version: 66.06
glider: 148
mission: 12
dive: 127
start: 6 17 113 20 30 49
data:
$ID,148
$MISSION,12
$DIVE,127
$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,-1018645.6
$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,94
$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
$GPS1,201919,2255.798,-15746.299,55,2.5,74,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.1
$GPS2,202957,2255.828,-15746.377,16,99.0,35,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.168,-0.198
$KALMAN_X,-133453.7,-512.2,-46.0,157388.4,-39.3
$KALMAN_Y,51462.1,-30.5,-254.9,-31097.6,965.7
$MHEAD_RNG_PITCHd_Wd,210.3,43935,-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,-67.40,0.000,2,0.000,0.000,412,1586,3005,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.9,9,121,13.93,2.40,-7.05,0.000,4,0.147,0.057,3101,172,3398,0,0,0,0,0,0
$GC,224,-0.99,-146.0,38.2,-20.5,26,233,0.28,2.10,0.00,0.000,6,0.086,0.017,3166,1537,3399,0,0,0,0,0,0
$GC,491,-0.91,-146.0,75.0,-12.9,51,496,0.10,2.53,0.00,0.000,4,0.120,0.021,3187,3138,3399,0,0,0,0,0,0
$GC,515,-0.91,-146.0,78.8,-12.4,52,524,0.00,2.55,0.00,0.000,6,0.000,0.027,3187,1571,3399,0,0,0,0,0,0
$GC,779,-0.91,-146.0,108.9,-11.2,77,783,0.00,2.28,0.00,0.000,4,0.000,0.043,3187,171,3399,0,0,0,0,0,0
$GC,809,-0.91,-146.0,112.2,-11.4,79,814,0.00,2.15,0.00,0.000,6,0.000,0.016,3187,1603,3399,0,0,0,0,0,0
$GC,1076,-0.91,-146.0,140.3,-9.6,103,1080,0.00,2.38,0.00,0.000,4,0.000,0.027,3187,3121,3400,0,0,0,0,0,0
$GC,1117,-1.02,-146.0,144.5,-8.3,106,1126,0.08,2.53,0.00,0.000,6,0.035,0.028,3124,1579,3400,0,0,0,0,0,0
$GC,1381,-0.89,-146.0,179.8,-13.9,131,1386,0.28,2.30,0.00,0.000,4,0.091,0.041,3188,167,3400,0,0,0,0,0,0
$GC,1410,-0.84,-146.0,183.3,-11.7,133,1414,0.00,2.12,0.00,0.000,6,0.000,0.017,3188,1581,3400,0,0,0,0,0,0
$GC,1672,-0.84,-146.0,204.0,-8.1,154,1677,0.00,2.40,0.00,0.000,4,0.000,0.021,3188,3117,3400,0,0,0,0,0,0
$GC,1696,-0.92,-146.0,206.1,-7.8,154,1701,0.00,2.47,0.00,0.000,6,0.000,0.027,3188,1584,3400,0,0,0,0,0,0
$GC,1958,-0.97,-146.0,227.5,-8.4,161,1962,0.00,2.30,0.00,0.000,4,0.000,0.044,3188,171,3400,0,0,0,0,0,0
$GC,1995,-1.05,-146.0,231.0,-8.6,161,2002,0.15,2.12,0.00,0.000,6,0.054,0.017,3116,1581,3400,0,0,0,0,0,0
$GC,2246,-0.95,-146.0,258.5,-11.2,168,2248,0.28,0.00,0.00,0.000,6,0.084,0.000,3178,1584,3400,0,0,0,0,0,0
$GC,2491,-1.00,-146.0,279.1,-8.1,174,2495,0.00,2.33,0.00,0.000,4,0.000,0.046,3177,169,3400,0,0,0,0,0,0
$GC,2514,-1.05,-146.0,281.5,-10.0,174,2519,0.00,2.12,0.00,0.000,6,0.000,0.018,3178,1577,3400,0,0,0,0,0,0
