version: 66.06
glider: 148
mission: 12
dive: 32
start: 5 27 113 15 12 6
data:
$ID,148
$MISSION,12
$DIVE,32
$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,-1015648.9
$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,3380
$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,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,70
$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
$GPS1,150029,2303.162,-15803.492,37,1.9,37,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.8
$GPS2,151113,2303.247,-15803.387,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,0.106
$KALMAN_X,-12137.0,415.1,-196.9,6225.6,-120.9
$KALMAN_Y,3796.7,57.1,-347.0,30307.5,821.9
$MHEAD_RNG_PITCHd_Wd,297.7,2953,-27.2,-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,-1.78,-63.0,0.0,0.0,0,115,0.00,0.00,-96.62,0.000,2,0.000,0.000,411,1570,3002,0,0,0,0,0,0
$GC,120,-1.83,-105.9,3.4,-5.4,13,145,14.15,2.45,-5.28,0.000,4,0.172,0.035,2976,3113,3302,0,0,0,0,0,0
$GC,347,-1.69,-105.9,64.7,-20.9,37,352,0.17,2.55,0.00,0.000,6,0.119,0.030,3010,1550,3303,0,0,0,0,0,0
$GC,613,-1.55,-105.9,120.9,-20.9,61,618,0.15,2.28,0.00,0.000,4,0.127,0.042,3039,169,3303,0,0,0,0,0,0
$GC,684,-1.55,-105.9,135.1,-17.4,67,689,0.00,2.12,0.00,0.000,6,0.000,0.018,3039,1554,3303,0,0,0,0,0,0
$GC,951,-1.55,-105.9,180.5,-17.0,91,955,0.00,2.28,0.00,0.000,4,0.000,0.041,3039,170,3303,0,0,0,0,0,0
$GC,977,-1.48,-105.9,185.7,-18.1,93,981,0.00,2.12,0.00,0.000,6,0.000,0.019,3039,1550,3303,0,0,0,0,0,0
$GC,1233,-1.48,-105.9,227.3,-16.1,105,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,1552,3303,0,0,0,0,0,0
$GC,1474,-1.48,-105.9,266.1,-15.7,111,1478,0.00,2.28,0.00,0.000,4,0.000,0.044,3039,172,3303,0,0,0,0,0,0
$GC,1603,-1.48,-105.9,285.5,-14.7,113,1607,0.00,2.12,0.00,0.000,6,0.000,0.021,3039,1534,3303,0,0,0,0,0,0
$GC,1853,-1.58,-105.9,317.9,-13.0,119,1857,0.00,2.58,0.00,0.000,4,0.000,0.032,3039,3126,3302,0,0,0,0,0,0
$GC,1872,-1.69,-105.9,320.3,-12.6,119,1877,0.12,2.58,0.00,0.000,6,0.066,0.031,2987,1539,3302,0,0,0,0,0,0
$GC,2138,-1.69,-105.9,363.0,-16.6,126,2143,0.12,2.33,0.00,0.000,4,0.125,0.058,3011,169,3301,0,0,0,0,0,0
$GC,2157,-1.69,-105.9,366.8,-17.4,126,2161,0.00,2.15,0.00,0.000,6,0.000,0.025,3011,1534,3301,0,0,0,0,0,0
$GC,2425,-1.69,-105.9,407.1,-15.0,133,2426,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,1535,3300,0,0,0,0,0,0
$GC,2669,-1.75,-105.9,441.5,-13.7,139,2673,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,179,3298,0,0,0,0,0,0
$GC,2698,-1.75,-105.9,445.8,-14.8,139,2702,0.00,2.17,0.00,0.000,6,0.000,0.030,3011,1525,3298,0,0,0,0,0,0
