version: 66.06
glider: 148
mission: 12
dive: 155
start: 6 24 113 4 59 28
data:
$ID,148
$MISSION,12
$DIVE,155
$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,-1019221.8
$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,71
$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
$GPS1,044729,2254.798,-15752.919,61,1.5,61,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.9
$GPS2,045836,2254.950,-15753.095,35,1.3,35,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.215
$KALMAN_X,-172091.9,-15.4,-318.9,184322.6,-295.1
$KALMAN_Y,54414.6,308.7,-26.6,-36254.5,1154.1
$MHEAD_RNG_PITCHd_Wd,135.7,40011,-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,-66.97,0.000,2,0.000,0.000,410,1594,2974,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-3.7,9,123,14.05,2.42,-7.43,0.000,4,0.151,0.056,3102,167,3398,0,0,0,0,0,0
$GC,134,-0.27,-146.0,19.3,-37.3,14,142,1.00,2.15,0.00,0.000,6,0.094,0.017,3321,1571,3398,0,0,0,0,0,0
$GC,416,-0.51,-146.0,38.6,-3.6,47,425,0.20,0.00,0.00,0.000,6,0.048,0.000,3264,1575,3399,0,0,0,0,0,0
$GC,684,-0.62,-146.0,57.1,-5.5,72,692,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1575,3400,0,0,0,0,0,0
$GC,952,-0.79,-146.0,74.1,-7.2,97,957,0.20,2.42,0.00,0.000,4,0.051,0.020,3175,3130,3400,0,0,0,0,0,0
$GC,974,-0.87,-146.0,76.8,-9.1,98,983,0.00,2.55,0.00,0.000,6,0.000,0.027,3175,1564,3400,0,0,0,0,0,0
$GC,1241,-0.81,-146.0,108.8,-11.8,123,1246,0.15,2.28,0.00,0.000,4,0.099,0.044,3209,173,3401,0,0,0,0,0,0
$GC,1278,-0.86,-146.0,113.3,-9.1,126,1282,0.00,2.10,0.00,0.000,6,0.000,0.016,3210,1597,3400,0,0,0,0,0,0
$GC,1543,-0.91,-146.0,135.6,-7.6,150,1548,0.10,2.35,0.00,0.000,4,0.077,0.021,3155,3108,3401,0,0,0,0,0,0
$GC,1563,-0.91,-146.0,137.1,-7.0,151,1569,0.15,2.47,0.00,0.000,6,0.092,0.027,3189,1568,3401,0,0,0,0,0,0
$GC,1830,-0.91,-146.0,158.8,-8.0,175,1834,0.00,2.28,0.00,0.000,4,0.000,0.044,3189,165,3401,0,0,0,0,0,0
$GC,1875,-0.99,-146.0,162.8,-8.2,179,1879,0.00,2.10,0.00,0.000,6,0.000,0.017,3189,1572,3401,0,0,0,0,0,0
$GC,2139,-0.99,-146.0,185.0,-8.8,203,2143,0.00,2.40,0.00,0.000,4,0.000,0.021,3189,3108,3401,0,0,0,0,0,0
$GC,2155,-1.04,-146.0,186.6,-8.5,204,2160,0.12,2.47,0.00,0.000,6,0.061,0.026,3116,1556,3402,0,0,0,0,0,0
$GC,2430,-0.91,-146.0,222.9,-13.5,218,2435,0.28,2.25,0.00,0.000,4,0.086,0.042,3181,172,3401,0,0,0,0,0,0
$GC,2456,-0.86,-146.0,226.2,-12.5,218,2460,0.00,2.10,0.00,0.000,6,0.000,0.018,3181,1573,3401,0,0,0,0,0,0
$GC,2716,-0.91,-146.0,247.2,-7.6,225,2720,0.00,2.40,0.00,0.000,4,0.000,0.022,3181,3118,3401,0,0,0,0,0,0