$GC,2779,-1.11,-146.0,303.1,-8.0,181,2784,0.15,2.47,0.00,0.000,4,0.056,0.026,3112,3130,3399,0,0,0,0,0,0
$GC,2804,-1.11,-146.0,305.5,-10.4,181,2809,0.15,2.53,0.00,0.000,6,0.094,0.030,3147,1576,3400,0,0,0,0,0,0
$GC,3064,-1.11,-146.0,327.7,-8.3,188,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1576,3399,0,0,0,0,0,0
$GC,3308,-1.11,-146.0,349.2,-8.9,194,3312,0.00,2.33,0.00,0.000,4,0.000,0.053,3146,176,3398,0,0,0,0,0,0
$GC,3328,-1.11,-146.0,351.1,-9.5,194,3332,0.00,2.15,0.00,0.000,6,0.000,0.020,3147,1568,3397,0,0,0,0,0,0
$GC,3592,-1.11,-146.0,373.4,-8.5,201,3593,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1570,3396,0,0,0,0,0,0
$GC,3836,-1.11,-146.0,392.1,-7.6,207,3840,0.00,2.55,0.00,0.000,4,0.000,0.034,3146,3130,3395,0,0,0,0,0,0
$GC,3866,-1.19,-146.0,394.4,-8.1,207,3870,0.00,2.55,0.00,0.000,6,0.000,0.038,3147,1584,3395,0,0,0,0,0,0
$GC,4121,-1.19,-146.0,414.0,-7.7,214,4125,0.00,2.40,0.00,0.000,4,0.000,0.063,3146,165,3393,0,0,0,0,0,0
$GC,4164,-1.24,-146.0,417.5,-8.3,215,4169,0.15,2.20,0.00,0.000,6,0.054,0.024,3080,1560,3393,0,0,0,0,0,0
$GC,4454,-1.14,-146.0,450.1,-11.6,222,4459,0.25,2.40,0.00,0.000,4,0.089,0.061,3139,165,3390,0,0,0,0,0,0
$GC,4501,-1.14,-146.0,455.0,-8.8,223,4506,0.00,2.22,0.00,0.000,6,0.000,0.026,3140,1562,3390,0,0,0,0,0,0
$GC,4785,-1.14,-146.0,476.8,-7.7,230,4790,0.00,2.60,0.00,0.000,4,0.000,0.040,3140,3143,3388,0,0,0,0,0,0
$GC,4805,-1.19,-146.0,478.6,-8.3,230,4809,0.00,2.62,0.00,0.000,6,0.000,0.039,3140,1563,3388,0,0,0,0,0,0
$GC,5069,-1.19,-146.0,497.5,-7.0,237,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1563,3386,0,0,0,0,0,0
$GC,5314,-1.19,-146.0,513.2,-6.4,243,5319,0.00,2.62,0.00,0.000,4,0.000,0.041,3140,3150,3384,0,0,0,0,0,0
$GC,5352,-1.29,-146.0,515.6,-5.4,243,5358,0.15,2.62,0.00,0.000,6,0.055,0.041,3066,1581,3384,0,0,0,0,0,0
$GC,5603,-1.18,-146.0,538.0,-9.2,250,5608,0.25,2.45,0.00,0.000,4,0.092,0.072,3126,171,3383,0,0,0,0,0,0
$GC,5638,-1.18,-146.0,540.9,-7.5,250,5642,0.00,2.25,0.00,0.000,6,0.000,0.033,3126,1570,3383,0,0,0,0,0,0
$GC,5893,-1.18,-146.0,558.8,-7.3,257,5897,0.00,2.65,0.00,0.000,4,0.000,0.046,3126,3151,3381,0,0,0,0,0,0
$GC,5927,-1.26,-146.0,561.6,-7.9,257,5932,0.00,2.62,0.00,0.000,6,0.000,0.044,3126,1577,3381,0,0,0,0,0,0
$GC,6177,-1.26,-146.0,582.2,-8.5,263,6182,0.00,2.47,0.00,0.000,4,0.000,0.077,3126,165,3379,0,0,0,0,0,0
$GC,6206,-1.26,-146.0,584.9,-8.7,263,6210,0.00,2.30,0.00,0.000,6,0.000,0.031,3126,1585,3379,0,0,0,0,0,0
$GC,6462,-1.26,-146.0,604.9,-7.5,270,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1585,3378,0,0,0,0,0,0
