version: 66.06
glider: 148
mission: 12
dive: 360
start: 8 9 113 7 38 14
data:
$ID,148
$MISSION,12
$DIVE,360
$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,-1023197.6
$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,3400
$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,45
$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
$GPS1,072656,2242.043,-15803.461,32,3.2,51,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.8
$GPS2,073719,2242.011,-15803.442,13,1.8,13,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,-0.012
$KALMAN_X,-109460.2,232.5,-192.3,103637.3,1780.5
$KALMAN_Y,111194.0,458.2,27.8,-117202.8,-1634.7
$MHEAD_RNG_PITCHd_Wd,257.4,5191,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.30,0.000,2,0.000,0.000,415,1604,2922,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.1,-3.3,9,123,13.93,2.40,-8.80,0.000,4,0.145,0.051,3118,167,3396,0,0,0,0,0,0
$GC,266,-1.05,-146.0,44.1,-19.0,31,271,0.25,2.15,0.00,0.000,6,0.098,0.017,3172,1595,3396,0,0,0,0,0,0
$GC,534,-0.94,-146.0,83.0,-14.0,55,539,0.10,2.40,0.00,0.000,4,0.120,0.022,3193,3127,3397,0,0,0,0,0,0
$GC,557,-0.87,-146.0,87.0,-13.4,56,566,0.00,2.55,0.00,0.000,6,0.000,0.028,3193,1565,3397,0,0,0,0,0,0
$GC,826,-0.82,-146.0,116.8,-11.6,81,831,0.12,0.00,0.00,0.000,6,0.106,0.000,3221,1565,3398,0,0,0,0,0,0
$GC,1089,-0.82,-146.0,142.5,-9.0,106,1093,0.00,2.45,0.00,0.000,4,0.000,0.022,3221,3126,3398,0,0,0,0,0,0
$GC,1112,-0.88,-146.0,144.5,-8.9,107,1118,0.00,2.53,0.00,0.000,6,0.000,0.028,3221,1568,3398,0,0,0,0,0,0
$GC,1375,-0.88,-146.0,168.3,-9.3,132,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,1568,3398,0,0,0,0,0,0
$GC,1630,-0.88,-146.0,190.8,-8.8,156,1635,0.00,2.45,0.00,0.000,4,0.000,0.021,3221,3131,3398,0,0,0,0,0,0
$GC,1653,-0.94,-146.0,192.3,-8.9,157,1658,0.10,2.50,0.00,0.000,6,0.073,0.028,3151,1584,3398,0,0,0,0,0,0
$GC,1927,-0.82,-146.0,227.1,-12.5,168,1932,0.30,2.42,0.00,0.000,4,0.078,0.021,3222,3130,3398,0,0,0,0,0,0
$GC,1945,-0.82,-146.0,228.9,-12.2,168,1949,0.00,2.50,0.00,0.000,6,0.000,0.026,3222,1580,3398,0,0,0,0,0,0
$GC,2214,-0.92,-146.0,247.9,-6.6,175,2218,0.00,2.45,0.00,0.000,4,0.000,0.021,3222,3129,3398,0,0,0,0,0,0
$GC,2260,-1.11,-146.0,250.5,-5.7,176,2265,0.28,2.47,0.00,0.000,6,0.034,0.028,3113,1601,3398,0,0,0,0,0,0
$GC,2550,-0.98,-146.0,283.2,-11.8,183,2555,0.28,2.35,0.00,0.000,4,0.081,0.044,3179,167,3398,0,0,0,0,0,0
$GC,2607,-1.05,-146.0,289.0,-9.0,184,2611,0.00,2.20,0.00,0.000,6,0.000,0.019,3179,1600,3398,0,0,0,0,0,0
