version: 66.06
glider: 148
mission: 12
dive: 218
start: 7 8 113 11 15 55
data:
$ID,148
$MISSION,12
$DIVE,218
$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,-1020453.4
$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,24
$R_STBD_OVSHOOT,85
$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
$GPS1,110735,2257.312,-15727.838,33,1.7,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.2
$GPS2,111501,2257.353,-15727.812,11,1.7,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,-0.216
$KALMAN_X,-240521.8,11.8,198.5,295382.5,-632.8
$KALMAN_Y,152579.9,526.4,570.8,-130785.1,-483.2
$MHEAD_RNG_PITCHd_Wd,136.2,15933,-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,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.15,0.000,2,0.000,0.000,411,1605,2931,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-3.7,9,122,14.48,2.40,-8.35,0.000,4,0.164,0.048,3101,162,3396,0,0,0,0,0,0
$GC,183,-0.97,-146.0,30.3,-21.8,22,191,0.30,2.15,0.00,0.000,6,0.087,0.018,3170,1548,3397,0,0,0,0,0,0
$GC,452,-0.84,-146.0,71.7,-12.0,47,457,0.15,2.50,0.00,0.000,4,0.107,0.022,3203,3141,3397,0,0,0,0,0,0
$GC,488,-0.84,-146.0,76.4,-9.0,49,497,0.00,2.58,0.00,0.000,6,0.000,0.028,3203,1568,3397,0,0,0,0,0,0
$GC,751,-0.84,-146.0,101.2,-10.0,74,752,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1568,3398,0,0,0,0,0,0
$GC,1004,-0.84,-146.0,126.2,-9.2,98,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1568,3399,0,0,0,0,0,0
$GC,1260,-0.84,-146.0,148.8,-8.9,122,1264,0.00,2.28,0.00,0.000,4,0.000,0.044,3203,170,3399,0,0,0,0,0,0
$GC,1282,-0.84,-146.0,151.0,-9.1,123,1290,0.00,2.17,0.00,0.000,6,0.000,0.017,3203,1607,3399,0,0,0,0,0,0
$GC,1550,-0.89,-146.0,173.1,-8.3,148,1555,0.00,2.35,0.00,0.000,4,0.000,0.043,3203,172,3399,0,0,0,0,0,0
$GC,1588,-0.89,-146.0,176.6,-9.1,151,1592,0.00,2.08,0.00,0.000,6,0.000,0.017,3203,1577,3399,0,0,0,0,0,0
$GC,1857,-0.95,-146.0,196.9,-7.5,175,1861,0.10,2.40,0.00,0.000,4,0.077,0.021,3135,3113,3399,0,0,0,0,0,0
$GC,1876,-0.95,-146.0,199.4,-8.6,176,1883,0.20,2.47,0.00,0.000,6,0.092,0.026,3179,1572,3400,0,0,0,0,0,0
$GC,2141,-0.95,-146.0,222.3,-8.7,184,2145,0.00,2.28,0.00,0.000,4,0.000,0.044,3179,168,3399,0,0,0,0,0,0
$GC,2165,-0.95,-146.0,225.0,-10.5,184,2169,0.00,2.10,0.00,0.000,6,0.000,0.018,3179,1579,3400,0,0,0,0,0,0
$GC,2429,-0.95,-146.0,248.0,-8.4,191,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1583,3399,0,0,0,0,0,0
$GC,2673,-0.95,-146.0,264.8,-6.6,197,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1583,3399,0,0,0,0,0,0
