version: 66.06
glider: 148
mission: 12
dive: 38
start: 5 28 113 22 40 45
data:
$ID,148
$MISSION,12
$DIVE,38
$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,-1015767.9
$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,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,50
$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
$GPS1,223256,2257.634,-15755.168,28,99.0,47,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.9
$GPS2,223953,2257.720,-15755.188,15,1.6,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,-0.236
$KALMAN_X,-8335.3,-173.7,-73.4,16900.2,935.3
$KALMAN_Y,9744.5,10.9,195.3,13626.2,803.6
$MHEAD_RNG_PITCHd_Wd,145.2,46237,-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,-67.53,0.000,2,0.000,0.000,413,1616,3056,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-6.0,9,122,14.05,2.45,-6.50,0.000,4,0.151,0.054,3098,160,3443,0,0,0,0,0,0
$GC,152,-0.68,-146.0,26.2,-30.2,17,161,0.57,2.20,0.00,0.000,6,0.086,0.018,3228,1563,3443,0,0,0,0,0,0
$GC,431,-0.68,-146.0,57.7,-9.5,43,435,0.00,2.45,0.00,0.000,4,0.000,0.023,3228,3129,3444,0,0,0,0,0,0
$GC,474,-0.91,-146.0,61.5,-8.2,46,479,0.20,2.55,0.00,0.000,6,0.041,0.029,3132,1564,3444,0,0,0,0,0,0
$GC,738,-0.69,-146.0,103.0,-14.9,70,743,0.43,2.28,0.00,0.000,4,0.087,0.043,3224,170,3444,0,0,0,0,0,0
$GC,764,-0.69,-146.0,106.7,-11.2,72,769,0.00,2.15,0.00,0.000,6,0.000,0.018,3224,1600,3444,0,0,0,0,0,0
$GC,1029,-0.82,-146.0,126.2,-7.6,96,1038,0.10,0.00,0.00,0.000,6,0.077,0.000,3172,1603,3445,0,0,0,0,0,0
$GC,1295,-0.82,-146.0,154.8,-11.7,121,1300,0.12,2.38,0.00,0.000,4,0.106,0.024,3200,3110,3446,0,0,0,0,0,0
$GC,1320,-0.91,-146.0,158.0,-10.5,123,1324,0.00,2.47,0.00,0.000,6,0.000,0.028,3200,1566,3446,0,0,0,0,0,0
$GC,1585,-1.00,-146.0,182.4,-9.2,147,1595,0.15,0.00,0.00,0.000,6,0.058,0.000,3135,1566,3446,0,0,0,0,0,0
$GC,1851,-0.90,-146.0,216.0,-12.5,164,1853,0.22,0.00,0.00,0.000,6,0.091,0.000,3184,1566,3446,0,0,0,0,0,0
$GC,2096,-0.99,-146.0,236.5,-8.3,170,2100,0.00,2.28,0.00,0.000,4,0.000,0.046,3184,169,3446,0,0,0,0,0,0
$GC,2116,-1.08,-146.0,238.5,-9.0,170,2120,0.17,2.10,0.00,0.000,6,0.050,0.020,3113,1568,3446,0,0,0,0,0,0
$GC,2382,-0.97,-146.0,269.9,-12.1,177,2384,0.25,0.00,0.00,0.000,6,0.088,0.000,3167,1571,3446,0,0,0,0,0,0
$GC,2624,-1.04,-146.0,289.3,-7.5,183,2628,0.00,2.33,0.00,0.000,4,0.000,0.050,3167,172,3446,0,0,0,0,0,0
$GC,2653,-1.11,-146.0,291.4,-7.6,183,2657,0.12,2.15,0.00,0.000,6,0.064,0.021,3110,1553,3446,0,0,0,0,0,0
$GC,2914,-1.03,-146.0,317.5,-10.3,190,2916,0.20,0.00,0.00,0.000,6,0.091,0.000,3155,1555,3446,0,0,0,0,0,0
