version: 66.06
glider: 148
mission: 12
dive: 382
start: 8 14 113 6 9 7
data:
$ID,148
$MISSION,12
$DIVE,382
$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,-1023651.2
$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,24
$R_STBD_OVSHOOT,86
$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
$GPS1,060024,2240.332,-15741.377,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.8
$GPS2,060813,2240.246,-15741.456,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,-0.099
$KALMAN_X,-84671.2,-25.2,-164.2,116638.8,1180.5
$KALMAN_Y,91382.1,36.9,-440.0,-99754.9,-942.9
$MHEAD_RNG_PITCHd_Wd,102.2,6951,-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,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.18,0.000,2,0.000,0.000,409,1575,2908,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-4.6,9,122,14.10,2.45,-8.82,0.000,4,0.149,0.030,3117,3109,3396,0,0,0,0,0,0
$GC,140,-0.62,-146.0,18.9,-29.8,15,150,0.62,2.55,0.00,0.000,6,0.075,0.029,3260,1566,3396,0,0,0,0,0,0
$GC,418,-0.62,-146.0,53.6,-13.0,45,422,0.00,2.42,0.00,0.000,4,0.000,0.021,3261,3111,3397,0,0,0,0,0,0
$GC,450,-0.69,-146.0,57.6,-12.0,47,454,0.00,2.50,0.00,0.000,6,0.000,0.029,3261,1564,3397,0,0,0,0,0,0
$GC,718,-0.80,-146.0,81.9,-7.5,71,723,0.15,2.30,0.00,0.000,4,0.054,0.045,3184,166,3397,0,0,0,0,0,0
$GC,740,-0.80,-146.0,84.4,-8.9,72,748,0.15,2.12,0.00,0.000,6,0.080,0.017,3222,1581,3398,0,0,0,0,0,0
$GC,1008,-0.80,-146.0,107.9,-8.4,97,1012,0.00,2.35,0.00,0.000,4,0.000,0.021,3222,3099,3399,0,0,0,0,0,0
$GC,1036,-0.87,-146.0,110.6,-8.4,99,1041,0.00,2.47,0.00,0.000,6,0.000,0.028,3222,1568,3399,0,0,0,0,0,0
$GC,1305,-0.87,-146.0,131.4,-7.9,123,1309,0.00,2.28,0.00,0.000,4,0.000,0.043,3221,169,3400,0,0,0,0,0,0
$GC,1323,-0.87,-146.0,133.5,-7.7,124,1332,0.00,2.12,0.00,0.000,6,0.000,0.017,3222,1586,3399,0,0,0,0,0,0
$GC,1587,-0.92,-146.0,153.8,-8.1,149,1591,0.00,2.35,0.00,0.000,4,0.000,0.021,3222,3096,3400,0,0,0,0,0,0
$GC,1619,-1.00,-146.0,155.8,-7.8,151,1624,0.17,2.42,0.00,0.000,6,0.046,0.027,3134,1579,3400,0,0,0,0,0,0
$GC,1885,-0.85,-146.0,189.5,-13.4,175,1890,0.32,2.30,0.00,0.000,4,0.078,0.041,3210,164,3400,0,0,0,0,0,0
$GC,1916,-0.85,-146.0,193.5,-10.3,177,1925,0.00,2.12,0.00,0.000,6,0.000,0.018,3210,1563,3400,0,0,0,0,0,0
$GC,2200,-0.90,-146.0,218.1,-8.7,190,2204,0.00,2.45,0.00,0.000,4,0.000,0.021,3210,3117,3400,0,0,0,0,0,0
$GC,2229,-1.01,-146.0,220.5,-7.8,190,2234,0.12,2.45,0.00,0.000,6,0.060,0.027,3130,1589,3400,0,0,0,0,0,0
$GC,2484,-0.90,-146.0,249.9,-11.8,197,2487,0.32,0.00,0.00,0.000,6,0.076,0.000,3203,1589,3400,0,0,0,0,0,0
