version: 66.06
glider: 148
mission: 12
dive: 96
start: 6 10 113 22 52 48
data:
$ID,148
$MISSION,12
$DIVE,96
$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,-1017118.8
$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,25
$R_STBD_OVSHOOT,89
$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
$GPS1,224405,2251.434,-15752.548,65,1.2,65,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.1
$GPS2,225155,2251.524,-15752.606,12,1.3,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.236,-0.109
$KALMAN_X,-98049.5,-185.8,311.4,110653.5,-1252.4
$KALMAN_Y,18343.7,7.0,455.3,-6704.6,-861.7
$MHEAD_RNG_PITCHd_Wd,104.8,34837,-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,-67.20,0.000,2,0.000,0.000,415,1573,2971,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.6,9,114,14.05,0.00,-7.68,0.000,6,0.150,0.000,3105,1573,3397,0,0,0,0,0,0
$GC,383,-1.07,-146.0,65.1,-14.8,42,388,0.20,2.40,0.00,0.000,4,0.101,0.020,3148,3108,3398,0,0,0,0,0,0
$GC,448,-1.07,-146.0,71.7,-8.9,47,452,0.00,2.50,0.00,0.000,6,0.000,0.031,3148,1563,3399,0,0,0,0,0,0
$GC,714,-0.99,-146.0,101.7,-11.8,71,718,0.00,2.28,0.00,0.000,4,0.000,0.044,3148,172,3399,0,0,0,0,0,0
$GC,767,-0.94,-146.0,109.3,-13.0,75,773,0.15,2.10,0.00,0.000,6,0.100,0.017,3181,1569,3399,0,0,0,0,0,0
$GC,1029,-0.94,-146.0,137.2,-10.2,100,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1571,3400,0,0,0,0,0,0
$GC,1288,-0.94,-146.0,162.7,-9.1,124,1292,0.00,2.40,0.00,0.000,4,0.000,0.021,3181,3118,3400,0,0,0,0,0,0
$GC,1307,-0.99,-146.0,165.0,-9.3,125,1313,0.00,2.53,0.00,0.000,6,0.000,0.028,3181,1554,3400,0,0,0,0,0,0
$GC,1572,-0.99,-146.0,188.3,-8.6,150,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1554,3400,0,0,0,0,0,0
$GC,1849,-1.04,-146.0,209.3,-7.2,168,1853,0.00,2.45,0.00,0.000,4,0.000,0.021,3181,3117,3400,0,0,0,0,0,0
$GC,1882,-1.15,-146.0,211.5,-5.7,168,1888,0.20,2.50,0.00,0.000,6,0.041,0.029,3082,1568,3401,0,0,0,0,0,0
$GC,2134,-0.98,-146.0,244.2,-13.9,174,2139,0.40,2.28,0.00,0.000,4,0.087,0.044,3169,168,3400,0,0,0,0,0,0
$GC,2163,-0.98,-146.0,248.2,-10.9,174,2167,0.00,2.12,0.00,0.000,6,0.000,0.018,3168,1567,3400,0,0,0,0,0,0
$GC,2419,-1.03,-146.0,270.9,-9.0,181,2423,0.00,2.45,0.00,0.000,4,0.000,0.025,3169,3119,3400,0,0,0,0,0,0
$GC,2452,-1.15,-146.0,274.1,-8.6,181,2457,0.15,2.50,0.00,0.000,6,0.054,0.031,3098,1570,3400,0,0,0,0,0,0
$GC,2702,-1.07,-146.0,306.7,-13.7,187,2704,0.25,0.00,0.00,0.000,6,0.090,0.000,3153,1570,3400,0,0,0,0,0,0
$GC,2948,-1.11,-146.0,331.1,-9.6,193,2952,0.00,2.38,0.00,0.000,4,0.000,0.054,3153,165,3400,0,0,0,0,0,0
