version: 66.06
glider: 148
mission: 12
dive: 402
start: 8 18 113 18 38 28
data:
$ID,148
$MISSION,12
$DIVE,402
$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,-1024109.1
$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,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,25
$R_STBD_OVSHOOT,118
$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
$GPS1,183006,2300.519,-15739.293,33,1.7,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.3
$GPS2,183736,2300.489,-15739.278,36,1.7,36,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,-0.089
$KALMAN_X,-91186.9,260.7,53.4,126354.9,236.9
$KALMAN_Y,60522.4,-299.0,332.9,-31843.1,-1758.6
$MHEAD_RNG_PITCHd_Wd,239.8,58785,-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,-67.38,0.000,2,0.000,0.000,411,1609,2943,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.5,9,123,14.12,2.42,-8.20,0.000,4,0.150,0.054,3116,170,3399,0,0,0,0,0,0
$GC,232,-0.98,-146.0,39.8,-19.0,27,242,0.28,2.08,0.00,0.000,6,0.086,0.017,3181,1521,3399,0,0,0,0,0,0
$GC,502,-0.87,-146.0,76.7,-12.8,52,511,0.12,0.00,0.00,0.000,6,0.110,0.000,3209,1524,3400,0,0,0,0,0,0
$GC,767,-0.87,-146.0,102.5,-8.1,77,772,0.00,2.53,0.00,0.000,4,0.000,0.021,3210,3142,3400,0,0,0,0,0,0
$GC,812,-0.95,-146.0,106.3,-7.7,80,821,0.00,2.60,0.00,0.000,6,0.000,0.028,3210,1553,3400,0,0,0,0,0,0
$GC,1078,-0.95,-146.0,130.8,-9.7,105,1082,0.00,2.28,0.00,0.000,4,0.000,0.043,3209,169,3401,0,0,0,0,0,0
$GC,1099,-0.95,-146.0,133.3,-9.9,106,1108,0.00,2.15,0.00,0.000,6,0.000,0.017,3209,1601,3401,0,0,0,0,0,0
$GC,1362,-0.95,-146.0,158.0,-9.6,131,1366,0.00,2.33,0.00,0.000,4,0.000,0.021,3209,3099,3401,0,0,0,0,0,0
$GC,1393,-1.02,-146.0,161.2,-9.2,133,1400,0.12,2.47,0.00,0.000,6,0.064,0.028,3131,1561,3401,0,0,0,0,0,0
$GC,1658,-0.85,-146.0,198.2,-14.2,158,1664,0.35,0.00,0.00,0.000,6,0.081,0.000,3212,1561,3401,0,0,0,0,0,0
$GC,1923,-0.91,-146.0,220.2,-8.0,166,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1561,3402,0,0,0,0,0,0
$GC,2165,-0.98,-146.0,238.2,-7.1,172,2170,0.12,2.45,0.00,0.000,4,0.062,0.022,3144,3105,3402,0,0,0,0,0,0
$GC,2196,-0.98,-146.0,241.1,-9.6,172,2201,0.17,2.50,0.00,0.000,6,0.084,0.028,3186,1566,3402,0,0,0,0,0,0
$GC,2451,-0.98,-146.0,262.9,-8.8,179,2455,0.00,2.28,0.00,0.000,4,0.000,0.045,3186,173,3401,0,0,0,0,0,0
$GC,2504,-0.98,-146.0,268.2,-9.6,180,2508,0.00,2.08,0.00,0.000,6,0.000,0.018,3186,1544,3401,0,0,0,0,0,0
$GC,2782,-0.98,-146.0,291.0,-7.9,187,2786,0.00,2.50,0.00,0.000,4,0.000,0.024,3186,3132,3401,0,0,0,0,0,0