$GC,2884,-1.05,-146.0,311.1,-8.3,191,2888,0.00,2.42,0.00,0.000,4,0.000,0.025,3179,3129,3397,0,0,0,0,0,0
$GC,2926,-1.17,-146.0,314.9,-7.3,191,2933,0.15,2.47,0.00,0.000,6,0.053,0.031,3098,1603,3397,0,0,0,0,0,0
$GC,3178,-1.04,-146.0,344.0,-11.7,198,3183,0.30,2.38,0.00,0.000,4,0.081,0.050,3172,170,3397,0,0,0,0,0,0
$GC,3245,-1.11,-146.0,350.6,-8.9,199,3249,0.00,2.20,0.00,0.000,6,0.000,0.021,3172,1579,3397,0,0,0,0,0,0
$GC,3515,-1.11,-146.0,371.1,-7.8,206,3519,0.00,2.53,0.00,0.000,4,0.000,0.032,3171,3141,3395,0,0,0,0,0,0
$GC,3546,-1.20,-146.0,373.6,-7.3,206,3551,0.15,2.58,0.00,0.000,6,0.053,0.035,3106,1589,3395,0,0,0,0,0,0
$GC,3802,-1.10,-146.0,402.0,-11.5,213,3807,0.25,2.42,0.00,0.000,4,0.086,0.061,3167,166,3393,0,0,0,0,0,0
$GC,3870,-1.15,-146.0,408.1,-8.6,214,3874,0.00,2.22,0.00,0.000,6,0.000,0.023,3166,1589,3392,0,0,0,0,0,0
$GC,4136,-1.15,-146.0,427.7,-7.5,221,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1590,3390,0,0,0,0,0,0
$GC,4377,-1.15,-146.0,445.6,-7.2,227,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1590,3389,0,0,0,0,0,0
$GC,4623,-1.15,-146.0,462.3,-6.9,233,4627,0.00,2.47,0.00,0.000,4,0.000,0.065,3166,165,3387,0,0,0,0,0,0
$GC,4642,-1.15,-146.0,464.0,-7.7,233,4646,0.00,2.25,0.00,0.000,6,0.000,0.028,3166,1587,3387,0,0,0,0,0,0
$GC,4906,-1.19,-146.0,483.0,-7.3,240,4911,0.12,2.60,0.00,0.000,4,0.064,0.041,3103,3151,3385,0,0,0,0,0,0
$GC,4957,-1.19,-146.0,488.1,-10.5,241,4962,0.15,2.62,0.00,0.000,6,0.091,0.041,3139,1588,3385,0,0,0,0,0,0
$GC,5241,-1.19,-146.0,513.1,-8.8,248,5245,0.00,2.47,0.00,0.000,4,0.000,0.074,3139,168,3383,0,0,0,0,0,0
$GC,5278,-1.19,-146.0,516.8,-10.1,248,5284,0.00,2.28,0.00,0.000,6,0.000,0.030,3139,1579,3382,0,0,0,0,0,0
$GC,5530,-1.19,-146.0,537.9,-8.3,255,5534,0.00,2.45,0.00,0.000,4,0.000,0.069,3139,169,3381,0,0,0,0,0,0
$GC,5558,-1.19,-146.0,540.7,-9.6,255,5562,0.00,2.25,0.00,0.000,6,0.000,0.030,3139,1574,3380,0,0,0,0,0,0
$GC,5813,-1.19,-146.0,560.9,-7.8,262,5817,0.00,2.60,0.00,0.000,4,0.000,0.044,3139,3160,3379,0,0,0,0,0,0
$GC,5848,-1.25,-146.0,563.5,-7.4,262,5853,0.00,2.67,0.00,0.000,6,0.000,0.045,3140,1577,3379,0,0,0,0,0,0
$GC,6098,-1.25,-146.0,581.4,-7.1,268,6103,0.00,2.47,0.00,0.000,4,0.000,0.077,3139,167,3377,0,0,0,0,0,0
$GC,6122,-1.25,-146.0,583.3,-8.2,268,6126,0.00,2.30,0.00,0.000,6,0.000,0.031,3139,1589,3377,0,0,0,0,0,0
$GC,6383,-1.25,-146.0,601.5,-6.9,275,6387,0.00,2.60,0.00,0.000,4,0.000,0.046,3139,3159,3376,0,0,0,0,0,0
$GC,6402,-1.25,-146.0,603.0,-7.1,275,6407,0.00,2.70,0.00,0.000,6,0.000,0.045,3139,1569,3376,0,0,0,0,0,0
