version: 66.06
glider: 148
mission: 12
dive: 182
start: 6 30 113 7 29 49
data:
$ID,148
$MISSION,12
$DIVE,182
$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,-1019806.6
$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,88
$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
$GPS1,071936,2259.095,-15741.349,41,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.2
$GPS2,072854,2259.174,-15741.431,15,1.5,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.113,-0.234
$KALMAN_X,-203523.0,-397.8,270.8,235466.7,-984.8
$KALMAN_Y,103514.6,265.4,-348.3,-77160.7,1720.3
$MHEAD_RNG_PITCHd_Wd,195.7,54396,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.40,0.000,2,0.000,0.000,408,1563,3007,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.0,9,121,14.05,2.35,-6.80,0.000,4,0.151,0.054,3102,166,3399,0,0,0,0,0,0
$GC,157,-0.90,-146.0,25.6,-24.4,18,167,0.35,2.12,0.00,0.000,6,0.083,0.017,3183,1538,3399,0,0,0,0,0,0
$GC,433,-0.85,-146.0,64.0,-12.9,44,437,0.00,2.53,0.00,0.000,4,0.000,0.021,3183,3145,3399,0,0,0,0,0,0
$GC,464,-0.85,-146.0,68.8,-13.1,46,469,0.00,2.55,0.00,0.000,6,0.000,0.028,3183,1563,3400,0,0,0,0,0,0
$GC,728,-0.85,-146.0,98.8,-11.9,70,737,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1563,3400,0,0,0,0,0,0
$GC,993,-0.85,-146.0,127.6,-10.2,95,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1563,3401,0,0,0,0,0,0
$GC,1254,-0.85,-146.0,151.8,-8.3,120,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1563,3401,0,0,0,0,0,0
$GC,1509,-0.85,-146.0,173.6,-10.1,144,1513,0.00,2.47,0.00,0.000,4,0.000,0.021,3183,3146,3401,0,0,0,0,0,0
$GC,1536,-0.85,-146.0,176.4,-11.3,146,1540,0.00,2.53,0.00,0.000,6,0.000,0.028,3183,1572,3402,0,0,0,0,0,0
$GC,1809,-0.85,-146.0,204.8,-9.8,168,1813,0.00,2.28,0.00,0.000,4,0.000,0.044,3183,167,3401,0,0,0,0,0,0
$GC,1832,-0.85,-146.0,207.7,-10.4,168,1836,0.00,2.12,0.00,0.000,6,0.000,0.017,3183,1600,3401,0,0,0,0,0,0
$GC,2093,-0.85,-146.0,227.4,-7.0,175,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1603,3402,0,0,0,0,0,0
$GC,2336,-0.90,-146.0,240.9,-5.7,181,2340,0.00,2.35,0.00,0.000,4,0.000,0.044,3183,169,3402,0,0,0,0,0,0
$GC,2383,-1.00,-146.0,244.5,-7.9,182,2387,0.00,2.10,0.00,0.000,6,0.000,0.018,3183,1563,3401,0,0,0,0,0,0
$GC,2667,-1.06,-146.0,266.4,-7.9,189,2672,0.12,2.45,0.00,0.000,4,0.063,0.023,3121,3125,3401,0,0,0,0,0,0
$GC,2692,-1.06,-146.0,268.8,-9.4,189,2697,0.15,2.53,0.00,0.000,6,0.095,0.029,3155,1553,3401,0,0,0,0,0,0
$GC,2953,-1.06,-146.0,292.6,-9.4,196,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1553,3401,0,0,0,0,0,0
