version: 66.06
glider: 148
mission: 12
dive: 219
start: 7 8 113 16 41 11
data:
$ID,148
$MISSION,12
$DIVE,219
$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,-1020469.6
$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,26
$R_STBD_OVSHOOT,49
$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
$GPS1,163256,2255.913,-15726.083,34,2.1,53,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-78.1
$GPS2,164018,2255.963,-15726.118,9,1.1,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.104,-0.238
$KALMAN_X,-240513.5,292.8,186.1,297996.7,-982.9
$KALMAN_Y,154891.9,183.2,-127.0,-134633.0,1344.4
$MHEAD_RNG_PITCHd_Wd,146.3,12504,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,90,0.00,0.00,-67.25,0.000,2,0.000,0.000,413,1646,2972,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.4,-4.9,9,125,13.98,2.47,-7.62,0.000,4,0.150,0.051,3104,169,3399,0,0,0,0,0,0
$GC,167,-0.94,-146.0,26.6,-24.5,19,177,0.30,2.17,0.00,0.000,6,0.085,0.018,3173,1575,3399,0,0,0,0,0,0
$GC,447,-0.80,-146.0,69.0,-14.3,45,452,0.17,2.35,0.00,0.000,4,0.100,0.046,3212,160,3400,0,0,0,0,0,0
$GC,494,-0.80,-146.0,76.1,-11.1,48,503,0.00,2.17,0.00,0.000,6,0.000,0.016,3212,1594,3400,0,0,0,0,0,0
$GC,760,-0.80,-146.0,101.9,-10.1,73,764,0.00,2.35,0.00,0.000,4,0.000,0.021,3212,3115,3401,0,0,0,0,0,0
$GC,789,-0.86,-146.0,104.7,-9.8,75,794,0.00,2.53,0.00,0.000,6,0.000,0.028,3212,1550,3401,0,0,0,0,0,0
$GC,1058,-0.90,-146.0,129.7,-8.9,99,1063,0.10,2.25,0.00,0.000,4,0.077,0.044,3157,173,3402,0,0,0,0,0,0
$GC,1079,-0.90,-146.0,132.5,-9.9,100,1089,0.10,2.10,0.00,0.000,6,0.077,0.016,3184,1574,3402,0,0,0,0,0,0
$GC,1343,-0.90,-146.0,160.2,-10.4,125,1347,0.00,2.35,0.00,0.000,4,0.000,0.021,3184,3096,3402,0,0,0,0,0,0
$GC,1373,-0.90,-146.0,163.5,-9.3,127,1379,0.00,2.47,0.00,0.000,6,0.000,0.028,3184,1561,3402,0,0,0,0,0,0
$GC,1636,-0.90,-146.0,187.5,-9.3,152,1640,0.00,2.28,0.00,0.000,4,0.000,0.044,3184,171,3402,0,0,0,0,0,0
$GC,1667,-0.90,-146.0,190.0,-9.8,154,1671,0.00,2.05,0.00,0.000,6,0.000,0.017,3184,1558,3402,0,0,0,0,0,0
$GC,1942,-0.90,-146.0,215.3,-8.8,168,1947,0.00,2.40,0.00,0.000,4,0.000,0.021,3184,3109,3402,0,0,0,0,0,0
$GC,1973,-0.99,-146.0,217.7,-8.1,168,1977,0.00,2.47,0.00,0.000,6,0.000,0.028,3184,1562,3402,0,0,0,0,0,0
$GC,2231,-0.99,-146.0,239.7,-8.5,175,2235,0.00,2.28,0.00,0.000,4,0.000,0.044,3184,173,3402,0,0,0,0,0,0
$GC,2254,-0.99,-146.0,242.0,-8.5,175,2258,0.00,2.08,0.00,0.000,6,0.000,0.018,3184,1570,3402,0,0,0,0,0,0
$GC,2516,-1.03,-146.0,259.4,-6.5,182,2517,0.10,0.00,0.00,0.000,6,0.074,0.000,3124,1572,3402,0,0,0,0,0,0
