version: 66.06
glider: 148
mission: 12
dive: 163
start: 6 26 113 1 8 43
data:
$ID,148
$MISSION,12
$DIVE,163
$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,-1019450.1
$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,28
$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
$GPS1,010106,2247.883,-15744.938,36,1.3,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.0
$GPS2,010749,2247.896,-15744.980,14,2.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.191
$KALMAN_X,-182718.1,-200.1,491.6,208182.5,-1731.8
$KALMAN_Y,68856.4,-136.1,111.2,-63449.7,1397.8
$MHEAD_RNG_PITCHd_Wd,127.1,21151,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.28,0.000,2,0.000,0.000,415,1567,2983,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.6,-5.6,9,122,14.68,2.35,-7.10,0.000,4,0.169,0.053,3104,165,3399,0,0,0,0,0,0
$GC,170,-0.92,-146.0,29.0,-23.0,20,179,0.32,2.15,0.00,0.000,6,0.087,0.018,3178,1552,3400,0,0,0,0,0,0
$GC,439,-0.84,-146.0,70.0,-12.8,45,444,0.10,2.50,0.00,0.000,4,0.123,0.022,3200,3147,3400,0,0,0,0,0,0
$GC,461,-0.84,-146.0,73.9,-11.8,46,470,0.00,2.58,0.00,0.000,6,0.000,0.028,3200,1570,3400,0,0,0,0,0,0
$GC,729,-0.84,-146.0,99.5,-9.7,71,734,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1570,3402,0,0,0,0,0,0
$GC,991,-0.84,-146.0,125.9,-9.9,96,995,0.00,2.47,0.00,0.000,4,0.000,0.022,3200,3143,3402,0,0,0,0,0,0
$GC,1022,-0.94,-146.0,128.8,-9.1,98,1031,0.00,2.55,0.00,0.000,6,0.000,0.028,3200,1581,3402,0,0,0,0,0,0
$GC,1287,-0.99,-146.0,151.9,-8.3,123,1292,0.12,2.30,0.00,0.000,4,0.064,0.044,3138,173,3403,0,0,0,0,0,0
$GC,1318,-0.87,-146.0,155.9,-12.5,125,1324,0.25,2.17,0.00,0.000,6,0.084,0.017,3194,1605,3403,0,0,0,0,0,0
$GC,1583,-0.92,-146.0,178.5,-8.4,150,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1608,3403,0,0,0,0,0,0
$GC,1850,-0.97,-146.0,200.2,-7.8,175,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1608,3403,0,0,0,0,0,0
$GC,2090,-1.02,-146.0,219.5,-8.0,181,2095,0.15,2.38,0.00,0.000,4,0.055,0.044,3123,167,3403,0,0,0,0,0,0
$GC,2123,-0.90,-146.0,223.8,-12.9,181,2128,0.28,2.15,0.00,0.000,6,0.083,0.018,3186,1583,3403,0,0,0,0,0,0
$GC,2376,-0.97,-146.0,244.5,-8.0,187,2380,0.00,2.40,0.00,0.000,4,0.000,0.021,3186,3122,3403,0,0,0,0,0,0
$GC,2400,-1.08,-146.0,246.5,-8.2,187,2405,0.15,2.50,0.00,0.000,6,0.054,0.028,3103,1575,3403,0,0,0,0,0,0
$GC,2660,-0.95,-146.0,278.1,-12.7,194,2665,0.32,2.30,0.00,0.000,4,0.084,0.044,3174,166,3403,0,0,0,0,0,0
$GC,2700,-1.03,-146.0,282.2,-9.0,194,2706,0.00,2.15,0.00,0.000,6,0.000,0.019,3174,1567,3403,0,0,0,0,0,0
