version: 66.06
glider: 148
mission: 12
dive: 353
start: 8 7 113 17 52 13
data:
$ID,148
$MISSION,12
$DIVE,353
$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,-1023046.6
$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,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
$GPS1,174405,2250.518,-15750.842,28,1.7,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.8
$GPS2,175119,2250.511,-15750.839,12,1.7,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.248,-0.076
$KALMAN_X,-119029.3,-305.5,-166.1,135254.0,1163.1
$KALMAN_Y,125289.1,-87.8,-144.0,-114830.7,-990.0
$MHEAD_RNG_PITCHd_Wd,242.8,31859,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-69.78,0.000,2,0.000,0.000,416,1569,3003,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.7,-5.2,9,123,13.82,2.35,-6.93,0.000,4,0.144,0.054,3102,168,3399,0,0,0,0,0,0
$GC,255,-0.90,-146.0,47.7,-23.5,28,260,0.38,2.12,0.00,0.000,6,0.093,0.017,3185,1560,3399,0,0,0,0,0,0
$GC,517,-0.81,-146.0,85.8,-13.5,52,519,0.10,0.00,0.00,0.000,6,0.118,0.000,3208,1563,3400,0,0,0,0,0,0
$GC,773,-0.81,-146.0,114.2,-10.3,76,777,0.00,2.47,0.00,0.000,4,0.000,0.021,3208,3136,3401,0,0,0,0,0,0
$GC,815,-0.90,-146.0,118.0,-9.4,79,820,0.00,2.58,0.00,0.000,6,0.000,0.036,3208,1554,3401,0,0,0,0,0,0
$GC,1083,-0.90,-146.0,145.5,-10.5,103,1087,0.00,2.28,0.00,0.000,4,0.000,0.044,3208,169,3401,0,0,0,0,0,0
$GC,1131,-0.90,-146.0,150.6,-10.3,107,1135,0.00,2.10,0.00,0.000,6,0.000,0.017,3208,1581,3402,0,0,0,0,0,0
$GC,1394,-0.90,-146.0,174.0,-8.7,131,1398,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3123,3402,0,0,0,0,0,0
$GC,1432,-0.99,-146.0,177.3,-9.0,134,1437,0.17,2.53,0.00,0.000,6,0.049,0.028,3136,1564,3402,0,0,0,0,0,0
$GC,1691,-0.83,-146.0,212.6,-13.8,152,1696,0.28,2.28,0.00,0.000,4,0.087,0.041,3201,167,3402,0,0,0,0,0,0
$GC,1737,-0.83,-146.0,217.7,-9.7,153,1741,0.00,2.10,0.00,0.000,6,0.000,0.017,3201,1574,3402,0,0,0,0,0,0
$GC,2024,-0.83,-146.0,237.9,-6.7,160,2028,0.00,2.40,0.00,0.000,4,0.000,0.021,3201,3118,3402,0,0,0,0,0,0
$GC,2063,-0.95,-146.0,240.5,-5.5,160,2071,0.00,2.55,0.00,0.000,6,0.000,0.028,3201,1560,3402,0,0,0,0,0,0
$GC,2314,-1.00,-146.0,257.3,-7.0,167,2316,0.15,0.00,0.00,0.000,6,0.053,0.000,3129,1560,3402,0,0,0,0,0,0
$GC,2557,-0.88,-146.0,284.0,-11.2,173,2562,0.25,2.30,0.00,0.000,4,0.083,0.044,3190,168,3402,0,0,0,0,0,0
$GC,2580,-0.88,-146.0,285.9,-9.3,173,2584,0.00,2.10,0.00,0.000,6,0.000,0.019,3190,1558,3402,0,0,0,0,0,0
$GC,2845,-0.94,-146.0,304.3,-7.0,180,2849,0.00,2.47,0.00,0.000,4,0.000,0.025,3190,3131,3402,0,0,0,0,0,0
