version: 66.06
glider: 148
mission: 12
dive: 220
start: 7 8 113 22 19 12
data:
$ID,148
$MISSION,12
$DIVE,220
$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,-1020482.1
$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,119
$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
$GPS1,220736,2254.951,-15724.529,37,0.9,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.1
$GPS2,221818,2255.057,-15724.585,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOEmid
$TGT_LATLONG,2249.500,-15724.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.043,-0.256
$KALMAN_X,-239855.0,406.1,114.6,299910.7,-403.8
$KALMAN_Y,157182.0,-157.5,502.1,-138886.0,812.1
$MHEAD_RNG_PITCHd_Wd,160.3,10340,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-145.9,0.0,0.0,0,86,0.00,0.00,-66.20,0.000,2,0.000,0.000,415,1605,2953,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-3.8,9,123,13.88,2.42,-7.97,0.000,4,0.146,0.054,3103,167,3398,0,0,0,0,0,0
$GC,141,-0.59,-146.0,20.2,-32.9,15,150,0.65,2.10,0.00,0.000,6,0.084,0.018,3250,1512,3398,0,0,0,0,0,0
$GC,417,-0.59,-146.0,52.2,-10.9,44,421,0.00,2.45,0.00,0.000,4,0.000,0.021,3250,3087,3399,0,0,0,0,0,0
$GC,464,-0.76,-146.0,56.4,-8.0,47,473,0.10,2.47,0.00,0.000,6,0.031,0.028,3196,1566,3399,0,0,0,0,0,0
$GC,726,-0.76,-146.0,84.3,-9.3,72,731,0.10,2.30,0.00,0.000,4,0.116,0.043,3220,171,3400,0,0,0,0,0,0
$GC,789,-0.85,-146.0,89.4,-7.9,77,793,0.00,2.03,0.00,0.000,6,0.000,0.016,3220,1553,3400,0,0,0,0,0,0
$GC,1056,-0.89,-146.0,111.3,-8.6,101,1061,0.12,2.45,0.00,0.000,4,0.064,0.022,3155,3105,3400,0,0,0,0,0,0
$GC,1108,-0.89,-146.0,116.4,-10.7,105,1113,0.15,2.45,0.00,0.000,6,0.091,0.028,3190,1575,3400,0,0,0,0,0,0
$GC,1373,-0.89,-146.0,142.0,-9.6,129,1377,0.00,2.28,0.00,0.000,4,0.000,0.042,3190,169,3401,0,0,0,0,0,0
$GC,1411,-0.89,-146.0,145.8,-9.5,132,1415,0.00,2.10,0.00,0.000,6,0.000,0.017,3190,1574,3401,0,0,0,0,0,0
$GC,1682,-0.89,-146.0,168.3,-8.4,157,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1577,3401,0,0,0,0,0,0
$GC,1945,-0.89,-146.0,192.5,-9.7,182,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1577,3401,0,0,0,0,0,0
$GC,2191,-0.89,-146.0,216.2,-9.6,194,2195,0.00,2.40,0.00,0.000,4,0.000,0.021,3189,3111,3401,0,0,0,0,0,0
$GC,2210,-0.94,-146.0,218.0,-9.6,194,2215,0.00,2.47,0.00,0.000,6,0.000,0.026,3189,1573,3401,0,0,0,0,0,0
$GC,2480,-0.94,-146.0,240.6,-8.5,201,2485,0.00,2.40,0.00,0.000,4,0.000,0.022,3189,3112,3400,0,0,0,0,0,0
$GC,2500,-1.00,-146.0,242.4,-8.5,201,2505,0.10,2.47,0.00,0.000,6,0.074,0.026,3129,1573,3401,0,0,0,0,0,0
