version: 66.06
glider: 148
mission: 12
dive: 407
start: 8 19 113 21 57 40
data:
$ID,148
$MISSION,12
$DIVE,407
$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,-1024229.9
$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,80
$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
$GPS1,214924,2249.574,-15749.656,31,1.9,50,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.3
$GPS2,215648,2249.509,-15749.719,13,1.0,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,-0.044
$KALMAN_X,-87946.2,274.3,156.5,105173.2,105.4
$KALMAN_Y,49806.1,-331.2,35.7,-41128.9,-1913.3
$MHEAD_RNG_PITCHd_Wd,250.2,32442,-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,-67.50,0.000,2,0.000,0.000,410,1589,2919,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.6,9,123,14.77,2.40,-8.75,0.000,4,0.168,0.051,3116,166,3397,0,0,0,0,0,0
$GC,254,-0.99,-146.0,43.9,-21.6,30,259,0.30,2.12,0.00,0.000,6,0.101,0.017,3181,1558,3397,0,0,0,0,0,0
$GC,519,-0.88,-146.0,83.4,-12.8,54,524,0.12,2.47,0.00,0.000,4,0.109,0.021,3209,3134,3398,0,0,0,0,0,0
$GC,564,-0.97,-146.0,88.3,-8.5,57,569,0.00,2.55,0.00,0.000,6,0.000,0.029,3209,1568,3399,0,0,0,0,0,0
$GC,829,-0.97,-146.0,112.7,-8.8,82,833,0.00,2.30,0.00,0.000,4,0.000,0.043,3209,172,3399,0,0,0,0,0,0
$GC,856,-0.97,-146.0,115.5,-9.7,84,860,0.00,2.12,0.00,0.000,6,0.000,0.017,3209,1601,3399,0,0,0,0,0,0
$GC,1129,-0.97,-146.0,139.9,-9.9,109,1133,0.00,2.35,0.00,0.000,4,0.000,0.021,3210,3111,3399,0,0,0,0,0,0
$GC,1156,-0.97,-146.0,143.1,-10.1,111,1161,0.00,2.47,0.00,0.000,6,0.000,0.028,3209,1579,3400,0,0,0,0,0,0
$GC,1421,-0.97,-146.0,167.0,-8.7,135,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1578,3400,0,0,0,0,0,0
$GC,1686,-0.97,-146.0,190.3,-8.8,160,1690,0.00,2.40,0.00,0.000,4,0.000,0.021,3209,3110,3400,0,0,0,0,0,0
$GC,1711,-1.03,-146.0,192.8,-8.7,162,1716,0.15,2.47,0.00,0.000,6,0.052,0.028,3153,1578,3400,0,0,0,0,0,0
$GC,1986,-0.94,-146.0,224.7,-11.7,173,1991,0.20,2.42,0.00,0.000,4,0.090,0.021,3196,3117,3400,0,0,0,0,0,0
$GC,2011,-0.94,-146.0,227.5,-9.5,173,2016,0.00,2.47,0.00,0.000,6,0.000,0.028,3196,1590,3400,0,0,0,0,0,0
$GC,2272,-0.94,-146.0,248.8,-8.0,180,2277,0.00,2.35,0.00,0.000,4,0.000,0.045,3197,165,3400,0,0,0,0,0,0
$GC,2321,-1.00,-146.0,253.2,-8.7,181,2325,0.00,2.15,0.00,0.000,6,0.000,0.018,3197,1572,3400,0,0,0,0,0,0
$GC,2604,-1.05,-146.0,274.1,-7.3,188,2609,0.10,2.47,0.00,0.000,4,0.075,0.025,3131,3134,3399,0,0,0,0,0,0
$GC,2654,-1.05,-146.0,279.0,-9.7,189,2659,0.17,2.53,0.00,0.000,6,0.089,0.029,3171,1588,3400,0,0,0,0,0,0
