version: 66.06
glider: 148
mission: 12
dive: 90
start: 6 9 113 14 6 58
data:
$ID,148
$MISSION,12
$DIVE,90
$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,-1016969.1
$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,27
$R_STBD_OVSHOOT,117
$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
$GPS1,135859,2301.867,-15800.414,37,1.8,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-78.2
$GPS2,140606,2301.856,-15800.457,12,1.4,29,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.171
$KALMAN_X,-92446.8,506.5,-146.9,91399.3,-1065.6
$KALMAN_Y,18378.2,-46.1,-151.8,13054.9,335.4
$MHEAD_RNG_PITCHd_Wd,121.0,57926,-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,-67.53,0.000,2,0.000,0.000,411,1602,2972,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.0,9,122,14.43,2.40,-7.68,0.000,4,0.161,0.055,3103,172,3399,0,0,0,0,0,0
$GC,202,-1.04,-146.0,31.8,-19.3,25,207,0.25,2.08,0.00,0.000,6,0.097,0.018,3157,1518,3399,0,0,0,0,0,0
$GC,472,-0.96,-146.0,68.6,-13.4,49,476,0.00,2.45,0.00,0.000,4,0.000,0.022,3157,3078,3400,0,0,0,0,0,0
$GC,547,-1.02,-146.0,78.3,-10.5,55,552,0.00,2.42,0.00,0.000,6,0.000,0.030,3157,1574,3400,0,0,0,0,0,0
$GC,815,-0.96,-146.0,107.1,-11.3,79,819,0.00,2.30,0.00,0.000,4,0.000,0.042,3157,165,3400,0,0,0,0,0,0
$GC,845,-0.89,-146.0,110.8,-11.9,81,850,0.15,2.08,0.00,0.000,6,0.099,0.017,3191,1546,3400,0,0,0,0,0,0
$GC,1109,-0.89,-146.0,134.5,-8.6,105,1114,0.00,2.47,0.00,0.000,4,0.000,0.021,3191,3122,3401,0,0,0,0,0,0
$GC,1129,-0.94,-146.0,136.3,-7.8,106,1138,0.00,2.53,0.00,0.000,6,0.000,0.026,3191,1575,3401,0,0,0,0,0,0
$GC,1391,-0.94,-146.0,157.9,-9.0,131,1395,0.00,2.28,0.00,0.000,4,0.000,0.043,3191,172,3401,0,0,0,0,0,0
$GC,1428,-0.99,-146.0,161.5,-9.6,134,1432,0.00,2.10,0.00,0.000,6,0.000,0.017,3191,1580,3402,0,0,0,0,0,0
$GC,1692,-1.04,-146.0,186.3,-9.9,158,1696,0.15,2.40,0.00,0.000,4,0.055,0.022,3125,3116,3402,0,0,0,0,0,0
$GC,1713,-1.04,-146.0,188.8,-11.0,159,1722,0.10,2.50,0.00,0.000,6,0.076,0.026,3153,1579,3402,0,0,0,0,0,0
$GC,1976,-1.04,-146.0,217.7,-10.8,173,1980,0.00,2.30,0.00,0.000,4,0.000,0.043,3153,170,3402,0,0,0,0,0,0
$GC,1994,-1.04,-146.0,219.8,-10.4,173,1998,0.00,2.12,0.00,0.000,6,0.000,0.018,3153,1581,3402,0,0,0,0,0,0
$GC,2264,-1.04,-146.0,246.5,-9.9,180,2268,0.00,2.40,0.00,0.000,4,0.000,0.023,3153,3122,3402,0,0,0,0,0,0
$GC,2293,-1.09,-146.0,249.6,-9.6,180,2297,0.00,2.50,0.00,0.000,6,0.000,0.028,3153,1574,3402,0,0,0,0,0,0
$GC,2548,-1.09,-146.0,272.5,-8.9,187,2552,0.00,2.42,0.00,0.000,4,0.000,0.025,3153,3113,3402,0,0,0,0,0,0
