version: 66.06
glider: 148
mission: 12
dive: 438
start: 8 26 113 21 48 55
data:
$ID,148
$MISSION,12
$DIVE,438
$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,-1024772.6
$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,91
$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
$GPS1,213205,2245.801,-15746.459,36,1.4,42,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.7
$GPS2,214801,2245.831,-15746.563,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.173,-0.194
$KALMAN_X,-73204.5,-180.4,-423.1,96858.1,1443.0
$KALMAN_Y,-565.0,-95.7,111.1,2111.5,-599.2
$MHEAD_RNG_PITCHd_Wd,128.1,20097,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-65.75,0.000,2,0.000,0.000,410,1580,2910,0,0,0,0,0,0
$GC,87,-1.27,-146.0,3.2,-3.9,8,121,14.18,2.38,-9.20,0.000,4,0.150,0.052,3117,166,3398,0,0,0,0,0,0
$GC,157,-0.92,-146.0,22.4,-22.9,17,165,0.35,2.12,0.00,0.000,6,0.084,0.017,3196,1547,3398,0,0,0,0,0,0
$GC,428,-0.78,-146.0,67.2,-13.5,44,433,0.15,2.47,0.00,0.000,4,0.099,0.021,3230,3129,3399,0,0,0,0,0,0
$GC,487,-0.90,-146.0,72.4,-6.7,48,492,0.12,2.50,0.00,0.000,6,0.063,0.028,3156,1575,3399,0,0,0,0,0,0
$GC,752,-0.77,-146.0,106.7,-12.6,72,761,0.32,0.00,0.00,0.000,6,0.081,0.000,3229,1575,3399,0,0,0,0,0,0
$GC,1019,-0.82,-146.0,127.7,-7.7,97,1023,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1575,3400,0,0,0,0,0,0
$GC,1284,-0.88,-146.0,150.0,-9.0,122,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1575,3400,0,0,0,0,0,0
$GC,1547,-0.95,-146.0,172.7,-8.6,147,1549,0.15,0.00,0.00,0.000,6,0.054,0.000,3153,1575,3400,0,0,0,0,0,0
$GC,1813,-0.85,-146.0,206.0,-13.0,169,1818,0.25,2.45,0.00,0.000,4,0.081,0.021,3215,3133,3400,0,0,0,0,0,0
$GC,1837,-0.85,-146.0,209.3,-10.5,169,1841,0.00,2.50,0.00,0.000,6,0.000,0.027,3215,1573,3400,0,0,0,0,0,0
$GC,2101,-0.92,-146.0,230.6,-7.7,176,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1573,3400,0,0,0,0,0,0
$GC,2341,-0.99,-146.0,245.0,-6.2,182,2342,0.12,0.00,0.00,0.000,6,0.062,0.000,3145,1573,3399,0,0,0,0,0,0
$GC,2584,-0.91,-146.0,270.9,-11.1,188,2586,0.25,0.00,0.00,0.000,6,0.078,0.000,3203,1573,3399,0,0,0,0,0,0
$GC,2830,-0.98,-146.0,286.7,-6.1,194,2834,0.00,2.47,0.00,0.000,4,0.000,0.024,3203,3125,3398,0,0,0,0,0,0
$GC,2849,-1.07,-146.0,288.1,-6.5,194,2854,0.15,2.53,0.00,0.000,6,0.054,0.030,3124,1577,3398,0,0,0,0,0,0
$GC,3117,-0.96,-146.0,319.0,-12.5,201,3121,0.25,2.33,0.00,0.000,4,0.081,0.048,3183,169,3396,0,0,0,0,0,0
$GC,3138,-0.96,-146.0,321.7,-11.7,201,3142,0.00,2.15,0.00,0.000,6,0.000,0.020,3184,1581,3396,0,0,0,0,0,0
$GC,3407,-1.01,-146.0,346.7,-9.2,208,3411,0.00,2.35,0.00,0.000,4,0.000,0.052,3184,172,3395,0,0,0,0,0,0
$GC,3427,-1.01,-146.0,348.7,-9.9,208,3431,0.00,2.15,0.00,0.000,6,0.000,0.021,3184,1579,3395,0,0,0,0,0,0
$GC,3694,-1.06,-146.0,372.2,-8.5,215,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1582,3393,0,0,0,0,0,0
$GC,3938,-1.12,-146.0,390.5,-7.5,221,3943,0.12,2.50,0.00,0.000,4,0.062,0.031,3119,3133,3391,0,0,0,0,0,0
$GC,3958,-1.12,-146.0,392.8,-9.5,221,3963,0.15,2.58,0.00,0.000,6,0.089,0.041,3153,1578,3391,0,0,0,0,0,0
$GC,4225,-1.12,-146.0,419.5,-10.0,228,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3390,0,0,0,0,0,0
$GC,4467,-1.12,-146.0,442.8,-9.5,234,4468,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3388,0,0,0,0,0,0
$GC,4710,-1.12,-146.0,464.7,-9.0,240,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3387,0,0,0,0,0,0
