version: 66.06
glider: 148
mission: 12
dive: 221
start: 7 9 113 3 47 24
data:
$ID,148
$MISSION,12
$DIVE,221
$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,-1020494.8
$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,27
$R_STBD_OVSHOOT,82
$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
$GPS1,033900,2253.278,-15723.671,37,1.4,37,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-79.2
$GPS2,034630,2253.411,-15723.705,10,1.4,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE_40
$TGT_LATLONG,2239.000,-15657.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.193
$KALMAN_X,-239145.4,135.4,378.3,300714.1,-929.9
$KALMAN_Y,159271.2,2.4,-204.5,-143475.0,2184.4
$MHEAD_RNG_PITCHd_Wd,127.9,52873,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.20,0.000,2,0.000,0.000,410,1562,2972,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-5.9,9,123,14.05,2.33,-7.50,0.000,4,0.151,0.050,3101,164,3399,0,0,0,0,0,0
$GC,134,-0.27,-146.0,19.4,-37.1,14,142,0.98,2.12,0.00,0.000,6,0.091,0.017,3317,1555,3399,0,0,0,0,0,0
$GC,415,-0.49,-146.0,39.5,-5.6,47,420,0.17,2.47,0.00,0.000,4,0.048,0.022,3220,3133,3400,0,0,0,0,0,0
$GC,439,-0.61,-146.0,41.9,-8.3,48,448,0.10,2.55,0.00,0.000,6,0.061,0.029,3251,1568,3400,0,0,0,0,0,0
$GC,708,-0.72,-146.0,66.8,-8.2,73,712,0.00,2.30,0.00,0.000,4,0.000,0.044,3251,165,3400,0,0,0,0,0,0
$GC,738,-0.84,-146.0,69.9,-9.2,75,743,0.20,2.10,0.00,0.000,6,0.041,0.016,3159,1591,3400,0,0,0,0,0,0
$GC,1006,-0.73,-146.0,106.1,-12.7,99,1011,0.28,2.33,0.00,0.000,4,0.081,0.019,3223,3095,3402,0,0,0,0,0,0
$GC,1047,-0.86,-146.0,111.1,-9.0,102,1056,0.08,2.50,0.00,0.000,6,0.035,0.028,3164,1557,3402,0,0,0,0,0,0
$GC,1311,-0.79,-146.0,139.7,-10.0,127,1316,0.22,2.40,0.00,0.000,4,0.084,0.020,3215,3094,3402,0,0,0,0,0,0
$GC,1328,-0.79,-146.0,141.7,-9.7,128,1332,0.00,2.45,0.00,0.000,6,0.000,0.025,3215,1564,3402,0,0,0,0,0,0
$GC,1593,-0.85,-146.0,160.4,-7.4,152,1597,0.00,2.38,0.00,0.000,4,0.000,0.021,3215,3093,3403,0,0,0,0,0,0
$GC,1612,-0.94,-146.0,162.0,-6.9,153,1622,0.10,2.45,0.00,0.000,6,0.027,0.027,3134,1580,3402,0,0,0,0,0,0
$GC,1878,-0.81,-146.0,193.2,-12.6,178,1883,0.30,2.38,0.00,0.000,4,0.085,0.019,3204,3102,3402,0,0,0,0,0,0
$GC,1894,-0.75,-146.0,195.7,-11.8,179,1899,0.00,2.45,0.00,0.000,6,0.000,0.025,3205,1572,3403,0,0,0,0,0,0
$GC,2157,-0.82,-146.0,217.8,-8.6,189,2161,0.00,2.28,0.00,0.000,4,0.000,0.044,3204,170,3402,0,0,0,0,0,0
$GC,2183,-0.88,-146.0,220.1,-9.9,189,2187,0.00,2.05,0.00,0.000,6,0.000,0.018,3204,1562,3403,0,0,0,0,0,0