$GC,2568,-1.09,-146.0,274.2,-8.3,187,2572,0.00,2.47,0.00,0.000,6,0.000,0.028,3153,1583,3402,0,0,0,0,0,0
$GC,2832,-1.09,-146.0,294.0,-7.5,194,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1583,3402,0,0,0,0,0,0
$GC,3076,-1.09,-146.0,312.2,-7.4,200,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1583,3401,0,0,0,0,0,0
$GC,3321,-1.09,-146.0,331.2,-7.9,206,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1583,3400,0,0,0,0,0,0
$GC,3563,-1.14,-146.0,350.0,-7.7,212,3568,0.00,2.33,0.00,0.000,4,0.000,0.053,3153,176,3399,0,0,0,0,0,0
$GC,3598,-1.20,-146.0,352.8,-8.8,212,3603,0.12,2.15,0.00,0.000,6,0.063,0.021,3094,1549,3399,0,0,0,0,0,0
$GC,3850,-1.12,-146.0,378.5,-10.4,218,3852,0.20,0.00,0.00,0.000,6,0.091,0.000,3138,1551,3398,0,0,0,0,0,0
$GC,4092,-1.12,-146.0,398.7,-8.1,224,4096,0.00,2.60,0.00,0.000,4,0.000,0.035,3138,3141,3396,0,0,0,0,0,0
$GC,4111,-1.12,-146.0,400.4,-8.4,224,4116,0.00,2.58,0.00,0.000,6,0.000,0.037,3138,1583,3396,0,0,0,0,0,0
$GC,4377,-1.12,-146.0,422.5,-8.5,231,4381,0.00,2.55,0.00,0.000,4,0.000,0.037,3138,3145,3394,0,0,0,0,0,0
$GC,4391,-1.12,-146.0,424.0,-8.5,231,4396,0.00,2.55,0.00,0.000,6,0.000,0.033,3137,1579,3394,0,0,0,0,0,0
$GC,4660,-1.12,-146.0,446.0,-8.2,238,4664,0.00,2.40,0.00,0.000,4,0.000,0.065,3138,174,3392,0,0,0,0,0,0
$GC,4713,-1.12,-146.0,450.6,-8.9,239,4717,0.00,2.20,0.00,0.000,6,0.000,0.026,3138,1577,3392,0,0,0,0,0,0
$GC,4995,-1.12,-146.0,472.9,-7.8,246,4999,0.00,2.53,0.00,0.000,4,0.000,0.038,3138,3136,3391,0,0,0,0,0,0
$GC,5024,-1.20,-146.0,475.2,-7.6,246,5028,0.00,2.58,0.00,0.000,6,0.000,0.038,3138,1582,3391,0,0,0,0,0,0
$GC,5280,-1.25,-146.0,494.9,-7.9,253,5285,0.10,2.45,0.00,0.000,4,0.077,0.071,3090,170,3388,0,0,0,0,0,0
$GC,5295,-1.25,-146.0,496.5,-8.2,253,5300,0.10,2.25,0.00,0.000,6,0.120,0.028,3113,1583,3388,0,0,0,0,0,0
$GC,5566,-1.25,-146.0,522.3,-9.5,260,5570,0.00,2.45,0.00,0.000,4,0.000,0.066,3113,166,3387,0,0,0,0,0,0
$GC,5589,-1.25,-146.0,524.9,-10.7,260,5593,0.00,2.28,0.00,0.000,6,0.000,0.030,3113,1577,3387,0,0,0,0,0,0
$GC,5852,-1.25,-146.0,551.5,-10.1,267,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1578,3386,0,0,0,0,0,0
$GC,6096,-1.25,-146.0,576.9,-10.5,273,6101,0.00,2.45,0.00,0.000,4,0.000,0.070,3113,171,3384,0,0,0,0,0,0
$GC,6121,-1.25,-146.0,579.4,-10.9,273,6125,0.00,2.28,0.00,0.000,6,0.000,0.031,3113,1576,3384,0,0,0,0,0,0
$GC,6380,-1.25,-146.0,604.1,-9.4,280,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1576,3383,0,0,0,0,0,0
$GC,6624,-1.25,-146.0,626.1,-9.0,286,6628,0.00,2.65,0.00,0.000,4,0.000,0.048,3113,3157,3382,0,0,0,0,0,0