$GC,2953,-1.83,-105.9,479.9,-13.2,146,2958,0.12,2.38,0.00,0.000,4,0.071,0.069,2965,175,3296,0,0,0,0,0,0
$GC,3002,-1.72,-105.9,487.8,-17.7,147,3007,0.17,2.20,0.00,0.000,6,0.117,0.035,3000,1525,3296,0,0,0,0,0,0
$GC,3285,-1.72,-105.9,527.0,-13.6,154,3289,0.00,2.35,0.00,0.000,4,0.000,0.070,3001,180,3293,0,0,0,0,0,0
$GC,3322,-1.72,-105.9,532.5,-14.3,154,3327,0.00,2.22,0.00,0.000,6,0.000,0.037,3001,1532,3293,0,0,0,0,0,0
$GC,3571,-1.72,-105.9,565.9,-13.1,161,3575,0.00,2.38,0.00,0.000,4,0.000,0.073,3000,175,3291,0,0,0,0,0,0
$GC,3659,-1.72,-105.9,579.0,-15.9,162,3665,0.00,2.20,0.00,0.000,6,0.000,0.039,3001,1510,3290,0,0,0,0,0,0
$GC,3909,-1.79,-105.9,611.8,-13.1,169,3913,0.00,2.35,0.00,0.000,4,0.000,0.075,3000,180,3288,0,0,0,0,0,0
$GC,3929,-1.79,-105.9,614.6,-14.2,169,3933,0.00,2.20,0.00,0.000,6,0.000,0.039,3001,1510,3288,0,0,0,0,0,0
$GC,4193,-1.86,-105.9,649.3,-13.2,176,4195,0.12,0.00,0.00,0.000,6,0.071,0.000,2956,1510,3286,0,0,0,0,0,0
$GC,4436,-1.86,-105.9,684.9,-14.6,182,4440,0.00,2.35,0.00,0.000,4,0.000,0.077,2956,181,3284,0,0,0,0,0,0
$GC,4486,-1.75,-105.9,692.6,-16.0,183,4490,0.20,2.20,0.00,0.000,6,0.118,0.042,2996,1506,3284,0,0,0,0,0,0
$GC,4773,-1.82,-105.9,729.3,-12.3,190,4777,0.00,2.35,0.00,0.000,4,0.000,0.078,2996,172,3282,0,0,0,0,0,0
$GC,4816,-1.82,-105.9,735.0,-13.4,191,4820,0.00,2.20,0.00,0.000,6,0.000,0.042,2995,1501,3281,0,0,0,0,0,0
$GC,5104,-1.89,-105.9,770.7,-12.5,198,5109,0.12,2.38,0.00,0.000,4,0.072,0.079,2953,177,3279,0,0,0,0,0,0
$GC,5148,-1.77,-105.9,777.6,-16.0,199,5153,0.20,2.20,0.00,0.000,6,0.117,0.041,2993,1502,3278,0,0,0,0,0,0
$GC,5437,-1.84,-105.9,815.5,-13.1,206,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1502,3277,0,0,0,0,0,0
$GC,5680,-1.91,-105.9,847.1,-13.0,212,5681,0.12,0.00,0.00,0.000,6,0.072,0.000,2950,1502,3276,0,0,0,0,0,0
$GC,5923,-1.91,-105.9,883.2,-15.0,218,5927,0.00,2.35,0.00,0.000,4,0.000,0.078,2950,181,3274,0,0,0,0,0,0
$STATE,6022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6022,begin apogee
$GC,6032,-0.31,0.0,900.1,16.7,220,6120,1.65,0.00,84.15,1.158,6,0.101,0.000,3308,1310,2870,0,0,0,0,0,0
$STATE,6121,end apogee,CONTROL_FINISHED_OK
$STATE,6121,begin climb
$GC,6123,1.83,105.9,903.6,0.0,222,6232,1.67,2.10,95.38,1.135,4,0.038,0.080,3704,181,2437,0,0,0,0,0,0
$GC,6284,1.63,105.9,900.1,11.0,225,6288,0.00,1.90,0.00,0.000,6,0.000,0.035,3704,1302,2433,0,0,0,0,0,0
$GC,6544,1.57,109.3,874.8,9.6,232,6548,0.00,2.03,0.00,0.000,4,0.000,0.075,3704,177,2427,0,0,0,0,0,0
$GC,6814,1.38,109.3,846.2,10.7,237,6818,0.08,1.88,0.00,0.000,6,0.146,0.034,3689,1296,2424,0,0,0,0,0,0