$GC,2757,-0.94,-146.0,284.4,-11.0,188,2759,0.25,0.00,0.00,0.000,6,0.083,0.000,3181,1572,3402,0,0,0,0,0,0
$GC,3001,-1.01,-146.0,302.6,-7.3,194,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,1573,3401,0,0,0,0,0,0
$GC,3247,-1.08,-146.0,320.2,-7.0,200,3249,0.15,0.00,0.00,0.000,6,0.054,0.000,3114,1572,3400,0,0,0,0,0,0
$GC,3488,-1.01,-146.0,346.2,-11.1,206,3493,0.22,2.33,0.00,0.000,4,0.085,0.048,3165,167,3400,0,0,0,0,0,0
$GC,3503,-1.01,-146.0,347.9,-11.0,206,3507,0.00,2.10,0.00,0.000,6,0.000,0.020,3165,1534,3400,0,0,0,0,0,0
$GC,3774,-1.06,-146.0,369.9,-8.3,213,3778,0.00,2.58,0.00,0.000,4,0.000,0.031,3165,3127,3398,0,0,0,0,0,0
$GC,3827,-1.19,-146.0,373.9,-6.7,214,3833,0.17,2.58,0.00,0.000,6,0.046,0.037,3090,1573,3398,0,0,0,0,0,0
$GC,4107,-1.07,-146.0,401.5,-10.2,221,4112,0.25,2.40,0.00,0.000,4,0.086,0.058,3150,162,3396,0,0,0,0,0,0
$GC,4128,-1.02,-146.0,403.4,-9.5,221,4133,0.00,2.17,0.00,0.000,6,0.000,0.022,3150,1566,3396,0,0,0,0,0,0
$GC,4392,-1.02,-146.0,422.5,-7.2,228,4397,0.00,2.55,0.00,0.000,4,0.000,0.035,3150,3136,3394,0,0,0,0,0,0
$GC,4432,-1.12,-146.0,425.5,-7.4,228,4441,0.00,2.62,0.00,0.000,6,0.000,0.038,3150,1573,3394,0,0,0,0,0,0
$GC,4686,-1.12,-146.0,444.1,-7.5,235,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1573,3393,0,0,0,0,0,0
$GC,4930,-1.12,-146.0,464.2,-8.3,241,4934,0.00,2.42,0.00,0.000,4,0.000,0.067,3150,166,3391,0,0,0,0,0,0
$GC,4944,-1.12,-146.0,465.8,-8.6,241,4948,0.00,2.20,0.00,0.000,6,0.000,0.025,3150,1573,3391,0,0,0,0,0,0
$GC,5214,-1.12,-146.0,488.4,-8.3,248,5218,0.00,2.55,0.00,0.000,4,0.000,0.040,3150,3136,3389,0,0,0,0,0,0
$GC,5229,-1.16,-146.0,489.6,-7.8,248,5233,0.00,2.58,0.00,0.000,6,0.000,0.036,3150,1575,3389,0,0,0,0,0,0
$GC,5500,-1.21,-146.0,507.8,-6.5,255,5502,0.12,0.00,0.00,0.000,6,0.064,0.000,3095,1576,3387,0,0,0,0,0,0
$GC,5742,-1.13,-146.0,529.9,-9.2,261,5744,0.20,0.00,0.00,0.000,6,0.091,0.000,3140,1576,3386,0,0,0,0,0,0
$GC,5985,-1.13,-146.0,548.7,-7.7,267,5989,0.00,2.60,0.00,0.000,4,0.000,0.044,3140,3141,3384,0,0,0,0,0,0
$GC,6004,-1.13,-146.0,550.4,-8.6,267,6009,0.00,2.62,0.00,0.000,6,0.000,0.041,3140,1574,3384,0,0,0,0,0,0
$GC,6274,-1.13,-146.0,571.2,-8.0,274,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3382,0,0,0,0,0,0
$GC,6516,-1.13,-146.0,592.1,-8.6,280,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3381,0,0,0,0,0,0
$GC,6760,-1.13,-146.0,612.2,-8.0,286,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3380,0,0,0,0,0,0
$GC,7006,-1.13,-146.0,631.5,-8.0,292,7010,0.00,2.47,0.00,0.000,4,0.000,0.080,3140,170,3378,0,0,0,0,0,0