$GC,2883,-1.07,-146.0,307.2,-7.4,180,2893,0.12,2.58,0.00,0.000,6,0.025,0.031,3112,1572,3401,0,0,0,0,0,0
$GC,3135,-0.96,-146.0,336.8,-12.4,187,3137,0.28,0.00,0.00,0.000,6,0.082,0.000,3175,1572,3401,0,0,0,0,0,0
$GC,3377,-0.96,-146.0,354.9,-7.2,193,3381,0.00,2.35,0.00,0.000,4,0.000,0.053,3175,172,3400,0,0,0,0,0,0
$GC,3400,-0.96,-146.0,357.0,-8.4,193,3404,0.00,2.15,0.00,0.000,6,0.000,0.020,3175,1556,3400,0,0,0,0,0,0
$GC,3661,-0.96,-146.0,377.0,-7.9,200,3666,0.00,2.55,0.00,0.000,4,0.000,0.030,3175,3139,3398,0,0,0,0,0,0
$GC,3690,-1.04,-146.0,379.4,-7.1,200,3695,0.00,2.58,0.00,0.000,6,0.000,0.035,3175,1577,3399,0,0,0,0,0,0
$GC,3945,-1.04,-146.0,398.9,-7.8,207,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1577,3397,0,0,0,0,0,0
$GC,4191,-1.09,-146.0,416.1,-7.0,213,4193,0.12,0.00,0.00,0.000,6,0.064,0.000,3115,1577,3395,0,0,0,0,0,0
$GC,4432,-1.01,-146.0,440.1,-10.1,219,4437,0.22,2.42,0.00,0.000,4,0.084,0.061,3166,169,3393,0,0,0,0,0,0
$GC,4452,-1.01,-146.0,442.0,-9.1,219,4456,0.00,2.17,0.00,0.000,6,0.000,0.023,3166,1574,3393,0,0,0,0,0,0
$GC,4721,-1.01,-146.0,460.0,-6.8,226,4726,0.00,2.55,0.00,0.000,4,0.000,0.036,3166,3145,3392,0,0,0,0,0,0
$GC,4755,-1.10,-146.0,462.9,-7.4,226,4760,0.00,2.60,0.00,0.000,6,0.000,0.038,3167,1582,3392,0,0,0,0,0,0
$GC,5006,-1.15,-146.0,481.6,-7.5,232,5010,0.12,2.45,0.00,0.000,4,0.064,0.069,3107,168,3390,0,0,0,0,0,0
$GC,5036,-1.05,-146.0,484.5,-11.1,232,5041,0.22,2.25,0.00,0.000,6,0.087,0.028,3157,1576,3389,0,0,0,0,0,0
$GC,5292,-1.05,-146.0,503.3,-7.2,239,5296,0.00,2.58,0.00,0.000,4,0.000,0.041,3157,3150,3388,0,0,0,0,0,0
$GC,5322,-1.12,-146.0,505.4,-7.4,239,5327,0.00,2.62,0.00,0.000,6,0.000,0.041,3157,1581,3388,0,0,0,0,0,0
$GC,5580,-1.12,-146.0,524.3,-7.5,246,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1581,3386,0,0,0,0,0,0
$GC,5821,-1.12,-146.0,540.7,-6.6,252,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1581,3385,0,0,0,0,0,0
$GC,6065,-1.12,-146.0,557.5,-6.9,258,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1581,3383,0,0,0,0,0,0
$GC,6310,-1.12,-146.0,575.6,-7.5,264,6315,0.00,2.62,0.00,0.000,4,0.000,0.042,3157,3145,3382,0,0,0,0,0,0
$GC,6354,-1.24,-146.0,578.8,-7.1,265,6362,0.17,2.65,0.00,0.000,6,0.049,0.051,3097,1583,3382,0,0,0,0,0,0
$GC,6646,-1.15,-146.0,608.0,-10.3,272,6651,0.15,2.50,0.00,0.000,4,0.102,0.078,3132,163,3380,0,0,0,0,0,0
$GC,6699,-1.15,-146.0,613.5,-10.0,273,6703,0.00,2.28,0.00,0.000,6,0.000,0.031,3132,1576,3380,0,0,0,0,0,0
$GC,6981,-1.15,-146.0,637.4,-8.5,280,6986,0.00,2.62,0.00,0.000,4,0.000,0.046,3131,3150,3378,0,0,0,0,0,0
