version: 66.06
glider: 148
mission: 12
dive: 89
start: 6 9 113 8 44 45
data:
$ID,148
$MISSION,12
$DIVE,89
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1016937.2
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,97
$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
$GPS1,083556,2302.880,-15802.521,36,2.7,55,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-76.2
$GPS2,084351,2302.890,-15802.554,8,3.9,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.091
$KALMAN_X,-92167.7,311.8,594.0,86995.3,-2023.7
$KALMAN_Y,17764.5,368.2,343.1,14675.6,-876.7
$MHEAD_RNG_PITCHd_Wd,100.3,61761,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.95,0.000,2,0.000,0.000,415,1580,2979,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.6,9,122,13.90,2.38,-7.60,0.000,4,0.147,0.054,3104,162,3398,0,0,0,0,0,0
$GC,177,-1.04,-146.0,26.7,-19.6,21,185,0.20,2.12,0.00,0.000,6,0.085,0.018,3152,1527,3398,0,0,0,0,0,0
$GC,454,-0.93,-146.0,67.0,-13.7,47,459,0.15,2.55,0.00,0.000,4,0.105,0.022,3184,3142,3398,0,0,0,0,0,0
$GC,486,-0.93,-146.0,71.9,-12.4,49,491,0.00,2.55,0.00,0.000,6,0.000,0.028,3184,1556,3398,0,0,0,0,0,0
$GC,752,-0.93,-146.0,99.5,-10.2,73,757,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1556,3399,0,0,0,0,0,0
$GC,1013,-0.93,-146.0,126.2,-10.1,98,1017,0.00,2.50,0.00,0.000,4,0.000,0.021,3184,3142,3399,0,0,0,0,0,0
$GC,1042,-0.98,-146.0,128.7,-9.9,100,1047,0.00,2.53,0.00,0.000,6,0.000,0.033,3184,1569,3399,0,0,0,0,0,0
$GC,1309,-0.98,-146.0,153.9,-9.9,124,1313,0.00,2.28,0.00,0.000,4,0.000,0.043,3184,174,3400,0,0,0,0,0,0
$GC,1327,-0.98,-146.0,156.4,-9.9,125,1333,0.00,2.12,0.00,0.000,6,0.000,0.018,3184,1610,3399,0,0,0,0,0,0
$GC,1592,-0.98,-146.0,180.6,-8.8,150,1596,0.00,2.35,0.00,0.000,4,0.000,0.022,3184,3112,3400,0,0,0,0,0,0
$GC,1619,-1.05,-146.0,182.9,-8.6,152,1624,0.12,2.47,0.00,0.000,6,0.062,0.027,3112,1574,3400,0,0,0,0,0,0
$GC,1886,-0.92,-146.0,218.2,-13.7,168,1888,0.32,0.00,0.00,0.000,6,0.084,0.000,3183,1574,3400,0,0,0,0,0,0
$GC,2129,-0.99,-146.0,239.1,-7.8,174,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1574,3400,0,0,0,0,0,0
$GC,2373,-1.07,-146.0,254.6,-6.3,180,2378,0.12,2.42,0.00,0.000,4,0.065,0.023,3125,3102,3400,0,0,0,0,0,0
$GC,2408,-1.07,-146.0,257.5,-8.8,180,2413,0.12,2.45,0.00,0.000,6,0.099,0.030,3153,1580,3400,0,0,0,0,0,0
$GC,2658,-1.07,-146.0,278.0,-8.3,186,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1581,3400,0,0,0,0,0,0
$GC,2903,-1.07,-146.0,297.1,-7.6,192,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1581,3400,0,0,0,0,0,0
$GC,3145,-1.07,-146.0,313.4,-6.6,198,3149,0.00,2.33,0.00,0.000,4,0.000,0.050,3153,166,3399,0,0,0,0,0,0
$GC,3178,-1.11,-146.0,316.0,-8.2,198,3182,0.00,2.15,0.00,0.000,6,0.000,0.021,3153,1549,3399,0,0,0,0,0,0
$GC,3433,-1.11,-146.0,335.0,-7.7,205,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1551,3398,0,0,0,0,0,0
$GC,3678,-1.16,-146.0,355.4,-8.4,211,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1551,3397,0,0,0,0,0,0
$GC,3921,-1.21,-146.0,375.6,-8.2,217,3923,0.12,0.00,0.00,0.000,6,0.065,0.000,3096,1551,3395,0,0,0,0,0,0
$GC,4164,-1.14,-146.0,401.1,-10.3,223,4166,0.17,0.00,0.00,0.000,6,0.094,0.000,3135,1551,3393,0,0,0,0,0,0
$GC,4409,-1.14,-146.0,421.4,-8.3,229,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1551,3392,0,0,0,0,0,0
$GC,4651,-1.14,-146.0,440.4,-7.7,235,4656,0.00,2.58,0.00,0.000,4,0.000,0.036,3135,3131,3391,0,0,0,0,0,0
