version: 66.06
glider: 148
mission: 12
dive: 436
start: 8 26 113 10 22 13
data:
$ID,148
$MISSION,12
$DIVE,436
$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,-1024742.4
$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,27
$R_STBD_OVSHOOT,97
$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
$GPS1,101339,2250.986,-15750.184,38,1.7,41,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-78.7
$GPS2,102119,2250.976,-15750.206,10,1.6,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.151,-0.211
$KALMAN_X,-73459.5,14.8,-222.7,90498.6,1273.1
$KALMAN_Y,2369.9,-163.2,36.3,8855.4,-530.8
$MHEAD_RNG_PITCHd_Wd,134.3,31230,-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,-67.00,0.000,2,0.000,0.000,414,1597,2947,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.5,-5.0,9,124,13.90,2.42,-8.18,0.000,4,0.143,0.054,3116,162,3399,0,0,0,0,0,0
$GC,148,-0.78,-146.0,21.0,-27.8,16,158,0.47,2.12,0.00,0.000,6,0.089,0.017,3223,1534,3399,0,0,0,0,0,0
$GC,424,-0.68,-146.0,62.1,-14.4,44,429,0.12,2.53,0.00,0.000,4,0.110,0.022,3250,3137,3399,0,0,0,0,0,0
$GC,470,-0.78,-146.0,67.4,-9.7,47,475,0.00,2.55,0.00,0.000,6,0.000,0.028,3250,1570,3400,0,0,0,0,0,0
$GC,739,-0.85,-146.0,91.0,-6.8,71,745,0.15,0.00,0.00,0.000,6,0.054,0.000,3171,1570,3400,0,0,0,0,0,0
$GC,1002,-0.74,-146.0,120.5,-11.7,96,1007,0.28,2.28,0.00,0.000,4,0.080,0.041,3238,172,3401,0,0,0,0,0,0
$GC,1026,-0.74,-146.0,123.0,-10.1,97,1032,0.00,2.15,0.00,0.000,6,0.000,0.017,3238,1602,3401,0,0,0,0,0,0
$GC,1290,-0.80,-146.0,141.5,-8.3,122,1294,0.00,2.35,0.00,0.000,4,0.000,0.021,3238,3117,3401,0,0,0,0,0,0
$GC,1319,-0.93,-146.0,144.0,-8.5,124,1324,0.17,2.50,0.00,0.000,6,0.048,0.028,3151,1568,3402,0,0,0,0,0,0
$GC,1584,-0.79,-146.0,181.6,-14.7,148,1589,0.32,0.00,0.00,0.000,6,0.081,0.000,3225,1568,3402,0,0,0,0,0,0
$GC,1860,-0.86,-146.0,202.9,-6.3,171,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,1567,3402,0,0,0,0,0,0
$GC,2098,-0.95,-146.0,218.1,-6.3,177,2103,0.12,2.45,0.00,0.000,4,0.062,0.021,3154,3116,3402,0,0,0,0,0,0
$GC,2127,-0.95,-146.0,220.7,-10.0,177,2133,0.17,2.47,0.00,0.000,6,0.082,0.028,3196,1583,3402,0,0,0,0,0,0
$GC,2385,-0.95,-146.0,243.9,-9.4,184,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1582,3402,0,0,0,0,0,0
$GC,2627,-1.00,-146.0,265.1,-8.6,190,2631,0.00,2.35,0.00,0.000,4,0.000,0.048,3196,166,3402,0,0,0,0,0,0
$GC,2642,-1.04,-146.0,266.5,-8.3,190,2647,0.10,2.12,0.00,0.000,6,0.074,0.018,3137,1582,3402,0,0,0,0,0,0
$GC,2918,-0.96,-146.0,294.4,-10.1,197,2923,0.25,2.42,0.00,0.000,4,0.081,0.024,3195,3114,3401,0,0,0,0,0,0
