version: 66.06
glider: 148
mission: 12
dive: 186
start: 7 1 113 5 10 24
data:
$ID,148
$MISSION,12
$DIVE,186
$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,-1019873.6
$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,90
$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
$GPS1,045302,2253.188,-15750.051,68,1.6,68,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-75.1
$GPS2,050930,2253.231,-15750.222,9,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,-0.210
$KALMAN_X,-208172.0,-254.0,83.0,225146.6,-801.5
$KALMAN_Y,107524.8,166.5,63.3,-92484.4,660.5
$MHEAD_RNG_PITCHd_Wd,206.1,35819,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.03,0.000,2,0.000,0.000,415,1574,2953,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.8,9,123,14.10,2.38,-8.18,0.000,4,0.153,0.055,3101,168,3399,0,0,0,0,0,0
$GC,214,-0.98,-146.0,34.3,-21.4,26,219,0.32,2.10,0.00,0.000,6,0.096,0.017,3171,1542,3399,0,0,0,0,0,0
$GC,484,-0.91,-146.0,72.0,-12.8,50,488,0.00,2.50,0.00,0.000,4,0.000,0.021,3171,3147,3399,0,0,0,0,0,0
$GC,538,-0.98,-146.0,78.9,-10.8,54,542,0.00,2.53,0.00,0.000,6,0.000,0.028,3171,1572,3399,0,0,0,0,0,0
$GC,802,-0.91,-146.0,107.3,-10.3,78,806,0.00,2.28,0.00,0.000,4,0.000,0.042,3171,168,3400,0,0,0,0,0,0
$GC,844,-0.86,-146.0,111.7,-10.9,81,848,0.12,2.15,0.00,0.000,6,0.104,0.016,3200,1595,3400,0,0,0,0,0,0
$GC,1112,-0.86,-146.0,135.3,-9.8,105,1116,0.00,2.40,0.00,0.000,4,0.000,0.021,3199,3127,3399,0,0,0,0,0,0
$GC,1142,-0.94,-146.0,139.1,-10.2,107,1147,0.00,2.47,0.00,0.000,6,0.000,0.027,3199,1581,3399,0,0,0,0,0,0
$GC,1406,-0.94,-146.0,161.1,-7.6,132,1410,0.00,2.30,0.00,0.000,4,0.000,0.044,3200,164,3399,0,0,0,0,0,0
$GC,1455,-1.03,-146.0,165.1,-8.0,136,1460,0.17,2.12,0.00,0.000,6,0.047,0.017,3119,1583,3400,0,0,0,0,0,0
$GC,1721,-0.86,-146.0,200.1,-13.3,160,1726,0.32,2.40,0.00,0.000,4,0.082,0.020,3194,3122,3399,0,0,0,0,0,0
$GC,1759,-0.99,-146.0,204.5,-6.9,160,1766,0.12,2.50,0.00,0.000,6,0.064,0.026,3133,1571,3399,0,0,0,0,0,0
$GC,2010,-0.89,-146.0,230.7,-11.1,167,2015,0.25,2.45,0.00,0.000,4,0.085,0.021,3193,3116,3400,0,0,0,0,0,0
$GC,2031,-0.89,-146.0,232.8,-9.6,167,2035,0.00,2.45,0.00,0.000,6,0.000,0.027,3192,1583,3400,0,0,0,0,0,0
$GC,2295,-0.96,-146.0,253.2,-7.6,174,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1584,3399,0,0,0,0,0,0
$GC,2539,-1.05,-146.0,269.0,-6.4,180,2544,0.15,2.35,0.00,0.000,4,0.054,0.048,3124,173,3399,0,0,0,0,0,0
$GC,2574,-0.97,-146.0,272.5,-11.2,180,2579,0.22,2.15,0.00,0.000,6,0.084,0.019,3175,1576,3399,0,0,0,0,0,0
$GC,2830,-1.01,-146.0,294.2,-8.6,187,2834,0.00,2.33,0.00,0.000,4,0.000,0.048,3175,168,3398,0,0,0,0,0,0
$GC,2852,-1.01,-146.0,296.3,-10.1,187,2856,0.00,2.17,0.00,0.000,6,0.000,0.020,3175,1576,3398,0,0,0,0,0,0
$GC,3116,-1.07,-146.0,318.8,-8.0,194,3121,0.10,2.50,0.00,0.000,4,0.076,0.028,3120,3133,3397,0,0,0,0,0,0
$GC,3150,-1.07,-146.0,321.6,-8.1,194,3155,0.12,2.55,0.00,0.000,6,0.097,0.033,3150,1580,3397,0,0,0,0,0,0
$GC,3402,-1.07,-146.0,339.0,-7.0,200,3406,0.00,2.35,0.00,0.000,4,0.000,0.054,3150,166,3396,0,0,0,0,0,0
$GC,3457,-1.07,-146.0,343.9,-8.4,201,3462,0.00,2.20,0.00,0.000,6,0.000,0.021,3150,1575,3395,0,0,0,0,0,0
$GC,3731,-1.07,-146.0,366.5,-8.3,208,3735,0.00,2.50,0.00,0.000,4,0.000,0.032,3150,3139,3394,0,0,0,0,0,0
$GC,3776,-1.18,-146.0,369.6,-6.9,209,3781,0.00,2.55,0.00,0.000,6,0.000,0.037,3150,1585,3394,0,0,0,0,0,0
