version: 66.06
glider: 148
mission: 12
dive: 36
start: 5 28 113 11 49 9
data:
$ID,148
$MISSION,12
$DIVE,36
$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,380
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015731.7
$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,3380
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,82
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2845
$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
$GPS1,113105,2300.464,-15758.600,58,1.8,58,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.1
$GPS2,114815,2300.596,-15758.565,11,99.0,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.177
$KALMAN_X,-9425.6,169.3,344.1,11464.7,-244.5
$KALMAN_Y,7353.5,121.7,412.9,21017.8,-469.7
$MHEAD_RNG_PITCHd_Wd,122.8,54037,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.85,0.000,2,0.000,0.000,410,1604,3093,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.9,-7.4,9,122,14.82,2.45,-5.53,0.000,4,0.173,0.052,3097,158,3444,0,0,0,0,0,0
$GC,133,0.25,-146.0,23.6,-43.6,14,143,1.52,2.15,0.00,0.000,6,0.094,0.018,3428,1536,3444,0,0,0,0,0,0
$GC,412,-0.62,-146.0,45.8,-7.1,44,425,0.77,2.28,0.00,0.000,4,0.065,0.046,3244,168,3444,0,0,0,0,0,0
$GC,486,-1.21,-146.0,51.3,-5.9,50,491,0.52,2.25,0.00,0.000,6,0.038,0.018,3106,1689,3444,0,0,0,0,0,0
$GC,750,-0.92,-146.0,90.7,-17.1,74,755,0.30,2.25,0.00,0.000,4,0.095,0.022,3174,3126,3444,0,0,0,0,0,0
$GC,813,-1.03,-146.0,98.6,-9.5,79,818,0.00,2.38,0.00,0.000,6,0.000,0.029,3174,1647,3445,0,0,0,0,0,0
$GC,1075,-1.03,-146.0,127.4,-10.9,104,1079,0.00,2.45,0.00,0.000,4,0.000,0.044,3174,159,3445,0,0,0,0,0,0
$GC,1116,-1.03,-146.0,132.6,-12.1,107,1122,0.00,2.30,0.00,0.000,6,0.000,0.019,3174,1646,3445,0,0,0,0,0,0
$GC,1379,-1.03,-146.0,159.7,-9.8,132,1384,0.00,2.33,0.00,0.000,4,0.000,0.024,3174,3125,3445,0,0,0,0,0,0
$GC,1399,-1.03,-146.0,161.4,-9.4,133,1404,0.00,2.38,0.00,0.000,6,0.000,0.028,3174,1642,3445,0,0,0,0,0,0
$GC,1666,-1.03,-146.0,187.1,-9.4,157,1670,0.00,2.40,0.00,0.000,4,0.000,0.044,3174,166,3445,0,0,0,0,0,0
$GC,1695,-1.03,-146.0,190.6,-11.0,159,1704,0.00,2.33,0.00,0.000,6,0.000,0.019,3173,1657,3445,0,0,0,0,0,0
$GC,1970,-1.03,-146.0,215.6,-9.0,174,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1659,3445,0,0,0,0,0,0
$GC,2213,-1.03,-146.0,237.3,-8.7,180,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1659,3445,0,0,0,0,0,0
$GC,2459,-1.10,-146.0,256.6,-8.0,186,2464,0.15,2.47,0.00,0.000,4,0.058,0.048,3112,166,3444,0,0,0,0,0,0
$GC,2483,-1.00,-146.0,259.5,-11.5,186,2488,0.22,2.30,0.00,0.000,6,0.090,0.021,3162,1645,3445,0,0,0,0,0,0