$GC,2770,-0.92,-146.0,272.5,-11.7,208,2772,0.25,0.00,0.00,0.000,6,0.085,0.000,3184,1573,3401,0,0,0,0,0,0
$GC,3012,-0.98,-146.0,291.8,-7.6,214,3016,0.00,2.28,0.00,0.000,4,0.000,0.047,3184,177,3400,0,0,0,0,0,0
$GC,3050,-1.07,-146.0,295.4,-8.6,214,3056,0.12,2.10,0.00,0.000,6,0.061,0.018,3115,1552,3400,0,0,0,0,0,0
$GC,3302,-0.99,-146.0,322.8,-11.2,221,3304,0.25,0.00,0.00,0.000,6,0.081,0.000,3173,1555,3399,0,0,0,0,0,0
$GC,3544,-1.05,-146.0,342.3,-7.7,227,3549,0.00,2.50,0.00,0.000,4,0.000,0.029,3173,3127,3398,0,0,0,0,0,0
$GC,3578,-1.17,-146.0,345.0,-7.6,227,3583,0.17,2.53,0.00,0.000,6,0.046,0.034,3089,1574,3398,0,0,0,0,0,0
$GC,3828,-1.06,-146.0,374.4,-12.1,233,3833,0.25,2.35,0.00,0.000,4,0.087,0.056,3149,171,3397,0,0,0,0,0,0
$GC,3861,-1.06,-146.0,378.0,-10.2,233,3865,0.00,2.15,0.00,0.000,6,0.000,0.021,3149,1549,3397,0,0,0,0,0,0
$GC,4111,-1.06,-146.0,398.3,-8.0,239,4116,0.00,2.58,0.00,0.000,4,0.000,0.035,3149,3134,3395,0,0,0,0,0,0
$GC,4157,-1.15,-146.0,401.7,-7.6,240,4161,0.00,2.58,0.00,0.000,6,0.000,0.037,3149,1579,3395,0,0,0,0,0,0
$GC,4448,-1.15,-146.0,422.1,-6.7,247,4452,0.00,2.58,0.00,0.000,4,0.000,0.038,3150,3137,3393,0,0,0,0,0,0
$GC,4484,-1.23,-146.0,424.6,-6.2,247,4489,0.15,2.60,0.00,0.000,6,0.055,0.038,3077,1570,3392,0,0,0,0,0,0
$GC,4738,-1.10,-146.0,451.3,-11.0,253,4743,0.28,2.40,0.00,0.000,4,0.089,0.063,3141,170,3391,0,0,0,0,0,0
$GC,4772,-1.10,-146.0,454.9,-8.3,253,4776,0.00,2.20,0.00,0.000,6,0.000,0.025,3141,1568,3390,0,0,0,0,0,0
$GC,5027,-1.10,-146.0,473.1,-7.3,259,5032,0.00,2.40,0.00,0.000,4,0.000,0.064,3141,172,3388,0,0,0,0,0,0
$GC,5042,-1.10,-146.0,474.7,-7.3,259,5046,0.00,2.20,0.00,0.000,6,0.000,0.026,3141,1572,3388,0,0,0,0,0,0
$GC,5310,-1.10,-146.0,494.8,-7.7,266,5314,0.00,2.40,0.00,0.000,4,0.000,0.065,3142,168,3386,0,0,0,0,0,0
$GC,5344,-1.10,-146.0,497.9,-9.0,266,5349,0.00,2.22,0.00,0.000,6,0.000,0.030,3141,1562,3386,0,0,0,0,0,0
$GC,5595,-1.10,-146.0,519.0,-8.5,272,5599,0.00,2.62,0.00,0.000,4,0.000,0.043,3141,3150,3385,0,0,0,0,0,0
$GC,5623,-1.17,-146.0,521.7,-8.9,272,5628,0.00,2.62,0.00,0.000,6,0.000,0.041,3141,1570,3384,0,0,0,0,0,0
$GC,5880,-1.17,-146.0,544.2,-8.8,279,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1570,3383,0,0,0,0,0,0
$GC,6122,-1.17,-146.0,564.6,-8.1,285,6126,0.00,2.65,0.00,0.000,4,0.000,0.045,3141,3150,3381,0,0,0,0,0,0
$GC,6142,-1.22,-146.0,566.1,-8.4,285,6146,0.00,2.65,0.00,0.000,6,0.000,0.043,3141,1573,3381,0,0,0,0,0,0
$GC,6412,-1.22,-146.0,584.5,-6.7,292,6413,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1573,3379,0,0,0,0,0,0
