version: 66.06
glider: 148
mission: 12
dive: 98
start: 6 11 113 9 37 55
data:
$ID,148
$MISSION,12
$DIVE,98
$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,-1017154.2
$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,27
$R_STBD_OVSHOOT,81
$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
$GPS1,092158,2249.317,-15749.543,25,99.0,44,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.7
$GPS2,093701,2249.377,-15749.572,13,1.8,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.122
$KALMAN_X,-100250.0,81.7,-53.7,118132.9,-490.9
$KALMAN_Y,19156.9,299.7,668.7,-12002.7,-1408.2
$MHEAD_RNG_PITCHd_Wd,108.0,28346,-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,-66.72,0.000,2,0.000,0.000,410,1605,2970,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.6,9,122,14.62,2.40,-7.40,0.000,4,0.166,0.032,3104,3116,3397,0,0,0,0,0,0
$GC,152,-1.02,-146.0,22.9,-24.2,17,161,0.22,2.58,0.00,0.000,6,0.081,0.033,3158,1569,3397,0,0,0,0,0,0
$GC,434,-0.92,-146.0,67.6,-13.9,45,439,0.12,2.30,0.00,0.000,4,0.113,0.043,3184,161,3398,0,0,0,0,0,0
$GC,479,-0.92,-146.0,73.9,-11.9,48,483,0.00,2.12,0.00,0.000,6,0.000,0.016,3184,1574,3398,0,0,0,0,0,0
$GC,742,-0.92,-146.0,97.9,-8.5,72,746,0.00,2.42,0.00,0.000,4,0.000,0.021,3184,3121,3398,0,0,0,0,0,0
$GC,763,-0.92,-146.0,99.4,-8.8,73,768,0.00,2.53,0.00,0.000,6,0.000,0.026,3184,1552,3399,0,0,0,0,0,0
$GC,1030,-0.92,-146.0,123.0,-9.4,97,1034,0.00,2.28,0.00,0.000,4,0.000,0.044,3184,167,3399,0,0,0,0,0,0
$GC,1060,-0.92,-146.0,125.8,-9.5,99,1064,0.00,2.10,0.00,0.000,6,0.000,0.017,3184,1570,3398,0,0,0,0,0,0
$GC,1327,-0.92,-146.0,150.8,-9.2,123,1331,0.00,2.40,0.00,0.000,4,0.000,0.022,3184,3115,3399,0,0,0,0,0,0
$GC,1378,-1.03,-146.0,155.1,-8.1,127,1383,0.10,2.50,0.00,0.000,6,0.078,0.028,3120,1570,3399,0,0,0,0,0,0
$GC,1643,-0.91,-146.0,189.9,-13.7,151,1648,0.28,2.28,0.00,0.000,4,0.088,0.041,3184,165,3399,0,0,0,0,0,0
$GC,1699,-0.97,-146.0,196.2,-10.2,156,1703,0.00,2.10,0.00,0.000,6,0.000,0.017,3184,1556,3399,0,0,0,0,0,0
$GC,1952,-1.01,-146.0,217.1,-7.9,165,1956,0.00,2.45,0.00,0.000,4,0.000,0.022,3184,3127,3399,0,0,0,0,0,0
$GC,1985,-1.12,-146.0,219.7,-7.5,165,1990,0.20,2.53,0.00,0.000,6,0.046,0.028,3087,1564,3399,0,0,0,0,0,0
$GC,2237,-0.94,-146.0,253.1,-14.2,171,2242,0.40,2.25,0.00,0.000,4,0.087,0.041,3173,173,3398,0,0,0,0,0,0
$GC,2261,-0.94,-146.0,256.0,-11.0,171,2265,0.00,2.08,0.00,0.000,6,0.000,0.018,3173,1564,3398,0,0,0,0,0,0
$GC,2525,-1.00,-146.0,279.0,-8.8,178,2529,0.00,2.45,0.00,0.000,4,0.000,0.024,3173,3118,3399,0,0,0,0,0,0
