version: 66.06
glider: 148
mission: 12
dive: 128
start: 6 18 113 2 2 5
data:
$ID,148
$MISSION,12
$DIVE,128
$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,-1018665
$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,100
$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
$GPS1,015040,2254.631,-15748.661,37,1.7,41,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.4
$GPS2,020113,2254.705,-15748.729,17,1.5,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,-0.156
$KALMAN_X,-134513.5,-138.3,-336.3,154342.5,568.9
$KALMAN_Y,52130.7,242.2,269.2,-34649.7,-21.6
$MHEAD_RNG_PITCHd_Wd,223.0,39536,-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,-67.47,0.000,2,0.000,0.000,417,1594,3030,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.9,-7.0,9,122,13.88,2.45,-6.40,0.000,4,0.146,0.059,3102,165,3399,0,0,0,0,0,0
$GC,202,-1.00,-146.0,34.2,-19.8,24,207,0.30,2.10,0.00,0.000,6,0.100,0.017,3165,1539,3399,0,0,0,0,0,0
$GC,471,-0.92,-146.0,67.9,-11.0,48,475,0.00,2.53,0.00,0.000,4,0.000,0.021,3165,3145,3400,0,0,0,0,0,0
$GC,525,-0.99,-146.0,74.6,-11.1,52,529,0.00,2.55,0.00,0.000,6,0.000,0.029,3165,1577,3400,0,0,0,0,0,0
$GC,789,-0.94,-146.0,106.7,-11.8,76,798,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1577,3400,0,0,0,0,0,0
$GC,1054,-0.89,-146.0,135.8,-11.2,101,1059,0.10,2.33,0.00,0.000,4,0.119,0.044,3188,172,3401,0,0,0,0,0,0
$GC,1105,-0.89,-146.0,141.0,-9.8,105,1109,0.00,2.15,0.00,0.000,6,0.000,0.016,3188,1599,3401,0,0,0,0,0,0
$GC,1370,-0.89,-146.0,164.7,-9.8,129,1374,0.00,2.38,0.00,0.000,4,0.000,0.021,3188,3117,3401,0,0,0,0,0,0
$GC,1406,-1.00,-146.0,168.3,-9.4,132,1410,0.00,2.47,0.00,0.000,6,0.000,0.027,3188,1584,3401,0,0,0,0,0,0
$GC,1668,-1.00,-146.0,194.3,-9.7,156,1673,0.00,2.33,0.00,0.000,4,0.000,0.044,3188,167,3400,0,0,0,0,0,0
$GC,1704,-1.05,-146.0,198.1,-10.7,159,1709,0.12,2.15,0.00,0.000,6,0.062,0.017,3122,1595,3401,0,0,0,0,0,0
$GC,1966,-0.94,-146.0,231.7,-13.0,166,1971,0.25,2.38,0.00,0.000,4,0.090,0.042,3181,164,3401,0,0,0,0,0,0
$GC,1990,-0.94,-146.0,234.8,-10.5,166,1994,0.00,2.15,0.00,0.000,6,0.000,0.017,3181,1593,3401,0,0,0,0,0,0
$GC,2250,-0.99,-146.0,254.7,-7.3,173,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1597,3401,0,0,0,0,0,0
$GC,2495,-1.06,-146.0,269.9,-5.8,179,2500,0.12,2.38,0.00,0.000,4,0.063,0.046,3119,163,3400,0,0,0,0,0,0
$GC,2528,-0.96,-146.0,273.2,-10.9,179,2533,0.25,2.15,0.00,0.000,6,0.083,0.018,3175,1568,3401,0,0,0,0,0,0
$GC,2779,-1.02,-146.0,293.1,-8.1,185,2783,0.00,2.47,0.00,0.000,4,0.000,0.025,3175,3132,3400,0,0,0,0,0,0
