version: 66.06
glider: 148
mission: 12
dive: 180
start: 6 29 113 20 54 26
data:
$ID,148
$MISSION,12
$DIVE,180
$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,-1019760
$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,94
$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
$GPS1,204435,2301.784,-15738.820,30,1.0,30,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.4
$GPS2,205331,2301.901,-15738.909,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.017,-0.259
$KALMAN_X,-202280.2,373.8,1.0,238020.2,-1634.6
$KALMAN_Y,101169.9,-393.7,-671.9,-68783.9,3527.3
$MHEAD_RNG_PITCHd_Wd,166.1,60944,-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,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.07,0.000,2,0.000,0.000,409,1605,2949,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.5,9,122,14.00,2.42,-8.32,0.000,4,0.149,0.054,3104,164,3399,0,0,0,0,0,0
$GC,237,-1.08,-146.0,39.0,-17.6,28,245,0.17,2.12,0.00,0.000,6,0.079,0.018,3147,1536,3399,0,0,0,0,0,0
$GC,505,-0.97,-146.0,73.4,-12.0,53,510,0.12,2.53,0.00,0.000,4,0.110,0.022,3174,3144,3399,0,0,0,0,0,0
$GC,549,-0.97,-146.0,78.5,-10.4,56,554,0.00,2.55,0.00,0.000,6,0.000,0.035,3174,1568,3400,0,0,0,0,0,0
$GC,810,-0.97,-146.0,107.2,-11.8,80,814,0.00,2.30,0.00,0.000,4,0.000,0.043,3174,164,3401,0,0,0,0,0,0
$GC,841,-0.97,-146.0,111.1,-12.4,82,850,0.00,2.17,0.00,0.000,6,0.000,0.017,3174,1601,3401,0,0,0,0,0,0
$GC,1108,-0.97,-146.0,141.4,-11.6,107,1113,0.00,2.35,0.00,0.000,4,0.000,0.021,3174,3116,3401,0,0,0,0,0,0
$GC,1145,-1.02,-146.0,146.1,-10.8,110,1149,0.00,2.47,0.00,0.000,6,0.000,0.028,3174,1582,3401,0,0,0,0,0,0
$GC,1409,-1.02,-146.0,173.1,-10.2,134,1413,0.00,2.30,0.00,0.000,4,0.000,0.043,3174,172,3402,0,0,0,0,0,0
$GC,1438,-1.02,-146.0,175.8,-10.3,136,1442,0.00,2.10,0.00,0.000,6,0.000,0.017,3174,1584,3401,0,0,0,0,0,0
$GC,1706,-1.02,-146.0,200.9,-9.3,160,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1586,3401,0,0,0,0,0,0
$GC,1943,-1.02,-146.0,223.6,-9.1,166,1947,0.00,2.42,0.00,0.000,4,0.000,0.021,3174,3127,3401,0,0,0,0,0,0
$GC,1972,-1.08,-146.0,226.1,-8.4,166,1977,0.10,2.50,0.00,0.000,6,0.072,0.027,3109,1580,3401,0,0,0,0,0,0
$GC,2229,-0.96,-146.0,258.0,-12.7,173,2234,0.28,2.30,0.00,0.000,4,0.083,0.042,3174,167,3401,0,0,0,0,0,0
$GC,2249,-0.96,-146.0,260.4,-10.5,173,2252,0.00,2.10,0.00,0.000,6,0.000,0.018,3174,1575,3401,0,0,0,0,0,0
$GC,2513,-1.00,-146.0,283.3,-9.0,180,2517,0.00,2.42,0.00,0.000,4,0.000,0.025,3174,3122,3401,0,0,0,0,0,0
$GC,2543,-1.10,-146.0,286.0,-8.6,180,2548,0.12,2.50,0.00,0.000,6,0.061,0.030,3103,1581,3401,0,0,0,0,0,0
$GC,2799,-1.00,-146.0,313.6,-10.7,187,2804,0.25,2.33,0.00,0.000,4,0.085,0.046,3163,164,3401,0,0,0,0,0,0
$GC,2858,-1.09,-146.0,318.0,-6.2,188,2862,0.00,2.12,0.00,0.000,6,0.000,0.020,3163,1546,3401,0,0,0,0,0,0
$GC,3136,-1.14,-146.0,335.2,-6.8,195,3141,0.12,2.58,0.00,0.000,4,0.064,0.031,3101,3146,3400,0,0,0,0,0,0
$GC,3151,-1.14,-146.0,336.8,-7.7,195,3156,0.15,2.58,0.00,0.000,6,0.094,0.032,3136,1559,3400,0,0,0,0,0,0
$GC,3422,-1.14,-146.0,362.0,-9.0,202,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1559,3399,0,0,0,0,0,0
$GC,3664,-1.14,-146.0,382.0,-8.2,208,3669,0.00,2.58,0.00,0.000,4,0.000,0.036,3136,3139,3398,0,0,0,0,0,0
$GC,3698,-1.21,-146.0,385.1,-8.2,208,3702,0.00,2.60,0.00,0.000,6,0.000,0.038,3135,1573,3397,0,0,0,0,0,0
$GC,3949,-1.21,-146.0,408.0,-9.2,214,3954,0.00,2.55,0.00,0.000,4,0.000,0.038,3136,3132,3396,0,0,0,0,0,0
