version: 66.06
glider: 148
mission: 12
dive: 92
start: 6 10 113 0 59 17
data:
$ID,148
$MISSION,12
$DIVE,92
$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,-1017001.1
$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,28
$R_STBD_OVSHOOT,104
$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
$GPS1,005130,2258.702,-15757.213,70,1.6,70,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-78.8
$GPS2,005824,2258.667,-15757.262,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.180,-0.187
$KALMAN_X,-93338.8,-431.9,330.7,98215.7,-1064.3
$KALMAN_Y,19064.6,-129.1,-248.0,6650.5,927.1
$MHEAD_RNG_PITCHd_Wd,126.0,49883,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.10,0.000,2,0.000,0.000,413,1605,2958,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-4.4,9,122,14.05,2.40,-7.97,0.000,4,0.151,0.050,3101,164,3399,0,0,0,0,0,0
$GC,254,-1.08,-146.0,44.3,-18.4,29,259,0.22,2.10,0.00,0.000,6,0.108,0.017,3148,1543,3399,0,0,0,0,0,0
$GC,522,-0.98,-146.0,83.7,-14.7,53,527,0.10,2.50,0.00,0.000,4,0.123,0.022,3169,3138,3399,0,0,0,0,0,0
$GC,545,-0.98,-146.0,87.5,-13.3,54,554,0.00,2.55,0.00,0.000,6,0.000,0.027,3170,1576,3399,0,0,0,0,0,0
$GC,811,-0.98,-146.0,118.9,-11.6,79,815,0.00,2.28,0.00,0.000,4,0.000,0.043,3170,171,3400,0,0,0,0,0,0
$GC,829,-0.98,-146.0,121.7,-11.5,80,838,0.00,2.15,0.00,0.000,6,0.000,0.017,3169,1595,3400,0,0,0,0,0,0
$GC,1095,-0.98,-146.0,150.0,-10.7,105,1099,0.00,2.35,0.00,0.000,4,0.000,0.022,3170,3106,3400,0,0,0,0,0,0
$GC,1116,-0.98,-146.0,151.9,-10.0,106,1121,0.00,2.47,0.00,0.000,6,0.000,0.026,3170,1570,3401,0,0,0,0,0,0
$GC,1383,-0.98,-146.0,176.9,-9.1,130,1387,0.00,2.30,0.00,0.000,4,0.000,0.044,3170,168,3401,0,0,0,0,0,0
$GC,1410,-0.98,-146.0,179.8,-9.9,132,1414,0.00,2.08,0.00,0.000,6,0.000,0.018,3170,1564,3401,0,0,0,0,0,0
$GC,1682,-0.98,-146.0,204.4,-9.4,154,1686,0.00,2.42,0.00,0.000,4,0.000,0.021,3170,3123,3401,0,0,0,0,0,0
$GC,1701,-0.98,-146.0,206.5,-9.8,154,1705,0.00,2.50,0.00,0.000,6,0.000,0.026,3170,1574,3401,0,0,0,0,0,0
$GC,1966,-0.98,-146.0,230.5,-9.1,161,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1574,3401,0,0,0,0,0,0
$GC,2208,-0.98,-146.0,250.0,-8.3,167,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1574,3401,0,0,0,0,0,0
$GC,2452,-0.98,-146.0,272.2,-8.8,173,2456,0.00,2.42,0.00,0.000,4,0.000,0.023,3170,3117,3401,0,0,0,0,0,0
$GC,2491,-1.11,-146.0,274.9,-7.1,173,2498,0.12,2.50,0.00,0.000,6,0.061,0.029,3100,1579,3401,0,0,0,0,0,0
$GC,2742,-1.01,-146.0,299.7,-10.1,180,2744,0.28,0.00,0.00,0.000,6,0.084,0.000,3163,1579,3401,0,0,0,0,0,0
