version: 66.06
glider: 148
mission: 12
dive: 215
start: 7 7 113 18 36 46
data:
$ID,148
$MISSION,12
$DIVE,215
$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,-1020390.9
$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,22
$R_STBD_OVSHOOT,132
$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
$GPS1,182800,2300.541,-15730.312,37,1.7,37,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.8
$GPS2,183549,2300.630,-15730.412,9,2.0,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,-0.248
$KALMAN_X,-238375.6,27.3,-429.7,289414.0,570.7
$KALMAN_Y,147349.8,-89.8,111.6,-118404.3,750.2
$MHEAD_RNG_PITCHd_Wd,152.5,23338,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.18,0.000,2,0.000,0.000,413,1614,2953,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.6,9,120,14.77,2.42,-8.05,0.000,4,0.172,0.051,3103,167,3395,0,0,0,0,0,0
$GC,132,-0.28,-146.0,17.3,-33.2,14,141,0.98,2.08,0.00,0.000,6,0.091,0.017,3318,1523,3396,0,0,0,0,0,0
$GC,422,-0.51,-146.0,36.5,-5.1,51,427,0.20,2.50,0.00,0.000,4,0.045,0.021,3256,3122,3397,0,0,0,0,0,0
$GC,457,-0.69,-146.0,38.7,-7.0,53,461,0.00,2.53,0.00,0.000,6,0.000,0.028,3255,1560,3397,0,0,0,0,0,0
$GC,725,-0.78,-146.0,60.2,-6.4,77,730,0.17,2.28,0.00,0.000,4,0.049,0.044,3170,170,3397,0,0,0,0,0,0
$GC,758,-0.66,-146.0,63.9,-11.8,79,766,0.28,2.12,0.00,0.000,6,0.071,0.017,3238,1576,3397,0,0,0,0,0,0
$GC,1023,-0.74,-146.0,85.1,-8.8,104,1027,0.00,2.38,0.00,0.000,4,0.000,0.021,3238,3110,3398,0,0,0,0,0,0
$GC,1043,-0.85,-146.0,86.6,-8.3,105,1048,0.17,2.47,0.00,0.000,6,0.050,0.026,3165,1571,3398,0,0,0,0,0,0
$GC,1308,-0.76,-146.0,117.8,-12.0,129,1313,0.25,2.28,0.00,0.000,4,0.084,0.041,3226,168,3398,0,0,0,0,0,0
$GC,1359,-0.86,-146.0,122.9,-8.8,133,1364,0.12,2.08,0.00,0.000,6,0.061,0.016,3155,1578,3399,0,0,0,0,0,0
$GC,1624,-0.75,-146.0,156.2,-13.5,157,1630,0.28,0.00,0.00,0.000,6,0.081,0.000,3219,1581,3399,0,0,0,0,0,0
$GC,1889,-0.84,-146.0,177.2,-7.9,182,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1581,3399,0,0,0,0,0,0
$GC,2153,-0.93,-146.0,198.7,-8.0,207,2158,0.15,2.35,0.00,0.000,4,0.054,0.044,3143,167,3399,0,0,0,0,0,0
$GC,2194,-0.85,-146.0,203.4,-12.4,208,2201,0.25,2.08,0.00,0.000,6,0.083,0.017,3200,1559,3399,0,0,0,0,0,0
$GC,2445,-0.91,-146.0,225.5,-8.4,215,2449,0.00,2.42,0.00,0.000,4,0.000,0.022,3200,3118,3399,0,0,0,0,0,0
$GC,2464,-0.98,-146.0,227.6,-10.2,215,2469,0.12,2.47,0.00,0.000,6,0.061,0.026,3123,1565,3400,0,0,0,0,0,0
$GC,2735,-0.85,-146.0,262.7,-13.6,222,2740,0.32,2.28,0.00,0.000,4,0.081,0.043,3199,165,3399,0,0,0,0,0,0