$GC,7025,-1.13,-146.0,633.6,-8.1,292,7029,0.00,2.28,0.00,0.000,6,0.000,0.031,3140,1574,3378,0,0,0,0,0,0
$GC,7288,-1.13,-146.0,653.5,-7.5,299,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3377,0,0,0,0,0,0
$GC,7534,-1.13,-146.0,671.2,-7.2,305,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3375,0,0,0,0,0,0
$GC,7776,-1.13,-146.0,686.7,-6.3,311,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3375,0,0,0,0,0,0
$GC,8020,-1.17,-146.0,702.7,-6.8,317,8024,0.00,2.67,0.00,0.000,4,0.000,0.054,3139,3158,3374,0,0,0,0,0,0
$GC,8040,-1.23,-146.0,704.2,-7.7,317,8045,0.10,2.67,0.00,0.000,6,0.075,0.047,3085,1578,3374,0,0,0,0,0,0
$GC,8306,-1.16,-146.0,728.8,-9.6,324,8312,0.20,2.50,0.00,0.000,4,0.093,0.079,3132,165,3372,0,0,0,0,0,0
$GC,8340,-1.16,-146.0,732.2,-9.4,324,8344,0.00,2.33,0.00,0.000,6,0.000,0.034,3132,1588,3372,0,0,0,0,0,0
$GC,8592,-1.16,-146.0,749.9,-7.0,330,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1588,3371,0,0,0,0,0,0
$GC,8834,-1.16,-146.0,767.7,-7.2,336,8838,0.00,2.50,0.00,0.000,4,0.000,0.074,3132,167,3370,0,0,0,0,0,0
$GC,8867,-1.16,-146.0,770.4,-8.5,336,8871,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1587,3370,0,0,0,0,0,0
$GC,9117,-1.16,-146.0,788.0,-6.9,342,9121,0.00,2.62,0.00,0.000,4,0.000,0.052,3132,3156,3369,0,0,0,0,0,0
$GC,9143,-1.21,-146.0,789.6,-6.8,342,9147,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1585,3369,0,0,0,0,0,0
$GC,9407,-1.21,-146.0,806.4,-6.4,349,9411,0.00,2.47,0.00,0.000,4,0.000,0.081,3132,169,3368,0,0,0,0,0,0
$GC,9430,-1.21,-146.0,808.3,-6.7,349,9434,0.00,2.33,0.00,0.000,6,0.000,0.034,3132,1593,3368,0,0,0,0,0,0
$GC,9691,-1.21,-146.0,823.8,-5.9,356,9696,0.00,2.62,0.00,0.000,4,0.000,0.053,3131,3156,3367,0,0,0,0,0,0
$GC,9706,-1.26,-146.0,824.8,-5.7,356,9711,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1582,3367,0,0,0,0,0,0
$GC,9977,-1.31,-146.0,840.6,-5.8,363,9982,0.12,2.53,0.00,0.000,4,0.066,0.081,3080,165,3366,0,0,0,0,0,0
$GC,9997,-1.26,-146.0,842.3,-7.4,363,10002,0.12,2.33,0.00,0.000,6,0.110,0.034,3109,1590,3366,0,0,0,0,0,0
$GC,10270,-1.26,-146.0,861.0,-6.9,370,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1590,3365,0,0,0,0,0,0
$GC,10515,-1.26,-146.0,878.4,-7.2,376,10516,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1590,3364,0,0,0,0,0,0
$GC,10757,-1.26,-146.0,895.9,-7.2,382,10761,0.00,2.50,0.00,0.000,4,0.000,0.074,3109,168,3363,0,0,0,0,0,0
$GC,10787,-1.26,-146.0,898.6,-9.4,382,10791,0.00,2.33,0.00,0.000,6,0.000,0.035,3109,1584,3363,0,0,0,0,0,0