$GC,4666,-1.14,-146.0,441.7,-7.5,235,4670,0.00,2.53,0.00,0.000,6,0.000,0.033,3135,1588,3391,0,0,0,0,0,0
$GC,4935,-1.14,-146.0,461.7,-7.5,242,4939,0.00,2.40,0.00,0.000,4,0.000,0.066,3135,175,3389,0,0,0,0,0,0
$GC,4954,-1.14,-146.0,463.4,-8.5,242,4958,0.00,2.22,0.00,0.000,6,0.000,0.026,3135,1580,3389,0,0,0,0,0,0
$GC,5217,-1.14,-146.0,484.3,-8.2,249,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1582,3387,0,0,0,0,0,0
$GC,5461,-1.14,-146.0,503.9,-8.2,255,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1582,3386,0,0,0,0,0,0
$GC,5706,-1.14,-146.0,522.6,-7.6,261,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1582,3385,0,0,0,0,0,0
$GC,5949,-1.14,-146.0,537.9,-5.9,267,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1582,3383,0,0,0,0,0,0
$GC,6193,-1.18,-146.0,550.8,-5.3,273,6197,0.00,2.60,0.00,0.000,4,0.000,0.047,3135,3140,3381,0,0,0,0,0,0
$GC,6209,-1.23,-146.0,551.5,-5.2,273,6214,0.00,2.58,0.00,0.000,6,0.000,0.041,3135,1585,3382,0,0,0,0,0,0
$GC,6478,-1.28,-146.0,566.9,-5.8,280,6483,0.12,2.47,0.00,0.000,4,0.065,0.074,3080,162,3380,0,0,0,0,0,0
$GC,6523,-1.19,-146.0,570.9,-9.6,281,6528,0.20,2.28,0.00,0.000,6,0.094,0.033,3125,1565,3380,0,0,0,0,0,0
$GC,6812,-1.19,-146.0,592.1,-7.4,288,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1565,3378,0,0,0,0,0,0
$GC,7054,-1.19,-146.0,610.5,-7.6,294,7059,0.00,2.65,0.00,0.000,4,0.000,0.048,3125,3151,3378,0,0,0,0,0,0
$GC,7074,-1.19,-146.0,612.0,-7.7,294,7078,0.00,2.65,0.00,0.000,6,0.000,0.044,3125,1578,3377,0,0,0,0,0,0
$GC,7339,-1.19,-146.0,631.6,-7.4,301,7344,0.00,2.62,0.00,0.000,4,0.000,0.045,3124,3154,3376,0,0,0,0,0,0
$GC,7363,-1.25,-146.0,633.7,-8.4,301,7368,0.00,2.62,0.00,0.000,6,0.000,0.045,3125,1584,3376,0,0,0,0,0,0
$GC,7624,-1.25,-146.0,652.9,-7.4,308,7628,0.00,2.50,0.00,0.000,4,0.000,0.080,3125,165,3375,0,0,0,0,0,0
$GC,7639,-1.25,-146.0,654.2,-7.5,308,7643,0.00,2.30,0.00,0.000,6,0.000,0.031,3125,1581,3375,0,0,0,0,0,0
$GC,7909,-1.25,-146.0,675.1,-7.9,315,7913,0.00,2.45,0.00,0.000,4,0.000,0.074,3125,172,3374,0,0,0,0,0,0
$GC,7928,-1.25,-146.0,676.9,-8.9,315,7932,0.00,2.30,0.00,0.000,6,0.000,0.034,3125,1580,3373,0,0,0,0,0,0
$GC,8193,-1.30,-146.0,698.3,-8.0,322,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1580,3372,0,0,0,0,0,0
$GC,8437,-1.35,-146.0,717.4,-7.8,328,8442,0.15,2.65,0.00,0.000,4,0.058,0.054,3065,3153,3371,0,0,0,0,0,0
$GC,8452,-1.35,-146.0,719.1,-7.8,328,8458,0.12,2.67,0.00,0.000,6,0.107,0.047,3093,1574,3371,0,0,0,0,0,0
$GC,8723,-1.35,-146.0,742.8,-8.8,335,8728,0.00,2.45,0.00,0.000,4,0.000,0.080,3092,170,3370,0,0,0,0,0,0
$GC,8742,-1.35,-146.0,744.8,-9.6,335,8747,0.00,2.30,0.00,0.000,6,0.000,0.034,3092,1578,3370,0,0,0,0,0,0
$GC,9008,-1.35,-146.0,768.8,-9.1,342,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,1579,3369,0,0,0,0,0,0
$GC,9250,-1.35,-146.0,791.2,-9.2,348,9254,0.00,2.47,0.00,0.000,4,0.000,0.074,3092,172,3368,0,0,0,0,0,0
$GC,9287,-1.35,-146.0,795.1,-10.4,348,9293,0.00,2.30,0.00,0.000,6,0.000,0.036,3093,1582,3368,0,0,0,0,0,0
$GC,9537,-1.35,-146.0,817.7,-9.0,355,9541,0.00,2.50,0.00,0.000,4,0.000,0.076,3092,166,3367,0,0,0,0,0,0
$GC,9557,-1.35,-146.0,819.7,-10.1,355,9561,0.00,2.30,0.00,0.000,6,0.000,0.035,3092,1580,3367,0,0,0,0,0,0
$GC,9826,-1.35,-146.0,842.7,-8.4,362,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1580,3366,0,0,0,0,0,0
