version: 66.06
glider: 148
mission: 12
dive: 380
start: 8 13 113 19 24 48
data:
$ID,148
$MISSION,12
$DIVE,380
$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,390
$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,-1023622.7
$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,3400
$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,26
$R_STBD_OVSHOOT,100
$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
$GPS1,191619,2245.743,-15746.260,35,5.2,54,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.8
$GPS2,192354,2245.684,-15746.341,9,1.2,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.208
$KALMAN_X,-86200.8,-211.6,-72.9,109910.9,1304.0
$KALMAN_Y,95574.4,-280.8,-519.3,-93476.9,43.5
$MHEAD_RNG_PITCHd_Wd,133.1,19632,-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,12,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.10,0.000,2,0.000,0.000,412,1571,2888,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-3.7,9,121,14.00,2.35,-9.55,0.000,4,0.146,0.052,3116,170,3396,0,0,0,0,0,0
$GC,132,-0.37,-146.0,16.3,-31.2,14,142,0.88,2.12,0.00,0.000,6,0.090,0.017,3311,1553,3396,0,0,0,0,0,0
$GC,417,-0.50,-146.0,42.0,-7.3,48,421,0.00,2.45,0.00,0.000,4,0.000,0.021,3311,3121,3398,0,0,0,0,0,0
$GC,451,-0.74,-146.0,45.0,-7.1,50,461,0.28,2.55,0.00,0.000,6,0.038,0.028,3233,1564,3398,0,0,0,0,0,0
$GC,721,-0.74,-146.0,72.6,-10.7,75,725,0.00,2.28,0.00,0.000,4,0.000,0.043,3233,166,3399,0,0,0,0,0,0
$GC,752,-0.79,-146.0,77.0,-10.6,77,761,0.00,2.15,0.00,0.000,6,0.000,0.017,3233,1589,3399,0,0,0,0,0,0
$GC,1017,-0.79,-146.0,103.4,-9.6,102,1021,0.00,2.38,0.00,0.000,4,0.000,0.021,3232,3113,3399,0,0,0,0,0,0
$GC,1049,-0.89,-146.0,106.4,-8.6,104,1058,0.08,2.53,0.00,0.000,6,0.052,0.028,3183,1568,3399,0,0,0,0,0,0
$GC,1315,-0.83,-146.0,134.8,-11.2,129,1320,0.15,0.00,0.00,0.000,6,0.095,0.000,3217,1567,3399,0,0,0,0,0,0
$GC,1582,-0.88,-146.0,158.5,-9.3,154,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1567,3400,0,0,0,0,0,0
$GC,1847,-0.93,-146.0,183.5,-8.9,179,1851,0.00,2.42,0.00,0.000,4,0.000,0.021,3217,3116,3400,0,0,0,0,0,0
$GC,1867,-1.01,-146.0,185.6,-9.3,180,1876,0.12,2.53,0.00,0.000,6,0.025,0.027,3132,1569,3400,0,0,0,0,0,0
$GC,2159,-0.89,-146.0,220.5,-12.1,196,2164,0.30,2.28,0.00,0.000,4,0.079,0.041,3204,170,3400,0,0,0,0,0,0
$GC,2216,-1.00,-146.0,226.7,-8.0,197,2220,0.00,2.10,0.00,0.000,6,0.000,0.018,3203,1570,3400,0,0,0,0,0,0
$GC,2490,-1.07,-146.0,246.5,-7.6,204,2492,0.15,0.00,0.00,0.000,6,0.054,0.000,3129,1573,3400,0,0,0,0,0,0
$GC,2735,-0.98,-146.0,275.3,-12.1,210,2740,0.25,2.42,0.00,0.000,4,0.078,0.023,3191,3106,3400,0,0,0,0,0,0
$GC,2764,-1.05,-146.0,278.6,-8.9,210,2769,0.00,2.50,0.00,0.000,6,0.000,0.028,3191,1563,3400,0,0,0,0,0,0
$GC,3021,-1.11,-146.0,299.6,-8.2,217,3026,0.15,2.33,0.00,0.000,4,0.055,0.050,3120,173,3400,0,0,0,0,0,0
$GC,3041,-1.07,-146.0,301.7,-9.1,217,3046,0.20,2.08,0.00,0.000,6,0.087,0.019,3166,1532,3400,0,0,0,0,0,0
$GC,3306,-1.07,-146.0,322.7,-7.5,224,3310,0.00,2.55,0.00,0.000,4,0.000,0.028,3166,3125,3399,0,0,0,0,0,0
$GC,3346,-1.14,-146.0,325.6,-7.0,224,3352,0.00,2.58,0.00,0.000,6,0.000,0.032,3166,1560,3398,0,0,0,0,0,0
$GC,3598,-1.14,-146.0,345.3,-8.0,231,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1560,3397,0,0,0,0,0,0
$GC,3840,-1.14,-146.0,365.1,-8.1,237,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1560,3396,0,0,0,0,0,0
$GC,4085,-1.14,-146.0,385.0,-8.2,243,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1560,3394,0,0,0,0,0,0