$GC,2745,-1.01,-146.0,249.4,-7.6,225,2749,0.00,2.50,0.00,0.000,6,0.000,0.028,3181,1571,3401,0,0,0,0,0,0
$GC,3002,-1.07,-146.0,267.1,-6.9,232,3007,0.12,2.33,0.00,0.000,4,0.064,0.048,3119,164,3401,0,0,0,0,0,0
$GC,3040,-0.97,-146.0,271.3,-11.2,232,3046,0.25,2.12,0.00,0.000,6,0.081,0.019,3175,1550,3401,0,0,0,0,0,0
$GC,3292,-1.03,-146.0,294.0,-9.3,239,3296,0.00,2.50,0.00,0.000,4,0.000,0.025,3175,3143,3400,0,0,0,0,0,0
$GC,3327,-1.18,-146.0,297.1,-8.5,239,3332,0.20,2.55,0.00,0.000,6,0.043,0.031,3092,1578,3400,0,0,0,0,0,0
$GC,3577,-1.07,-146.0,324.1,-10.7,245,3582,0.25,2.33,0.00,0.000,4,0.091,0.049,3151,172,3399,0,0,0,0,0,0
$GC,3599,-1.02,-146.0,326.0,-8.8,245,3603,0.00,2.17,0.00,0.000,6,0.000,0.020,3151,1581,3399,0,0,0,0,0,0
$GC,3863,-1.02,-146.0,346.1,-7.7,252,3867,0.00,2.35,0.00,0.000,4,0.000,0.053,3151,174,3398,0,0,0,0,0,0
$GC,3897,-1.02,-146.0,348.6,-7.0,252,3901,0.00,2.15,0.00,0.000,6,0.000,0.021,3150,1569,3398,0,0,0,0,0,0
$GC,4149,-1.02,-146.0,366.9,-7.4,258,4153,0.00,2.50,0.00,0.000,4,0.000,0.030,3150,3136,3397,0,0,0,0,0,0
$GC,4177,-1.10,-146.0,369.3,-7.7,258,4182,0.00,2.60,0.00,0.000,6,0.000,0.037,3151,1566,3396,0,0,0,0,0,0
$GC,4432,-1.10,-146.0,387.0,-6.8,265,4433,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1566,3394,0,0,0,0,0,0
$GC,4677,-1.10,-146.0,401.3,-5.8,271,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1566,3392,0,0,0,0,0,0
$GC,4920,-1.10,-146.0,417.2,-6.8,277,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1566,3391,0,0,0,0,0,0
$GC,5164,-1.14,-146.0,435.5,-7.8,283,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1566,3390,0,0,0,0,0,0
$GC,5409,-1.20,-146.0,453.9,-7.7,289,5414,0.12,2.60,0.00,0.000,4,0.064,0.040,3093,3133,3388,0,0,0,0,0,0
$GC,5434,-1.20,-146.0,456.2,-9.1,289,5439,0.12,2.58,0.00,0.000,6,0.104,0.039,3123,1576,3388,0,0,0,0,0,0
$GC,5694,-1.20,-146.0,476.2,-7.4,296,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1576,3386,0,0,0,0,0,0
$GC,5939,-1.20,-146.0,495.3,-7.9,302,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1576,3385,0,0,0,0,0,0
$GC,6181,-1.20,-146.0,516.4,-8.9,308,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1576,3383,0,0,0,0,0,0
$GC,6425,-1.20,-146.0,538.5,-9.1,314,6429,0.00,2.45,0.00,0.000,4,0.000,0.074,3122,171,3381,0,0,0,0,0,0
$GC,6446,-1.20,-146.0,540.4,-9.7,314,6450,0.00,2.22,0.00,0.000,6,0.000,0.028,3122,1555,3381,0,0,0,0,0,0
$GC,6711,-1.20,-146.0,563.5,-8.7,321,6716,0.00,2.65,0.00,0.000,4,0.000,0.044,3122,3155,3380,0,0,0,0,0,0
$GC,6735,-1.20,-146.0,565.5,-8.5,321,6739,0.00,2.65,0.00,0.000,6,0.000,0.044,3122,1577,3380,0,0,0,0,0,0
