version: 66.06
glider: 148
mission: 12
dive: 185
start: 6 30 113 23 38 43
data:
$ID,148
$MISSION,12
$DIVE,185
$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,-1019857.1
$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,75
$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
$GPS1,232905,2254.775,-15748.353,39,1.6,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.5
$GPS2,233749,2254.868,-15748.455,16,1.2,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,-0.233
$KALMAN_X,-207001.5,-44.6,-333.3,227200.4,-611.6
$KALMAN_Y,106835.8,-207.0,-66.7,-88271.6,1841.4
$MHEAD_RNG_PITCHd_Wd,195.9,40087,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.00,0.000,2,0.000,0.000,408,1604,2965,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-4.2,9,124,14.02,2.40,-7.90,0.000,4,0.150,0.053,3101,168,3397,0,0,0,0,0,0
$GC,234,-1.02,-146.0,39.2,-20.2,27,239,0.28,2.12,0.00,0.000,6,0.097,0.017,3160,1561,3398,0,0,0,0,0,0
$GC,502,-0.92,-146.0,73.9,-12.7,51,507,0.10,2.50,0.00,0.000,4,0.121,0.021,3182,3144,3398,0,0,0,0,0,0
$GC,534,-0.92,-146.0,78.4,-12.5,53,538,0.00,2.58,0.00,0.000,6,0.000,0.028,3182,1559,3399,0,0,0,0,0,0
$GC,802,-0.92,-146.0,107.9,-10.4,77,808,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1559,3400,0,0,0,0,0,0
$GC,1063,-0.92,-146.0,135.3,-10.6,102,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1559,3400,0,0,0,0,0,0
$GC,1319,-0.92,-146.0,162.1,-10.7,126,1323,0.00,2.50,0.00,0.000,4,0.000,0.021,3182,3142,3400,0,0,0,0,0,0
$GC,1359,-1.00,-146.0,166.2,-8.9,129,1368,0.00,2.58,0.00,0.000,6,0.000,0.028,3182,1570,3400,0,0,0,0,0,0
$GC,1626,-1.00,-146.0,190.6,-9.2,154,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1570,3400,0,0,0,0,0,0
$GC,1890,-1.00,-146.0,217.6,-10.8,168,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1570,3400,0,0,0,0,0,0
$GC,2134,-1.00,-146.0,243.4,-10.2,174,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1570,3400,0,0,0,0,0,0
$GC,2380,-1.05,-146.0,262.2,-7.4,180,2385,0.12,2.47,0.00,0.000,4,0.062,0.023,3120,3136,3400,0,0,0,0,0,0
$GC,2414,-1.05,-146.0,265.3,-9.2,180,2419,0.15,2.53,0.00,0.000,6,0.096,0.029,3155,1567,3400,0,0,0,0,0,0
$GC,2664,-1.05,-146.0,287.6,-9.1,186,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1567,3400,0,0,0,0,0,0
$GC,2909,-1.05,-146.0,305.7,-7.2,192,2913,0.00,2.30,0.00,0.000,4,0.000,0.049,3155,169,3399,0,0,0,0,0,0
$GC,2946,-1.05,-146.0,308.8,-8.1,192,2952,0.00,2.17,0.00,0.000,6,0.000,0.020,3155,1575,3399,0,0,0,0,0,0
$GC,3197,-1.05,-146.0,327.9,-8.0,199,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1578,3399,0,0,0,0,0,0
$GC,3442,-1.05,-146.0,349.1,-8.6,205,3446,0.00,2.38,0.00,0.000,4,0.000,0.053,3155,168,3398,0,0,0,0,0,0
$GC,3456,-1.05,-146.0,350.5,-8.3,205,3460,0.00,2.20,0.00,0.000,6,0.000,0.021,3155,1578,3397,0,0,0,0,0,0
$GC,3725,-1.05,-146.0,370.0,-6.9,212,3729,0.00,2.50,0.00,0.000,4,0.000,0.033,3155,3135,3396,0,0,0,0,0,0
$GC,3760,-1.14,-146.0,372.3,-6.5,212,3764,0.00,2.58,0.00,0.000,6,0.000,0.038,3155,1581,3396,0,0,0,0,0,0
$GC,4010,-1.14,-146.0,390.4,-7.6,218,4014,0.00,2.38,0.00,0.000,4,0.000,0.061,3155,171,3394,0,0,0,0,0,0
$GC,4033,-1.14,-146.0,392.7,-9.1,218,4037,0.00,2.17,0.00,0.000,6,0.000,0.022,3155,1571,3394,0,0,0,0,0,0
$GC,4299,-1.19,-146.0,414.1,-7.9,225,4304,0.12,2.58,0.00,0.000,4,0.064,0.037,3098,3140,3392,0,0,0,0,0,0
