version: 66.06
glider: 148
mission: 12
dive: 356
start: 8 8 113 10 5 54
data:
$ID,148
$MISSION,12
$DIVE,356
$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,-1023135.6
$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,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,29
$R_STBD_OVSHOOT,41
$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
$GPS1,095805,2244.879,-15756.467,31,0.9,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.0
$GPS2,100500,2244.814,-15756.501,11,1.9,15,10.1
$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,-116531.1,521.3,214.0,121866.7,-37.4
$KALMAN_Y,118572.6,-288.1,141.2,-118737.0,-2019.9
$MHEAD_RNG_PITCHd_Wd,256.2,18093,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.03,0.000,2,0.000,0.000,413,1622,2901,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-3.6,9,122,13.95,2.45,-9.23,0.000,4,0.146,0.053,3115,173,3396,0,0,0,0,0,0
$GC,275,-1.00,-146.0,46.6,-20.9,32,280,0.28,2.15,0.00,0.000,6,0.093,0.018,3174,1584,3396,0,0,0,0,0,0
$GC,540,-0.89,-146.0,84.8,-12.7,56,545,0.12,2.47,0.00,0.000,4,0.109,0.021,3201,3146,3397,0,0,0,0,0,0
$GC,602,-0.99,-146.0,91.6,-8.9,61,606,0.00,2.55,0.00,0.000,6,0.000,0.028,3201,1574,3397,0,0,0,0,0,0
$GC,870,-0.99,-146.0,117.0,-9.7,85,874,0.00,2.33,0.00,0.000,4,0.000,0.045,3201,168,3398,0,0,0,0,0,0
$GC,908,-0.99,-146.0,122.0,-11.2,88,917,0.08,2.17,0.00,0.000,6,0.034,0.017,3139,1596,3398,0,0,0,0,0,0
$GC,1173,-0.84,-146.0,157.8,-14.9,113,1178,0.30,2.38,0.00,0.000,4,0.081,0.020,3211,3120,3398,0,0,0,0,0,0
$GC,1191,-0.74,-146.0,160.6,-14.2,114,1197,0.10,2.50,0.00,0.000,6,0.107,0.026,3234,1569,3398,0,0,0,0,0,0
$GC,1452,-0.83,-146.0,180.1,-6.4,138,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1569,3399,0,0,0,0,0,0
$GC,1709,-0.95,-146.0,196.1,-6.8,162,1714,0.20,2.45,0.00,0.000,4,0.041,0.021,3137,3124,3399,0,0,0,0,0,0
$GC,1741,-0.95,-146.0,199.3,-10.2,164,1748,0.22,2.50,0.00,0.000,6,0.078,0.028,3189,1582,3399,0,0,0,0,0,0
$GC,2002,-0.95,-146.0,224.6,-9.6,172,2006,0.00,2.30,0.00,0.000,4,0.000,0.044,3189,172,3399,0,0,0,0,0,0
$GC,2058,-1.03,-146.0,230.0,-8.4,173,2062,0.00,2.12,0.00,0.000,6,0.000,0.018,3189,1571,3399,0,0,0,0,0,0
$GC,2333,-1.03,-146.0,249.9,-7.1,180,2337,0.00,2.42,0.00,0.000,4,0.000,0.023,3189,3123,3399,0,0,0,0,0,0
$GC,2366,-1.15,-146.0,252.6,-7.0,180,2371,0.17,2.53,0.00,0.000,6,0.045,0.029,3097,1570,3399,0,0,0,0,0,0
$GC,2621,-0.98,-146.0,285.0,-13.7,186,2626,0.35,2.30,0.00,0.000,4,0.081,0.044,3176,167,3399,0,0,0,0,0,0
$GC,2640,-0.90,-146.0,288.0,-12.2,186,2645,0.10,2.12,0.00,0.000,6,0.116,0.019,3198,1569,3399,0,0,0,0,0,0
$GC,2910,-0.98,-146.0,308.5,-7.6,193,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1571,3398,0,0,0,0,0,0
$GC,3156,-1.07,-146.0,324.8,-6.6,199,3161,0.15,2.53,0.00,0.000,4,0.053,0.028,3121,3130,3397,0,0,0,0,0,0
$GC,3185,-1.07,-146.0,327.4,-9.4,199,3190,0.17,2.58,0.00,0.000,6,0.085,0.032,3162,1564,3397,0,0,0,0,0,0
$GC,3443,-1.07,-146.0,347.5,-7.7,206,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1564,3396,0,0,0,0,0,0
$GC,3686,-1.07,-146.0,368.1,-8.6,212,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1564,3395,0,0,0,0,0,0
$GC,3928,-1.07,-146.0,388.8,-8.5,218,3932,0.00,2.53,0.00,0.000,4,0.000,0.031,3162,3120,3393,0,0,0,0,0,0
$GC,3961,-1.15,-146.0,391.6,-7.1,218,3966,0.00,2.58,0.00,0.000,6,0.000,0.037,3162,1570,3393,0,0,0,0,0,0