$GC,4327,-1.14,-146.0,405.8,-8.6,249,4331,0.00,2.58,0.00,0.000,4,0.000,0.034,3166,3116,3393,0,0,0,0,0,0
$GC,4347,-1.19,-146.0,407.4,-8.6,249,4352,0.10,2.60,0.00,0.000,6,0.074,0.035,3111,1551,3393,0,0,0,0,0,0
$GC,4617,-1.11,-146.0,435.8,-10.8,256,4619,0.20,0.00,0.00,0.000,6,0.085,0.000,3156,1550,3391,0,0,0,0,0,0
$GC,4855,-1.11,-146.0,455.4,-7.7,262,4860,0.00,2.60,0.00,0.000,4,0.000,0.038,3156,3119,3389,0,0,0,0,0,0
$GC,4870,-1.11,-146.0,456.6,-7.6,262,4874,0.00,2.60,0.00,0.000,6,0.000,0.035,3156,1553,3389,0,0,0,0,0,0
$GC,5138,-1.11,-146.0,479.3,-8.7,269,5143,0.00,2.40,0.00,0.000,4,0.000,0.069,3156,165,3388,0,0,0,0,0,0
$GC,5159,-1.11,-146.0,481.1,-8.7,269,5163,0.00,2.17,0.00,0.000,6,0.000,0.027,3156,1533,3387,0,0,0,0,0,0
$GC,5432,-1.11,-146.0,503.7,-8.3,276,5436,0.00,2.65,0.00,0.000,4,0.000,0.040,3156,3147,3386,0,0,0,0,0,0
$GC,5478,-1.21,-146.0,507.5,-8.6,277,5482,0.00,2.65,0.00,0.000,6,0.000,0.041,3156,1564,3386,0,0,0,0,0,0
$GC,5765,-1.21,-146.0,531.4,-8.4,284,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1564,3384,0,0,0,0,0,0
$GC,6009,-1.21,-146.0,550.9,-7.9,290,6013,0.00,2.65,0.00,0.000,4,0.000,0.044,3156,3141,3382,0,0,0,0,0,0
$GC,6023,-1.21,-146.0,552.1,-7.7,290,6028,0.00,2.65,0.00,0.000,6,0.000,0.042,3156,1563,3382,0,0,0,0,0,0
$GC,6294,-1.26,-146.0,570.8,-6.8,297,6300,0.12,2.62,0.00,0.000,4,0.064,0.041,3100,3142,3380,0,0,0,0,0,0
$GC,6310,-1.26,-146.0,572.2,-6.7,297,6315,0.12,2.65,0.00,0.000,6,0.100,0.044,3129,1568,3380,0,0,0,0,0,0
$GC,6581,-1.26,-146.0,593.6,-8.2,304,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1568,3379,0,0,0,0,0,0
$GC,6823,-1.26,-146.0,615.9,-9.3,310,6824,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1568,3378,0,0,0,0,0,0
$GC,7073,-1.26,-146.0,638.2,-9.1,316,7078,0.00,2.67,0.00,0.000,4,0.000,0.046,3129,3149,3376,0,0,0,0,0,0
$GC,7088,-1.26,-146.0,640.2,-8.6,316,7092,0.00,2.67,0.00,0.000,6,0.000,0.044,3129,1569,3376,0,0,0,0,0,0
$GC,7358,-1.26,-146.0,661.6,-7.7,323,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1569,3374,0,0,0,0,0,0
$GC,7600,-1.26,-146.0,679.7,-7.5,329,7601,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1569,3373,0,0,0,0,0,0
$GC,7844,-1.26,-146.0,699.2,-8.1,335,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3372,0,0,0,0,0,0
$GC,8092,-1.26,-146.0,718.1,-7.7,341,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1568,3371,0,0,0,0,0,0
$GC,8331,-1.26,-146.0,736.4,-7.4,347,8336,0.00,2.65,0.00,0.000,4,0.000,0.044,3129,3150,3370,0,0,0,0,0,0
$GC,8351,-1.26,-146.0,737.9,-7.5,347,8355,0.00,2.67,0.00,0.000,6,0.000,0.048,3129,1579,3370,0,0,0,0,0,0
$GC,8617,-1.26,-146.0,756.7,-7.1,354,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1579,3368,0,0,0,0,0,0
$GC,8859,-1.26,-146.0,774.7,-7.4,360,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1579,3368,0,0,0,0,0,0
$GC,9105,-1.26,-146.0,793.2,-7.5,366,9109,0.00,2.53,0.00,0.000,4,0.000,0.086,3129,166,3366,0,0,0,0,0,0
$GC,9124,-1.26,-146.0,794.8,-7.7,366,9128,0.00,2.30,0.00,0.000,6,0.000,0.033,3129,1575,3366,0,0,0,0,0,0
$GC,9389,-1.26,-146.0,814.7,-7.4,373,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1575,3366,0,0,0,0,0,0
$GC,9631,-1.26,-146.0,833.5,-7.7,379,9636,0.00,2.67,0.00,0.000,4,0.000,0.052,3128,3157,3365,0,0,0,0,0,0
$GC,9655,-1.26,-146.0,835.4,-8.7,379,9660,0.00,2.70,0.00,0.000,6,0.000,0.049,3129,1577,3365,0,0,0,0,0,0