$GC,4337,-1.19,-146.0,417.5,-9.0,225,4343,0.12,2.60,0.00,0.000,6,0.101,0.038,3127,1577,3392,0,0,0,0,0,0
$GC,4587,-1.19,-146.0,437.9,-8.4,232,4591,0.00,2.42,0.00,0.000,4,0.000,0.066,3127,162,3390,0,0,0,0,0,0
$GC,4608,-1.19,-146.0,439.6,-9.0,232,4612,0.00,2.25,0.00,0.000,6,0.000,0.025,3127,1583,3390,0,0,0,0,0,0
$GC,4876,-1.19,-146.0,459.3,-6.9,239,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1583,3389,0,0,0,0,0,0
$GC,5120,-1.19,-146.0,478.2,-8.2,245,5124,0.00,2.42,0.00,0.000,4,0.000,0.066,3126,166,3387,0,0,0,0,0,0
$GC,5158,-1.19,-146.0,482.2,-10.5,245,5164,0.00,2.28,0.00,0.000,6,0.000,0.029,3127,1579,3386,0,0,0,0,0,0
$GC,5408,-1.19,-146.0,507.0,-10.1,252,5413,0.00,2.62,0.00,0.000,4,0.000,0.045,3127,3157,3385,0,0,0,0,0,0
$GC,5437,-1.24,-146.0,509.9,-9.7,252,5442,0.00,2.60,0.00,0.000,6,0.000,0.041,3127,1591,3385,0,0,0,0,0,0
$GC,5694,-1.24,-146.0,530.7,-7.8,259,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3383,0,0,0,0,0,0
$GC,5936,-1.24,-146.0,546.7,-6.4,265,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3382,0,0,0,0,0,0
$GC,6180,-1.24,-146.0,564.5,-7.7,271,6184,0.00,2.47,0.00,0.000,4,0.000,0.075,3126,164,3380,0,0,0,0,0,0
$GC,6212,-1.24,-146.0,567.6,-9.8,271,6217,0.00,2.33,0.00,0.000,6,0.000,0.030,3127,1603,3380,0,0,0,0,0,0
$GC,6464,-1.24,-146.0,588.4,-8.3,277,6468,0.00,2.50,0.00,0.000,4,0.000,0.071,3127,170,3379,0,0,0,0,0,0
$GC,6479,-1.24,-146.0,589.8,-7.8,277,6483,0.00,2.30,0.00,0.000,6,0.000,0.030,3127,1596,3379,0,0,0,0,0,0
$GC,6747,-1.24,-146.0,609.9,-7.3,284,6751,0.00,2.58,0.00,0.000,4,0.000,0.048,3127,3147,3377,0,0,0,0,0,0
$GC,6768,-1.24,-146.0,611.2,-7.2,284,6772,0.00,2.62,0.00,0.000,6,0.000,0.046,3127,1581,3377,0,0,0,0,0,0
$GC,7032,-1.24,-146.0,630.2,-7.2,291,7036,0.00,2.50,0.00,0.000,4,0.000,0.080,3127,162,3376,0,0,0,0,0,0
$GC,7060,-1.24,-146.0,632.4,-7.8,291,7064,0.00,2.33,0.00,0.000,6,0.000,0.033,3127,1590,3375,0,0,0,0,0,0
$GC,7316,-1.24,-146.0,651.4,-7.6,298,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3373,0,0,0,0,0,0
$GC,7558,-1.24,-146.0,671.4,-8.3,304,7563,0.00,2.47,0.00,0.000,4,0.000,0.074,3127,170,3373,0,0,0,0,0,0
$GC,7582,-1.24,-146.0,673.6,-9.6,304,7586,0.00,2.28,0.00,0.000,6,0.000,0.033,3127,1581,3373,0,0,0,0,0,0
$GC,7847,-1.24,-146.0,696.3,-8.6,311,7852,0.00,2.62,0.00,0.000,4,0.000,0.053,3126,3153,3371,0,0,0,0,0,0
$GC,7867,-1.24,-146.0,698.3,-9.2,311,7871,0.00,2.67,0.00,0.000,6,0.000,0.051,3127,1576,3371,0,0,0,0,0,0
$GC,8131,-1.24,-146.0,720.6,-8.5,318,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1576,3370,0,0,0,0,0,0
$GC,8376,-1.24,-146.0,739.4,-7.5,324,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1575,3369,0,0,0,0,0,0
$GC,8618,-1.24,-146.0,756.6,-6.9,330,8622,0.00,2.47,0.00,0.000,4,0.000,0.081,3127,166,3368,0,0,0,0,0,0
$GC,8632,-1.24,-146.0,757.7,-6.9,330,8637,0.00,2.33,0.00,0.000,6,0.000,0.033,3127,1593,3368,0,0,0,0,0,0
$GC,8901,-1.24,-146.0,775.5,-6.7,337,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1594,3367,0,0,0,0,0,0
$GC,9146,-1.24,-146.0,791.5,-6.5,343,9150,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,165,3366,0,0,0,0,0,0
$GC,9165,-1.24,-146.0,793.0,-6.9,343,9169,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1588,3365,0,0,0,0,0,0
$GC,9429,-1.24,-146.0,809.2,-6.1,350,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1588,3365,0,0,0,0,0,0
