version: 66.06
glider: 148
mission: 12
dive: 124
start: 6 17 113 3 58 57
data:
$ID,148
$MISSION,12
$DIVE,124
$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,-1018557.1
$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,26
$R_STBD_OVSHOOT,54
$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
$GPS1,034427,2300.844,-15739.283,35,2.7,54,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.5
$GPS2,035805,2300.896,-15739.347,16,1.8,20,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.205,-0.159
$KALMAN_X,-131697.8,406.6,92.2,166573.0,-530.5
$KALMAN_Y,49717.9,161.0,380.7,-20795.5,-647.8
$MHEAD_RNG_PITCHd_Wd,222.2,59172,-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,-67.22,0.000,2,0.000,0.000,408,1628,2989,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.6,9,121,14.07,2.45,-7.40,0.000,4,0.151,0.051,3102,168,3397,0,0,0,0,0,0
$GC,232,-1.02,-146.0,40.2,-19.1,27,242,0.22,2.17,0.00,0.000,6,0.081,0.018,3157,1571,3397,0,0,0,0,0,0
$GC,499,-0.92,-146.0,78.0,-13.4,52,504,0.12,2.50,0.00,0.000,4,0.109,0.021,3184,3152,3398,0,0,0,0,0,0
$GC,563,-1.03,-146.0,85.1,-8.9,57,568,0.10,2.55,0.00,0.000,6,0.073,0.028,3114,1566,3398,0,0,0,0,0,0
$GC,829,-0.85,-146.0,126.0,-16.3,81,834,0.35,2.28,0.00,0.000,4,0.087,0.040,3192,164,3398,0,0,0,0,0,0
$GC,870,-0.85,-146.0,132.3,-12.0,84,879,0.00,2.17,0.00,0.000,6,0.000,0.016,3192,1595,3398,0,0,0,0,0,0
$GC,1137,-0.85,-146.0,156.9,-8.8,109,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1599,3399,0,0,0,0,0,0
$GC,1400,-0.85,-146.0,179.9,-8.2,134,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1599,3399,0,0,0,0,0,0
$GC,1655,-0.91,-146.0,200.0,-7.4,158,1659,0.00,2.35,0.00,0.000,4,0.000,0.043,3192,167,3399,0,0,0,0,0,0
$GC,1680,-0.91,-146.0,202.3,-8.6,158,1684,0.00,2.12,0.00,0.000,6,0.000,0.017,3192,1587,3399,0,0,0,0,0,0
$GC,1940,-0.97,-146.0,222.6,-8.0,165,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1589,3399,0,0,0,0,0,0
$GC,2183,-1.04,-146.0,240.5,-7.2,171,2188,0.15,2.38,0.00,0.000,4,0.054,0.022,3122,3112,3399,0,0,0,0,0,0
$GC,2209,-1.04,-146.0,242.8,-9.2,171,2214,0.15,2.47,0.00,0.000,6,0.097,0.028,3156,1581,3399,0,0,0,0,0,0
$GC,2469,-1.04,-146.0,266.5,-9.1,178,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1580,3399,0,0,0,0,0,0
$GC,2713,-1.04,-146.0,286.7,-8.2,184,2717,0.00,2.33,0.00,0.000,4,0.000,0.048,3156,176,3399,0,0,0,0,0,0
$GC,2729,-1.04,-146.0,288.1,-8.1,184,2733,0.00,2.12,0.00,0.000,6,0.000,0.019,3156,1568,3398,0,0,0,0,0,0
