version: 66.06
glider: 148
mission: 12
dive: 41
start: 5 29 113 14 34 29
data:
$ID,148
$MISSION,12
$DIVE,41
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015812.2
$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,26
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2855
$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
$GPS1,142655,2252.281,-15751.300,68,2.7,87,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.1
$GPS2,143336,2252.288,-15751.306,10,1.4,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.186
$KALMAN_X,-8822.8,2.1,359.4,23415.5,-778.1
$KALMAN_Y,12230.9,68.9,-34.8,1252.9,608.2
$MHEAD_RNG_PITCHd_Wd,125.6,34291,-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,-67.15,0.000,2,0.000,0.000,414,1596,3015,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.2,9,121,14.77,2.40,-7.55,0.000,4,0.173,0.054,3096,168,3454,0,0,0,0,0,0
$GC,139,-0.27,-146.0,21.4,-34.8,15,147,0.98,2.17,0.00,0.000,6,0.091,0.018,3312,1557,3454,0,0,0,0,0,0
$GC,422,-0.58,-146.0,39.2,-4.9,46,427,0.25,2.50,0.00,0.000,4,0.045,0.022,3200,3148,3454,0,0,0,0,0,0
$GC,476,-0.66,-146.0,43.8,-10.2,50,482,0.17,2.55,0.00,0.000,6,0.086,0.031,3239,1570,3454,0,0,0,0,0,0
$GC,746,-0.82,-146.0,66.5,-8.3,74,751,0.15,2.33,0.00,0.000,4,0.055,0.046,3167,171,3455,0,0,0,0,0,0
$GC,788,-0.82,-146.0,71.9,-13.3,77,792,0.15,2.17,0.00,0.000,6,0.097,0.018,3201,1591,3456,0,0,0,0,0,0
$GC,1055,-0.82,-146.0,100.3,-10.0,101,1059,0.00,2.40,0.00,0.000,4,0.000,0.023,3201,3129,3456,0,0,0,0,0,0
$GC,1084,-0.92,-146.0,103.3,-10.1,103,1089,0.00,2.50,0.00,0.000,6,0.000,0.028,3201,1573,3456,0,0,0,0,0,0
$GC,1352,-0.92,-146.0,129.0,-10.2,127,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1573,3457,0,0,0,0,0,0
$GC,1615,-1.00,-146.0,155.1,-8.6,152,1620,0.17,2.47,0.00,0.000,4,0.050,0.024,3131,3133,3458,0,0,0,0,0,0
$GC,1654,-1.00,-146.0,160.0,-11.5,155,1661,0.12,2.50,0.00,0.000,6,0.101,0.030,3160,1581,3458,0,0,0,0,0,0
$GC,1919,-1.00,-146.0,188.6,-11.5,180,1923,0.00,2.30,0.00,0.000,4,0.000,0.044,3160,173,3458,0,0,0,0,0,0
$GC,1977,-1.00,-146.0,196.1,-11.0,185,1983,0.00,2.12,0.00,0.000,6,0.000,0.018,3159,1579,3458,0,0,0,0,0,0
$GC,2230,-1.00,-146.0,222.0,-10.2,195,2235,0.00,2.42,0.00,0.000,4,0.000,0.024,3160,3129,3458,0,0,0,0,0,0
$GC,2254,-1.00,-146.0,224.9,-11.3,195,2258,0.00,2.53,0.00,0.000,6,0.000,0.028,3160,1572,3458,0,0,0,0,0,0
$GC,2513,-1.00,-146.0,251.4,-10.1,202,2517,0.00,2.30,0.00,0.000,4,0.000,0.047,3160,172,3458,0,0,0,0,0,0
$GC,2528,-1.00,-146.0,252.9,-9.9,202,2532,0.00,2.12,0.00,0.000,6,0.000,0.020,3160,1585,3458,0,0,0,0,0,0
