version: 66.06
glider: 148
mission: 12
dive: 352
start: 8 7 113 12 29 54
data:
$ID,148
$MISSION,12
$DIVE,352
$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,-1023032.3
$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,23
$R_STBD_OVSHOOT,100
$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
$GPS1,121835,2251.678,-15748.067,25,1.5,25,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.3
$GPS2,122900,2251.607,-15748.138,10,1.5,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.017
$KALMAN_X,-119534.0,51.4,-94.3,139940.3,1173.4
$KALMAN_Y,126863.8,-27.0,-48.0,-114522.5,-2039.7
$MHEAD_RNG_PITCHd_Wd,256.0,36809,-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,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.40,0.000,2,0.000,0.000,414,1593,2933,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.0,9,123,13.82,2.42,-8.40,0.000,4,0.143,0.035,3104,3096,3398,0,0,0,0,0,0
$GC,258,-1.08,-146.0,42.0,-18.0,30,266,0.15,2.53,0.00,0.000,6,0.080,0.032,3142,1569,3398,0,0,0,0,0,0
$GC,523,-0.90,-146.0,84.9,-14.7,55,528,0.20,0.00,0.00,0.000,6,0.099,0.000,3186,1569,3398,0,0,0,0,0,0
$GC,786,-0.83,-146.0,115.9,-11.4,80,787,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1569,3399,0,0,0,0,0,0
$GC,1040,-0.78,-146.0,145.0,-10.9,104,1045,0.12,2.33,0.00,0.000,4,0.110,0.044,3215,166,3400,0,0,0,0,0,0
$GC,1060,-0.78,-146.0,147.1,-11.1,105,1065,0.00,2.10,0.00,0.000,6,0.000,0.017,3215,1574,3400,0,0,0,0,0,0
$GC,1325,-0.78,-146.0,171.6,-9.2,129,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,1577,3400,0,0,0,0,0,0
$GC,1592,-0.82,-146.0,194.6,-8.1,154,1597,0.00,2.40,0.00,0.000,4,0.000,0.021,3215,3103,3400,0,0,0,0,0,0
$GC,1632,-0.94,-146.0,197.8,-7.8,157,1638,0.15,2.50,0.00,0.000,6,0.058,0.028,3135,1560,3400,0,0,0,0,0,0
$GC,1904,-0.81,-146.0,230.8,-12.0,165,1909,0.30,2.28,0.00,0.000,4,0.081,0.043,3206,167,3400,0,0,0,0,0,0
$GC,1954,-0.89,-146.0,235.1,-8.1,166,1958,0.00,2.10,0.00,0.000,6,0.000,0.018,3206,1557,3400,0,0,0,0,0,0
$GC,2241,-0.96,-146.0,257.5,-8.0,173,2246,0.12,2.47,0.00,0.000,4,0.062,0.023,3139,3119,3400,0,0,0,0,0,0
$GC,2320,-0.96,-146.0,266.1,-10.3,174,2325,0.15,2.50,0.00,0.000,6,0.090,0.029,3176,1568,3400,0,0,0,0,0,0
$GC,2572,-0.96,-146.0,286.7,-8.0,180,2576,0.00,2.30,0.00,0.000,4,0.000,0.047,3176,173,3399,0,0,0,0,0,0
$GC,2591,-0.96,-146.0,288.6,-8.7,180,2595,0.00,2.10,0.00,0.000,6,0.000,0.019,3176,1563,3399,0,0,0,0,0,0
$GC,2857,-0.96,-146.0,311.1,-8.4,187,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1565,3399,0,0,0,0,0,0
