version: 66.06
glider: 148
mission: 12
dive: 167
start: 6 26 113 22 47 49
data:
$ID,148
$MISSION,12
$DIVE,167
$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,-1019526.5
$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,25
$R_STBD_OVSHOOT,103
$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
$GPS1,223905,2243.453,-15740.816,37,1.3,42,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.3
$GPS2,224655,2243.500,-15740.908,10,1.9,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,-0.230
$KALMAN_X,-185096.4,-301.6,-16.8,218118.3,-72.7
$KALMAN_Y,75583.7,-19.7,541.4,-78862.7,534.3
$MHEAD_RNG_PITCHd_Wd,142.2,10526,-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,18,-1.27,-146.0,0.0,0.0,0,88,0.00,0.00,-67.12,0.000,2,0.000,0.000,410,1578,2951,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-3.8,9,123,14.10,2.40,-8.27,0.000,4,0.153,0.058,3103,167,3397,0,0,0,0,0,0
$GC,147,-0.83,-146.0,19.8,-26.7,16,155,0.43,2.10,0.00,0.000,6,0.086,0.018,3198,1531,3397,0,0,0,0,0,0
$GC,421,-0.83,-146.0,57.1,-10.6,45,425,0.00,2.50,0.00,0.000,4,0.000,0.021,3199,3134,3398,0,0,0,0,0,0
$GC,464,-0.94,-146.0,61.4,-9.3,48,469,0.00,2.55,0.00,0.000,6,0.000,0.028,3199,1565,3398,0,0,0,0,0,0
$GC,729,-0.94,-146.0,86.1,-9.0,72,733,0.00,2.30,0.00,0.000,4,0.000,0.043,3198,162,3398,0,0,0,0,0,0
$GC,776,-1.00,-146.0,90.7,-9.0,76,781,0.12,2.15,0.00,0.000,6,0.062,0.016,3134,1588,3399,0,0,0,0,0,0
$GC,1041,-0.86,-146.0,126.0,-15.1,100,1046,0.25,2.40,0.00,0.000,4,0.087,0.020,3192,3126,3399,0,0,0,0,0,0
$GC,1063,-0.86,-146.0,129.6,-13.3,101,1068,0.00,2.50,0.00,0.000,6,0.000,0.026,3192,1570,3400,0,0,0,0,0,0
$GC,1327,-0.86,-146.0,153.3,-8.8,126,1331,0.00,2.33,0.00,0.000,4,0.000,0.044,3192,165,3400,0,0,0,0,0,0
$GC,1357,-0.86,-146.0,156.3,-9.0,128,1362,0.00,2.12,0.00,0.000,6,0.000,0.017,3192,1590,3400,0,0,0,0,0,0
$GC,1621,-0.86,-146.0,178.5,-8.3,153,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1592,3400,0,0,0,0,0,0
$GC,1886,-0.86,-146.0,198.5,-8.0,178,1890,0.00,2.35,0.00,0.000,4,0.000,0.043,3192,168,3400,0,0,0,0,0,0
$GC,1905,-0.86,-146.0,200.5,-8.2,179,1909,0.00,2.08,0.00,0.000,6,0.000,0.018,3192,1575,3400,0,0,0,0,0,0
$GC,2170,-0.92,-146.0,222.0,-8.3,186,2174,0.00,2.38,0.00,0.000,4,0.000,0.021,3192,3105,3400,0,0,0,0,0,0
$GC,2217,-1.07,-146.0,226.4,-8.5,187,2222,0.17,2.47,0.00,0.000,6,0.047,0.027,3105,1570,3400,0,0,0,0,0,0
$GC,2502,-0.94,-146.0,261.8,-12.6,194,2507,0.30,2.28,0.00,0.000,4,0.084,0.043,3176,173,3400,0,0,0,0,0,0
$GC,2566,-1.03,-146.0,268.2,-8.8,195,2570,0.00,2.08,0.00,0.000,6,0.000,0.018,3176,1551,3400,0,0,0,0,0,0