$GC,9674,-1.24,-146.0,824.8,-6.4,356,9679,0.00,2.47,0.00,0.000,4,0.000,0.076,3127,171,3364,0,0,0,0,0,0
$GC,9693,-1.24,-146.0,826.3,-7.2,356,9698,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1575,3364,0,0,0,0,0,0
$GC,9962,-1.24,-146.0,845.2,-7.1,363,9963,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1576,3363,0,0,0,0,0,0
$GC,10207,-1.24,-146.0,863.0,-7.3,369,10211,0.00,2.47,0.00,0.000,4,0.000,0.076,3127,163,3362,0,0,0,0,0,0
$GC,10231,-1.24,-146.0,864.8,-9.7,369,10235,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1571,3362,0,0,0,0,0,0
$GC,10495,-1.29,-146.0,881.6,-6.1,376,10499,0.00,2.65,0.00,0.000,4,0.000,0.053,3127,3158,3362,0,0,0,0,0,0
$GC,10516,-1.35,-146.0,883.0,-6.6,376,10523,0.15,2.70,0.00,0.000,6,0.056,0.049,3066,1571,3362,0,0,0,0,0,0
$STATE,10739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10740,begin apogee
$GC,10746,-0.31,0.0,901.4,8.2,382,10869,1.10,0.00,119.57,1.157,6,0.082,0.000,3314,1349,2800,0,0,0,0,0,0
$STATE,10870,end apogee,CONTROL_FINISHED_OK
$STATE,10870,begin climb
$GC,10872,1.27,146.0,903.6,0.0,385,11013,1.45,2.22,130.20,1.134,4,0.034,0.084,3663,170,2202,0,0,0,0,0,0
$GC,11029,1.01,146.0,894.3,14.2,388,11034,0.28,1.98,0.00,0.000,6,0.113,0.032,3607,1354,2201,0,0,0,0,0,0
$GC,11286,0.92,146.0,863.2,11.9,395,11291,0.10,2.12,0.00,0.000,4,0.130,0.073,3587,166,2193,0,0,0,0,0,0
$GC,11306,0.82,146.0,860.5,12.3,395,11310,0.12,1.95,0.00,0.000,6,0.119,0.030,3562,1352,2193,0,0,0,0,0,0
$GC,11576,0.84,161.7,835.0,9.3,402,11592,0.00,0.00,13.90,1.001,6,0.000,0.000,3562,1353,2140,0,0,0,0,0,0
$GC,11818,0.86,181.8,812.6,9.1,408,11843,0.00,2.20,19.33,1.030,4,0.000,0.075,3562,169,2058,0,0,0,0,0,0
$GC,11885,0.86,181.8,805.6,11.1,409,11889,0.00,1.92,0.00,0.000,6,0.000,0.030,3562,1348,2058,0,0,0,0,0,0
$GC,12154,0.89,206.2,781.4,8.9,416,12184,0.00,2.78,23.48,1.029,4,0.000,0.054,3562,2935,1958,0,0,0,0,0,0
$GC,12195,0.96,261.9,777.8,7.4,417,12256,0.12,2.75,52.90,1.048,6,0.067,0.048,3608,1353,1732,0,0,0,0,0,0
$GC,12528,0.96,261.9,735.8,12.9,425,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1353,1724,0,0,0,0,0,0
$GC,12772,0.96,261.9,702.6,13.8,431,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1353,1723,0,0,0,0,0,0
$GC,13015,0.96,261.9,667.5,14.5,437,13020,0.00,2.67,0.00,0.000,4,0.000,0.044,3608,2939,1722,0,0,0,0,0,0
$GC,13069,0.96,261.9,659.9,14.8,438,13073,0.00,2.75,0.00,0.000,6,0.000,0.051,3608,1348,1718,0,0,0,0,0,0
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$STATE,18668,end climb,SURFACE_DEPTH_REACHED
$STATE,18668,begin surface coast
$FINISH,0.9,1.022839
$STATE,18705,end surface coast,CONTROL_FINISHED_OK
$STATE,18706,begin surface
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$HUMID,65.04
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$TCM_TEMP,21.90
$XPDR_PINGS,16
$24V_AH,23.3,26.964
$10V_AH,9.9,23.749
$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
$DEVICE_SECS,32.700,196.050,444.975,19.200,0.000,30.455,37.590,288.400,4.000,0.000,18.036,1515.057,14066.659,523.578,2336.029,822.611,33.376,1606.382,0.000,2327.106,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,53931,704
$CAP_FILE_SIZE,175728,0
$CFSIZE,260165632,158437376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010713,045302,2253.188,-15750.051,68,1.6,68,10.1