$GC,2952,-1.06,-146.0,297.4,-6.7,197,2957,0.12,2.50,0.00,0.000,6,0.067,0.033,3126,1591,3401,0,0,0,0,0,0
$GC,3204,-0.98,-146.0,324.1,-11.2,203,3206,0.28,0.00,0.00,0.000,6,0.078,0.000,3187,1591,3400,0,0,0,0,0,0
$GC,3446,-1.03,-146.0,344.8,-8.3,209,3451,0.00,2.45,0.00,0.000,4,0.000,0.029,3186,3116,3399,0,0,0,0,0,0
$GC,3461,-1.10,-146.0,346.0,-8.1,209,3466,0.12,2.50,0.00,0.000,6,0.062,0.035,3118,1595,3399,0,0,0,0,0,0
$GC,3735,-1.00,-146.0,377.5,-12.2,216,3737,0.28,0.00,0.00,0.000,6,0.081,0.000,3180,1595,3397,0,0,0,0,0,0
$GC,3974,-1.00,-146.0,397.7,-7.7,222,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1595,3396,0,0,0,0,0,0
$GC,4219,-1.05,-146.0,412.6,-5.7,228,4223,0.00,2.47,0.00,0.000,4,0.000,0.034,3179,3113,3394,0,0,0,0,0,0
$GC,4249,-1.15,-146.0,414.2,-5.4,228,4255,0.12,2.53,0.00,0.000,6,0.061,0.038,3115,1598,3394,0,0,0,0,0,0
$GC,4508,-1.06,-146.0,436.1,-9.0,235,4513,0.25,2.45,0.00,0.000,4,0.082,0.063,3175,170,3392,0,0,0,0,0,0
$GC,4529,-1.06,-146.0,438.3,-9.5,235,4533,0.00,2.17,0.00,0.000,6,0.000,0.024,3175,1567,3392,0,0,0,0,0,0
$GC,4794,-1.10,-146.0,457.6,-7.6,242,4798,0.00,2.55,0.00,0.000,4,0.000,0.038,3175,3134,3390,0,0,0,0,0,0
$GC,4837,-1.22,-146.0,461.1,-7.5,243,4843,0.17,2.55,0.00,0.000,6,0.048,0.038,3099,1603,3390,0,0,0,0,0,0
$GC,5128,-1.10,-146.0,496.2,-12.6,250,5133,0.25,2.50,0.00,0.000,4,0.084,0.070,3160,166,3388,0,0,0,0,0,0
$GC,5152,-1.10,-146.0,499.4,-10.9,250,5156,0.00,2.28,0.00,0.000,6,0.000,0.028,3159,1598,3388,0,0,0,0,0,0
$GC,5413,-1.10,-146.0,522.3,-8.6,257,5417,0.00,2.53,0.00,0.000,4,0.000,0.041,3160,3145,3386,0,0,0,0,0,0
$GC,5438,-1.16,-146.0,524.4,-8.3,257,5442,0.00,2.58,0.00,0.000,6,0.000,0.040,3159,1594,3386,0,0,0,0,0,0
$GC,5697,-1.16,-146.0,542.2,-6.6,264,5701,0.00,2.50,0.00,0.000,4,0.000,0.074,3160,162,3384,0,0,0,0,0,0
$GC,5711,-1.16,-146.0,543.2,-6.6,264,5716,0.00,2.33,0.00,0.000,6,0.000,0.028,3160,1610,3384,0,0,0,0,0,0
$GC,5986,-1.16,-146.0,561.5,-6.9,271,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1610,3383,0,0,0,0,0,0
$GC,6224,-1.16,-146.0,577.9,-6.7,277,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1610,3381,0,0,0,0,0,0
$GC,6467,-1.16,-146.0,592.7,-5.9,283,6472,0.00,2.53,0.00,0.000,4,0.000,0.073,3159,170,3380,0,0,0,0,0,0
$GC,6488,-1.16,-146.0,593.9,-6.0,283,6493,0.00,2.33,0.00,0.000,6,0.000,0.032,3159,1604,3379,0,0,0,0,0,0
$GC,6752,-1.16,-146.0,610.4,-6.3,290,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1604,3378,0,0,0,0,0,0