$GC,2834,-1.08,-146.0,287.6,-7.3,202,2839,0.12,2.53,0.00,0.000,4,0.064,0.025,3116,3135,3400,0,0,0,0,0,0
$GC,2865,-1.08,-146.0,290.4,-9.4,202,2870,0.15,2.55,0.00,0.000,6,0.091,0.031,3151,1571,3400,0,0,0,0,0,0
$GC,3121,-1.08,-146.0,314.7,-9.3,209,3125,0.00,2.30,0.00,0.000,4,0.000,0.049,3151,169,3400,0,0,0,0,0,0
$GC,3174,-1.14,-146.0,319.5,-9.2,210,3178,0.00,2.15,0.00,0.000,6,0.000,0.020,3151,1558,3400,0,0,0,0,0,0
$GC,3451,-1.14,-146.0,341.5,-7.7,217,3456,0.00,2.53,0.00,0.000,4,0.000,0.030,3151,3141,3399,0,0,0,0,0,0
$GC,3508,-1.25,-146.0,345.8,-6.8,218,3513,0.17,2.55,0.00,0.000,6,0.048,0.035,3072,1580,3399,0,0,0,0,0,0
$GC,3784,-1.11,-146.0,378.0,-11.9,225,3789,0.28,2.38,0.00,0.000,4,0.087,0.057,3138,172,3397,0,0,0,0,0,0
$GC,3812,-1.11,-146.0,381.6,-10.2,225,3816,0.00,2.17,0.00,0.000,6,0.000,0.021,3138,1576,3397,0,0,0,0,0,0
$GC,4068,-1.11,-146.0,403.2,-8.5,232,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3396,0,0,0,0,0,0
$GC,4310,-1.11,-146.0,421.3,-7.3,238,4312,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3394,0,0,0,0,0,0
$GC,4554,-1.11,-146.0,438.2,-7.1,244,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3393,0,0,0,0,0,0
$GC,4798,-1.11,-146.0,455.2,-6.9,250,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3391,0,0,0,0,0,0
$GC,5043,-1.11,-146.0,472.4,-7.1,256,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1579,3389,0,0,0,0,0,0
$GC,5285,-1.11,-146.0,489.2,-6.8,262,5290,0.00,2.58,0.00,0.000,4,0.000,0.041,3138,3137,3387,0,0,0,0,0,0
$GC,5300,-1.11,-146.0,490.2,-6.4,262,5304,0.00,2.58,0.00,0.000,6,0.000,0.037,3138,1591,3387,0,0,0,0,0,0
$GC,5570,-1.11,-146.0,508.0,-6.8,269,5574,0.00,2.45,0.00,0.000,4,0.000,0.072,3138,165,3386,0,0,0,0,0,0
$GC,5603,-1.11,-146.0,510.8,-8.0,269,5608,0.00,2.25,0.00,0.000,6,0.000,0.030,3138,1564,3385,0,0,0,0,0,0
$GC,5853,-1.11,-146.0,528.7,-7.2,275,5858,0.00,2.62,0.00,0.000,4,0.000,0.049,3138,3157,3383,0,0,0,0,0,0
$GC,5868,-1.11,-146.0,529.9,-7.3,275,5873,0.00,2.65,0.00,0.000,6,0.000,0.039,3138,1572,3383,0,0,0,0,0,0
$GC,6139,-1.11,-146.0,549.7,-7.5,282,6143,0.00,2.62,0.00,0.000,4,0.000,0.043,3138,3151,3382,0,0,0,0,0,0
$GC,6158,-1.16,-146.0,551.5,-8.3,282,6163,0.00,2.62,0.00,0.000,6,0.000,0.042,3138,1572,3382,0,0,0,0,0,0
$GC,6424,-1.16,-146.0,573.7,-8.7,289,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1571,3380,0,0,0,0,0,0
$GC,6666,-1.20,-146.0,597.2,-9.6,295,6671,0.00,2.47,0.00,0.000,4,0.000,0.079,3139,166,3379,0,0,0,0,0,0
$GC,6681,-1.20,-146.0,598.8,-9.7,295,6685,0.00,2.30,0.00,0.000,6,0.000,0.031,3138,1589,3378,0,0,0,0,0,0