$GC,6995,-1.20,-146.0,583.1,-6.4,328,6999,0.00,2.45,0.00,0.000,4,0.000,0.077,3122,165,3378,0,0,0,0,0,0
$GC,7039,-1.20,-146.0,586.2,-7.2,329,7044,0.00,2.28,0.00,0.000,6,0.000,0.031,3123,1570,3378,0,0,0,0,0,0
$GC,7328,-1.20,-146.0,603.7,-6.1,336,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1570,3376,0,0,0,0,0,0
$GC,7571,-1.20,-146.0,620.4,-7.1,342,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1570,3375,0,0,0,0,0,0
$GC,7817,-1.20,-146.0,640.6,-8.5,348,7821,0.00,2.67,0.00,0.000,4,0.000,0.048,3122,3160,3374,0,0,0,0,0,0
$GC,7836,-1.20,-146.0,642.7,-9.8,348,7840,0.00,2.65,0.00,0.000,6,0.000,0.046,3123,1574,3374,0,0,0,0,0,0
$GC,8100,-1.20,-146.0,666.3,-9.1,355,8104,0.00,2.47,0.00,0.000,4,0.000,0.081,3122,169,3372,0,0,0,0,0,0
$GC,8134,-1.20,-146.0,669.6,-10.2,355,8138,0.00,2.28,0.00,0.000,6,0.000,0.032,3122,1568,3372,0,0,0,0,0,0
$GC,8384,-1.20,-146.0,690.6,-8.3,361,8389,0.00,2.45,0.00,0.000,4,0.000,0.074,3122,169,3371,0,0,0,0,0,0
$GC,8408,-1.20,-146.0,692.8,-8.8,361,8412,0.00,2.28,0.00,0.000,6,0.000,0.033,3122,1564,3371,0,0,0,0,0,0
$GC,8667,-1.20,-146.0,713.9,-8.1,368,8668,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1565,3370,0,0,0,0,0,0
$GC,8911,-1.20,-146.0,733.6,-8.1,374,8915,0.00,2.45,0.00,0.000,4,0.000,0.074,3122,170,3369,0,0,0,0,0,0
$GC,8930,-1.20,-146.0,735.4,-9.3,374,8934,0.00,2.25,0.00,0.000,6,0.000,0.033,3122,1563,3368,0,0,0,0,0,0
$GC,9195,-1.20,-146.0,757.3,-8.4,381,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1563,3368,0,0,0,0,0,0
$GC,9437,-1.20,-146.0,777.5,-8.2,387,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1563,3367,0,0,0,0,0,0
$GC,9681,-1.20,-146.0,796.4,-7.6,393,9685,0.00,2.45,0.00,0.000,4,0.000,0.075,3122,171,3365,0,0,0,0,0,0
$GC,9700,-1.20,-146.0,797.9,-7.9,393,9704,0.00,2.25,0.00,0.000,6,0.000,0.033,3122,1562,3365,0,0,0,0,0,0
$GC,9966,-1.20,-146.0,816.5,-6.8,400,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1562,3365,0,0,0,0,0,0
$GC,10208,-1.20,-146.0,832.5,-6.6,406,10212,0.00,2.45,0.00,0.000,4,0.000,0.075,3122,171,3364,0,0,0,0,0,0
$GC,10227,-1.20,-146.0,834.0,-7.1,406,10231,0.00,2.25,0.00,0.000,6,0.000,0.034,3122,1552,3364,0,0,0,0,0,0
$GC,10497,-1.24,-146.0,852.3,-6.9,413,10498,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1552,3363,0,0,0,0,0,0
$GC,10739,-1.29,-146.0,868.7,-6.7,419,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1552,3362,0,0,0,0,0,0
$GC,10983,-1.34,-146.0,884.8,-6.6,425,10988,0.12,2.70,0.00,0.000,4,0.065,0.051,3067,3162,3361,0,0,0,0,0,0