$GC,2446,-0.95,-146.0,243.0,-8.7,196,2448,0.12,0.00,0.00,0.000,6,0.062,0.000,3135,1564,3403,0,0,0,0,0,0
$GC,2691,-0.88,-146.0,269.2,-10.7,202,2697,0.25,2.42,0.00,0.000,4,0.082,0.021,3195,3103,3402,0,0,0,0,0,0
$GC,2716,-0.96,-146.0,271.8,-7.0,202,2721,0.00,2.47,0.00,0.000,6,0.000,0.028,3195,1572,3402,0,0,0,0,0,0
$GC,2977,-1.06,-146.0,288.4,-6.4,209,2978,0.17,0.00,0.00,0.000,6,0.048,0.000,3114,1572,3402,0,0,0,0,0,0
$GC,3222,-0.97,-146.0,312.9,-10.0,215,3224,0.25,0.00,0.00,0.000,6,0.082,0.000,3172,1572,3402,0,0,0,0,0,0
$GC,3464,-1.03,-146.0,331.9,-7.6,221,3468,0.00,2.45,0.00,0.000,4,0.000,0.028,3172,3106,3401,0,0,0,0,0,0
$GC,3507,-1.17,-146.0,335.0,-7.0,222,3513,0.17,2.50,0.00,0.000,6,0.046,0.035,3089,1574,3401,0,0,0,0,0,0
$GC,3801,-1.05,-146.0,367.5,-11.7,229,3806,0.28,2.35,0.00,0.000,4,0.087,0.055,3154,170,3399,0,0,0,0,0,0
$GC,3835,-1.05,-146.0,371.7,-9.3,229,3839,0.00,2.12,0.00,0.000,6,0.000,0.021,3153,1549,3399,0,0,0,0,0,0
$GC,4091,-1.05,-146.0,391.8,-8.0,235,4095,0.00,2.58,0.00,0.000,4,0.000,0.033,3154,3136,3398,0,0,0,0,0,0
$GC,4124,-1.15,-146.0,395.0,-8.0,235,4129,0.00,2.55,0.00,0.000,6,0.000,0.038,3154,1595,3398,0,0,0,0,0,0
$GC,4379,-1.15,-146.0,414.7,-7.9,241,4383,0.00,2.45,0.00,0.000,4,0.000,0.063,3154,162,3396,0,0,0,0,0,0
$GC,4446,-1.20,-146.0,420.6,-8.5,242,4451,0.12,2.22,0.00,0.000,6,0.063,0.025,3092,1576,3396,0,0,0,0,0,0
$GC,4711,-1.11,-146.0,449.1,-11.0,249,4716,0.22,2.42,0.00,0.000,4,0.087,0.061,3142,163,3393,0,0,0,0,0,0
$GC,4735,-1.11,-146.0,451.7,-10.3,249,4739,0.00,2.25,0.00,0.000,6,0.000,0.026,3142,1578,3393,0,0,0,0,0,0
$GC,5000,-1.11,-146.0,472.6,-8.1,256,5004,0.00,2.55,0.00,0.000,4,0.000,0.038,3142,3144,3391,0,0,0,0,0,0
$GC,5024,-1.15,-146.0,475.0,-7.8,256,5029,0.00,2.60,0.00,0.000,6,0.000,0.038,3142,1577,3391,0,0,0,0,0,0
$GC,5285,-1.15,-146.0,493.9,-7.2,263,5290,0.00,2.42,0.00,0.000,4,0.000,0.071,3142,165,3389,0,0,0,0,0,0
$GC,5314,-1.15,-146.0,496.3,-8.1,263,5318,0.00,2.28,0.00,0.000,6,0.000,0.028,3142,1586,3389,0,0,0,0,0,0
$GC,5568,-1.15,-146.0,515.0,-7.3,270,5573,0.00,2.55,0.00,0.000,4,0.000,0.041,3142,3151,3387,0,0,0,0,0,0
$GC,5589,-1.15,-146.0,516.5,-8.0,270,5594,0.00,2.60,0.00,0.000,6,0.000,0.039,3142,1586,3387,0,0,0,0,0,0
$GC,5857,-1.15,-146.0,536.6,-7.7,277,5861,0.00,2.47,0.00,0.000,4,0.000,0.073,3142,161,3386,0,0,0,0,0,0
$GC,5880,-1.15,-146.0,539.0,-9.2,277,5885,0.00,2.28,0.00,0.000,6,0.000,0.029,3142,1582,3385,0,0,0,0,0,0
$GC,6146,-1.15,-146.0,560.1,-8.1,284,6150,0.00,2.60,0.00,0.000,4,0.000,0.044,3142,3153,3383,0,0,0,0,0,0