$GC,6951,-1.25,-146.0,622.7,-8.7,302,6956,0.10,2.62,0.00,0.000,4,0.077,0.050,3091,3155,3377,0,0,0,0,0,0
$GC,6982,-1.25,-146.0,625.7,-8.9,302,6987,0.00,2.65,0.00,0.000,6,0.000,0.047,3091,1590,3377,0,0,0,0,0,0
$GC,7239,-1.20,-146.0,648.7,-8.7,309,7244,0.15,2.53,0.00,0.000,4,0.102,0.079,3124,165,3375,0,0,0,0,0,0
$GC,7279,-1.20,-146.0,651.6,-6.9,309,7285,0.00,2.30,0.00,0.000,6,0.000,0.033,3124,1581,3374,0,0,0,0,0,0
$GC,7529,-1.20,-146.0,666.3,-5.7,316,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1581,3374,0,0,0,0,0,0
$GC,7773,-1.20,-146.0,680.1,-5.7,322,7777,0.00,2.47,0.00,0.000,4,0.000,0.074,3125,172,3373,0,0,0,0,0,0
$GC,7803,-1.20,-146.0,682.1,-7.7,322,7807,0.00,2.30,0.00,0.000,6,0.000,0.034,3125,1579,3372,0,0,0,0,0,0
$GC,8057,-1.20,-146.0,698.4,-6.5,329,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1579,3372,0,0,0,0,0,0
$GC,8301,-1.20,-146.0,716.0,-7.2,335,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1579,3370,0,0,0,0,0,0
$GC,8545,-1.20,-146.0,733.5,-7.1,341,8549,0.00,2.47,0.00,0.000,4,0.000,0.075,3125,171,3369,0,0,0,0,0,0
$GC,8565,-1.20,-146.0,735.0,-7.3,341,8569,0.00,2.30,0.00,0.000,6,0.000,0.034,3125,1577,3369,0,0,0,0,0,0
$GC,8829,-1.20,-146.0,753.7,-7.0,348,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1577,3368,0,0,0,0,0,0
$GC,9073,-1.20,-146.0,771.5,-7.4,354,9077,0.00,2.47,0.00,0.000,4,0.000,0.075,3125,164,3367,0,0,0,0,0,0
$GC,9093,-1.20,-146.0,773.2,-8.1,354,9097,0.00,2.30,0.00,0.000,6,0.000,0.033,3124,1581,3366,0,0,0,0,0,0
$GC,9357,-1.20,-146.0,793.4,-7.6,361,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1581,3366,0,0,0,0,0,0
$GC,9601,-1.20,-146.0,810.4,-6.9,367,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1581,3365,0,0,0,0,0,0
$GC,9845,-1.25,-146.0,826.7,-6.7,373,9849,0.00,2.50,0.00,0.000,4,0.000,0.075,3125,165,3364,0,0,0,0,0,0
$GC,9882,-1.25,-146.0,829.7,-8.3,373,9888,0.00,2.33,0.00,0.000,6,0.000,0.035,3125,1577,3364,0,0,0,0,0,0
$GC,10133,-1.29,-146.0,847.6,-7.2,380,10137,0.00,2.67,0.00,0.000,4,0.000,0.055,3125,3157,3363,0,0,0,0,0,0
$GC,10149,-1.34,-146.0,848.8,-7.0,380,10157,0.12,2.70,0.00,0.000,6,0.064,0.048,3071,1572,3363,0,0,0,0,0,0
$GC,10421,-1.27,-146.0,875.3,-10.1,387,10426,0.17,2.50,0.00,0.000,4,0.098,0.082,3110,166,3362,0,0,0,0,0,0
$GC,10446,-1.27,-146.0,877.9,-9.9,387,10450,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1572,3362,0,0,0,0,0,0
$GC,10706,-1.27,-146.0,899.0,-8.1,394,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1571,3361,0,0,0,0,0,0
