version: 66.06
glider: 148
mission: 12
dive: 28
start: 5 26 113 18 7 27
data:
$ID,148
$MISSION,12
$DIVE,28
$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,370
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015558.4
$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,3383
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1560
$C_ROLL_CLIMB,1325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2870
$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
$GPS1,174423,2252.593,-15806.015,36,1.7,53,10.1
$_CALLS,5
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-77.4
$GPS2,180635,2252.929,-15805.927,10,1.7,26,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,0.225
$KALMAN_X,-11627.4,123.9,183.7,1296.1,-1924.9
$KALMAN_Y,2023.0,-45.7,220.4,12498.6,-352.8
$MHEAD_RNG_PITCHd_Wd,19.9,21471,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-59.83,0.000,2,0.000,0.000,410,1621,2914,0,0,0,0,0,0
$GC,83,-1.27,-146.0,3.1,-4.7,8,114,14.23,2.42,-9.75,0.000,4,0.154,0.033,3102,3157,3464,0,0,0,0,0,0
$GC,195,-1.05,-146.0,31.1,-18.9,24,207,0.22,2.62,0.00,0.000,6,0.097,0.032,3151,1546,3465,0,0,0,0,0,0
$GC,466,-0.87,-146.0,77.1,-16.4,49,471,0.20,2.28,0.00,0.000,4,0.104,0.042,3193,165,3465,0,0,0,0,0,0
$GC,527,-0.87,-146.0,86.7,-11.8,54,531,0.00,2.20,0.00,0.000,6,0.000,0.018,3193,1600,3465,0,0,0,0,0,0
$GC,791,-0.87,-146.0,115.1,-10.6,78,795,0.00,2.38,0.00,0.000,4,0.000,0.023,3193,3119,3465,0,0,0,0,0,0
$GC,834,-1.01,-146.0,119.1,-9.2,81,839,0.12,2.50,0.00,0.000,6,0.062,0.030,3120,1567,3465,0,0,0,0,0,0
$GC,1099,-0.80,-146.0,158.5,-15.2,105,1104,0.38,2.28,0.00,0.000,4,0.087,0.042,3206,169,3465,0,0,0,0,0,0
$GC,1140,-0.94,-146.0,163.8,-9.3,108,1150,0.10,2.15,0.00,0.000,6,0.032,0.019,3147,1566,3465,0,0,0,0,0,0
$GC,1407,-0.87,-146.0,193.4,-11.4,133,1412,0.20,2.42,0.00,0.000,4,0.093,0.023,3191,3118,3465,0,0,0,0,0,0
$GC,1437,-0.99,-146.0,197.0,-8.3,135,1446,0.08,2.55,0.00,0.000,6,0.034,0.030,3117,1560,3465,0,0,0,0,0,0
$GC,1718,-0.84,-146.0,232.2,-12.9,145,1724,0.35,2.45,0.00,0.000,4,0.085,0.022,3199,3118,3465,0,0,0,0,0,0
$GC,1740,-0.84,-146.0,234.3,-9.3,145,1744,0.00,2.50,0.00,0.000,6,0.000,0.028,3199,1574,3465,0,0,0,0,0,0
$GC,2004,-1.02,-146.0,252.1,-6.9,152,2009,0.15,2.33,0.00,0.000,4,0.054,0.050,3134,166,3465,0,0,0,0,0,0
$GC,2057,-1.02,-146.0,257.9,-11.3,153,2062,0.12,2.15,0.00,0.000,6,0.106,0.021,3162,1573,3464,0,0,0,0,0,0
$GC,2336,-1.08,-146.0,284.2,-9.3,160,2341,0.00,2.47,0.00,0.000,4,0.000,0.029,3162,3121,3464,0,0,0,0,0,0