$GC,3157,-1.10,-146.0,336.6,-7.7,196,3161,0.00,2.53,0.00,0.000,4,0.000,0.032,3155,3126,3445,0,0,0,0,0,0
$GC,3185,-1.22,-146.0,338.9,-7.5,196,3191,0.17,2.55,0.00,0.000,6,0.048,0.036,3074,1568,3445,0,0,0,0,0,0
$GC,3443,-1.05,-146.0,369.5,-12.3,203,3448,0.30,2.38,0.00,0.000,4,0.090,0.058,3144,169,3444,0,0,0,0,0,0
$GC,3487,-1.05,-146.0,374.1,-8.1,204,3491,0.00,2.17,0.00,0.000,6,0.000,0.025,3145,1546,3443,0,0,0,0,0,0
$GC,3775,-1.05,-146.0,396.9,-7.7,211,3779,0.00,2.58,0.00,0.000,4,0.000,0.038,3145,3134,3442,0,0,0,0,0,0
$GC,3794,-1.13,-146.0,398.5,-7.5,211,3799,0.00,2.58,0.00,0.000,6,0.000,0.035,3145,1561,3442,0,0,0,0,0,0
$GC,4059,-1.20,-146.0,417.8,-7.2,218,4064,0.12,2.38,0.00,0.000,4,0.065,0.064,3090,170,3440,0,0,0,0,0,0
$GC,4094,-1.07,-146.0,421.3,-10.6,218,4099,0.25,2.20,0.00,0.000,6,0.086,0.028,3146,1560,3440,0,0,0,0,0,0
$GC,4345,-1.14,-146.0,439.2,-7.0,224,4349,0.00,2.58,0.00,0.000,4,0.000,0.039,3146,3138,3438,0,0,0,0,0,0
$GC,4364,-1.25,-146.0,440.6,-7.1,224,4369,0.17,2.62,0.00,0.000,6,0.051,0.037,3092,1558,3438,0,0,0,0,0,0
$GC,4631,-1.16,-146.0,467.7,-10.7,231,4633,0.15,0.00,0.00,0.000,6,0.107,0.000,3124,1559,3436,0,0,0,0,0,0
$GC,4873,-1.16,-146.0,490.3,-9.1,237,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1559,3435,0,0,0,0,0,0
$GC,5117,-1.16,-146.0,513.0,-9.3,243,5121,0.00,2.40,0.00,0.000,4,0.000,0.074,3124,171,3433,0,0,0,0,0,0
$GC,5137,-1.16,-146.0,514.8,-9.8,243,5141,0.00,2.25,0.00,0.000,6,0.000,0.033,3124,1555,3433,0,0,0,0,0,0
$GC,5401,-1.16,-146.0,536.8,-8.0,250,5405,0.00,2.65,0.00,0.000,4,0.000,0.048,3124,3139,3431,0,0,0,0,0,0
$GC,5420,-1.16,-146.0,538.4,-8.4,250,5424,0.00,2.65,0.00,0.000,6,0.000,0.044,3124,1565,3431,0,0,0,0,0,0
$GC,5686,-1.16,-146.0,557.7,-7.3,257,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1565,3429,0,0,0,0,0,0
$GC,5928,-1.16,-146.0,575.3,-7.4,263,5932,0.00,2.65,0.00,0.000,4,0.000,0.048,3124,3138,3428,0,0,0,0,0,0
$GC,5947,-1.16,-146.0,576.9,-8.0,263,5952,0.00,2.67,0.00,0.000,6,0.000,0.047,3124,1562,3428,0,0,0,0,0,0
$GC,6213,-1.16,-146.0,595.6,-7.0,270,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1562,3426,0,0,0,0,0,0
$GC,6455,-1.16,-146.0,612.0,-6.8,276,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1562,3425,0,0,0,0,0,0
$GC,6699,-1.16,-146.0,627.6,-6.3,282,6703,0.00,2.67,0.00,0.000,4,0.000,0.051,3124,3138,3423,0,0,0,0,0,0
$GC,6713,-1.16,-146.0,628.6,-6.4,282,6718,0.00,2.67,0.00,0.000,6,0.000,0.048,3124,1568,3423,0,0,0,0,0,0