$GC,7069,1.40,126.0,824.6,8.2,244,7093,0.00,2.10,17.52,1.036,4,0.000,0.075,3688,180,2355,0,0,0,0,0,0
$GC,7165,1.28,126.0,814.7,12.3,246,7169,0.15,1.85,0.00,0.000,6,0.153,0.035,3662,1293,2354,0,0,0,0,0,0
$GC,7454,1.36,131.3,787.3,9.4,253,7466,0.00,2.08,5.72,0.810,4,0.000,0.076,3662,179,2334,0,0,0,0,0,0
$GC,7557,1.36,131.3,775.7,11.3,255,7561,0.00,1.83,0.00,0.000,6,0.000,0.034,3662,1283,2334,0,0,0,0,0,0
$GC,7841,1.44,133.6,747.8,9.8,262,7846,0.12,2.00,0.00,0.000,4,0.081,0.076,3698,176,2332,0,0,0,0,0,0
$GC,8111,1.31,133.6,716.2,11.2,267,8117,0.15,1.83,0.00,0.000,6,0.146,0.034,3670,1287,2330,0,0,0,0,0,0
$GC,8362,1.39,140.3,692.6,9.3,274,8377,0.00,2.00,9.10,0.897,4,0.000,0.073,3670,180,2297,0,0,0,0,0,0
$GC,8526,1.39,140.3,672.8,12.4,277,8530,0.00,1.83,0.00,0.000,6,0.000,0.033,3670,1288,2295,0,0,0,0,0,0
$GC,8792,1.47,140.3,644.7,10.7,284,8797,0.12,2.00,0.00,0.000,4,0.081,0.074,3706,176,2293,0,0,0,0,0,0
$GC,8898,1.33,140.3,630.7,14.6,286,8902,0.15,1.83,0.00,0.000,6,0.133,0.033,3675,1274,2292,0,0,0,0,0,0
$GC,9176,1.40,140.3,599.3,11.0,293,9180,0.00,1.98,0.00,0.000,4,0.000,0.074,3675,158,2292,0,0,0,0,0,0
$GC,9274,1.40,140.3,587.6,11.5,295,9278,0.00,1.85,0.00,0.000,6,0.000,0.032,3674,1276,2291,0,0,0,0,0,0
$GC,9561,1.50,149.9,560.8,9.0,302,9578,0.12,1.98,9.32,0.837,4,0.077,0.069,3710,172,2257,0,0,0,0,0,0
$GC,9739,1.37,149.9,541.1,12.2,305,9743,0.15,1.77,0.00,0.000,6,0.149,0.030,3682,1270,2256,0,0,0,0,0,0
$GC,9994,1.45,159.0,517.6,9.0,312,10010,0.00,1.95,9.38,0.812,4,0.000,0.067,3682,177,2220,0,0,0,0,0,0
$GC,10178,1.45,159.0,496.9,11.8,316,10182,0.00,1.75,0.00,0.000,6,0.000,0.029,3682,1259,2220,0,0,0,0,0,0
$GC,10471,1.54,159.8,468.0,9.9,323,10475,0.10,1.88,0.00,0.000,4,0.089,0.065,3712,177,2218,0,0,0,0,0,0
$GC,10642,1.44,159.8,447.4,11.8,326,10646,0.00,1.73,0.00,0.000,6,0.000,0.028,3713,1256,2218,0,0,0,0,0,0
$GC,10902,1.44,159.8,420.2,10.4,333,10906,0.00,1.85,0.00,0.000,4,0.000,0.064,3713,176,2218,0,0,0,0,0,0
$GC,11072,1.35,159.8,400.5,11.0,336,11077,0.20,1.73,0.00,0.000,6,0.136,0.028,3675,1261,2217,0,0,0,0,0,0
$GC,11334,1.49,170.5,377.2,8.9,343,11348,0.12,0.00,11.43,0.741,6,0.074,0.000,3714,1263,2174,0,0,0,0,0,0
$GC,11575,1.49,170.5,350.3,11.6,349,11576,0.00,0.00,0.00,0.000,6,0.000,0.000,3714,1263,2171,0,0,0,0,0,0
$GC,11819,1.49,170.5,321.4,11.8,355,11823,0.00,2.62,0.00,0.000,4,0.000,0.039,3714,2866,2171,0,0,0,0,0,0
$GC,11840,1.57,170.5,319.2,10.5,355,11844,0.00,2.70,0.00,0.000,6,0.000,0.044,3714,1263,2169,0,0,0,0,0,0
$GC,12104,1.57,170.5,291.2,10.1,362,12107,0.00,1.88,0.00,0.000,4,0.000,0.067,3714,165,2169,0,0,0,0,0,0