$GC,3098,-0.96,-146.0,331.7,-8.4,193,3103,0.00,2.47,0.00,0.000,4,0.000,0.028,3176,3120,3398,0,0,0,0,0,0
$GC,3155,-1.07,-146.0,336.1,-7.4,194,3160,0.10,2.55,0.00,0.000,6,0.074,0.034,3115,1572,3398,0,0,0,0,0,0
$GC,3433,-0.97,-146.0,366.0,-11.4,201,3438,0.25,2.38,0.00,0.000,4,0.083,0.053,3171,164,3395,0,0,0,0,0,0
$GC,3481,-1.04,-146.0,371.7,-9.9,202,3485,0.00,2.15,0.00,0.000,6,0.000,0.021,3171,1557,3396,0,0,0,0,0,0
$GC,3763,-1.04,-146.0,397.1,-9.1,209,3768,0.00,2.55,0.00,0.000,4,0.000,0.032,3171,3144,3394,0,0,0,0,0,0
$GC,3812,-1.16,-146.0,401.3,-8.1,210,3818,0.17,2.60,0.00,0.000,6,0.048,0.036,3090,1573,3394,0,0,0,0,0,0
$GC,4096,-1.03,-146.0,436.0,-12.5,217,4101,0.28,2.40,0.00,0.000,4,0.084,0.062,3155,172,3392,0,0,0,0,0,0
$GC,4122,-1.03,-146.0,438.7,-10.9,217,4126,0.00,2.20,0.00,0.000,6,0.000,0.025,3156,1569,3392,0,0,0,0,0,0
$GC,4385,-1.03,-146.0,459.7,-7.8,224,4390,0.00,2.58,0.00,0.000,4,0.000,0.038,3155,3143,3390,0,0,0,0,0,0
$GC,4410,-1.09,-146.0,461.7,-7.8,224,4414,0.00,2.60,0.00,0.000,6,0.000,0.044,3156,1576,3389,0,0,0,0,0,0
$GC,4673,-1.09,-146.0,481.4,-7.7,231,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1575,3388,0,0,0,0,0,0
$GC,4913,-1.09,-146.0,501.6,-8.4,237,4917,0.00,2.62,0.00,0.000,4,0.000,0.041,3155,3144,3386,0,0,0,0,0,0
$GC,4942,-1.15,-146.0,504.1,-8.3,237,4946,0.00,2.62,0.00,0.000,6,0.000,0.040,3155,1577,3386,0,0,0,0,0,0
$GC,5199,-1.15,-146.0,524.7,-8.0,244,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1577,3384,0,0,0,0,0,0
$GC,5440,-1.15,-146.0,542.7,-7.2,250,5442,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1577,3382,0,0,0,0,0,0
$GC,5688,-1.15,-146.0,561.5,-7.9,256,5693,0.00,2.62,0.00,0.000,4,0.000,0.042,3155,3137,3381,0,0,0,0,0,0
$GC,5714,-1.22,-146.0,563.7,-8.2,256,5720,0.15,2.62,0.00,0.000,6,0.056,0.044,3087,1585,3381,0,0,0,0,0,0
$GC,5975,-1.11,-146.0,590.3,-10.2,263,5980,0.25,2.50,0.00,0.000,4,0.087,0.076,3148,167,3378,0,0,0,0,0,0
$GC,5999,-1.11,-146.0,592.7,-8.9,263,6004,0.00,2.28,0.00,0.000,6,0.000,0.030,3148,1578,3378,0,0,0,0,0,0
$GC,6261,-1.11,-146.0,609.6,-6.4,270,6262,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1578,3377,0,0,0,0,0,0
$GC,6505,-1.11,-146.0,626.0,-6.9,276,6509,0.00,2.47,0.00,0.000,4,0.000,0.073,3148,168,3376,0,0,0,0,0,0
$GC,6533,-1.11,-146.0,628.4,-8.6,276,6537,0.00,2.30,0.00,0.000,6,0.000,0.031,3148,1585,3376,0,0,0,0,0,0
$GC,6789,-1.11,-146.0,646.9,-7.5,283,6794,0.00,2.60,0.00,0.000,4,0.000,0.049,3148,3152,3375,0,0,0,0,0,0
$GC,6818,-1.19,-146.0,649.2,-7.7,283,6823,0.00,2.65,0.00,0.000,6,0.000,0.048,3148,1588,3375,0,0,0,0,0,0
