version: 66.06
glider: 148
mission: 12
dive: 156
start: 6 24 113 10 47 9
data:
$ID,148
$MISSION,12
$DIVE,156
$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,561.4917
$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,-1019317.6
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,102653,2253.679,-15752.014,59,1.0,59,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.8
$GPS2,104617,2253.801,-15752.202,81,1.2,93,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.146
$KALMAN_X,-173441.8,-75.7,4.4,186935.4,-865.1
$KALMAN_Y,55670.0,251.6,502.3,-40105.5,-797.1
$MHEAD_RNG_PITCHd_Wd,114.2,37404,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.03,0.000,2,0.000,0.000,408,1638,2992,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-6.0,9,122,13.98,2.50,-7.20,0.000,4,0.150,0.056,3102,167,3399,0,0,0,0,0,0
$GC,165,-0.92,-146.0,26.9,-24.4,19,173,0.32,2.22,0.00,0.000,6,0.085,0.018,3178,1594,3398,0,0,0,0,0,0
$GC,441,-0.86,-146.0,65.2,-10.6,45,446,0.10,2.42,0.00,0.000,4,0.121,0.021,3199,3145,3399,0,0,0,0,0,0
$GC,487,-0.95,-146.0,69.7,-8.8,48,491,0.00,2.55,0.00,0.000,6,0.000,0.028,3199,1558,3399,0,0,0,0,0,0
$GC,750,-0.95,-146.0,94.5,-9.9,72,754,0.00,2.28,0.00,0.000,4,0.000,0.051,3199,172,3399,0,0,0,0,0,0
$GC,811,-1.00,-146.0,100.6,-10.5,77,816,0.15,2.15,0.00,0.000,6,0.053,0.016,3128,1605,3400,0,0,0,0,0,0
$GC,1078,-0.88,-146.0,135.6,-12.3,101,1083,0.25,0.00,0.00,0.000,6,0.087,0.000,3188,1608,3400,0,0,0,0,0,0
$GC,1342,-0.88,-146.0,159.9,-9.3,126,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1609,3400,0,0,0,0,0,0
$GC,1609,-0.93,-146.0,184.3,-9.0,151,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1608,3400,0,0,0,0,0,0
$GC,1900,-0.98,-146.0,206.5,-7.0,173,1904,0.00,2.35,0.00,0.000,4,0.000,0.044,3188,173,3400,0,0,0,0,0,0
$GC,1942,-1.04,-146.0,209.6,-7.2,173,1949,0.12,2.08,0.00,0.000,6,0.063,0.018,3124,1561,3400,0,0,0,0,0,0
$GC,2194,-0.96,-146.0,234.1,-10.1,180,2199,0.22,2.30,0.00,0.000,4,0.087,0.044,3175,167,3399,0,0,0,0,0,0
$GC,2251,-1.06,-146.0,239.3,-7.9,181,2255,0.00,2.08,0.00,0.000,6,0.000,0.018,3175,1542,3399,0,0,0,0,0,0
$GC,2529,-1.11,-146.0,262.3,-9.0,188,2534,0.12,2.50,0.00,0.000,4,0.064,0.024,3115,3129,3398,0,0,0,0,0,0
$GC,2592,-1.11,-146.0,269.9,-11.9,189,2597,0.12,2.58,0.00,0.000,6,0.100,0.031,3144,1552,3398,0,0,0,0,0,0
$GC,2861,-1.11,-146.0,299.3,-10.4,196,2865,0.00,2.30,0.00,0.000,4,0.000,0.050,3143,170,3398,0,0,0,0,0,0
$GC,2890,-1.11,-146.0,302.7,-12.3,196,2895,0.00,2.10,0.00,0.000,6,0.000,0.020,3143,1540,3398,0,0,0,0,0,0
$GC,3150,-1.11,-146.0,326.4,-8.8,203,3154,0.00,2.53,0.00,0.000,4,0.000,0.028,3144,3136,3396,0,0,0,0,0,0
$GC,3164,-1.11,-146.0,327.7,-8.6,203,3169,0.00,2.58,0.00,0.000,6,0.000,0.032,3144,1552,3396,0,0,0,0,0,0
$GC,3435,-1.11,-146.0,349.5,-7.9,210,3439,0.00,2.33,0.00,0.000,4,0.000,0.055,3144,163,3395,0,0,0,0,0,0
$GC,3453,-1.11,-146.0,351.3,-8.4,210,3457,0.00,2.15,0.00,0.000,6,0.000,0.021,3143,1554,3395,0,0,0,0,0,0
$GC,3722,-1.11,-146.0,371.8,-7.6,217,3726,0.00,2.55,0.00,0.000,4,0.000,0.030,3143,3139,3393,0,0,0,0,0,0
$GC,3757,-1.19,-146.0,374.0,-6.1,217,3761,0.00,2.62,0.00,0.000,6,0.000,0.038,3143,1556,3393,0,0,0,0,0,0
$GC,4007,-1.19,-146.0,388.8,-5.7,223,4011,0.00,2.33,0.00,0.000,4,0.000,0.060,3144,170,3391,0,0,0,0,0,0
$GC,4050,-1.19,-146.0,391.5,-6.2,224,4054,0.00,2.15,0.00,0.000,6,0.000,0.023,3143,1544,3391,0,0,0,0,0,0
