version: 66.06
glider: 148
mission: 12
dive: 354
start: 8 7 113 23 24 13
data:
$ID,148
$MISSION,12
$DIVE,354
$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,-1023082.3
$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,3395
$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,92
$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
$GPS1,230556,2248.901,-15752.950,38,99.0,57,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.4
$GPS2,232321,2248.803,-15752.961,13,99.0,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,-0.035
$KALMAN_X,-118394.8,-323.9,63.6,130780.1,1016.8
$KALMAN_Y,123286.5,-142.4,147.5,-116221.2,-1865.3
$MHEAD_RNG_PITCHd_Wd,252.1,27074,-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,18,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-72.03,0.000,2,0.000,0.000,409,1619,3114,0,0,0,0,0,0
$GC,95,-1.27,-146.0,3.7,-4.8,9,121,14.82,2.40,-4.80,0.000,4,0.171,0.048,3114,160,3397,0,0,0,0,0,0
$GC,271,-0.97,-146.0,49.6,-20.4,29,275,0.30,2.12,0.00,0.000,6,0.097,0.016,3179,1557,3398,0,0,0,0,0,0
$GC,537,-0.87,-146.0,86.5,-12.0,53,542,0.12,2.45,0.00,0.000,4,0.108,0.021,3207,3128,3399,0,0,0,0,0,0
$GC,558,-0.87,-146.0,89.6,-11.3,54,567,0.00,2.55,0.00,0.000,6,0.000,0.028,3207,1567,3399,0,0,0,0,0,0
$GC,823,-0.87,-146.0,115.9,-10.1,79,827,0.00,2.30,0.00,0.000,4,0.000,0.042,3207,169,3399,0,0,0,0,0,0
$GC,875,-0.87,-146.0,121.7,-10.3,83,881,0.00,2.10,0.00,0.000,6,0.000,0.016,3207,1578,3399,0,0,0,0,0,0
$GC,1136,-0.87,-146.0,148.4,-11.0,108,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1581,3399,0,0,0,0,0,0
$GC,1391,-0.87,-146.0,175.8,-10.1,132,1395,0.00,2.40,0.00,0.000,4,0.000,0.021,3207,3123,3399,0,0,0,0,0,0
$GC,1421,-0.92,-146.0,178.3,-9.5,134,1425,0.00,2.53,0.00,0.000,6,0.000,0.027,3207,1560,3399,0,0,0,0,0,0
$GC,1714,-0.92,-146.0,204.6,-9.6,158,1718,0.00,2.28,0.00,0.000,4,0.000,0.043,3207,173,3399,0,0,0,0,0,0
$GC,1743,-0.92,-146.0,207.9,-11.1,158,1747,0.00,2.10,0.00,0.000,6,0.000,0.017,3207,1573,3399,0,0,0,0,0,0
$GC,1998,-0.92,-146.0,230.3,-8.4,165,2002,0.00,2.40,0.00,0.000,4,0.000,0.021,3207,3120,3399,0,0,0,0,0,0
$GC,2045,-1.06,-146.0,233.4,-6.8,166,2050,0.17,2.50,0.00,0.000,6,0.044,0.028,3119,1573,3399,0,0,0,0,0,0
$GC,2335,-0.92,-146.0,269.2,-13.0,173,2339,0.30,2.33,0.00,0.000,4,0.081,0.043,3189,163,3399,0,0,0,0,0,0
$GC,2392,-0.99,-146.0,274.4,-7.9,174,2396,0.00,2.12,0.00,0.000,6,0.000,0.018,3189,1561,3399,0,0,0,0,0,0
$GC,2671,-1.04,-146.0,294.2,-7.2,181,2676,0.00,2.45,0.00,0.000,4,0.000,0.025,3189,3120,3398,0,0,0,0,0,0