$GC,4063,-1.18,-146.0,388.5,-6.4,216,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1584,3392,0,0,0,0,0,0
$GC,4309,-1.18,-146.0,408.6,-8.5,222,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1585,3390,0,0,0,0,0,0
$GC,4551,-1.18,-146.0,429.9,-8.7,228,4555,0.00,2.58,0.00,0.000,4,0.000,0.038,3150,3138,3388,0,0,0,0,0,0
$GC,4566,-1.22,-146.0,431.1,-7.9,228,4571,0.15,2.55,0.00,0.000,6,0.056,0.035,3085,1583,3388,0,0,0,0,0,0
$GC,4837,-1.12,-146.0,461.2,-11.4,235,4842,0.25,2.60,0.00,0.000,4,0.087,0.043,3145,3139,3386,0,0,0,0,0,0
$GC,4857,-1.12,-146.0,463.4,-9.8,235,4862,0.00,2.55,0.00,0.000,6,0.000,0.037,3145,1590,3386,0,0,0,0,0,0
$GC,5121,-1.12,-146.0,484.5,-8.1,242,5126,0.00,2.42,0.00,0.000,4,0.000,0.070,3145,169,3384,0,0,0,0,0,0
$GC,5147,-1.12,-146.0,486.5,-9.0,242,5151,0.00,2.28,0.00,0.000,6,0.000,0.028,3145,1593,3384,0,0,0,0,0,0
$GC,5407,-1.12,-146.0,504.5,-6.7,249,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1593,3382,0,0,0,0,0,0
$GC,5650,-1.12,-146.0,521.6,-7.2,255,5654,0.00,2.47,0.00,0.000,4,0.000,0.067,3145,165,3381,0,0,0,0,0,0
$GC,5669,-1.12,-146.0,523.2,-8.1,255,5673,0.00,2.30,0.00,0.000,6,0.000,0.028,3145,1596,3381,0,0,0,0,0,0
$GC,5935,-1.16,-146.0,544.3,-8.2,262,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1596,3379,0,0,0,0,0,0
$GC,6177,-1.21,-146.0,562.3,-7.1,268,6179,0.10,0.00,0.00,0.000,6,0.077,0.000,3097,1596,3378,0,0,0,0,0,0
$GC,6422,-1.15,-146.0,583.3,-8.7,274,6428,0.17,2.62,0.00,0.000,4,0.093,0.048,3136,3154,3377,0,0,0,0,0,0
$GC,6442,-1.15,-146.0,585.3,-8.7,274,6447,0.00,2.62,0.00,0.000,6,0.000,0.044,3136,1592,3377,0,0,0,0,0,0
$GC,6707,-1.15,-146.0,605.1,-7.6,281,6711,0.00,2.47,0.00,0.000,4,0.000,0.077,3136,170,3374,0,0,0,0,0,0
$GC,6732,-1.15,-146.0,607.3,-9.3,281,6736,0.00,2.30,0.00,0.000,6,0.000,0.031,3136,1593,3374,0,0,0,0,0,0
$GC,6991,-1.15,-146.0,627.6,-7.8,288,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1593,3373,0,0,0,0,0,0
$GC,7235,-1.15,-146.0,646.3,-7.6,294,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1593,3371,0,0,0,0,0,0
$GC,7479,-1.15,-146.0,663.9,-7.2,300,7483,0.00,2.50,0.00,0.000,4,0.000,0.074,3136,164,3370,0,0,0,0,0,0
$GC,7499,-1.15,-146.0,665.6,-8.5,300,7503,0.00,2.33,0.00,0.000,6,0.000,0.033,3136,1591,3370,0,0,0,0,0,0
$GC,7768,-1.19,-146.0,685.0,-7.2,307,7773,0.00,2.60,0.00,0.000,4,0.000,0.051,3136,3152,3369,0,0,0,0,0,0
$GC,7788,-1.25,-146.0,686.4,-7.0,307,7793,0.10,2.65,0.00,0.000,6,0.077,0.047,3088,1591,3369,0,0,0,0,0,0
$GC,8055,-1.19,-146.0,709.6,-8.8,314,8060,0.17,2.53,0.00,0.000,4,0.094,0.081,3127,165,3367,0,0,0,0,0,0
$GC,8088,-1.19,-146.0,712.8,-8.9,314,8093,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1587,3367,0,0,0,0,0,0
$GC,8340,-1.19,-146.0,730.6,-7.1,320,8345,0.00,2.50,0.00,0.000,4,0.000,0.075,3127,168,3366,0,0,0,0,0,0
$GC,8373,-1.19,-146.0,733.4,-7.9,320,8377,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1589,3366,0,0,0,0,0,0
$GC,8623,-1.19,-146.0,750.0,-6.5,326,8628,0.00,2.65,0.00,0.000,4,0.000,0.052,3127,3162,3365,0,0,0,0,0,0
$GC,8654,-1.27,-146.0,751.8,-6.4,326,8658,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1590,3365,0,0,0,0,0,0
$GC,8909,-1.27,-146.0,766.2,-5.5,333,8913,0.00,2.50,0.00,0.000,4,0.000,0.081,3126,165,3364,0,0,0,0,0,0
$GC,8946,-1.27,-146.0,768.4,-6.2,333,8952,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1587,3363,0,0,0,0,0,0
$GC,9198,-1.27,-146.0,782.7,-5.8,340,9202,0.00,2.47,0.00,0.000,4,0.000,0.075,3127,170,3363,0,0,0,0,0,0