$GC,2943,-1.05,-146.0,304.2,-8.3,196,2944,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1588,3399,0,0,0,0,0,0
$GC,3182,-1.05,-146.0,325.2,-8.7,202,3187,0.00,2.47,0.00,0.000,4,0.000,0.028,3172,3130,3398,0,0,0,0,0,0
$GC,3206,-1.10,-146.0,327.5,-9.0,202,3211,0.00,2.53,0.00,0.000,6,0.000,0.032,3172,1594,3399,0,0,0,0,0,0
$GC,3466,-1.10,-146.0,348.1,-7.6,209,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1594,3397,0,0,0,0,0,0
$GC,3710,-1.10,-146.0,367.4,-8.2,215,3714,0.00,2.40,0.00,0.000,4,0.000,0.057,3172,171,3396,0,0,0,0,0,0
$GC,3739,-1.10,-146.0,370.2,-10.2,215,3743,0.00,2.20,0.00,0.000,6,0.000,0.021,3172,1579,3395,0,0,0,0,0,0
$GC,3994,-1.10,-146.0,392.5,-8.6,222,3998,0.00,2.53,0.00,0.000,4,0.000,0.033,3171,3139,3394,0,0,0,0,0,0
$GC,4027,-1.20,-146.0,395.2,-8.4,222,4033,0.15,2.55,0.00,0.000,6,0.054,0.035,3108,1597,3394,0,0,0,0,0,0
$GC,4279,-1.09,-146.0,422.3,-11.0,228,4284,0.22,2.47,0.00,0.000,4,0.086,0.061,3160,161,3392,0,0,0,0,0,0
$GC,4318,-1.09,-146.0,426.6,-9.6,228,4323,0.00,2.25,0.00,0.000,6,0.000,0.024,3160,1586,3392,0,0,0,0,0,0
$GC,4570,-1.09,-146.0,447.9,-8.5,235,4574,0.00,2.58,0.00,0.000,4,0.000,0.038,3160,3146,3390,0,0,0,0,0,0
$GC,4594,-1.14,-146.0,450.1,-9.2,235,4598,0.00,2.58,0.00,0.000,6,0.000,0.037,3160,1594,3390,0,0,0,0,0,0
$GC,4853,-1.14,-146.0,471.4,-8.3,242,4858,0.00,2.47,0.00,0.000,4,0.000,0.069,3160,166,3388,0,0,0,0,0,0
$GC,4883,-1.14,-146.0,474.0,-9.0,242,4887,0.00,2.28,0.00,0.000,6,0.000,0.027,3160,1592,3388,0,0,0,0,0,0
$GC,5143,-1.14,-146.0,495.1,-8.1,249,5147,0.00,2.58,0.00,0.000,4,0.000,0.041,3160,3148,3387,0,0,0,0,0,0
$GC,5167,-1.20,-146.0,497.3,-8.9,249,5171,0.00,2.58,0.00,0.000,6,0.000,0.038,3160,1600,3387,0,0,0,0,0,0
$GC,5433,-1.20,-146.0,518.6,-8.3,256,5437,0.00,2.58,0.00,0.000,4,0.000,0.041,3160,3148,3385,0,0,0,0,0,0
$GC,5457,-1.26,-146.0,521.1,-8.5,256,5462,0.15,2.58,0.00,0.000,6,0.054,0.040,3099,1604,3385,0,0,0,0,0,0
$GC,5718,-1.16,-146.0,547.9,-10.4,263,5723,0.20,2.53,0.00,0.000,4,0.092,0.072,3145,161,3383,0,0,0,0,0,0
$GC,5753,-1.16,-146.0,551.1,-8.7,263,5758,0.00,2.33,0.00,0.000,6,0.000,0.031,3145,1596,3382,0,0,0,0,0,0
$GC,6003,-1.16,-146.0,570.7,-7.5,269,6008,0.00,2.60,0.00,0.000,4,0.000,0.044,3145,3161,3381,0,0,0,0,0,0
$GC,6022,-1.16,-146.0,572.1,-7.2,269,6027,0.00,2.62,0.00,0.000,6,0.000,0.043,3145,1603,3381,0,0,0,0,0,0
$GC,6291,-1.16,-146.0,590.4,-6.9,276,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1603,3380,0,0,0,0,0,0