$GC,2976,-1.11,-146.0,334.1,-9.5,193,2980,0.00,2.12,0.00,0.000,6,0.000,0.020,3153,1548,3399,0,0,0,0,0,0
$GC,3236,-1.16,-146.0,357.3,-9.0,200,3240,0.00,2.55,0.00,0.000,4,0.000,0.031,3153,3143,3398,0,0,0,0,0,0
$GC,3257,-1.24,-146.0,359.1,-8.8,200,3262,0.15,2.58,0.00,0.000,6,0.053,0.038,3077,1578,3398,0,0,0,0,0,0
$GC,3522,-1.14,-146.0,389.9,-11.6,207,3527,0.25,2.40,0.00,0.000,4,0.088,0.061,3137,163,3397,0,0,0,0,0,0
$GC,3568,-1.18,-146.0,394.2,-8.2,208,3572,0.00,2.22,0.00,0.000,6,0.000,0.024,3137,1572,3396,0,0,0,0,0,0
$GC,3860,-1.18,-146.0,416.6,-7.7,215,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1573,3395,0,0,0,0,0,0
$GC,4103,-1.18,-146.0,436.4,-8.2,221,4107,0.00,2.42,0.00,0.000,4,0.000,0.065,3137,167,3393,0,0,0,0,0,0
$GC,4156,-1.24,-146.0,441.0,-9.2,222,4160,0.00,2.25,0.00,0.000,6,0.000,0.028,3137,1576,3392,0,0,0,0,0,0
$GC,4434,-1.24,-146.0,463.1,-7.9,229,4438,0.00,2.55,0.00,0.000,4,0.000,0.038,3137,3141,3390,0,0,0,0,0,0
$GC,4458,-1.30,-146.0,465.1,-8.6,229,4463,0.15,2.62,0.00,0.000,6,0.054,0.038,3063,1569,3390,0,0,0,0,0,0
$GC,4720,-1.18,-146.0,494.8,-11.9,236,4722,0.30,0.00,0.00,0.000,6,0.093,0.000,3128,1570,3388,0,0,0,0,0,0
$GC,4962,-1.18,-146.0,516.7,-8.7,242,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3386,0,0,0,0,0,0
$GC,5206,-1.18,-146.0,536.1,-7.9,248,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3385,0,0,0,0,0,0
$GC,5451,-1.18,-146.0,554.7,-7.6,254,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3383,0,0,0,0,0,0
$GC,5693,-1.18,-146.0,571.8,-6.9,260,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3382,0,0,0,0,0,0
$GC,5937,-1.18,-146.0,589.0,-7.1,266,5941,0.00,2.65,0.00,0.000,4,0.000,0.046,3128,3140,3381,0,0,0,0,0,0
$GC,5956,-1.23,-146.0,590.5,-7.7,266,5961,0.00,2.65,0.00,0.000,6,0.000,0.044,3128,1574,3381,0,0,0,0,0,0
$GC,6222,-1.28,-146.0,610.4,-7.6,273,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1574,3379,0,0,0,0,0,0
$GC,6464,-1.28,-146.0,628.2,-7.2,279,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1574,3378,0,0,0,0,0,0
$GC,6710,-1.32,-146.0,644.7,-6.6,285,6715,0.12,2.47,0.00,0.000,4,0.064,0.081,3075,170,3377,0,0,0,0,0,0
$GC,6741,-1.22,-146.0,647.2,-9.1,285,6746,0.20,2.28,0.00,0.000,6,0.096,0.033,3118,1566,3376,0,0,0,0,0,0
$GC,6997,-1.22,-146.0,664.2,-6.3,292,7001,0.00,2.47,0.00,0.000,4,0.000,0.075,3118,163,3375,0,0,0,0,0,0
$GC,7016,-1.22,-146.0,665.6,-7.4,292,7020,0.00,2.30,0.00,0.000,6,0.000,0.032,3118,1577,3375,0,0,0,0,0,0
$GC,7281,-1.22,-146.0,683.2,-6.7,299,7285,0.00,2.47,0.00,0.000,4,0.000,0.074,3118,170,3373,0,0,0,0,0,0
