version: 66.06
glider: 148
mission: 12
dive: 169
start: 6 27 113 9 31 54
data:
$ID,148
$MISSION,12
$DIVE,169
$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,-1019556.5
$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,28
$R_STBD_OVSHOOT,71
$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
$GPS1,092356,2240.768,-15739.339,24,2.7,43,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.9
$GPS2,093100,2240.826,-15739.349,9,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.229
$KALMAN_X,-186770.0,174.2,-213.6,222182.8,-165.6
$KALMAN_Y,79022.8,180.7,333.1,-87248.3,881.7
$MHEAD_RNG_PITCHd_Wd,141.5,4908,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,2,0.000,0.000,414,1568,3192,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.1,-6.4,10,120,13.93,2.30,-3.33,0.000,4,0.148,0.050,3103,165,3397,0,0,0,0,0,0
$GC,203,-1.09,-146.0,36.1,-16.5,23,207,0.20,2.15,0.00,0.000,6,0.103,0.017,3144,1567,3398,0,0,0,0,0,0
$GC,472,-0.96,-146.0,79.5,-15.1,47,477,0.15,2.47,0.00,0.000,4,0.107,0.022,3177,3143,3399,0,0,0,0,0,0
$GC,493,-0.89,-146.0,83.6,-13.2,48,502,0.00,2.55,0.00,0.000,6,0.000,0.026,3177,1573,3399,0,0,0,0,0,0
$GC,759,-0.89,-146.0,114.6,-11.5,73,764,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1573,3399,0,0,0,0,0,0
$GC,1020,-0.89,-146.0,141.8,-9.7,98,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1573,3399,0,0,0,0,0,0
$GC,1277,-0.89,-146.0,165.6,-9.0,122,1281,0.00,2.45,0.00,0.000,4,0.000,0.021,3177,3139,3400,0,0,0,0,0,0
$GC,1316,-0.96,-146.0,169.5,-8.7,125,1322,0.00,2.55,0.00,0.000,6,0.000,0.028,3177,1565,3400,0,0,0,0,0,0
$GC,1581,-0.96,-146.0,192.2,-8.2,150,1585,0.00,2.47,0.00,0.000,4,0.000,0.022,3177,3147,3400,0,0,0,0,0,0
$GC,1601,-0.96,-146.0,193.7,-8.0,151,1605,0.00,2.53,0.00,0.000,6,0.000,0.027,3177,1577,3400,0,0,0,0,0,0
$GC,1885,-0.96,-146.0,217.2,-8.3,163,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1577,3401,0,0,0,0,0,0
$GC,2128,-0.96,-146.0,238.2,-8.5,169,2133,0.00,2.30,0.00,0.000,4,0.000,0.044,3177,166,3401,0,0,0,0,0,0
$GC,2163,-0.96,-146.0,241.0,-8.8,169,2167,0.00,2.15,0.00,0.000,6,0.000,0.018,3177,1604,3401,0,0,0,0,0,0
$GC,2413,-1.01,-146.0,258.3,-6.9,175,2417,0.00,2.35,0.00,0.000,4,0.000,0.022,3177,3116,3401,0,0,0,0,0,0
$GC,2432,-1.08,-146.0,259.8,-7.4,175,2437,0.12,2.50,0.00,0.000,6,0.062,0.027,3110,1572,3401,0,0,0,0,0,0
$GC,2703,-0.98,-146.0,291.0,-12.2,182,2708,0.25,2.33,0.00,0.000,4,0.088,0.044,3170,165,3401,0,0,0,0,0,0
$GC,2720,-0.92,-146.0,293.0,-12.5,182,2724,0.00,2.17,0.00,0.000,6,0.000,0.019,3170,1586,3401,0,0,0,0,0,0