$GC,2719,-1.18,-146.0,298.1,-7.4,182,2724,0.22,2.53,0.00,0.000,6,0.038,0.030,3093,1572,3398,0,0,0,0,0,0
$GC,3004,-1.03,-146.0,334.2,-13.3,189,3009,0.30,2.33,0.00,0.000,4,0.082,0.048,3164,168,3397,0,0,0,0,0,0
$GC,3038,-1.03,-146.0,338.3,-9.7,189,3042,0.00,2.15,0.00,0.000,6,0.000,0.020,3164,1551,3397,0,0,0,0,0,0
$GC,3288,-1.03,-146.0,357.9,-7.6,195,3292,0.00,2.55,0.00,0.000,4,0.000,0.031,3164,3146,3395,0,0,0,0,0,0
$GC,3323,-1.10,-146.0,360.4,-7.2,195,3328,0.00,2.60,0.00,0.000,6,0.000,0.035,3164,1574,3395,0,0,0,0,0,0
$GC,3576,-1.10,-146.0,380.4,-8.4,201,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1574,3394,0,0,0,0,0,0
$GC,3817,-1.10,-146.0,400.9,-8.3,207,3821,0.00,2.58,0.00,0.000,4,0.000,0.035,3164,3144,3392,0,0,0,0,0,0
$GC,3848,-1.18,-146.0,403.3,-8.7,207,3853,0.10,2.60,0.00,0.000,6,0.073,0.036,3106,1578,3392,0,0,0,0,0,0
$GC,4104,-1.08,-146.0,430.7,-11.0,214,4109,0.22,2.42,0.00,0.000,4,0.087,0.062,3158,170,3390,0,0,0,0,0,0
$GC,4162,-1.08,-146.0,436.2,-8.7,215,4166,0.00,2.20,0.00,0.000,6,0.000,0.025,3158,1575,3389,0,0,0,0,0,0
$GC,4442,-1.08,-146.0,458.3,-8.0,222,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1578,3387,0,0,0,0,0,0
$GC,4683,-1.08,-146.0,479.1,-8.6,228,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1578,3385,0,0,0,0,0,0
$GC,4927,-1.08,-146.0,499.0,-8.3,234,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1578,3383,0,0,0,0,0,0
$GC,5173,-1.08,-146.0,517.6,-7.5,240,5177,0.00,2.62,0.00,0.000,4,0.000,0.044,3158,3144,3382,0,0,0,0,0,0
$GC,5206,-1.17,-146.0,520.5,-7.3,240,5211,0.00,2.65,0.00,0.000,6,0.000,0.041,3158,1570,3382,0,0,0,0,0,0
$GC,5459,-1.17,-146.0,539.2,-7.6,246,5463,0.00,2.47,0.00,0.000,4,0.000,0.074,3158,167,3380,0,0,0,0,0,0
$GC,5504,-1.22,-146.0,543.1,-9.6,247,5509,0.12,2.20,0.00,0.000,6,0.063,0.029,3100,1551,3379,0,0,0,0,0,0
$GC,5792,-1.13,-146.0,575.2,-11.1,254,5797,0.20,2.67,0.00,0.000,4,0.090,0.044,3146,3158,3377,0,0,0,0,0,0
$GC,5824,-1.19,-146.0,578.2,-9.8,254,5828,0.00,2.70,0.00,0.000,6,0.000,0.045,3146,1557,3377,0,0,0,0,0,0
$GC,6081,-1.19,-146.0,600.4,-8.6,261,6085,0.00,2.42,0.00,0.000,4,0.000,0.078,3146,170,3375,0,0,0,0,0,0
$GC,6114,-1.19,-146.0,603.6,-9.9,261,6118,0.00,2.25,0.00,0.000,6,0.000,0.031,3146,1563,3375,0,0,0,0,0,0
$GC,6366,-1.19,-146.0,622.6,-7.4,267,6370,0.00,2.62,0.00,0.000,4,0.000,0.048,3146,3150,3373,0,0,0,0,0,0
$GC,6395,-1.26,-146.0,624.9,-7.5,267,6400,0.10,2.67,0.00,0.000,6,0.077,0.046,3094,1569,3373,0,0,0,0,0,0
$GC,6650,-1.17,-146.0,649.7,-10.2,274,6655,0.20,2.47,0.00,0.000,4,0.091,0.079,3139,167,3372,0,0,0,0,0,0