$GC,2801,-1.00,-146.0,276.6,-8.3,209,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1587,3458,0,0,0,0,0,0
$GC,3045,-1.00,-146.0,295.3,-7.4,215,3049,0.00,2.45,0.00,0.000,4,0.000,0.028,3160,3123,3458,0,0,0,0,0,0
$GC,3064,-1.08,-146.0,296.8,-8.1,215,3069,0.00,2.53,0.00,0.000,6,0.000,0.031,3160,1575,3458,0,0,0,0,0,0
$GC,3330,-1.15,-146.0,316.8,-7.6,222,3332,0.12,0.00,0.00,0.000,6,0.064,0.000,3101,1575,3457,0,0,0,0,0,0
$GC,3572,-1.05,-146.0,343.0,-10.8,228,3577,0.22,2.38,0.00,0.000,4,0.087,0.055,3152,168,3457,0,0,0,0,0,0
$GC,3598,-1.05,-146.0,345.6,-9.7,228,3602,0.00,2.15,0.00,0.000,6,0.000,0.024,3152,1548,3456,0,0,0,0,0,0
$GC,3857,-1.13,-146.0,365.3,-7.4,235,3862,0.00,2.58,0.00,0.000,4,0.000,0.036,3152,3144,3455,0,0,0,0,0,0
$GC,3877,-1.22,-146.0,366.8,-8.2,235,3882,0.15,2.55,0.00,0.000,6,0.056,0.035,3088,1584,3455,0,0,0,0,0,0
$GC,4142,-1.11,-146.0,395.2,-11.1,242,4147,0.22,2.58,0.00,0.000,4,0.088,0.038,3139,3151,3453,0,0,0,0,0,0
$GC,4162,-1.11,-146.0,397.2,-9.0,242,4167,0.00,2.58,0.00,0.000,6,0.000,0.035,3139,1588,3453,0,0,0,0,0,0
$GC,4426,-1.11,-146.0,418.9,-8.4,249,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1588,3451,0,0,0,0,0,0
$GC,4671,-1.11,-146.0,440.9,-9.1,255,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1588,3450,0,0,0,0,0,0
$GC,4914,-1.17,-146.0,463.1,-9.1,261,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1588,3448,0,0,0,0,0,0
$GC,5158,-1.24,-146.0,483.2,-8.0,267,5160,0.12,0.00,0.00,0.000,6,0.065,0.000,3085,1588,3447,0,0,0,0,0,0
$GC,5402,-1.14,-146.0,508.3,-10.4,273,5404,0.20,0.00,0.00,0.000,6,0.090,0.000,3129,1588,3445,0,0,0,0,0,0
$GC,5645,-1.14,-146.0,527.6,-7.6,279,5649,0.00,2.47,0.00,0.000,4,0.000,0.077,3129,170,3443,0,0,0,0,0,0
$GC,5673,-1.14,-146.0,530.0,-8.3,279,5677,0.00,2.30,0.00,0.000,6,0.000,0.034,3129,1580,3443,0,0,0,0,0,0
$GC,5929,-1.14,-146.0,548.8,-7.4,286,5933,0.00,2.65,0.00,0.000,4,0.000,0.048,3129,3157,3442,0,0,0,0,0,0
$GC,5943,-1.14,-146.0,550.2,-7.4,286,5948,0.00,2.62,0.00,0.000,6,0.000,0.043,3129,1592,3442,0,0,0,0,0,0
$GC,6212,-1.14,-146.0,569.7,-7.3,293,6217,0.00,2.50,0.00,0.000,4,0.000,0.078,3129,170,3440,0,0,0,0,0,0
$GC,6227,-1.14,-146.0,570.8,-7.2,293,6231,0.00,2.33,0.00,0.000,6,0.000,0.034,3129,1597,3440,0,0,0,0,0,0
$GC,6497,-1.14,-146.0,591.0,-7.5,300,6501,0.00,2.60,0.00,0.000,4,0.000,0.051,3129,3152,3439,0,0,0,0,0,0
$GC,6512,-1.21,-146.0,592.2,-7.7,300,6516,0.00,2.65,0.00,0.000,6,0.000,0.046,3130,1584,3439,0,0,0,0,0,0