$GC,2986,-1.06,-146.0,317.4,-7.3,186,2990,0.00,2.42,0.00,0.000,4,0.000,0.027,3163,3108,3401,0,0,0,0,0,0
$GC,3006,-1.12,-146.0,319.1,-8.9,186,3012,0.10,2.50,0.00,0.000,6,0.074,0.032,3101,1581,3401,0,0,0,0,0,0
$GC,3271,-1.05,-146.0,349.4,-11.5,193,3276,0.25,2.35,0.00,0.000,4,0.085,0.052,3162,166,3400,0,0,0,0,0,0
$GC,3291,-1.05,-146.0,351.4,-10.1,193,3295,0.00,2.15,0.00,0.000,6,0.000,0.021,3162,1558,3400,0,0,0,0,0,0
$GC,3556,-1.12,-146.0,369.6,-6.6,200,3561,0.00,2.55,0.00,0.000,4,0.000,0.032,3162,3148,3399,0,0,0,0,0,0
$GC,3590,-1.25,-146.0,371.6,-5.4,200,3595,0.20,2.58,0.00,0.000,6,0.043,0.037,3069,1594,3398,0,0,0,0,0,0
$GC,3842,-1.12,-146.0,395.8,-9.9,206,3847,0.30,2.40,0.00,0.000,4,0.089,0.059,3139,171,3397,0,0,0,0,0,0
$GC,3890,-1.12,-146.0,399.9,-7.4,207,3894,0.00,2.22,0.00,0.000,6,0.000,0.024,3139,1589,3397,0,0,0,0,0,0
$GC,4173,-1.12,-146.0,420.1,-7.3,214,4178,0.00,2.42,0.00,0.000,4,0.000,0.062,3140,162,3395,0,0,0,0,0,0
$GC,4203,-1.12,-146.0,422.6,-8.5,214,4207,0.00,2.25,0.00,0.000,6,0.000,0.025,3139,1591,3395,0,0,0,0,0,0
$GC,4458,-1.12,-146.0,442.3,-7.6,221,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1591,3394,0,0,0,0,0,0
$GC,4701,-1.12,-146.0,460.8,-7.6,227,4706,0.00,2.55,0.00,0.000,4,0.000,0.038,3139,3149,3392,0,0,0,0,0,0
$GC,4722,-1.17,-146.0,462.4,-7.8,227,4727,0.00,2.60,0.00,0.000,6,0.000,0.037,3139,1585,3392,0,0,0,0,0,0
$GC,4987,-1.22,-146.0,482.2,-7.5,234,4991,0.00,2.42,0.00,0.000,4,0.000,0.070,3140,170,3390,0,0,0,0,0,0
$GC,5015,-1.22,-146.0,484.9,-9.3,234,5019,0.00,2.28,0.00,0.000,6,0.000,0.028,3139,1590,3390,0,0,0,0,0,0
$GC,5272,-1.27,-146.0,507.3,-9.0,241,5277,0.12,2.55,0.00,0.000,4,0.064,0.041,3085,3143,3388,0,0,0,0,0,0
$GC,5296,-1.27,-146.0,510.4,-11.9,241,5301,0.10,2.60,0.00,0.000,6,0.115,0.040,3109,1587,3388,0,0,0,0,0,0
$GC,5557,-1.27,-146.0,536.1,-9.6,248,5562,0.00,2.47,0.00,0.000,4,0.000,0.072,3108,163,3386,0,0,0,0,0,0
$GC,5604,-1.27,-146.0,540.8,-9.8,249,5608,0.00,2.30,0.00,0.000,6,0.000,0.032,3108,1581,3386,0,0,0,0,0,0
$GC,5886,-1.27,-146.0,566.0,-8.9,256,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1581,3384,0,0,0,0,0,0
$GC,6132,-1.27,-146.0,586.6,-8.3,262,6136,0.00,2.47,0.00,0.000,4,0.000,0.071,3108,163,3383,0,0,0,0,0,0
$GC,6151,-1.27,-146.0,588.5,-9.0,262,6155,0.00,2.28,0.00,0.000,6,0.000,0.031,3109,1581,3383,0,0,0,0,0,0
$GC,6414,-1.27,-146.0,609.4,-7.9,269,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1581,3381,0,0,0,0,0,0
$GC,6660,-1.27,-146.0,629.5,-8.2,275,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1581,3380,0,0,0,0,0,0