$GC,7314,-1.22,-146.0,685.6,-7.0,299,7318,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1574,3373,0,0,0,0,0,0
$GC,7565,-1.22,-146.0,703.4,-7.1,305,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1574,3372,0,0,0,0,0,0
$GC,7808,-1.22,-146.0,720.2,-6.8,311,7812,0.00,2.47,0.00,0.000,4,0.000,0.075,3118,171,3371,0,0,0,0,0,0
$GC,7831,-1.22,-146.0,722.1,-8.9,311,7836,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1563,3371,0,0,0,0,0,0
$GC,8091,-1.22,-146.0,740.4,-7.0,318,8095,0.00,2.47,0.00,0.000,4,0.000,0.076,3118,162,3370,0,0,0,0,0,0
$GC,8111,-1.22,-146.0,742.0,-8.0,318,8115,0.00,2.30,0.00,0.000,6,0.000,0.033,3118,1568,3370,0,0,0,0,0,0
$GC,8375,-1.22,-146.0,760.8,-7.1,325,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1569,3369,0,0,0,0,0,0
$GC,8618,-1.22,-146.0,777.8,-6.8,331,8623,0.00,2.47,0.00,0.000,4,0.000,0.076,3118,170,3368,0,0,0,0,0,0
$GC,8639,-1.22,-146.0,779.3,-7.3,331,8643,0.00,2.28,0.00,0.000,6,0.000,0.033,3118,1558,3368,0,0,0,0,0,0
$GC,8903,-1.22,-146.0,798.9,-7.5,338,8907,0.00,2.70,0.00,0.000,4,0.000,0.050,3118,3163,3367,0,0,0,0,0,0
$GC,8917,-1.22,-146.0,800.2,-7.7,338,8922,0.00,2.72,0.00,0.000,6,0.000,0.048,3118,1558,3367,0,0,0,0,0,0
$GC,9188,-1.27,-146.0,821.4,-8.1,345,9192,0.00,2.45,0.00,0.000,4,0.000,0.082,3118,163,3366,0,0,0,0,0,0
$GC,9202,-1.27,-146.0,822.8,-8.0,345,9207,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1563,3366,0,0,0,0,0,0
$GC,9471,-1.31,-146.0,844.7,-8.0,352,9476,0.00,2.45,0.00,0.000,4,0.000,0.076,3118,165,3365,0,0,0,0,0,0
$GC,9492,-1.31,-146.0,846.5,-9.0,352,9496,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1554,3365,0,0,0,0,0,0
$GC,9761,-1.36,-146.0,867.5,-7.7,359,9766,0.12,2.70,0.00,0.000,4,0.064,0.051,3062,3163,3364,0,0,0,0,0,0
$GC,9776,-1.36,-146.0,869.0,-7.8,359,9783,0.12,2.75,0.00,0.000,6,0.112,0.048,3089,1546,3364,0,0,0,0,0,0
$GC,10049,-1.36,-146.0,892.9,-8.9,366,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1546,3363,0,0,0,0,0,0
$STATE,10166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10167,begin apogee
$GC,10173,-0.31,0.0,903.5,8.7,369,10295,1.02,0.00,118.95,1.172,6,0.087,0.000,3317,1339,2800,0,0,0,0,0,0
$STATE,10296,end apogee,CONTROL_FINISHED_OK
$STATE,10296,begin climb
$GC,10299,1.27,146.0,907.3,0.0,372,10438,1.42,2.15,129.15,1.146,4,0.036,0.082,3662,166,2203,0,0,0,0,0,0
$GC,10495,0.99,146.0,894.1,16.5,376,10500,0.30,1.95,0.00,0.000,6,0.115,0.030,3603,1357,2200,0,0,0,0,0,0
$GC,10756,0.90,146.0,864.9,11.0,383,10759,0.00,2.12,0.00,0.000,4,0.000,0.074,3602,169,2193,0,0,0,0,0,0
$GC,10779,0.76,146.0,861.9,12.2,383,10783,0.25,1.95,0.00,0.000,6,0.104,0.030,3551,1355,2193,0,0,0,0,0,0
