version: 66.06
glider: 148
mission: 12
dive: 160
start: 6 25 113 8 54 1
data:
$ID,148
$MISSION,12
$DIVE,160
$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,380
$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,-1019381.8
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,98
$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
$GPS1,084159,2250.577,-15748.655,39,1.6,44,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-77.7
$GPS2,085307,2250.704,-15748.696,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.145
$KALMAN_X,-179882.6,169.7,51.0,199070.4,-1318.1
$KALMAN_Y,62618.7,501.7,842.9,-53386.1,-469.1
$MHEAD_RNG_PITCHd_Wd,113.9,29151,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.25,0.000,2,0.000,0.000,413,1603,3222,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.3,-7.2,10,121,13.95,2.38,-2.80,0.000,4,0.149,0.046,3101,166,3397,0,0,0,0,0,0
$GC,181,-1.03,-146.0,35.3,-20.2,21,190,0.22,2.10,0.00,0.000,6,0.090,0.017,3154,1531,3398,0,0,0,0,0,0
$GC,450,-0.89,-146.0,76.2,-15.3,46,458,0.17,0.00,0.00,0.000,6,0.100,0.000,3192,1533,3400,0,0,0,0,0,0
$GC,714,-0.89,-146.0,103.4,-9.3,71,719,0.00,2.53,0.00,0.000,4,0.000,0.021,3192,3141,3399,0,0,0,0,0,0
$GC,753,-0.97,-146.0,107.1,-8.6,74,757,0.00,2.55,0.00,0.000,6,0.000,0.027,3192,1551,3399,0,0,0,0,0,0
$GC,1016,-0.97,-146.0,132.9,-9.6,98,1020,0.00,2.22,0.00,0.000,4,0.000,0.043,3192,172,3399,0,0,0,0,0,0
$GC,1057,-1.02,-146.0,136.5,-9.8,101,1062,0.12,2.12,0.00,0.000,6,0.061,0.016,3124,1582,3399,0,0,0,0,0,0
$GC,1319,-0.88,-146.0,170.5,-13.7,125,1324,0.28,2.40,0.00,0.000,4,0.086,0.021,3189,3119,3399,0,0,0,0,0,0
$GC,1370,-1.00,-146.0,175.8,-9.2,129,1380,0.00,2.53,0.00,0.000,6,0.000,0.028,3189,1571,3400,0,0,0,0,0,0
$GC,1638,-1.05,-146.0,196.9,-7.5,154,1644,0.15,0.00,0.00,0.000,6,0.054,0.000,3124,1571,3400,0,0,0,0,0,0
$GC,1910,-0.96,-146.0,225.8,-10.6,163,1912,0.22,0.00,0.00,0.000,6,0.088,0.000,3174,1571,3400,0,0,0,0,0,0
$GC,2155,-1.00,-146.0,245.2,-7.6,169,2160,0.00,2.42,0.00,0.000,4,0.000,0.022,3174,3119,3400,0,0,0,0,0,0
$GC,2170,-1.07,-146.0,246.6,-7.6,169,2174,0.00,2.50,0.00,0.000,6,0.000,0.028,3174,1570,3400,0,0,0,0,0,0
$GC,2439,-1.13,-146.0,267.1,-7.9,176,2441,0.15,0.00,0.00,0.000,6,0.056,0.000,3109,1570,3400,0,0,0,0,0,0
$GC,2684,-1.04,-146.0,295.8,-12.1,182,2686,0.22,0.00,0.00,0.000,6,0.087,0.000,3160,1570,3399,0,0,0,0,0,0
$GC,2926,-1.08,-146.0,316.7,-8.3,188,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1570,3397,0,0,0,0,0,0