$GC,11004,-1.34,-146.0,886.5,-8.0,425,11012,0.12,2.75,0.00,0.000,6,0.106,0.050,3094,1550,3361,0,0,0,0,0,0
$STATE,11187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11187,begin apogee
$GC,11194,-0.31,0.0,900.7,7.7,430,11316,0.98,0.00,119.20,1.160,6,0.079,0.000,3314,1346,2800,0,0,0,0,0,0
$STATE,11317,end apogee,CONTROL_FINISHED_OK
$STATE,11317,begin climb
$GC,11321,1.27,146.0,903.5,0.0,433,11460,1.45,2.17,130.27,1.136,4,0.038,0.084,3665,171,2203,0,0,0,0,0,0
$GC,11513,0.99,146.0,889.2,14.9,437,11518,0.30,1.95,0.00,0.000,6,0.114,0.030,3604,1365,2199,0,0,0,0,0,0
$GC,11773,0.90,146.0,859.5,11.1,444,11775,0.10,0.00,0.00,0.000,6,0.133,0.000,3584,1365,2193,0,0,0,0,0,0
$GC,12016,0.86,146.0,834.3,10.3,450,12020,0.00,2.15,0.00,0.000,4,0.000,0.073,3584,162,2191,0,0,0,0,0,0
$GC,12064,0.75,146.0,828.9,11.1,451,12069,0.17,1.95,0.00,0.000,6,0.108,0.029,3547,1353,2191,0,0,0,0,0,0
$GC,12347,0.79,173.8,803.9,8.7,458,12374,0.00,0.00,24.48,1.048,6,0.000,0.000,3548,1353,2091,0,0,0,0,0,0
$GC,12593,0.86,194.7,781.7,9.0,464,12616,0.10,0.00,20.27,1.019,6,0.081,0.000,3586,1354,2006,0,0,0,0,0,0
$GC,12834,0.86,194.7,755.6,10.8,470,12838,0.00,2.10,0.00,0.000,4,0.000,0.072,3586,169,2002,0,0,0,0,0,0
$GC,12872,0.80,194.7,751.2,12.8,470,12878,0.12,1.92,0.00,0.000,6,0.114,0.030,3561,1346,2002,0,0,0,0,0,0
$GC,13123,0.82,211.9,727.9,9.2,477,13142,0.00,0.00,16.98,0.978,6,0.000,0.000,3560,1347,1936,0,0,0,0,0,0
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$STATE,19456,end climb,SURFACE_DEPTH_REACHED
$STATE,19457,begin surface coast
$FINISH,0.9,1.010933
$STATE,19491,end surface coast,CONTROL_FINISHED_OK
$STATE,19491,begin surface
$SM_CCo,19514,27.15,0.435,0,0,1249,380.21
$SM_GC,1.78,0.00,0.00,27.15,0.000,0.000,0.435,409,1637,1249,-13.69,1.92,380.21
$IRIDIUM_FIX,2244.02,-15754.11,180902,040442
$TT8_MAMPS,0.027612
$HUMID,66.22
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.30
$XPDR_PINGS,14
$24V_AH,23.3,22.530
$10V_AH,9.9,19.840
$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,35.775,194.125,435.325,27.150,0.000,54.483,79.213,285.004,3.500,0.000,36.572,1625.888,14618.806,567.958,2494.451,893.945,33.366,1629.386,0.000,2475.887,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,84.370,1159.704,434.889,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,515.526,373.880,467.029,864.922,1176.816,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,57174,757
$CAP_FILE_SIZE,189459,0
$CFSIZE,260165632,160714752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240613,102653,2253.679,-15752.014,59,1.0,59,10.1