version: 66.06
glider: 148
mission: 12
dive: 346
start: 8 6 113 3 44 1
data:
$ID,148
$MISSION,12
$DIVE,346
$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,390
$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,-1022929.5
$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,79
$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
$GPS1,032824,2303.949,-15738.541,37,2.0,37,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.3
$GPS2,034307,2304.010,-15738.607,13,0.9,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.224,-0.132
$KALMAN_X,-128209.9,-28.6,-125.6,165002.2,1368.6
$KALMAN_Y,138412.8,-38.9,-364.6,-102774.8,-103.3
$MHEAD_RNG_PITCHd_Wd,229.4,63929,-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,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.00,0.000,2,0.000,0.000,416,1625,2908,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.1,9,121,13.77,2.45,-9.02,0.000,4,0.143,0.053,3102,170,3396,0,0,0,0,0,0
$GC,265,-0.95,-146.0,46.0,-20.4,31,270,0.35,2.12,0.00,0.000,6,0.094,0.017,3177,1561,3396,0,0,0,0,0,0
$GC,533,-0.84,-146.0,85.7,-12.7,55,538,0.10,2.47,0.00,0.000,4,0.117,0.021,3200,3145,3397,0,0,0,0,0,0
$GC,595,-0.93,-146.0,92.5,-8.0,60,604,0.00,2.58,0.00,0.000,6,0.000,0.028,3200,1571,3396,0,0,0,0,0,0
$GC,864,-0.93,-146.0,116.7,-9.7,85,868,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1571,3397,0,0,0,0,0,0
$GC,1125,-0.93,-146.0,143.2,-10.3,110,1129,0.00,2.47,0.00,0.000,4,0.000,0.021,3200,3138,3398,0,0,0,0,0,0
$GC,1144,-0.93,-146.0,144.9,-10.5,111,1149,0.00,2.50,0.00,0.000,6,0.000,0.027,3200,1575,3397,0,0,0,0,0,0
$GC,1409,-0.93,-146.0,171.3,-10.0,135,1413,0.00,2.30,0.00,0.000,4,0.000,0.044,3200,173,3397,0,0,0,0,0,0
$GC,1434,-0.93,-146.0,174.5,-11.6,137,1438,0.00,2.15,0.00,0.000,6,0.000,0.018,3200,1599,3398,0,0,0,0,0,0
$GC,1699,-0.93,-146.0,198.7,-8.8,161,1703,0.00,2.38,0.00,0.000,4,0.000,0.021,3200,3118,3398,0,0,0,0,0,0
$GC,1719,-0.97,-146.0,200.8,-8.9,162,1724,0.12,2.50,0.00,0.000,6,0.059,0.027,3117,1568,3398,0,0,0,0,0,0
$GC,1984,-0.81,-146.0,236.1,-13.6,169,1986,0.43,0.00,0.00,0.000,6,0.078,0.000,3209,1568,3397,0,0,0,0,0,0
$GC,2229,-0.89,-146.0,256.0,-7.6,175,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1568,3397,0,0,0,0,0,0
$GC,2476,-0.98,-146.0,273.4,-6.9,181,2481,0.15,2.45,0.00,0.000,4,0.053,0.024,3132,3116,3397,0,0,0,0,0,0
$GC,2509,-0.98,-146.0,277.1,-10.5,181,2514,0.17,2.53,0.00,0.000,6,0.084,0.030,3174,1565,3397,0,0,0,0,0,0
$GC,2761,-0.98,-146.0,298.0,-8.3,187,2765,0.00,2.30,0.00,0.000,4,0.000,0.048,3174,164,3396,0,0,0,0,0,0
