version: 66.06
glider: 148
mission: 12
dive: 408
start: 8 20 113 3 28 25
data:
$ID,148
$MISSION,12
$DIVE,408
$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,-1024246.3
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,032012,2247.858,-15752.398,38,1.7,51,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.9
$GPS2,032731,2247.885,-15752.411,14,1.7,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.242,-0.093
$KALMAN_X,-87414.2,-5.5,-82.6,100564.0,285.7
$KALMAN_Y,47730.9,-110.3,-328.7,-41924.6,-723.6
$MHEAD_RNG_PITCHd_Wd,238.8,26950,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.12,0.000,2,0.000,0.000,412,1647,2919,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.2,9,122,14.68,2.50,-8.62,0.000,4,0.165,0.051,3119,165,3397,0,0,0,0,0,0
$GC,231,-1.01,-146.0,41.0,-20.6,27,241,0.22,2.22,0.00,0.000,6,0.084,0.018,3173,1599,3397,0,0,0,0,0,0
$GC,500,-0.89,-146.0,80.8,-13.3,52,509,0.15,0.00,0.00,0.000,6,0.103,0.000,3206,1603,3398,0,0,0,0,0,0
$GC,765,-0.89,-146.0,111.3,-10.9,77,770,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1602,3398,0,0,0,0,0,0
$GC,1028,-0.89,-146.0,140.0,-10.3,102,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1602,3399,0,0,0,0,0,0
$GC,1280,-0.89,-146.0,165.0,-10.4,126,1285,0.00,2.38,0.00,0.000,4,0.000,0.044,3206,160,3399,0,0,0,0,0,0
$GC,1308,-0.89,-146.0,167.8,-11.6,128,1312,0.00,2.15,0.00,0.000,6,0.000,0.017,3206,1581,3399,0,0,0,0,0,0
$GC,1571,-0.89,-146.0,193.0,-8.9,152,1576,0.00,2.40,0.00,0.000,4,0.000,0.021,3207,3123,3400,0,0,0,0,0,0
$GC,1618,-1.02,-146.0,196.5,-7.5,156,1624,0.12,2.55,0.00,0.000,6,0.062,0.028,3131,1550,3399,0,0,0,0,0,0
$GC,1902,-0.86,-146.0,232.8,-13.8,165,1907,0.35,2.28,0.00,0.000,4,0.080,0.041,3210,166,3400,0,0,0,0,0,0
$GC,1918,-0.78,-146.0,235.0,-13.0,165,1922,0.00,2.12,0.00,0.000,6,0.000,0.018,3210,1590,3399,0,0,0,0,0,0
$GC,2193,-0.86,-146.0,255.6,-7.2,172,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1593,3400,0,0,0,0,0,0
$GC,2435,-0.93,-146.0,270.4,-6.0,178,2439,0.00,2.38,0.00,0.000,4,0.000,0.046,3211,169,3400,0,0,0,0,0,0
$GC,2463,-1.00,-146.0,272.6,-7.6,178,2468,0.12,2.08,0.00,0.000,6,0.061,0.018,3145,1552,3399,0,0,0,0,0,0
$GC,2725,-0.93,-146.0,300.8,-11.1,185,2730,0.25,2.47,0.00,0.000,4,0.077,0.024,3203,3117,3399,0,0,0,0,0,0
$GC,2772,-1.09,-146.0,304.6,-7.6,186,2778,0.17,2.53,0.00,0.000,6,0.051,0.031,3123,1568,3399,0,0,0,0,0,0
$GC,3062,-0.99,-146.0,337.6,-11.8,193,3064,0.28,0.00,0.00,0.000,6,0.080,0.000,3184,1567,3398,0,0,0,0,0,0
$GC,3305,-1.04,-146.0,357.1,-7.6,199,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1567,3397,0,0,0,0,0,0
$GC,3548,-1.09,-146.0,373.5,-6.5,205,3553,0.00,2.50,0.00,0.000,4,0.000,0.030,3184,3111,3395,0,0,0,0,0,0
$GC,3574,-1.18,-146.0,375.2,-7.7,205,3579,0.17,2.53,0.00,0.000,6,0.047,0.034,3102,1567,3395,0,0,0,0,0,0
$GC,3835,-1.06,-146.0,405.1,-12.0,212,3840,0.25,2.38,0.00,0.000,4,0.083,0.057,3163,164,3394,0,0,0,0,0,0
$GC,3878,-1.06,-146.0,409.8,-10.3,213,3883,0.00,2.15,0.00,0.000,6,0.000,0.022,3163,1548,3394,0,0,0,0,0,0
$GC,4167,-1.06,-146.0,432.7,-7.7,220,4172,0.00,2.60,0.00,0.000,4,0.000,0.035,3163,3139,3391,0,0,0,0,0,0
$GC,4220,-1.16,-146.0,436.6,-6.4,221,4224,0.00,2.60,0.00,0.000,6,0.000,0.037,3163,1572,3392,0,0,0,0,0,0
$GC,4500,-1.16,-146.0,458.0,-8.0,228,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1572,3390,0,0,0,0,0,0