$GC,2728,-0.98,-146.0,265.1,-5.8,203,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1589,3400,0,0,0,0,0,0
$GC,2972,-1.06,-146.0,281.9,-7.1,209,2974,0.15,0.00,0.00,0.000,6,0.054,0.000,3132,1589,3399,0,0,0,0,0,0
$GC,3217,-1.00,-146.0,308.2,-11.0,215,3222,0.22,2.35,0.00,0.000,4,0.078,0.046,3185,165,3398,0,0,0,0,0,0
$GC,3251,-1.00,-146.0,312.0,-9.3,215,3255,0.00,2.15,0.00,0.000,6,0.000,0.020,3185,1571,3398,0,0,0,0,0,0
$GC,3506,-1.06,-146.0,331.9,-7.8,221,3510,0.00,2.50,0.00,0.000,4,0.000,0.027,3185,3132,3397,0,0,0,0,0,0
$GC,3534,-1.16,-146.0,334.4,-6.9,221,3540,0.15,2.50,0.00,0.000,6,0.054,0.031,3115,1599,3397,0,0,0,0,0,0
$GC,3790,-1.07,-146.0,360.8,-10.1,228,3792,0.22,0.00,0.00,0.000,6,0.083,0.000,3166,1599,3395,0,0,0,0,0,0
$GC,4035,-1.07,-146.0,379.4,-7.5,234,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1599,3394,0,0,0,0,0,0
$GC,4277,-1.07,-146.0,398.6,-8.1,240,4282,0.00,2.40,0.00,0.000,4,0.000,0.058,3166,172,3392,0,0,0,0,0,0
$GC,4296,-1.07,-146.0,400.2,-8.7,240,4301,0.00,2.20,0.00,0.000,6,0.000,0.022,3166,1591,3392,0,0,0,0,0,0
$GC,4562,-1.07,-146.0,419.9,-7.0,247,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1594,3390,0,0,0,0,0,0
$GC,4804,-1.07,-146.0,435.1,-6.3,253,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1594,3389,0,0,0,0,0,0
$GC,5048,-1.07,-146.0,451.6,-6.9,259,5052,0.00,2.55,0.00,0.000,4,0.000,0.037,3166,3137,3387,0,0,0,0,0,0
$GC,5067,-1.12,-146.0,453.3,-7.8,259,5072,0.00,2.53,0.00,0.000,6,0.000,0.036,3166,1605,3387,0,0,0,0,0,0
$GC,5336,-1.16,-146.0,472.9,-7.5,266,5340,0.00,2.55,0.00,0.000,4,0.000,0.040,3166,3128,3385,0,0,0,0,0,0
$GC,5356,-1.23,-146.0,474.6,-7.3,266,5361,0.15,2.53,0.00,0.000,6,0.055,0.037,3102,1599,3385,0,0,0,0,0,0
$GC,5622,-1.14,-146.0,501.7,-10.5,273,5628,0.22,2.47,0.00,0.000,4,0.084,0.069,3153,167,3384,0,0,0,0,0,0
$GC,5651,-1.14,-146.0,504.9,-10.6,273,5655,0.00,2.25,0.00,0.000,6,0.000,0.028,3153,1586,3383,0,0,0,0,0,0
$GC,5906,-1.14,-146.0,525.0,-7.8,280,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1586,3381,0,0,0,0,0,0
$GC,6154,-1.14,-146.0,542.7,-7.2,286,6158,0.00,2.60,0.00,0.000,4,0.000,0.044,3153,3144,3379,0,0,0,0,0,0
$GC,6175,-1.14,-146.0,544.5,-7.4,286,6179,0.00,2.58,0.00,0.000,6,0.000,0.041,3153,1598,3380,0,0,0,0,0,0
$GC,6439,-1.14,-146.0,562.8,-7.0,293,6443,0.00,2.50,0.00,0.000,4,0.000,0.075,3153,167,3378,0,0,0,0,0,0
$GC,6458,-1.14,-146.0,564.3,-8.1,293,6462,0.00,2.30,0.00,0.000,6,0.000,0.028,3153,1597,3378,0,0,0,0,0,0