$GC,6782,-1.27,-146.0,613.5,-8.0,307,6787,0.12,2.53,0.00,0.000,4,0.066,0.081,3075,166,3437,0,0,0,0,0,0
$GC,6806,-1.18,-146.0,616.3,-11.1,307,6812,0.22,2.35,0.00,0.000,6,0.091,0.036,3125,1597,3437,0,0,0,0,0,0
$GC,7067,-1.18,-146.0,639.4,-8.8,314,7071,0.00,2.53,0.00,0.000,4,0.000,0.077,3125,171,3435,0,0,0,0,0,0
$GC,7087,-1.18,-146.0,641.4,-9.3,314,7092,0.00,2.33,0.00,0.000,6,0.000,0.037,3125,1587,3435,0,0,0,0,0,0
$GC,7352,-1.24,-146.0,664.3,-8.6,321,7356,0.00,2.62,0.00,0.000,4,0.000,0.054,3125,3152,3434,0,0,0,0,0,0
$GC,7367,-1.31,-146.0,665.7,-8.5,321,7372,0.12,2.65,0.00,0.000,6,0.064,0.049,3069,1592,3434,0,0,0,0,0,0
$GC,7637,-1.20,-146.0,694.4,-10.8,328,7642,0.22,2.53,0.00,0.000,4,0.094,0.082,3119,162,3432,0,0,0,0,0,0
$GC,7675,-1.20,-146.0,698.2,-9.4,328,7681,0.00,2.35,0.00,0.000,6,0.000,0.038,3119,1588,3432,0,0,0,0,0,0
$GC,7927,-1.20,-146.0,717.4,-7.6,335,7931,0.00,2.62,0.00,0.000,4,0.000,0.054,3119,3154,3431,0,0,0,0,0,0
$GC,7960,-1.33,-146.0,720.1,-7.7,335,7966,0.12,2.67,0.00,0.000,6,0.064,0.051,3059,1588,3431,0,0,0,0,0,0
$GC,8211,-1.20,-146.0,746.0,-10.7,341,8216,0.25,2.50,0.00,0.000,4,0.092,0.082,3118,169,3430,0,0,0,0,0,0
$GC,8257,-1.28,-146.0,750.3,-8.5,342,8261,0.00,2.35,0.00,0.000,6,0.000,0.039,3118,1593,3430,0,0,0,0,0,0
$GC,8544,-1.28,-146.0,773.4,-8.0,349,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1594,3428,0,0,0,0,0,0
$GC,8787,-1.28,-146.0,791.7,-7.5,355,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1593,3427,0,0,0,0,0,0
$GC,9033,-1.28,-146.0,809.5,-7.3,361,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1593,3426,0,0,0,0,0,0
$GC,9275,-1.34,-146.0,824.7,-6.1,367,9277,0.12,0.00,0.00,0.000,6,0.065,0.000,3063,1593,3425,0,0,0,0,0,0
$GC,9519,-1.24,-146.0,844.1,-8.0,373,9524,0.20,2.53,0.00,0.000,4,0.096,0.077,3107,169,3424,0,0,0,0,0,0
$GC,9540,-1.24,-146.0,845.7,-7.4,373,9545,0.00,2.35,0.00,0.000,6,0.000,0.040,3107,1587,3424,0,0,0,0,0,0
$GC,9804,-1.24,-146.0,860.7,-5.6,380,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1588,3423,0,0,0,0,0,0
$GC,10048,-1.24,-146.0,874.9,-5.8,386,10052,0.00,2.65,0.00,0.000,4,0.000,0.058,3107,3155,3422,0,0,0,0,0,0
$GC,10062,-1.24,-146.0,875.8,-6.1,386,10067,0.00,2.67,0.00,0.000,6,0.000,0.051,3107,1586,3422,0,0,0,0,0,0
$GC,10333,-1.24,-146.0,893.0,-6.6,393,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1586,3422,0,0,0,0,0,0
$STATE,10450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10450,begin apogee
$GC,10457,-0.31,0.0,901.7,7.0,396,10579,0.90,0.00,118.85,1.174,6,0.074,0.000,3315,1338,2855,0,0,0,0,0,0
$STATE,10580,end apogee,CONTROL_FINISHED_OK