$GC,2790,-0.94,-146.0,268.5,-8.8,223,2794,0.00,2.08,0.00,0.000,6,0.000,0.018,3199,1556,3399,0,0,0,0,0,0
$GC,3070,-1.04,-146.0,286.9,-6.4,230,3072,0.17,0.00,0.00,0.000,6,0.048,0.000,3119,1559,3399,0,0,0,0,0,0
$GC,3315,-0.95,-146.0,313.1,-11.2,236,3317,0.25,0.00,0.00,0.000,6,0.081,0.000,3176,1559,3399,0,0,0,0,0,0
$GC,3555,-1.01,-146.0,333.0,-7.9,242,3559,0.00,2.33,0.00,0.000,4,0.000,0.051,3177,172,3398,0,0,0,0,0,0
$GC,3572,-1.07,-146.0,334.3,-8.1,242,3576,0.10,2.10,0.00,0.000,6,0.074,0.020,3116,1549,3398,0,0,0,0,0,0
$GC,3845,-0.99,-146.0,362.6,-10.2,249,3847,0.22,0.00,0.00,0.000,6,0.087,0.000,3166,1550,3397,0,0,0,0,0,0
$GC,4089,-1.04,-146.0,381.0,-7.6,255,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1551,3396,0,0,0,0,0,0
$GC,4335,-1.11,-146.0,397.8,-6.6,261,4339,0.00,2.55,0.00,0.000,4,0.000,0.032,3166,3133,3394,0,0,0,0,0,0
$GC,4350,-1.17,-146.0,399.1,-6.7,261,4355,0.15,2.58,0.00,0.000,6,0.058,0.035,3108,1559,3394,0,0,0,0,0,0
$GC,4623,-1.09,-146.0,423.5,-9.2,268,4628,0.17,2.38,0.00,0.000,4,0.094,0.064,3147,164,3392,0,0,0,0,0,0
$GC,4645,-1.05,-146.0,425.7,-9.2,268,4650,0.00,2.17,0.00,0.000,6,0.000,0.023,3147,1549,3392,0,0,0,0,0,0
$GC,4914,-1.05,-146.0,444.8,-7.0,275,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1549,3390,0,0,0,0,0,0
$GC,5158,-1.05,-146.0,462.2,-7.1,281,5162,0.00,2.60,0.00,0.000,4,0.000,0.038,3147,3137,3388,0,0,0,0,0,0
$GC,5193,-1.13,-146.0,464.8,-7.5,281,5197,0.00,2.60,0.00,0.000,6,0.000,0.038,3147,1558,3388,0,0,0,0,0,0
$GC,5443,-1.13,-146.0,483.0,-7.2,287,5447,0.00,2.40,0.00,0.000,4,0.000,0.069,3147,165,3387,0,0,0,0,0,0
$GC,5480,-1.13,-146.0,486.2,-8.9,287,5486,0.00,2.20,0.00,0.000,6,0.000,0.028,3147,1544,3386,0,0,0,0,0,0
$GC,5732,-1.13,-146.0,504.9,-7.5,294,5737,0.00,2.62,0.00,0.000,4,0.000,0.043,3147,3148,3385,0,0,0,0,0,0
$GC,5747,-1.13,-146.0,506.3,-7.6,294,5751,0.00,2.65,0.00,0.000,6,0.000,0.038,3147,1550,3385,0,0,0,0,0,0
$GC,6020,-1.13,-146.0,526.3,-7.4,301,6024,0.00,2.38,0.00,0.000,4,0.000,0.073,3147,168,3383,0,0,0,0,0,0
$GC,6050,-1.13,-146.0,529.1,-9.0,301,6054,0.00,2.20,0.00,0.000,6,0.000,0.029,3147,1556,3382,0,0,0,0,0,0
$GC,6304,-1.13,-146.0,547.8,-7.3,308,6309,0.00,2.62,0.00,0.000,4,0.000,0.043,3146,3147,3381,0,0,0,0,0,0
$GC,6324,-1.19,-146.0,549.3,-7.3,308,6329,0.00,2.67,0.00,0.000,6,0.000,0.043,3146,1552,3381,0,0,0,0,0,0
$GC,6590,-1.19,-146.0,566.2,-6.3,315,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1552,3379,0,0,0,0,0,0
$GC,6832,-1.19,-146.0,580.7,-5.8,321,6836,0.00,2.65,0.00,0.000,4,0.000,0.044,3147,3145,3378,0,0,0,0,0,0