$GC,6170,-1.21,-146.0,562.2,-8.5,284,6175,0.00,2.62,0.00,0.000,6,0.000,0.043,3142,1586,3383,0,0,0,0,0,0
$GC,6430,-1.21,-146.0,581.0,-7.1,291,6434,0.00,2.47,0.00,0.000,4,0.000,0.076,3142,168,3382,0,0,0,0,0,0
$GC,6445,-1.21,-146.0,582.2,-7.3,291,6450,0.00,2.25,0.00,0.000,6,0.000,0.029,3142,1587,3382,0,0,0,0,0,0
$GC,6720,-1.21,-146.0,602.2,-7.5,298,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3380,0,0,0,0,0,0
$GC,6964,-1.21,-146.0,622.2,-8.4,304,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1587,3379,0,0,0,0,0,0
$GC,7208,-1.26,-146.0,642.8,-8.5,310,7209,0.12,0.00,0.00,0.000,6,0.065,0.000,3088,1587,3377,0,0,0,0,0,0
$GC,7453,-1.19,-146.0,668.6,-10.7,316,7458,0.17,2.65,0.00,0.000,4,0.094,0.053,3128,3148,3377,0,0,0,0,0,0
$GC,7468,-1.19,-146.0,670.9,-10.3,316,7472,0.00,2.65,0.00,0.000,6,0.000,0.044,3128,1578,3377,0,0,0,0,0,0
$GC,7736,-1.19,-146.0,692.5,-7.9,323,7741,0.00,2.50,0.00,0.000,4,0.000,0.081,3128,163,3375,0,0,0,0,0,0
$GC,7753,-1.19,-146.0,693.8,-7.7,323,7757,0.00,2.30,0.00,0.000,6,0.000,0.031,3127,1586,3374,0,0,0,0,0,0
$GC,8021,-1.19,-146.0,714.3,-7.5,330,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1586,3373,0,0,0,0,0,0
$GC,8265,-1.19,-146.0,732.4,-7.3,336,8269,0.00,2.62,0.00,0.000,4,0.000,0.051,3128,3149,3372,0,0,0,0,0,0
$GC,8291,-1.23,-146.0,734.4,-8.1,336,8295,0.00,2.62,0.00,0.000,6,0.000,0.048,3128,1586,3372,0,0,0,0,0,0
$GC,8554,-1.23,-146.0,754.1,-7.7,343,8558,0.00,2.50,0.00,0.000,4,0.000,0.081,3128,168,3371,0,0,0,0,0,0
$GC,8568,-1.23,-146.0,755.6,-7.7,343,8572,0.00,2.28,0.00,0.000,6,0.000,0.032,3128,1583,3371,0,0,0,0,0,0
$GC,8839,-1.23,-146.0,776.0,-7.6,350,8843,0.00,2.65,0.00,0.000,4,0.000,0.052,3127,3158,3370,0,0,0,0,0,0
$GC,8859,-1.28,-146.0,777.7,-7.4,350,8863,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1583,3370,0,0,0,0,0,0
$GC,9123,-1.28,-146.0,796.8,-7.3,357,9127,0.00,2.50,0.00,0.000,4,0.000,0.082,3128,169,3368,0,0,0,0,0,0
$GC,9157,-1.28,-146.0,799.5,-8.9,357,9162,0.00,2.30,0.00,0.000,6,0.000,0.034,3127,1582,3368,0,0,0,0,0,0
$GC,9407,-1.28,-146.0,817.4,-7.1,363,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3367,0,0,0,0,0,0
$GC,9651,-1.28,-146.0,834.2,-6.8,369,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3367,0,0,0,0,0,0
$GC,9897,-1.28,-146.0,850.0,-6.4,375,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3366,0,0,0,0,0,0
$GC,10139,-1.28,-146.0,866.0,-6.8,381,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1582,3365,0,0,0,0,0,0
$GC,10382,-1.28,-146.0,882.2,-6.6,387,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3364,0,0,0,0,0,0
