version: 66.06
glider: 148
mission: 12
dive: 133
start: 6 19 113 6 12 1
data:
$ID,148
$MISSION,12
$DIVE,133
$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,-1018761.2
$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,28
$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
$GPS1,060024,2244.601,-15801.541,54,1.1,54,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.1
$GPS2,061107,2244.570,-15801.574,10,1.6,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.185,-0.183
$KALMAN_X,-141914.8,11.1,-98.4,139420.2,-655.9
$KALMAN_Y,51760.6,36.4,47.5,-52611.1,-676.6
$MHEAD_RNG_PITCHd_Wd,215.2,10679,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,412,1634,2961,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-4.2,9,122,14.05,2.47,-7.80,0.000,4,0.151,0.063,3103,175,3399,0,0,0,0,0,0
$GC,211,-0.97,-146.0,34.8,-20.9,25,216,0.32,2.20,0.00,0.000,6,0.100,0.016,3172,1623,3399,0,0,0,0,0,0
$GC,481,-0.91,-146.0,72.0,-11.9,49,485,0.00,2.42,0.00,0.000,4,0.000,0.021,3172,3172,3400,0,0,0,0,0,0
$GC,535,-0.99,-146.0,78.2,-9.3,53,540,0.00,2.60,0.00,0.000,6,0.000,0.028,3172,1562,3400,0,0,0,0,0,0
$GC,803,-0.99,-146.0,107.0,-11.5,77,807,0.00,2.28,0.00,0.000,4,0.000,0.042,3172,171,3400,0,0,0,0,0,0
$GC,832,-0.93,-146.0,110.6,-11.5,79,836,0.00,2.22,0.00,0.000,6,0.000,0.016,3172,1646,3401,0,0,0,0,0,0
$GC,1098,-0.93,-146.0,139.2,-10.0,103,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1649,3401,0,0,0,0,0,0
$GC,1359,-0.93,-146.0,166.7,-10.7,128,1363,0.00,2.42,0.00,0.000,4,0.000,0.042,3172,170,3401,0,0,0,0,0,0
$GC,1416,-0.93,-146.0,173.2,-11.3,133,1420,0.00,2.20,0.00,0.000,6,0.000,0.016,3172,1621,3401,0,0,0,0,0,0
$GC,1684,-0.93,-146.0,200.9,-9.1,157,1688,0.00,2.42,0.00,0.000,4,0.000,0.021,3172,3173,3401,0,0,0,0,0,0
$GC,1703,-0.93,-146.0,203.3,-9.3,157,1707,0.00,2.58,0.00,0.000,6,0.000,0.026,3171,1575,3401,0,0,0,0,0,0
$GC,1968,-0.93,-146.0,225.8,-8.7,164,1973,0.00,2.50,0.00,0.000,4,0.000,0.021,3172,3176,3401,0,0,0,0,0,0
$GC,1992,-0.97,-146.0,228.5,-10.1,164,1997,0.00,2.58,0.00,0.000,6,0.000,0.027,3171,1582,3401,0,0,0,0,0,0
$GC,2252,-0.97,-146.0,250.7,-8.2,171,2256,0.00,2.30,0.00,0.000,4,0.000,0.044,3172,167,3401,0,0,0,0,0,0
$GC,2281,-0.97,-146.0,252.9,-8.1,171,2285,0.00,2.22,0.00,0.000,6,0.000,0.018,3172,1628,3401,0,0,0,0,0,0
$GC,2541,-1.03,-146.0,272.2,-7.7,178,2545,0.00,2.40,0.00,0.000,4,0.000,0.045,3172,171,3400,0,0,0,0,0,0
$GC,2597,-1.10,-146.0,277.8,-9.7,179,2602,0.12,2.20,0.00,0.000,6,0.062,0.018,3109,1602,3401,0,0,0,0,0,0