$GC,6676,-1.17,-146.0,652.4,-10.2,274,6681,0.00,2.25,0.00,0.000,6,0.000,0.033,3139,1565,3372,0,0,0,0,0,0
$GC,6938,-1.17,-146.0,676.6,-9.4,281,6943,0.00,2.67,0.00,0.000,4,0.000,0.051,3139,3155,3370,0,0,0,0,0,0
$GC,6957,-1.17,-146.0,678.8,-9.8,281,6962,0.00,2.70,0.00,0.000,6,0.000,0.047,3139,1562,3370,0,0,0,0,0,0
$GC,7225,-1.17,-146.0,700.5,-7.8,288,7230,0.00,2.47,0.00,0.000,4,0.000,0.081,3139,164,3369,0,0,0,0,0,0
$GC,7254,-1.17,-146.0,702.9,-8.0,288,7258,0.00,2.28,0.00,0.000,6,0.000,0.033,3139,1563,3368,0,0,0,0,0,0
$GC,7509,-1.17,-146.0,719.9,-6.7,295,7513,0.00,2.67,0.00,0.000,4,0.000,0.053,3139,3151,3367,0,0,0,0,0,0
$GC,7535,-1.17,-146.0,721.7,-8.3,295,7539,0.00,2.70,0.00,0.000,6,0.000,0.048,3139,1566,3367,0,0,0,0,0,0
$GC,7794,-1.17,-146.0,740.2,-7.3,302,7799,0.00,2.47,0.00,0.000,4,0.000,0.082,3139,169,3365,0,0,0,0,0,0
$GC,7838,-1.17,-146.0,743.7,-8.1,303,7842,0.00,2.28,0.00,0.000,6,0.000,0.035,3139,1565,3365,0,0,0,0,0,0
$GC,8126,-1.17,-146.0,765.3,-7.5,310,8131,0.00,2.70,0.00,0.000,4,0.000,0.054,3139,3157,3364,0,0,0,0,0,0
$GC,8146,-1.17,-146.0,767.1,-8.0,310,8150,0.00,2.72,0.00,0.000,6,0.000,0.048,3139,1560,3364,0,0,0,0,0,0
$GC,8410,-1.17,-146.0,785.8,-7.0,317,8414,0.00,2.47,0.00,0.000,4,0.000,0.081,3139,164,3363,0,0,0,0,0,0
$GC,8426,-1.17,-146.0,786.9,-6.9,317,8430,0.00,2.30,0.00,0.000,6,0.000,0.033,3139,1574,3362,0,0,0,0,0,0
$GC,8700,-1.17,-146.0,804.8,-6.5,324,8704,0.00,2.65,0.00,0.000,4,0.000,0.055,3139,3149,3362,0,0,0,0,0,0
$GC,8728,-1.23,-146.0,806.6,-7.6,324,8733,0.00,2.70,0.00,0.000,6,0.000,0.050,3139,1567,3362,0,0,0,0,0,0
$GC,8990,-1.23,-146.0,822.8,-6.4,331,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1567,3360,0,0,0,0,0,0
$GC,9227,-1.23,-146.0,838.9,-6.6,337,9231,0.00,2.67,0.00,0.000,4,0.000,0.046,3139,3156,3360,0,0,0,0,0,0
$GC,9251,-1.29,-146.0,840.7,-7.5,337,9256,0.10,2.70,0.00,0.000,6,0.079,0.049,3097,1571,3360,0,0,0,0,0,0
$GC,9514,-1.24,-146.0,863.8,-8.9,344,9519,0.12,2.53,0.00,0.000,4,0.107,0.084,3126,164,3359,0,0,0,0,0,0
$GC,9566,-1.24,-146.0,868.7,-9.1,345,9570,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1569,3358,0,0,0,0,0,0
$GC,9846,-1.24,-146.0,889.7,-7.5,352,9850,0.00,2.70,0.00,0.000,4,0.000,0.056,3126,3157,3358,0,0,0,0,0,0
$GC,9876,-1.24,-146.0,892.1,-7.0,352,9881,0.00,2.70,0.00,0.000,6,0.000,0.051,3125,1575,3358,0,0,0,0,0,0
$STATE,10010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10010,begin apogee
$GC,10017,-0.31,0.0,902.6,8.0,356,10139,0.88,0.00,119.03,1.149,6,0.066,0.000,3329,1340,2800,0,0,0,0,0,0