$GC,6847,-1.24,-146.0,581.5,-5.4,321,6852,0.12,2.67,0.00,0.000,6,0.063,0.044,3092,1556,3377,0,0,0,0,0,0
$GC,7122,-1.16,-146.0,604.4,-8.8,328,7127,0.17,2.42,0.00,0.000,4,0.096,0.077,3131,167,3376,0,0,0,0,0,0
$GC,7145,-1.16,-146.0,606.9,-8.9,328,7150,0.00,2.25,0.00,0.000,6,0.000,0.031,3131,1562,3376,0,0,0,0,0,0
$GC,7409,-1.16,-146.0,625.8,-7.1,335,7414,0.00,2.62,0.00,0.000,4,0.000,0.048,3131,3149,3375,0,0,0,0,0,0
$GC,7425,-1.16,-146.0,627.0,-7.1,335,7430,0.00,2.67,0.00,0.000,6,0.000,0.044,3131,1557,3374,0,0,0,0,0,0
$GC,7694,-1.16,-146.0,646.6,-7.4,342,7698,0.00,2.45,0.00,0.000,4,0.000,0.081,3131,167,3373,0,0,0,0,0,0
$GC,7713,-1.16,-146.0,648.2,-8.4,342,7717,0.00,2.22,0.00,0.000,6,0.000,0.031,3131,1555,3372,0,0,0,0,0,0
$GC,7983,-1.16,-146.0,669.0,-8.1,349,7987,0.00,2.67,0.00,0.000,4,0.000,0.052,3132,3155,3372,0,0,0,0,0,0
$GC,8002,-1.16,-146.0,671.0,-8.1,349,8007,0.00,2.70,0.00,0.000,6,0.000,0.047,3131,1556,3372,0,0,0,0,0,0
$GC,8266,-1.16,-146.0,692.4,-8.1,356,8270,0.00,2.45,0.00,0.000,4,0.000,0.082,3131,166,3371,0,0,0,0,0,0
$GC,8305,-1.16,-146.0,695.8,-9.8,356,8309,0.00,2.25,0.00,0.000,6,0.000,0.033,3131,1552,3370,0,0,0,0,0,0
$GC,8560,-1.16,-146.0,715.8,-7.8,363,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1552,3369,0,0,0,0,0,0
$GC,8804,-1.16,-146.0,734.3,-7.5,369,8808,0.00,2.67,0.00,0.000,4,0.000,0.053,3131,3151,3368,0,0,0,0,0,0
$GC,8829,-1.21,-146.0,736.0,-7.5,369,8834,0.00,2.70,0.00,0.000,6,0.000,0.048,3132,1553,3368,0,0,0,0,0,0
$GC,9093,-1.21,-146.0,754.5,-7.1,376,9097,0.00,2.45,0.00,0.000,4,0.000,0.083,3131,167,3366,0,0,0,0,0,0
$GC,9112,-1.21,-146.0,756.3,-7.3,376,9116,0.00,2.25,0.00,0.000,6,0.000,0.033,3131,1550,3366,0,0,0,0,0,0
$GC,9377,-1.21,-146.0,774.1,-6.6,383,9382,0.00,2.70,0.00,0.000,4,0.000,0.054,3131,3152,3366,0,0,0,0,0,0
$GC,9393,-1.21,-146.0,775.2,-6.2,383,9398,0.00,2.70,0.00,0.000,6,0.000,0.048,3131,1545,3365,0,0,0,0,0,0
$GC,9662,-1.21,-146.0,792.0,-6.3,390,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1545,3364,0,0,0,0,0,0
$GC,9908,-1.21,-146.0,807.8,-6.4,396,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1545,3363,0,0,0,0,0,0
$GC,10150,-1.21,-146.0,824.3,-6.9,402,10154,0.00,2.45,0.00,0.000,4,0.000,0.083,3131,161,3363,0,0,0,0,0,0
$GC,10164,-1.21,-146.0,825.5,-7.1,402,10168,0.00,2.25,0.00,0.000,6,0.000,0.033,3131,1552,3362,0,0,0,0,0,0
$GC,10439,-1.26,-146.0,845.4,-7.5,409,10443,0.00,2.45,0.00,0.000,4,0.000,0.077,3131,163,3362,0,0,0,0,0,0