$GC,7017,-1.20,-146.0,640.3,-7.9,280,7021,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1579,3378,0,0,0,0,0,0
$GC,7271,-1.20,-146.0,660.8,-8.1,286,7276,0.00,2.50,0.00,0.000,4,0.000,0.082,3131,167,3377,0,0,0,0,0,0
$GC,7292,-1.20,-146.0,663.0,-8.2,286,7296,0.00,2.30,0.00,0.000,6,0.000,0.032,3132,1586,3377,0,0,0,0,0,0
$GC,7558,-1.20,-146.0,683.1,-7.4,293,7562,0.00,2.50,0.00,0.000,4,0.000,0.076,3131,168,3376,0,0,0,0,0,0
$GC,7582,-1.20,-146.0,685.1,-8.4,293,7586,0.00,2.30,0.00,0.000,6,0.000,0.034,3131,1581,3376,0,0,0,0,0,0
$GC,7841,-1.20,-146.0,703.8,-7.2,300,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1581,3375,0,0,0,0,0,0
$GC,8089,-1.20,-146.0,721.8,-7.5,306,8093,0.00,2.50,0.00,0.000,4,0.000,0.077,3132,167,3373,0,0,0,0,0,0
$GC,8122,-1.20,-146.0,724.9,-8.9,306,8126,0.00,2.30,0.00,0.000,6,0.000,0.035,3132,1586,3373,0,0,0,0,0,0
$GC,8372,-1.20,-146.0,744.6,-8.0,312,8376,0.00,2.62,0.00,0.000,4,0.000,0.051,3132,3154,3372,0,0,0,0,0,0
$GC,8407,-1.25,-146.0,747.6,-8.8,312,8412,0.00,2.67,0.00,0.000,6,0.000,0.050,3132,1584,3372,0,0,0,0,0,0
$GC,8658,-1.25,-146.0,769.3,-8.7,318,8662,0.00,2.53,0.00,0.000,4,0.000,0.083,3132,166,3370,0,0,0,0,0,0
$GC,8695,-1.25,-146.0,773.0,-10.2,318,8700,0.00,2.33,0.00,0.000,6,0.000,0.034,3132,1589,3370,0,0,0,0,0,0
$GC,8947,-1.25,-146.0,794.5,-8.6,325,8951,0.00,2.62,0.00,0.000,4,0.000,0.051,3131,3155,3370,0,0,0,0,0,0
$GC,8970,-1.25,-146.0,796.9,-9.6,325,8975,0.00,2.70,0.00,0.000,6,0.000,0.051,3132,1571,3369,0,0,0,0,0,0
$GC,9230,-1.25,-146.0,818.6,-8.3,332,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1571,3368,0,0,0,0,0,0
$GC,9476,-1.25,-146.0,838.3,-7.9,338,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1571,3368,0,0,0,0,0,0
$GC,9718,-1.25,-146.0,856.9,-7.6,344,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1571,3367,0,0,0,0,0,0
$GC,9961,-1.25,-146.0,874.6,-7.3,350,9966,0.00,2.65,0.00,0.000,4,0.000,0.044,3132,3155,3366,0,0,0,0,0,0
$GC,9980,-1.25,-146.0,876.0,-8.2,350,9985,0.00,2.67,0.00,0.000,6,0.000,0.048,3131,1583,3366,0,0,0,0,0,0
$GC,10246,-1.25,-146.0,894.4,-6.9,357,10251,0.00,2.50,0.00,0.000,4,0.000,0.085,3132,167,3365,0,0,0,0,0,0
$GC,10270,-1.25,-146.0,896.4,-7.9,357,10274,0.00,2.33,0.00,0.000,6,0.000,0.034,3131,1590,3365,0,0,0,0,0,0
$STATE,10323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10323,begin apogee
$GC,10330,-0.31,0.0,900.3,7.0,359,10453,0.80,0.00,120.20,1.145,6,0.074,0.000,3316,1343,2800,0,0,0,0,0,0
$STATE,10454,end apogee,CONTROL_FINISHED_OK