$GC,6654,-1.22,-146.0,599.0,-5.8,298,6658,0.00,2.65,0.00,0.000,4,0.000,0.045,3141,3153,3377,0,0,0,0,0,0
$GC,6668,-1.22,-146.0,600.2,-5.7,298,6673,0.00,2.65,0.00,0.000,6,0.000,0.044,3141,1578,3377,0,0,0,0,0,0
$GC,6939,-1.22,-146.0,616.8,-6.3,305,6943,0.00,2.62,0.00,0.000,4,0.000,0.043,3141,3151,3377,0,0,0,0,0,0
$GC,6955,-1.27,-146.0,618.1,-6.3,305,6960,0.15,2.65,0.00,0.000,6,0.055,0.049,3074,1580,3377,0,0,0,0,0,0
$GC,7225,-1.16,-146.0,645.2,-10.6,312,7230,0.25,2.50,0.00,0.000,4,0.091,0.080,3133,167,3374,0,0,0,0,0,0
$GC,7252,-1.16,-146.0,647.7,-10.1,312,7256,0.00,2.30,0.00,0.000,6,0.000,0.031,3133,1588,3374,0,0,0,0,0,0
$GC,7515,-1.16,-146.0,669.6,-8.5,319,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1589,3373,0,0,0,0,0,0
$GC,7758,-1.16,-146.0,689.8,-8.3,325,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1588,3372,0,0,0,0,0,0
$GC,8004,-1.16,-146.0,707.9,-7.2,331,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1588,3370,0,0,0,0,0,0
$GC,8246,-1.16,-146.0,724.0,-6.5,337,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1588,3370,0,0,0,0,0,0
$GC,8490,-1.16,-146.0,739.4,-6.4,343,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1588,3368,0,0,0,0,0,0
$GC,8733,-1.16,-146.0,755.3,-6.6,349,8738,0.00,2.47,0.00,0.000,4,0.000,0.075,3133,169,3367,0,0,0,0,0,0
$GC,8759,-1.16,-146.0,757.5,-9.0,349,8763,0.00,2.28,0.00,0.000,6,0.000,0.033,3133,1581,3367,0,0,0,0,0,0
$GC,9022,-1.16,-146.0,776.8,-7.4,356,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1582,3366,0,0,0,0,0,0
$GC,9266,-1.16,-146.0,795.6,-7.7,362,9270,0.00,2.62,0.00,0.000,4,0.000,0.051,3133,3156,3365,0,0,0,0,0,0
$GC,9292,-1.23,-146.0,797.4,-8.1,362,9297,0.00,2.67,0.00,0.000,6,0.000,0.048,3133,1581,3365,0,0,0,0,0,0
$GC,9552,-1.27,-146.0,815.7,-6.9,369,9554,0.10,0.00,0.00,0.000,6,0.076,0.000,3086,1581,3364,0,0,0,0,0,0
$GC,9796,-1.22,-146.0,836.8,-8.8,375,9801,0.15,2.65,0.00,0.000,4,0.100,0.044,3120,3158,3363,0,0,0,0,0,0
$GC,9813,-1.22,-146.0,838.2,-8.6,375,9817,0.00,2.67,0.00,0.000,6,0.000,0.047,3119,1581,3363,0,0,0,0,0,0
$GC,10086,-1.22,-146.0,856.0,-6.5,382,10090,0.00,2.50,0.00,0.000,4,0.000,0.082,3120,167,3362,0,0,0,0,0,0
$GC,10119,-1.22,-146.0,858.6,-7.0,382,10123,0.00,2.33,0.00,0.000,6,0.000,0.034,3120,1589,3362,0,0,0,0,0,0
$GC,10375,-1.22,-146.0,874.2,-6.2,388,10376,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1589,3361,0,0,0,0,0,0
$GC,10617,-1.22,-146.0,889.1,-6.1,394,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1589,3361,0,0,0,0,0,0
$STATE,10813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10813,begin apogee