$GC,6724,-1.14,-146.0,581.9,-6.6,300,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1598,3377,0,0,0,0,0,0
$GC,6968,-1.14,-146.0,596.7,-6.1,306,6973,0.00,2.60,0.00,0.000,4,0.000,0.047,3154,3157,3375,0,0,0,0,0,0
$GC,6988,-1.18,-146.0,598.4,-6.9,306,6992,0.00,2.62,0.00,0.000,6,0.000,0.044,3153,1605,3376,0,0,0,0,0,0
$GC,7256,-1.18,-146.0,617.0,-7.3,313,7260,0.00,2.53,0.00,0.000,4,0.000,0.078,3153,169,3374,0,0,0,0,0,0
$GC,7289,-1.18,-146.0,619.9,-8.1,313,7293,0.00,2.33,0.00,0.000,6,0.000,0.032,3153,1597,3374,0,0,0,0,0,0
$GC,7539,-1.18,-146.0,637.2,-6.8,319,7543,0.00,2.62,0.00,0.000,4,0.000,0.051,3154,3153,3373,0,0,0,0,0,0
$GC,7560,-1.23,-146.0,638.6,-6.8,319,7565,0.00,2.62,0.00,0.000,6,0.000,0.045,3153,1603,3373,0,0,0,0,0,0
$GC,7827,-1.23,-146.0,655.6,-6.5,326,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1603,3371,0,0,0,0,0,0
$GC,8068,-1.28,-146.0,672.3,-6.8,332,8070,0.12,0.00,0.00,0.000,6,0.064,0.000,3097,1603,3371,0,0,0,0,0,0
$GC,8314,-1.20,-146.0,696.0,-10.0,338,8319,0.17,2.55,0.00,0.000,4,0.091,0.081,3138,169,3369,0,0,0,0,0,0
$GC,8362,-1.20,-146.0,700.7,-8.9,339,8366,0.00,2.35,0.00,0.000,6,0.000,0.035,3137,1604,3368,0,0,0,0,0,0
$GC,8649,-1.20,-146.0,721.3,-7.1,346,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1604,3367,0,0,0,0,0,0
$GC,8888,-1.20,-146.0,737.4,-6.6,352,8892,0.00,2.55,0.00,0.000,4,0.000,0.075,3137,164,3367,0,0,0,0,0,0
$GC,8907,-1.20,-146.0,738.9,-7.9,352,8911,0.00,2.33,0.00,0.000,6,0.000,0.035,3138,1593,3367,0,0,0,0,0,0
$GC,9175,-1.20,-146.0,758.7,-7.5,359,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1593,3366,0,0,0,0,0,0
$GC,9421,-1.20,-146.0,777.0,-7.5,365,9425,0.00,2.65,0.00,0.000,4,0.000,0.054,3138,3152,3365,0,0,0,0,0,0
$GC,9435,-1.20,-146.0,778.3,-7.4,365,9440,0.00,2.67,0.00,0.000,6,0.000,0.047,3138,1585,3365,0,0,0,0,0,0
$GC,9704,-1.20,-146.0,797.9,-7.3,372,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1585,3364,0,0,0,0,0,0
$GC,9950,-1.20,-146.0,816.2,-7.5,378,9951,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1585,3363,0,0,0,0,0,0
$GC,10192,-1.20,-146.0,835.0,-7.8,384,10196,0.00,2.65,0.00,0.000,4,0.000,0.046,3137,3155,3363,0,0,0,0,0,0
$GC,10211,-1.20,-146.0,836.5,-7.6,384,10215,0.00,2.65,0.00,0.000,6,0.000,0.048,3137,1588,3363,0,0,0,0,0,0
$GC,10480,-1.20,-146.0,857.1,-7.8,391,10485,0.00,2.53,0.00,0.000,4,0.000,0.084,3138,169,3362,0,0,0,0,0,0
$GC,10509,-1.20,-146.0,859.9,-8.5,391,10513,0.00,2.33,0.00,0.000,6,0.000,0.035,3138,1600,3362,0,0,0,0,0,0
$GC,10764,-1.20,-146.0,879.1,-7.3,398,10768,0.00,2.62,0.00,0.000,4,0.000,0.057,3137,3159,3361,0,0,0,0,0,0