$STATE,10454,begin climb
$GC,10459,1.27,146.0,903.4,0.0,362,10597,1.42,2.15,130.18,1.124,4,0.032,0.081,3671,179,2204,0,0,0,0,0,0
$GC,10761,1.03,146.0,874.6,15.7,368,10768,0.30,1.95,0.00,0.000,6,0.108,0.029,3611,1363,2198,0,0,0,0,0,0
$GC,11014,0.98,146.5,849.2,10.0,375,11018,0.00,2.12,0.00,0.000,4,0.000,0.074,3610,177,2193,0,0,0,0,0,0
$GC,11051,0.87,146.5,844.8,11.1,375,11061,0.15,1.95,0.00,0.000,6,0.089,0.030,3575,1349,2193,0,0,0,0,0,0
$GC,11301,0.92,188.8,824.3,8.1,382,11342,0.00,0.00,38.78,1.062,6,0.000,0.000,3575,1350,2030,0,0,0,0,0,0
$GC,11587,0.99,208.6,799.1,9.1,389,11612,0.10,2.78,19.40,1.008,4,0.080,0.052,3615,2933,1948,0,0,0,0,0,0
$GC,11636,0.99,208.6,793.5,11.7,390,11641,0.00,2.75,0.00,0.000,6,0.000,0.048,3614,1354,1945,0,0,0,0,0,0
$GC,11916,0.99,208.6,760.9,11.9,397,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1354,1944,0,0,0,0,0,0
$GC,12158,0.99,208.6,731.6,11.9,403,12162,0.00,2.65,0.00,0.000,4,0.000,0.043,3615,2936,1944,0,0,0,0,0,0
$GC,12177,0.99,208.6,729.1,12.4,403,12181,0.00,2.72,0.00,0.000,6,0.000,0.049,3614,1351,1940,0,0,0,0,0,0
$GC,12441,0.99,208.6,698.1,11.8,410,12445,0.00,2.12,0.00,0.000,4,0.000,0.087,3615,165,1941,0,0,0,0,0,0
$GC,12484,0.92,208.6,692.7,13.7,410,12493,0.10,1.95,0.00,0.000,6,0.084,0.028,3589,1350,1940,0,0,0,0,0,0
$GC,12734,0.94,221.3,668.2,9.4,417,12749,0.00,0.00,12.32,0.904,6,0.000,0.000,3589,1350,1897,0,0,0,0,0,0
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$STATE,18608,end climb,SURFACE_DEPTH_REACHED
$STATE,18608,begin surface coast
$FINISH,1.0,1.022834
$STATE,18661,end surface coast,CONTROL_FINISHED_OK
$STATE,18661,begin surface
$SM_CCo,18686,35.72,0.423,0,0,1209,390.03
$SM_GC,2.22,0.00,0.00,35.72,0.000,0.000,0.423,409,1619,1209,-13.69,1.39,390.03
$IRIDIUM_FIX,2241.69,-15746.73,011102,121242
$TT8_MAMPS,0.027612
$HUMID,67.20
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.50
$XPDR_PINGS,18
$24V_AH,23.2,51.986
$10V_AH,9.8,49.628
$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,33.300,205.000,413.050,35.725,0.000,24.998,42.898,204.352,4.500,0.000,13.640,1524.136,13795.618,550.446,2520.281,753.672,33.375,1608.057,0.000,2526.396,0.000,0.538,0.000
$DEVICE_MAMPS,144.196,86.671,1145.131,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.092,355.771,466.381,929.049,1275.056,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,54214,698
$CAP_FILE_SIZE,178742,0
$CFSIZE,260165632,145477632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,230556,2248.901,-15752.950,38,99.0,57,10.1