$STATE,10580,begin climb
$GC,10584,1.27,146.0,905.7,0.0,399,10720,1.45,0.00,129.75,1.149,6,0.031,0.000,3664,1338,2259,0,0,0,0,0,0
$GC,10938,0.95,146.0,877.5,12.4,408,10943,0.35,2.10,0.00,0.000,4,0.115,0.082,3589,169,2250,0,0,0,0,0,0
$GC,11001,0.75,146.0,870.4,11.0,409,11005,0.22,1.95,0.00,0.000,6,0.108,0.033,3543,1346,2249,0,0,0,0,0,0
$GC,11270,0.81,193.9,849.2,7.8,416,11315,0.00,0.00,43.05,1.102,6,0.000,0.000,3543,1347,2064,0,0,0,0,0,0
$GC,11555,0.81,194.1,821.9,10.0,423,11559,0.00,2.70,0.00,0.000,4,0.000,0.053,3543,2920,2058,0,0,0,0,0,0
$GC,11585,0.91,194.1,818.9,10.1,423,11592,0.15,2.78,0.00,0.000,6,0.061,0.053,3591,1329,2055,0,0,0,0,0,0
$GC,11843,0.83,194.1,788.6,11.9,430,11845,0.15,0.00,0.00,0.000,6,0.110,0.000,3561,1329,2055,0,0,0,0,0,0
$GC,12088,0.83,194.1,763.0,10.3,436,12092,0.00,2.12,0.00,0.000,4,0.000,0.090,3561,166,2054,0,0,0,0,0,0
$GC,12130,0.83,194.1,758.2,11.3,437,12134,0.00,1.92,0.00,0.000,6,0.000,0.035,3561,1332,2054,0,0,0,0,0,0
$GC,12421,0.84,204.9,729.8,9.5,444,12438,0.00,2.80,9.77,0.925,4,0.000,0.055,3561,2917,2019,0,0,0,0,0,0
$GC,12459,0.88,237.8,726.3,8.5,444,12499,0.00,2.78,32.55,1.030,6,0.000,0.053,3561,1329,1884,0,0,0,0,0,0
$GC,12755,0.88,237.8,694.7,10.9,452,12760,0.00,2.70,0.00,0.000,4,0.000,0.048,3561,2918,1880,0,0,0,0,0,0
$GC,12804,1.00,239.5,689.4,9.9,453,12811,0.15,2.75,0.00,0.000,6,0.061,0.054,3610,1338,1877,0,0,0,0,0,0
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$STATE,18879,end climb,SURFACE_DEPTH_REACHED
$STATE,18879,begin surface coast
$FINISH,0.7,1.023201
$STATE,18925,end surface coast,CONTROL_FINISHED_OK
$STATE,18925,begin surface
$SM_CCo,18948,46.65,0.449,0,0,1264,390.03
$SM_GC,1.70,0.00,0.00,46.65,0.000,0.000,0.449,412,1609,1264,-13.65,1.10,390.03
$IRIDIUM_FIX,2246.36,-15751.06,230802,090941
$TT8_MAMPS,0.027612
$HUMID,61.30
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.60
$XPDR_PINGS,20
$24V_AH,23.2,5.381
$10V_AH,9.9,4.778
$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,36.525,216.300,406.075,46.650,0.000,27.661,39.748,181.887,5.000,0.000,17.333,1621.447,13941.438,571.039,2534.331,720.654,33.361,1645.371,0.000,2540.858,0.000,0.537,0.000
$DEVICE_MAMPS,172.575,89.739,1173.510,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,505.545,369.554,465.137,851.739,1161.216,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,57384,742
$CAP_FILE_SIZE,185400,0
$CFSIZE,260165632,169373696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290513,195229,2250.524,-15749.882,36,1.5,41,10.1