$GC,2560,-1.13,-146.0,281.8,-7.8,178,2565,0.15,2.53,0.00,0.000,6,0.058,0.030,3104,1566,3399,0,0,0,0,0,0
$GC,2810,-1.05,-146.0,308.6,-10.5,184,2815,0.22,2.30,0.00,0.000,4,0.089,0.047,3155,171,3398,0,0,0,0,0,0
$GC,2831,-1.05,-146.0,310.4,-8.9,184,2835,0.00,2.12,0.00,0.000,6,0.000,0.019,3155,1547,3398,0,0,0,0,0,0
$GC,3095,-1.10,-146.0,327.3,-6.5,191,3099,0.00,2.53,0.00,0.000,4,0.000,0.030,3155,3131,3398,0,0,0,0,0,0
$GC,3142,-1.23,-146.0,330.9,-7.7,192,3148,0.15,2.55,0.00,0.000,6,0.054,0.035,3073,1573,3397,0,0,0,0,0,0
$GC,3428,-1.10,-146.0,363.6,-11.8,199,3433,0.28,2.35,0.00,0.000,4,0.087,0.058,3139,172,3396,0,0,0,0,0,0
$GC,3491,-1.10,-146.0,369.1,-8.4,200,3495,0.00,2.17,0.00,0.000,6,0.000,0.023,3138,1552,3395,0,0,0,0,0,0
$GC,3760,-1.10,-146.0,386.8,-6.5,207,3765,0.00,2.58,0.00,0.000,4,0.000,0.035,3138,3143,3393,0,0,0,0,0,0
$GC,3789,-1.18,-146.0,389.1,-7.1,207,3794,0.00,2.62,0.00,0.000,6,0.000,0.039,3138,1557,3393,0,0,0,0,0,0
$GC,4044,-1.18,-146.0,409.3,-8.2,214,4048,0.00,2.35,0.00,0.000,4,0.000,0.064,3138,167,3391,0,0,0,0,0,0
$GC,4078,-1.18,-146.0,412.4,-10.0,214,4083,0.00,2.22,0.00,0.000,6,0.000,0.025,3138,1570,3391,0,0,0,0,0,0
$GC,4329,-1.18,-146.0,432.9,-8.2,220,4333,0.00,2.42,0.00,0.000,4,0.000,0.063,3138,174,3389,0,0,0,0,0,0
$GC,4347,-1.18,-146.0,434.5,-8.3,220,4352,0.00,2.20,0.00,0.000,6,0.000,0.025,3138,1563,3389,0,0,0,0,0,0
$GC,4613,-1.18,-146.0,456.1,-8.2,227,4617,0.00,2.58,0.00,0.000,4,0.000,0.038,3138,3149,3387,0,0,0,0,0,0
$GC,4628,-1.22,-146.0,457.7,-8.4,227,4632,0.00,2.60,0.00,0.000,6,0.000,0.035,3138,1557,3387,0,0,0,0,0,0
$GC,4896,-1.22,-146.0,480.6,-8.6,234,4900,0.00,2.40,0.00,0.000,4,0.000,0.070,3138,170,3385,0,0,0,0,0,0
$GC,4941,-1.28,-146.0,484.3,-8.1,235,4946,0.15,2.20,0.00,0.000,6,0.055,0.028,3076,1543,3385,0,0,0,0,0,0
$GC,5229,-1.19,-146.0,514.8,-10.5,242,5236,0.22,2.65,0.00,0.000,4,0.093,0.042,3125,3149,3383,0,0,0,0,0,0
$GC,5252,-1.19,-146.0,516.8,-9.0,242,5257,0.00,2.65,0.00,0.000,6,0.000,0.041,3125,1553,3383,0,0,0,0,0,0
$GC,5517,-1.19,-146.0,537.8,-7.9,249,5521,0.00,2.40,0.00,0.000,4,0.000,0.075,3125,166,3381,0,0,0,0,0,0
$GC,5540,-1.19,-146.0,539.8,-8.3,249,5544,0.00,2.22,0.00,0.000,6,0.000,0.031,3125,1542,3381,0,0,0,0,0,0
$GC,5801,-1.19,-146.0,559.1,-7.3,256,5805,0.00,2.67,0.00,0.000,4,0.000,0.045,3125,3154,3380,0,0,0,0,0,0
$GC,5820,-1.19,-146.0,560.7,-7.8,256,5825,0.00,2.70,0.00,0.000,6,0.000,0.044,3125,1547,3379,0,0,0,0,0,0
$GC,6084,-1.19,-146.0,579.8,-7.3,263,6085,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1548,3377,0,0,0,0,0,0
