version: 66.06
glider: 148
mission: 12
dive: 67
start: 6 4 113 10 41 8
data:
$ID,148
$MISSION,12
$DIVE,67
$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,-1016386.2
$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,3385
$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,1580
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,69
$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
$GPS1,102936,2256.946,-15743.903,63,1.2,63,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.2
$GPS2,104014,2256.979,-15744.052,14,1.9,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.140,-0.219
$KALMAN_X,-58594.2,-247.4,110.8,86072.6,-1347.0
$KALMAN_Y,27237.0,167.2,-441.8,-4750.7,779.5
$MHEAD_RNG_PITCHd_Wd,202.6,48355,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.28,0.000,2,0.000,0.000,416,1604,3146,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-5.6,10,122,14.00,2.35,-4.15,0.000,4,0.150,0.048,3102,165,3395,0,0,0,0,0,0
$GC,267,-1.03,-146.0,45.3,-18.5,30,272,0.25,2.17,0.00,0.000,6,0.099,0.018,3156,1578,3396,0,0,0,0,0,0
$GC,531,-0.96,-146.0,82.2,-13.3,54,540,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1581,3396,0,0,0,0,0,0
$GC,796,-0.89,-146.0,114.8,-12.1,79,801,0.15,2.50,0.00,0.000,4,0.104,0.023,3189,3153,3397,0,0,0,0,0,0
$GC,829,-0.94,-146.0,119.1,-10.5,81,834,0.00,2.55,0.00,0.000,6,0.000,0.028,3189,1568,3397,0,0,0,0,0,0
$GC,1092,-0.94,-146.0,145.6,-9.6,106,1096,0.00,2.28,0.00,0.000,4,0.000,0.044,3189,165,3397,0,0,0,0,0,0
$GC,1113,-0.94,-146.0,147.3,-9.9,107,1117,0.00,2.17,0.00,0.000,6,0.000,0.018,3189,1605,3397,0,0,0,0,0,0
$GC,1376,-0.94,-146.0,171.4,-9.6,131,1380,0.00,2.38,0.00,0.000,4,0.000,0.022,3189,3122,3397,0,0,0,0,0,0
$GC,1396,-0.94,-146.0,173.7,-10.7,132,1405,0.00,2.53,0.00,0.000,6,0.000,0.027,3188,1574,3397,0,0,0,0,0,0
$GC,1689,-0.98,-146.0,203.5,-8.7,157,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1574,3397,0,0,0,0,0,0
$GC,1931,-1.05,-146.0,221.4,-7.0,163,1936,0.15,2.45,0.00,0.000,4,0.056,0.023,3125,3123,3397,0,0,0,0,0,0
$GC,1966,-1.05,-146.0,224.8,-9.8,163,1971,0.15,2.50,0.00,0.000,6,0.097,0.029,3158,1571,3397,0,0,0,0,0,0
$GC,2216,-1.05,-146.0,250.8,-10.6,169,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1572,3397,0,0,0,0,0,0
$GC,2460,-1.05,-146.0,272.6,-8.1,175,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1571,3397,0,0,0,0,0,0
$GC,2704,-1.05,-146.0,290.6,-8.2,181,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1571,3398,0,0,0,0,0,0
$GC,2949,-1.05,-146.0,314.7,-9.8,187,2953,0.00,2.47,0.00,0.000,4,0.000,0.028,3158,3121,3396,0,0,0,0,0,0