$GC,4958,-1.12,-146.0,485.8,-8.5,246,4963,0.00,2.58,0.00,0.000,4,0.000,0.041,3153,3128,3385,0,0,0,0,0,0
$GC,4973,-1.12,-146.0,487.5,-8.2,246,4978,0.00,2.58,0.00,0.000,6,0.000,0.037,3153,1575,3385,0,0,0,0,0,0
$GC,5242,-1.12,-146.0,510.8,-8.8,253,5246,0.00,2.55,0.00,0.000,4,0.000,0.038,3154,3127,3383,0,0,0,0,0,0
$GC,5257,-1.12,-146.0,512.2,-8.5,253,5261,0.00,2.58,0.00,0.000,6,0.000,0.038,3153,1580,3383,0,0,0,0,0,0
$GC,5528,-1.12,-146.0,532.2,-7.1,260,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1580,3381,0,0,0,0,0,0
$GC,5772,-1.12,-146.0,548.6,-6.8,266,5776,0.00,2.55,0.00,0.000,4,0.000,0.040,3153,3117,3379,0,0,0,0,0,0
$GC,5810,-1.21,-146.0,551.7,-8.1,266,5815,0.00,2.58,0.00,0.000,6,0.000,0.043,3153,1593,3379,0,0,0,0,0,0
$GC,6062,-1.21,-146.0,571.3,-8.0,273,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1592,3378,0,0,0,0,0,0
$GC,6304,-1.21,-146.0,592.5,-8.8,279,6308,0.00,2.50,0.00,0.000,4,0.000,0.077,3153,167,3376,0,0,0,0,0,0
$GC,6332,-1.21,-146.0,595.2,-9.2,279,6336,0.00,2.25,0.00,0.000,6,0.000,0.030,3153,1563,3376,0,0,0,0,0,0
$GC,6593,-1.21,-146.0,617.7,-8.7,286,6597,0.00,2.65,0.00,0.000,4,0.000,0.048,3154,3149,3374,0,0,0,0,0,0
$GC,6617,-1.26,-146.0,620.4,-9.0,286,6623,0.12,2.65,0.00,0.000,6,0.064,0.046,3090,1582,3374,0,0,0,0,0,0
$GC,6878,-1.17,-146.0,647.5,-10.3,293,6880,0.25,0.00,0.00,0.000,6,0.084,0.000,3147,1582,3372,0,0,0,0,0,0
$GC,7123,-1.17,-146.0,664.7,-6.9,299,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1582,3371,0,0,0,0,0,0
$GC,7365,-1.17,-146.0,682.5,-7.6,305,7369,0.00,2.65,0.00,0.000,4,0.000,0.046,3147,3158,3369,0,0,0,0,0,0
$GC,7384,-1.17,-146.0,684.2,-8.6,305,7389,0.00,2.67,0.00,0.000,6,0.000,0.048,3147,1585,3369,0,0,0,0,0,0
$GC,7650,-1.17,-146.0,704.5,-7.7,312,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1585,3368,0,0,0,0,0,0
$GC,7892,-1.17,-146.0,721.6,-6.8,318,7897,0.00,2.62,0.00,0.000,4,0.000,0.044,3147,3154,3367,0,0,0,0,0,0
$GC,7909,-1.17,-146.0,722.8,-6.4,318,7913,0.00,2.65,0.00,0.000,6,0.000,0.054,3147,1594,3367,0,0,0,0,0,0
$GC,8179,-1.17,-146.0,739.3,-6.2,325,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1594,3365,0,0,0,0,0,0
$GC,8426,-1.17,-146.0,754.4,-6.3,331,8430,0.00,2.60,0.00,0.000,4,0.000,0.044,3147,3150,3364,0,0,0,0,0,0
$GC,8445,-1.17,-146.0,756.1,-6.6,331,8449,0.00,2.65,0.00,0.000,6,0.000,0.048,3147,1593,3364,0,0,0,0,0,0
$GC,8711,-1.17,-146.0,774.3,-7.1,338,8715,0.00,2.53,0.00,0.000,4,0.000,0.084,3147,167,3363,0,0,0,0,0,0
$GC,8725,-1.17,-146.0,775.6,-7.5,338,8729,0.00,2.33,0.00,0.000,6,0.000,0.033,3147,1597,3363,0,0,0,0,0,0
$GC,8994,-1.17,-146.0,796.8,-8.1,345,8998,0.00,2.62,0.00,0.000,4,0.000,0.051,3147,3160,3362,0,0,0,0,0,0
$GC,9020,-1.22,-146.0,798.9,-9.0,345,9024,0.00,2.65,0.00,0.000,6,0.000,0.048,3147,1601,3362,0,0,0,0,0,0
$GC,9280,-1.22,-146.0,820.3,-8.2,352,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1601,3361,0,0,0,0,0,0
$GC,9525,-1.22,-146.0,839.2,-7.7,358,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1601,3360,0,0,0,0,0,0
$GC,9767,-1.22,-146.0,855.2,-6.4,364,9768,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1601,3359,0,0,0,0,0,0
$GC,10013,-1.22,-146.0,867.7,-4.9,370,10017,0.00,2.62,0.00,0.000,4,0.000,0.044,3147,3160,3358,0,0,0,0,0,0
$GC,10028,-1.27,-146.0,868.5,-4.6,370,10033,0.10,2.65,0.00,0.000,6,0.077,0.048,3099,1600,3358,0,0,0,0,0,0