$GC,3973,-1.21,-146.0,410.3,-9.5,214,3977,0.00,2.58,0.00,0.000,6,0.000,0.038,3136,1578,3396,0,0,0,0,0,0
$GC,4232,-1.21,-146.0,431.3,-7.9,221,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1578,3394,0,0,0,0,0,0
$GC,4478,-1.21,-146.0,450.2,-7.7,227,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1578,3392,0,0,0,0,0,0
$GC,4720,-1.21,-146.0,468.9,-7.8,233,4724,0.00,2.58,0.00,0.000,4,0.000,0.038,3136,3134,3391,0,0,0,0,0,0
$GC,4776,-1.30,-146.0,473.8,-8.6,234,4781,0.15,2.60,0.00,0.000,6,0.057,0.040,3070,1574,3390,0,0,0,0,0,0
$GC,5052,-1.19,-146.0,506.6,-12.5,241,5059,0.25,2.62,0.00,0.000,4,0.089,0.044,3130,3137,3389,0,0,0,0,0,0
$GC,5107,-1.28,-146.0,512.5,-9.1,242,5112,0.10,2.58,0.00,0.000,6,0.077,0.039,3078,1589,3389,0,0,0,0,0,0
$GC,5388,-1.19,-146.0,541.0,-9.9,249,5390,0.22,0.00,0.00,0.000,6,0.088,0.000,3128,1590,3387,0,0,0,0,0,0
$GC,5630,-1.19,-146.0,557.4,-6.6,255,5631,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1589,3386,0,0,0,0,0,0
$GC,5873,-1.19,-146.0,575.4,-7.6,261,5878,0.00,2.60,0.00,0.000,4,0.000,0.048,3128,3129,3385,0,0,0,0,0,0
$GC,5908,-1.25,-146.0,578.1,-8.3,261,5913,0.00,2.58,0.00,0.000,6,0.000,0.046,3128,1604,3385,0,0,0,0,0,0
$GC,6159,-1.25,-146.0,600.3,-9.0,267,6163,0.00,2.55,0.00,0.000,4,0.000,0.045,3128,3134,3384,0,0,0,0,0,0
$GC,6197,-1.34,-146.0,603.8,-9.2,267,6203,0.15,2.58,0.00,0.000,6,0.056,0.047,3063,1607,3383,0,0,0,0,0,0
$GC,6448,-1.23,-146.0,631.2,-11.1,274,6454,0.25,2.55,0.00,0.000,4,0.088,0.078,3123,162,3382,0,0,0,0,0,0
$GC,6510,-1.23,-146.0,637.4,-9.2,275,6514,0.00,2.30,0.00,0.000,6,0.000,0.035,3123,1587,3382,0,0,0,0,0,0
$GC,6780,-1.23,-146.0,655.9,-6.5,282,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1588,3379,0,0,0,0,0,0
$GC,7022,-1.23,-146.0,670.7,-6.1,288,7027,0.00,2.65,0.00,0.000,4,0.000,0.054,3123,3152,3378,0,0,0,0,0,0
$GC,7046,-1.28,-146.0,672.2,-6.7,288,7051,0.00,2.62,0.00,0.000,6,0.000,0.048,3123,1604,3379,0,0,0,0,0,0
$GC,7307,-1.28,-146.0,689.4,-6.8,295,7312,0.00,2.55,0.00,0.000,4,0.000,0.081,3123,162,3376,0,0,0,0,0,0
$GC,7346,-1.28,-146.0,692.5,-8.3,295,7352,0.00,2.35,0.00,0.000,6,0.000,0.035,3123,1598,3376,0,0,0,0,0,0
$GC,7596,-1.28,-146.0,711.9,-7.8,302,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1599,3375,0,0,0,0,0,0
$GC,7840,-1.28,-146.0,731.7,-8.2,308,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1598,3374,0,0,0,0,0,0
$GC,8085,-1.28,-146.0,751.0,-8.0,314,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1599,3373,0,0,0,0,0,0
$GC,8328,-1.28,-146.0,770.1,-7.9,320,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1598,3372,0,0,0,0,0,0
$GC,8573,-1.28,-146.0,788.6,-7.6,326,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1598,3371,0,0,0,0,0,0
$GC,8815,-1.28,-146.0,807.6,-7.7,332,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1598,3370,0,0,0,0,0,0
$GC,9060,-1.28,-146.0,826.6,-7.8,338,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1598,3369,0,0,0,0,0,0
$GC,9303,-1.28,-146.0,844.1,-7.3,344,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1599,3368,0,0,0,0,0,0
$GC,9546,-1.28,-146.0,860.5,-6.6,350,9551,0.00,2.62,0.00,0.000,4,0.000,0.055,3122,3158,3367,0,0,0,0,0,0
$GC,9563,-1.32,-146.0,861.4,-6.3,350,9568,0.12,2.65,0.00,0.000,6,0.066,0.048,3068,1599,3367,0,0,0,0,0,0
$GC,9833,-1.25,-146.0,882.7,-7.8,357,9838,0.20,2.53,0.00,0.000,4,0.094,0.080,3113,169,3366,0,0,0,0,0,0