$GC,2973,-1.12,-146.0,316.8,-8.3,187,2977,0.00,2.50,0.00,0.000,6,0.000,0.032,3158,1577,3396,0,0,0,0,0,0
$GC,3233,-1.17,-146.0,332.6,-6.2,194,3237,0.12,2.38,0.00,0.000,4,0.066,0.054,3102,165,3395,0,0,0,0,0,0
$GC,3254,-1.17,-146.0,334.6,-9.4,194,3258,0.12,2.15,0.00,0.000,6,0.105,0.022,3130,1549,3395,0,0,0,0,0,0
$GC,3522,-1.17,-146.0,363.6,-11.5,201,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1551,3394,0,0,0,0,0,0
$GC,3766,-1.17,-146.0,387.3,-8.9,207,3771,0.00,2.60,0.00,0.000,4,0.000,0.035,3130,3161,3393,0,0,0,0,0,0
$GC,3792,-1.17,-146.0,389.1,-8.0,207,3796,0.00,2.60,0.00,0.000,6,0.000,0.036,3130,1579,3393,0,0,0,0,0,0
$GC,4051,-1.17,-146.0,406.0,-6.4,214,4055,0.00,2.40,0.00,0.000,4,0.000,0.062,3130,166,3391,0,0,0,0,0,0
$GC,4079,-1.17,-146.0,408.1,-7.7,214,4084,0.00,2.25,0.00,0.000,6,0.000,0.025,3130,1583,3391,0,0,0,0,0,0
$GC,4335,-1.17,-146.0,425.9,-7.1,221,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1586,3389,0,0,0,0,0,0
$GC,4578,-1.17,-146.0,448.5,-9.8,227,4582,0.00,2.42,0.00,0.000,4,0.000,0.062,3130,172,3387,0,0,0,0,0,0
$GC,4596,-1.17,-146.0,450.7,-11.3,227,4600,0.00,2.25,0.00,0.000,6,0.000,0.026,3130,1581,3387,0,0,0,0,0,0
$GC,4861,-1.17,-146.0,476.5,-9.5,234,4865,0.00,2.45,0.00,0.000,4,0.000,0.065,3130,164,3386,0,0,0,0,0,0
$GC,4875,-1.17,-146.0,477.9,-9.0,234,4880,0.00,2.28,0.00,0.000,6,0.000,0.028,3130,1581,3385,0,0,0,0,0,0
$GC,5144,-1.17,-146.0,499.5,-8.0,241,5148,0.00,2.42,0.00,0.000,4,0.000,0.067,3130,169,3383,0,0,0,0,0,0
$GC,5160,-1.17,-146.0,500.8,-8.2,241,5164,0.00,2.25,0.00,0.000,6,0.000,0.029,3130,1577,3383,0,0,0,0,0,0
$GC,5428,-1.17,-146.0,524.2,-8.9,248,5433,0.00,2.62,0.00,0.000,4,0.000,0.044,3130,3160,3382,0,0,0,0,0,0
$GC,5448,-1.21,-146.0,525.9,-8.6,248,5452,0.00,2.65,0.00,0.000,6,0.000,0.040,3130,1575,3382,0,0,0,0,0,0
$GC,5713,-1.21,-146.0,545.4,-7.0,255,5718,0.00,2.45,0.00,0.000,4,0.000,0.075,3130,168,3380,0,0,0,0,0,0
$GC,5742,-1.21,-146.0,547.6,-7.5,255,5746,0.00,2.30,0.00,0.000,6,0.000,0.032,3130,1581,3380,0,0,0,0,0,0
$GC,5996,-1.21,-146.0,561.9,-5.0,262,6000,0.00,2.62,0.00,0.000,4,0.000,0.044,3130,3163,3378,0,0,0,0,0,0
$GC,6022,-1.28,-146.0,563.1,-6.4,262,6027,0.10,2.67,0.00,0.000,6,0.077,0.044,3073,1574,3378,0,0,0,0,0,0
$GC,6283,-1.20,-146.0,583.7,-8.3,269,6288,0.22,2.47,0.00,0.000,4,0.095,0.076,3122,168,3377,0,0,0,0,0,0
$GC,6345,-1.20,-146.0,588.8,-8.1,270,6350,0.00,2.30,0.00,0.000,6,0.000,0.034,3122,1578,3376,0,0,0,0,0,0
$GC,6614,-1.20,-146.0,611.5,-9.0,277,6618,0.00,2.62,0.00,0.000,4,0.000,0.047,3122,3161,3375,0,0,0,0,0,0
