,-9.5,257,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1586,3382,0,0,0,0,0,0
$GC,6029,-1.16,-146.0,569.4,-8.2,263,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1586,3380,0,0,0,0,0,0
$GC,6273,-1.16,-146.0,587.5,-7.5,269,6277,0.00,2.47,0.00,0.000,4,0.000,0.073,3128,166,3379,0,0,0,0,0,0
$GC,6310,-1.16,-146.0,590.5,-8.3,269,6316,0.00,2.30,0.00,0.000,6,0.000,0.033,3128,1577,3379,0,0,0,0,0,0
$GC,6562,-1.16,-146.0,606.9,-6.3,276,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1577,3377,0,0,0,0,0,0
$GC,6804,-1.16,-146.0,620.2,-5.3,282,6808,0.00,2.65,0.00,0.000,4,0.000,0.047,3128,3164,3376,0,0,0,0,0,0
$GC,6823,-1.22,-146.0,621.3,-5.7,282,6828,0.00,2.70,0.00,0.000,6,0.000,0.045,3128,1569,3376,0,0,0,0,0,0
$GC,7089,-1.22,-146.0,636.4,-6.0,289,7093,0.00,2.47,0.00,0.000,4,0.000,0.079,3128,163,3374,0,0,0,0,0,0
$GC,7113,-1.22,-146.0,638.2,-7.3,289,7117,0.00,2.33,0.00,0.000,6,0.000,0.033,3128,1588,3374,0,0,0,0,0,0
$GC,7372,-1.26,-146.0,657.0,-7.6,296,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1588,3373,0,0,0,0,0,0
$GC,7617,-1.31,-146.0,677.7,-8.5,302,7622,0.12,2.53,0.00,0.000,4,0.065,0.075,3078,168,3372,0,0,0,0,0,0
$GC,7643,-1.24,-146.0,680.6,-11.0,302,7648,0.17,2.30,0.00,0.000,6,0.098,0.035,3117,1573,3372,0,0,0,0,0,0
$GC,7903,-1.24,-146.0,700.7,-7.1,309,7908,0.00,2.67,0.00,0.000,4,0.000,0.051,3117,3162,3370,0,0,0,0,0,0
$GC,7924,-1.24,-146.0,702.1,-6.8,309,7929,0.00,2.70,0.00,0.000,6,0.000,0.048,3117,1572,3370,0,0,0,0,0,0
$GC,8188,-1.24,-146.0,718.9,-6.5,316,8192,0.00,2.47,0.00,0.000,4,0.000,0.081,3117,172,3369,0,0,0,0,0,0
$GC,8235,-1.24,-146.0,722.5,-7.4,317,8239,0.00,2.30,0.00,0.000,6,0.000,0.035,3117,1576,3369,0,0,0,0,0,0
$GC,8518,-1.24,-146.0,745.6,-8.6,324,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1576,3368,0,0,0,0,0,0
$GC,8761,-1.24,-146.0,767.2,-8.8,330,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1576,3367,0,0,0,0,0,0
$GC,9004,-1.24,-146.0,786.7,-8.0,336,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1576,3366,0,0,0,0,0,0
$GC,9250,-1.24,-146.0,805.1,-7.6,342,9254,0.00,2.67,0.00,0.000,4,0.000,0.052,3117,3161,3366,0,0,0,0,0,0
$GC,9274,-1.29,-146.0,806.9,-7.1,342,9278,0.00,2.70,0.00,0.000,6,0.000,0.048,3117,1572,3366,0,0,0,0,0,0
$GC,9533,-1.29,-146.0,824.4,-6.6,349,9538,0.00,2.47,0.00,0.000,4,0.000,0.082,3117,172,3364,0,0,0,0,0,0
$GC,9568,-1.29,-146.0,827.0,-7.5,349,9572,0.00,2.30,0.00,0.000,6,0.000,0.035,3116,1575,3364,0,0,0,0,0,0
$GC,9818,-1.29,-146.0,845.4,-7.5,355,9822,0.00,2.67,0.00,0.000,4,0.000,0.053,3117,3160,3364,0,0,0,0,0,0
$GC,9851,-1.38,-146.0,847.9,-8.1,355,9860,0.12,2.70,0.00,0.000,6,0.061,0.049,3054,1577,3364,0,0,0,0,0,0
$GC,10106,-1.28,-146.0,874.7,-10.8,362,10111,0.22,2.50,0.00,0.000,4,0.097,0.081,3103,168,3363,0,0,0,0,0,0
$GC,10181,-1.28,-146.0,882.1,-9.0,363,10185,0.00,2.30,0.00,0.000,6,0.000,0.036,3103,1571,3362,0,0,0,0,0,0
$STATE,10439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10440,begin apogee
$GC,10446,-0.31,0.0,903.0,8.0,370,10568,0.93,0.00,118.78,1.175,6,0.074,0.000,3315,1354,2800,0,0,0,0,0,0