$GC,9919,-1.26,-146.0,854.7,-7.5,386,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1577,3364,0,0,0,0,0,0
$GC,10159,-1.26,-146.0,872.5,-7.3,392,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1577,3363,0,0,0,0,0,0
$GC,10402,-1.26,-146.0,890.8,-7.6,398,10407,0.00,2.50,0.00,0.000,4,0.000,0.082,3129,166,3362,0,0,0,0,0,0
$GC,10421,-1.26,-146.0,892.3,-7.2,398,10425,0.00,2.33,0.00,0.000,6,0.000,0.034,3129,1588,3363,0,0,0,0,0,0
$STATE,10560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10560,begin apogee
$GC,10569,-0.31,0.0,902.8,7.3,402,10693,0.88,0.00,121.00,1.151,6,0.073,0.000,3330,1342,2800,0,0,0,0,0,0
$STATE,10694,end apogee,CONTROL_FINISHED_OK
$STATE,10694,begin climb
$GC,10697,1.27,146.0,906.6,0.0,405,10836,1.42,2.15,131.60,1.133,4,0.031,0.080,3684,178,2203,0,0,0,0,0,0
$GC,10967,1.01,146.0,885.2,13.7,411,10972,0.30,1.95,0.00,0.000,6,0.107,0.031,3622,1360,2198,0,0,0,0,0,0
$GC,11257,0.95,161.6,856.8,9.3,418,11278,0.00,2.20,13.98,1.001,4,0.000,0.073,3622,177,2141,0,0,0,0,0,0
$GC,11361,0.84,161.6,846.0,11.3,420,11365,0.20,1.92,0.00,0.000,6,0.103,0.030,3580,1345,2140,0,0,0,0,0,0
$GC,11639,0.90,216.8,824.3,7.5,427,11699,0.00,2.78,52.70,1.073,4,0.000,0.053,3580,2936,1915,0,0,0,0,0,0
$GC,11711,1.02,276.1,818.3,7.3,428,11778,0.17,2.78,56.38,1.060,6,0.052,0.048,3637,1348,1674,0,0,0,0,0,0
$GC,12056,1.02,276.1,771.9,13.9,437,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1348,1667,0,0,0,0,0,0
$GC,12301,1.02,276.1,738.2,13.9,443,12306,0.00,2.67,0.00,0.000,4,0.000,0.044,3637,2933,1665,0,0,0,0,0,0
$GC,12325,1.02,276.1,734.5,13.0,443,12330,0.00,2.72,0.00,0.000,6,0.000,0.051,3637,1349,1663,0,0,0,0,0,0
$GC,12584,1.02,276.1,697.4,14.5,450,12589,0.00,2.70,0.00,0.000,4,0.000,0.044,3637,2933,1663,0,0,0,0,0,0
$GC,12610,1.02,276.1,693.9,13.6,450,12614,0.00,2.75,0.00,0.000,6,0.000,0.052,3637,1350,1661,0,0,0,0,0,0
$GC,12869,1.02,276.1,656.3,14.5,457,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1350,1661,0,0,0,0,0,0
$GC,13113,1.02,276.1,620.1,14.9,463,13117,0.00,2.70,0.00,0.000,4,0.000,0.045,3637,2930,1661,0,0,0,0,0,0
$GC,13152,1.02,276.1,614.6,14.9,463,13157,0.00,2.72,0.00,0.000,6,0.000,0.052,3637,1359,1659,0,0,0,0,0,0
$GC,13402,1.02,276.1,578.9,14.3,470,13403,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1359,1659,0,0,0,0,0,0
$GC,13648,1.02,276.1,545.1,13.7,476,13652,0.00,2.12,0.00,0.000,4,0.000,0.076,3637,158,1659,0,0,0,0,0,0
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$STATE,18252,end climb,SURFACE_DEPTH_REACHED
$STATE,18252,begin surface coast
$FINISH,1.2,1.023166
$STATE,18274,end surface coast,CONTROL_FINISHED_OK
$STATE,18274,begin surface
$SM_CCo,18301,35.78,0.421,0,0,1209,390.03
$SM_GC,1.80,0.00,0.00,35.78,0.000,0.000,0.421,412,1631,1209,-13.74,1.72,390.03
$IRIDIUM_FIX,2239.35,-15749.78,071102,141416
$TT8_MAMPS,0.027612
$HUMID,66.69
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.70
$XPDR_PINGS,7
$24V_AH,23.1,56.026
$10V_AH,9.9,53.717
$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
$DEVICE_SECS,34.025,176.375,416.675,35.775,0.000,22.381,34.245,237.242,1.750,0.000,15.665,1512.512,13423.564,525.930,2557.137,763.402,33.375,1569.387,0.000,2562.268,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.364,392.400,499.868,1038.941,1371.738,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57279,722
$CAP_FILE_SIZE,169174,0
$CFSIZE,260165632,143405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140813,003200,2243.073,-15744.097,53,2.0,53,10.1