$STATE,10140,end apogee,CONTROL_FINISHED_OK
$STATE,10140,begin climb
$GC,10144,1.27,146.0,907.0,0.0,359,10280,1.45,0.00,131.95,1.129,6,0.029,0.000,3683,1341,2204,0,0,0,0,0,0
$GC,10493,1.07,146.0,877.7,12.6,368,10495,0.28,0.00,0.00,0.000,6,0.109,0.000,3627,1340,2195,0,0,0,0,0,0
$GC,10737,0.98,146.0,852.3,10.3,374,10741,0.00,2.10,0.00,0.000,4,0.000,0.082,3627,173,2193,0,0,0,0,0,0
$GC,10804,0.83,146.0,844.8,11.8,375,10809,0.25,1.95,0.00,0.000,6,0.104,0.030,3575,1361,2192,0,0,0,0,0,0
$GC,11069,0.88,184.6,822.4,8.2,382,11111,0.00,2.78,34.30,1.060,4,0.000,0.054,3575,2926,2046,0,0,0,0,0,0
$GC,11123,0.91,207.9,817.8,8.9,383,11152,0.00,2.75,23.15,1.025,6,0.000,0.048,3575,1351,1952,0,0,0,0,0,0
$GC,11399,0.96,207.9,790.4,10.1,389,11401,0.12,0.00,0.00,0.000,6,0.067,0.000,3621,1351,1947,0,0,0,0,0,0
$GC,11642,0.96,207.9,760.1,12.5,395,11647,0.00,2.70,0.00,0.000,4,0.000,0.045,3621,2936,1945,0,0,0,0,0,0
$GC,11661,0.96,207.9,757.3,12.5,395,11666,0.00,2.72,0.00,0.000,6,0.000,0.048,3621,1354,1943,0,0,0,0,0,0
$GC,11926,0.91,207.9,725.8,12.0,402,11930,0.12,2.15,0.00,0.000,4,0.113,0.087,3595,166,1943,0,0,0,0,0,0
$GC,11951,0.91,207.9,722.6,12.4,402,11955,0.00,1.95,0.00,0.000,6,0.000,0.030,3595,1366,1942,0,0,0,0,0,0
$GC,12215,0.91,207.9,692.9,11.2,409,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1366,1942,0,0,0,0,0,0
$GC,12458,0.91,207.9,666.4,10.7,415,12463,0.00,2.67,0.00,0.000,4,0.000,0.054,3595,2934,1942,0,0,0,0,0,0
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$STATE,18543,end climb,SURFACE_DEPTH_REACHED
$STATE,18543,begin surface coast
$FINISH,1.1,1.023274
$STATE,18596,end surface coast,CONTROL_FINISHED_OK
$STATE,18596,begin surface
$SM_CCo,18621,32.35,0.423,0,0,1208,390.03
$SM_GC,2.07,0.00,0.00,32.35,0.000,0.000,0.423,412,1627,1208,-13.72,1.61,390.03
$IRIDIUM_FIX,2237.01,-15749.78,011102,232311
$TT8_MAMPS,0.027612
$HUMID,66.57
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,31
$24V_AH,23.2,52.153
$10V_AH,9.8,49.779
$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
$DEVICE_SECS,34.675,228.100,431.050,32.350,0.000,80.555,104.163,547.476,7.750,0.000,35.153,1548.137,13760.275,593.621,2545.061,1240.434,33.377,1658.045,0.000,2537.956,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.297,357.630,461.557,931.809,1231.344,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,54272,690
$CAP_FILE_SIZE,192115,0
$CFSIZE,260165632,145391616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080813,043630,2246.993,-15755.013,40,1.7,40,10.1