$GC,6628,-1.20,-146.0,613.1,-9.5,277,6633,0.00,2.67,0.00,0.000,6,0.000,0.044,3122,1566,3375,0,0,0,0,0,0
$GC,6898,-1.20,-146.0,637.7,-9.1,284,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1566,3373,0,0,0,0,0,0
$GC,7141,-1.20,-146.0,657.1,-7.8,290,7145,0.00,2.70,0.00,0.000,4,0.000,0.046,3122,3165,3372,0,0,0,0,0,0
$GC,7157,-1.20,-146.0,658.5,-7.6,290,7161,0.00,2.67,0.00,0.000,6,0.000,0.047,3122,1578,3372,0,0,0,0,0,0
$GC,7427,-1.20,-146.0,677.3,-6.9,297,7431,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,167,3370,0,0,0,0,0,0
$GC,7478,-1.20,-146.0,681.4,-8.5,298,7482,0.00,2.30,0.00,0.000,6,0.000,0.035,3122,1573,3370,0,0,0,0,0,0
$GC,7756,-1.20,-146.0,701.1,-7.3,305,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1574,3369,0,0,0,0,0,0
$GC,8001,-1.20,-146.0,719.7,-7.6,311,8005,0.00,2.45,0.00,0.000,4,0.000,0.074,3122,172,3368,0,0,0,0,0,0
$GC,8020,-1.20,-146.0,721.4,-8.0,311,8024,0.00,2.30,0.00,0.000,6,0.000,0.034,3122,1578,3368,0,0,0,0,0,0
$GC,8284,-1.20,-146.0,740.6,-7.3,318,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1578,3366,0,0,0,0,0,0
$GC,8527,-1.20,-146.0,758.8,-7.4,324,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1578,3366,0,0,0,0,0,0
$GC,8773,-1.24,-146.0,778.6,-8.2,330,8777,0.00,2.50,0.00,0.000,4,0.000,0.076,3122,165,3365,0,0,0,0,0,0
$GC,8797,-1.24,-146.0,780.9,-9.9,330,8801,0.00,2.30,0.00,0.000,6,0.000,0.035,3122,1573,3365,0,0,0,0,0,0
$GC,9060,-1.24,-146.0,803.3,-8.4,337,9065,0.00,2.67,0.00,0.000,4,0.000,0.051,3122,3163,3364,0,0,0,0,0,0
$GC,9081,-1.30,-146.0,805.1,-9.0,337,9086,0.00,2.72,0.00,0.000,6,0.000,0.049,3122,1567,3364,0,0,0,0,0,0
$GC,9346,-1.35,-146.0,825.1,-7.3,344,9351,0.12,2.50,0.00,0.000,4,0.065,0.082,3067,168,3363,0,0,0,0,0,0
$GC,9370,-1.29,-146.0,827.4,-10.5,344,9375,0.15,2.30,0.00,0.000,6,0.105,0.035,3101,1574,3363,0,0,0,0,0,0
$GC,9632,-1.29,-146.0,846.6,-7.3,351,9636,0.00,2.50,0.00,0.000,4,0.000,0.076,3101,162,3362,0,0,0,0,0,0
$GC,9675,-1.29,-146.0,850.2,-7.9,352,9679,0.00,2.30,0.00,0.000,6,0.000,0.036,3101,1561,3362,0,0,0,0,0,0
$GC,9963,-1.29,-146.0,871.7,-7.5,359,9968,0.00,2.72,0.00,0.000,4,0.000,0.054,3101,3173,3361,0,0,0,0,0,0
$GC,9987,-1.29,-146.0,873.8,-8.0,359,9992,0.00,2.75,0.00,0.000,6,0.000,0.049,3101,1560,3361,0,0,0,0,0,0
$GC,10247,-1.29,-146.0,891.9,-7.0,366,10251,0.00,2.47,0.00,0.000,4,0.000,0.084,3101,166,3360,0,0,0,0,0,0
$GC,10272,-1.29,-146.0,893.8,-8.3,366,10276,0.00,2.30,0.00,0.000,6,0.000,0.035,3101,1567,3360,0,0,0,0,0,0
$STATE,10366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10366,begin apogee