$GC,4338,-1.19,-146.0,406.5,-5.4,231,4343,0.00,2.58,0.00,0.000,4,0.000,0.032,3143,3146,3389,0,0,0,0,0,0
$GC,4362,-1.24,-146.0,408.1,-6.8,231,4368,0.12,2.62,0.00,0.000,6,0.063,0.038,3084,1556,3389,0,0,0,0,0,0
$GC,4623,-1.14,-146.0,432.9,-10.0,238,4625,0.22,0.00,0.00,0.000,6,0.090,0.000,3135,1556,3387,0,0,0,0,0,0
$GC,4868,-1.14,-146.0,451.5,-7.6,244,4872,0.00,2.38,0.00,0.000,4,0.000,0.067,3135,172,3385,0,0,0,0,0,0
$GC,4887,-1.14,-146.0,453.4,-8.9,244,4891,0.00,2.17,0.00,0.000,6,0.000,0.025,3135,1548,3385,0,0,0,0,0,0
$GC,5151,-1.14,-146.0,477.3,-9.2,251,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1548,3384,0,0,0,0,0,0
$GC,5396,-1.14,-146.0,496.8,-7.8,257,5400,0.00,2.60,0.00,0.000,4,0.000,0.041,3135,3139,3382,0,0,0,0,0,0
$GC,5420,-1.19,-146.0,498.9,-8.9,257,5425,0.00,2.65,0.00,0.000,6,0.000,0.040,3135,1552,3382,0,0,0,0,0,0
$GC,5680,-1.19,-146.0,518.6,-7.7,264,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1552,3380,0,0,0,0,0,0
$GC,5925,-1.19,-146.0,538.4,-8.3,270,5930,0.00,2.65,0.00,0.000,4,0.000,0.043,3135,3138,3379,0,0,0,0,0,0
$GC,5949,-1.25,-146.0,540.9,-10.0,270,5954,0.00,2.67,0.00,0.000,6,0.000,0.043,3135,1547,3379,0,0,0,0,0,0
$GC,6209,-1.25,-146.0,562.6,-8.5,277,6213,0.00,2.42,0.00,0.000,4,0.000,0.077,3135,165,3378,0,0,0,0,0,0
$GC,6257,-1.30,-146.0,567.0,-8.7,278,6262,0.15,2.22,0.00,0.000,6,0.056,0.031,3075,1540,3377,0,0,0,0,0,0
$GC,6541,-1.21,-146.0,598.4,-11.1,285,6548,0.20,2.70,0.00,0.000,4,0.096,0.045,3118,3157,3375,0,0,0,0,0,0
$GC,6555,-1.15,-146.0,599.8,-10.9,285,6560,0.00,2.70,0.00,0.000,6,0.000,0.044,3118,1540,3375,0,0,0,0,0,0
$GC,6829,-1.15,-146.0,623.1,-8.3,292,6833,0.00,2.67,0.00,0.000,4,0.000,0.042,3119,3157,3374,0,0,0,0,0,0
$GC,6843,-1.15,-146.0,624.3,-7.9,292,6848,0.00,2.72,0.00,0.000,6,0.000,0.045,3118,1546,3373,0,0,0,0,0,0
$GC,7113,-1.15,-146.0,644.1,-7.2,299,7118,0.00,2.40,0.00,0.000,4,0.000,0.081,3119,172,3372,0,0,0,0,0,0
$GC,7139,-1.15,-146.0,646.1,-8.3,299,7143,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1558,3372,0,0,0,0,0,0
$GC,7398,-1.15,-146.0,664.7,-7.1,306,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1558,3371,0,0,0,0,0,0
$GC,7643,-1.15,-146.0,683.0,-7.7,312,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1558,3370,0,0,0,0,0,0
$GC,7885,-1.15,-146.0,701.6,-7.6,318,7886,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1558,3368,0,0,0,0,0,0
$GC,8129,-1.15,-146.0,719.6,-7.3,324,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1558,3367,0,0,0,0,0,0
$GC,8373,-1.15,-146.0,736.8,-7.1,330,8377,0.00,2.42,0.00,0.000,4,0.000,0.075,3118,171,3367,0,0,0,0,0,0
$GC,8389,-1.15,-146.0,737.9,-7.3,330,8393,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1553,3366,0,0,0,0,0,0
$GC,8657,-1.15,-146.0,756.6,-6.9,337,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1553,3365,0,0,0,0,0,0
$GC,8900,-1.15,-146.0,772.8,-6.7,343,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1553,3364,0,0,0,0,0,0
$GC,9144,-1.15,-146.0,789.0,-6.7,349,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1554,3363,0,0,0,0,0,0
$GC,9390,-1.15,-146.0,805.4,-6.7,355,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1553,3362,0,0,0,0,0,0
$GC,9632,-1.15,-146.0,820.6,-6.2,361,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1553,3361,0,0,0,0,0,0
$GC,9875,-1.15,-146.0,836.2,-6.5,367,9880,0.00,2.70,0.00,0.000,4,0.000,0.051,3118,3155,3361,0,0,0,0,0,0