$GC,6704,-1.26,-146.0,624.1,-7.8,276,6708,0.00,2.47,0.00,0.000,4,0.000,0.072,3126,172,3376,0,0,0,0,0,0
$GC,6737,-1.26,-146.0,627.0,-8.3,276,6741,0.00,2.30,0.00,0.000,6,0.000,0.033,3126,1584,3376,0,0,0,0,0,0
$GC,6987,-1.26,-146.0,647.5,-8.2,282,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1584,3374,0,0,0,0,0,0
$GC,7232,-1.26,-146.0,667.9,-8.3,288,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1584,3373,0,0,0,0,0,0
$GC,7474,-1.26,-146.0,687.5,-8.0,294,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1584,3372,0,0,0,0,0,0
$GC,7718,-1.26,-146.0,706.6,-7.8,300,7722,0.00,2.47,0.00,0.000,4,0.000,0.074,3126,165,3371,0,0,0,0,0,0
$GC,7741,-1.26,-146.0,708.8,-9.8,300,7745,0.00,2.28,0.00,0.000,6,0.000,0.033,3125,1572,3371,0,0,0,0,0,0
$GC,8007,-1.26,-146.0,729.6,-7.8,307,8011,0.00,2.67,0.00,0.000,4,0.000,0.052,3125,3156,3370,0,0,0,0,0,0
$GC,8026,-1.31,-146.0,731.1,-7.6,307,8031,0.12,2.65,0.00,0.000,6,0.063,0.047,3071,1580,3370,0,0,0,0,0,0
$GC,8293,-1.24,-146.0,755.3,-9.1,314,8298,0.20,2.47,0.00,0.000,4,0.097,0.079,3115,166,3369,0,0,0,0,0,0
$GC,8327,-1.24,-146.0,758.4,-8.3,314,8331,0.00,2.30,0.00,0.000,6,0.000,0.040,3115,1577,3368,0,0,0,0,0,0
$GC,8577,-1.24,-146.0,774.7,-6.4,320,8581,0.00,2.65,0.00,0.000,4,0.000,0.052,3115,3154,3367,0,0,0,0,0,0
$GC,8593,-1.24,-146.0,775.7,-6.0,320,8597,0.00,2.67,0.00,0.000,6,0.000,0.047,3115,1576,3367,0,0,0,0,0,0
$GC,8863,-1.24,-146.0,792.0,-6.0,327,8868,0.00,2.45,0.00,0.000,4,0.000,0.081,3115,169,3366,0,0,0,0,0,0
$GC,8892,-1.24,-146.0,794.0,-7.2,327,8896,0.00,2.30,0.00,0.000,6,0.000,0.034,3115,1579,3366,0,0,0,0,0,0
$GC,9148,-1.24,-146.0,810.4,-6.7,334,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1579,3365,0,0,0,0,0,0
$GC,9390,-1.24,-146.0,828.2,-7.6,340,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1579,3364,0,0,0,0,0,0
$GC,9634,-1.24,-146.0,847.9,-8.1,346,9638,0.00,2.47,0.00,0.000,4,0.000,0.075,3115,171,3363,0,0,0,0,0,0
$GC,9678,-1.24,-146.0,851.7,-8.9,347,9683,0.00,2.28,0.00,0.000,6,0.000,0.035,3115,1571,3363,0,0,0,0,0,0
$GC,9965,-1.24,-146.0,873.9,-7.4,354,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1572,3363,0,0,0,0,0,0
$GC,10209,-1.24,-146.0,890.3,-6.6,360,10213,0.00,2.45,0.00,0.000,4,0.000,0.075,3115,167,3362,0,0,0,0,0,0
$GC,10223,-1.24,-146.0,891.3,-6.2,360,10227,0.00,2.30,0.00,0.000,6,0.000,0.035,3115,1572,3362,0,0,0,0,0,0
$STATE,10367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10367,begin apogee
