version: 66.06
glider: 148
mission: 12
dive: 40
start: 5 29 113 9 13 6
data:
$ID,148
$MISSION,12
$DIVE,40
$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,-1015794.2
$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,1570
$C_ROLL_CLIMB,1340
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,2835
$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
$GPS1,090535,2254.161,-15752.922,26,1.7,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.9
$GPS2,091213,2254.199,-15752.902,9,1.9,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.231
$KALMAN_X,-8533.0,-89.7,-431.8,21282.2,1207.5
$KALMAN_Y,11287.3,60.0,303.0,5403.5,396.8
$MHEAD_RNG_PITCHd_Wd,142.6,38747,-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,-67.30,0.000,2,0.000,0.000,416,1605,3054,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.8,-6.3,9,122,14.05,2.42,-6.30,0.000,4,0.151,0.058,3098,166,3434,0,0,0,0,0,0
$GC,139,-0.24,-146.0,23.4,-37.6,15,148,1.02,2.15,0.00,0.000,6,0.096,0.018,3322,1539,3434,0,0,0,0,0,0
$GC,418,-0.60,-146.0,40.5,-3.7,43,423,0.28,2.53,0.00,0.000,4,0.044,0.022,3206,3141,3435,0,0,0,0,0,0
$GC,452,-0.70,-146.0,43.3,-8.1,45,461,0.00,2.60,0.00,0.000,6,0.000,0.031,3206,1566,3435,0,0,0,0,0,0
$GC,721,-0.70,-146.0,66.1,-7.2,70,725,0.00,2.30,0.00,0.000,4,0.000,0.045,3206,171,3436,0,0,0,0,0,0
$GC,788,-0.70,-146.0,71.4,-7.3,75,792,0.00,2.12,0.00,0.000,6,0.000,0.018,3206,1594,3436,0,0,0,0,0,0
$GC,1056,-0.70,-146.0,92.7,-8.8,99,1060,0.00,2.38,0.00,0.000,4,0.000,0.023,3206,3118,3437,0,0,0,0,0,0
$GC,1075,-0.79,-146.0,95.2,-9.3,100,1084,0.00,2.53,0.00,0.000,6,0.000,0.028,3206,1574,3437,0,0,0,0,0,0
$GC,1342,-0.85,-146.0,120.2,-10.5,125,1346,0.00,2.42,0.00,0.000,4,0.000,0.024,3206,3116,3437,0,0,0,0,0,0
$GC,1372,-0.95,-146.0,123.1,-10.4,127,1378,0.15,2.53,0.00,0.000,6,0.054,0.029,3121,1561,3437,0,0,0,0,0,0
$GC,1637,-0.73,-146.0,163.2,-15.6,151,1643,0.43,0.00,0.00,0.000,6,0.089,0.000,3212,1560,3438,0,0,0,0,0,0
$GC,1902,-0.88,-146.0,185.7,-7.7,176,1908,0.10,0.00,0.00,0.000,6,0.077,0.000,3156,1560,3438,0,0,0,0,0,0
$GC,2158,-0.88,-146.0,213.2,-10.6,192,2163,0.15,2.47,0.00,0.000,4,0.097,0.025,3189,3112,3438,0,0,0,0,0,0
$GC,2193,-1.07,-146.0,215.9,-6.8,192,2198,0.17,2.47,0.00,0.000,6,0.054,0.030,3117,1577,3438,0,0,0,0,0,0
$GC,2443,-0.94,-146.0,243.5,-10.9,198,2448,0.25,2.33,0.00,0.000,4,0.091,0.044,3174,166,3438,0,0,0,0,0,0
$GC,2463,-0.94,-146.0,245.7,-9.9,198,2467,0.00,2.15,0.00,0.000,6,0.000,0.020,3174,1581,3438,0,0,0,0,0,0
$GC,2733,-1.02,-146.0,267.4,-8.5,205,2738,0.00,2.42,0.00,0.000,4,0.000,0.026,3174,3119,3438,0,0,0,0,0,0
