version: 66.06
glider: 148
mission: 12
dive: 69
start: 6 4 113 21 26 45
data:
$ID,148
$MISSION,12
$DIVE,69
$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,-1016450.2
$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,27
$R_STBD_OVSHOOT,93
$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
$GPS1,211723,2253.134,-15749.486,25,1.0,42,10.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.5
$GPS2,212551,2253.115,-15749.465,12,99.0,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.152,-0.211
$KALMAN_X,-61908.4,-8.7,246.3,79768.9,-1727.7
$KALMAN_Y,26926.4,-262.3,-131.2,-11479.6,95.5
$MHEAD_RNG_PITCHd_Wd,205.7,36664,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.62,0.000,2,0.000,0.000,411,1603,3183,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.3,-8.0,10,121,14.60,2.35,-3.47,0.000,4,0.167,0.048,3101,164,3396,0,0,0,0,0,0
$GC,205,-1.04,-146.0,38.3,-21.3,23,210,0.25,2.15,0.00,0.000,6,0.100,0.018,3155,1557,3397,0,0,0,0,0,0
$GC,472,-0.95,-146.0,77.8,-14.1,47,477,0.10,2.53,0.00,0.000,4,0.120,0.023,3176,3162,3398,0,0,0,0,0,0
$GC,514,-1.02,-146.0,83.8,-11.7,50,518,0.00,2.55,0.00,0.000,6,0.000,0.029,3176,1583,3398,0,0,0,0,0,0
$GC,776,-1.02,-146.0,107.8,-8.2,74,780,0.00,2.30,0.00,0.000,4,0.000,0.044,3176,167,3398,0,0,0,0,0,0
$GC,819,-1.02,-146.0,111.2,-9.4,77,823,0.00,2.20,0.00,0.000,6,0.000,0.018,3176,1614,3398,0,0,0,0,0,0
$GC,1086,-1.02,-146.0,143.2,-12.8,101,1091,0.00,2.38,0.00,0.000,4,0.000,0.022,3176,3130,3399,0,0,0,0,0,0
$GC,1105,-1.02,-146.0,146.3,-11.7,102,1114,0.00,2.53,0.00,0.000,6,0.000,0.027,3176,1584,3399,0,0,0,0,0,0
$GC,1373,-1.02,-146.0,167.1,-7.5,127,1377,0.00,2.30,0.00,0.000,4,0.000,0.044,3176,168,3399,0,0,0,0,0,0
$GC,1410,-1.02,-146.0,170.4,-7.8,130,1414,0.00,2.15,0.00,0.000,6,0.000,0.018,3176,1585,3399,0,0,0,0,0,0
$GC,1678,-1.02,-146.0,197.5,-11.5,154,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1588,3400,0,0,0,0,0,0
$GC,1949,-1.02,-146.0,218.8,-6.4,163,1953,0.00,2.42,0.00,0.000,4,0.000,0.022,3176,3130,3399,0,0,0,0,0,0
$GC,1963,-1.02,-146.0,219.6,-5.9,163,1967,0.00,2.50,0.00,0.000,6,0.000,0.026,3176,1569,3399,0,0,0,0,0,0
$GC,2238,-1.02,-146.0,238.8,-7.7,170,2242,0.00,2.30,0.00,0.000,4,0.000,0.046,3176,170,3399,0,0,0,0,0,0
$GC,2275,-1.07,-146.0,242.2,-9.0,170,2282,0.10,2.15,0.00,0.000,6,0.075,0.018,3121,1579,3399,0,0,0,0,0,0
$GC,2526,-1.00,-146.0,269.0,-10.7,177,2528,0.20,0.00,0.00,0.000,6,0.091,0.000,3166,1582,3399,0,0,0,0,0,0
$GC,2771,-1.05,-146.0,290.1,-9.0,183,2775,0.00,2.45,0.00,0.000,4,0.000,0.025,3166,3140,3399,0,0,0,0,0,0