$GC,6329,-1.19,-146.0,598.6,-7.9,269,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1547,3377,0,0,0,0,0,0
$GC,6572,-1.19,-146.0,618.5,-8.1,275,6576,0.00,2.70,0.00,0.000,4,0.000,0.047,3125,3153,3375,0,0,0,0,0,0
$GC,6593,-1.24,-146.0,620.4,-9.2,275,6597,0.00,2.72,0.00,0.000,6,0.000,0.053,3125,1550,3375,0,0,0,0,0,0
$GC,6857,-1.24,-146.0,642.8,-8.6,282,6861,0.00,2.45,0.00,0.000,4,0.000,0.081,3125,164,3373,0,0,0,0,0,0
$GC,6872,-1.24,-146.0,644.1,-8.3,282,6877,0.00,2.25,0.00,0.000,6,0.000,0.031,3125,1550,3372,0,0,0,0,0,0
$GC,7141,-1.24,-146.0,666.0,-7.9,289,7146,0.00,2.70,0.00,0.000,4,0.000,0.051,3125,3153,3371,0,0,0,0,0,0
$GC,7156,-1.24,-146.0,667.1,-7.7,289,7160,0.00,2.70,0.00,0.000,6,0.000,0.046,3125,1546,3371,0,0,0,0,0,0
$GC,7426,-1.28,-146.0,687.0,-7.3,296,7431,0.00,2.42,0.00,0.000,4,0.000,0.081,3125,171,3370,0,0,0,0,0,0
$GC,7455,-1.28,-146.0,689.4,-8.7,296,7459,0.00,2.25,0.00,0.000,6,0.000,0.032,3125,1552,3370,0,0,0,0,0,0
$GC,7709,-1.28,-146.0,707.3,-6.9,303,7714,0.00,2.70,0.00,0.000,4,0.000,0.053,3125,3153,3369,0,0,0,0,0,0
$GC,7726,-1.33,-146.0,708.3,-7.1,303,7731,0.12,2.70,0.00,0.000,6,0.064,0.048,3062,1552,3369,0,0,0,0,0,0
$GC,7996,-1.24,-146.0,733.4,-9.3,310,8001,0.22,2.45,0.00,0.000,4,0.096,0.080,3112,169,3367,0,0,0,0,0,0
$GC,8013,-1.18,-146.0,735.1,-9.4,310,8017,0.00,2.25,0.00,0.000,6,0.000,0.032,3113,1551,3367,0,0,0,0,0,0
$GC,8281,-1.18,-146.0,754.0,-6.9,317,8286,0.00,2.70,0.00,0.000,4,0.000,0.053,3112,3153,3366,0,0,0,0,0,0
$GC,8300,-1.18,-146.0,755.3,-7.1,317,8305,0.00,2.70,0.00,0.000,6,0.000,0.048,3113,1550,3366,0,0,0,0,0,0
$GC,8566,-1.18,-146.0,772.5,-6.5,324,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1550,3365,0,0,0,0,0,0
$GC,8808,-1.18,-146.0,788.3,-6.5,330,8813,0.00,2.42,0.00,0.000,4,0.000,0.081,3112,168,3364,0,0,0,0,0,0
$GC,8841,-1.18,-146.0,790.7,-7.1,330,8845,0.00,2.25,0.00,0.000,6,0.000,0.033,3112,1549,3364,0,0,0,0,0,0
$GC,9093,-1.18,-146.0,807.5,-6.7,336,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1549,3363,0,0,0,0,0,0
$GC,9335,-1.18,-146.0,824.1,-6.8,342,9339,0.00,2.45,0.00,0.000,4,0.000,0.076,3112,164,3362,0,0,0,0,0,0
$GC,9378,-1.18,-146.0,827.6,-8.6,343,9382,0.00,2.28,0.00,0.000,6,0.000,0.034,3112,1553,3362,0,0,0,0,0,0
$GC,9666,-1.18,-146.0,847.1,-6.7,350,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1553,3361,0,0,0,0,0,0
$GC,9909,-1.18,-146.0,863.6,-6.7,356,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1553,3361,0,0,0,0,0,0