$GC,2917,-0.95,-146.0,281.4,-6.8,203,2921,0.00,2.40,0.00,0.000,4,0.000,0.024,3179,3112,3399,0,0,0,0,0,0
$GC,2947,-1.05,-146.0,283.4,-6.2,203,2952,0.00,2.50,0.00,0.000,6,0.000,0.029,3179,1571,3399,0,0,0,0,0,0
$GC,3203,-1.11,-146.0,301.6,-7.1,210,3204,0.15,0.00,0.00,0.000,6,0.054,0.000,3105,1571,3398,0,0,0,0,0,0
$GC,3446,-1.02,-146.0,327.1,-10.6,216,3451,0.25,2.33,0.00,0.000,4,0.087,0.049,3166,166,3397,0,0,0,0,0,0
$GC,3486,-1.08,-146.0,330.4,-7.5,216,3496,0.00,2.15,0.00,0.000,6,0.000,0.020,3166,1547,3397,0,0,0,0,0,0
$GC,3741,-1.13,-146.0,348.5,-7.4,223,3746,0.12,2.58,0.00,0.000,4,0.064,0.031,3102,3136,3396,0,0,0,0,0,0
$GC,3787,-1.13,-146.0,353.1,-9.3,224,3792,0.15,2.58,0.00,0.000,6,0.097,0.035,3138,1572,3396,0,0,0,0,0,0
$GC,4075,-1.13,-146.0,378.1,-8.7,231,4079,0.00,2.38,0.00,0.000,4,0.000,0.058,3138,167,3394,0,0,0,0,0,0
$GC,4103,-1.13,-146.0,380.9,-9.1,231,4107,0.00,2.20,0.00,0.000,6,0.000,0.021,3138,1579,3394,0,0,0,0,0,0
$GC,4364,-1.13,-146.0,403.8,-9.0,238,4368,0.00,2.50,0.00,0.000,4,0.000,0.033,3138,3139,3392,0,0,0,0,0,0
$GC,4387,-1.13,-146.0,406.8,-9.6,238,4392,0.00,2.58,0.00,0.000,6,0.000,0.037,3138,1585,3392,0,0,0,0,0,0
$GC,4647,-1.13,-146.0,431.5,-9.9,245,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1585,3390,0,0,0,0,0,0
$GC,4892,-1.13,-146.0,457.7,-10.9,251,4896,0.00,2.55,0.00,0.000,4,0.000,0.040,3137,3134,3388,0,0,0,0,0,0
$GC,4915,-1.13,-146.0,460.8,-11.9,251,4920,0.00,2.55,0.00,0.000,6,0.000,0.038,3137,1585,3388,0,0,0,0,0,0
$GC,5174,-1.13,-146.0,487.6,-10.3,258,5179,0.00,2.45,0.00,0.000,4,0.000,0.069,3137,168,3386,0,0,0,0,0,0
$GC,5190,-1.13,-146.0,489.2,-10.0,258,5194,0.00,2.22,0.00,0.000,6,0.000,0.027,3138,1580,3386,0,0,0,0,0,0
$GC,5462,-1.13,-146.0,513.9,-8.9,265,5467,0.00,2.58,0.00,0.000,4,0.000,0.042,3137,3149,3385,0,0,0,0,0,0
$GC,5501,-1.21,-146.0,517.5,-8.3,265,5506,0.00,2.60,0.00,0.000,6,0.000,0.041,3137,1597,3384,0,0,0,0,0,0
$GC,5752,-1.21,-146.0,537.4,-7.9,272,5757,0.00,2.50,0.00,0.000,4,0.000,0.074,3137,167,3383,0,0,0,0,0,0
$GC,5776,-1.21,-146.0,539.6,-9.2,272,5780,0.00,2.28,0.00,0.000,6,0.000,0.030,3137,1586,3382,0,0,0,0,0,0
$GC,6035,-1.21,-146.0,558.2,-7.0,279,6040,0.00,2.47,0.00,0.000,4,0.000,0.071,3137,165,3381,0,0,0,0,0,0
$GC,6084,-1.21,-146.0,561.4,-7.3,280,6088,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1587,3381,0,0,0,0,0,0
$GC,6371,-1.21,-146.0,580.6,-6.5,287,6375,0.00,2.60,0.00,0.000,4,0.000,0.046,3137,3151,3378,0,0,0,0,0,0
$GC,6390,-1.21,-146.0,581.9,-6.8,287,6394,0.00,2.65,0.00,0.000,6,0.000,0.044,3138,1581,3378,0,0,0,0,0,0
$GC,6656,-1.21,-146.0,598.6,-6.2,294,6660,0.00,2.47,0.00,0.000,4,0.000,0.077,3137,168,3377,0,0,0,0,0,0
