version: 66.06
glider: 148
mission: 12
dive: 130
start: 6 18 113 13 14 42
data:
$ID,148
$MISSION,12
$DIVE,130
$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,-1018703.6
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,125954,2251.131,-15753.935,40,1.5,40,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-71.9
$GPS2,131348,2251.136,-15754.024,10,1.8,21,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.160,-0.204
$KALMAN_X,-137212.9,-18.4,-270.6,147811.9,-581.2
$KALMAN_Y,52714.8,-222.7,141.1,-41247.6,344.5
$MHEAD_RNG_PITCHd_Wd,208.0,28405,-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,-146.0,0.0,0.0,0,115,0.00,0.00,-96.97,0.000,2,0.000,0.000,413,1642,3019,0,0,0,0,0,0
$GC,120,-1.27,-146.0,3.8,-6.4,13,152,13.95,2.50,-6.55,0.000,4,0.147,0.054,3102,168,3397,0,0,0,0,0,0
$GC,258,-1.03,-146.0,41.8,-21.7,30,263,0.25,2.17,0.00,0.000,6,0.101,0.017,3156,1596,3398,0,0,0,0,0,0
$GC,528,-0.95,-146.0,80.6,-12.6,54,533,0.10,2.42,0.00,0.000,4,0.120,0.021,3178,3135,3398,0,0,0,0,0,0
$GC,560,-0.95,-146.0,85.4,-10.4,56,569,0.00,2.55,0.00,0.000,6,0.000,0.028,3177,1575,3398,0,0,0,0,0,0
$GC,827,-0.95,-146.0,110.3,-10.0,81,832,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1575,3398,0,0,0,0,0,0
$GC,1088,-0.95,-146.0,139.1,-10.8,106,1093,0.00,2.47,0.00,0.000,4,0.000,0.021,3178,3144,3397,0,0,0,0,0,0
$GC,1110,-0.95,-146.0,141.6,-11.4,107,1115,0.00,2.53,0.00,0.000,6,0.000,0.027,3177,1582,3398,0,0,0,0,0,0
$GC,1374,-0.95,-146.0,166.9,-9.2,132,1378,0.00,2.30,0.00,0.000,4,0.000,0.043,3177,166,3398,0,0,0,0,0,0
$GC,1394,-0.95,-146.0,168.8,-9.3,133,1398,0.00,2.17,0.00,0.000,6,0.000,0.017,3178,1622,3398,0,0,0,0,0,0
$GC,1662,-0.95,-146.0,195.2,-9.6,157,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1625,3398,0,0,0,0,0,0
$GC,1914,-0.95,-146.0,217.0,-8.3,167,1918,0.00,2.40,0.00,0.000,4,0.000,0.043,3178,172,3398,0,0,0,0,0,0
$GC,1933,-0.95,-146.0,218.6,-8.3,167,1937,0.00,2.17,0.00,0.000,6,0.000,0.017,3178,1623,3398,0,0,0,0,0,0
$GC,2198,-0.95,-146.0,241.2,-8.6,174,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1626,3397,0,0,0,0,0,0
$GC,2441,-1.01,-146.0,262.9,-8.9,180,2445,0.00,2.40,0.00,0.000,4,0.000,0.045,3178,168,3397,0,0,0,0,0,0
$GC,2460,-1.06,-146.0,264.7,-8.6,180,2465,0.10,2.17,0.00,0.000,6,0.074,0.018,3118,1601,3397,0,0,0,0,0,0
$GC,2726,-0.99,-146.0,291.9,-10.3,187,2728,0.22,0.00,0.00,0.000,6,0.086,0.000,3169,1604,3396,0,0,0,0,0,0
$GC,2969,-1.05,-146.0,310.9,-7.5,193,2973,0.00,2.38,0.00,0.000,4,0.000,0.048,3169,175,3395,0,0,0,0,0,0
$GC,2983,-1.11,-146.0,312.0,-6.9,193,2988,0.10,2.17,0.00,0.000,6,0.075,0.020,3112,1583,3396,0,0,0,0,0,0
$GC,3254,-1.05,-146.0,335.5,-8.8,200,3259,0.20,2.38,0.00,0.000,4,0.089,0.048,3156,169,3394,0,0,0,0,0,0
$GC,3293,-1.10,-146.0,339.3,-8.7,200,3299,0.00,2.20,0.00,0.000,6,0.000,0.021,3156,1576,3394,0,0,0,0,0,0
$GC,3545,-1.14,-146.0,361.2,-9.1,207,3549,0.00,2.50,0.00,0.000,4,0.000,0.030,3156,3145,3392,0,0,0,0,0,0
$GC,3569,-1.22,-146.0,363.7,-9.2,207,3575,0.15,2.55,0.00,0.000,6,0.052,0.036,3077,1591,3392,0,0,0,0,0,0
$GC,3830,-1.11,-146.0,393.1,-11.4,214,3835,0.28,2.40,0.00,0.000,4,0.087,0.058,3142,172,3390,0,0,0,0,0,0
$GC,3875,-1.11,-146.0,397.2,-8.8,215,3879,0.00,2.20,0.00,0.000,6,0.000,0.023,3142,1583,3390,0,0,0,0,0,0
$GC,4167,-1.11,-146.0,419.3,-7.1,222,4171,0.00,2.53,0.00,0.000,4,0.000,0.034,3142,3152,3388,0,0,0,0,0,0
$GC,4200,-1.20,-146.0,421.8,-7.5,222,4205,0.00,2.58,0.00,0.000,6,0.000,0.038,3142,1593,3388,0,0,0,0,0,0