$GC,6666,-1.25,-146.0,619.6,-6.3,282,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1569,3373,0,0,0,0,0,0
$GC,6912,-1.25,-146.0,636.1,-6.9,288,6916,0.00,2.62,0.00,0.000,4,0.000,0.043,3139,3153,3372,0,0,0,0,0,0
$GC,6936,-1.25,-146.0,638.2,-8.2,288,6940,0.00,2.67,0.00,0.000,6,0.000,0.048,3139,1575,3372,0,0,0,0,0,0
$GC,7197,-1.25,-146.0,657.7,-7.6,295,7201,0.00,2.50,0.00,0.000,4,0.000,0.084,3139,167,3370,0,0,0,0,0,0
$GC,7244,-1.25,-146.0,661.3,-8.9,296,7249,0.00,2.30,0.00,0.000,6,0.000,0.034,3139,1575,3370,0,0,0,0,0,0
$GC,7531,-1.25,-146.0,684.1,-7.9,303,7536,0.00,2.65,0.00,0.000,4,0.000,0.051,3139,3161,3369,0,0,0,0,0,0
$GC,7567,-1.32,-146.0,686.9,-7.9,303,7575,0.12,2.70,0.00,0.000,6,0.064,0.048,3079,1571,3369,0,0,0,0,0,0
$GC,7822,-1.21,-146.0,715.0,-11.2,310,7827,0.25,2.50,0.00,0.000,4,0.088,0.081,3138,164,3367,0,0,0,0,0,0
$GC,7846,-1.21,-146.0,718.0,-10.8,310,7850,0.00,2.33,0.00,0.000,6,0.000,0.035,3138,1583,3367,0,0,0,0,0,0
$GC,8105,-1.21,-146.0,738.9,-7.9,317,8109,0.00,2.65,0.00,0.000,4,0.000,0.053,3138,3159,3366,0,0,0,0,0,0
$GC,8126,-1.21,-146.0,740.5,-8.7,317,8131,0.00,2.70,0.00,0.000,6,0.000,0.048,3138,1574,3366,0,0,0,0,0,0
$GC,8391,-1.21,-146.0,760.4,-7.5,324,8395,0.00,2.50,0.00,0.000,4,0.000,0.082,3138,166,3365,0,0,0,0,0,0
$GC,8442,-1.21,-146.0,764.7,-8.7,325,8446,0.00,2.30,0.00,0.000,6,0.000,0.035,3138,1577,3365,0,0,0,0,0,0
$GC,8726,-1.21,-146.0,784.4,-6.9,332,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1577,3364,0,0,0,0,0,0
$GC,8968,-1.21,-146.0,801.4,-6.9,338,8972,0.00,2.50,0.00,0.000,4,0.000,0.077,3138,167,3363,0,0,0,0,0,0
$GC,8987,-1.21,-146.0,802.9,-7.6,338,8991,0.00,2.30,0.00,0.000,6,0.000,0.035,3138,1569,3363,0,0,0,0,0,0
$GC,9253,-1.21,-146.0,820.5,-6.5,345,9257,0.00,2.70,0.00,0.000,4,0.000,0.054,3138,3163,3362,0,0,0,0,0,0
$GC,9291,-1.29,-146.0,823.1,-6.1,345,9301,0.00,2.75,0.00,0.000,6,0.000,0.051,3138,1575,3362,0,0,0,0,0,0
$GC,9543,-1.29,-146.0,838.2,-6.0,352,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1575,3361,0,0,0,0,0,0
$GC,9785,-1.29,-146.0,853.5,-6.2,358,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1575,3360,0,0,0,0,0,0
$GC,10028,-1.29,-146.0,869.1,-6.4,364,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1575,3360,0,0,0,0,0,0
$GC,10272,-1.29,-146.0,885.0,-6.7,370,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1575,3359,0,0,0,0,0,0
$STATE,10517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10518,begin apogee
$GC,10526,-0.31,0.0,901.5,6.8,376,10649,0.85,0.00,119.53,1.145,6,0.070,0.000,3334,1343,2800,0,0,0,0,0,0