$GC,6640,-1.25,-146.0,627.6,-8.9,286,6645,0.00,2.67,0.00,0.000,6,0.000,0.045,3113,1571,3382,0,0,0,0,0,0
$GC,6909,-1.25,-146.0,651.4,-8.7,293,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1571,3380,0,0,0,0,0,0
$GC,7153,-1.25,-146.0,670.0,-7.5,299,7157,0.00,2.47,0.00,0.000,4,0.000,0.080,3113,165,3379,0,0,0,0,0,0
$GC,7192,-1.25,-146.0,673.4,-9.5,299,7197,0.00,2.30,0.00,0.000,6,0.000,0.034,3113,1574,3378,0,0,0,0,0,0
$GC,7442,-1.25,-146.0,693.3,-8.0,306,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1574,3377,0,0,0,0,0,0
$GC,7685,-1.25,-146.0,712.4,-7.8,312,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1574,3376,0,0,0,0,0,0
$GC,7929,-1.25,-146.0,730.6,-7.3,318,7933,0.00,2.47,0.00,0.000,4,0.000,0.074,3113,168,3376,0,0,0,0,0,0
$GC,7968,-1.25,-146.0,733.6,-7.7,318,7973,0.00,2.30,0.00,0.000,6,0.000,0.034,3113,1572,3375,0,0,0,0,0,0
$GC,8218,-1.25,-146.0,751.1,-6.9,325,8222,0.00,2.45,0.00,0.000,4,0.000,0.074,3113,168,3374,0,0,0,0,0,0
$GC,8242,-1.25,-146.0,753.0,-8.7,325,8245,0.00,2.28,0.00,0.000,6,0.000,0.034,3113,1562,3373,0,0,0,0,0,0
$GC,8507,-1.25,-146.0,771.8,-7.1,332,8511,0.00,2.67,0.00,0.000,4,0.000,0.051,3113,3155,3373,0,0,0,0,0,0
$GC,8521,-1.25,-146.0,773.2,-7.2,332,8526,0.00,2.70,0.00,0.000,6,0.000,0.047,3113,1563,3373,0,0,0,0,0,0
$GC,8790,-1.25,-146.0,793.3,-7.6,339,8794,0.00,2.45,0.00,0.000,4,0.000,0.081,3113,169,3371,0,0,0,0,0,0
$GC,8815,-1.25,-146.0,795.2,-8.3,339,8819,0.00,2.28,0.00,0.000,6,0.000,0.033,3113,1563,3371,0,0,0,0,0,0
$GC,9079,-1.25,-146.0,815.2,-7.4,346,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1564,3371,0,0,0,0,0,0
$GC,9323,-1.25,-146.0,831.9,-6.7,352,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1564,3370,0,0,0,0,0,0
$GC,9568,-1.25,-146.0,846.4,-6.0,358,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1564,3369,0,0,0,0,0,0
$GC,9810,-1.25,-146.0,862.1,-6.5,364,9814,0.00,2.45,0.00,0.000,4,0.000,0.075,3113,162,3368,0,0,0,0,0,0
$GC,9824,-1.25,-146.0,863.2,-6.8,364,9828,0.00,2.30,0.00,0.000,6,0.000,0.037,3113,1570,3368,0,0,0,0,0,0
$GC,10093,-1.25,-146.0,881.6,-6.9,371,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1570,3367,0,0,0,0,0,0
$GC,10338,-1.25,-146.0,897.0,-6.3,377,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1570,3366,0,0,0,0,0,0
$STATE,10415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10415,begin apogee
$GC,10421,-0.31,0.0,901.6,5.9,379,10544,0.90,0.00,119.70,1.171,6,0.077,0.000,3317,1338,2800,0,0,0,0,0,0
$STATE,10545,end apogee,CONTROL_FINISHED_OK
$STATE,10545,begin climb
$GC,10548,1.27,146.0,903.8,0.0,382,10689,1.45,2.15,130.48,1.146,4,0.031,0.078,3670,171,2203,0,0,0,0,0,0