$GC,10298,-1.21,-146.0,886.9,-7.0,377,10303,0.17,2.55,0.00,0.000,4,0.091,0.084,3139,167,3357,0,0,0,0,0,0
$GC,10324,-1.21,-146.0,888.7,-6.8,377,10328,0.00,2.35,0.00,0.000,6,0.000,0.035,3138,1603,3357,0,0,0,0,0,0
$STATE,10544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10545,begin apogee
$GC,10551,-0.31,0.0,901.7,5.9,383,10674,0.82,0.00,119.90,1.151,6,0.067,0.000,3330,1343,2800,0,0,0,0,0,0
$STATE,10675,end apogee,CONTROL_FINISHED_OK
$STATE,10675,begin climb
$GC,10680,1.27,146.0,904.4,0.0,386,10819,1.42,2.15,131.15,1.128,4,0.029,0.079,3686,174,2203,0,0,0,0,0,0
$GC,10911,1.00,146.0,886.1,15.1,391,10916,0.32,1.95,0.00,0.000,6,0.109,0.032,3620,1354,2197,0,0,0,0,0,0
$GC,11181,0.93,146.0,857.5,10.4,398,11185,0.00,2.10,0.00,0.000,4,0.000,0.074,3620,174,2192,0,0,0,0,0,0
$GC,11262,0.81,146.0,847.9,13.2,399,11266,0.20,1.92,0.00,0.000,6,0.106,0.031,3578,1345,2192,0,0,0,0,0,0
$GC,11521,0.84,175.1,825.3,8.7,406,11553,0.00,2.17,25.92,1.045,4,0.000,0.074,3578,181,2086,0,0,0,0,0,0
$GC,11584,0.84,175.1,819.2,10.2,407,11587,0.00,1.92,0.00,0.000,6,0.000,0.031,3578,1342,2085,0,0,0,0,0,0
$GC,11856,0.87,197.1,793.9,9.0,414,11879,0.00,0.00,21.45,1.019,6,0.000,0.000,3578,1343,1996,0,0,0,0,0,0
$GC,12100,0.93,208.1,771.0,9.5,420,12114,0.10,0.00,11.60,0.944,6,0.079,0.000,3617,1344,1951,0,0,0,0,0,0
$GC,12348,0.93,208.1,741.9,12.3,426,12352,0.00,2.70,0.00,0.000,4,0.000,0.050,3617,2932,1947,0,0,0,0,0,0
$GC,12362,0.93,208.1,739.3,12.9,426,12367,0.00,2.70,0.00,0.000,6,0.000,0.047,3618,1351,1946,0,0,0,0,0,0
$GC,12631,0.93,208.1,705.5,12.8,433,12632,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1351,1945,0,0,0,0,0,0
$GC,12874,0.93,208.1,674.1,13.0,439,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1351,1945,0,0,0,0,0,0
$GC,13118,0.93,208.1,644.0,12.3,445,13119,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1351,1944,0,0,0,0,0,0
$GC,13366,0.93,208.1,614.2,12.2,451,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1351,1944,0,0,0,0,0,0
$GC,13606,0.93,208.1,585.0,11.9,457,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1351,1944,0,0,0,0,0,0
$GC,13851,0.93,208.1,557.1,11.3,463,13852,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1352,1943,0,0,0,0,0,0
$GC,14093,0.93,208.1,530.4,10.7,469,14097,0.00,2.10,0.00,0.000,4,0.000,0.077,3617,160,1943,0,0,0,0,0,0
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$STATE,18181,end climb,SURFACE_DEPTH_REACHED
$STATE,18181,begin surface coast
$FINISH,1.1,1.023187
$STATE,18228,end surface coast,CONTROL_FINISHED_OK
$STATE,18228,begin surface
$SM_CCo,18254,30.12,0.432,0,0,1209,390.03
$SM_GC,1.85,0.00,0.00,30.12,0.000,0.000,0.432,412,1596,1209,-13.74,0.71,390.03
$IRIDIUM_FIX,2237.01,-15745.45,201102,212133
$TT8_MAMPS,0.027612
$HUMID,70.63
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.50
$XPDR_PINGS,20
$24V_AH,23.0,64.564
$10V_AH,9.8,62.394
$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
$DEVICE_SECS,34.600,166.750,432.500,30.125,0.000,58.117,80.081,577.855,5.000,0.000,11.812,1471.728,13611.912,528.196,2406.367,1208.876,33.375,1527.358,0.000,2424.952,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.370,360.142,457.611,945.332,1249.118,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,54194,684
$CAP_FILE_SIZE,175338,0
$CFSIZE,260165632,138981376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270813,025520,2243.192,-15744.451,40,3.7,59,10.1