$GC,2743,-1.00,-146.0,282.2,-8.6,193,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1648,3444,0,0,0,0,0,0
$GC,2989,-1.07,-146.0,301.9,-8.0,199,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1648,3444,0,0,0,0,0,0
$GC,3231,-1.15,-146.0,319.2,-7.0,205,3233,0.15,0.00,0.00,0.000,6,0.058,0.000,3100,1648,3443,0,0,0,0,0,0
$GC,3474,-1.05,-146.0,344.5,-10.7,211,3480,0.22,2.47,0.00,0.000,4,0.091,0.051,3150,166,3442,0,0,0,0,0,0
$GC,3515,-1.12,-146.0,348.3,-8.6,211,3520,0.00,2.30,0.00,0.000,6,0.000,0.025,3150,1627,3442,0,0,0,0,0,0
$GC,3765,-1.19,-146.0,368.6,-8.0,218,3770,0.12,2.42,0.00,0.000,4,0.066,0.037,3096,3119,3440,0,0,0,0,0,0
$GC,3782,-1.19,-146.0,370.1,-8.4,218,3787,0.12,2.42,0.00,0.000,6,0.106,0.032,3124,1638,3440,0,0,0,0,0,0
$GC,4052,-1.19,-146.0,394.3,-8.9,225,4057,0.00,2.47,0.00,0.000,4,0.000,0.060,3124,170,3439,0,0,0,0,0,0
$GC,4080,-1.19,-146.0,397.2,-10.0,225,4084,0.00,2.30,0.00,0.000,6,0.000,0.026,3124,1630,3438,0,0,0,0,0,0
$GC,4335,-1.19,-146.0,419.2,-8.7,232,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1631,3436,0,0,0,0,0,0
$GC,4579,-1.19,-146.0,439.4,-8.2,238,4583,0.00,2.50,0.00,0.000,4,0.000,0.066,3124,174,3435,0,0,0,0,0,0
$GC,4622,-1.19,-146.0,443.3,-9.3,239,4626,0.00,2.33,0.00,0.000,6,0.000,0.031,3124,1614,3435,0,0,0,0,0,0
$GC,4909,-1.19,-146.0,466.9,-8.2,246,4913,0.00,2.45,0.00,0.000,4,0.000,0.043,3124,3107,3433,0,0,0,0,0,0
$GC,4948,-1.29,-146.0,470.1,-8.2,246,4954,0.10,2.45,0.00,0.000,6,0.077,0.040,3066,1637,3433,0,0,0,0,0,0
$GC,5198,-1.14,-146.0,498.1,-11.6,253,5203,0.28,2.58,0.00,0.000,4,0.095,0.073,3131,166,3431,0,0,0,0,0,0
$GC,5244,-1.20,-146.0,502.4,-8.8,254,5248,0.00,2.35,0.00,0.000,6,0.000,0.034,3131,1611,3430,0,0,0,0,0,0
$GC,5531,-1.20,-146.0,525.0,-7.6,261,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1611,3428,0,0,0,0,0,0
$GC,5775,-1.20,-146.0,542.2,-7.1,267,5779,0.00,2.53,0.00,0.000,4,0.000,0.074,3131,166,3427,0,0,0,0,0,0
$GC,5795,-1.20,-146.0,543.7,-7.3,267,5799,0.00,2.35,0.00,0.000,6,0.000,0.036,3131,1610,3426,0,0,0,0,0,0
$GC,6064,-1.20,-146.0,562.2,-6.9,274,6068,0.00,2.55,0.00,0.000,4,0.000,0.050,3131,3141,3425,0,0,0,0,0,0
$GC,6078,-1.26,-146.0,563.3,-7.0,274,6083,0.10,2.55,0.00,0.000,6,0.077,0.044,3075,1629,3424,0,0,0,0,0,0
$GC,6350,-1.15,-146.0,588.8,-9.8,281,6355,0.25,2.55,0.00,0.000,4,0.096,0.078,3133,175,3423,0,0,0,0,0,0
$GC,6407,-1.27,-146.0,593.8,-7.4,282,6412,0.12,2.38,0.00,0.000,6,0.065,0.037,3083,1634,3422,0,0,0,0,0,0
$GC,6683,-1.19,-146.0,619.5,-9.5,289,6688,0.17,2.60,0.00,0.000,4,0.100,0.077,3120,176,3420,0,0,0,0,0,0