$GC,6984,-1.16,-146.0,645.9,-6.5,289,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1568,3422,0,0,0,0,0,0
$GC,7226,-1.23,-146.0,662.7,-7.0,295,7231,0.00,2.67,0.00,0.000,4,0.000,0.051,3124,3143,3421,0,0,0,0,0,0
$GC,7246,-1.30,-146.0,664.2,-8.0,295,7251,0.12,2.70,0.00,0.000,6,0.065,0.051,3079,1565,3421,0,0,0,0,0,0
$GC,7514,-1.22,-146.0,689.9,-10.0,302,7515,0.15,0.00,0.00,0.000,6,0.110,0.000,3112,1565,3419,0,0,0,0,0,0
$GC,7756,-1.22,-146.0,710.4,-8.2,308,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1565,3418,0,0,0,0,0,0
$GC,7999,-1.22,-146.0,729.1,-7.6,314,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1565,3417,0,0,0,0,0,0
$GC,8245,-1.22,-146.0,746.7,-7.2,320,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1565,3416,0,0,0,0,0,0
$GC,8487,-1.22,-146.0,763.7,-6.9,326,8491,0.00,2.65,0.00,0.000,4,0.000,0.050,3112,3142,3415,0,0,0,0,0,0
$GC,8501,-1.22,-146.0,764.8,-7.0,326,8506,0.00,2.67,0.00,0.000,6,0.000,0.050,3112,1566,3415,0,0,0,0,0,0
$GC,8771,-1.22,-146.0,782.7,-6.6,333,8776,0.00,2.50,0.00,0.000,4,0.000,0.086,3112,166,3414,0,0,0,0,0,0
$GC,8790,-1.22,-146.0,784.1,-6.9,333,8795,0.00,2.30,0.00,0.000,6,0.000,0.038,3112,1571,3414,0,0,0,0,0,0
$GC,9059,-1.22,-146.0,801.0,-6.2,340,9063,0.00,2.65,0.00,0.000,4,0.000,0.055,3112,3147,3413,0,0,0,0,0,0
$GC,9085,-1.30,-146.0,802.6,-7.1,340,9089,0.00,2.67,0.00,0.000,6,0.000,0.052,3112,1573,3413,0,0,0,0,0,0
$GC,9344,-1.30,-146.0,818.7,-6.3,347,9348,0.00,2.50,0.00,0.000,4,0.000,0.085,3112,169,3412,0,0,0,0,0,0
$GC,9374,-1.30,-146.0,820.8,-7.8,347,9378,0.00,2.33,0.00,0.000,6,0.000,0.039,3112,1577,3412,0,0,0,0,0,0
$GC,9630,-1.30,-146.0,837.8,-6.7,354,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1577,3412,0,0,0,0,0,0
$GC,9872,-1.30,-146.0,854.9,-7.0,360,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1577,3411,0,0,0,0,0,0
$GC,10116,-1.30,-146.0,872.9,-7.4,366,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1577,3410,0,0,0,0,0,0
$GC,10359,-1.30,-146.0,891.4,-7.6,372,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1577,3410,0,0,0,0,0,0
$STATE,10478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10479,begin apogee
$GC,10486,-0.31,0.0,900.6,7.6,375,10608,0.88,0.00,118.53,1.180,6,0.074,0.000,3312,1292,2845,0,0,0,0,0,0
$STATE,10609,end apogee,CONTROL_FINISHED_OK
$STATE,10609,begin climb
$GC,10612,1.27,146.0,905.1,0.0,378,10746,1.45,0.00,130.60,1.155,6,0.030,0.000,3663,1293,2249,0,0,0,0,0,0
$GC,10965,0.95,146.0,875.6,13.1,387,10970,0.32,2.00,0.00,0.000,4,0.113,0.079,3593,176,2240,0,0,0,0,0,0
$GC,10991,0.72,146.0,872.4,11.9,387,10995,0.20,1.90,0.00,0.000,6,0.094,0.035,3538,1300,2239,0,0,0,0,0,0