$GC,6999,-1.20,-146.0,626.5,-6.6,296,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1604,3376,0,0,0,0,0,0
$GC,7242,-1.25,-146.0,642.3,-6.4,302,7247,0.12,2.55,0.00,0.000,4,0.064,0.076,3103,170,3374,0,0,0,0,0,0
$GC,7262,-1.20,-146.0,644.0,-7.5,302,7267,0.15,2.35,0.00,0.000,6,0.097,0.035,3136,1605,3374,0,0,0,0,0,0
$GC,7529,-1.20,-146.0,661.9,-6.5,309,7533,0.00,2.60,0.00,0.000,4,0.000,0.053,3136,3156,3373,0,0,0,0,0,0
$GC,7555,-1.20,-146.0,663.6,-7.6,309,7559,0.00,2.65,0.00,0.000,6,0.000,0.048,3136,1601,3373,0,0,0,0,0,0
$GC,7819,-1.20,-146.0,680.8,-6.8,316,7823,0.00,2.55,0.00,0.000,4,0.000,0.081,3136,163,3371,0,0,0,0,0,0
$GC,7847,-1.20,-146.0,683.3,-8.4,316,7851,0.00,2.35,0.00,0.000,6,0.000,0.034,3136,1612,3371,0,0,0,0,0,0
$GC,8103,-1.20,-146.0,700.4,-6.8,323,8104,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1612,3370,0,0,0,0,0,0
$GC,8345,-1.20,-146.0,716.2,-6.4,329,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1612,3370,0,0,0,0,0,0
$GC,8589,-1.20,-146.0,730.7,-5.9,335,8593,0.00,2.62,0.00,0.000,4,0.000,0.054,3136,3163,3368,0,0,0,0,0,0
$GC,8605,-1.20,-146.0,731.7,-5.9,335,8610,0.00,2.65,0.00,0.000,6,0.000,0.047,3136,1604,3368,0,0,0,0,0,0
$GC,8874,-1.20,-146.0,747.9,-5.9,342,8878,0.00,2.55,0.00,0.000,4,0.000,0.082,3136,165,3367,0,0,0,0,0,0
$GC,8907,-1.20,-146.0,750.3,-7.2,342,8911,0.00,2.38,0.00,0.000,6,0.000,0.035,3136,1614,3367,0,0,0,0,0,0
$GC,9159,-1.20,-146.0,765.9,-6.2,348,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1614,3366,0,0,0,0,0,0
$GC,9401,-1.20,-146.0,781.8,-6.6,354,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1614,3365,0,0,0,0,0,0
$GC,9645,-1.20,-146.0,798.1,-6.7,360,9649,0.00,2.58,0.00,0.000,4,0.000,0.077,3136,163,3365,0,0,0,0,0,0
$GC,9668,-1.20,-146.0,799.8,-7.5,360,9673,0.00,2.38,0.00,0.000,6,0.000,0.036,3136,1607,3364,0,0,0,0,0,0
$GC,9930,-1.20,-146.0,817.3,-6.7,367,9934,0.00,2.53,0.00,0.000,4,0.000,0.077,3136,168,3364,0,0,0,0,0,0
$GC,9953,-1.20,-146.0,819.3,-7.4,367,9958,0.00,2.35,0.00,0.000,6,0.000,0.037,3137,1596,3363,0,0,0,0,0,0
$GC,10213,-1.20,-146.0,835.9,-6.2,374,10214,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1596,3363,0,0,0,0,0,0
$GC,10458,-1.20,-146.0,849.9,-5.7,380,10463,0.00,2.53,0.00,0.000,4,0.000,0.077,3137,168,3362,0,0,0,0,0,0
$GC,10477,-1.20,-146.0,851.2,-5.6,380,10482,0.00,2.33,0.00,0.000,6,0.000,0.036,3136,1596,3362,0,0,0,0,0,0
$GC,10741,-1.20,-146.0,865.9,-5.6,387,10742,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1596,3361,0,0,0,0,0,0
$GC,10987,-1.20,-146.0,880.4,-6.1,393,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1596,3361,0,0,0,0,0,0