$GC,7073,-1.19,-146.0,667.1,-7.1,290,7077,0.00,2.50,0.00,0.000,4,0.000,0.082,3148,169,3374,0,0,0,0,0,0
$GC,7112,-1.19,-146.0,670.0,-7.4,290,7120,0.05,2.33,0.00,0.000,6,0.046,0.034,3105,1581,3373,0,0,0,0,0,0
$GC,7363,-1.13,-146.0,691.5,-8.7,297,7368,0.15,2.67,0.00,0.000,4,0.097,0.052,3138,3158,3372,0,0,0,0,0,0
$GC,7394,-1.18,-146.0,694.2,-7.8,297,7399,0.00,2.65,0.00,0.000,6,0.000,0.048,3138,1592,3372,0,0,0,0,0,0
$GC,7651,-1.18,-146.0,713.6,-7.7,304,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1592,3370,0,0,0,0,0,0
$GC,7893,-1.18,-146.0,733.4,-8.1,310,7898,0.00,2.62,0.00,0.000,4,0.000,0.044,3138,3159,3369,0,0,0,0,0,0
$GC,7917,-1.18,-146.0,735.5,-9.6,310,7922,0.00,2.65,0.00,0.000,6,0.000,0.048,3138,1599,3369,0,0,0,0,0,0
$GC,8178,-1.18,-146.0,757.4,-8.5,317,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1599,3368,0,0,0,0,0,0
$GC,8420,-1.18,-146.0,776.1,-7.6,323,8425,0.00,2.55,0.00,0.000,4,0.000,0.085,3138,167,3367,0,0,0,0,0,0
$GC,8444,-1.18,-146.0,778.0,-9.1,323,8448,0.00,2.35,0.00,0.000,6,0.000,0.034,3138,1602,3367,0,0,0,0,0,0
$GC,8705,-1.18,-146.0,795.4,-6.7,330,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1603,3366,0,0,0,0,0,0
$GC,8949,-1.18,-146.0,811.7,-6.7,336,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1603,3365,0,0,0,0,0,0
$GC,9191,-1.18,-146.0,828.5,-6.9,342,9195,0.00,2.55,0.00,0.000,4,0.000,0.077,3138,166,3364,0,0,0,0,0,0
$GC,9214,-1.18,-146.0,830.4,-8.5,342,9218,0.00,2.33,0.00,0.000,6,0.000,0.034,3138,1594,3364,0,0,0,0,0,0
$GC,9480,-1.18,-146.0,848.0,-6.5,349,9484,0.00,2.65,0.00,0.000,4,0.000,0.051,3138,3163,3363,0,0,0,0,0,0
$GC,9499,-1.22,-146.0,849.5,-6.7,349,9504,0.00,2.67,0.00,0.000,6,0.000,0.049,3138,1595,3363,0,0,0,0,0,0
$GC,9766,-1.22,-146.0,866.4,-6.5,356,9770,0.00,2.55,0.00,0.000,4,0.000,0.083,3138,160,3363,0,0,0,0,0,0
$GC,9792,-1.22,-146.0,868.3,-8.1,356,9796,0.00,2.38,0.00,0.000,6,0.000,0.035,3138,1608,3362,0,0,0,0,0,0
$GC,10051,-1.22,-146.0,886.4,-6.9,363,10055,0.00,2.60,0.00,0.000,4,0.000,0.052,3138,3161,3362,0,0,0,0,0,0
$GC,10075,-1.29,-146.0,888.3,-8.6,363,10082,0.15,2.67,0.00,0.000,6,0.057,0.049,3076,1594,3362,0,0,0,0,0,0
$STATE,10212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10212,begin apogee
$GC,10221,-0.31,0.0,901.6,9.8,367,10344,1.05,0.00,119.50,1.150,6,0.076,0.000,3314,1344,2800,0,0,0,0,0,0
$STATE,10345,end apogee,CONTROL_FINISHED_OK
$STATE,10345,begin climb
$GC,10347,1.27,146.0,905.4,0.0,370,10486,1.45,2.17,130.35,1.128,4,0.035,0.084,3671,172,2203,0,0,0,0,0,0