$GC,2784,-0.98,-146.0,300.3,-8.9,187,2789,0.00,2.15,0.00,0.000,6,0.000,0.020,3174,1560,3395,0,0,0,0,0,0
$GC,3044,-0.98,-146.0,322.3,-8.7,194,3048,0.00,2.47,0.00,0.000,4,0.000,0.027,3174,3131,3394,0,0,0,0,0,0
$GC,3089,-1.09,-146.0,326.1,-8.0,195,3094,0.12,2.55,0.00,0.000,6,0.063,0.033,3110,1579,3394,0,0,0,0,0,0
$GC,3377,-0.98,-146.0,359.5,-11.6,202,3382,0.25,2.38,0.00,0.000,4,0.082,0.060,3172,170,3392,0,0,0,0,0,0
$GC,3427,-1.05,-146.0,364.1,-8.4,203,3431,0.00,2.17,0.00,0.000,6,0.000,0.021,3171,1562,3392,0,0,0,0,0,0
$GC,3709,-1.05,-146.0,384.6,-7.1,210,3714,0.00,2.55,0.00,0.000,4,0.000,0.032,3172,3149,3391,0,0,0,0,0,0
$GC,3765,-1.17,-146.0,388.3,-6.5,211,3770,0.17,2.60,0.00,0.000,6,0.048,0.037,3092,1579,3391,0,0,0,0,0,0
$GC,4044,-1.04,-146.0,419.9,-11.9,218,4046,0.30,0.00,0.00,0.000,6,0.080,0.000,3160,1580,3388,0,0,0,0,0,0
$GC,4287,-1.04,-146.0,443.0,-9.4,224,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1580,3386,0,0,0,0,0,0
$GC,4533,-1.04,-146.0,464.4,-8.6,230,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1580,3385,0,0,0,0,0,0
$GC,4777,-1.04,-146.0,483.0,-7.3,236,4782,0.00,2.58,0.00,0.000,4,0.000,0.042,3159,3134,3383,0,0,0,0,0,0
$GC,4825,-1.14,-146.0,486.4,-6.5,237,4830,0.10,2.60,0.00,0.000,6,0.075,0.041,3104,1583,3383,0,0,0,0,0,0
$GC,5110,-1.06,-146.0,513.6,-10.1,244,5115,0.22,2.47,0.00,0.000,4,0.084,0.071,3155,166,3381,0,0,0,0,0,0
$GC,5139,-1.06,-146.0,516.7,-9.0,244,5143,0.00,2.28,0.00,0.000,6,0.000,0.029,3155,1582,3381,0,0,0,0,0,0
$GC,5398,-1.06,-146.0,537.1,-8.1,251,5402,0.00,2.60,0.00,0.000,4,0.000,0.043,3155,3148,3379,0,0,0,0,0,0
$GC,5429,-1.13,-146.0,539.9,-8.7,251,5433,0.00,2.62,0.00,0.000,6,0.000,0.042,3155,1588,3379,0,0,0,0,0,0
$GC,5684,-1.13,-146.0,561.7,-8.6,258,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1588,3377,0,0,0,0,0,0
$GC,5927,-1.13,-146.0,581.5,-7.9,264,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1588,3376,0,0,0,0,0,0
$GC,6173,-1.13,-146.0,598.8,-6.9,270,6177,0.00,2.50,0.00,0.000,4,0.000,0.080,3155,168,3374,0,0,0,0,0,0
$GC,6192,-1.13,-146.0,600.5,-7.7,270,6196,0.00,2.30,0.00,0.000,6,0.000,0.031,3155,1593,3374,0,0,0,0,0,0
$GC,6456,-1.13,-146.0,618.5,-6.8,277,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1593,3373,0,0,0,0,0,0
$GC,6701,-1.13,-146.0,636.4,-7.5,283,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1593,3370,0,0,0,0,0,0
$GC,6943,-1.13,-146.0,655.1,-7.8,289,6947,0.00,2.62,0.00,0.000,4,0.000,0.051,3155,3157,3369,0,0,0,0,0,0
$GC,6967,-1.20,-146.0,657.3,-9.5,289,6972,0.12,2.65,0.00,0.000,6,0.063,0.047,3093,1594,3369,0,0,0,0,0,0