$GC,10069,-1.35,-146.0,861.2,-7.4,368,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1580,3365,0,0,0,0,0,0
$GC,10315,-1.35,-146.0,877.4,-6.5,374,10319,0.00,2.47,0.00,0.000,4,0.000,0.075,3092,172,3364,0,0,0,0,0,0
$GC,10334,-1.35,-146.0,878.9,-7.3,374,10337,0.00,2.28,0.00,0.000,6,0.000,0.035,3092,1570,3364,0,0,0,0,0,0
$GC,10602,-1.35,-146.0,896.4,-6.5,381,10603,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1570,3363,0,0,0,0,0,0
$STATE,10680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10680,begin apogee
$GC,10688,-0.31,0.0,901.9,6.7,383,10811,1.00,0.00,118.97,1.170,6,0.080,0.000,3318,1338,2800,0,0,0,0,0,0
$STATE,10811,end apogee,CONTROL_FINISHED_OK
$STATE,10811,begin climb
$GC,10814,1.27,146.0,903.9,0.0,386,10956,1.45,2.12,130.75,1.144,4,0.029,0.079,3672,174,2202,0,0,0,0,0,0
$GC,11028,0.97,146.0,885.1,16.7,391,11032,0.38,1.95,0.00,0.000,6,0.111,0.031,3596,1360,2199,0,0,0,0,0,0
$GC,11301,0.89,146.0,853.4,11.2,398,11305,0.00,2.12,0.00,0.000,4,0.000,0.073,3595,173,2193,0,0,0,0,0,0
$GC,11326,0.76,146.0,850.5,11.3,398,11331,0.20,1.95,0.00,0.000,6,0.107,0.031,3553,1355,2193,0,0,0,0,0,0
$GC,11586,0.79,168.9,826.5,8.9,405,11608,0.00,0.00,20.17,1.047,6,0.000,0.000,3553,1356,2111,0,0,0,0,0,0
$GC,11830,0.81,186.7,804.2,9.2,411,11854,0.00,2.15,17.23,1.025,4,0.000,0.073,3553,177,2037,0,0,0,0,0,0
$GC,11870,0.83,203.9,800.3,9.2,411,11894,0.00,1.92,17.42,1.017,6,0.000,0.031,3553,1350,1968,0,0,0,0,0,0
$GC,12164,0.84,211.3,771.6,9.7,419,12177,0.00,2.72,7.70,0.881,4,0.000,0.052,3553,2930,1938,0,0,0,0,0,0
$GC,12212,0.98,237.8,767.0,8.8,420,12245,0.20,2.72,26.45,1.032,6,0.051,0.048,3614,1360,1829,0,0,0,0,0,0
$GC,12497,0.92,237.8,729.1,13.7,427,12502,0.15,2.17,0.00,0.000,4,0.107,0.083,3583,159,1825,0,0,0,0,0,0
$GC,12527,0.92,237.8,724.8,14.1,427,12531,0.00,1.95,0.00,0.000,6,0.000,0.031,3583,1359,1825,0,0,0,0,0,0
$GC,12786,0.92,237.8,695.1,11.3,434,12790,0.00,2.65,0.00,0.000,4,0.000,0.049,3583,2932,1823,0,0,0,0,0,0
$GC,12814,0.92,237.8,691.8,10.8,434,12818,0.00,2.72,0.00,0.000,6,0.000,0.048,3583,1346,1821,0,0,0,0,0,0
$GC,13070,0.92,237.8,662.8,11.4,441,13074,0.00,2.67,0.00,0.000,4,0.000,0.044,3583,2928,1821,0,0,0,0,0,0
$GC,13093,0.93,249.0,659.8,9.5,441,13112,0.00,2.70,10.10,0.887,6,0.000,0.048,3583,1344,1785,0,0,0,0,0,0
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$STATE,18657,end climb,SURFACE_DEPTH_REACHED
$STATE,18657,begin surface coast
$FINISH,0.9,1.023458
$STATE,18705,end surface coast,CONTROL_FINISHED_OK
$STATE,18705,begin surface
$SM_CCo,18730,44.78,0.442,0,0,1250,380.21
$SM_GC,1.68,0.00,0.00,44.78,0.000,0.000,0.442,411,1602,1250,-13.68,0.88,380.21
$IRIDIUM_FIX,2258.07,-15807.13,030902,030326
$TT8_MAMPS,0.027612
$HUMID,63.03
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.00
$XPDR_PINGS,12
$24V_AH,23.3,12.644
$10V_AH,9.9,11.096
$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,33.300,186.600,399.175,44.775,0.000,25.155,34.954,244.597,3.000,0.000,29.813,1514.976,14108.471,560.418,2311.855,746.180,33.367,1556.795,0.000,2298.540,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,82.836,1170.442,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.970,328.712,424.861,751.989,1050.762,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,54145,711
$CAP_FILE_SIZE,173520,0
$CFSIZE,260165632,165732352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090613,135859,2301.867,-15800.414,37,1.8,37,10.1