$GC,10372,-0.31,0.0,900.8,7.3,369,10494,0.95,0.00,118.03,1.168,6,0.078,0.000,3315,1351,2800,0,0,0,0,0,0
$STATE,10495,end apogee,CONTROL_FINISHED_OK
$STATE,10495,begin climb
$GC,10497,1.27,146.0,904.0,0.0,372,10639,1.45,2.20,130.45,1.141,4,0.031,0.078,3666,177,2204,0,0,0,0,0,0
$GC,10701,0.98,146.0,889.3,15.4,377,10706,0.32,1.98,0.00,0.000,6,0.115,0.032,3601,1366,2200,0,0,0,0,0,0
$GC,10992,0.88,146.0,858.3,10.4,384,10997,0.10,2.12,0.00,0.000,4,0.133,0.072,3579,175,2194,0,0,0,0,0,0
$GC,11016,0.78,146.0,855.1,10.6,384,11021,0.12,1.95,0.00,0.000,6,0.123,0.032,3555,1356,2194,0,0,0,0,0,0
$GC,11277,0.82,178.3,832.4,8.5,391,11313,0.00,2.15,28.67,1.073,4,0.000,0.073,3555,176,2072,0,0,0,0,0,0
$GC,11356,0.82,178.3,825.0,10.8,392,11360,0.00,1.92,0.00,0.000,6,0.000,0.033,3555,1346,2071,0,0,0,0,0,0
$GC,11610,0.84,197.8,801.9,9.1,399,11635,0.00,2.83,18.45,1.027,4,0.000,0.054,3555,2935,1992,0,0,0,0,0,0
$GC,11657,0.93,222.4,797.7,8.9,400,11690,0.12,2.75,24.60,1.041,6,0.067,0.049,3600,1355,1893,0,0,0,0,0,0
$GC,11947,0.88,222.4,761.6,12.7,407,11951,0.12,2.17,0.00,0.000,4,0.116,0.084,3575,162,1888,0,0,0,0,0,0
$GC,11972,0.83,222.4,758.3,10.6,407,11976,0.00,1.98,0.00,0.000,6,0.000,0.031,3574,1358,1888,0,0,0,0,0,0
$GC,12235,0.83,222.4,729.2,11.1,414,12240,0.00,2.70,0.00,0.000,4,0.000,0.054,3575,2938,1886,0,0,0,0,0,0
$GC,12270,0.88,222.4,725.4,12.0,414,12274,0.00,2.75,0.00,0.000,6,0.000,0.049,3575,1346,1884,0,0,0,0,0,0
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$STATE,18356,end climb,SURFACE_DEPTH_REACHED
$STATE,18356,begin surface coast
$FINISH,0.8,1.023891
$STATE,18402,end surface coast,CONTROL_FINISHED_OK
$STATE,18402,begin surface
$SM_CCo,18427,41.05,0.452,0,0,1209,390.03
$SM_GC,1.57,0.00,0.00,41.05,0.000,0.000,0.452,409,1617,1209,-13.69,1.05,390.03
$IRIDIUM_FIX,2251.04,-15742.79,290802,101042
$TT8_MAMPS,0.027612
$HUMID,64.45
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,21.20
$XPDR_PINGS,14
$24V_AH,23.2,9.419
$10V_AH,9.9,8.197
$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,32.950,221.750,407.350,41.050,0.000,47.820,77.041,288.082,3.500,0.000,16.906,1511.162,13875.555,566.242,2280.249,865.514,33.369,1626.119,0.000,2274.488,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,84.370,1168.141,451.763,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,462.681,308.772,394.263,661.615,900.665,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,50831,679
$CAP_FILE_SIZE,184317,0
$CFSIZE,260165632,167403520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040613,155025,2254.934,-15746.654,26,2.9,45,10.1