$GC,3195,-1.06,-146.0,316.2,-9.6,202,3200,0.00,2.47,0.00,0.000,4,0.000,0.027,3155,3110,3401,0,0,0,0,0,0
$GC,3214,-1.06,-146.0,318.0,-9.5,202,3219,0.00,2.53,0.00,0.000,6,0.000,0.031,3155,1564,3401,0,0,0,0,0,0
$GC,3479,-1.06,-146.0,340.0,-8.2,209,3483,0.00,2.33,0.00,0.000,4,0.000,0.053,3155,164,3399,0,0,0,0,0,0
$GC,3504,-1.06,-146.0,342.0,-9.0,209,3508,0.00,2.15,0.00,0.000,6,0.000,0.020,3155,1551,3400,0,0,0,0,0,0
$GC,3763,-1.06,-146.0,360.7,-6.9,216,3767,0.00,2.58,0.00,0.000,4,0.000,0.031,3155,3146,3398,0,0,0,0,0,0
$GC,3808,-1.16,-146.0,363.3,-5.4,217,3814,0.10,2.58,0.00,0.000,6,0.073,0.036,3098,1583,3398,0,0,0,0,0,0
$GC,4099,-1.08,-146.0,388.6,-9.2,224,4104,0.22,2.38,0.00,0.000,4,0.087,0.058,3149,171,3396,0,0,0,0,0,0
$GC,4128,-1.08,-146.0,391.4,-8.3,224,4132,0.00,2.17,0.00,0.000,6,0.000,0.022,3149,1571,3396,0,0,0,0,0,0
$GC,4384,-1.08,-146.0,408.1,-6.6,231,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1571,3394,0,0,0,0,0,0
$GC,4626,-1.08,-146.0,426.6,-8.0,237,4627,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1572,3393,0,0,0,0,0,0
$GC,4870,-1.08,-146.0,449.1,-9.3,243,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1572,3391,0,0,0,0,0,0
$GC,5115,-1.08,-146.0,469.1,-7.9,249,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1572,3390,0,0,0,0,0,0
$GC,5358,-1.08,-146.0,487.0,-7.4,255,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1572,3388,0,0,0,0,0,0
$GC,5602,-1.12,-146.0,504.8,-7.3,261,5606,0.00,2.60,0.00,0.000,4,0.000,0.041,3149,3143,3386,0,0,0,0,0,0
$GC,5617,-1.18,-146.0,506.0,-7.1,261,5621,0.00,2.60,0.00,0.000,6,0.000,0.037,3149,1579,3386,0,0,0,0,0,0
$GC,5888,-1.23,-146.0,524.4,-6.8,268,5893,0.15,2.45,0.00,0.000,4,0.057,0.071,3090,164,3385,0,0,0,0,0,0
$GC,5917,-1.13,-146.0,527.4,-10.9,268,5922,0.22,2.22,0.00,0.000,6,0.087,0.028,3140,1567,3385,0,0,0,0,0,0
$GC,6174,-1.13,-146.0,546.9,-7.4,275,6178,0.00,2.62,0.00,0.000,4,0.000,0.042,3140,3154,3383,0,0,0,0,0,0
$GC,6208,-1.22,-146.0,549.3,-6.9,275,6212,0.00,2.65,0.00,0.000,6,0.000,0.042,3140,1577,3383,0,0,0,0,0,0
$GC,6458,-1.22,-146.0,565.4,-6.6,281,6462,0.00,2.45,0.00,0.000,4,0.000,0.075,3140,171,3382,0,0,0,0,0,0
$GC,6474,-1.22,-146.0,566.5,-6.8,281,6478,0.00,2.28,0.00,0.000,6,0.000,0.028,3140,1589,3382,0,0,0,0,0,0
$GC,6743,-1.26,-146.0,586.5,-7.6,288,6748,0.12,2.50,0.00,0.000,4,0.064,0.071,3087,167,3380,0,0,0,0,0,0
$GC,6781,-1.17,-146.0,590.8,-11.5,288,6787,0.20,2.28,0.00,0.000,6,0.091,0.031,3132,1573,3380,0,0,0,0,0,0