$GC,11229,-1.20,-146.0,897.0,-6.9,399,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1596,3360,0,0,0,0,0,0
$STATE,11309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11309,begin apogee
$GC,11316,-0.31,0.0,902.7,7.1,401,11440,0.85,0.00,120.95,1.156,6,0.067,0.000,3333,1338,2800,0,0,0,0,0,0
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11443,1.27,146.0,906.5,0.0,404,11584,1.42,2.17,131.23,1.137,4,0.030,0.081,3688,179,2204,0,0,0,0,0,0
$GC,11707,1.00,146.0,885.0,14.3,409,11713,0.32,1.95,0.00,0.000,6,0.107,0.033,3621,1352,2197,0,0,0,0,0,0
$GC,11960,0.93,154.2,859.6,9.6,416,11972,0.00,2.17,7.00,0.873,4,0.000,0.075,3621,172,2171,0,0,0,0,0,0
$GC,11994,0.81,154.2,855.9,11.1,416,11998,0.22,1.95,0.00,0.000,6,0.103,0.032,3575,1352,2171,0,0,0,0,0,0
$GC,12249,0.85,193.5,834.7,8.2,423,12289,0.00,0.00,38.10,1.073,6,0.000,0.000,3575,1352,2011,0,0,0,0,0,0
$GC,12533,0.86,199.8,807.9,9.7,430,12541,0.00,0.00,6.55,0.842,6,0.000,0.000,3575,1352,1985,0,0,0,0,0,0
$GC,12783,0.92,205.0,783.9,9.8,436,12796,0.10,2.17,6.18,0.820,4,0.081,0.074,3615,173,1964,0,0,0,0,0,0
$GC,12834,0.84,205.0,776.9,12.6,437,12839,0.15,1.95,0.00,0.000,6,0.107,0.032,3585,1349,1964,0,0,0,0,0,0
$GC,13119,0.84,205.0,747.4,10.5,444,13123,0.00,2.72,0.00,0.000,4,0.000,0.055,3584,2938,1962,0,0,0,0,0,0
$GC,13156,0.93,205.0,743.2,10.8,444,13162,0.00,2.75,0.00,0.000,6,0.000,0.052,3584,1354,1960,0,0,0,0,0,0
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$STATE,19610,end climb,SURFACE_DEPTH_REACHED
$STATE,19610,begin surface coast
$FINISH,0.9,1.008237
$STATE,19644,end surface coast,CONTROL_FINISHED_OK
$STATE,19644,begin surface
$SM_CCo,19669,26.30,0.427,0,0,1209,390.03
$SM_GC,1.73,0.00,0.00,26.30,0.000,0.000,0.427,412,1562,1209,-13.74,-0.23,390.03
$IRIDIUM_FIX,2246.36,-15751.06,201102,050532
$TT8_MAMPS,0.027612
$HUMID,68.94
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,10
$24V_AH,22.9,64.232
$10V_AH,9.7,62.080
$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
$DEVICE_SECS,35.600,198.125,453.825,26.300,0.000,25.617,36.124,237.411,2.500,0.000,12.158,1588.895,14578.717,558.562,2605.400,812.927,33.376,1652.752,0.000,2622.683,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,499.888,385.176,488.936,1024.294,1353.144,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,57310,735
$CAP_FILE_SIZE,186724,0
$CFSIZE,260165632,139128832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260813,155153,2247.785,-15748.267,23,1.3,41,10.1