$GC,2370,-1.25,-146.0,287.3,-9.1,160,2375,0.22,2.50,0.00,0.000,6,0.041,0.034,3059,1583,3464,0,0,0,0,0,0
$GC,2621,-0.99,-146.0,324.1,-15.2,166,2628,0.45,2.50,0.00,0.000,4,0.090,0.033,3158,3124,3463,0,0,0,0,0,0
$GC,2639,-0.90,-146.0,326.7,-12.8,166,2644,0.12,2.50,0.00,0.000,6,0.100,0.031,3188,1580,3463,0,0,0,0,0,0
$GC,2910,-1.08,-146.0,345.6,-6.8,173,2915,0.17,2.50,0.00,0.000,4,0.050,0.033,3112,3118,3461,0,0,0,0,0,0
$GC,2935,-1.08,-146.0,347.9,-8.6,173,2940,0.15,2.50,0.00,0.000,6,0.094,0.035,3146,1584,3461,0,0,0,0,0,0
$GC,3195,-1.08,-146.0,369.3,-8.0,180,3199,0.00,2.50,0.00,0.000,4,0.000,0.035,3146,3114,3460,0,0,0,0,0,0
$GC,3216,-1.16,-146.0,371.0,-8.4,180,3220,0.00,2.47,0.00,0.000,6,0.000,0.035,3146,1593,3460,0,0,0,0,0,0
$GC,3480,-1.22,-146.0,392.4,-8.1,187,3485,0.12,2.42,0.00,0.000,4,0.067,0.063,3090,168,3458,0,0,0,0,0,0
$GC,3505,-1.13,-146.0,395.0,-11.5,187,3510,0.20,2.22,0.00,0.000,6,0.092,0.026,3136,1575,3458,0,0,0,0,0,0
$GC,3766,-1.13,-146.0,419.2,-9.3,194,3771,0.00,2.53,0.00,0.000,4,0.000,0.040,3136,3129,3456,0,0,0,0,0,0
$GC,3800,-1.25,-146.0,422.5,-9.4,194,3805,0.10,2.53,0.00,0.000,6,0.076,0.037,3082,1593,3456,0,0,0,0,0,0
$GC,4052,-1.11,-146.0,451.9,-12.0,200,4057,0.25,2.47,0.00,0.000,4,0.091,0.068,3141,165,3454,0,0,0,0,0,0
$GC,4081,-1.11,-146.0,455.0,-9.2,200,4085,0.00,2.28,0.00,0.000,6,0.000,0.030,3141,1591,3454,0,0,0,0,0,0
$GC,4336,-1.18,-146.0,474.1,-7.4,207,4340,0.00,2.58,0.00,0.000,4,0.000,0.044,3141,3143,3452,0,0,0,0,0,0
$GC,4366,-1.32,-146.0,476.3,-7.2,207,4371,0.20,2.58,0.00,0.000,6,0.044,0.041,3064,1594,3452,0,0,0,0,0,0
$GC,4622,-1.16,-146.0,504.9,-11.4,214,4627,0.25,2.47,0.00,0.000,4,0.094,0.076,3123,173,3450,0,0,0,0,0,0
$GC,4671,-1.16,-146.0,509.7,-9.1,215,4675,0.00,2.30,0.00,0.000,6,0.000,0.036,3124,1591,3450,0,0,0,0,0,0
$GC,4953,-1.16,-146.0,533.8,-8.6,222,4958,0.00,2.60,0.00,0.000,4,0.000,0.049,3124,3144,3448,0,0,0,0,0,0
$GC,4972,-1.16,-146.0,535.8,-9.6,222,4977,0.00,2.62,0.00,0.000,6,0.000,0.044,3123,1583,3448,0,0,0,0,0,0
$GC,5238,-1.16,-146.0,558.8,-8.7,229,5243,0.00,2.62,0.00,0.000,4,0.000,0.050,3123,3149,3446,0,0,0,0,0,0
$GC,5257,-1.16,-146.0,560.8,-8.9,229,5262,0.00,2.62,0.00,0.000,6,0.000,0.046,3123,1591,3446,0,0,0,0,0,0
$GC,5521,-1.16,-146.0,582.5,-8.2,236,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1591,3444,0,0,0,0,0,0
$GC,5767,-1.16,-146.0,602.0,-8.1,242,5771,0.00,2.53,0.00,0.000,4,0.000,0.083,3124,169,3442,0,0,0,0,0,0
$GC,5791,-1.16,-146.0,604.2,-9.2,242,5795,0.00,2.33,0.00,0.000,6,0.000,0.037,3123,1590,3442,0,0,0,0,0,0