$GC,3002,-1.04,-146.0,311.6,-8.7,191,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1571,3398,0,0,0,0,0,0
$GC,3245,-1.04,-146.0,330.9,-7.6,197,3249,0.00,2.35,0.00,0.000,4,0.000,0.051,3156,170,3397,0,0,0,0,0,0
$GC,3270,-1.04,-146.0,332.6,-8.2,197,3274,0.00,2.17,0.00,0.000,6,0.000,0.021,3156,1571,3397,0,0,0,0,0,0
$GC,3530,-1.09,-146.0,353.5,-8.6,204,3534,0.00,2.53,0.00,0.000,4,0.000,0.030,3156,3140,3395,0,0,0,0,0,0
$GC,3577,-1.20,-146.0,357.8,-8.5,205,3582,0.15,2.58,0.00,0.000,6,0.054,0.036,3082,1583,3395,0,0,0,0,0,0
$GC,3862,-1.09,-146.0,391.5,-11.9,212,3867,0.25,2.40,0.00,0.000,4,0.090,0.059,3141,162,3393,0,0,0,0,0,0
$GC,3928,-1.09,-146.0,398.5,-10.3,213,3932,0.00,2.22,0.00,0.000,6,0.000,0.023,3141,1578,3393,0,0,0,0,0,0
$GC,4194,-1.09,-146.0,420.1,-8.1,220,4198,0.00,2.53,0.00,0.000,4,0.000,0.035,3141,3148,3391,0,0,0,0,0,0
$GC,4222,-1.17,-146.0,422.5,-8.1,220,4227,0.00,2.60,0.00,0.000,6,0.000,0.039,3141,1583,3390,0,0,0,0,0,0
$GC,4477,-1.17,-146.0,443.0,-8.3,227,4482,0.00,2.40,0.00,0.000,4,0.000,0.066,3141,168,3389,0,0,0,0,0,0
$GC,4535,-1.23,-146.0,448.7,-10.7,228,4540,0.10,2.22,0.00,0.000,6,0.075,0.027,3089,1575,3389,0,0,0,0,0,0
$GC,4809,-1.15,-146.0,480.4,-11.7,235,4814,0.20,2.60,0.00,0.000,4,0.093,0.040,3133,3148,3387,0,0,0,0,0,0
$GC,4840,-1.22,-146.0,483.5,-8.8,235,4844,0.00,2.62,0.00,0.000,6,0.000,0.039,3133,1575,3386,0,0,0,0,0,0
$GC,5097,-1.22,-146.0,504.3,-8.0,242,5101,0.00,2.42,0.00,0.000,4,0.000,0.072,3133,163,3385,0,0,0,0,0,0
$GC,5140,-1.27,-146.0,508.1,-8.7,243,5145,0.10,2.25,0.00,0.000,6,0.075,0.031,3082,1569,3384,0,0,0,0,0,0
$GC,5430,-1.19,-146.0,537.7,-10.4,250,5435,0.20,2.60,0.00,0.000,4,0.095,0.043,3126,3150,3383,0,0,0,0,0,0
$GC,5445,-1.19,-146.0,539.6,-10.2,250,5449,0.00,2.62,0.00,0.000,6,0.000,0.044,3126,1576,3382,0,0,0,0,0,0
$GC,5715,-1.19,-146.0,560.5,-7.7,257,5719,0.00,2.45,0.00,0.000,4,0.000,0.075,3126,168,3380,0,0,0,0,0,0
$GC,5745,-1.19,-146.0,562.9,-8.6,257,5749,0.00,2.28,0.00,0.000,6,0.000,0.031,3126,1577,3380,0,0,0,0,0,0
$GC,5999,-1.19,-146.0,582.0,-7.4,264,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1578,3379,0,0,0,0,0,0
$GC,6243,-1.19,-146.0,599.6,-7.2,270,6247,0.00,2.62,0.00,0.000,4,0.000,0.045,3126,3157,3377,0,0,0,0,0,0
$GC,6259,-1.19,-146.0,600.7,-7.1,270,6264,0.00,2.65,0.00,0.000,6,0.000,0.044,3126,1577,3377,0,0,0,0,0,0
$GC,6528,-1.19,-146.0,621.8,-8.0,277,6532,0.00,2.47,0.00,0.000,4,0.000,0.078,3126,165,3375,0,0,0,0,0,0
$GC,6556,-1.19,-146.0,624.5,-9.8,277,6560,0.00,2.30,0.00,0.000,6,0.000,0.031,3126,1585,3375,0,0,0,0,0,0