$GC,11255,0.76,183.3,849.8,8.3,394,11297,0.00,2.78,33.53,1.095,4,0.000,0.056,3538,2879,2095,0,0,0,0,0,0
$GC,11334,0.92,202.4,843.0,9.1,395,11359,0.17,2.75,18.52,1.045,6,0.056,0.054,3592,1305,2018,0,0,0,0,0,0
$GC,11637,0.84,202.4,804.7,13.0,403,11642,0.12,2.10,0.00,0.000,4,0.119,0.091,3565,167,2014,0,0,0,0,0,0
$GC,11682,0.84,202.4,798.8,12.6,404,11685,0.00,1.90,0.00,0.000,6,0.000,0.035,3566,1314,2014,0,0,0,0,0,0
$GC,11973,0.84,202.4,763.9,11.8,411,11977,0.00,2.70,0.00,0.000,4,0.000,0.056,3566,2883,2012,0,0,0,0,0,0
$GC,12030,0.92,202.4,757.5,10.9,412,12035,0.00,2.75,0.00,0.000,6,0.000,0.054,3565,1307,2009,0,0,0,0,0,0
$GC,12303,0.92,202.4,727.1,11.0,419,12307,0.00,2.08,0.00,0.000,4,0.000,0.091,3566,167,2008,0,0,0,0,0,0
$GC,12326,0.92,202.4,724.3,11.3,419,12330,0.00,1.90,0.00,0.000,6,0.000,0.035,3566,1320,2008,0,0,0,0,0,0
$GC,12595,0.92,202.4,695.6,10.7,426,12600,0.00,2.65,0.00,0.000,4,0.000,0.055,3566,2876,2008,0,0,0,0,0,0
$GC,12614,0.92,203.9,693.3,9.9,426,12619,0.00,2.70,0.00,0.000,6,0.000,0.053,3566,1317,2007,0,0,0,0,0,0
$GC,12878,0.92,203.9,664.0,11.2,433,12883,0.00,2.65,0.00,0.000,4,0.000,0.050,3566,2878,2007,0,0,0,0,0,0
$GC,12905,0.92,203.9,661.3,10.1,433,12909,0.00,2.70,0.00,0.000,6,0.000,0.053,3566,1320,2006,0,0,0,0,0,0
$GC,13164,0.92,203.9,632.4,11.1,440,13168,0.00,2.08,0.00,0.000,4,0.000,0.088,3566,160,2006,0,0,0,0,0,0
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$STATE,18799,end climb,SURFACE_DEPTH_REACHED
$STATE,18799,begin surface coast
$FINISH,0.8,1.023153
$STATE,18834,end surface coast,CONTROL_FINISHED_OK
$STATE,18834,begin surface
$SM_CCo,18859,35.00,0.449,0,0,1294,380.21
$SM_GC,1.75,0.00,0.00,35.00,0.000,0.000,0.449,417,1607,1294,-13.63,1.33,380.21
$IRIDIUM_FIX,2253.38,-15757.57,220802,171711
$TT8_MAMPS,0.026845
$HUMID,62.40
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,17
$24V_AH,23.2,4.940
$10V_AH,9.9,4.383
$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,36.700,193.450,429.475,35.000,0.000,24.309,37.564,201.751,4.250,0.000,19.561,1533.527,14228.522,576.950,2271.471,690.057,33.366,1593.783,0.000,2265.573,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,90.506,1179.646,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,477.340,318.436,410.061,708.111,965.264,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,54225,701
$CAP_FILE_SIZE,178464,0
$CFSIZE,260165632,169607168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290513,035720,2255.388,-15754.026,39,99.0,58,10.1