$GC,7033,-1.17,-146.0,614.9,-9.5,295,7037,0.00,2.45,0.00,0.000,4,0.000,0.073,3132,172,3379,0,0,0,0,0,0
$GC,7056,-1.17,-146.0,617.5,-11.3,295,7060,0.00,2.28,0.00,0.000,6,0.000,0.031,3132,1574,3379,0,0,0,0,0,0
$GC,7315,-1.17,-146.0,640.7,-8.9,302,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1574,3377,0,0,0,0,0,0
$GC,7561,-1.17,-146.0,659.9,-7.6,308,7565,0.00,2.65,0.00,0.000,4,0.000,0.051,3132,3161,3376,0,0,0,0,0,0
$GC,7589,-1.24,-146.0,662.1,-7.5,308,7594,0.00,2.70,0.00,0.000,6,0.000,0.048,3132,1568,3376,0,0,0,0,0,0
$GC,7845,-1.24,-146.0,679.0,-6.7,315,7849,0.00,2.65,0.00,0.000,4,0.000,0.044,3132,3153,3374,0,0,0,0,0,0
$GC,7870,-1.30,-146.0,680.8,-7.4,315,7876,0.12,2.67,0.00,0.000,6,0.063,0.048,3075,1569,3374,0,0,0,0,0,0
$GC,8131,-1.20,-146.0,705.1,-9.5,322,8136,0.22,2.47,0.00,0.000,4,0.092,0.081,3125,170,3373,0,0,0,0,0,0
$GC,8180,-1.20,-146.0,709.2,-7.7,323,8184,0.00,2.25,0.00,0.000,6,0.000,0.034,3125,1564,3373,0,0,0,0,0,0
$GC,8463,-1.20,-146.0,728.2,-6.7,330,8467,0.00,2.45,0.00,0.000,4,0.000,0.075,3125,169,3371,0,0,0,0,0,0
$GC,8486,-1.20,-146.0,730.0,-8.6,330,8490,0.00,2.28,0.00,0.000,6,0.000,0.034,3125,1563,3371,0,0,0,0,0,0
$GC,8747,-1.20,-146.0,748.0,-7.0,337,8752,0.00,2.67,0.00,0.000,4,0.000,0.051,3125,3156,3370,0,0,0,0,0,0
$GC,8778,-1.28,-146.0,750.2,-7.0,337,8782,0.00,2.70,0.00,0.000,6,0.000,0.049,3125,1564,3370,0,0,0,0,0,0
$GC,9033,-1.28,-146.0,768.9,-7.5,344,9037,0.00,2.47,0.00,0.000,4,0.000,0.081,3125,165,3369,0,0,0,0,0,0
$GC,9058,-1.28,-146.0,770.9,-9.0,344,9062,0.00,2.30,0.00,0.000,6,0.000,0.035,3125,1573,3369,0,0,0,0,0,0
$GC,9317,-1.28,-146.0,790.5,-7.4,351,9321,0.00,2.67,0.00,0.000,4,0.000,0.052,3125,3162,3368,0,0,0,0,0,0
$GC,9341,-1.34,-146.0,792.4,-7.9,351,9348,0.12,2.72,0.00,0.000,6,0.064,0.048,3069,1560,3368,0,0,0,0,0,0
$GC,9606,-1.25,-146.0,816.2,-9.3,358,9611,0.20,2.47,0.00,0.000,4,0.094,0.080,3114,164,3367,0,0,0,0,0,0
$GC,9635,-1.25,-146.0,819.1,-8.3,358,9639,0.00,2.30,0.00,0.000,6,0.000,0.035,3114,1567,3367,0,0,0,0,0,0
$GC,9889,-1.25,-146.0,839.3,-8.1,365,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1567,3366,0,0,0,0,0,0
$GC,10135,-1.25,-146.0,859.5,-8.3,371,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1567,3365,0,0,0,0,0,0
$GC,10377,-1.25,-146.0,879.1,-8.0,377,10381,0.00,2.47,0.00,0.000,4,0.000,0.076,3114,164,3365,0,0,0,0,0,0
$GC,10400,-1.25,-146.0,881.1,-8.8,377,10404,0.00,2.30,0.00,0.000,6,0.000,0.035,3114,1569,3364,0,0,0,0,0,0
$STATE,10657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10657,begin apogee