$GC,2831,-1.10,-146.0,294.6,-7.4,188,2836,0.12,2.53,0.00,0.000,6,0.062,0.029,3113,1580,3401,0,0,0,0,0,0
$GC,3115,-0.98,-146.0,327.2,-12.0,195,3120,0.30,2.33,0.00,0.000,4,0.080,0.048,3184,172,3400,0,0,0,0,0,0
$GC,3181,-1.03,-146.0,333.8,-9.0,196,3186,0.00,2.15,0.00,0.000,6,0.000,0.020,3184,1560,3400,0,0,0,0,0,0
$GC,3450,-1.09,-146.0,353.6,-7.2,203,3455,0.00,2.53,0.00,0.000,4,0.000,0.030,3184,3136,3398,0,0,0,0,0,0
$GC,3494,-1.22,-146.0,356.9,-7.4,204,3499,0.20,2.58,0.00,0.000,6,0.042,0.034,3099,1571,3398,0,0,0,0,0,0
$GC,3788,-1.09,-146.0,390.7,-12.0,211,3790,0.28,0.00,0.00,0.000,6,0.083,0.000,3160,1571,3397,0,0,0,0,0,0
$GC,4026,-1.09,-146.0,412.2,-8.5,217,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1571,3395,0,0,0,0,0,0
$GC,4270,-1.09,-146.0,432.3,-8.1,223,4274,0.00,2.58,0.00,0.000,4,0.000,0.038,3161,3133,3394,0,0,0,0,0,0
$GC,4291,-1.09,-146.0,433.9,-8.5,223,4295,0.00,2.58,0.00,0.000,6,0.000,0.036,3161,1579,3394,0,0,0,0,0,0
$GC,4555,-1.09,-146.0,454.0,-7.5,230,4559,0.00,2.42,0.00,0.000,4,0.000,0.067,3161,166,3392,0,0,0,0,0,0
$GC,4578,-1.09,-146.0,456.0,-8.9,230,4583,0.00,2.20,0.00,0.000,6,0.000,0.025,3161,1572,3392,0,0,0,0,0,0
$GC,4840,-1.09,-146.0,474.4,-6.8,237,4844,0.00,2.58,0.00,0.000,4,0.000,0.040,3161,3138,3390,0,0,0,0,0,0
$GC,4868,-1.17,-146.0,476.4,-6.7,237,4873,0.00,2.60,0.00,0.000,6,0.000,0.038,3161,1581,3390,0,0,0,0,0,0
$GC,5123,-1.17,-146.0,494.5,-7.3,244,5128,0.00,2.45,0.00,0.000,4,0.000,0.070,3161,166,3388,0,0,0,0,0,0
$GC,5144,-1.17,-146.0,496.1,-8.0,244,5148,0.00,2.22,0.00,0.000,6,0.000,0.027,3161,1575,3389,0,0,0,0,0,0
$GC,5410,-1.17,-146.0,517.3,-7.9,251,5415,0.00,2.60,0.00,0.000,4,0.000,0.044,3161,3150,3386,0,0,0,0,0,0
$GC,5444,-1.26,-146.0,520.0,-6.9,251,5449,0.15,2.62,0.00,0.000,6,0.054,0.047,3094,1585,3386,0,0,0,0,0,0
$GC,5696,-1.15,-146.0,546.3,-10.7,257,5701,0.25,2.47,0.00,0.000,4,0.087,0.071,3153,166,3384,0,0,0,0,0,0
$GC,5720,-1.15,-146.0,549.1,-9.2,257,5725,0.00,2.28,0.00,0.000,6,0.000,0.029,3153,1579,3384,0,0,0,0,0,0
$GC,5981,-1.15,-146.0,568.2,-7.1,264,5986,0.00,2.62,0.00,0.000,4,0.000,0.046,3153,3152,3383,0,0,0,0,0,0
$GC,6012,-1.22,-146.0,570.5,-7.2,264,6016,0.00,2.65,0.00,0.000,6,0.000,0.044,3153,1578,3382,0,0,0,0,0,0
$GC,6270,-1.22,-146.0,589.6,-7.6,271,6275,0.00,2.47,0.00,0.000,4,0.000,0.076,3153,165,3381,0,0,0,0,0,0
$GC,6305,-1.22,-146.0,592.9,-9.3,271,6310,0.00,2.30,0.00,0.000,6,0.000,0.032,3153,1581,3380,0,0,0,0,0,0
$GC,6555,-1.22,-146.0,614.9,-9.0,277,6560,0.00,2.62,0.00,0.000,4,0.000,0.050,3153,3152,3379,0,0,0,0,0,0