$GC,10579,1.02,146.0,887.5,15.3,375,10584,0.30,1.95,0.00,0.000,6,0.107,0.030,3610,1354,2199,0,0,0,0,0,0
$GC,10855,0.97,146.0,859.3,10.2,382,10859,0.00,2.70,0.00,0.000,4,0.000,0.051,3610,2936,2194,0,0,0,0,0,0
$GC,10869,0.92,146.0,857.7,10.4,382,10877,0.12,2.72,0.00,0.000,6,0.116,0.047,3585,1354,2192,0,0,0,0,0,0
$GC,11143,0.94,159.6,832.2,9.4,389,11160,0.00,2.20,11.75,0.970,4,0.000,0.087,3585,167,2149,0,0,0,0,0,0
$GC,11198,0.89,159.6,826.5,10.8,390,11201,0.00,1.95,0.00,0.000,6,0.000,0.029,3585,1356,2149,0,0,0,0,0,0
$GC,11481,0.92,181.2,800.7,9.0,397,11509,0.00,2.15,21.15,1.023,4,0.000,0.073,3585,167,2060,0,0,0,0,0,0
$GC,11537,0.92,181.2,794.7,11.6,398,11541,0.00,1.95,0.00,0.000,6,0.000,0.030,3585,1347,2060,0,0,0,0,0,0
$GC,11815,0.93,190.9,768.4,9.6,405,11827,0.00,0.00,10.05,0.926,6,0.000,0.000,3585,1348,2021,0,0,0,0,0,0
$GC,12062,0.94,196.1,744.5,9.8,411,12070,0.00,0.00,6.05,0.801,6,0.000,0.000,3585,1349,2000,0,0,0,0,0,0
$GC,12302,0.95,203.8,720.9,9.6,417,12318,0.00,2.72,8.62,0.876,4,0.000,0.050,3585,2929,1968,0,0,0,0,0,0
$GC,12348,1.03,207.3,716.4,9.8,418,12361,0.10,2.75,4.80,0.709,6,0.079,0.049,3622,1340,1955,0,0,0,0,0,0
$GC,12642,1.03,207.3,683.0,11.6,425,12643,0.00,0.00,0.00,0.000,6,0.000,0.000,3623,1340,1953,0,0,0,0,0,0
$GC,12887,1.03,207.3,654.5,11.6,431,12891,0.00,2.10,0.00,0.000,4,0.000,0.084,3622,167,1953,0,0,0,0,0,0
$GC,12912,0.95,207.3,651.1,11.5,431,12916,0.08,1.95,0.00,0.000,6,0.091,0.029,3594,1347,1953,0,0,0,0,0,0
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$STATE,18692,end climb,SURFACE_DEPTH_REACHED
$STATE,18692,begin surface coast
$FINISH,1.0,1.012857
$STATE,18739,end surface coast,CONTROL_FINISHED_OK
$STATE,18739,begin surface
$SM_CCo,18762,17.75,0.415,0,0,1210,390.03
$SM_GC,2.17,0.00,0.00,17.75,0.000,0.000,0.415,416,1569,1210,-13.66,-0.03,390.03
$IRIDIUM_FIX,2244.02,-15746.73,011102,121245
$TT8_MAMPS,0.027612
$HUMID,66.81
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,14
$24V_AH,23.1,51.847
$10V_AH,9.8,49.484
$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
$DEVICE_SECS,34.350,203.525,465.125,17.750,0.000,53.820,69.664,272.829,3.500,0.000,18.427,1547.778,13815.234,549.990,2587.121,896.485,33.373,1667.643,0.000,2584.746,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.846,365.972,463.702,944.351,1250.157,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,54086,699
$CAP_FILE_SIZE,187882,0
$CFSIZE,260165632,145547264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,174405,2250.518,-15750.842,28,1.7,28,10.1