$GC,6902,-1.27,-146.0,651.1,-9.0,281,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1581,3379,0,0,0,0,0,0
$GC,7146,-1.27,-146.0,673.7,-9.0,287,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1581,3377,0,0,0,0,0,0
$GC,7389,-1.27,-146.0,693.0,-7.8,293,7394,0.00,2.50,0.00,0.000,4,0.000,0.076,3109,165,3377,0,0,0,0,0,0
$GC,7410,-1.27,-146.0,694.7,-9.0,293,7414,0.00,2.28,0.00,0.000,6,0.000,0.034,3109,1574,3376,0,0,0,0,0,0
$GC,7678,-1.27,-146.0,716.2,-7.9,300,7682,0.00,2.47,0.00,0.000,4,0.000,0.074,3109,168,3375,0,0,0,0,0,0
$GC,7706,-1.27,-146.0,718.7,-8.9,300,7710,0.00,2.30,0.00,0.000,6,0.000,0.034,3109,1574,3374,0,0,0,0,0,0
$GC,7962,-1.27,-146.0,740.2,-8.6,307,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1575,3374,0,0,0,0,0,0
$GC,8204,-1.27,-146.0,761.8,-8.9,313,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1574,3372,0,0,0,0,0,0
$GC,8448,-1.27,-146.0,784.2,-9.1,319,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1574,3372,0,0,0,0,0,0
$GC,8692,-1.27,-146.0,805.6,-8.7,325,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1575,3371,0,0,0,0,0,0
$GC,8936,-1.27,-146.0,826.1,-8.4,331,8940,0.00,2.47,0.00,0.000,4,0.000,0.074,3108,171,3370,0,0,0,0,0,0
$GC,8955,-1.27,-146.0,828.1,-9.4,331,8959,0.00,2.30,0.00,0.000,6,0.000,0.035,3108,1574,3370,0,0,0,0,0,0
$GC,9219,-1.27,-146.0,848.6,-7.6,338,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1574,3369,0,0,0,0,0,0
$GC,9464,-1.27,-146.0,865.7,-6.9,344,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1574,3368,0,0,0,0,0,0
$GC,9706,-1.27,-146.0,882.4,-6.8,350,9711,0.00,2.47,0.00,0.000,4,0.000,0.074,3108,171,3367,0,0,0,0,0,0
$GC,9721,-1.27,-146.0,883.6,-7.0,350,9725,0.00,2.28,0.00,0.000,6,0.000,0.033,3108,1576,3367,0,0,0,0,0,0
$STATE,9987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9987,begin apogee
$GC,9995,-0.31,0.0,902.1,6.8,357,10118,0.90,0.00,119.78,1.167,6,0.076,0.000,3314,1344,2800,0,0,0,0,0,0
$STATE,10119,end apogee,CONTROL_FINISHED_OK
$STATE,10119,begin climb
$GC,10121,1.27,146.0,905.4,0.0,360,10260,1.42,2.17,129.48,1.144,4,0.031,0.079,3666,182,2203,0,0,0,0,0,0
$GC,10368,0.98,146.0,883.2,16.6,365,10372,0.32,1.95,0.00,0.000,6,0.114,0.031,3601,1361,2199,0,0,0,0,0,0
$GC,10625,0.89,146.0,854.4,10.9,372,10629,0.10,2.12,0.00,0.000,4,0.136,0.073,3581,173,2193,0,0,0,0,0,0
$GC,10653,0.78,146.0,850.9,11.9,372,10658,0.12,1.92,0.00,0.000,6,0.123,0.031,3556,1347,2194,0,0,0,0,0,0
$GC,10913,0.81,168.0,827.5,9.0,379,10937,0.00,2.17,19.23,1.043,4,0.000,0.074,3556,179,2115,0,0,0,0,0,0