$GC,2873,-1.03,-146.0,309.2,-11.3,186,2878,0.22,2.45,0.00,0.000,4,0.086,0.025,3159,3139,3401,0,0,0,0,0,0
$GC,2917,-1.16,-146.0,313.2,-7.8,187,2922,0.12,2.55,0.00,0.000,6,0.063,0.034,3097,1584,3401,0,0,0,0,0,0
$GC,3207,-1.07,-146.0,345.0,-11.4,194,3212,0.22,2.38,0.00,0.000,4,0.087,0.053,3149,164,3399,0,0,0,0,0,0
$GC,3245,-1.12,-146.0,349.5,-10.1,194,3251,0.00,2.20,0.00,0.000,6,0.000,0.021,3149,1572,3399,0,0,0,0,0,0
$GC,3495,-1.12,-146.0,370.6,-8.3,201,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1574,3398,0,0,0,0,0,0
$GC,3740,-1.12,-146.0,389.1,-7.3,207,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1574,3396,0,0,0,0,0,0
$GC,3983,-1.12,-146.0,406.9,-7.5,213,3987,0.00,2.38,0.00,0.000,4,0.000,0.058,3149,168,3395,0,0,0,0,0,0
$GC,4011,-1.12,-146.0,409.4,-8.6,213,4015,0.00,2.20,0.00,0.000,6,0.000,0.023,3149,1577,3394,0,0,0,0,0,0
$GC,4272,-1.17,-146.0,432.1,-8.9,220,4276,0.00,2.55,0.00,0.000,4,0.000,0.036,3149,3143,3392,0,0,0,0,0,0
$GC,4291,-1.23,-146.0,433.9,-8.3,220,4297,0.15,2.60,0.00,0.000,6,0.054,0.038,3082,1575,3392,0,0,0,0,0,0
$GC,4556,-1.14,-146.0,462.0,-10.5,227,4561,0.25,2.42,0.00,0.000,4,0.087,0.064,3142,168,3390,0,0,0,0,0,0
$GC,4573,-1.08,-146.0,463.5,-9.9,227,4578,0.00,2.22,0.00,0.000,6,0.000,0.025,3142,1573,3390,0,0,0,0,0,0
$GC,4842,-1.08,-146.0,479.7,-5.9,234,4846,0.00,2.58,0.00,0.000,4,0.000,0.041,3141,3149,3388,0,0,0,0,0,0
$GC,4881,-1.19,-146.0,482.3,-6.8,234,4887,0.00,2.60,0.00,0.000,6,0.000,0.040,3142,1578,3388,0,0,0,0,0,0
$GC,5132,-1.24,-146.0,501.8,-8.1,241,5137,0.12,2.42,0.00,0.000,4,0.065,0.071,3089,171,3386,0,0,0,0,0,0
$GC,5189,-1.16,-146.0,508.4,-12.6,242,5194,0.20,2.25,0.00,0.000,6,0.095,0.029,3133,1569,3386,0,0,0,0,0,0
$GC,5464,-1.16,-146.0,529.8,-7.4,249,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1568,3384,0,0,0,0,0,0
$GC,5706,-1.16,-146.0,544.2,-5.7,255,5711,0.00,2.62,0.00,0.000,4,0.000,0.045,3133,3154,3383,0,0,0,0,0,0
$GC,5731,-1.22,-146.0,545.7,-6.1,255,5735,0.00,2.65,0.00,0.000,6,0.000,0.042,3133,1577,3383,0,0,0,0,0,0
$GC,5992,-1.22,-146.0,561.4,-6.2,262,5996,0.00,2.45,0.00,0.000,4,0.000,0.074,3133,162,3381,0,0,0,0,0,0
$GC,6020,-1.22,-146.0,563.6,-7.9,262,6024,0.00,2.30,0.00,0.000,6,0.000,0.031,3133,1584,3381,0,0,0,0,0,0
$GC,6274,-1.22,-146.0,581.8,-7.3,269,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1585,3380,0,0,0,0,0,0
$GC,6520,-1.22,-146.0,599.6,-7.2,275,6524,0.00,2.47,0.00,0.000,4,0.000,0.071,3133,168,3378,0,0,0,0,0,0
$GC,6539,-1.22,-146.0,601.3,-8.1,275,6543,0.00,2.28,0.00,0.000,6,0.000,0.031,3133,1572,3378,0,0,0,0,0,0