$GC,2818,-1.16,-146.0,296.2,-7.2,185,2825,0.17,2.53,0.00,0.000,6,0.049,0.030,3093,1581,3400,0,0,0,0,0,0
$GC,3068,-1.05,-146.0,325.4,-12.2,192,3073,0.25,2.33,0.00,0.000,4,0.088,0.048,3153,172,3399,0,0,0,0,0,0
$GC,3132,-1.10,-146.0,331.5,-9.5,193,3136,0.00,2.20,0.00,0.000,6,0.000,0.021,3153,1580,3399,0,0,0,0,0,0
$GC,3400,-1.10,-146.0,352.3,-7.2,200,3405,0.00,2.53,0.00,0.000,4,0.000,0.031,3153,3152,3398,0,0,0,0,0,0
$GC,3429,-1.18,-146.0,354.4,-7.3,200,3434,0.10,2.58,0.00,0.000,6,0.075,0.037,3092,1595,3398,0,0,0,0,0,0
$GC,3686,-1.09,-146.0,381.2,-10.9,207,3691,0.25,2.40,0.00,0.000,4,0.088,0.058,3151,170,3396,0,0,0,0,0,0
$GC,3753,-1.15,-146.0,387.2,-8.5,208,3757,0.00,2.22,0.00,0.000,6,0.000,0.023,3151,1588,3396,0,0,0,0,0,0
$GC,4018,-1.21,-146.0,405.0,-6.5,215,4020,0.12,0.00,0.00,0.000,6,0.064,0.000,3094,1590,3395,0,0,0,0,0,0
$GC,4261,-1.14,-146.0,426.6,-9.0,221,4265,0.20,2.42,0.00,0.000,4,0.090,0.060,3139,172,3393,0,0,0,0,0,0
$GC,4305,-1.14,-146.0,430.4,-8.3,222,4309,0.00,2.25,0.00,0.000,6,0.000,0.025,3139,1591,3392,0,0,0,0,0,0
$GC,4593,-1.14,-146.0,452.7,-8.1,229,4597,0.00,2.53,0.00,0.000,4,0.000,0.038,3139,3143,3390,0,0,0,0,0,0
$GC,4612,-1.19,-146.0,454.4,-8.3,229,4617,0.00,2.60,0.00,0.000,6,0.000,0.037,3139,1578,3391,0,0,0,0,0,0
$GC,4876,-1.19,-146.0,475.5,-7.8,236,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3388,0,0,0,0,0,0
$GC,5122,-1.19,-146.0,490.8,-5.9,242,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3387,0,0,0,0,0,0
$GC,5364,-1.19,-146.0,507.2,-6.8,248,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1578,3385,0,0,0,0,0,0
$GC,5608,-1.19,-146.0,523.7,-6.7,254,5612,0.00,2.62,0.00,0.000,4,0.000,0.044,3139,3141,3384,0,0,0,0,0,0
$GC,5629,-1.24,-146.0,525.1,-7.1,254,5634,0.10,2.60,0.00,0.000,6,0.076,0.040,3085,1590,3384,0,0,0,0,0,0
$GC,5894,-1.18,-146.0,548.9,-9.1,261,5899,0.20,2.47,0.00,0.000,4,0.094,0.074,3129,166,3382,0,0,0,0,0,0
$GC,5933,-1.18,-146.0,552.3,-8.2,261,5938,0.00,2.30,0.00,0.000,6,0.000,0.031,3129,1586,3382,0,0,0,0,0,0
$GC,6184,-1.18,-146.0,570.1,-7.2,268,6185,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1586,3380,0,0,0,0,0,0
$GC,6426,-1.18,-146.0,588.1,-7.5,274,6430,0.00,2.47,0.00,0.000,4,0.000,0.072,3129,169,3379,0,0,0,0,0,0
$GC,6459,-1.18,-146.0,590.9,-8.7,274,6463,0.00,2.30,0.00,0.000,6,0.000,0.032,3129,1583,3378,0,0,0,0,0,0
$GC,6711,-1.18,-146.0,611.2,-8.1,280,6715,0.00,2.60,0.00,0.000,4,0.000,0.048,3129,3154,3377,0,0,0,0,0,0