$GC,3170,-1.13,-146.0,337.1,-8.3,194,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1570,3397,0,0,0,0,0,0
$GC,3415,-1.19,-146.0,356.0,-7.6,200,3420,0.15,2.50,0.00,0.000,4,0.057,0.030,3097,3116,3396,0,0,0,0,0,0
$GC,3445,-1.14,-146.0,358.8,-9.3,200,3450,0.17,2.50,0.00,0.000,6,0.089,0.035,3137,1581,3395,0,0,0,0,0,0
$GC,3702,-1.14,-146.0,380.8,-8.6,207,3706,0.00,2.47,0.00,0.000,4,0.000,0.032,3137,3116,3393,0,0,0,0,0,0
$GC,3746,-1.21,-146.0,384.5,-8.4,208,3750,0.00,2.53,0.00,0.000,6,0.000,0.038,3137,1589,3393,0,0,0,0,0,0
$GC,4033,-1.21,-146.0,408.6,-8.2,215,4037,0.00,2.42,0.00,0.000,4,0.000,0.061,3137,161,3391,0,0,0,0,0,0
$GC,4067,-1.21,-146.0,411.3,-8.6,215,4072,0.00,2.17,0.00,0.000,6,0.000,0.022,3137,1553,3391,0,0,0,0,0,0
$GC,4318,-1.21,-146.0,429.1,-7.0,221,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1556,3390,0,0,0,0,0,0
$GC,4561,-1.21,-146.0,444.8,-6.3,227,4566,0.00,2.58,0.00,0.000,4,0.000,0.036,3137,3143,3387,0,0,0,0,0,0
$GC,4582,-1.21,-146.0,446.0,-6.0,227,4586,0.00,2.58,0.00,0.000,6,0.000,0.037,3137,1577,3388,0,0,0,0,0,0
$GC,4846,-1.21,-146.0,460.3,-5.4,234,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1577,3385,0,0,0,0,0,0
$GC,5091,-1.21,-146.0,475.4,-6.5,240,5096,0.00,2.42,0.00,0.000,4,0.000,0.069,3137,170,3384,0,0,0,0,0,0
$GC,5110,-1.21,-146.0,476.9,-6.7,240,5114,0.00,2.22,0.00,0.000,6,0.000,0.026,3137,1567,3384,0,0,0,0,0,0
$GC,5376,-1.21,-146.0,495.3,-7.1,247,5380,0.00,2.60,0.00,0.000,4,0.000,0.040,3137,3149,3382,0,0,0,0,0,0
$GC,5405,-1.28,-146.0,497.5,-7.5,247,5410,0.12,2.60,0.00,0.000,6,0.064,0.041,3077,1581,3382,0,0,0,0,0,0
$GC,5662,-1.18,-146.0,525.0,-11.2,254,5664,0.22,0.00,0.00,0.000,6,0.091,0.000,3127,1581,3381,0,0,0,0,0,0
$GC,5904,-1.18,-146.0,548.0,-9.3,260,5908,0.00,2.45,0.00,0.000,4,0.000,0.075,3127,167,3379,0,0,0,0,0,0
$GC,5932,-1.18,-146.0,550.8,-10.1,260,5936,0.00,2.28,0.00,0.000,6,0.000,0.030,3127,1578,3379,0,0,0,0,0,0
$GC,6188,-1.18,-146.0,572.0,-8.0,267,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1579,3377,0,0,0,0,0,0
$GC,6430,-1.18,-146.0,589.7,-7.1,273,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1579,3376,0,0,0,0,0,0
$GC,6674,-1.18,-146.0,604.9,-6.1,279,6678,0.00,2.45,0.00,0.000,4,0.000,0.073,3127,171,3375,0,0,0,0,0,0
$GC,6697,-1.18,-146.0,606.7,-7.6,279,6702,0.00,2.30,0.00,0.000,6,0.000,0.031,3127,1588,3374,0,0,0,0,0,0
$GC,6958,-1.18,-146.0,623.7,-6.6,286,6962,0.00,2.50,0.00,0.000,4,0.000,0.073,3127,163,3373,0,0,0,0,0,0
$GC,6991,-1.18,-146.0,626.4,-7.5,286,6995,0.00,2.30,0.00,0.000,6,0.000,0.032,3127,1575,3373,0,0,0,0,0,0