$GC,2990,-0.99,-146.0,314.4,-7.9,189,2995,0.00,2.45,0.00,0.000,4,0.000,0.027,3170,3133,3401,0,0,0,0,0,0
$GC,3005,-1.06,-146.0,315.7,-7.8,189,3010,0.00,2.53,0.00,0.000,6,0.000,0.030,3170,1588,3401,0,0,0,0,0,0
$GC,3274,-1.13,-146.0,335.1,-6.9,196,3279,0.12,2.40,0.00,0.000,4,0.063,0.054,3108,169,3400,0,0,0,0,0,0
$GC,3297,-1.13,-146.0,336.7,-7.6,196,3302,0.12,2.17,0.00,0.000,6,0.105,0.020,3137,1579,3400,0,0,0,0,0,0
$GC,3562,-1.13,-146.0,358.0,-7.8,203,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1580,3399,0,0,0,0,0,0
$GC,3805,-1.13,-146.0,377.6,-8.3,209,3810,0.00,2.50,0.00,0.000,4,0.000,0.032,3137,3136,3397,0,0,0,0,0,0
$GC,3850,-1.21,-146.0,381.1,-7.7,210,3855,0.00,2.58,0.00,0.000,6,0.000,0.038,3138,1585,3397,0,0,0,0,0,0
$GC,4138,-1.21,-146.0,406.6,-8.9,217,4142,0.00,2.42,0.00,0.000,4,0.000,0.062,3138,164,3395,0,0,0,0,0,0
$GC,4157,-1.21,-146.0,408.5,-9.5,217,4161,0.00,2.22,0.00,0.000,6,0.000,0.022,3137,1580,3395,0,0,0,0,0,0
$GC,4422,-1.21,-146.0,430.8,-8.5,224,4426,0.00,2.55,0.00,0.000,4,0.000,0.036,3137,3144,3393,0,0,0,0,0,0
$GC,4441,-1.21,-146.0,432.6,-8.8,224,4445,0.00,2.58,0.00,0.000,6,0.000,0.037,3137,1591,3393,0,0,0,0,0,0
$GC,4707,-1.21,-146.0,453.9,-8.1,231,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1591,3391,0,0,0,0,0,0
$GC,4949,-1.21,-146.0,472.9,-7.8,237,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1591,3389,0,0,0,0,0,0
$GC,5192,-1.21,-146.0,491.9,-7.8,243,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1591,3388,0,0,0,0,0,0
$GC,5436,-1.21,-146.0,509.3,-7.1,249,5440,0.00,2.47,0.00,0.000,4,0.000,0.071,3137,166,3386,0,0,0,0,0,0
$GC,5475,-1.21,-146.0,512.2,-7.5,249,5481,0.00,2.25,0.00,0.000,6,0.000,0.029,3137,1581,3386,0,0,0,0,0,0
$GC,5725,-1.21,-146.0,528.7,-6.5,256,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3384,0,0,0,0,0,0
$GC,5969,-1.21,-146.0,545.1,-6.8,262,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3383,0,0,0,0,0,0
$GC,6213,-1.21,-146.0,562.8,-7.2,268,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3381,0,0,0,0,0,0
$GC,6458,-1.26,-146.0,580.5,-7.2,274,6460,0.12,0.00,0.00,0.000,6,0.064,0.000,3082,1581,3381,0,0,0,0,0,0
$GC,6700,-1.18,-146.0,605.7,-10.7,280,6702,0.20,0.00,0.00,0.000,6,0.095,0.000,3127,1582,3378,0,0,0,0,0,0
$GC,6944,-1.18,-146.0,627.1,-8.6,286,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1581,3377,0,0,0,0,0,0
$GC,7189,-1.18,-146.0,646.9,-8.1,292,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1581,3376,0,0,0,0,0,0
$GC,7431,-1.18,-146.0,666.3,-7.8,298,7436,0.00,2.50,0.00,0.000,4,0.000,0.078,3127,169,3374,0,0,0,0,0,0