$GC,6735,-1.23,-146.0,613.5,-8.9,280,6739,0.00,2.65,0.00,0.000,6,0.000,0.045,3129,1586,3377,0,0,0,0,0,0
$GC,6994,-1.23,-146.0,633.0,-7.5,287,6999,0.00,2.47,0.00,0.000,4,0.000,0.078,3129,165,3375,0,0,0,0,0,0
$GC,7033,-1.23,-146.0,636.0,-7.6,287,7039,0.00,2.30,0.00,0.000,6,0.000,0.032,3129,1586,3375,0,0,0,0,0,0
$GC,7284,-1.28,-146.0,654.6,-7.4,294,7288,0.00,2.62,0.00,0.000,4,0.000,0.050,3129,3153,3374,0,0,0,0,0,0
$GC,7308,-1.34,-146.0,656.6,-8.4,294,7313,0.15,2.65,0.00,0.000,6,0.053,0.047,3058,1583,3374,0,0,0,0,0,0
$GC,7570,-1.24,-146.0,685.1,-11.5,301,7575,0.25,2.50,0.00,0.000,4,0.094,0.078,3117,166,3373,0,0,0,0,0,0
$GC,7603,-1.24,-146.0,689.0,-10.1,301,7608,0.00,2.33,0.00,0.000,6,0.000,0.034,3117,1592,3372,0,0,0,0,0,0
$GC,7853,-1.24,-146.0,712.3,-9.2,307,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1593,3371,0,0,0,0,0,0
$GC,8099,-1.24,-146.0,734.2,-8.9,313,8103,0.00,2.47,0.00,0.000,4,0.000,0.074,3117,171,3370,0,0,0,0,0,0
$GC,8132,-1.24,-146.0,737.5,-9.4,313,8136,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1579,3370,0,0,0,0,0,0
$GC,8382,-1.24,-146.0,757.0,-7.5,319,8386,0.00,2.62,0.00,0.000,4,0.000,0.051,3117,3153,3369,0,0,0,0,0,0
$GC,8398,-1.24,-146.0,758.2,-7.1,319,8402,0.00,2.67,0.00,0.000,6,0.000,0.047,3117,1574,3369,0,0,0,0,0,0
$GC,8667,-1.24,-146.0,776.3,-6.7,326,8671,0.00,2.50,0.00,0.000,4,0.000,0.081,3117,162,3368,0,0,0,0,0,0
$GC,8699,-1.24,-146.0,778.9,-7.6,326,8704,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1575,3367,0,0,0,0,0,0
$GC,8951,-1.24,-146.0,794.7,-6.2,332,8955,0.00,2.62,0.00,0.000,4,0.000,0.051,3117,3154,3367,0,0,0,0,0,0
$GC,8970,-1.24,-146.0,796.0,-6.2,332,8975,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1574,3367,0,0,0,0,0,0
$GC,9234,-1.24,-146.0,812.5,-6.3,339,9239,0.00,2.47,0.00,0.000,4,0.000,0.082,3117,171,3366,0,0,0,0,0,0
$GC,9266,-1.24,-146.0,814.4,-7.0,339,9270,0.00,2.30,0.00,0.000,6,0.000,0.033,3117,1585,3366,0,0,0,0,0,0
$GC,9520,-1.24,-146.0,831.5,-6.7,346,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1585,3365,0,0,0,0,0,0
$GC,9764,-1.24,-146.0,847.3,-6.5,352,9768,0.00,2.47,0.00,0.000,4,0.000,0.075,3117,168,3364,0,0,0,0,0,0
$GC,9799,-1.24,-146.0,849.8,-8.2,352,9803,0.00,2.30,0.00,0.000,6,0.000,0.035,3117,1574,3364,0,0,0,0,0,0
$GC,10049,-1.24,-146.0,867.9,-7.2,358,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1574,3363,0,0,0,0,0,0
$GC,10292,-1.24,-146.0,885.5,-7.2,364,10297,0.00,2.45,0.00,0.000,4,0.000,0.074,3117,170,3363,0,0,0,0,0,0
$GC,10316,-1.24,-146.0,887.4,-8.2,364,10320,0.00,2.30,0.00,0.000,6,0.000,0.035,3117,1576,3362,0,0,0,0,0,0