$GC,7241,-1.18,-146.0,643.3,-6.8,292,7246,0.00,2.65,0.00,0.000,4,0.000,0.048,3127,3158,3371,0,0,0,0,0,0
$GC,7276,-1.26,-146.0,645.6,-7.1,292,7281,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1582,3371,0,0,0,0,0,0
$GC,7526,-1.26,-146.0,662.5,-6.8,298,7530,0.00,2.50,0.00,0.000,4,0.000,0.080,3127,165,3370,0,0,0,0,0,0
$GC,7547,-1.26,-146.0,664.2,-8.2,298,7551,0.00,2.33,0.00,0.000,6,0.000,0.032,3127,1592,3370,0,0,0,0,0,0
$GC,7817,-1.26,-146.0,682.8,-7.1,305,7821,0.00,2.50,0.00,0.000,4,0.000,0.074,3127,169,3369,0,0,0,0,0,0
$GC,7840,-1.26,-146.0,684.9,-8.9,305,7844,0.00,2.30,0.00,0.000,6,0.000,0.033,3127,1580,3368,0,0,0,0,0,0
$GC,8099,-1.26,-146.0,702.3,-6.6,312,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1579,3367,0,0,0,0,0,0
$GC,8345,-1.26,-146.0,718.4,-6.5,318,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1580,3367,0,0,0,0,0,0
$GC,8587,-1.26,-146.0,733.6,-6.4,324,8591,0.00,2.47,0.00,0.000,4,0.000,0.074,3127,171,3366,0,0,0,0,0,0
$GC,8615,-1.26,-146.0,735.7,-6.8,324,8619,0.00,2.30,0.00,0.000,6,0.000,0.033,3127,1575,3365,0,0,0,0,0,0
$GC,8871,-1.26,-146.0,752.1,-6.4,331,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1576,3365,0,0,0,0,0,0
$GC,9113,-1.26,-146.0,767.7,-6.4,337,9117,0.00,2.45,0.00,0.000,4,0.000,0.074,3127,171,3364,0,0,0,0,0,0
$GC,9157,-1.31,-146.0,770.9,-8.9,338,9162,0.12,2.30,0.00,0.000,6,0.064,0.034,3076,1578,3363,0,0,0,0,0,0
$GC,9448,-1.24,-146.0,796.5,-8.8,345,9450,0.17,0.00,0.00,0.000,6,0.100,0.000,3114,1578,3363,0,0,0,0,0,0
$GC,9688,-1.24,-146.0,815.2,-7.7,351,9692,0.00,2.47,0.00,0.000,4,0.000,0.074,3114,171,3362,0,0,0,0,0,0
$GC,9707,-1.24,-146.0,816.9,-8.7,351,9711,0.00,2.28,0.00,0.000,6,0.000,0.033,3115,1571,3362,0,0,0,0,0,0
$GC,9977,-1.24,-146.0,838.7,-8.1,358,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1571,3361,0,0,0,0,0,0
$GC,10219,-1.24,-146.0,857.5,-7.6,364,10223,0.00,2.47,0.00,0.000,4,0.000,0.075,3114,166,3360,0,0,0,0,0,0
$GC,10234,-1.24,-146.0,858.7,-7.6,364,10238,0.00,2.30,0.00,0.000,6,0.000,0.033,3114,1573,3360,0,0,0,0,0,0
$GC,10504,-1.24,-146.0,878.5,-7.3,371,10508,0.00,2.67,0.00,0.000,4,0.000,0.053,3114,3158,3360,0,0,0,0,0,0
$GC,10518,-1.24,-146.0,879.8,-7.2,371,10523,0.00,2.70,0.00,0.000,6,0.000,0.048,3114,1565,3360,0,0,0,0,0,0
$GC,10787,-1.24,-146.0,898.6,-7.0,378,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1564,3359,0,0,0,0,0,0
$STATE,10825,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10825,begin apogee
$GC,10833,-0.31,0.0,901.5,7.0,379,10955,0.88,0.00,119.05,1.164,6,0.077,0.000,3315,1346,2800,0,0,0,0,0,0