$GC,11045,0.81,184.6,839.5,8.2,390,11085,0.00,2.22,34.53,1.083,4,0.000,0.074,3550,163,2047,0,0,0,0,0,0
$GC,11104,0.81,184.6,833.9,10.5,391,11108,0.00,1.95,0.00,0.000,6,0.000,0.030,3551,1341,2046,0,0,0,0,0,0
$GC,11372,0.83,201.5,809.2,9.2,398,11396,0.00,2.75,16.20,1.016,4,0.000,0.050,3550,2932,1977,0,0,0,0,0,0
$GC,11422,0.94,223.8,804.9,9.0,399,11451,0.15,2.75,22.15,1.036,6,0.058,0.049,3601,1352,1887,0,0,0,0,0,0
$GC,11709,0.89,223.8,769.4,12.7,406,11711,0.10,0.00,0.00,0.000,6,0.124,0.000,3581,1352,1883,0,0,0,0,0,0
$GC,11949,0.89,223.8,740.2,12.0,412,11954,0.00,2.65,0.00,0.000,4,0.000,0.044,3581,2928,1882,0,0,0,0,0,0
$GC,11973,0.89,223.8,737.4,10.3,412,11978,0.00,2.72,0.00,0.000,6,0.000,0.048,3581,1346,1879,0,0,0,0,0,0
$GC,12232,0.89,223.8,705.3,12.7,419,12233,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1346,1879,0,0,0,0,0,0
$GC,12477,0.89,223.8,674.2,12.7,425,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,1346,1878,0,0,0,0,0,0
$GC,12720,0.89,223.8,644.3,12.1,431,12723,0.00,2.12,0.00,0.000,4,0.000,0.084,3581,162,1878,0,0,0,0,0,0
$GC,12775,0.89,223.8,636.8,14.2,432,12779,0.00,1.98,0.00,0.000,6,0.000,0.029,3581,1360,1878,0,0,0,0,0,0
$GC,13053,0.89,223.8,604.2,11.8,439,13058,0.00,2.62,0.00,0.000,4,0.000,0.047,3581,2929,1877,0,0,0,0,0,0
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$GC,13404,1.04,238.3,565.6,9.3,447,13425,0.12,2.70,13.05,0.872,6,0.067,0.048,3626,1357,1828,0,0,0,0,0,0
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$STATE,18095,end climb,SURFACE_DEPTH_REACHED
$STATE,18095,begin surface coast
$FINISH,0.8,1.023434
$STATE,18131,end surface coast,CONTROL_FINISHED_OK
$STATE,18131,begin surface
$SM_CCo,18155,15.65,0.424,0,0,1249,380.21
$SM_GC,1.69,0.00,0.00,15.65,0.000,0.000,0.424,413,1613,1249,-13.68,1.22,380.21
$IRIDIUM_FIX,2244.02,-15801.49,040902,171706
$TT8_MAMPS,0.027612
$HUMID,64.80
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.50
$XPDR_PINGS,15
$24V_AH,23.3,13.684
$10V_AH,9.9,12.031
$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,34.650,192.225,442.950,15.650,0.000,22.675,35.406,261.783,3.750,0.000,13.631,1493.574,13564.333,522.797,2302.014,748.295,33.364,1584.829,0.000,2296.583,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,84.370,1171.976,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,462.974,314.383,403.085,687.495,935.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,50881,680
$CAP_FILE_SIZE,176267,0
$CFSIZE,260165632,165212160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110613,035706,2250.275,-15751.053,39,1.8,45,10.1