$GC,6576,-1.22,-146.0,616.8,-9.0,277,6581,0.00,2.65,0.00,0.000,6,0.000,0.045,3153,1584,3379,0,0,0,0,0,0
$GC,6842,-1.22,-146.0,638.0,-7.7,284,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1585,3378,0,0,0,0,0,0
$GC,7084,-1.22,-146.0,651.9,-5.4,290,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1584,3377,0,0,0,0,0,0
$GC,7330,-1.22,-146.0,666.5,-6.2,296,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1585,3375,0,0,0,0,0,0
$GC,7572,-1.22,-146.0,682.8,-6.7,302,7576,0.00,2.65,0.00,0.000,4,0.000,0.047,3153,3151,3373,0,0,0,0,0,0
$GC,7593,-1.27,-146.0,684.2,-7.1,302,7598,0.12,2.65,0.00,0.000,6,0.062,0.054,3094,1588,3373,0,0,0,0,0,0
$GC,7859,-1.18,-146.0,708.5,-9.2,309,7864,0.20,2.53,0.00,0.000,4,0.091,0.082,3140,167,3372,0,0,0,0,0,0
$GC,7917,-1.18,-146.0,713.3,-7.8,310,7922,0.00,2.33,0.00,0.000,6,0.000,0.036,3139,1588,3372,0,0,0,0,0,0
$GC,8195,-1.18,-146.0,734.8,-7.9,317,8200,0.00,2.67,0.00,0.000,4,0.000,0.055,3140,3163,3370,0,0,0,0,0,0
$GC,8219,-1.18,-146.0,736.8,-8.7,317,8223,0.00,2.70,0.00,0.000,6,0.000,0.049,3140,1579,3370,0,0,0,0,0,0
$GC,8480,-1.18,-146.0,757.5,-8.0,324,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1579,3370,0,0,0,0,0,0
$GC,8722,-1.18,-146.0,776.0,-7.6,330,8727,0.00,2.67,0.00,0.000,4,0.000,0.047,3139,3161,3368,0,0,0,0,0,0
$GC,8741,-1.18,-146.0,777.5,-7.6,330,8746,0.00,2.70,0.00,0.000,6,0.000,0.049,3140,1578,3369,0,0,0,0,0,0
$GC,9007,-1.18,-146.0,795.3,-6.7,337,9012,0.00,2.65,0.00,0.000,4,0.000,0.047,3139,3155,3367,0,0,0,0,0,0
$GC,9024,-1.18,-146.0,796.4,-6.6,337,9028,0.00,2.65,0.00,0.000,6,0.000,0.049,3139,1586,3367,0,0,0,0,0,0
$GC,9292,-1.18,-146.0,814.4,-6.8,344,9297,0.00,2.53,0.00,0.000,4,0.000,0.085,3140,167,3366,0,0,0,0,0,0
$GC,9321,-1.18,-146.0,816.7,-7.7,344,9325,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1589,3366,0,0,0,0,0,0
$GC,9580,-1.18,-146.0,834.7,-7.1,351,9584,0.00,2.67,0.00,0.000,4,0.000,0.057,3140,3159,3365,0,0,0,0,0,0
$GC,9604,-1.23,-146.0,836.9,-7.7,351,9608,0.00,2.70,0.00,0.000,6,0.000,0.049,3140,1577,3366,0,0,0,0,0,0
$GC,9863,-1.23,-146.0,855.8,-7.3,358,9868,0.00,2.47,0.00,0.000,4,0.000,0.082,3140,167,3364,0,0,0,0,0,0
$GC,9889,-1.23,-146.0,857.6,-8.0,358,9893,0.00,2.30,0.00,0.000,6,0.000,0.036,3139,1582,3364,0,0,0,0,0,0
$GC,10148,-1.23,-146.0,874.8,-6.3,365,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1582,3364,0,0,0,0,0,0
$GC,10394,-1.23,-146.0,888.5,-5.5,371,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1582,3363,0,0,0,0,0,0
$STATE,10633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10633,begin apogee