$GC,6050,-1.16,-146.0,626.2,-8.6,249,6054,0.00,2.60,0.00,0.000,4,0.000,0.052,3124,3141,3441,0,0,0,0,0,0
$GC,6080,-1.27,-146.0,628.7,-8.3,249,6085,0.00,2.65,0.00,0.000,6,0.000,0.050,3123,1581,3441,0,0,0,0,0,0
$GC,6335,-1.27,-146.0,649.8,-8.3,256,6339,0.00,2.53,0.00,0.000,4,0.000,0.085,3124,164,3439,0,0,0,0,0,0
$GC,6355,-1.27,-146.0,651.4,-9.0,256,6359,0.00,2.35,0.00,0.000,6,0.000,0.039,3123,1588,3438,0,0,0,0,0,0
$GC,6622,-1.27,-146.0,672.2,-7.6,263,6626,0.00,2.62,0.00,0.000,4,0.000,0.056,3124,3146,3438,0,0,0,0,0,0
$GC,6660,-1.41,-146.0,675.1,-7.4,263,6666,0.20,2.65,0.00,0.000,6,0.046,0.052,3052,1595,3437,0,0,0,0,0,0
$GC,6910,-1.25,-146.0,702.2,-11.2,270,6915,0.25,2.53,0.00,0.000,4,0.097,0.082,3111,166,3436,0,0,0,0,0,0
$GC,6955,-1.25,-146.0,706.3,-8.9,271,6960,0.00,2.35,0.00,0.000,6,0.000,0.040,3111,1591,3435,0,0,0,0,0,0
$GC,7242,-1.25,-146.0,730.0,-8.4,278,7247,0.00,2.62,0.00,0.000,4,0.000,0.057,3111,3145,3434,0,0,0,0,0,0
$GC,7271,-1.34,-146.0,732.4,-8.6,278,7276,0.00,2.65,0.00,0.000,6,0.000,0.053,3111,1594,3434,0,0,0,0,0,0
$GC,7528,-1.34,-146.0,754.1,-8.6,285,7532,0.00,2.55,0.00,0.000,4,0.000,0.085,3111,166,3433,0,0,0,0,0,0
$GC,7552,-1.34,-146.0,756.5,-9.6,285,7556,0.00,2.38,0.00,0.000,6,0.000,0.041,3111,1600,3432,0,0,0,0,0,0
$GC,7811,-1.34,-146.0,777.3,-7.9,292,7815,0.00,2.53,0.00,0.000,4,0.000,0.079,3111,169,3432,0,0,0,0,0,0
$GC,7836,-1.34,-146.0,779.5,-9.2,292,7840,0.00,2.33,0.00,0.000,6,0.000,0.041,3111,1584,3431,0,0,0,0,0,0
$GC,8095,-1.34,-146.0,799.4,-7.6,299,8100,0.00,2.65,0.00,0.000,4,0.000,0.060,3111,3146,3430,0,0,0,0,0,0
$GC,8124,-1.43,-146.0,801.7,-7.8,299,8131,0.17,2.67,0.00,0.000,6,0.050,0.054,3042,1588,3430,0,0,0,0,0,0
$GC,8383,-1.26,-146.0,829.4,-11.1,306,8388,0.28,2.53,0.00,0.000,4,0.097,0.084,3105,166,3430,0,0,0,0,0,0
$GC,8403,-1.18,-146.0,831.7,-10.3,306,8407,0.00,2.38,0.00,0.000,6,0.000,0.041,3105,1599,3429,0,0,0,0,0,0
$GC,8668,-1.18,-146.0,852.0,-7.6,313,8673,0.00,2.53,0.00,0.000,4,0.000,0.080,3105,169,3428,0,0,0,0,0,0
$GC,8697,-1.18,-146.0,854.6,-9.1,313,8701,0.00,2.38,0.00,0.000,6,0.000,0.042,3105,1596,3428,0,0,0,0,0,0
$GC,8951,-1.18,-146.0,874.3,-7.7,320,8956,0.00,2.65,0.00,0.000,4,0.000,0.061,3105,3145,3427,0,0,0,0,0,0
$GC,8975,-1.25,-146.0,876.4,-8.3,320,8980,0.00,2.65,0.00,0.000,6,0.000,0.054,3105,1587,3427,0,0,0,0,0,0
$GC,9236,-1.25,-146.0,896.5,-7.8,327,9241,0.00,2.55,0.00,0.000,4,0.000,0.087,3105,165,3425,0,0,0,0,0,0
$STATE,9279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9279,begin apogee
$GC,9287,-0.31,0.0,900.4,8.8,328,9407,0.93,0.00,116.15,1.174,6,0.085,0.000,3312,1330,2870,0,0,0,0,0,0