$GC,7232,-1.12,-146.0,684.2,-10.6,296,7237,0.22,2.55,0.00,0.000,4,0.087,0.081,3144,160,3367,0,0,0,0,0,0
$GC,7284,-1.12,-146.0,689.4,-8.8,297,7288,0.00,2.33,0.00,0.000,6,0.000,0.035,3144,1584,3367,0,0,0,0,0,0
$GC,7562,-1.12,-146.0,710.4,-7.4,304,7566,0.00,2.65,0.00,0.000,4,0.000,0.051,3143,3161,3366,0,0,0,0,0,0
$GC,7582,-1.12,-146.0,711.7,-7.2,304,7586,0.00,2.67,0.00,0.000,6,0.000,0.048,3144,1585,3366,0,0,0,0,0,0
$GC,7853,-1.12,-146.0,731.1,-7.2,311,7857,0.00,2.53,0.00,0.000,4,0.000,0.084,3144,163,3365,0,0,0,0,0,0
$GC,7877,-1.12,-146.0,733.3,-8.8,311,7881,0.00,2.35,0.00,0.000,6,0.000,0.035,3143,1597,3364,0,0,0,0,0,0
$GC,8138,-1.12,-146.0,751.9,-7.1,318,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3364,0,0,0,0,0,0
$GC,8380,-1.12,-146.0,770.2,-7.6,324,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3362,0,0,0,0,0,0
$GC,8624,-1.12,-146.0,788.6,-7.5,330,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3361,0,0,0,0,0,0
$GC,8871,-1.12,-146.0,806.8,-7.3,336,8876,0.00,2.55,0.00,0.000,4,0.000,0.077,3143,161,3360,0,0,0,0,0,0
$GC,8891,-1.12,-146.0,808.7,-8.2,336,8895,0.00,2.35,0.00,0.000,6,0.000,0.035,3143,1595,3360,0,0,0,0,0,0
$GC,9159,-1.12,-146.0,827.8,-7.0,343,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1595,3359,0,0,0,0,0,0
$GC,9403,-1.12,-146.0,844.4,-6.6,349,9407,0.00,2.65,0.00,0.000,4,0.000,0.051,3143,3164,3358,0,0,0,0,0,0
$GC,9424,-1.17,-146.0,845.8,-6.8,349,9429,0.00,2.70,0.00,0.000,6,0.000,0.049,3143,1585,3358,0,0,0,0,0,0
$GC,9691,-1.21,-146.0,862.7,-6.6,356,9696,0.00,2.53,0.00,0.000,4,0.000,0.084,3143,166,3357,0,0,0,0,0,0
$GC,9740,-1.21,-146.0,866.5,-8.2,357,9744,0.00,2.35,0.00,0.000,6,0.000,0.035,3144,1597,3357,0,0,0,0,0,0
$GC,10023,-1.26,-146.0,885.9,-6.8,364,10028,0.15,2.65,0.00,0.000,4,0.057,0.053,3084,3160,3356,0,0,0,0,0,0
$GC,10053,-1.21,-146.0,888.4,-8.9,364,10060,0.17,2.67,0.00,0.000,6,0.089,0.054,3124,1591,3356,0,0,0,0,0,0
$STATE,10226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10226,begin apogee
$GC,10235,-0.31,0.0,902.6,8.0,369,10357,0.82,0.00,118.55,1.157,6,0.071,0.000,3316,1345,2800,0,0,0,0,0,0
$STATE,10357,end apogee,CONTROL_FINISHED_OK
$STATE,10357,begin climb
$GC,10360,1.27,146.0,906.6,0.0,372,10500,1.42,2.22,131.02,1.135,4,0.035,0.086,3667,173,2203,0,0,0,0,0,0
$GC,10636,1.04,146.0,884.9,13.3,378,10640,0.28,1.95,0.00,0.000,6,0.109,0.031,3611,1355,2198,0,0,0,0,0,0
$GC,10914,1.00,154.7,857.2,9.6,385,10927,0.00,2.17,7.30,0.885,4,0.000,0.075,3611,177,2169,0,0,0,0,0,0