$GC,6681,-1.21,-146.0,600.3,-7.4,294,6685,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1590,3377,0,0,0,0,0,0
$GC,6944,-1.21,-146.0,615.6,-5.7,301,6945,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1590,3376,0,0,0,0,0,0
$GC,7190,-1.21,-146.0,628.5,-5.3,307,7194,0.00,2.50,0.00,0.000,4,0.000,0.073,3137,163,3374,0,0,0,0,0,0
$GC,7209,-1.21,-146.0,630.0,-6.0,307,7213,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1580,3374,0,0,0,0,0,0
$GC,7477,-1.21,-146.0,646.0,-6.1,314,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1580,3372,0,0,0,0,0,0
$GC,7722,-1.21,-146.0,662.8,-6.9,320,7727,0.00,2.65,0.00,0.000,4,0.000,0.054,3137,3151,3371,0,0,0,0,0,0
$GC,7742,-1.26,-146.0,664.5,-8.0,320,7747,0.12,2.65,0.00,0.000,6,0.065,0.046,3089,1580,3372,0,0,0,0,0,0
$GC,8008,-1.19,-146.0,689.2,-9.5,327,8013,0.17,2.47,0.00,0.000,4,0.103,0.080,3127,170,3370,0,0,0,0,0,0
$GC,8059,-1.19,-146.0,693.9,-8.6,328,8063,0.00,2.30,0.00,0.000,6,0.000,0.034,3127,1578,3370,0,0,0,0,0,0
$GC,8341,-1.19,-146.0,715.7,-7.5,335,8346,0.00,2.67,0.00,0.000,4,0.000,0.055,3127,3161,3369,0,0,0,0,0,0
$GC,8360,-1.19,-146.0,717.0,-7.2,335,8365,0.00,2.70,0.00,0.000,6,0.000,0.048,3127,1570,3369,0,0,0,0,0,0
$GC,8626,-1.19,-146.0,736.0,-7.0,342,8630,0.00,2.47,0.00,0.000,4,0.000,0.082,3127,170,3367,0,0,0,0,0,0
$GC,8645,-1.19,-146.0,737.6,-7.4,342,8649,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1574,3367,0,0,0,0,0,0
$GC,8917,-1.19,-146.0,756.3,-7.1,349,8921,0.00,2.67,0.00,0.000,4,0.000,0.054,3127,3159,3366,0,0,0,0,0,0
$GC,8938,-1.19,-146.0,757.9,-7.5,349,8942,0.00,2.70,0.00,0.000,6,0.000,0.048,3127,1568,3366,0,0,0,0,0,0
$GC,9202,-1.19,-146.0,776.6,-7.0,356,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1568,3365,0,0,0,0,0,0
$GC,9446,-1.19,-146.0,794.0,-7.2,362,9447,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1568,3364,0,0,0,0,0,0
$GC,9691,-1.19,-146.0,811.7,-7.2,368,9692,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1568,3363,0,0,0,0,0,0
$GC,9933,-1.19,-146.0,829.0,-7.1,374,9937,0.00,2.47,0.00,0.000,4,0.000,0.082,3127,167,3363,0,0,0,0,0,0
$GC,9953,-1.19,-146.0,830.5,-7.8,374,9957,0.00,2.28,0.00,0.000,6,0.000,0.035,3127,1573,3362,0,0,0,0,0,0
$GC,10218,-1.19,-146.0,848.8,-6.8,381,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3362,0,0,0,0,0,0
$GC,10460,-1.19,-146.0,864.7,-6.3,387,10465,0.00,2.67,0.00,0.000,4,0.000,0.054,3127,3159,3361,0,0,0,0,0,0
$GC,10475,-1.19,-146.0,865.7,-6.2,387,10479,0.00,2.70,0.00,0.000,6,0.000,0.048,3127,1568,3361,0,0,0,0,0,0