$GC,4741,-1.16,-146.0,476.7,-7.5,234,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1573,3388,0,0,0,0,0,0
$GC,4985,-1.16,-146.0,492.4,-6.2,240,4990,0.00,2.60,0.00,0.000,4,0.000,0.041,3163,3137,3387,0,0,0,0,0,0
$GC,5005,-1.21,-146.0,493.8,-7.2,240,5010,0.12,2.55,0.00,0.000,6,0.061,0.037,3102,1585,3386,0,0,0,0,0,0
$GC,5272,-1.12,-146.0,519.9,-10.2,247,5274,0.25,0.00,0.00,0.000,6,0.083,0.000,3158,1585,3385,0,0,0,0,0,0
$GC,5514,-1.12,-146.0,538.5,-7.4,253,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1585,3383,0,0,0,0,0,0
$GC,5757,-1.12,-146.0,554.5,-6.4,259,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1585,3382,0,0,0,0,0,0
$GC,6003,-1.12,-146.0,569.8,-6.2,265,6007,0.00,2.62,0.00,0.000,4,0.000,0.043,3159,3141,3380,0,0,0,0,0,0
$GC,6023,-1.17,-146.0,571.1,-6.6,265,6027,0.00,2.62,0.00,0.000,6,0.000,0.043,3158,1585,3380,0,0,0,0,0,0
$GC,6288,-1.22,-146.0,589.3,-7.1,272,6289,0.10,0.00,0.00,0.000,6,0.076,0.000,3110,1585,3378,0,0,0,0,0,0
$GC,6533,-1.16,-146.0,614.1,-10.4,278,6535,0.17,0.00,0.00,0.000,6,0.088,0.000,3150,1585,3377,0,0,0,0,0,0
$GC,6775,-1.16,-146.0,634.4,-8.2,284,6779,0.00,2.60,0.00,0.000,4,0.000,0.044,3150,3140,3375,0,0,0,0,0,0
$GC,6794,-1.16,-146.0,635.9,-8.0,284,6798,0.00,2.62,0.00,0.000,6,0.000,0.047,3150,1579,3376,0,0,0,0,0,0
$GC,7062,-1.16,-146.0,655.7,-7.4,291,7066,0.00,2.60,0.00,0.000,4,0.000,0.043,3150,3136,3374,0,0,0,0,0,0
$GC,7082,-1.20,-146.0,657.4,-7.3,291,7086,0.00,2.62,0.00,0.000,6,0.000,0.047,3150,1587,3374,0,0,0,0,0,0
$GC,7346,-1.20,-146.0,675.6,-6.9,298,7350,0.00,2.53,0.00,0.000,4,0.000,0.084,3150,169,3372,0,0,0,0,0,0
$GC,7371,-1.20,-146.0,677.6,-8.6,298,7375,0.00,2.30,0.00,0.000,6,0.000,0.035,3150,1580,3372,0,0,0,0,0,0
$GC,7635,-1.20,-146.0,696.4,-7.0,305,7640,0.00,2.65,0.00,0.000,4,0.000,0.052,3150,3153,3370,0,0,0,0,0,0
$GC,7664,-1.28,-146.0,698.5,-7.6,305,7669,0.12,2.65,0.00,0.000,6,0.067,0.051,3100,1594,3370,0,0,0,0,0,0
$GC,7924,-1.21,-146.0,723.1,-9.8,312,7929,0.15,2.55,0.00,0.000,4,0.096,0.081,3136,163,3369,0,0,0,0,0,0
$GC,7976,-1.21,-146.0,728.5,-9.4,313,7981,0.00,2.35,0.00,0.000,6,0.000,0.036,3136,1595,3369,0,0,0,0,0,0
$GC,8256,-1.21,-146.0,751.2,-8.0,320,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1596,3368,0,0,0,0,0,0
$GC,8500,-1.21,-146.0,770.9,-8.1,326,8504,0.00,2.53,0.00,0.000,4,0.000,0.076,3136,166,3367,0,0,0,0,0,0
$GC,8524,-1.21,-146.0,773.4,-9.2,326,8528,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,1591,3367,0,0,0,0,0,0
$GC,8789,-1.21,-146.0,794.3,-7.8,333,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1591,3366,0,0,0,0,0,0
$GC,9031,-1.21,-146.0,813.2,-7.6,339,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1591,3365,0,0,0,0,0,0
$GC,9275,-1.21,-146.0,830.7,-6.9,345,9276,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1591,3364,0,0,0,0,0,0
$GC,9521,-1.21,-146.0,845.5,-5.9,351,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1590,3363,0,0,0,0,0,0
$GC,9764,-1.21,-146.0,859.6,-5.7,357,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1591,3363,0,0,0,0,0,0
$GC,10006,-1.21,-146.0,873.2,-5.5,363,10011,0.00,2.67,0.00,0.000,4,0.000,0.054,3136,3165,3362,0,0,0,0,0,0
$GC,10021,-1.21,-146.0,874.1,-5.8,363,10025,0.00,2.67,0.00,0.000,6,0.000,0.048,3136,1581,3362,0,0,0,0,0,0
$GC,10292,-1.21,-146.0,890.2,-6.0,370,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1581,3361,0,0,0,0,0,0