$GC,2762,-1.17,-146.0,270.2,-8.4,205,2767,0.20,2.47,0.00,0.000,6,0.045,0.031,3089,1585,3438,0,0,0,0,0,0
$GC,3019,-0.99,-146.0,303.4,-13.3,212,3024,0.30,2.33,0.00,0.000,4,0.089,0.048,3160,172,3438,0,0,0,0,0,0
$GC,3044,-0.99,-146.0,306.3,-9.9,212,3048,0.00,2.15,0.00,0.000,6,0.000,0.022,3160,1556,3438,0,0,0,0,0,0
$GC,3308,-1.05,-146.0,326.0,-7.3,219,3312,0.00,2.30,0.00,0.000,4,0.000,0.053,3160,173,3438,0,0,0,0,0,0
$GC,3328,-1.05,-146.0,327.7,-8.0,219,3332,0.00,2.17,0.00,0.000,6,0.000,0.022,3160,1577,3438,0,0,0,0,0,0
$GC,3592,-1.13,-146.0,348.1,-7.9,226,3597,0.12,2.40,0.00,0.000,4,0.065,0.055,3100,168,3436,0,0,0,0,0,0
$GC,3612,-1.13,-146.0,350.3,-10.7,226,3617,0.15,2.17,0.00,0.000,6,0.100,0.024,3134,1563,3436,0,0,0,0,0,0
$GC,3878,-1.13,-146.0,374.8,-8.9,233,3882,0.00,2.58,0.00,0.000,4,0.000,0.035,3134,3144,3435,0,0,0,0,0,0
$GC,3916,-1.26,-146.0,377.9,-7.5,233,3922,0.12,2.60,0.00,0.000,6,0.062,0.038,3066,1568,3435,0,0,0,0,0,0
$GC,4166,-1.07,-146.0,405.0,-10.9,240,4171,0.32,2.38,0.00,0.000,4,0.089,0.063,3141,169,3433,0,0,0,0,0,0
$GC,4183,-0.96,-146.0,406.5,-10.9,240,4188,0.15,2.20,0.00,0.000,6,0.106,0.025,3174,1570,3433,0,0,0,0,0,0
$GC,4453,-1.12,-146.0,424.3,-6.7,247,4454,0.15,0.00,0.00,0.000,6,0.055,0.000,3108,1570,3432,0,0,0,0,0,0
$GC,4697,-1.12,-146.0,448.6,-10.1,253,4699,0.12,0.00,0.00,0.000,6,0.107,0.000,3135,1570,3430,0,0,0,0,0,0
$GC,4939,-1.12,-146.0,468.9,-8.3,259,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1570,3429,0,0,0,0,0,0
$GC,5183,-1.12,-146.0,489.4,-8.5,265,5184,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1570,3427,0,0,0,0,0,0
$GC,5427,-1.12,-146.0,510.1,-8.5,271,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1570,3425,0,0,0,0,0,0
$GC,5672,-1.12,-146.0,529.1,-7.6,277,5676,0.00,2.65,0.00,0.000,4,0.000,0.049,3135,3146,3424,0,0,0,0,0,0
$GC,5687,-1.19,-146.0,530.3,-7.1,277,5691,0.00,2.62,0.00,0.000,6,0.000,0.041,3135,1570,3424,0,0,0,0,0,0
$GC,5956,-1.25,-146.0,547.7,-6.4,284,5961,0.12,2.47,0.00,0.000,4,0.066,0.077,3081,172,3422,0,0,0,0,0,0
$GC,5992,-1.13,-146.0,550.7,-9.1,284,5997,0.22,2.25,0.00,0.000,6,0.093,0.035,3132,1555,3421,0,0,0,0,0,0
$GC,6242,-1.13,-146.0,568.4,-7.0,290,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1554,3420,0,0,0,0,0,0
$GC,6486,-1.13,-146.0,586.6,-7.6,296,6490,0.00,2.67,0.00,0.000,4,0.000,0.049,3132,3150,3419,0,0,0,0,0,0
$GC,6516,-1.26,-146.0,588.9,-7.2,296,6524,0.12,2.70,0.00,0.000,6,0.067,0.048,3092,1562,3419,0,0,0,0,0,0