$GC,7455,-1.18,-146.0,668.2,-8.7,298,7459,0.00,2.30,0.00,0.000,6,0.000,0.033,3127,1587,3374,0,0,0,0,0,0
$GC,7720,-1.18,-146.0,688.0,-7.2,305,7725,0.00,2.62,0.00,0.000,4,0.000,0.051,3127,3163,3374,0,0,0,0,0,0
$GC,7736,-1.18,-146.0,689.4,-7.1,305,7741,0.00,2.65,0.00,0.000,6,0.000,0.046,3127,1595,3373,0,0,0,0,0,0
$GC,8005,-1.18,-146.0,706.5,-6.1,312,8010,0.00,2.53,0.00,0.000,4,0.000,0.081,3127,165,3372,0,0,0,0,0,0
$GC,8030,-1.18,-146.0,708.2,-7.8,312,8034,0.00,2.33,0.00,0.000,6,0.000,0.033,3127,1605,3371,0,0,0,0,0,0
$GC,8294,-1.18,-146.0,721.6,-4.8,319,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1604,3371,0,0,0,0,0,0
$GC,8538,-1.18,-146.0,732.7,-4.6,325,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1604,3370,0,0,0,0,0,0
$GC,8781,-1.18,-146.0,744.7,-5.1,331,8786,0.00,2.53,0.00,0.000,4,0.000,0.074,3127,171,3369,0,0,0,0,0,0
$GC,8797,-1.18,-146.0,745.6,-5.2,331,8802,0.00,2.33,0.00,0.000,6,0.000,0.032,3127,1595,3369,0,0,0,0,0,0
$GC,9066,-1.23,-146.0,761.6,-6.0,338,9071,0.00,2.60,0.00,0.000,4,0.000,0.050,3127,3160,3367,0,0,0,0,0,0
$GC,9082,-1.28,-146.0,762.7,-6.1,338,9086,0.00,2.67,0.00,0.000,6,0.000,0.047,3127,1583,3368,0,0,0,0,0,0
$GC,9353,-1.33,-146.0,780.5,-6.7,345,9358,0.12,2.50,0.00,0.000,4,0.064,0.082,3076,168,3366,0,0,0,0,0,0
$GC,9386,-1.23,-146.0,783.8,-10.7,345,9391,0.17,2.33,0.00,0.000,6,0.100,0.035,3115,1588,3366,0,0,0,0,0,0
$GC,9638,-1.23,-146.0,801.7,-7.0,351,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1588,3365,0,0,0,0,0,0
$GC,9880,-1.23,-146.0,819.1,-7.1,357,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1588,3365,0,0,0,0,0,0
$GC,10124,-1.23,-146.0,836.8,-7.3,363,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1588,3364,0,0,0,0,0,0
$GC,10368,-1.23,-146.0,856.0,-8.0,369,10372,0.00,2.50,0.00,0.000,4,0.000,0.074,3114,167,3363,0,0,0,0,0,0
$GC,10398,-1.23,-146.0,858.5,-9.6,369,10402,0.00,2.33,0.00,0.000,6,0.000,0.035,3115,1587,3363,0,0,0,0,0,0
$GC,10657,-1.23,-146.0,880.5,-8.5,376,10658,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1588,3362,0,0,0,0,0,0
$STATE,10898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10898,begin apogee
$GC,10904,-0.31,0.0,901.2,8.4,382,11027,0.88,0.00,119.28,1.167,6,0.072,0.000,3316,1342,2800,0,0,0,0,0,0
$STATE,11028,end apogee,CONTROL_FINISHED_OK
$STATE,11028,begin climb
$GC,11032,1.27,146.0,906.2,0.0,385,11174,1.45,2.20,130.50,1.144,4,0.029,0.078,3670,172,2203,0,0,0,0,0,0
$GC,11255,0.98,146.0,891.3,14.9,390,11260,0.35,1.95,0.00,0.000,6,0.110,0.031,3600,1350,2200,0,0,0,0,0,0
$GC,11519,0.90,146.0,863.1,10.4,397,11523,0.00,2.10,0.00,0.000,4,0.000,0.072,3599,174,2194,0,0,0,0,0,0