$GC,10626,-1.28,-146.0,898.4,-6.6,393,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3363,0,0,0,0,0,0
$STATE,10668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10668,begin apogee
$GC,10676,-0.31,0.0,901.1,6.6,394,10799,0.82,0.00,119.62,1.156,6,0.071,0.000,3317,1337,2801,0,0,0,0,0,0
$STATE,10800,end apogee,CONTROL_FINISHED_OK
$STATE,10800,begin climb
$GC,10803,1.27,146.0,904.8,0.0,397,10943,1.42,2.12,129.90,1.136,4,0.033,0.076,3665,176,2202,0,0,0,0,0,0
$GC,11008,1.00,146.0,891.8,13.5,401,11013,0.30,1.95,0.00,0.000,6,0.109,0.030,3605,1360,2199,0,0,0,0,0,0
$GC,11265,0.94,157.4,866.7,9.5,408,11281,0.00,2.12,9.50,0.948,4,0.000,0.071,3605,175,2159,0,0,0,0,0,0
$GC,11301,0.81,157.4,862.8,11.8,408,11305,0.20,1.95,0.00,0.000,6,0.104,0.031,3563,1352,2158,0,0,0,0,0,0
$GC,11551,0.86,199.1,842.3,8.1,414,11593,0.00,0.00,40.05,1.079,6,0.000,0.000,3563,1353,1988,0,0,0,0,0,0
$GC,11840,0.87,209.0,815.8,9.5,421,11852,0.00,0.00,9.70,0.937,6,0.000,0.000,3563,1353,1948,0,0,0,0,0,0
$GC,12082,0.87,211.3,791.8,9.9,427,12086,0.00,2.08,0.00,0.000,4,0.000,0.073,3563,172,1946,0,0,0,0,0,0
$GC,12105,0.87,211.3,789.0,10.4,427,12109,0.00,1.92,0.00,0.000,6,0.000,0.030,3562,1345,1946,0,0,0,0,0,0
$GC,12370,0.87,211.3,762.4,10.1,434,12374,0.00,2.67,0.00,0.000,4,0.000,0.053,3562,2932,1945,0,0,0,0,0,0
$GC,12422,1.00,231.8,757.2,9.1,435,12451,0.17,2.72,22.52,1.015,6,0.053,0.051,3622,1356,1854,0,0,0,0,0,0
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$STATE,18869,end climb,SURFACE_DEPTH_REACHED
$STATE,18869,begin surface coast
$FINISH,0.9,1.022506
$STATE,18915,end surface coast,CONTROL_FINISHED_OK
$STATE,18915,begin surface
$SM_CCo,18939,27.30,0.427,0,0,1249,380.21
$SM_GC,1.76,0.00,0.00,27.30,0.000,0.000,0.427,414,1610,1249,-13.67,1.13,380.21
$IRIDIUM_FIX,2246.36,-15725.87,021002,222258
$TT8_MAMPS,0.027612
$HUMID,65.23
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,20
$24V_AH,23.3,32.234
$10V_AH,9.9,29.678
$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
$DEVICE_SECS,36.025,209.775,430.125,27.300,0.000,30.096,34.798,223.932,5.000,0.000,12.080,1589.518,13585.488,538.542,2889.774,801.901,33.373,1640.710,0.000,2918.109,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.260,598.814,743.968,1208.799,1704.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,57444,719
$CAP_FILE_SIZE,187307,0
$CFSIZE,260165632,155586560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090713,090456,2253.114,-15721.388,23,4.0,42,10.1