$GC,4213,-1.15,-146.0,411.9,-8.2,224,4217,0.00,2.40,0.00,0.000,4,0.000,0.064,3162,169,3391,0,0,0,0,0,0
$GC,4232,-1.15,-146.0,413.7,-8.7,224,4237,0.00,2.20,0.00,0.000,6,0.000,0.023,3162,1569,3391,0,0,0,0,0,0
$GC,4499,-1.15,-146.0,434.8,-7.9,231,4503,0.00,2.53,0.00,0.000,4,0.000,0.035,3162,3137,3389,0,0,0,0,0,0
$GC,4529,-1.23,-146.0,437.2,-7.7,231,4534,0.15,2.60,0.00,0.000,6,0.054,0.039,3093,1578,3389,0,0,0,0,0,0
$GC,4785,-1.11,-146.0,464.4,-10.9,238,4790,0.25,2.42,0.00,0.000,4,0.086,0.065,3153,172,3387,0,0,0,0,0,0
$GC,4805,-1.05,-146.0,466.6,-10.0,238,4810,0.00,2.25,0.00,0.000,6,0.000,0.031,3153,1584,3387,0,0,0,0,0,0
$GC,5071,-1.05,-146.0,487.5,-7.8,245,5075,0.00,2.55,0.00,0.000,4,0.000,0.041,3153,3143,3385,0,0,0,0,0,0
$GC,5109,-1.12,-146.0,490.8,-7.9,245,5117,0.00,2.60,0.00,0.000,6,0.000,0.040,3153,1605,3385,0,0,0,0,0,0
$GC,5359,-1.12,-146.0,510.8,-8.1,252,5364,0.00,2.53,0.00,0.000,4,0.000,0.072,3153,160,3384,0,0,0,0,0,0
$GC,5394,-1.12,-146.0,513.7,-8.9,252,5398,0.00,2.30,0.00,0.000,6,0.000,0.028,3153,1589,3383,0,0,0,0,0,0
$GC,5644,-1.12,-146.0,532.7,-7.4,258,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1589,3382,0,0,0,0,0,0
$GC,5888,-1.12,-146.0,550.8,-7.5,264,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1589,3380,0,0,0,0,0,0
$GC,6133,-1.12,-146.0,566.7,-6.5,270,6138,0.00,2.50,0.00,0.000,4,0.000,0.072,3153,163,3379,0,0,0,0,0,0
$GC,6157,-1.12,-146.0,568.7,-8.4,270,6161,0.00,2.33,0.00,0.000,6,0.000,0.031,3153,1594,3379,0,0,0,0,0,0
$GC,6416,-1.12,-146.0,586.1,-6.6,277,6421,0.00,2.60,0.00,0.000,4,0.000,0.045,3152,3158,3378,0,0,0,0,0,0
$GC,6447,-1.20,-146.0,588.1,-6.7,277,6451,0.00,2.65,0.00,0.000,6,0.000,0.045,3153,1591,3378,0,0,0,0,0,0
$GC,6702,-1.20,-146.0,605.3,-6.7,284,6706,0.00,2.50,0.00,0.000,4,0.000,0.078,3152,168,3376,0,0,0,0,0,0
$GC,6745,-1.20,-146.0,608.6,-8.5,285,6749,0.00,2.33,0.00,0.000,6,0.000,0.031,3153,1598,3375,0,0,0,0,0,0
$GC,7034,-1.24,-146.0,629.1,-7.1,292,7039,0.12,2.60,0.00,0.000,4,0.064,0.049,3094,3154,3375,0,0,0,0,0,0
$GC,7051,-1.24,-146.0,630.9,-7.3,292,7057,0.15,2.65,0.00,0.000,6,0.096,0.046,3127,1588,3375,0,0,0,0,0,0
$GC,7323,-1.24,-146.0,654.0,-8.8,299,7327,0.00,2.50,0.00,0.000,4,0.000,0.081,3128,170,3373,0,0,0,0,0,0
$GC,7356,-1.24,-146.0,657.4,-9.9,299,7360,0.00,2.33,0.00,0.000,6,0.000,0.035,3128,1590,3373,0,0,0,0,0,0
$GC,7606,-1.24,-146.0,678.5,-8.3,305,7610,0.00,2.62,0.00,0.000,4,0.000,0.053,3128,3162,3371,0,0,0,0,0,0
$GC,7625,-1.24,-146.0,680.1,-8.3,305,7629,0.00,2.67,0.00,0.000,6,0.000,0.048,3128,1584,3371,0,0,0,0,0,0
$GC,7891,-1.24,-146.0,700.6,-7.9,312,7892,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1584,3370,0,0,0,0,0,0
$GC,8133,-1.24,-146.0,720.5,-8.1,318,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3369,0,0,0,0,0,0
$GC,8376,-1.24,-146.0,738.9,-7.4,324,8381,0.00,2.53,0.00,0.000,4,0.000,0.083,3128,167,3368,0,0,0,0,0,0
$GC,8397,-1.24,-146.0,740.6,-8.7,324,8401,0.00,2.35,0.00,0.000,6,0.000,0.035,3128,1602,3368,0,0,0,0,0,0
$GC,8665,-1.24,-146.0,760.4,-7.3,331,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1602,3367,0,0,0,0,0,0
$GC,8905,-1.24,-146.0,777.6,-7.1,337,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1602,3366,0,0,0,0,0,0
$GC,9150,-1.24,-146.0,796.3,-7.8,343,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1602,3365,0,0,0,0,0,0
$GC,9392,-1.24,-146.0,816.0,-8.1,349,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1602,3365,0,0,0,0,0,0