$GC,6809,-1.26,-146.0,621.8,-7.7,282,6811,0.10,0.00,0.00,0.000,6,0.076,0.000,3087,1573,3377,0,0,0,0,0,0
$GC,7052,-1.21,-146.0,646.8,-10.5,288,7057,0.15,2.67,0.00,0.000,4,0.102,0.051,3120,3153,3375,0,0,0,0,0,0
$GC,7069,-1.21,-146.0,648.7,-10.4,288,7073,0.00,2.67,0.00,0.000,6,0.000,0.045,3120,1572,3375,0,0,0,0,0,0
$GC,7338,-1.21,-146.0,669.1,-7.3,295,7342,0.00,2.47,0.00,0.000,4,0.000,0.081,3120,169,3373,0,0,0,0,0,0
$GC,7358,-1.21,-146.0,670.6,-7.1,295,7362,0.00,2.28,0.00,0.000,6,0.000,0.032,3120,1572,3373,0,0,0,0,0,0
$GC,7622,-1.21,-146.0,689.3,-7.2,302,7626,0.00,2.67,0.00,0.000,4,0.000,0.053,3120,3158,3373,0,0,0,0,0,0
$GC,7636,-1.21,-146.0,690.6,-7.8,302,7641,0.00,2.70,0.00,0.000,6,0.000,0.046,3120,1561,3372,0,0,0,0,0,0
$GC,7906,-1.21,-146.0,712.7,-8.4,309,7911,0.00,2.45,0.00,0.000,4,0.000,0.081,3120,162,3372,0,0,0,0,0,0
$GC,7925,-1.21,-146.0,714.7,-9.6,309,7930,0.00,2.30,0.00,0.000,6,0.000,0.033,3120,1574,3371,0,0,0,0,0,0
$GC,8189,-1.21,-146.0,737.7,-8.6,316,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3370,0,0,0,0,0,0
$GC,8435,-1.21,-146.0,755.7,-7.0,322,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3369,0,0,0,0,0,0
$GC,8677,-1.21,-146.0,770.0,-5.9,328,8678,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3368,0,0,0,0,0,0
$GC,8921,-1.21,-146.0,783.2,-5.4,334,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3367,0,0,0,0,0,0
$GC,9164,-1.21,-146.0,797.5,-6.0,340,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3366,0,0,0,0,0,0
$GC,9409,-1.21,-146.0,813.9,-6.7,346,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3365,0,0,0,0,0,0
$GC,9652,-1.25,-146.0,831.4,-7.2,352,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1574,3365,0,0,0,0,0,0
$GC,9896,-1.30,-146.0,847.8,-6.7,358,9900,0.00,2.45,0.00,0.000,4,0.000,0.076,3120,171,3364,0,0,0,0,0,0
$GC,9924,-1.30,-146.0,849.8,-7.5,358,9928,0.00,2.30,0.00,0.000,6,0.000,0.035,3120,1574,3364,0,0,0,0,0,0
$GC,10181,-1.35,-146.0,866.2,-6.3,365,10183,0.12,0.00,0.00,0.000,6,0.066,0.000,3068,1574,3363,0,0,0,0,0,0
$GC,10423,-1.28,-146.0,887.5,-8.9,371,10428,0.17,2.50,0.00,0.000,4,0.099,0.075,3107,165,3363,0,0,0,0,0,0
$GC,10451,-1.28,-146.0,889.6,-8.4,371,10455,0.00,2.30,0.00,0.000,6,0.000,0.036,3107,1567,3362,0,0,0,0,0,0
$STATE,10626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10626,begin apogee
$GC,10632,-0.31,0.0,902.7,7.1,376,10755,0.93,0.00,119.38,1.161,6,0.077,0.000,3318,1337,2799,0,0,0,0,0,0
$STATE,10756,end apogee,CONTROL_FINISHED_OK