$STATE,10569,end apogee,CONTROL_FINISHED_OK
$STATE,10569,begin climb
$GC,10572,1.27,146.0,906.8,0.0,373,10710,1.42,2.20,129.38,1.151,4,0.031,0.079,3668,176,2203,0,0,0,0,0,0
$GC,10808,0.98,146.0,886.7,14.7,378,10813,0.32,1.98,0.00,0.000,6,0.114,0.032,3602,1377,2199,0,0,0,0,0,0
$GC,11079,0.89,146.0,857.6,10.3,385,11084,0.12,2.15,0.00,0.000,4,0.122,0.073,3577,176,2194,0,0,0,0,0,0
$GC,11171,0.79,146.0,847.9,10.9,387,11174,0.00,1.95,0.00,0.000,6,0.000,0.031,3577,1357,2194,0,0,0,0,0,0
$GC,11463,0.82,166.7,821.6,9.0,394,11483,0.00,0.00,18.25,1.041,6,0.000,0.000,3577,1358,2120,0,0,0,0,0,0
$GC,11705,0.82,166.7,796.9,10.3,400,11706,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1358,2117,0,0,0,0,0,0
$GC,11949,0.82,166.7,769.9,11.3,406,11950,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1359,2115,0,0,0,0,0,0
$GC,12193,0.82,166.7,744.3,10.3,412,12194,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1360,2114,0,0,0,0,0,0
$GC,12437,0.82,166.7,718.7,10.6,418,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1360,2114,0,0,0,0,0,0
$GC,12680,0.82,166.7,693.5,10.3,424,12683,0.00,2.10,0.00,0.000,4,0.000,0.072,3576,175,2113,0,0,0,0,0,0
$GC,12740,0.74,166.7,686.7,11.8,425,12744,0.15,1.92,0.00,0.000,6,0.115,0.030,3546,1351,2112,0,0,0,0,0,0
$GC,13015,0.81,182.8,661.3,9.3,432,13035,0.00,2.17,14.73,0.945,4,0.000,0.072,3546,174,2053,0,0,0,0,0,0
$GC,13050,0.82,191.8,657.7,9.6,432,13066,0.00,1.95,9.93,0.880,6,0.000,0.029,3546,1353,2018,0,0,0,0,0,0
$GC,13352,0.89,201.2,628.4,9.6,440,13369,0.15,2.78,9.75,0.869,4,0.061,0.049,3598,2938,1979,0,0,0,0,0,0
$GC,13375,0.89,201.2,625.5,11.9,440,13380,0.00,2.75,0.00,0.000,6,0.000,0.046,3598,1351,1977,0,0,0,0,0,0
$GC,13639,0.89,201.2,593.9,11.9,447,13643,0.00,2.67,0.00,0.000,4,0.000,0.041,3598,2949,1976,0,0,0,0,0,0
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$GC,15896,1.00,257.2,355.6,10.6,501,15901,0.15,2.60,0.00,0.000,4,0.108,0.035,3602,2934,1759,0,0,0,0,0,0
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$STATE,18843,end climb,SURFACE_DEPTH_REACHED
$STATE,18843,begin surface coast
$FINISH,0.8,1.010001
$STATE,18877,end surface coast,CONTROL_FINISHED_OK
$STATE,18877,begin surface
$SM_CCo,18902,56.15,0.445,0,0,1210,390.03
$SM_GC,1.93,0.00,0.00,56.15,0.000,0.000,0.445,413,1648,1210,-13.67,2.04,390.03
$IRIDIUM_FIX,2239.35,-15757.16,300802,141409
$TT8_MAMPS,0.028379
$HUMID,61.49
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.20
$XPDR_PINGS,21
$24V_AH,23.2,10.377
$10V_AH,9.9,8.981
$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,34.000,195.775,388.275,56.150,0.000,23.981,40.825,381.892,5.250,0.000,22.775,1546.772,14176.113,548.923,2398.618,882.542,33.366,1626.060,0.000,2383.511,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,82.069,1175.044,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,478.679,326.621,419.937,705.641,959.736,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,53986,703
$CAP_FILE_SIZE,183840,0
$CFSIZE,260165632,166936576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060613,005414,2242.272,-15802.484,42,99.0,61,10.0