$GC,4452,-1.20,-146.0,441.2,-8.1,228,4456,0.00,2.45,0.00,0.000,4,0.000,0.065,3142,165,3385,0,0,0,0,0,0
$GC,4480,-1.20,-146.0,444.0,-9.8,228,4484,0.00,2.25,0.00,0.000,6,0.000,0.025,3142,1585,3385,0,0,0,0,0,0
$GC,4735,-1.20,-146.0,464.3,-7.8,235,4736,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3383,0,0,0,0,0,0
$GC,4980,-1.20,-146.0,483.7,-8.0,241,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3382,0,0,0,0,0,0
$GC,5222,-1.20,-146.0,502.1,-7.4,247,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1586,3380,0,0,0,0,0,0
$GC,5466,-1.25,-146.0,518.8,-6.8,253,5471,0.12,2.47,0.00,0.000,4,0.064,0.069,3086,169,3378,0,0,0,0,0,0
$GC,5488,-1.21,-146.0,520.7,-8.6,253,5493,0.15,2.28,0.00,0.000,6,0.099,0.029,3120,1581,3378,0,0,0,0,0,0
$GC,5752,-1.21,-146.0,542.3,-8.1,260,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1581,3377,0,0,0,0,0,0
$GC,5996,-1.21,-146.0,560.8,-7.5,266,6000,0.00,2.45,0.00,0.000,4,0.000,0.070,3120,163,3375,0,0,0,0,0,0
$GC,6021,-1.21,-146.0,562.8,-8.2,266,6025,0.00,2.30,0.00,0.000,6,0.000,0.031,3120,1583,3375,0,0,0,0,0,0
$GC,6281,-1.21,-146.0,580.6,-6.7,273,6285,0.00,2.47,0.00,0.000,4,0.000,0.071,3120,165,3373,0,0,0,0,0,0
$GC,6300,-1.21,-146.0,582.1,-7.5,273,6304,0.00,2.30,0.00,0.000,6,0.000,0.031,3120,1585,3373,0,0,0,0,0,0
$GC,6565,-1.21,-146.0,600.6,-7.3,280,6569,0.00,2.58,0.00,0.000,4,0.000,0.045,3120,3151,3371,0,0,0,0,0,0
$GC,6589,-1.21,-146.0,602.6,-8.0,280,6593,0.00,2.65,0.00,0.000,6,0.000,0.044,3120,1584,3371,0,0,0,0,0,0
$GC,6848,-1.21,-146.0,622.0,-7.4,287,6853,0.00,2.47,0.00,0.000,4,0.000,0.077,3120,170,3370,0,0,0,0,0,0
$GC,6874,-1.21,-146.0,623.9,-8.6,287,6878,0.00,2.30,0.00,0.000,6,0.000,0.031,3120,1590,3370,0,0,0,0,0,0
$GC,7133,-1.21,-146.0,640.9,-6.4,294,7137,0.00,2.50,0.00,0.000,4,0.000,0.073,3121,166,3368,0,0,0,0,0,0
$GC,7172,-1.21,-146.0,643.8,-7.6,294,7177,0.00,2.30,0.00,0.000,6,0.000,0.032,3120,1579,3368,0,0,0,0,0,0
$GC,7423,-1.21,-146.0,661.5,-7.3,301,7428,0.00,2.62,0.00,0.000,4,0.000,0.048,3120,3157,3366,0,0,0,0,0,0
$GC,7438,-1.21,-146.0,662.9,-7.7,301,7442,0.00,2.67,0.00,0.000,6,0.000,0.045,3120,1575,3366,0,0,0,0,0,0
$GC,7707,-1.21,-146.0,684.7,-8.2,308,7711,0.00,2.45,0.00,0.000,4,0.000,0.081,3120,171,3365,0,0,0,0,0,0
$GC,7736,-1.21,-146.0,687.2,-9.5,308,7741,0.00,2.28,0.00,0.000,6,0.000,0.033,3120,1573,3365,0,0,0,0,0,0
$GC,7991,-1.21,-146.0,708.3,-8.2,315,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3364,0,0,0,0,0,0
$GC,8235,-1.21,-146.0,728.3,-8.1,321,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3363,0,0,0,0,0,0
$GC,8478,-1.21,-146.0,747.4,-7.8,327,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3362,0,0,0,0,0,0
$GC,8724,-1.21,-146.0,764.5,-6.9,333,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3361,0,0,0,0,0,0
$GC,8966,-1.21,-146.0,780.9,-6.7,339,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1573,3360,0,0,0,0,0,0
$GC,9210,-1.21,-146.0,797.3,-6.6,345,9214,0.00,2.45,0.00,0.000,4,0.000,0.075,3120,169,3360,0,0,0,0,0,0
$GC,9235,-1.21,-146.0,799.1,-8.2,345,9239,0.00,2.28,0.00,0.000,6,0.000,0.033,3120,1564,3359,0,0,0,0,0,0
$GC,9494,-1.21,-146.0,816.7,-6.7,352,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1564,3358,0,0,0,0,0,0
$GC,9738,-1.21,-146.0,831.8,-6.1,358,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1564,3357,0,0,0,0,0,0