$STATE,10836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10836,begin apogee
$GC,10844,-0.31,0.0,902.5,7.8,384,10968,0.90,0.00,119.88,1.158,6,0.071,0.000,3316,1338,2800,0,0,0,0,0,0
$STATE,10968,end apogee,CONTROL_FINISHED_OK
$STATE,10969,begin climb
$GC,10971,1.27,146.0,906.0,0.0,387,11109,1.42,2.15,129.95,1.139,4,0.035,0.077,3663,167,2204,0,0,0,0,0,0
$GC,11200,1.01,146.0,888.8,14.3,392,11205,0.28,1.98,0.00,0.000,6,0.114,0.031,3608,1363,2198,0,0,0,0,0,0
$GC,11476,0.93,146.0,859.8,10.4,399,11480,0.00,2.12,0.00,0.000,4,0.000,0.071,3608,172,2193,0,0,0,0,0,0
$GC,11513,0.78,146.0,855.3,11.7,399,11521,0.20,1.95,0.00,0.000,6,0.089,0.031,3561,1339,2193,0,0,0,0,0,0
$GC,11768,0.83,186.4,834.3,8.1,406,11809,0.00,2.17,36.22,1.073,4,0.000,0.074,3561,169,2040,0,0,0,0,0,0
$GC,11826,0.86,211.1,828.8,8.9,407,11855,0.00,1.95,24.40,1.041,6,0.000,0.031,3561,1344,1939,0,0,0,0,0,0
$GC,12138,0.87,213.2,798.3,9.9,415,12143,0.00,2.72,0.00,0.000,4,0.000,0.054,3561,2935,1933,0,0,0,0,0,0
$GC,12196,0.98,219.5,792.1,9.7,416,12212,0.15,2.70,7.95,0.889,6,0.060,0.049,3615,1356,1905,0,0,0,0,0,0
$GC,12474,0.92,219.5,756.7,13.1,423,12476,0.15,0.00,0.00,0.000,6,0.107,0.000,3584,1357,1903,0,0,0,0,0,0
$GC,12717,0.92,219.5,728.5,11.5,429,12718,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1357,1903,0,0,0,0,0,0
$GC,12959,0.92,219.5,700.2,11.8,435,12960,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1357,1902,0,0,0,0,0,0
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$STATE,19400,end climb,SURFACE_DEPTH_REACHED
$STATE,19400,begin surface coast
$FINISH,1.0,1.011572
$STATE,19446,end surface coast,CONTROL_FINISHED_OK
$STATE,19446,begin surface
$SM_CCo,19472,32.72,0.426,0,0,1249,380.21
$SM_GC,1.91,0.00,0.00,32.72,0.000,0.000,0.426,416,1604,1249,-13.66,0.96,380.21
$IRIDIUM_FIX,2248.70,-15730.19,021002,111152
$TT8_MAMPS,0.027612
$HUMID,64.41
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,21
$24V_AH,23.3,31.938
$10V_AH,9.9,29.327
$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,34.325,199.400,419.700,32.725,0.000,22.892,34.154,222.658,5.250,0.000,15.494,1601.446,14117.066,551.117,2875.325,790.259,33.368,1656.592,0.000,2896.783,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,81.302,1158.170,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.975,599.807,754.451,1167.715,1650.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,60674,733
$CAP_FILE_SIZE,186403,0
$CFSIZE,260165632,155750400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080713,220736,2254.951,-15724.529,37,0.9,37,10.1