$GC,6774,-1.26,-146.0,613.6,-9.7,303,6778,0.00,2.45,0.00,0.000,4,0.000,0.080,3091,169,3417,0,0,0,0,0,0
$GC,6798,-1.19,-146.0,616.1,-11.1,303,6803,0.12,2.30,0.00,0.000,6,0.119,0.036,3118,1570,3417,0,0,0,0,0,0
$GC,7059,-1.19,-146.0,637.8,-8.1,310,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1570,3415,0,0,0,0,0,0
$GC,7302,-1.19,-146.0,656.4,-7.5,316,7306,0.00,2.47,0.00,0.000,4,0.000,0.079,3118,166,3414,0,0,0,0,0,0
$GC,7340,-1.19,-146.0,659.5,-7.9,316,7346,0.00,2.30,0.00,0.000,6,0.000,0.039,3118,1560,3414,0,0,0,0,0,0
$GC,7590,-1.19,-146.0,677.3,-7.0,323,7595,0.00,2.72,0.00,0.000,4,0.000,0.057,3118,3160,3413,0,0,0,0,0,0
$GC,7610,-1.19,-146.0,678.8,-7.0,323,7614,0.00,2.72,0.00,0.000,6,0.000,0.051,3118,1564,3413,0,0,0,0,0,0
$GC,7874,-1.19,-146.0,697.9,-7.3,330,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3411,0,0,0,0,0,0
$GC,8119,-1.19,-146.0,715.5,-7.2,336,8123,0.00,2.67,0.00,0.000,4,0.000,0.049,3118,3155,3411,0,0,0,0,0,0
$GC,8138,-1.19,-146.0,717.2,-7.9,336,8143,0.00,2.72,0.00,0.000,6,0.000,0.051,3118,1559,3411,0,0,0,0,0,0
$GC,8402,-1.19,-146.0,735.9,-7.2,343,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1559,3410,0,0,0,0,0,0
$GC,8647,-1.19,-146.0,754.1,-7.5,349,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1559,3409,0,0,0,0,0,0
$GC,8890,-1.19,-146.0,772.4,-7.5,355,8894,0.00,2.70,0.00,0.000,4,0.000,0.049,3118,3161,3408,0,0,0,0,0,0
$GC,8914,-1.28,-146.0,774.2,-7.6,355,8918,0.00,2.72,0.00,0.000,6,0.000,0.052,3118,1568,3408,0,0,0,0,0,0
$GC,9175,-1.28,-146.0,792.3,-6.9,362,9176,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1568,3407,0,0,0,0,0,0
$GC,9417,-1.28,-146.0,808.0,-6.3,368,9422,0.00,2.70,0.00,0.000,4,0.000,0.050,3118,3164,3405,0,0,0,0,0,0
$GC,9437,-1.35,-146.0,809.2,-6.7,368,9444,0.15,2.70,0.00,0.000,6,0.060,0.052,3065,1573,3405,0,0,0,0,0,0
$GC,9705,-1.25,-146.0,833.1,-9.2,375,9710,0.17,2.53,0.00,0.000,4,0.104,0.085,3104,165,3405,0,0,0,0,0,0
$GC,9735,-1.25,-146.0,835.9,-9.2,375,9739,0.00,2.33,0.00,0.000,6,0.000,0.039,3104,1574,3404,0,0,0,0,0,0
$GC,9989,-1.25,-146.0,854.4,-7.2,382,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1574,3404,0,0,0,0,0,0
$GC,10234,-1.25,-146.0,871.6,-7.0,388,10236,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1574,3403,0,0,0,0,0,0
$GC,10477,-1.25,-146.0,889.3,-7.3,394,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1574,3402,0,0,0,0,0,0
$STATE,10636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10636,begin apogee
$GC,10643,-0.31,0.0,901.9,7.7,398,10765,0.90,0.00,119.10,1.177,6,0.074,0.000,3311,1331,2835,0,0,0,0,0,0