$STATE,9407,end apogee,CONTROL_FINISHED_OK
$STATE,9407,begin climb
$GC,9411,1.27,146.0,905.6,0.0,331,9550,1.45,2.20,128.52,1.151,4,0.035,0.081,3660,170,2274,0,0,0,0,0,0
$GC,9667,0.84,146.0,890.6,14.1,336,9673,0.45,1.92,0.00,0.000,6,0.119,0.035,3570,1327,2268,0,0,0,0,0,0
$GC,9917,0.83,185.6,869.2,8.2,343,9960,0.00,2.15,35.50,1.099,4,0.000,0.080,3570,170,2113,0,0,0,0,0,0
$GC,10021,0.72,185.6,858.2,11.5,345,10025,0.15,1.92,0.00,0.000,6,0.123,0.037,3541,1321,2111,0,0,0,0,0,0
$GC,10294,0.74,196.5,832.4,9.5,352,10311,0.00,2.15,10.15,0.968,4,0.000,0.080,3541,173,2069,0,0,0,0,0,0
$GC,10336,0.74,196.5,828.3,10.0,352,10341,0.00,1.92,0.00,0.000,6,0.000,0.036,3541,1324,2069,0,0,0,0,0,0
$GC,10586,0.75,209.3,804.2,9.4,359,10606,0.00,2.75,13.40,0.999,4,0.000,0.057,3541,2903,2014,0,0,0,0,0,0
$GC,10635,0.91,228.8,799.7,9.1,360,10661,0.17,2.78,19.48,1.032,6,0.055,0.055,3595,1324,1937,0,0,0,0,0,0
$GC,10919,0.84,228.8,766.1,12.0,367,10921,0.15,0.00,0.00,0.000,6,0.112,0.000,3565,1324,1933,0,0,0,0,0,0
$GC,11160,0.84,228.8,741.2,10.1,373,11164,0.00,2.12,0.00,0.000,4,0.000,0.091,3565,160,1932,0,0,0,0,0,0
$GC,11184,0.84,228.8,738.6,10.3,373,11188,0.00,1.90,0.00,0.000,6,0.000,0.036,3565,1321,1932,0,0,0,0,0,0
$GC,11447,0.84,228.8,711.7,10.1,380,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1322,1931,0,0,0,0,0,0
$GC,11691,0.84,228.8,687.2,10.0,386,11695,0.00,2.70,0.00,0.000,4,0.000,0.057,3565,2907,1930,0,0,0,0,0,0
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$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17626,begin surface coast
$FINISH,0.7,1.011661
$STATE,17672,end surface coast,CONTROL_FINISHED_OK
$STATE,17672,begin surface
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$SM_GC,1.72,0.00,0.00,25.35,0.000,0.000,0.447,414,1592,1360,-13.66,0.90,370.16
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$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,27
$24V_AH,23.2,3.345
$10V_AH,9.8,3.062
$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
$DEVICE_SECS,37.625,247.125,429.225,25.350,0.000,145.166,182.071,564.975,6.750,0.000,28.391,1517.696,13214.425,555.876,2372.266,1384.588,33.359,1666.575,0.000,2351.102,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,453.553,313.186,400.372,706.143,968.542,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,51171,667
$CAP_FILE_SIZE,206140,0
$CFSIZE,260165632,170356736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260513,230430,2255.167,-15804.905,58,1.4,58,10.1