$GC,9217,-1.27,-146.0,784.2,-7.3,340,9221,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1591,3362,0,0,0,0,0,0
$GC,9481,-1.27,-146.0,799.6,-5.7,347,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3362,0,0,0,0,0,0
$GC,9726,-1.27,-146.0,814.1,-6.0,353,9730,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,164,3361,0,0,0,0,0,0
$GC,9750,-1.27,-146.0,815.8,-7.9,353,9754,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1580,3361,0,0,0,0,0,0
$GC,10009,-1.27,-146.0,830.4,-5.7,360,10013,0.00,2.50,0.00,0.000,4,0.000,0.077,3127,165,3360,0,0,0,0,0,0
$GC,10032,-1.27,-146.0,832.0,-6.7,360,10037,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1581,3360,0,0,0,0,0,0
$GC,10299,-1.31,-146.0,847.3,-5.8,367,10300,0.12,0.00,0.00,0.000,6,0.066,0.000,3075,1582,3359,0,0,0,0,0,0
$GC,10540,-1.24,-146.0,867.8,-8.6,373,10546,0.17,2.67,0.00,0.000,4,0.097,0.055,3113,3155,3359,0,0,0,0,0,0
$GC,10557,-1.24,-146.0,869.3,-8.8,373,10562,0.00,2.67,0.00,0.000,6,0.000,0.052,3114,1570,3359,0,0,0,0,0,0
$GC,10826,-1.24,-146.0,888.6,-7.3,380,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1570,3358,0,0,0,0,0,0
$STATE,10986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10986,begin apogee
$GC,10992,-0.31,0.0,900.7,7.5,384,11114,0.88,0.00,118.35,1.160,6,0.074,0.000,3314,1350,2800,0,0,0,0,0,0
$STATE,11115,end apogee,CONTROL_FINISHED_OK
$STATE,11115,begin climb
$GC,11119,1.27,146.0,904.8,0.0,387,11259,1.42,2.10,131.12,1.138,4,0.031,0.083,3664,175,2202,0,0,0,0,0,0
$GC,11342,0.99,146.0,890.1,14.5,392,11347,0.30,1.92,0.00,0.000,6,0.109,0.031,3603,1354,2198,0,0,0,0,0,0
$GC,11627,0.92,158.9,862.2,9.4,399,11643,0.00,2.75,11.20,0.979,4,0.000,0.051,3603,2934,2151,0,0,0,0,0,0
$GC,11671,0.91,185.1,858.1,8.8,400,11703,0.00,2.75,25.42,1.060,6,0.000,0.049,3603,1351,2044,0,0,0,0,0,0
$GC,11960,0.85,185.1,827.2,10.8,407,11965,0.15,2.15,0.00,0.000,4,0.110,0.086,3570,165,2038,0,0,0,0,0,0
$GC,12005,0.85,185.1,822.3,11.2,408,12009,0.00,1.95,0.00,0.000,6,0.000,0.031,3570,1353,2038,0,0,0,0,0,0
$GC,12296,0.86,194.4,794.5,9.6,415,12312,0.00,2.72,8.88,0.916,4,0.000,0.052,3570,2935,2006,0,0,0,0,0,0
$GC,12327,0.89,222.1,791.4,8.7,415,12360,0.00,2.75,27.73,1.037,6,0.000,0.048,3570,1352,1894,0,0,0,0,0,0
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$STATE,19220,end climb,SURFACE_DEPTH_REACHED
$STATE,19220,begin surface coast
$FINISH,1.0,1.012292
$STATE,19254,end surface coast,CONTROL_FINISHED_OK
$STATE,19254,begin surface
$SM_CCo,19279,32.80,0.431,0,0,1249,380.21
$SM_GC,1.88,0.00,0.00,32.80,0.000,0.000,0.431,413,1562,1249,-13.67,-0.23,380.21
$IRIDIUM_FIX,2246.36,-15751.06,250902,050503
$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.60
$XPDR_PINGS,14
$24V_AH,23.3,27.128
$10V_AH,9.9,23.884
$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,34.475,213.600,423.250,32.800,0.000,89.650,109.943,500.874,3.500,0.000,15.898,1579.077,14562.253,554.005,2388.781,1207.354,33.371,1645.005,0.000,2391.673,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,85.904,1160.471,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.599,336.905,423.712,717.991,979.711,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,54165,714
$CAP_FILE_SIZE,195965,0
$CFSIZE,260165632,158343168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010713,103355,2251.312,-15752.696,36,2.7,55,10.1