$GC,10153,-1.18,-146.0,879.0,-6.3,362,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1553,3360,0,0,0,0,0,0
$GC,10396,-1.18,-146.0,895.0,-6.7,368,10401,0.00,2.70,0.00,0.000,4,0.000,0.054,3112,3156,3359,0,0,0,0,0,0
$GC,10426,-1.25,-146.0,897.1,-7.6,368,10431,0.00,2.75,0.00,0.000,6,0.000,0.049,3112,1543,3359,0,0,0,0,0,0
$STATE,10477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10477,begin apogee
$GC,10484,-0.31,0.0,901.0,7.1,370,10605,0.90,0.00,118.00,1.166,6,0.077,0.000,3316,1348,2800,0,0,0,0,0,0
$STATE,10606,end apogee,CONTROL_FINISHED_OK
$STATE,10606,begin climb
$GC,10609,1.27,146.0,904.6,0.0,373,10749,1.42,2.20,130.02,1.143,4,0.032,0.084,3664,168,2203,0,0,0,0,0,0
$GC,10769,0.98,146.0,896.1,14.1,376,10774,0.30,1.98,0.00,0.000,6,0.114,0.031,3603,1354,2202,0,0,0,0,0,0
$GC,11021,0.89,146.0,868.9,10.8,382,11022,0.10,0.00,0.00,0.000,6,0.133,0.000,3581,1355,2194,0,0,0,0,0,0
$GC,11263,0.85,148.9,844.7,9.9,388,11267,0.00,2.12,0.00,0.000,4,0.000,0.074,3581,165,2193,0,0,0,0,0,0
$GC,11297,0.74,148.9,841.1,12.9,388,11302,0.17,1.95,0.00,0.000,6,0.110,0.031,3545,1353,2192,0,0,0,0,0,0
$GC,11549,0.80,200.5,821.0,7.6,394,11605,0.00,2.17,48.72,1.090,4,0.000,0.073,3545,170,1981,0,0,0,0,0,0
$GC,11638,0.85,239.2,813.3,8.2,396,11682,0.10,1.95,37.22,1.064,6,0.084,0.031,3579,1344,1823,0,0,0,0,0,0
$GC,11965,0.85,239.2,776.8,11.4,404,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1345,1817,0,0,0,0,0,0
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$STATE,18661,end climb,SURFACE_DEPTH_REACHED
$STATE,18661,begin surface coast
$FINISH,0.7,1.021902
$STATE,18710,end surface coast,CONTROL_FINISHED_OK
$STATE,18710,begin surface
$SM_CCo,18734,30.88,0.431,0,0,1249,380.21
$SM_GC,1.90,0.00,0.00,30.88,0.000,0.000,0.431,412,1577,1249,-13.68,0.20,380.21
$IRIDIUM_FIX,2239.35,-15747.62,050902,090942
$TT8_MAMPS,0.027612
$HUMID,63.93
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.80
$XPDR_PINGS,21
$24V_AH,23.3,13.981
$10V_AH,9.9,12.297
$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,34.800,243.950,404.050,30.875,0.000,86.824,149.248,377.321,5.250,0.000,14.592,1579.889,13983.434,552.885,2446.563,1096.588,33.361,1677.307,0.000,2438.685,0.000,0.537,0.000
$DEVICE_MAMPS,166.439,83.603,1165.840,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,477.162,333.597,421.001,733.037,1001.969,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,54150,701
$CAP_FILE_SIZE,200265,0
$CFSIZE,260165632,165031936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110613,145200,2247.893,-15747.806,37,1.2,37,10.1