$GC,9857,-1.25,-146.0,884.4,-6.8,357,9861,0.00,2.35,0.00,0.000,6,0.000,0.036,3113,1603,3366,0,0,0,0,0,0
$GC,10118,-1.25,-146.0,897.0,-4.6,364,10119,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1603,3365,0,0,0,0,0,0
$STATE,10195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10195,begin apogee
$GC,10201,-0.31,0.0,900.6,4.4,366,10324,0.88,0.00,119.70,1.154,6,0.072,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,10325,end apogee,CONTROL_FINISHED_OK
$STATE,10325,begin climb
$GC,10328,1.27,146.0,900.8,0.0,369,10466,1.42,2.17,129.20,1.130,4,0.032,0.078,3664,177,2204,0,0,0,0,0,0
$GC,10532,0.99,146.0,880.9,17.7,373,10537,0.30,1.92,0.00,0.000,6,0.113,0.031,3604,1356,2200,0,0,0,0,0,0
$GC,10789,0.91,146.0,848.8,12.1,380,10793,0.00,2.10,0.00,0.000,4,0.000,0.072,3603,172,2194,0,0,0,0,0,0
$GC,10808,0.79,146.0,846.2,12.0,380,10812,0.22,1.92,0.00,0.000,6,0.106,0.031,3557,1359,2194,0,0,0,0,0,0
$GC,11078,0.83,176.0,821.8,8.6,387,11107,0.00,0.00,26.70,1.045,6,0.000,0.000,3557,1359,2082,0,0,0,0,0,0
$GC,11362,0.87,207.3,797.1,8.6,394,11394,0.00,0.00,29.90,1.042,6,0.000,0.000,3557,1360,1954,0,0,0,0,0,0
$GC,11606,0.89,227.1,775.0,9.1,400,11630,0.00,2.75,19.30,1.002,4,0.000,0.054,3557,2933,1874,0,0,0,0,0,0
$GC,11661,1.00,241.5,770.2,9.3,401,11682,0.20,2.72,14.62,0.967,6,0.048,0.049,3621,1355,1815,0,0,0,0,0,0
$GC,11944,0.93,241.5,733.1,13.8,408,11948,0.15,2.15,0.00,0.000,4,0.109,0.084,3589,165,1811,0,0,0,0,0,0
$GC,11973,0.93,241.5,728.5,14.4,408,11977,0.00,1.92,0.00,0.000,6,0.000,0.030,3589,1354,1811,0,0,0,0,0,0
$GC,12232,0.93,241.5,694.9,12.9,415,12236,0.00,2.70,0.00,0.000,4,0.000,0.053,3589,2938,1809,0,0,0,0,0,0
$GC,12279,0.99,241.5,689.0,12.6,416,12284,0.00,2.72,0.00,0.000,6,0.000,0.048,3589,1352,1806,0,0,0,0,0,0
$GC,12563,0.99,241.5,652.6,13.0,423,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1352,1806,0,0,0,0,0,0
$GC,12805,0.99,241.5,622.6,12.3,429,12810,0.00,2.65,0.00,0.000,4,0.000,0.044,3589,2929,1806,0,0,0,0,0,0
$GC,12833,0.99,241.5,619.1,11.2,429,12838,0.00,2.72,0.00,0.000,6,0.000,0.048,3589,1343,1805,0,0,0,0,0,0
$GC,13089,0.99,241.5,590.6,11.0,436,13093,0.00,2.10,0.00,0.000,4,0.000,0.082,3589,161,1805,0,0,0,0,0,0
$GC,13122,0.99,241.5,586.7,10.7,436,13125,0.00,1.90,0.00,0.000,6,0.000,0.026,3589,1356,1805,0,0,0,0,0,0
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$STATE,17877,end climb,SURFACE_DEPTH_REACHED
$STATE,17877,begin surface coast
$FINISH,1.0,1.018424
$STATE,17918,end surface coast,CONTROL_FINISHED_OK
$STATE,17918,begin surface
$SM_CCo,17943,40.20,0.431,0,0,1250,380.21
$SM_GC,1.80,0.00,0.00,40.20,0.000,0.000,0.431,414,1603,1250,-13.67,0.93,380.21
$IRIDIUM_FIX,2255.72,-15727.13,230902,151553
$TT8_MAMPS,0.027612
$HUMID,66.02
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.60
$XPDR_PINGS,13
$24V_AH,23.3,26.227
$10V_AH,9.9,23.115
$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
$DEVICE_SECS,34.625,188.225,402.200,40.200,0.000,32.584,38.990,311.423,3.250,0.000,18.672,1471.995,13455.790,522.472,2247.529,815.063,33.371,1537.967,0.000,2235.229,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,455.646,310.235,394.490,677.171,924.055,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,50991,669
$CAP_FILE_SIZE,174138,0
$CFSIZE,260165632,158826496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300613,015530,2300.570,-15739.262,39,1.1,39,10.1