$STATE,10756,begin climb
$GC,10758,1.27,146.0,906.1,0.0,379,10900,1.45,2.10,131.07,1.139,4,0.029,0.077,3677,176,2203,0,0,0,0,0,0
$GC,10998,0.97,146.0,884.8,16.1,384,11005,0.40,1.95,0.00,0.000,6,0.110,0.031,3596,1353,2198,0,0,0,0,0,0
$GC,11250,0.89,146.0,857.2,10.7,391,11254,0.00,2.10,0.00,0.000,4,0.000,0.072,3596,176,2192,0,0,0,0,0,0
$GC,11287,0.75,146.0,852.6,11.9,391,11292,0.22,1.92,0.00,0.000,6,0.104,0.030,3550,1349,2192,0,0,0,0,0,0
$GC,11537,0.80,183.8,831.0,8.3,397,11579,0.00,2.15,33.70,1.073,4,0.000,0.072,3550,169,2049,0,0,0,0,0,0
$GC,11600,0.80,183.8,825.3,11.0,398,11603,0.00,1.95,0.00,0.000,6,0.000,0.031,3550,1345,2048,0,0,0,0,0,0
$GC,11873,0.83,207.5,800.8,8.9,405,11901,0.00,2.83,22.52,1.036,4,0.000,0.056,3549,2932,1953,0,0,0,0,0,0
$GC,11931,0.93,215.5,795.4,9.6,406,11948,0.15,2.75,8.68,0.905,6,0.059,0.049,3605,1350,1921,0,0,0,0,0,0
$GC,12210,0.88,215.5,762.6,11.9,413,12212,0.12,0.00,0.00,0.000,6,0.114,0.000,3579,1350,1918,0,0,0,0,0,0
$GC,12453,0.88,215.5,737.7,10.2,419,12457,0.00,2.70,0.00,0.000,4,0.000,0.044,3579,2929,1917,0,0,0,0,0,0
$GC,12481,0.88,217.9,734.5,9.9,419,12486,0.00,2.72,0.00,0.000,6,0.000,0.050,3578,1346,1914,0,0,0,0,0,0
$GC,12736,0.88,217.9,708.1,10.6,426,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1346,1914,0,0,0,0,0,0
$GC,12979,0.88,217.9,679.5,11.9,432,12984,0.00,2.65,0.00,0.000,4,0.000,0.045,3578,2928,1914,0,0,0,0,0,0
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$STATE,19123,end climb,SURFACE_DEPTH_REACHED
$STATE,19123,begin surface coast
$FINISH,0.8,1.022930
$STATE,19163,end surface coast,CONTROL_FINISHED_OK
$STATE,19163,begin surface
$SM_CCo,19187,47.78,0.434,0,0,1249,380.21
$SM_GC,1.73,0.00,0.00,47.78,0.000,0.000,0.434,413,1598,1249,-13.67,0.79,380.21
$IRIDIUM_FIX,2237.01,-15802.37,130902,060634
$TT8_MAMPS,0.027612
$HUMID,62.64
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,13
$24V_AH,23.3,19.275
$10V_AH,9.9,16.935
$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,34.400,210.250,394.875,47.775,0.000,50.088,74.068,300.719,3.250,0.000,12.134,1581.653,14443.779,561.274,2383.241,901.123,33.372,1621.547,0.000,2389.146,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,81.302,1161.238,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,489.268,340.152,430.143,744.317,1012.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,54065,718
$CAP_FILE_SIZE,189027,0
$CFSIZE,260165632,162369536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190613,113424,2242.139,-15803.892,64,0.9,64,10.0