$GC,2806,-1.15,-146.0,293.8,-10.3,183,2811,0.15,2.53,0.00,0.000,6,0.053,0.031,3086,1581,3399,0,0,0,0,0,0
$GC,3056,-1.02,-146.0,325.9,-12.2,189,3061,0.30,2.33,0.00,0.000,4,0.086,0.048,3157,169,3399,0,0,0,0,0,0
$GC,3091,-1.07,-146.0,328.7,-7.1,189,3095,0.00,2.15,0.00,0.000,6,0.000,0.021,3156,1550,3398,0,0,0,0,0,0
$GC,3342,-1.11,-146.0,344.5,-6.8,195,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1552,3398,0,0,0,0,0,0
$GC,3585,-1.17,-146.0,364.0,-7.8,201,3587,0.12,0.00,0.00,0.000,6,0.066,0.000,3099,1552,3397,0,0,0,0,0,0
$GC,3830,-1.10,-146.0,385.6,-9.1,207,3832,0.20,0.00,0.00,0.000,6,0.091,0.000,3143,1552,3395,0,0,0,0,0,0
$GC,4072,-1.10,-146.0,409.4,-10.1,213,4076,0.00,2.60,0.00,0.000,4,0.000,0.035,3143,3154,3394,0,0,0,0,0,0
$GC,4110,-1.22,-146.0,412.8,-8.7,213,4116,0.10,2.62,0.00,0.000,6,0.074,0.038,3082,1574,3394,0,0,0,0,0,0
$GC,4361,-1.12,-146.0,439.2,-10.2,220,4367,0.25,2.40,0.00,0.000,4,0.091,0.064,3141,165,3392,0,0,0,0,0,0
$GC,4409,-1.18,-146.0,443.5,-7.9,221,4414,0.00,2.22,0.00,0.000,6,0.000,0.026,3141,1559,3392,0,0,0,0,0,0
$GC,4694,-1.23,-146.0,464.0,-7.7,228,4699,0.10,2.62,0.00,0.000,4,0.077,0.040,3091,3156,3390,0,0,0,0,0,0
$GC,4727,-1.23,-146.0,467.5,-10.6,228,4732,0.12,2.62,0.00,0.000,6,0.100,0.038,3119,1565,3390,0,0,0,0,0,0
$GC,4977,-1.23,-146.0,489.5,-8.6,234,4981,0.00,2.40,0.00,0.000,4,0.000,0.072,3119,169,3388,0,0,0,0,0,0
$GC,5022,-1.23,-146.0,493.6,-9.5,235,5026,0.00,2.25,0.00,0.000,6,0.000,0.030,3119,1566,3388,0,0,0,0,0,0
$GC,5309,-1.23,-146.0,516.3,-7.9,242,5313,0.00,2.62,0.00,0.000,4,0.000,0.043,3119,3160,3386,0,0,0,0,0,0
$GC,5354,-1.31,-146.0,519.6,-7.2,243,5359,0.00,2.65,0.00,0.000,6,0.000,0.041,3119,1566,3386,0,0,0,0,0,0
$GC,5641,-1.31,-146.0,541.2,-7.5,250,5646,0.00,2.42,0.00,0.000,4,0.000,0.076,3119,167,3384,0,0,0,0,0,0
$GC,5697,-1.31,-146.0,545.9,-9.1,251,5702,0.00,2.28,0.00,0.000,6,0.000,0.033,3119,1567,3383,0,0,0,0,0,0
$GC,5972,-1.31,-146.0,566.3,-7.4,258,5976,0.00,2.67,0.00,0.000,4,0.000,0.045,3120,3169,3382,0,0,0,0,0,0
$GC,5991,-1.31,-146.0,568.0,-7.6,258,5996,0.00,2.67,0.00,0.000,6,0.000,0.043,3119,1569,3382,0,0,0,0,0,0
$GC,6255,-1.31,-146.0,588.9,-8.2,265,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1569,3380,0,0,0,0,0,0
$GC,6500,-1.31,-146.0,610.5,-8.9,271,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1569,3379,0,0,0,0,0,0
$GC,6743,-1.31,-146.0,628.9,-7.3,277,6747,0.00,2.47,0.00,0.000,4,0.000,0.081,3119,169,3377,0,0,0,0,0,0
$GC,6766,-1.31,-146.0,630.8,-8.6,277,6770,0.00,2.28,0.00,0.000,6,0.000,0.035,3119,1568,3377,0,0,0,0,0,0