$GC,6530,-1.16,-146.0,609.3,-8.0,282,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1602,3379,0,0,0,0,0,0
$GC,6774,-1.16,-146.0,629.6,-8.3,288,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1602,3377,0,0,0,0,0,0
$GC,7020,-1.16,-146.0,648.5,-7.6,294,7024,0.00,2.55,0.00,0.000,4,0.000,0.081,3145,164,3376,0,0,0,0,0,0
$GC,7046,-1.16,-146.0,650.8,-9.0,294,7050,0.00,2.35,0.00,0.000,6,0.000,0.034,3145,1604,3376,0,0,0,0,0,0
$GC,7309,-1.16,-146.0,669.6,-7.2,301,7313,0.00,2.60,0.00,0.000,4,0.000,0.053,3144,3154,3374,0,0,0,0,0,0
$GC,7340,-1.22,-146.0,672.0,-7.8,301,7344,0.00,2.62,0.00,0.000,6,0.000,0.048,3145,1608,3374,0,0,0,0,0,0
$GC,7594,-1.22,-146.0,688.9,-6.6,308,7599,0.00,2.55,0.00,0.000,4,0.000,0.081,3145,166,3373,0,0,0,0,0,0
$GC,7618,-1.22,-146.0,690.9,-7.6,308,7623,0.00,2.38,0.00,0.000,6,0.000,0.036,3145,1612,3372,0,0,0,0,0,0
$GC,7880,-1.22,-146.0,708.7,-7.0,315,7884,0.00,2.62,0.00,0.000,4,0.000,0.054,3145,3162,3371,0,0,0,0,0,0
$GC,7894,-1.22,-146.0,710.1,-7.1,315,7899,0.00,2.62,0.00,0.000,6,0.000,0.052,3145,1610,3371,0,0,0,0,0,0
$GC,8163,-1.22,-146.0,728.6,-6.9,322,8167,0.00,2.58,0.00,0.000,4,0.000,0.082,3145,162,3370,0,0,0,0,0,0
$GC,8197,-1.22,-146.0,731.3,-7.9,322,8201,0.00,2.38,0.00,0.000,6,0.000,0.037,3145,1608,3370,0,0,0,0,0,0
$GC,8449,-1.22,-146.0,749.1,-7.2,328,8453,0.00,2.62,0.00,0.000,4,0.000,0.055,3145,3154,3369,0,0,0,0,0,0
$GC,8468,-1.22,-146.0,750.9,-8.0,328,8472,0.00,2.62,0.00,0.000,6,0.000,0.048,3145,1600,3369,0,0,0,0,0,0
$GC,8732,-1.22,-146.0,771.9,-8.0,335,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1600,3368,0,0,0,0,0,0
$GC,8980,-1.22,-146.0,789.8,-7.3,341,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1600,3367,0,0,0,0,0,0
$GC,9219,-1.22,-146.0,807.4,-7.3,347,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1600,3366,0,0,0,0,0,0
$GC,9463,-1.22,-146.0,825.0,-7.1,353,9464,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1600,3365,0,0,0,0,0,0
$GC,9709,-1.22,-146.0,841.8,-7.0,359,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3364,0,0,0,0,0,0
$GC,9951,-1.27,-146.0,858.5,-6.8,365,9955,0.00,2.62,0.00,0.000,4,0.000,0.046,3145,3154,3364,0,0,0,0,0,0
$GC,9966,-1.31,-146.0,859.5,-6.8,365,9971,0.12,2.65,0.00,0.000,6,0.064,0.048,3092,1601,3364,0,0,0,0,0,0
$GC,10238,-1.24,-146.0,883.6,-9.0,372,10243,0.17,2.58,0.00,0.000,4,0.097,0.084,3130,162,3363,0,0,0,0,0,0
$GC,10263,-1.24,-146.0,886.0,-9.4,372,10267,0.00,2.38,0.00,0.000,6,0.000,0.038,3130,1607,3363,0,0,0,0,0,0