$GC,10780,-1.20,-146.0,880.1,-7.0,398,10785,0.00,2.65,0.00,0.000,6,0.000,0.048,3137,1593,3361,0,0,0,0,0,0
$GC,11049,-1.20,-146.0,899.5,-7.3,405,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1593,3360,0,0,0,0,0,0
$STATE,11090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11091,begin apogee
$GC,11097,-0.31,0.0,902.5,7.4,406,11220,0.85,0.00,120.28,1.154,6,0.068,0.000,3334,1343,2800,0,0,0,0,0,0
$STATE,11221,end apogee,CONTROL_FINISHED_OK
$STATE,11221,begin climb
$GC,11226,1.27,146.0,906.9,0.0,409,11367,1.42,2.20,131.43,1.134,4,0.031,0.084,3682,177,2203,0,0,0,0,0,0
$GC,11472,1.01,146.0,889.4,14.0,414,11476,0.30,1.95,0.00,0.000,6,0.107,0.031,3621,1358,2199,0,0,0,0,0,0
$GC,11735,0.96,165.8,864.8,9.1,421,11755,0.00,0.00,18.30,1.032,6,0.000,0.000,3621,1358,2124,0,0,0,0,0,0
$GC,11977,0.93,183.6,842.4,9.2,427,12001,0.00,2.15,17.15,1.018,4,0.000,0.073,3621,170,2051,0,0,0,0,0,0
$GC,12055,0.83,183.6,833.5,11.6,428,12059,0.12,1.95,0.00,0.000,6,0.089,0.031,3583,1337,2051,0,0,0,0,0,0
$GC,12316,0.84,192.7,808.4,9.6,435,12333,0.00,2.80,9.75,0.933,4,0.000,0.056,3583,2924,2013,0,0,0,0,0,0
$GC,12359,0.92,200.1,804.0,9.7,435,12373,0.00,2.75,8.40,0.896,6,0.000,0.051,3582,1356,1984,0,0,0,0,0,0
$GC,12655,0.92,200.1,772.7,10.4,443,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,1356,1981,0,0,0,0,0,0
$GC,12901,0.92,200.1,747.8,10.0,449,12905,0.00,2.67,0.00,0.000,4,0.000,0.044,3582,2931,1981,0,0,0,0,0,0
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$STATE,19214,end climb,SURFACE_DEPTH_REACHED
$STATE,19214,begin surface coast
$FINISH,1.0,1.010134
$STATE,19248,end surface coast,CONTROL_FINISHED_OK
$STATE,19249,begin surface
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$SM_GC,1.95,0.00,0.00,34.33,0.000,0.000,0.432,409,1560,1209,-13.76,-0.28,390.03
$IRIDIUM_FIX,2234.68,-15745.45,081102,000018
$TT8_MAMPS,0.027612
$HUMID,68.74
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.70
$XPDR_PINGS,6
$24V_AH,23.0,56.316
$10V_AH,9.8,54.027
$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
$DEVICE_SECS,35.075,222.000,428.825,34.325,0.000,22.309,35.070,243.774,1.500,0.000,15.224,1599.462,14179.325,547.780,2624.868,815.399,33.373,1662.419,0.000,2629.180,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.656,386.099,487.362,1009.837,1327.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57398,725
$CAP_FILE_SIZE,189875,0
$CFSIZE,260165632,143220736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140813,113206,2238.530,-15738.583,27,1.3,27,10.1