$GC,10665,-0.31,0.0,900.8,7.4,384,10788,0.88,0.00,119.60,1.157,6,0.074,0.000,3315,1338,2800,0,0,0,0,0,0
$STATE,10789,end apogee,CONTROL_FINISHED_OK
$STATE,10789,begin climb
$GC,10791,1.27,146.0,903.9,0.0,387,10931,1.42,2.15,129.60,1.136,4,0.029,0.078,3665,167,2203,0,0,0,0,0,0
$GC,10987,0.99,146.0,889.2,15.4,391,10992,0.32,1.98,0.00,0.000,6,0.109,0.031,3599,1357,2199,0,0,0,0,0,0
$GC,11249,0.91,146.0,859.3,11.3,398,11253,0.00,2.10,0.00,0.000,4,0.000,0.073,3599,172,2193,0,0,0,0,0,0
$GC,11286,0.77,146.0,854.4,12.8,398,11291,0.22,1.92,0.00,0.000,6,0.105,0.030,3553,1348,2193,0,0,0,0,0,0
$GC,11536,0.77,146.0,829.2,10.0,404,11539,0.00,2.10,0.00,0.000,4,0.000,0.073,3553,175,2191,0,0,0,0,0,0
$GC,11574,0.77,146.0,825.0,11.2,404,11578,0.00,1.90,0.00,0.000,6,0.000,0.029,3553,1345,2191,0,0,0,0,0,0
$GC,11828,0.77,146.0,798.4,10.5,411,11833,0.00,2.67,0.00,0.000,4,0.000,0.050,3553,2931,2190,0,0,0,0,0,0
$GC,11866,0.84,146.0,794.3,10.9,411,11872,0.00,2.72,0.00,0.000,6,0.000,0.049,3553,1351,2187,0,0,0,0,0,0
$GC,12117,0.86,162.1,770.4,9.3,418,12133,0.00,0.00,13.38,0.972,6,0.000,0.000,3553,1351,2139,0,0,0,0,0,0
$GC,12360,0.92,214.5,751.1,7.6,424,12412,0.15,0.00,49.75,1.043,6,0.060,0.000,3607,1351,1925,0,0,0,0,0,0
$GC,12648,0.87,214.5,721.7,10.5,431,12650,0.15,0.00,0.00,0.000,6,0.108,0.000,3576,1351,1919,0,0,0,0,0,0
$GC,12891,0.90,235.4,699.4,9.0,437,12916,0.00,2.20,19.73,0.967,4,0.000,0.084,3576,160,1840,0,0,0,0,0,0
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$STATE,18867,end climb,SURFACE_DEPTH_REACHED
$STATE,18867,begin surface coast
$FINISH,0.9,1.019115
$STATE,18903,end surface coast,CONTROL_FINISHED_OK
$STATE,18903,begin surface
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$SM_GC,1.90,0.00,0.00,12.43,0.000,0.000,0.407,413,1558,1249,-13.68,-0.34,380.21
$IRIDIUM_FIX,2251.04,-15737.57,240902,020245
$TT8_MAMPS,0.027612
$HUMID,65.35
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.70
$XPDR_PINGS,7
$24V_AH,23.3,26.520
$10V_AH,9.9,23.369
$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
$DEVICE_SECS,33.950,201.625,452.350,12.425,0.000,30.040,42.704,312.716,1.750,0.000,34.240,1539.734,14193.379,534.520,2378.503,845.945,33.400,1631.019,0.000,2358.253,0.000,0.536,0.000
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$SENSOR_SECS,482.181,328.038,419.548,721.266,980.853,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,54168,709
$CAP_FILE_SIZE,181827,0
$CFSIZE,260165632,158658560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300613,124653,2257.557,-15743.337,40,1.8,40,10.1