$GC,6812,-1.19,-146.0,647.2,-9.0,284,6817,0.00,2.60,0.00,0.000,4,0.000,0.049,3126,3153,3374,0,0,0,0,0,0
$GC,6827,-1.19,-146.0,648.8,-8.9,284,6831,0.00,2.65,0.00,0.000,6,0.000,0.044,3126,1575,3373,0,0,0,0,0,0
$GC,7096,-1.19,-146.0,669.7,-7.4,291,7100,0.00,2.47,0.00,0.000,4,0.000,0.079,3126,165,3372,0,0,0,0,0,0
$GC,7136,-1.19,-146.0,672.9,-7.9,291,7142,0.00,2.28,0.00,0.000,6,0.000,0.033,3126,1569,3371,0,0,0,0,0,0
$GC,7386,-1.19,-146.0,689.5,-6.5,298,7390,0.00,2.65,0.00,0.000,4,0.000,0.051,3126,3159,3371,0,0,0,0,0,0
$GC,7410,-1.25,-146.0,691.3,-7.5,298,7415,0.00,2.70,0.00,0.000,6,0.000,0.048,3126,1568,3371,0,0,0,0,0,0
$GC,7672,-1.30,-146.0,709.3,-7.1,305,7677,0.10,2.47,0.00,0.000,4,0.077,0.080,3080,170,3369,0,0,0,0,0,0
$GC,7701,-1.22,-146.0,712.3,-10.7,305,7706,0.17,2.28,0.00,0.000,6,0.097,0.034,3119,1569,3369,0,0,0,0,0,0
$GC,7957,-1.22,-146.0,732.2,-7.7,312,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1569,3368,0,0,0,0,0,0
$GC,8200,-1.22,-146.0,750.5,-7.4,318,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1569,3367,0,0,0,0,0,0
$GC,8443,-1.22,-146.0,767.8,-7.1,324,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1569,3365,0,0,0,0,0,0
$GC,8687,-1.22,-146.0,783.7,-6.5,330,8691,0.00,2.45,0.00,0.000,4,0.000,0.074,3119,171,3365,0,0,0,0,0,0
$GC,8708,-1.22,-146.0,785.0,-6.5,330,8712,0.00,2.28,0.00,0.000,6,0.000,0.033,3119,1570,3365,0,0,0,0,0,0
$GC,8971,-1.22,-146.0,800.7,-5.8,337,8976,0.00,2.70,0.00,0.000,4,0.000,0.053,3119,3157,3364,0,0,0,0,0,0
$GC,8995,-1.28,-146.0,802.3,-7.0,337,9000,0.00,2.70,0.00,0.000,6,0.000,0.048,3119,1563,3363,0,0,0,0,0,0
$GC,9257,-1.28,-146.0,817.4,-5.9,344,9261,0.00,2.45,0.00,0.000,4,0.000,0.082,3119,163,3363,0,0,0,0,0,0
$GC,9285,-1.28,-146.0,819.6,-6.9,344,9289,0.00,2.30,0.00,0.000,6,0.000,0.034,3119,1575,3363,0,0,0,0,0,0
$GC,9539,-1.28,-146.0,836.4,-6.6,351,9544,0.00,2.47,0.00,0.000,4,0.000,0.075,3119,168,3362,0,0,0,0,0,0
$GC,9564,-1.28,-146.0,838.3,-8.0,351,9569,0.00,2.25,0.00,0.000,6,0.000,0.034,3119,1561,3362,0,0,0,0,0,0
$GC,9828,-1.28,-146.0,857.7,-7.3,358,9833,0.00,2.70,0.00,0.000,4,0.000,0.054,3119,3161,3361,0,0,0,0,0,0
$GC,9852,-1.35,-146.0,859.5,-7.9,358,9860,0.12,2.72,0.00,0.000,6,0.064,0.049,3059,1558,3361,0,0,0,0,0,0
$GC,10116,-1.26,-146.0,885.4,-10.1,365,10121,0.22,2.45,0.00,0.000,4,0.096,0.080,3108,169,3360,0,0,0,0,0,0
$GC,10150,-1.26,-146.0,888.9,-9.1,365,10154,0.00,2.28,0.00,0.000,6,0.000,0.033,3108,1565,3360,0,0,0,0,0,0
$STATE,10316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10316,begin apogee