$GC,10641,-0.31,0.0,902.1,5.7,377,10766,0.82,0.00,121.15,1.156,6,0.070,0.000,3331,1337,2800,0,0,0,0,0,0
$STATE,10766,end apogee,CONTROL_FINISHED_OK
$STATE,10767,begin climb
$GC,10769,1.27,146.0,904.7,0.0,380,10911,1.42,2.10,131.60,1.134,4,0.031,0.077,3680,177,2202,0,0,0,0,0,0
$GC,10921,1.03,146.0,898.3,11.0,383,10926,0.28,1.98,0.00,0.000,6,0.108,0.032,3625,1356,2201,0,0,0,0,0,0
$GC,11183,0.96,153.6,872.4,9.7,390,11196,0.00,2.17,6.47,0.854,4,0.000,0.074,3625,177,2173,0,0,0,0,0,0
$GC,11245,0.82,153.6,865.4,11.0,391,11249,0.22,1.95,0.00,0.000,6,0.104,0.032,3579,1353,2173,0,0,0,0,0,0
$GC,11518,0.89,205.4,844.2,7.6,398,11574,0.00,2.15,49.10,1.084,4,0.000,0.074,3578,173,1962,0,0,0,0,0,0
$GC,11608,0.89,205.4,835.8,11.3,400,11612,0.00,1.95,0.00,0.000,6,0.000,0.033,3578,1343,1961,0,0,0,0,0,0
$GC,11897,0.93,206.7,808.0,9.9,407,11902,0.10,2.75,0.00,0.000,4,0.079,0.055,3619,2935,1955,0,0,0,0,0,0
$GC,11926,0.93,206.7,804.4,10.7,407,11931,0.00,2.72,0.00,0.000,6,0.000,0.051,3618,1352,1953,0,0,0,0,0,0
$GC,12181,0.93,206.7,773.1,12.4,414,12182,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1352,1953,0,0,0,0,0,0
$GC,12424,0.93,206.7,743.2,12.2,420,12429,0.00,2.70,0.00,0.000,4,0.000,0.047,3618,2939,1953,0,0,0,0,0,0
$GC,12451,0.93,206.7,740.3,11.5,420,12456,0.00,2.78,0.00,0.000,6,0.000,0.053,3618,1340,1950,0,0,0,0,0,0
$GC,12711,0.93,206.7,709.6,11.6,427,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1340,1950,0,0,0,0,0,0
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$STATE,19107,end climb,SURFACE_DEPTH_REACHED
$STATE,19107,begin surface coast
$FINISH,1.1,1.010002
$STATE,19159,end surface coast,CONTROL_FINISHED_OK
$STATE,19159,begin surface
$SM_CCo,19185,38.03,0.431,0,0,1209,390.03
$SM_GC,2.23,0.00,0.00,38.03,0.000,0.000,0.431,413,1600,1209,-13.74,0.85,390.03
$IRIDIUM_FIX,2253.38,-15739.74,121102,131354
$TT8_MAMPS,0.027612
$HUMID,67.12
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,7
$24V_AH,23.0,59.261
$10V_AH,9.8,57.031
$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
$DEVICE_SECS,33.575,212.625,423.150,38.025,0.000,29.888,39.988,194.127,1.750,0.000,37.761,1557.553,14217.407,543.902,2593.985,750.832,33.384,1645.676,0.000,2569.930,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,489.992,373.819,477.858,994.685,1307.293,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,57241,720
$CAP_FILE_SIZE,180831,0
$CFSIZE,260165632,141721600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190813,000005,2258.175,-15741.385,29,1.3,29,10.1