$STATE,10766,end apogee,CONTROL_FINISHED_OK
$STATE,10766,begin climb
$GC,10770,1.27,146.0,906.2,0.0,401,10908,1.45,2.17,129.38,1.151,4,0.031,0.084,3663,168,2239,0,0,0,0,0,0
$GC,11038,0.84,146.0,885.3,13.7,407,11043,0.47,1.98,0.00,0.000,6,0.111,0.035,3567,1351,2233,0,0,0,0,0,0
$GC,11298,0.86,160.0,860.6,9.4,414,11315,0.00,2.15,12.40,1.007,4,0.000,0.077,3567,173,2181,0,0,0,0,0,0
$GC,11342,0.73,160.0,856.0,12.7,415,11346,0.12,1.95,0.00,0.000,6,0.121,0.035,3542,1340,2181,0,0,0,0,0,0
$GC,11629,0.74,166.8,827.9,9.7,422,11638,0.00,0.00,7.40,0.899,6,0.000,0.000,3542,1341,2154,0,0,0,0,0,0
$GC,11873,0.74,168.5,803.7,9.9,428,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,3542,1342,2152,0,0,0,0,0,0
$GC,12118,0.75,171.2,779.8,9.9,434,12125,0.00,0.00,5.22,0.782,6,0.000,0.000,3542,1342,2137,0,0,0,0,0,0
$GC,12360,0.76,178.7,756.1,9.7,440,12376,0.00,2.72,8.75,0.918,4,0.000,0.053,3542,2919,2105,0,0,0,0,0,0
$GC,12406,0.91,191.8,751.8,9.4,441,12427,0.15,2.78,12.90,0.973,6,0.059,0.054,3594,1335,2053,0,0,0,0,0,0
$GC,12699,0.83,191.8,719.5,11.0,448,12701,0.15,0.00,0.00,0.000,6,0.112,0.000,3562,1335,2050,0,0,0,0,0,0
$GC,12940,0.87,226.1,698.3,8.4,454,12979,0.00,0.00,33.50,1.019,6,0.000,0.000,3562,1335,1913,0,0,0,0,0,0
$GC,13225,0.89,240.7,672.4,9.3,461,13245,0.00,2.80,14.68,0.945,4,0.000,0.048,3562,2912,1852,0,0,0,0,0,0
$GC,13274,1.02,259.5,667.6,9.1,462,13299,0.17,2.78,18.40,0.955,6,0.052,0.053,3624,1334,1776,0,0,0,0,0,0
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$STATE,18628,end climb,SURFACE_DEPTH_REACHED
$STATE,18628,begin surface coast
$FINISH,0.7,0.999511
$STATE,18665,end surface coast,CONTROL_FINISHED_OK
$STATE,18665,begin surface
$SM_CCo,18689,11.00,0.416,0,0,1285,380.21
$SM_GC,1.74,0.00,0.00,11.00,0.000,0.000,0.416,415,1596,1285,-13.64,0.74,380.21
$IRIDIUM_FIX,2246.36,-15754.11,230802,040427
$TT8_MAMPS,0.027612
$HUMID,64.96
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.00
$XPDR_PINGS,16
$24V_AH,23.2,5.238
$10V_AH,9.8,4.637
$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
$DEVICE_SECS,37.700,187.000,461.225,11.000,0.000,30.284,35.160,189.387,4.000,0.000,11.016,1535.451,13961.941,558.366,2331.073,704.123,33.358,1595.516,0.000,2344.466,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.031,341.934,430.148,782.550,1072.128,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,54051,709
$CAP_FILE_SIZE,178175,0
$CFSIZE,260165632,169463808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290513,142655,2252.281,-15751.300,68,2.7,87,10.1