$GC,10458,-1.26,-146.0,847.6,-7.8,409,10462,0.00,2.25,0.00,0.000,6,0.000,0.034,3131,1555,3362,0,0,0,0,0,0
$GC,10722,-1.30,-146.0,868.1,-7.9,416,10724,0.12,0.00,0.00,0.000,6,0.065,0.000,3078,1555,3361,0,0,0,0,0,0
$GC,10968,-1.23,-146.0,891.0,-9.5,422,10973,0.17,2.47,0.00,0.000,4,0.095,0.077,3118,162,3361,0,0,0,0,0,0
$GC,11001,-1.23,-146.0,894.2,-8.2,422,11005,0.00,2.25,0.00,0.000,6,0.000,0.035,3117,1551,3360,0,0,0,0,0,0
$STATE,11090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11090,begin apogee
$GC,11096,-0.31,0.0,900.6,7.6,424,11218,0.88,0.00,118.72,1.152,6,0.073,0.000,3318,1336,2800,0,0,0,0,0,0
$STATE,11219,end apogee,CONTROL_FINISHED_OK
$STATE,11219,begin climb
$GC,11223,1.27,146.0,904.4,0.0,427,11362,1.40,2.15,129.43,1.132,4,0.029,0.079,3665,179,2203,0,0,0,0,0,0
$GC,11414,1.00,146.0,891.4,15.2,431,11419,0.30,1.92,0.00,0.000,6,0.110,0.031,3604,1354,2199,0,0,0,0,0,0
$GC,11684,0.91,146.0,861.3,11.1,438,11687,0.00,2.10,0.00,0.000,4,0.000,0.073,3604,168,2193,0,0,0,0,0,0
$GC,11708,0.78,146.0,858.4,11.8,438,11713,0.22,1.95,0.00,0.000,6,0.104,0.031,3558,1353,2193,0,0,0,0,0,0
$GC,11972,0.80,157.6,833.0,9.5,445,11989,0.00,2.20,9.55,0.941,4,0.000,0.074,3558,168,2157,0,0,0,0,0,0
$GC,12012,0.80,157.6,828.3,11.6,445,12018,0.00,1.95,0.00,0.000,6,0.000,0.031,3557,1350,2157,0,0,0,0,0,0
$GC,12264,0.82,177.8,805.3,9.1,452,12286,0.00,0.00,20.10,1.025,6,0.000,0.000,3558,1351,2075,0,0,0,0,0,0
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$STATE,19281,end climb,SURFACE_DEPTH_REACHED
$STATE,19281,begin surface coast
$FINISH,0.8,1.023066
$STATE,19331,end surface coast,CONTROL_FINISHED_OK
$STATE,19331,begin surface
$SM_CCo,19354,35.65,0.429,0,0,1249,380.21
$SM_GC,2.00,0.00,0.00,35.65,0.000,0.000,0.429,415,1609,1249,-13.66,1.10,380.21
$IRIDIUM_FIX,2251.04,-15730.19,011002,131317
$TT8_MAMPS,0.027612
$HUMID,65.27
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,22
$24V_AH,23.3,31.363
$10V_AH,9.9,28.644
$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,37.125,227.175,413.750,35.650,0.000,25.382,35.045,249.408,5.500,0.000,11.449,1662.973,13784.193,541.995,3021.686,838.922,33.369,1677.117,0.000,3054.579,0.000,0.535,0.000
$DEVICE_MAMPS,171.808,82.836,1152.034,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,518.345,635.285,783.985,1306.206,1836.529,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,60560,758
$CAP_FILE_SIZE,194645,0
$CFSIZE,260165632,156061696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080713,000106,2259.034,-15729.779,27,1.6,27,10.1