$GC,11543,0.77,146.0,860.5,10.9,397,11548,0.22,1.95,0.00,0.000,6,0.104,0.031,3553,1359,2194,0,0,0,0,0,0
$GC,11805,0.79,170.1,837.1,8.9,404,11833,0.00,2.22,21.48,1.052,4,0.000,0.073,3553,171,2105,0,0,0,0,0,0
$GC,11861,0.80,176.6,831.1,9.7,405,11873,0.00,1.95,7.53,0.889,6,0.000,0.030,3553,1349,2080,0,0,0,0,0,0
$GC,12139,0.80,176.6,802.8,10.3,412,12144,0.00,2.70,0.00,0.000,4,0.000,0.050,3553,2932,2075,0,0,0,0,0,0
$GC,12177,0.90,185.2,798.7,9.6,412,12192,0.12,2.72,8.35,0.912,6,0.069,0.049,3598,1357,2045,0,0,0,0,0,0
$GC,12473,0.85,185.2,762.9,12.3,420,12478,0.12,2.17,0.00,0.000,4,0.112,0.087,3571,163,2042,0,0,0,0,0,0
$GC,12507,0.80,185.2,758.2,13.3,420,12510,0.00,1.95,0.00,0.000,6,0.000,0.030,3571,1353,2043,0,0,0,0,0,0
$GC,12761,0.80,185.2,731.4,10.3,427,12765,0.00,2.65,0.00,0.000,4,0.000,0.050,3571,2930,2042,0,0,0,0,0,0
$GC,12806,0.86,185.2,727.1,10.2,428,12810,0.00,2.70,0.00,0.000,6,0.000,0.050,3571,1351,2039,0,0,0,0,0,0
$GC,13093,0.88,200.2,699.3,9.3,435,13113,0.00,2.72,15.02,0.960,4,0.000,0.044,3571,2936,1983,0,0,0,0,0,0
$GC,13130,0.92,231.5,696.1,8.6,435,13166,0.00,2.75,30.85,0.999,6,0.000,0.051,3571,1361,1855,0,0,0,0,0,0
$GC,13428,0.93,238.3,667.3,9.7,443,13437,0.00,0.00,7.28,0.821,6,0.000,0.000,3571,1360,1827,0,0,0,0,0,0
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$GC,19019,1.30,322.6,34.9,8.1,679,19069,0.10,2.10,36.88,0.469,4,0.081,0.048,3693,173,1483,0,0,0,0,0,0
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$STATE,19305,end climb,SURFACE_DEPTH_REACHED
$STATE,19306,begin surface coast
$FINISH,0.8,1.023511
$STATE,19340,end surface coast,CONTROL_FINISHED_OK
$STATE,19340,begin surface
$SM_CCo,19363,32.90,0.432,0,0,1250,380.21
$SM_GC,2.08,0.00,0.00,32.90,0.000,0.000,0.432,414,1625,1250,-13.67,1.55,380.21
$IRIDIUM_FIX,2234.68,-15738.08,210902,040459
$TT8_MAMPS,0.027612
$HUMID,64.41
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,11
$24V_AH,23.3,24.593
$10V_AH,9.9,21.682
$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,33.350,181.325,420.475,32.900,0.000,23.843,36.778,203.809,2.750,0.000,16.377,1550.149,14702.876,551.432,2279.786,729.101,33.368,1569.006,0.000,2284.627,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,86.671,1167.374,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.252,338.923,430.636,716.726,975.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,54167,723
$CAP_FILE_SIZE,175276,0
$CFSIZE,260165632,159657984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270613,145641,2239.307,-15737.933,36,1.3,48,10.1