$GC,9982,-1.25,-146.0,846.5,-5.9,364,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1564,3357,0,0,0,0,0,0
$GC,10227,-1.25,-146.0,860.6,-5.8,370,10228,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1564,3356,0,0,0,0,0,0
$GC,10469,-1.30,-146.0,874.5,-5.8,376,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1564,3355,0,0,0,0,0,0
$GC,10713,-1.35,-146.0,888.4,-5.7,382,10718,0.12,2.45,0.00,0.000,4,0.064,0.075,3068,171,3355,0,0,0,0,0,0
$GC,10772,-1.26,-146.0,893.5,-9.5,383,10777,0.17,2.30,0.00,0.000,6,0.100,0.035,3108,1575,3354,0,0,0,0,0,0
$STATE,10880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10881,begin apogee
$GC,10887,-0.31,0.0,901.1,6.6,386,11008,0.93,0.00,117.80,1.167,6,0.076,0.000,3318,1344,2800,0,0,0,0,0,0
$STATE,11009,end apogee,CONTROL_FINISHED_OK
$STATE,11009,begin climb
$GC,11013,1.27,146.0,903.8,0.0,389,11156,1.45,2.20,132.43,1.141,4,0.031,0.079,3671,166,2203,0,0,0,0,0,0
$GC,11219,0.98,146.0,887.4,16.2,394,11224,0.35,1.98,0.00,0.000,6,0.112,0.031,3600,1356,2199,0,0,0,0,0,0
$GC,11502,0.90,146.0,856.2,10.5,401,11506,0.00,2.10,0.00,0.000,4,0.000,0.072,3600,176,2192,0,0,0,0,0,0
$GC,11567,0.76,146.0,848.4,12.8,402,11572,0.22,1.95,0.00,0.000,6,0.106,0.031,3553,1359,2192,0,0,0,0,0,0
$GC,11833,0.80,177.2,825.3,8.6,409,11863,0.00,0.00,27.98,1.064,6,0.000,0.000,3553,1361,2077,0,0,0,0,0,0
$GC,12075,0.82,191.4,802.8,9.3,415,12091,0.00,0.00,13.85,0.993,6,0.000,0.000,3553,1360,2019,0,0,0,0,0,0
$GC,12319,0.83,205.6,780.2,9.3,421,12335,0.00,0.00,14.20,0.987,6,0.000,0.000,3553,1361,1962,0,0,0,0,0,0
$GC,12565,0.92,231.8,758.4,8.8,427,12593,0.12,0.00,26.12,1.028,6,0.068,0.000,3598,1362,1854,0,0,0,0,0,0
$GC,12806,0.92,231.8,730.3,11.7,433,12811,0.00,2.65,0.00,0.000,4,0.000,0.051,3598,2931,1849,0,0,0,0,0,0
$GC,12844,0.92,231.8,725.9,10.7,433,12850,0.00,2.70,0.00,0.000,6,0.000,0.048,3598,1363,1846,0,0,0,0,0,0
$GC,13095,0.92,231.8,695.8,12.2,440,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1363,1845,0,0,0,0,0,0
$GC,13337,0.92,231.8,666.3,12.1,446,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1363,1845,0,0,0,0,0,0
$GC,13581,0.92,231.8,635.6,12.7,452,13585,0.00,2.65,0.00,0.000,4,0.000,0.042,3598,2934,1845,0,0,0,0,0,0
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$GC,18989,1.30,310.7,29.8,8.6,687,19024,0.12,2.10,28.35,0.456,4,0.064,0.046,3706,172,1532,0,0,0,0,0,0
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$STATE,19180,end climb,SURFACE_DEPTH_REACHED
$STATE,19180,begin surface coast
$FINISH,0.8,1.013465
$STATE,19234,end surface coast,CONTROL_FINISHED_OK
$STATE,19234,begin surface
$SM_CCo,19258,38.88,0.433,0,0,1249,380.21
$SM_GC,1.73,0.00,0.00,38.88,0.000,0.000,0.433,413,1598,1249,-13.67,0.79,380.21
$IRIDIUM_FIX,2244.02,-15754.11,120902,131302
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,13
$24V_AH,23.3,18.781
$10V_AH,9.9,16.532
$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,32.650,192.575,403.750,38.875,0.000,52.145,73.938,481.842,3.250,0.000,22.717,1531.119,14685.047,588.516,2261.267,1058.578,33.374,1595.579,0.000,2253.917,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,80.535,1166.607,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.085,336.363,428.095,737.587,1007.540,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,54109,722
$CAP_FILE_SIZE,180926,0
$CFSIZE,260165632,162607104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,183806,2248.845,-15756.433,62,1.8,62,10.1