$STATE,10490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10490,begin apogee
$GC,10496,-0.31,0.0,902.5,6.0,375,10620,0.85,0.00,120.40,1.152,6,0.067,0.000,3332,1349,2800,0,0,0,0,0,0
$STATE,10621,end apogee,CONTROL_FINISHED_OK
$STATE,10621,begin climb
$GC,10624,1.27,146.0,904.4,0.0,378,10763,1.42,2.20,131.02,1.128,4,0.032,0.085,3682,170,2203,0,0,0,0,0,0
$GC,10778,1.02,146.0,895.4,13.6,381,10782,0.28,1.98,0.00,0.000,6,0.109,0.032,3626,1354,2202,0,0,0,0,0,0
$GC,11040,0.94,146.0,865.2,11.4,388,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1355,2194,0,0,0,0,0,0
$GC,11282,0.86,146.0,837.8,11.2,394,11286,0.17,2.12,0.00,0.000,4,0.107,0.072,3588,165,2192,0,0,0,0,0,0
$GC,11326,0.81,146.0,833.1,10.4,395,11329,0.00,1.95,0.00,0.000,6,0.000,0.031,3588,1351,2191,0,0,0,0,0,0
$GC,11619,0.85,185.4,808.2,8.2,402,11661,0.00,2.78,35.00,1.053,4,0.000,0.052,3588,2939,2043,0,0,0,0,0,0
$GC,11676,0.94,258.1,803.4,6.6,403,11757,0.00,2.78,69.15,1.061,6,0.000,0.050,3588,1352,1746,0,0,0,0,0,0
$GC,12040,0.99,258.1,767.4,10.1,412,12045,0.12,2.70,0.00,0.000,4,0.068,0.046,3633,2929,1739,0,0,0,0,0,0
$GC,12069,0.99,258.1,763.9,12.3,412,12073,0.00,2.72,0.00,0.000,6,0.000,0.052,3632,1353,1735,0,0,0,0,0,0
$GC,12325,0.99,258.1,731.9,12.7,419,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1352,1735,0,0,0,0,0,0
$GC,12567,0.99,258.1,700.6,12.9,425,12572,0.00,2.70,0.00,0.000,4,0.000,0.048,3633,2928,1734,0,0,0,0,0,0
$GC,12595,0.99,258.1,696.8,12.9,425,12600,0.00,2.72,0.00,0.000,6,0.000,0.052,3633,1356,1732,0,0,0,0,0,0
$GC,12852,0.99,258.1,665.7,12.1,432,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1355,1732,0,0,0,0,0,0
$GC,13094,0.99,258.1,636.7,11.9,438,13098,0.00,2.70,0.00,0.000,4,0.000,0.048,3633,2929,1732,0,0,0,0,0,0
$GC,13108,0.99,258.1,634.9,12.3,438,13113,0.00,2.72,0.00,0.000,6,0.000,0.050,3633,1350,1731,0,0,0,0,0,0
$GC,13379,0.99,258.1,601.9,12.3,445,13383,0.00,2.67,0.00,0.000,4,0.000,0.046,3633,2929,1731,0,0,0,0,0,0
$GC,13407,0.99,258.1,598.1,11.2,445,13411,0.00,2.72,0.00,0.000,6,0.000,0.052,3633,1352,1730,0,0,0,0,0,0
$GC,13661,0.99,258.1,567.1,12.2,452,13666,0.00,2.67,0.00,0.000,4,0.000,0.048,3633,2929,1730,0,0,0,0,0,0
$GC,13690,0.99,258.1,563.6,11.0,452,13694,0.00,2.70,0.00,0.000,6,0.000,0.051,3633,1358,1729,0,0,0,0,0,0
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$STATE,18642,end climb,SURFACE_DEPTH_REACHED
$STATE,18642,begin surface coast
$FINISH,1.0,1.013882
$STATE,18688,end surface coast,CONTROL_FINISHED_OK
$STATE,18688,begin surface
$SM_CCo,18712,54.00,0.433,0,0,1209,390.03
$SM_GC,2.19,0.00,0.00,54.00,0.000,0.000,0.433,412,1643,1209,-13.74,2.06,390.03
$IRIDIUM_FIX,2239.35,-15747.62,131102,222245
$TT8_MAMPS,0.027612
$HUMID,67.01
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.0,60.149
$10V_AH,9.8,57.925
$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,34.075,165.400,391.350,54.000,0.000,31.313,37.114,210.412,2.000,0.000,15.840,1498.406,13979.860,514.337,2469.456,735.538,33.376,1520.120,0.000,2473.494,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,85.137,1152.034,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.013,376.258,477.205,989.959,1301.014,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,57195,713
$CAP_FILE_SIZE,164814,0
$CFSIZE,260165632,141287424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200813,084306,2246.024,-15754.533,71,1.2,71,10.1