$GC,10820,-0.31,0.0,901.4,6.1,399,10942,0.85,0.00,118.95,1.160,6,0.071,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,10943,end apogee,CONTROL_FINISHED_OK
$STATE,10943,begin climb
$GC,10947,1.27,146.0,903.6,0.0,402,11085,1.42,2.15,129.50,1.137,4,0.032,0.077,3664,183,2203,0,0,0,0,0,0
$GC,11176,1.01,146.0,883.3,15.3,407,11181,0.28,1.92,0.00,0.000,6,0.113,0.030,3609,1353,2198,0,0,0,0,0,0
$GC,11455,0.93,146.0,851.9,11.0,414,11458,0.00,2.10,0.00,0.000,4,0.000,0.071,3609,175,2193,0,0,0,0,0,0
$GC,11489,0.78,146.0,847.9,12.5,414,11493,0.25,1.92,0.00,0.000,6,0.102,0.030,3557,1349,2193,0,0,0,0,0,0
$GC,11748,0.83,184.9,826.1,8.2,421,11790,0.00,2.17,34.40,1.068,4,0.000,0.073,3556,175,2046,0,0,0,0,0,0
$GC,11821,0.83,184.9,819.3,10.1,422,11825,0.00,1.92,0.00,0.000,6,0.000,0.031,3556,1351,2045,0,0,0,0,0,0
$GC,12085,0.90,204.2,794.9,9.1,429,12110,0.10,2.80,18.55,1.015,4,0.081,0.056,3596,2928,1966,0,0,0,0,0,0
$GC,12145,0.90,204.2,788.3,10.5,430,12150,0.00,2.72,0.00,0.000,6,0.000,0.049,3596,1356,1963,0,0,0,0,0,0
$GC,12420,0.90,204.2,757.4,11.4,437,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1356,1961,0,0,0,0,0,0
$GC,12662,0.90,204.2,728.9,11.7,443,12666,0.00,2.12,0.00,0.000,4,0.000,0.084,3596,164,1960,0,0,0,0,0,0
$GC,12694,0.83,204.2,724.7,13.4,443,12699,0.15,1.90,0.00,0.000,6,0.107,0.029,3565,1348,1960,0,0,0,0,0,0
$GC,12951,0.87,204.2,698.2,10.3,450,12956,0.00,2.70,0.00,0.000,4,0.000,0.051,3565,2929,1960,0,0,0,0,0,0
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$STATE,19010,end climb,SURFACE_DEPTH_REACHED
$STATE,19010,begin surface coast
$FINISH,0.9,1.016628
$STATE,19045,end surface coast,CONTROL_FINISHED_OK
$STATE,19045,begin surface
$SM_CCo,19069,36.95,0.430,0,0,1249,380.21
$SM_GC,1.96,0.00,0.00,36.95,0.000,0.000,0.430,411,1562,1249,-13.68,-0.23,380.21
$IRIDIUM_FIX,2248.70,-15720.65,021002,161612
$TT8_MAMPS,0.027612
$HUMID,65.23
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,18
$24V_AH,23.3,32.091
$10V_AH,9.9,29.504
$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
$DEVICE_SECS,35.200,211.100,408.475,36.950,0.000,27.189,34.798,419.388,4.500,0.000,11.934,1599.348,13732.267,524.066,2905.503,976.192,33.370,1637.297,0.000,2923.854,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.984,598.935,750.779,1198.091,1684.046,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356004
$DATA_FILE_SIZE,60469,730
$CAP_FILE_SIZE,189397,0
$CFSIZE,260165632,155664384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090713,033900,2253.278,-15723.671,37,1.4,37,10.1