$GC,9912,-1.23,-146.0,838.2,-6.1,367,9917,0.00,2.75,0.00,0.000,6,0.000,0.053,3118,1548,3361,0,0,0,0,0,0
$GC,10162,-1.23,-146.0,853.5,-6.1,373,10166,0.00,2.45,0.00,0.000,4,0.000,0.083,3118,165,3360,0,0,0,0,0,0
$GC,10195,-1.23,-146.0,855.9,-7.5,373,10199,0.00,2.28,0.00,0.000,6,0.000,0.035,3118,1554,3360,0,0,0,0,0,0
$GC,10447,-1.23,-146.0,872.0,-6.4,379,10451,0.00,2.70,0.00,0.000,4,0.000,0.053,3119,3159,3360,0,0,0,0,0,0
$GC,10462,-1.28,-146.0,873.2,-6.6,379,10466,0.00,2.72,0.00,0.000,6,0.000,0.048,3119,1552,3360,0,0,0,0,0,0
$GC,10731,-1.28,-146.0,891.5,-7.0,386,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1551,3359,0,0,0,0,0,0
$STATE,10850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10850,begin apogee
$GC,10858,-0.31,0.0,900.2,7.0,389,10980,0.88,0.00,118.53,1.162,6,0.074,0.000,3319,1346,2800,0,0,0,0,0,0
$STATE,10980,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10983,1.27,146.0,904.2,0.0,392,11127,1.45,2.17,130.95,1.141,4,0.030,0.081,3676,169,2204,0,0,0,0,0,0
$GC,11197,0.97,146.0,889.4,14.5,397,11202,0.40,1.98,0.00,0.000,6,0.110,0.031,3595,1362,2200,0,0,0,0,0,0
$GC,11471,0.93,172.1,864.1,8.8,404,11500,0.00,2.20,23.60,1.064,4,0.000,0.073,3595,165,2098,0,0,0,0,0,0
$GC,11530,0.81,172.1,858.6,10.5,405,11534,0.17,1.95,0.00,0.000,6,0.110,0.030,3560,1355,2097,0,0,0,0,0,0
$GC,11804,0.86,213.7,836.2,8.1,412,11849,0.00,2.80,39.75,1.080,4,0.000,0.052,3560,2934,1927,0,0,0,0,0,0
$GC,11866,0.91,256.7,830.8,8.0,413,11915,0.10,2.78,40.53,1.066,6,0.079,0.049,3600,1345,1753,0,0,0,0,0,0
$GC,12174,0.91,256.7,791.6,12.9,421,12178,0.00,2.70,0.00,0.000,4,0.000,0.046,3600,2929,1746,0,0,0,0,0,0
$GC,12199,0.91,256.7,788.4,11.6,421,12204,0.00,2.72,0.00,0.000,6,0.000,0.050,3600,1356,1743,0,0,0,0,0,0
$GC,12458,0.91,256.7,754.3,13.3,428,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1356,1743,0,0,0,0,0,0
$GC,12702,0.91,256.7,722.2,13.0,434,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1356,1742,0,0,0,0,0,0
$GC,12946,0.91,256.7,690.6,13.1,440,12950,0.00,2.65,0.00,0.000,4,0.000,0.044,3600,2931,1741,0,0,0,0,0,0
$GC,12975,0.91,256.7,686.7,12.6,440,12980,0.00,2.72,0.00,0.000,6,0.000,0.051,3599,1358,1739,0,0,0,0,0,0
$GC,13230,0.91,256.7,653.2,13.3,447,13234,0.00,2.65,0.00,0.000,4,0.000,0.045,3600,2929,1739,0,0,0,0,0,0
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$STATE,18734,end climb,SURFACE_DEPTH_REACHED
$STATE,18734,begin surface coast
$FINISH,1.0,1.023359
$STATE,18781,end surface coast,CONTROL_FINISHED_OK
$STATE,18781,begin surface
$SM_CCo,18804,174.02,0.429,3,0,511,561.49
$SM_GC,1.65,0.00,0.00,174.02,0.000,0.000,0.429,413,1633,511,-13.67,1.78,561.49
$IRIDIUM_FIX,2244.02,-15751.06,180902,101057
$TT8_MAMPS,0.027612
$HUMID,60.43
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.3,22.702
$10V_AH,9.9,19.980
$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,33.150,212.100,398.450,174.025,0.000,139.333,367.850,170.763,3.750,0.000,95.136,1568.641,14215.595,715.141,2510.208,1136.960,33.370,1796.785,0.000,2420.940,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,82.836,1162.005,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.545,345.643,438.976,752.106,1028.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,54038,721
$CAP_FILE_SIZE,184595,0
$CFSIZE,260165632,160632832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,240613,160526,2252.644,-15751.220,39,99.0,58,10.1