$STATE,10650,end apogee,CONTROL_FINISHED_OK
$STATE,10650,begin climb
$GC,10652,1.27,146.0,905.6,0.0,379,10791,1.40,2.20,130.62,1.126,4,0.029,0.085,3682,167,2204,0,0,0,0,0,0
$GC,10893,1.00,146.0,888.0,13.8,384,10898,0.30,1.98,0.00,0.000,6,0.108,0.030,3622,1348,2198,0,0,0,0,0,0
$GC,11165,0.93,153.2,862.0,9.7,391,11177,0.00,2.17,6.18,0.831,4,0.000,0.075,3621,168,2175,0,0,0,0,0,0
$GC,11220,0.80,153.2,855.3,12.5,392,11224,0.22,1.95,0.00,0.000,6,0.103,0.030,3575,1351,2175,0,0,0,0,0,0
$GC,11499,0.87,205.2,833.7,7.6,399,11551,0.00,0.00,49.85,1.075,6,0.000,0.000,3575,1353,1963,0,0,0,0,0,0
$GC,11786,0.94,223.8,808.4,9.1,406,11811,0.12,2.80,18.42,1.005,4,0.067,0.053,3621,2927,1886,0,0,0,0,0,0
$GC,11831,0.94,223.8,803.2,10.3,407,11836,0.00,2.75,0.00,0.000,6,0.000,0.048,3621,1349,1882,0,0,0,0,0,0
$GC,12120,0.94,223.8,767.2,12.8,414,12124,0.00,2.15,0.00,0.000,4,0.000,0.087,3620,163,1881,0,0,0,0,0,0
$GC,12150,0.86,223.8,762.8,14.4,414,12154,0.15,1.95,0.00,0.000,6,0.110,0.031,3590,1349,1880,0,0,0,0,0,0
$GC,12410,0.86,223.8,733.6,11.3,421,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1350,1879,0,0,0,0,0,0
$GC,12648,0.86,223.8,706.1,11.0,427,12653,0.00,2.67,0.00,0.000,4,0.000,0.050,3590,2929,1879,0,0,0,0,0,0
$GC,12700,0.95,223.8,700.6,11.2,428,12704,0.00,2.72,0.00,0.000,6,0.000,0.049,3589,1342,1876,0,0,0,0,0,0
$GC,12980,0.95,223.8,671.6,10.4,435,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1342,1876,0,0,0,0,0,0
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$STATE,18874,end climb,SURFACE_DEPTH_REACHED
$STATE,18874,begin surface coast
$FINISH,1.0,1.022314
$STATE,18926,end surface coast,CONTROL_FINISHED_OK
$STATE,18926,begin surface
$SM_CCo,18950,50.03,0.432,0,0,1210,390.03
$SM_GC,1.71,0.00,0.00,50.03,0.000,0.000,0.432,413,1606,1210,-13.74,1.02,390.03
$IRIDIUM_FIX,2234.68,-15758.03,031102,070708
$TT8_MAMPS,0.027612
$HUMID,66.34
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,8
$24V_AH,23.1,53.018
$10V_AH,9.9,50.664
$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
$DEVICE_SECS,33.875,228.200,400.075,50.025,0.000,47.703,74.589,274.013,2.000,0.000,15.299,1596.794,13843.763,569.325,2712.214,892.493,33.374,1701.179,0.000,2707.674,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.987,373.985,474.545,991.364,1307.571,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,57498,711
$CAP_FILE_SIZE,191282,0
$CFSIZE,260165632,144928768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090813,125606,2241.021,-15804.785,28,1.3,28,10.0