$GC,10748,-1.19,-146.0,881.3,-5.8,394,10752,0.00,2.47,0.00,0.000,4,0.000,0.082,3127,167,3361,0,0,0,0,0,0
$GC,10764,-1.19,-146.0,882.6,-5.4,394,10768,0.00,2.30,0.00,0.000,6,0.000,0.034,3127,1577,3361,0,0,0,0,0,0
$GC,11032,-1.19,-146.0,897.6,-5.6,401,11033,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3360,0,0,0,0,0,0
$STATE,11070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11070,begin apogee
$GC,11077,-0.31,0.0,900.0,5.6,402,11199,0.82,0.00,119.07,1.158,6,0.072,0.000,3317,1343,2800,0,0,0,0,0,0
$STATE,11200,end apogee,CONTROL_FINISHED_OK
$STATE,11200,begin climb
$GC,11204,1.27,146.0,902.4,0.0,405,11342,1.42,2.12,130.00,1.137,4,0.036,0.077,3660,176,2203,0,0,0,0,0,0
$GC,11461,1.01,146.0,879.9,15.4,410,11467,0.28,1.95,0.00,0.000,6,0.114,0.031,3605,1359,2197,0,0,0,0,0,0
$GC,11712,0.93,146.0,853.4,10.3,417,11715,0.00,2.10,0.00,0.000,4,0.000,0.072,3605,176,2193,0,0,0,0,0,0
$GC,11737,0.80,146.0,850.7,10.4,417,11741,0.17,1.95,0.00,0.000,6,0.087,0.031,3558,1345,2193,0,0,0,0,0,0
$GC,12004,0.85,190.3,828.9,8.0,424,12046,0.00,0.00,39.75,1.075,6,0.000,0.000,3558,1346,2024,0,0,0,0,0,0
$GC,12285,0.87,203.0,803.2,9.4,431,12299,0.00,0.00,12.43,0.974,6,0.000,0.000,3558,1346,1972,0,0,0,0,0,0
$GC,12530,0.88,216.1,780.3,9.4,437,12550,0.00,2.80,13.52,0.979,4,0.000,0.056,3558,2926,1918,0,0,0,0,0,0
$GC,12565,0.99,243.2,776.7,8.7,437,12599,0.17,2.72,27.08,1.029,6,0.051,0.051,3618,1353,1808,0,0,0,0,0,0
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$STATE,18820,end climb,SURFACE_DEPTH_REACHED
$STATE,18820,begin surface coast
$FINISH,0.9,1.012113
$STATE,18866,end surface coast,CONTROL_FINISHED_OK
$STATE,18867,begin surface
$SM_CCo,18892,31.95,0.428,0,0,1249,380.21
$SM_GC,1.79,0.00,0.00,31.95,0.000,0.000,0.428,414,1646,1249,-13.67,2.15,380.21
$IRIDIUM_FIX,2246.36,-15731.08,021002,050506
$TT8_MAMPS,0.026845
$HUMID,65.59
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,22
$24V_AH,23.3,31.798
$10V_AH,9.9,29.155
$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,33.350,215.650,415.775,31.950,0.000,23.617,34.349,226.167,5.500,0.000,13.101,1580.708,13575.166,542.278,2884.880,776.950,33.373,1644.365,0.000,2904.916,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,82.069,1158.170,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.830,588.611,736.775,1164.792,1640.582,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,57413,717
$CAP_FILE_SIZE,183481,0
$CFSIZE,260165632,155836416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080713,163256,2255.913,-15726.083,34,2.1,53,10.1