$GC,12117,1.58,176.2,289.9,9.4,362,12130,0.00,1.70,6.18,0.590,6,0.000,0.025,3714,1256,2151,0,0,0,0,0,0
$GC,12396,1.65,183.6,263.3,9.2,369,12409,0.00,2.62,8.10,0.614,4,0.000,0.032,3714,2856,2121,0,0,0,0,0,0
$GC,12424,1.79,213.5,260.9,6.8,369,12457,0.00,2.75,27.40,0.695,6,0.000,0.044,3714,1237,1998,0,0,0,0,0,0
$GC,12725,1.90,213.5,229.6,10.9,377,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,3714,1237,1994,0,0,0,0,0,0
$GC,12965,2.01,213.5,202.4,11.6,383,12969,0.00,1.85,0.00,0.000,4,0.000,0.059,3714,162,1993,0,0,0,0,0,0
$GC,13086,2.01,213.5,186.6,12.2,391,13090,0.00,1.67,0.00,0.000,6,0.000,0.022,3714,1258,1993,0,0,0,0,0,0
$GC,13353,2.15,213.5,153.2,12.6,416,13357,0.00,1.85,0.00,0.000,4,0.000,0.052,3714,160,1993,0,0,0,0,0,0
$GC,13367,2.26,213.5,151.1,12.9,417,13376,0.00,1.67,0.00,0.000,6,0.000,0.022,3714,1249,1993,0,0,0,0,0,0
$GC,13632,2.41,213.5,119.7,12.0,442,13635,0.00,1.83,0.00,0.000,4,0.000,0.051,3714,160,1993,0,0,0,0,0,0
$GC,13677,2.41,213.5,113.2,13.5,446,13686,0.00,1.65,0.00,0.000,6,0.000,0.022,3714,1243,1993,0,0,0,0,0,0
$GC,13945,2.57,213.5,83.6,11.1,471,13949,0.00,2.55,0.00,0.000,4,0.000,0.026,3714,2850,1993,0,0,0,0,0,0
$GC,13961,2.74,213.5,80.9,11.5,472,13965,0.00,2.67,0.00,0.000,6,0.000,0.036,3714,1227,1991,0,0,0,0,0,0
$GC,14230,2.89,213.9,52.1,10.0,496,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,3714,1227,1991,0,0,0,0,0,0
$GC,14508,3.08,219.1,23.3,9.4,526,14517,0.00,0.00,5.78,0.386,6,0.000,0.000,3714,1227,1976,0,0,0,0,0,0
$STATE,14786,end climb,SURFACE_DEPTH_REACHED
$STATE,14786,begin surface coast
$FINISH,0.6,1.023269
$STATE,14889,end surface coast,CONTROL_FINISHED_OK
$STATE,14889,begin surface
$SM_CCo,14913,91.53,0.459,0,0,1360,370.16
$SM_GC,1.59,0.00,0.00,91.53,0.000,0.000,0.459,417,1589,1360,-13.63,0.82,370.16
$IRIDIUM_FIX,2253.38,-15804.96,210802,101033
$TT8_MAMPS,0.027612
$HUMID,60.94
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,49
$24V_AH,23.2,3.984
$10V_AH,9.8,3.590
$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,34.025,144.725,289.450,91.525,0.000,27.465,33.540,434.214,12.250,0.000,12.496,1377.606,10359.202,456.623,2569.438,879.527,33.367,1558.802,0.000,2548.089,0.000,0.537,0.000
$DEVICE_MAMPS,171.808,79.768,1158.170,459.433,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.070,294.800,368.159,721.283,978.606,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355788
$DATA_FILE_SIZE,44639,586
$CAP_FILE_SIZE,161055,0
$CFSIZE,260165632,170098688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270513,192353,2304.529,-15804.713,59,1.8,59,10.1