$STATE,10491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10491,begin apogee
$GC,10499,-0.31,0.0,900.6,7.5,369,10622,0.88,0.00,118.75,1.167,6,0.080,0.000,3316,1344,2800,0,0,0,0,0,0
$STATE,10622,end apogee,CONTROL_FINISHED_OK
$STATE,10623,begin climb
$GC,10625,1.27,146.0,905.1,0.0,372,10765,1.42,2.20,129.77,1.140,4,0.031,0.077,3670,173,2203,0,0,0,0,0,0
$GC,10874,0.98,146.0,884.9,16.4,377,10879,0.35,1.95,0.00,0.000,6,0.110,0.031,3599,1351,2199,0,0,0,0,0,0
$GC,11129,0.90,146.0,856.9,10.8,384,11133,0.00,2.10,0.00,0.000,4,0.000,0.072,3599,170,2193,0,0,0,0,0,0
$GC,11185,0.77,146.0,849.6,13.0,385,11189,0.22,1.95,0.00,0.000,6,0.103,0.031,3552,1339,2193,0,0,0,0,0,0
$GC,11464,0.77,146.0,820.6,10.5,392,11468,0.00,2.05,0.00,0.000,4,0.000,0.072,3552,176,2191,0,0,0,0,0,0
$GC,11491,0.77,146.0,817.1,13.1,392,11495,0.00,1.92,0.00,0.000,6,0.000,0.031,3552,1348,2191,0,0,0,0,0,0
$GC,11755,0.77,146.0,790.0,10.1,399,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3552,1348,2190,0,0,0,0,0,0
$GC,12000,0.80,173.6,768.1,8.7,405,12026,0.00,0.00,24.33,1.034,6,0.000,0.000,3552,1349,2092,0,0,0,0,0,0
$GC,12242,0.84,206.6,747.4,8.5,411,12276,0.00,0.00,31.40,1.031,6,0.000,0.000,3552,1349,1957,0,0,0,0,0,0
$GC,12486,0.93,234.0,726.2,8.7,417,12519,0.15,2.78,26.42,1.005,4,0.060,0.054,3603,2942,1845,0,0,0,0,0,0
$GC,12531,0.93,234.0,721.5,12.5,418,12536,0.00,2.75,0.00,0.000,6,0.000,0.047,3603,1354,1842,0,0,0,0,0,0
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$STATE,18731,end climb,SURFACE_DEPTH_REACHED
$STATE,18731,begin surface coast
$FINISH,0.9,1.010206
$STATE,18767,end surface coast,CONTROL_FINISHED_OK
$STATE,18767,begin surface
$SM_CCo,18792,22.33,0.427,0,0,1248,380.21
$SM_GC,2.02,0.00,0.00,22.33,0.000,0.000,0.427,414,1570,1248,-13.67,0.00,380.21
$IRIDIUM_FIX,2246.36,-15748.90,110902,202033
$TT8_MAMPS,0.027612
$HUMID,64.33
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.00
$XPDR_PINGS,21
$24V_AH,23.3,18.417
$10V_AH,9.9,16.259
$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
$DEVICE_SECS,34.075,228.250,440.725,22.325,0.000,27.445,36.664,414.676,5.250,0.000,18.793,1551.362,14031.120,546.526,2379.257,928.193,33.372,1651.007,0.000,2360.556,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.049,320.884,413.841,727.034,993.130,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,54160,697
$CAP_FILE_SIZE,190094,0
$CFSIZE,260165632,162754560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,071720,2252.926,-15751.309,37,2.2,56,10.1