$GC,10773,0.98,146.0,883.6,17.6,387,10778,0.35,1.95,0.00,0.000,6,0.112,0.031,3600,1352,2199,0,0,0,0,0,0
$GC,11035,0.88,146.0,854.9,10.6,394,11039,0.10,2.10,0.00,0.000,4,0.135,0.072,3580,176,2194,0,0,0,0,0,0
$GC,11063,0.78,146.0,851.5,10.0,394,11068,0.12,1.92,0.00,0.000,6,0.124,0.031,3556,1346,2193,0,0,0,0,0,0
$GC,11323,0.83,192.3,830.4,7.9,401,11371,0.00,2.12,41.22,1.088,4,0.000,0.073,3555,178,2015,0,0,0,0,0,0
$GC,11393,0.84,194.7,824.5,9.9,402,11397,0.00,1.95,0.00,0.000,6,0.000,0.031,3555,1353,2014,0,0,0,0,0,0
$GC,11657,0.87,219.2,800.6,8.9,409,11689,0.00,2.72,25.38,1.048,4,0.000,0.049,3555,2928,1905,0,0,0,0,0,0
$GC,11706,0.96,251.8,796.2,8.5,410,11745,0.17,2.75,31.45,1.049,6,0.053,0.048,3612,1347,1773,0,0,0,0,0,0
$GC,11990,0.90,251.8,759.5,13.2,417,11992,0.15,0.00,0.00,0.000,6,0.110,0.000,3582,1347,1767,0,0,0,0,0,0
$GC,12233,0.90,251.8,731.6,11.3,423,12238,0.00,2.67,0.00,0.000,4,0.000,0.045,3582,2929,1765,0,0,0,0,0,0
$GC,12296,0.97,251.8,724.8,10.6,424,12300,0.00,2.70,0.00,0.000,6,0.000,0.049,3581,1351,1762,0,0,0,0,0,0
$GC,12566,0.97,251.8,693.8,11.8,431,12570,0.00,2.70,0.00,0.000,4,0.000,0.046,3581,2937,1761,0,0,0,0,0,0
$GC,12589,0.97,251.8,690.6,11.7,431,12594,0.00,2.72,0.00,0.000,6,0.000,0.050,3581,1357,1760,0,0,0,0,0,0
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$GC,14943,1.13,251.8,411.3,11.6,487,14949,0.12,2.62,0.00,0.000,6,0.067,0.044,3651,1370,1756,0,0,0,0,0,0
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$STATE,18424,end climb,SURFACE_DEPTH_REACHED
$STATE,18424,begin surface coast
$FINISH,0.9,1.015669
$STATE,18455,end surface coast,CONTROL_FINISHED_OK
$STATE,18456,begin surface
$SM_CCo,18479,47.30,0.444,0,0,1249,380.21
$SM_GC,1.70,0.00,0.00,47.30,0.000,0.000,0.444,414,1631,1249,-13.67,1.72,380.21
$IRIDIUM_FIX,2253.38,-15759.74,030902,080802
$TT8_MAMPS,0.027612
$HUMID,63.42
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,15
$24V_AH,23.3,12.784
$10V_AH,9.9,11.225
$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,33.250,202.050,394.975,47.300,0.000,30.866,36.583,194.352,3.750,0.000,31.273,1527.898,13814.807,550.219,2355.340,696.455,33.360,1592.870,0.000,2335.335,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,80.535,1171.209,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,481.413,335.989,429.342,749.971,1020.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54132,707
$CAP_FILE_SIZE,174852,0
$CFSIZE,260165632,165658624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090613,191706,2300.571,-15758.759,39,1.2,39,10.1