$GC,7030,-1.31,-146.0,649.9,-7.2,284,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1568,3376,0,0,0,0,0,0
$GC,7274,-1.31,-146.0,668.3,-7.7,290,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1568,3375,0,0,0,0,0,0
$GC,7517,-1.31,-146.0,688.5,-8.6,296,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1568,3373,0,0,0,0,0,0
$GC,7761,-1.31,-146.0,711.4,-9.4,302,7766,0.00,2.67,0.00,0.000,4,0.000,0.049,3119,3160,3372,0,0,0,0,0,0
$GC,7782,-1.36,-146.0,713.3,-10.1,302,7789,0.12,2.70,0.00,0.000,6,0.064,0.048,3054,1572,3372,0,0,0,0,0,0
$GC,8049,-1.25,-146.0,743.9,-11.4,309,8054,0.25,2.47,0.00,0.000,4,0.094,0.080,3113,165,3371,0,0,0,0,0,0
$GC,8102,-1.25,-146.0,748.9,-9.2,310,8107,0.00,2.30,0.00,0.000,6,0.000,0.035,3113,1571,3371,0,0,0,0,0,0
$GC,8380,-1.25,-146.0,769.2,-7.0,317,8385,0.00,2.67,0.00,0.000,4,0.000,0.050,3113,3163,3369,0,0,0,0,0,0
$GC,8404,-1.30,-146.0,770.8,-7.6,317,8409,0.00,2.70,0.00,0.000,6,0.000,0.049,3113,1565,3369,0,0,0,0,0,0
$GC,8665,-1.30,-146.0,787.4,-6.5,324,8670,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,168,3368,0,0,0,0,0,0
$GC,8712,-1.30,-146.0,791.0,-7.5,325,8716,0.00,2.28,0.00,0.000,6,0.000,0.034,3113,1561,3368,0,0,0,0,0,0
$GC,8994,-1.30,-146.0,810.3,-6.9,332,8998,0.00,2.45,0.00,0.000,4,0.000,0.075,3113,169,3367,0,0,0,0,0,0
$GC,9033,-1.30,-146.0,813.4,-8.0,332,9039,0.00,2.28,0.00,0.000,6,0.000,0.035,3113,1557,3367,0,0,0,0,0,0
$GC,9283,-1.30,-146.0,832.0,-7.4,339,9288,0.00,2.70,0.00,0.000,4,0.000,0.051,3113,3164,3366,0,0,0,0,0,0
$GC,9298,-1.30,-146.0,833.1,-7.3,339,9302,0.00,2.75,0.00,0.000,6,0.000,0.048,3113,1545,3366,0,0,0,0,0,0
$GC,9568,-1.30,-146.0,852.5,-7.3,346,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1545,3365,0,0,0,0,0,0
$GC,9810,-1.30,-146.0,870.1,-7.2,352,9815,0.00,2.72,0.00,0.000,4,0.000,0.045,3113,3166,3364,0,0,0,0,0,0
$GC,9825,-1.30,-146.0,871.3,-7.2,352,9829,0.00,2.75,0.00,0.000,6,0.000,0.048,3113,1550,3365,0,0,0,0,0,0
$GC,10095,-1.30,-146.0,891.0,-7.4,359,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1550,3363,0,0,0,0,0,0
$STATE,10213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10213,begin apogee
$GC,10219,-0.31,0.0,900.5,7.8,362,10342,0.90,0.00,119.35,1.170,6,0.076,0.000,3318,1357,2800,0,0,0,0,0,0
$STATE,10343,end apogee,CONTROL_FINISHED_OK
$STATE,10343,begin climb
$GC,10345,1.27,146.0,905.3,0.0,365,10487,1.45,2.22,130.68,1.145,4,0.028,0.085,3674,167,2203,0,0,0,0,0,0
$GC,10511,0.95,146.0,897.9,14.4,369,10516,0.40,2.00,0.00,0.000,6,0.111,0.031,3594,1373,2201,0,0,0,0,0,0