$STATE,10956,end apogee,CONTROL_FINISHED_OK
$STATE,10956,begin climb
$GC,10959,1.27,146.0,905.3,0.0,382,11101,1.45,2.20,131.48,1.142,4,0.031,0.083,3669,177,2203,0,0,0,0,0,0
$GC,11163,0.98,146.0,891.7,15.2,387,11168,0.35,1.95,0.00,0.000,6,0.110,0.030,3598,1359,2200,0,0,0,0,0,0
$GC,11447,0.90,146.3,862.4,10.0,394,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1360,2193,0,0,0,0,0,0
$GC,11692,0.83,151.3,838.4,9.8,400,11697,0.15,2.15,0.00,0.000,4,0.111,0.073,3567,165,2191,0,0,0,0,0,0
$GC,11735,0.77,151.3,833.7,11.0,400,11740,0.00,1.92,0.00,0.000,6,0.000,0.030,3567,1352,2191,0,0,0,0,0,0
$GC,11985,0.80,178.3,811.7,8.8,407,12015,0.00,0.00,28.77,1.062,6,0.000,0.000,3567,1352,2073,0,0,0,0,0,0
$GC,12230,0.82,195.5,789.6,9.2,413,12249,0.00,0.00,17.08,1.010,6,0.000,0.000,3567,1352,2002,0,0,0,0,0,0
$GC,12472,0.84,207.9,766.6,9.4,419,12487,0.00,0.00,12.80,0.966,6,0.000,0.000,3567,1353,1952,0,0,0,0,0,0
$GC,12716,0.85,216.2,743.2,9.6,425,12731,0.00,2.15,9.10,0.903,4,0.000,0.071,3566,164,1918,0,0,0,0,0,0
$GC,12762,0.85,216.2,738.4,11.1,426,12766,0.00,1.95,0.00,0.000,6,0.000,0.030,3566,1349,1917,0,0,0,0,0,0
$GC,13053,0.85,218.0,709.5,9.9,433,13058,0.00,2.70,0.00,0.000,4,0.000,0.051,3566,2936,1915,0,0,0,0,0,0
$GC,13077,0.90,219.9,707.0,9.9,433,13089,0.00,2.75,4.35,0.676,6,0.000,0.049,3567,1340,1903,0,0,0,0,0,0
$GC,13341,0.90,219.9,681.0,10.0,440,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1340,1902,0,0,0,0,0,0
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$STATE,19519,end climb,SURFACE_DEPTH_REACHED
$STATE,19519,begin surface coast
$FINISH,1.0,1.023400
$STATE,19557,end surface coast,CONTROL_FINISHED_OK
$STATE,19557,begin surface
$SM_CCo,19581,35.17,0.431,0,0,1249,380.21
$SM_GC,2.11,0.00,0.00,35.17,0.000,0.000,0.431,415,1567,1249,-13.67,-0.08,380.21
$IRIDIUM_FIX,2241.69,-15746.73,190902,080810
$TT8_MAMPS,0.027612
$HUMID,63.50
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,17
$24V_AH,23.3,23.328
$10V_AH,9.9,20.523
$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
$DEVICE_SECS,33.625,196.550,420.675,35.175,0.000,52.111,74.044,318.529,4.250,0.000,14.677,1607.245,14736.312,572.257,2448.345,910.277,33.372,1664.679,0.000,2440.526,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.957,335.883,431.007,743.501,1017.544,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,57408,730
$CAP_FILE_SIZE,187903,0
$CFSIZE,260165632,160329728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250613,142230,2249.629,-15746.662,50,1.2,50,10.1