$GC,6721,-1.19,-146.0,623.2,-8.6,289,6727,0.00,2.38,0.00,0.000,6,0.000,0.039,3120,1619,3420,0,0,0,0,0,0
$GC,6971,-1.19,-146.0,642.2,-7.6,296,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1619,3419,0,0,0,0,0,0
$GC,7216,-1.19,-146.0,660.8,-7.7,302,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1619,3417,0,0,0,0,0,0
$GC,7459,-1.19,-146.0,679.4,-7.5,308,7463,0.00,2.58,0.00,0.000,4,0.000,0.080,3120,173,3416,0,0,0,0,0,0
$GC,7482,-1.19,-146.0,681.3,-8.3,308,7486,0.00,2.40,0.00,0.000,6,0.000,0.041,3120,1617,3416,0,0,0,0,0,0
$GC,7742,-1.19,-146.0,700.0,-7.2,315,7746,0.00,2.55,0.00,0.000,4,0.000,0.080,3120,176,3415,0,0,0,0,0,0
$GC,7764,-1.19,-146.0,701.6,-8.4,315,7768,0.00,2.40,0.00,0.000,6,0.000,0.041,3120,1619,3415,0,0,0,0,0,0
$GC,8027,-1.19,-146.0,720.0,-6.8,322,8028,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1619,3413,0,0,0,0,0,0
$GC,8271,-1.19,-146.0,737.2,-7.2,328,8275,0.00,2.60,0.00,0.000,4,0.000,0.055,3120,3151,3412,0,0,0,0,0,0
$GC,8287,-1.26,-146.0,738.2,-7.1,328,8292,0.00,2.62,0.00,0.000,6,0.000,0.051,3120,1615,3412,0,0,0,0,0,0
$GC,8556,-1.32,-146.0,759.5,-8.1,335,8562,0.12,2.60,0.00,0.000,4,0.067,0.085,3069,172,3411,0,0,0,0,0,0
$GC,8572,-1.32,-146.0,761.0,-8.4,335,8577,0.10,2.38,0.00,0.000,6,0.128,0.038,3090,1612,3411,0,0,0,0,0,0
$GC,8842,-1.32,-146.0,786.4,-9.2,342,8847,0.00,2.55,0.00,0.000,4,0.000,0.080,3090,172,3410,0,0,0,0,0,0
$GC,8862,-1.32,-146.0,788.5,-9.7,342,8866,0.00,2.38,0.00,0.000,6,0.000,0.041,3090,1611,3410,0,0,0,0,0,0
$GC,9130,-1.32,-146.0,810.7,-8.0,349,9134,0.00,2.55,0.00,0.000,4,0.000,0.080,3090,170,3409,0,0,0,0,0,0
$GC,9175,-1.32,-146.0,814.3,-8.1,350,9179,0.00,2.40,0.00,0.000,6,0.000,0.043,3090,1609,3409,0,0,0,0,0,0
$GC,9462,-1.32,-146.0,835.7,-7.2,357,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1609,3408,0,0,0,0,0,0
$GC,9707,-1.32,-146.0,853.6,-7.5,363,9711,0.00,2.58,0.00,0.000,4,0.000,0.080,3090,169,3407,0,0,0,0,0,0
$GC,9726,-1.32,-146.0,855.2,-7.7,363,9730,0.00,2.38,0.00,0.000,6,0.000,0.041,3090,1606,3407,0,0,0,0,0,0
$GC,9994,-1.32,-146.0,875.5,-7.7,370,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1606,3406,0,0,0,0,0,0
$GC,10238,-1.32,-146.0,894.7,-7.9,376,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1606,3405,0,0,0,0,0,0
$STATE,10316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10316,begin apogee
$GC,10324,-0.31,0.0,901.3,8.1,378,10445,0.98,0.00,117.78,1.179,6,0.079,0.000,3311,1293,2845,0,0,0,0,0,0
$STATE,10446,end apogee,CONTROL_FINISHED_OK
$STATE,10446,begin climb