$STATE,10743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10743,begin apogee
$GC,10749,-0.31,0.0,902.2,8.1,395,10872,0.90,0.00,119.40,1.163,6,0.076,0.000,3314,1340,2800,0,0,0,0,0,0
$STATE,10873,end apogee,CONTROL_FINISHED_OK
$STATE,10873,begin climb
$GC,10875,1.27,146.0,907.1,0.0,398,11016,1.42,2.17,129.73,1.141,4,0.031,0.077,3665,177,2203,0,0,0,0,0,0
$GC,11087,0.99,146.0,894.3,14.2,402,11093,0.30,1.95,0.00,0.000,6,0.109,0.031,3603,1355,2199,0,0,0,0,0,0
$GC,11337,0.91,153.0,869.7,9.7,409,11349,0.00,2.17,5.70,0.819,4,0.000,0.072,3603,177,2176,0,0,0,0,0,0
$GC,11401,0.76,153.0,862.8,12.3,410,11406,0.25,1.95,0.00,0.000,6,0.102,0.030,3552,1345,2176,0,0,0,0,0,0
$GC,11676,0.84,219.9,843.2,6.9,417,11746,0.00,2.80,63.67,1.098,4,0.000,0.053,3551,2938,1902,0,0,0,0,0,0
$GC,11762,0.96,264.0,836.7,8.0,419,11812,0.17,2.78,41.35,1.071,6,0.053,0.049,3610,1351,1722,0,0,0,0,0,0
$GC,12086,0.91,264.0,795.7,12.9,427,12091,0.12,2.12,0.00,0.000,4,0.113,0.086,3584,166,1714,0,0,0,0,0,0
$GC,12110,0.87,264.0,792.4,12.9,427,12114,0.00,1.95,0.00,0.000,6,0.000,0.031,3584,1351,1714,0,0,0,0,0,0
$GC,12379,0.87,264.0,761.5,11.5,434,12384,0.00,2.70,0.00,0.000,4,0.000,0.055,3584,2929,1712,0,0,0,0,0,0
$GC,12413,0.92,264.0,757.6,11.0,434,12417,0.00,2.72,0.00,0.000,6,0.000,0.050,3584,1341,1709,0,0,0,0,0,0
$GC,12662,0.92,264.0,729.2,11.4,440,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1341,1709,0,0,0,0,0,0
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$STATE,18881,end climb,SURFACE_DEPTH_REACHED
$STATE,18882,begin surface coast
$FINISH,0.8,1.010349
$STATE,18910,end surface coast,CONTROL_FINISHED_OK
$STATE,18910,begin surface
$SM_CCo,18933,40.10,0.432,0,0,1249,380.21
$SM_GC,1.72,0.00,0.00,40.10,0.000,0.000,0.432,418,1578,1249,-13.65,0.23,380.21
$IRIDIUM_FIX,2237.01,-15743.29,200902,171737
$TT8_MAMPS,0.027612
$HUMID,64.60
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.00
$XPDR_PINGS,11
$24V_AH,23.3,24.313
$10V_AH,9.9,21.431
$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,34.250,201.850,401.850,40.100,0.000,28.183,34.953,256.592,2.750,0.000,12.474,1542.875,14239.931,545.719,2332.969,773.455,33.369,1600.164,0.000,2332.663,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,85.904,1162.772,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.443,335.944,428.887,743.016,1009.971,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,54103,715
$CAP_FILE_SIZE,179937,0
$CFSIZE,260165632,159801344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270613,040544,2241.757,-15740.010,38,2.7,57,10.1