$GC,2951,-1.10,-146.0,300.8,-7.2,201,2956,0.12,2.50,0.00,0.000,4,0.064,0.027,3112,3133,3403,0,0,0,0,0,0
$GC,2995,-1.10,-146.0,304.6,-9.3,202,3000,0.15,2.53,0.00,0.000,6,0.091,0.033,3147,1582,3403,0,0,0,0,0,0
$GC,3284,-1.10,-146.0,327.8,-7.9,209,3289,0.00,2.35,0.00,0.000,4,0.000,0.052,3147,172,3402,0,0,0,0,0,0
$GC,3299,-1.10,-146.0,329.3,-7.8,209,3303,0.00,2.17,0.00,0.000,6,0.000,0.021,3147,1579,3401,0,0,0,0,0,0
$GC,3569,-1.10,-146.0,348.1,-6.9,216,3573,0.00,2.47,0.00,0.000,4,0.000,0.030,3147,3135,3400,0,0,0,0,0,0
$GC,3593,-1.15,-146.0,349.9,-7.3,216,3597,0.00,2.55,0.00,0.000,6,0.000,0.035,3147,1587,3401,0,0,0,0,0,0
$GC,3852,-1.15,-146.0,368.5,-7.4,223,3857,0.00,2.50,0.00,0.000,4,0.000,0.032,3147,3136,3399,0,0,0,0,0,0
$GC,3887,-1.23,-146.0,371.1,-7.6,223,3892,0.12,2.55,0.00,0.000,6,0.064,0.038,3081,1594,3399,0,0,0,0,0,0
$GC,4137,-1.12,-146.0,397.7,-10.7,229,4142,0.25,2.40,0.00,0.000,4,0.088,0.058,3141,169,3397,0,0,0,0,0,0
$GC,4181,-1.12,-146.0,401.7,-8.9,230,4186,0.00,2.20,0.00,0.000,6,0.000,0.023,3141,1585,3396,0,0,0,0,0,0
$GC,4470,-1.12,-146.0,421.9,-7.0,237,4474,0.00,2.50,0.00,0.000,4,0.000,0.035,3141,3139,3395,0,0,0,0,0,0
$GC,4484,-1.12,-146.0,423.1,-6.8,237,4489,0.00,2.55,0.00,0.000,6,0.000,0.036,3141,1592,3395,0,0,0,0,0,0
$GC,4755,-1.12,-146.0,441.8,-7.0,244,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1592,3393,0,0,0,0,0,0
$GC,4997,-1.12,-146.0,460.1,-7.5,250,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1592,3391,0,0,0,0,0,0
$GC,5240,-1.12,-146.0,479.4,-8.0,256,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1592,3389,0,0,0,0,0,0
$GC,5484,-1.12,-146.0,499.8,-8.4,262,5489,0.00,2.58,0.00,0.000,4,0.000,0.043,3141,3134,3388,0,0,0,0,0,0
$GC,5500,-1.12,-146.0,501.2,-8.4,262,5505,0.00,2.55,0.00,0.000,6,0.000,0.038,3141,1597,3388,0,0,0,0,0,0
$GC,5769,-1.12,-146.0,522.4,-7.8,269,5773,0.00,2.47,0.00,0.000,4,0.000,0.073,3141,172,3386,0,0,0,0,0,0
$GC,5797,-1.12,-146.0,524.8,-9.4,269,5801,0.00,2.28,0.00,0.000,6,0.000,0.029,3141,1587,3386,0,0,0,0,0,0
$GC,6053,-1.12,-146.0,542.8,-7.0,276,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1587,3385,0,0,0,0,0,0
$GC,6298,-1.16,-146.0,559.1,-6.6,282,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1587,3383,0,0,0,0,0,0
$GC,6539,-1.16,-146.0,575.8,-6.8,288,6544,0.00,2.58,0.00,0.000,4,0.000,0.045,3141,3147,3382,0,0,0,0,0,0
$GC,6556,-1.21,-146.0,576.9,-6.6,288,6561,0.00,2.60,0.00,0.000,6,0.000,0.043,3141,1602,3382,0,0,0,0,0,0