$GC,9636,-1.24,-146.0,834.4,-7.5,355,9640,0.00,2.55,0.00,0.000,4,0.000,0.077,3128,166,3364,0,0,0,0,0,0
$GC,9655,-1.24,-146.0,836.1,-8.0,355,9659,0.00,2.35,0.00,0.000,6,0.000,0.035,3128,1594,3364,0,0,0,0,0,0
$GC,9921,-1.24,-146.0,854.1,-6.8,362,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1594,3363,0,0,0,0,0,0
$GC,10162,-1.24,-146.0,869.9,-6.4,368,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1594,3362,0,0,0,0,0,0
$GC,10406,-1.24,-146.0,885.1,-6.3,374,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1594,3362,0,0,0,0,0,0
$STATE,10647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10647,begin apogee
$GC,10656,-0.31,0.0,901.1,6.6,380,10779,0.88,0.00,119.97,1.152,6,0.073,0.000,3329,1337,2800,0,0,0,0,0,0
$STATE,10780,end apogee,CONTROL_FINISHED_OK
$STATE,10780,begin climb
$GC,10782,1.27,146.0,904.2,0.0,383,10923,1.45,2.17,132.05,1.130,4,0.031,0.080,3681,174,2203,0,0,0,0,0,0
$GC,10941,1.01,146.0,897.5,12.5,387,10946,0.30,1.98,0.00,0.000,6,0.110,0.031,3619,1360,2200,0,0,0,0,0,0
$GC,11225,0.95,152.8,868.8,9.7,394,11237,0.00,2.20,5.57,0.802,4,0.000,0.075,3619,175,2177,0,0,0,0,0,0
$GC,11256,0.82,152.8,865.3,11.3,394,11261,0.22,1.95,0.00,0.000,6,0.104,0.030,3573,1354,2177,0,0,0,0,0,0
$GC,11516,0.87,197.9,844.4,7.9,401,11564,0.00,2.20,42.80,1.075,4,0.000,0.075,3572,180,1993,0,0,0,0,0,0
$GC,11576,0.92,237.7,838.9,8.2,402,11621,0.10,1.95,39.50,1.060,6,0.080,0.031,3610,1348,1830,0,0,0,0,0,0
$GC,11891,0.92,237.7,799.6,12.6,410,11895,0.00,2.72,0.00,0.000,4,0.000,0.056,3609,2931,1821,0,0,0,0,0,0
$GC,11914,0.92,237.7,796.5,11.6,410,11919,0.00,2.72,0.00,0.000,6,0.000,0.048,3610,1352,1819,0,0,0,0,0,0
$GC,12175,0.92,237.7,764.0,12.6,417,12180,0.00,2.70,0.00,0.000,4,0.000,0.044,3609,2939,1818,0,0,0,0,0,0
$GC,12196,0.92,237.7,761.3,12.2,417,12200,0.00,2.72,0.00,0.000,6,0.000,0.049,3610,1359,1817,0,0,0,0,0,0
$GC,12460,0.92,237.7,729.6,11.9,424,12461,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1359,1816,0,0,0,0,0,0
$GC,12705,0.92,237.7,701.5,11.5,430,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3610,1359,1816,0,0,0,0,0,0
$GC,12952,0.92,237.7,674.6,11.0,436,12956,0.00,2.67,0.00,0.000,4,0.000,0.044,3610,2935,1816,0,0,0,0,0,0
$GC,12980,0.92,237.7,671.2,10.1,436,12984,0.00,2.72,0.00,0.000,6,0.000,0.051,3610,1357,1814,0,0,0,0,0,0
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$STATE,18936,end climb,SURFACE_DEPTH_REACHED
$STATE,18936,begin surface coast
$FINISH,1.0,1.015965
$STATE,18976,end surface coast,CONTROL_FINISHED_OK
$STATE,18976,begin surface
$SM_CCo,19000,18.10,0.410,0,0,1210,390.03
$SM_GC,2.30,0.00,0.00,18.10,0.000,0.000,0.410,412,1644,1210,-13.73,2.09,390.03
$IRIDIUM_FIX,2237.01,-15752.82,021102,040450
$TT8_MAMPS,0.027612
$HUMID,66.34
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.50
$XPDR_PINGS,14
$24V_AH,23.1,52.438
$10V_AH,9.9,50.071
$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
$DEVICE_SECS,34.050,198.825,451.875,18.100,0.000,28.115,33.874,190.220,3.500,0.000,16.922,1532.226,14151.213,564.209,2439.699,734.671,33.376,1590.888,0.000,2445.444,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.839,376.522,479.139,964.889,1273.241,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,57495,715
$CAP_FILE_SIZE,175687,0
$CFSIZE,260165632,145252352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080813,152405,2242.887,-15758.264,30,0.9,30,10.1