$GC,10786,0.89,165.5,872.0,9.1,376,10811,0.00,2.25,17.67,1.043,4,0.000,0.073,3593,173,2124,0,0,0,0,0,0
$GC,10844,0.77,165.5,865.7,11.3,377,10849,0.17,1.95,0.00,0.000,6,0.111,0.031,3556,1360,2124,0,0,0,0,0,0
$GC,11118,0.80,189.6,841.9,8.9,384,11142,0.00,0.00,22.77,1.059,6,0.000,0.000,3556,1361,2027,0,0,0,0,0,0
$GC,11363,0.80,189.8,817.8,10.0,390,11367,0.00,2.12,0.00,0.000,4,0.000,0.074,3556,172,2022,0,0,0,0,0,0
$GC,11399,0.80,189.8,813.5,11.0,390,11405,0.00,1.98,0.00,0.000,6,0.000,0.031,3556,1369,2022,0,0,0,0,0,0
$GC,11649,0.81,195.4,789.1,9.7,397,11662,0.00,2.20,5.88,0.815,4,0.000,0.074,3556,171,2003,0,0,0,0,0,0
$GC,11687,0.81,195.4,785.2,10.5,397,11690,0.00,1.95,0.00,0.000,6,0.000,0.031,3556,1363,2003,0,0,0,0,0,0
$GC,11940,0.81,195.4,759.1,10.3,404,11945,0.00,2.70,0.00,0.000,4,0.000,0.051,3556,2948,2001,0,0,0,0,0,0
$GC,11965,0.88,213.4,756.7,9.2,404,11989,0.00,2.72,18.50,1.009,6,0.000,0.049,3556,1364,1929,0,0,0,0,0,0
$GC,12276,0.88,213.4,725.2,10.5,412,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,1364,1926,0,0,0,0,0,0
$GC,12516,0.93,213.4,699.6,10.4,418,12521,0.12,2.70,0.00,0.000,4,0.069,0.044,3602,2948,1925,0,0,0,0,0,0
$GC,12542,0.93,213.4,696.5,12.0,418,12546,0.00,2.72,0.00,0.000,6,0.000,0.051,3602,1370,1923,0,0,0,0,0,0
$GC,12802,0.88,213.4,663.4,12.7,425,12806,0.12,2.15,0.00,0.000,4,0.117,0.083,3577,164,1923,0,0,0,0,0,0
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$STATE,18664,end climb,SURFACE_DEPTH_REACHED
$STATE,18665,begin surface coast
$FINISH,0.7,1.022324
$STATE,18704,end surface coast,CONTROL_FINISHED_OK
$STATE,18706,begin surface
$SM_CCo,18732,31.55,0.435,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,31.55,0.000,0.000,0.435,418,1603,1209,-13.65,0.65,390.03
$IRIDIUM_FIX,2246.36,-15745.85,290802,161639
$TT8_MAMPS,0.027612
$HUMID,62.71
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.00
$XPDR_PINGS,12
$24V_AH,23.2,9.715
$10V_AH,9.9,8.451
$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,34.750,192.925,426.500,31.550,0.000,29.265,37.680,273.091,3.000,0.000,34.250,1517.872,14102.044,571.308,2300.848,772.844,33.373,1598.150,0.000,2277.938,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,85.137,1169.675,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.784,322.433,416.443,704.836,960.485,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,54107,700
$CAP_FILE_SIZE,176898,0
$CFSIZE,260165632,167256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050613,024057,2251.265,-15751.997,41,1.8,45,10.1