$GC,6825,-1.26,-146.0,594.3,-6.4,295,6830,0.12,2.55,0.00,0.000,4,0.064,0.078,3087,164,3380,0,0,0,0,0,0
$GC,6850,-1.19,-146.0,596.4,-9.2,295,6855,0.17,2.33,0.00,0.000,6,0.095,0.034,3126,1594,3380,0,0,0,0,0,0
$GC,7112,-1.19,-146.0,614.6,-6.9,302,7116,0.00,2.47,0.00,0.000,4,0.000,0.072,3126,168,3379,0,0,0,0,0,0
$GC,7137,-1.19,-146.0,616.7,-8.4,302,7141,0.00,2.33,0.00,0.000,6,0.000,0.032,3126,1598,3378,0,0,0,0,0,0
$GC,7396,-1.19,-146.0,635.9,-7.5,309,7401,0.00,2.50,0.00,0.000,4,0.000,0.073,3127,169,3377,0,0,0,0,0,0
$GC,7417,-1.19,-146.0,637.4,-7.6,309,7421,0.00,2.30,0.00,0.000,6,0.000,0.032,3127,1599,3377,0,0,0,0,0,0
$GC,7681,-1.19,-146.0,657.6,-7.5,316,7685,0.00,2.62,0.00,0.000,4,0.000,0.051,3127,3163,3376,0,0,0,0,0,0
$GC,7702,-1.19,-146.0,659.1,-7.7,316,7706,0.00,2.65,0.00,0.000,6,0.000,0.047,3126,1593,3376,0,0,0,0,0,0
$GC,7967,-1.19,-146.0,678.8,-7.4,323,7972,0.00,2.53,0.00,0.000,4,0.000,0.081,3127,163,3375,0,0,0,0,0,0
$GC,7996,-1.19,-146.0,681.3,-8.2,323,8000,0.00,2.33,0.00,0.000,6,0.000,0.034,3127,1589,3374,0,0,0,0,0,0
$GC,8250,-1.19,-146.0,700.4,-7.7,330,8255,0.00,2.62,0.00,0.000,4,0.000,0.051,3126,3161,3373,0,0,0,0,0,0
$GC,8281,-1.26,-146.0,702.7,-7.3,330,8286,0.00,2.67,0.00,0.000,6,0.000,0.048,3126,1586,3373,0,0,0,0,0,0
$GC,8536,-1.26,-146.0,721.2,-7.1,337,8540,0.00,2.50,0.00,0.000,4,0.000,0.081,3126,163,3372,0,0,0,0,0,0
$GC,8597,-1.31,-146.0,726.0,-7.8,338,8602,0.12,2.35,0.00,0.000,6,0.064,0.034,3076,1599,3372,0,0,0,0,0,0
$GC,8873,-1.23,-146.0,751.0,-9.4,345,8878,0.17,2.55,0.00,0.000,4,0.100,0.074,3114,161,3371,0,0,0,0,0,0
$GC,8890,-1.18,-146.0,752.7,-9.6,345,8894,0.00,2.35,0.00,0.000,6,0.000,0.033,3114,1598,3371,0,0,0,0,0,0
$GC,9160,-1.18,-146.0,774.0,-7.9,352,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1598,3370,0,0,0,0,0,0
$GC,9402,-1.18,-146.0,794.7,-8.6,358,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1598,3368,0,0,0,0,0,0
$GC,9646,-1.18,-146.0,815.6,-8.6,364,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1598,3368,0,0,0,0,0,0
$GC,9890,-1.18,-146.0,835.2,-8.0,370,9894,0.00,2.60,0.00,0.000,4,0.000,0.053,3114,3156,3367,0,0,0,0,0,0
$GC,9920,-1.23,-146.0,837.4,-7.6,370,9925,0.00,2.67,0.00,0.000,6,0.000,0.048,3114,1582,3367,0,0,0,0,0,0
$GC,10175,-1.23,-146.0,856.4,-7.3,377,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1582,3366,0,0,0,0,0,0
$GC,10419,-1.23,-146.0,873.3,-6.8,383,10420,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1582,3366,0,0,0,0,0,0
$GC,10664,-1.23,-146.0,889.2,-6.6,389,10669,0.00,2.50,0.00,0.000,4,0.000,0.082,3114,167,3365,0,0,0,0,0,0