$GC,10324,-0.31,0.0,901.1,7.4,369,10446,0.90,0.00,118.57,1.160,6,0.076,0.000,3314,1343,2800,0,0,0,0,0,0
$STATE,10447,end apogee,CONTROL_FINISHED_OK
$STATE,10447,begin climb
$GC,10449,1.27,146.0,904.3,0.0,372,10589,1.42,2.12,129.65,1.137,4,0.030,0.075,3667,176,2203,0,0,0,0,0,0
$GC,10642,0.98,146.0,890.1,16.6,376,10646,0.32,1.95,0.00,0.000,6,0.113,0.031,3602,1355,2200,0,0,0,0,0,0
$GC,10906,0.89,146.0,858.1,11.9,383,10911,0.10,2.10,0.00,0.000,4,0.132,0.072,3582,176,2193,0,0,0,0,0,0
$GC,10923,0.80,146.0,856.3,11.9,383,10927,0.10,1.92,0.00,0.000,6,0.132,0.030,3561,1350,2193,0,0,0,0,0,0
$GC,11200,0.80,150.8,828.4,9.8,390,11205,0.00,2.72,0.00,0.000,4,0.000,0.053,3561,2934,2191,0,0,0,0,0,0
$GC,11215,0.81,154.5,826.7,9.8,390,11227,0.00,2.72,6.65,0.861,6,0.000,0.048,3561,1347,2169,0,0,0,0,0,0
$GC,11488,0.82,164.0,800.7,9.6,397,11505,0.00,2.20,10.32,0.953,4,0.000,0.086,3560,165,2131,0,0,0,0,0,0
$GC,11575,0.82,164.0,791.1,11.2,398,11580,0.00,1.95,0.00,0.000,6,0.000,0.031,3561,1353,2130,0,0,0,0,0,0
$GC,11826,0.84,184.9,768.0,9.0,405,11848,0.00,0.00,20.30,1.018,6,0.000,0.000,3561,1354,2046,0,0,0,0,0,0
$GC,12068,0.86,195.4,745.1,9.5,411,12081,0.00,0.00,10.95,0.936,6,0.000,0.000,3561,1354,2003,0,0,0,0,0,0
$GC,12312,0.87,203.1,721.7,9.6,417,12322,0.00,0.00,8.23,0.874,6,0.000,0.000,3561,1355,1972,0,0,0,0,0,0
$GC,12557,0.87,203.1,696.7,10.3,423,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1355,1970,0,0,0,0,0,0
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$STATE,18814,end climb,SURFACE_DEPTH_REACHED
$STATE,18814,begin surface coast
$FINISH,1.0,1.023364
$STATE,18876,end surface coast,CONTROL_FINISHED_OK
$STATE,18876,begin surface
$SM_CCo,18900,43.22,0.432,0,0,1249,380.21
$SM_GC,1.87,0.00,0.00,43.22,0.000,0.000,0.432,414,1592,1249,-13.67,0.65,380.21
$IRIDIUM_FIX,2251.04,-15739.74,110902,040428
$TT8_MAMPS,0.027612
$HUMID,63.11
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,9
$24V_AH,23.3,17.816
$10V_AH,9.9,15.729
$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
$DEVICE_SECS,33.975,206.175,403.800,43.225,0.000,89.649,106.488,323.203,2.250,0.000,21.689,1584.367,14151.723,549.412,2473.860,993.298,33.373,1652.465,0.000,2462.123,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.366,347.237,438.799,760.796,1036.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,54214,725
$CAP_FILE_SIZE,190504,0
$CFSIZE,260165632,163065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,091623,2259.249,-15741.916,43,1.6,60,10.1