$GC,10375,-0.31,0.0,901.0,6.7,364,10497,0.88,0.00,119.05,1.159,6,0.074,0.000,3316,1340,2800,0,0,0,0,0,0
$STATE,10498,end apogee,CONTROL_FINISHED_OK
$STATE,10498,begin climb
$GC,10501,1.27,146.0,904.7,0.0,367,10636,1.48,0.00,130.98,1.138,6,0.035,0.000,3667,1340,2204,0,0,0,0,0,0
$GC,10855,1.05,146.0,872.2,13.0,376,10860,0.25,2.08,0.00,0.000,4,0.112,0.073,3612,176,2194,0,0,0,0,0,0
$GC,10947,0.88,146.0,860.8,12.9,378,10952,0.17,1.92,0.00,0.000,6,0.113,0.031,3577,1342,2193,0,0,0,0,0,0
$GC,11236,0.93,190.0,836.5,8.0,385,11277,0.00,0.00,39.67,1.078,6,0.000,0.000,3577,1343,2025,0,0,0,0,0,0
$GC,11518,0.95,200.9,810.4,9.5,392,11531,0.00,0.00,10.88,0.956,6,0.000,0.000,3577,1344,1980,0,0,0,0,0,0
$GC,11761,0.95,200.9,785.4,10.3,398,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1343,1976,0,0,0,0,0,0
$GC,12007,0.95,200.9,759.6,10.6,404,12011,0.00,2.70,0.00,0.000,4,0.000,0.053,3577,2932,1975,0,0,0,0,0,0
$GC,12027,0.95,200.9,757.3,10.7,404,12032,0.00,2.72,0.00,0.000,6,0.000,0.054,3577,1348,1973,0,0,0,0,0,0
$GC,12291,0.95,200.9,730.0,10.3,411,12292,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1348,1973,0,0,0,0,0,0
$GC,12535,0.95,205.3,706.1,9.8,417,12541,0.00,0.00,4.30,0.674,6,0.000,0.000,3577,1348,1962,0,0,0,0,0,0
$GC,12780,0.96,214.7,682.5,9.6,423,12793,0.00,0.00,10.95,0.907,6,0.000,0.000,3577,1348,1924,0,0,0,0,0,0
$GC,13022,0.96,214.7,658.4,10.1,429,13027,0.00,2.70,0.00,0.000,4,0.000,0.045,3577,2938,1921,0,0,0,0,0,0
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$STATE,18998,end climb,SURFACE_DEPTH_REACHED
$STATE,18998,begin surface coast
$FINISH,0.8,1.003564
$STATE,19044,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19070,37.22,0.436,0,0,1250,380.21
$SM_GC,1.92,0.00,0.00,37.22,0.000,0.000,0.436,417,1594,1250,-13.65,0.68,380.21
$IRIDIUM_FIX,2248.70,-15740.63,110902,141407
$TT8_MAMPS,0.027612
$HUMID,63.78
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,15
$24V_AH,23.3,18.263
$10V_AH,9.9,16.128
$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,33.325,216.775,423.725,37.225,0.000,32.851,35.763,391.284,3.750,0.000,38.272,1567.594,14285.110,606.357,2364.264,911.553,33.373,1643.901,0.000,2338.284,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,80.535,1158.937,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.098,331.403,423.169,733.919,1001.972,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,54164,714
$CAP_FILE_SIZE,184151,0
$CFSIZE,260165632,162840576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,015040,2254.631,-15748.661,37,1.7,41,10.1