$GC,10985,0.89,154.7,849.6,12.0,386,10990,0.15,1.92,0.00,0.000,6,0.114,0.030,3580,1343,2169,0,0,0,0,0,0
$GC,11250,0.92,180.3,826.2,8.8,393,11282,0.00,2.75,25.17,1.049,4,0.000,0.049,3580,2929,2063,0,0,0,0,0,0
$GC,11302,1.01,210.1,821.3,8.6,394,11339,0.10,2.75,29.42,1.048,6,0.078,0.050,3618,1348,1942,0,0,0,0,0,0
$GC,11627,1.01,210.1,782.7,11.8,402,11631,0.00,2.15,0.00,0.000,4,0.000,0.087,3618,166,1935,0,0,0,0,0,0
$GC,11655,0.92,210.1,779.1,11.4,402,11660,0.15,1.95,0.00,0.000,6,0.110,0.031,3588,1353,1935,0,0,0,0,0,0
$GC,11912,0.94,228.0,755.1,9.2,409,11931,0.00,0.00,17.02,0.986,6,0.000,0.000,3588,1353,1870,0,0,0,0,0,0
$GC,12154,0.96,240.2,732.2,9.4,415,12174,0.00,2.72,12.65,0.943,4,0.000,0.049,3588,2928,1819,0,0,0,0,0,0
$GC,12195,1.07,273.0,728.5,8.5,415,12234,0.08,2.78,32.00,1.006,6,0.041,0.049,3628,1345,1685,0,0,0,0,0,0
$GC,12489,1.07,273.0,690.6,13.2,423,12493,0.00,2.12,0.00,0.000,4,0.000,0.085,3628,166,1681,0,0,0,0,0,0
$GC,12508,1.02,273.0,687.8,15.0,423,12512,0.00,1.95,0.00,0.000,6,0.000,0.030,3628,1358,1681,0,0,0,0,0,0
$GC,12777,1.02,273.0,653.1,12.7,430,12782,0.00,2.65,0.00,0.000,4,0.000,0.048,3628,2928,1679,0,0,0,0,0,0
$GC,12796,1.02,273.0,650.3,12.8,430,12801,0.00,2.70,0.00,0.000,6,0.000,0.046,3628,1350,1677,0,0,0,0,0,0
$GC,13060,1.02,273.0,615.6,13.3,437,13065,0.00,2.67,0.00,0.000,4,0.000,0.043,3628,2935,1677,0,0,0,0,0,0
$GC,13076,1.02,273.0,613.7,13.3,437,13081,0.00,2.72,0.00,0.000,6,0.000,0.049,3628,1349,1676,0,0,0,0,0,0
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$STATE,18296,end climb,SURFACE_DEPTH_REACHED
$STATE,18296,begin surface coast
$FINISH,1.0,1.022966
$STATE,18349,end surface coast,CONTROL_FINISHED_OK
$STATE,18349,begin surface
$SM_CCo,18374,39.80,0.430,0,0,1209,390.03
$SM_GC,2.06,0.00,0.00,39.80,0.000,0.000,0.430,409,1599,1209,-13.69,0.82,390.03
$IRIDIUM_FIX,2255.72,-15738.85,311002,030341
$TT8_MAMPS,0.027612
$HUMID,67.32
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.70
$XPDR_PINGS,15
$24V_AH,23.2,50.962
$10V_AH,9.9,48.594
$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
$DEVICE_SECS,33.875,195.525,419.075,39.800,0.000,89.815,111.544,378.110,3.750,0.000,15.441,1532.879,13592.753,532.855,2555.378,1071.580,33.377,1588.293,0.000,2555.922,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.367,374.738,477.169,976.382,1287.961,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,57304,705
$CAP_FILE_SIZE,182938,0
$CFSIZE,260165632,146014208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060813,085236,2302.448,-15740.009,59,1.1,59,10.1