$GC,10688,-1.23,-146.0,891.1,-7.6,389,10692,0.00,2.30,0.00,0.000,6,0.000,0.035,3114,1588,3365,0,0,0,0,0,0
$STATE,10822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10823,begin apogee
$GC,10829,-0.31,0.0,900.3,6.7,393,10952,0.88,0.00,119.62,1.160,6,0.075,0.000,3315,1341,2800,0,0,0,0,0,0
$STATE,10953,end apogee,CONTROL_FINISHED_OK
$STATE,10953,begin climb
$GC,10957,1.27,146.0,903.3,0.0,396,11098,1.48,2.20,130.15,1.137,4,0.035,0.078,3671,162,2203,0,0,0,0,0,0
$GC,11233,0.98,146.0,876.1,15.4,402,11238,0.35,1.98,0.00,0.000,6,0.112,0.031,3600,1359,2197,0,0,0,0,0,0
$GC,11488,0.90,146.0,848.3,10.5,409,11492,0.00,2.12,0.00,0.000,4,0.000,0.072,3600,169,2192,0,0,0,0,0,0
$GC,11514,0.77,146.0,845.5,11.1,409,11518,0.22,1.95,0.00,0.000,6,0.105,0.031,3554,1355,2192,0,0,0,0,0,0
$GC,11773,0.85,210.2,826.2,7.0,416,11838,0.00,2.80,58.12,1.085,4,0.000,0.054,3554,2935,1942,0,0,0,0,0,0
$GC,11866,0.99,257.6,819.1,7.8,418,11918,0.20,2.75,44.38,1.065,6,0.048,0.049,3616,1353,1749,0,0,0,0,0,0
$GC,12194,0.93,257.6,776.6,13.5,426,12201,0.15,2.72,0.00,0.000,4,0.108,0.047,3587,2938,1741,0,0,0,0,0,0
$GC,12226,0.93,257.6,772.5,10.7,426,12231,0.00,2.75,0.00,0.000,6,0.000,0.051,3586,1353,1739,0,0,0,0,0,0
$GC,12481,0.93,257.6,741.6,12.1,433,12485,0.00,2.15,0.00,0.000,4,0.000,0.087,3586,166,1738,0,0,0,0,0,0
$GC,12509,0.93,257.6,737.8,13.4,433,12512,0.00,1.95,0.00,0.000,6,0.000,0.031,3586,1354,1738,0,0,0,0,0,0
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$STATE,18390,end climb,SURFACE_DEPTH_REACHED
$STATE,18390,begin surface coast
$FINISH,0.9,1.010237
$STATE,18444,end surface coast,CONTROL_FINISHED_OK
$STATE,18444,begin surface
$SM_CCo,18471,28.48,0.433,0,0,1250,380.21
$SM_GC,1.68,0.00,0.00,28.48,0.000,0.000,0.433,412,1601,1250,-13.68,0.88,380.21
$IRIDIUM_FIX,2241.69,-15746.73,190902,191909
$TT8_MAMPS,0.027612
$HUMID,65.35
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.60
$XPDR_PINGS,22
$24V_AH,23.3,23.756
$10V_AH,9.9,20.909
$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
$DEVICE_SECS,35.250,216.525,423.150,28.475,0.000,25.012,33.629,190.481,5.500,0.000,16.145,1533.966,13707.188,558.466,2385.341,710.136,33.372,1641.821,0.000,2379.343,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.471,309.453,409.902,694.941,984.986,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,54073,691
$CAP_FILE_SIZE,183236,0
$CFSIZE,260165632,160100352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260613,061844,2246.998,-15743.502,38,3.2,57,10.1