$STATE,10479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10479,begin apogee
$GC,10485,-0.31,0.0,901.7,7.2,378,10609,0.88,0.00,120.78,1.153,6,0.067,0.000,3332,1344,2800,0,0,0,0,0,0
$STATE,10610,end apogee,CONTROL_FINISHED_OK
$STATE,10610,begin climb
$GC,10615,1.27,146.0,905.0,0.0,381,10754,1.42,2.15,130.95,1.132,4,0.035,0.080,3675,176,2203,0,0,0,0,0,0
$GC,10849,1.03,146.0,887.2,13.6,386,10853,0.25,1.95,0.00,0.000,6,0.113,0.032,3625,1354,2198,0,0,0,0,0,0
$GC,11113,0.95,146.0,858.3,10.8,393,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1356,2193,0,0,0,0,0,0
$GC,11359,0.87,146.0,833.4,10.1,399,11363,0.15,2.10,0.00,0.000,4,0.110,0.074,3592,174,2191,0,0,0,0,0,0
$GC,11378,0.80,146.0,831.1,10.1,399,11382,0.00,1.95,0.00,0.000,6,0.000,0.039,3592,1343,2191,0,0,0,0,0,0
$GC,11650,0.85,186.1,809.0,8.1,406,11692,0.00,0.00,35.67,1.058,6,0.000,0.000,3592,1344,2040,0,0,0,0,0,0
$GC,11938,0.89,213.2,783.8,8.7,413,11967,0.00,0.00,26.58,1.028,6,0.000,0.000,3592,1344,1930,0,0,0,0,0,0
$GC,12180,0.89,216.9,760.5,9.8,419,12191,0.00,2.72,4.50,0.697,4,0.000,0.052,3592,2931,1914,0,0,0,0,0,0
$GC,12203,0.92,242.0,758.1,8.8,419,12236,0.00,2.72,25.17,1.006,6,0.000,0.049,3592,1358,1813,0,0,0,0,0,0
$GC,12514,0.92,242.0,723.4,11.4,427,12519,0.00,2.67,0.00,0.000,4,0.000,0.044,3592,2932,1809,0,0,0,0,0,0
$GC,12533,0.97,242.0,721.2,10.8,427,12538,0.00,2.72,0.00,0.000,6,0.000,0.050,3592,1355,1806,0,0,0,0,0,0
$GC,12800,1.01,242.0,693.0,10.5,434,12805,0.12,2.70,0.00,0.000,4,0.069,0.047,3637,2932,1805,0,0,0,0,0,0
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$STATE,19141,end climb,SURFACE_DEPTH_REACHED
$STATE,19141,begin surface coast
$FINISH,0.9,1.020517
$STATE,19188,end surface coast,CONTROL_FINISHED_OK
$STATE,19188,begin surface
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$IRIDIUM_FIX,2244.02,-15748.90,131102,161651
$TT8_MAMPS,0.027612
$HUMID,66.65
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.0,60.007
$10V_AH,9.8,57.778
$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
$DEVICE_SECS,33.925,204.625,412.250,44.800,0.000,24.572,33.679,203.129,3.000,0.000,32.151,1561.918,14240.772,555.239,2566.265,765.382,33.372,1606.446,0.000,2554.602,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.988,381.283,488.599,997.983,1317.017,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,57645,726
$CAP_FILE_SIZE,179537,0
$CFSIZE,260165632,141340672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200813,032012,2247.858,-15752.398,38,1.7,51,10.1