$GC,10449,1.27,146.0,905.6,0.0,381,10588,1.42,2.15,129.40,1.151,4,0.031,0.085,3666,166,2247,0,0,0,0,0,0
$GC,10641,0.84,146.0,896.6,15.2,385,10646,0.50,1.90,0.00,0.000,6,0.111,0.035,3565,1304,2244,0,0,0,0,0,0
$GC,10907,0.90,192.5,874.5,7.9,392,10951,0.00,0.00,42.00,1.110,6,0.000,0.000,3565,1305,2060,0,0,0,0,0,0
$GC,11190,0.91,199.3,847.9,9.7,399,11202,0.00,2.78,6.75,0.876,4,0.000,0.058,3565,2880,2032,0,0,0,0,0,0
$GC,11226,0.92,209.1,844.4,9.6,399,11242,0.00,2.78,10.68,0.977,6,0.000,0.054,3565,1303,1992,0,0,0,0,0,0
$GC,11530,0.92,211.2,814.9,9.9,407,11534,0.00,2.72,0.00,0.000,4,0.000,0.050,3565,2883,1989,0,0,0,0,0,0
$GC,11544,0.93,215.1,812.8,9.8,407,11557,0.00,2.78,6.78,0.871,6,0.000,0.053,3565,1296,1967,0,0,0,0,0,0
$GC,11818,0.93,215.1,785.4,10.1,414,11819,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,1296,1966,0,0,0,0,0,0
$GC,12060,0.93,218.0,761.1,9.9,420,12066,0.00,0.00,4.07,0.674,6,0.000,0.000,3565,1296,1956,0,0,0,0,0,0
$GC,12304,0.95,230.0,737.8,9.4,426,12324,0.00,2.75,13.18,0.979,4,0.000,0.047,3565,2886,1905,0,0,0,0,0,0
$GC,12364,1.08,258.3,732.4,8.7,427,12398,0.22,2.80,27.38,1.028,6,0.048,0.056,3631,1295,1792,0,0,0,0,0,0
$GC,12680,0.94,258.3,689.0,14.2,435,12688,0.22,2.72,0.00,0.000,4,0.106,0.048,3585,2886,1787,0,0,0,0,0,0
$GC,12708,0.94,258.3,685.5,12.4,435,12713,0.00,2.75,0.00,0.000,6,0.000,0.054,3585,1302,1785,0,0,0,0,0,0
$GC,12967,0.94,258.3,656.6,11.1,442,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,1302,1785,0,0,0,0,0,0
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$STATE,18625,end climb,SURFACE_DEPTH_REACHED
$STATE,18625,begin surface coast
$FINISH,0.9,1.023210
$STATE,18681,end surface coast,CONTROL_FINISHED_OK
$STATE,18681,begin surface
$SM_CCo,18704,33.17,0.449,0,0,1295,380.21
$SM_GC,1.60,0.00,0.00,33.17,0.000,0.000,0.449,410,1613,1295,-13.66,1.50,380.21
$IRIDIUM_FIX,2251.04,-15800.62,220802,111108
$TT8_MAMPS,0.027612
$HUMID,62.40
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.2,4.625
$10V_AH,9.8,4.121
$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,38.800,212.600,430.925,33.175,0.000,53.446,74.429,664.675,3.000,0.000,32.664,1557.940,13942.137,570.066,2441.623,1247.748,33.369,1660.981,0.000,2420.159,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,88.205,1178.879,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.740,343.239,432.522,782.834,1064.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355820
$DATA_FILE_SIZE,53992,715
$CAP_FILE_SIZE,191173,0
$CFSIZE,260165632,169750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280513,170336,2258.974,-15756.587,86,1.4,86,10.1