$GC,10976,0.81,168.0,820.9,11.8,380,10980,0.00,1.92,0.00,0.000,6,0.000,0.030,3556,1345,2114,0,0,0,0,0,0
$GC,11250,0.83,183.4,795.1,9.3,387,11270,0.00,2.75,15.02,1.004,4,0.000,0.048,3556,2934,2051,0,0,0,0,0,0
$GC,11305,0.94,209.1,790.1,8.8,388,11340,0.12,2.72,24.92,1.039,6,0.067,0.048,3604,1350,1947,0,0,0,0,0,0
$GC,11585,0.88,209.1,757.1,11.9,395,11590,0.12,2.15,0.00,0.000,4,0.117,0.084,3578,164,1942,0,0,0,0,0,0
$GC,11620,0.83,209.1,752.8,11.3,395,11623,0.00,1.95,0.00,0.000,6,0.000,0.031,3577,1350,1942,0,0,0,0,0,0
$GC,11874,0.84,213.9,727.6,9.8,402,11886,0.00,2.67,4.93,0.732,4,0.000,0.046,3577,2931,1927,0,0,0,0,0,0
$GC,11900,0.88,248.3,724.9,8.4,402,11941,0.00,2.72,34.03,1.023,6,0.000,0.048,3578,1341,1786,0,0,0,0,0,0
$GC,12205,0.88,248.3,693.7,10.3,410,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1341,1781,0,0,0,0,0,0
$GC,12449,0.88,248.3,667.6,10.7,416,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1341,1780,0,0,0,0,0,0
$GC,12692,0.88,248.3,641.6,10.5,422,12697,0.00,2.67,0.00,0.000,4,0.000,0.042,3577,2935,1778,0,0,0,0,0,0
$GC,12741,0.97,248.3,636.8,10.2,423,12745,0.00,2.75,0.00,0.000,6,0.000,0.049,3578,1342,1775,0,0,0,0,0,0
$GC,13023,0.97,249.3,608.3,10.0,430,13027,0.00,2.10,0.00,0.000,4,0.000,0.083,3578,166,1775,0,0,0,0,0,0
$GC,13046,0.97,249.3,605.9,10.1,430,13050,0.00,1.92,0.00,0.000,6,0.000,0.028,3578,1359,1775,0,0,0,0,0,0
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$STATE,18001,end climb,SURFACE_DEPTH_REACHED
$STATE,18002,begin surface coast
$FINISH,0.9,1.022174
$STATE,18051,end surface coast,CONTROL_FINISHED_OK
$STATE,18051,begin surface
$SM_CCo,18075,45.83,0.444,0,0,1250,380.21
$SM_GC,1.57,0.00,0.00,45.83,0.000,0.000,0.444,412,1608,1250,-13.68,1.07,380.21
$IRIDIUM_FIX,2253.38,-15752.35,030902,191912
$TT8_MAMPS,0.027612
$HUMID,64.49
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.60
$XPDR_PINGS,12
$24V_AH,23.3,13.083
$10V_AH,9.9,11.494
$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,33.150,197.300,395.175,45.825,0.000,25.414,37.024,197.154,3.000,0.000,15.097,1500.696,13510.750,520.254,2294.667,696.342,33.366,1571.239,0.000,2292.288,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,83.603,1166.607,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,460.841,315.760,404.208,681.760,927.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,51090,676
$CAP_FILE_SIZE,175570,0
$CFSIZE,260165632,165515264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100613,060259,2256.955,-15756.124,40,99.0,59,10.1