version: 66.06
glider: 148
mission: 12
dive: 55
start: 6 1 113 17 19 30
data:
$ID,148
$MISSION,12
$DIVE,55
$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,380
$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,-1016162.8
$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,3385
$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,1600
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,103
$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
$GPS1,165105,2249.238,-15740.281,42,1.8,42,10.1
$_CALLS,5
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.3
$GPS2,171835,2249.222,-15740.498,30,1.3,106,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,0.208
$KALMAN_X,-32003.9,-235.4,-197.6,65857.1,-1825.4
$KALMAN_Y,18045.8,140.9,258.0,-10606.8,-355.3
$MHEAD_RNG_PITCHd_Wd,26.7,31240,-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,-67.35,0.000,2,0.000,0.000,414,1632,3005,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.7,9,123,14.73,2.40,-6.88,0.000,4,0.170,0.036,3103,3122,3398,0,0,0,0,0,0
$GC,165,-1.06,-146.0,24.4,-19.7,19,174,0.17,2.53,0.00,0.000,6,0.081,0.031,3147,1598,3398,0,0,0,0,0,0
$GC,439,-0.95,-146.0,64.8,-12.0,46,444,0.12,2.38,0.00,0.000,4,0.115,0.044,3174,166,3398,0,0,0,0,0,0
$GC,496,-0.95,-146.0,71.4,-10.7,50,500,0.00,2.12,0.00,0.000,6,0.000,0.018,3175,1574,3398,0,0,0,0,0,0
$GC,759,-0.95,-146.0,96.6,-8.9,74,763,0.00,2.47,0.00,0.000,4,0.000,0.023,3175,3162,3399,0,0,0,0,0,0
$GC,792,-1.00,-146.0,99.7,-8.5,76,801,0.00,2.58,0.00,0.000,6,0.000,0.029,3175,1592,3398,0,0,0,0,0,0
$GC,1058,-1.00,-146.0,123.6,-9.5,101,1062,0.00,2.33,0.00,0.000,4,0.000,0.044,3175,163,3398,0,0,0,0,0,0
$GC,1110,-1.00,-146.0,128.8,-10.2,105,1114,0.00,2.15,0.00,0.000,6,0.000,0.018,3175,1592,3399,0,0,0,0,0,0
$GC,1372,-1.00,-146.0,156.1,-11.2,129,1376,0.00,2.45,0.00,0.000,4,0.000,0.023,3175,3165,3399,0,0,0,0,0,0
$GC,1410,-1.09,-146.0,160.2,-10.6,132,1415,0.12,2.55,0.00,0.000,6,0.061,0.028,3104,1576,3398,0,0,0,0,0,0
$GC,1701,-0.93,-146.0,206.9,-15.0,156,1706,0.32,2.28,0.00,0.000,4,0.089,0.041,3180,169,3398,0,0,0,0,0,0
$GC,1760,-0.93,-146.0,213.2,-8.8,157,1765,0.00,2.17,0.00,0.000,6,0.000,0.018,3180,1601,3398,0,0,0,0,0,0
$GC,2034,-0.98,-146.0,233.3,-7.3,164,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1604,3398,0,0,0,0,0,0
$GC,2278,-1.04,-146.0,246.8,-4.9,170,2279,0.10,0.00,0.00,0.000,6,0.076,0.000,3127,1605,3398,0,0,0,0,0,0
$GC,2523,-1.00,-146.0,267.1,-9.2,176,2528,0.17,2.38,0.00,0.000,4,0.093,0.046,3166,175,3398,0,0,0,0,0,0
$GC,2561,-1.05,-146.0,271.4,-10.3,176,2567,0.00,2.12,0.00,0.000,6,0.000,0.020,3166,1571,3398,0,0,0,0,0,0
$GC,2812,-1.11,-146.0,291.2,-7.8,183,2817,0.10,2.55,0.00,0.000,4,0.078,0.028,3114,3162,3397,0,0,0,0,0,0
$GC,2847,-1.11,-146.0,294.7,-9.8,183,2852,0.12,2.55,0.00,0.000,6,0.098,0.032,3143,1590,3397,0,0,0,0,0,0
$GC,3097,-1.11,-146.0,318.4,-9.4,189,3101,0.00,2.35,0.00,0.000,4,0.000,0.053,3143,166,3396,0,0,0,0,0,0
$GC,3150,-1.16,-146.0,323.1,-9.0,190,3154,0.00,2.17,0.00,0.000,6,0.000,0.022,3143,1569,3395,0,0,0,0,0,0
$GC,3428,-1.16,-146.0,344.0,-7.5,197,3432,0.00,2.60,0.00,0.000,4,0.000,0.033,3143,3178,3394,0,0,0,0,0,0
$GC,3489,-1.27,-146.0,348.7,-7.3,198,3494,0.15,2.62,0.00,0.000,6,0.055,0.037,3071,1577,3393,0,0,0,0,0,0
$GC,3760,-1.14,-146.0,379.2,-11.9,205,3765,0.25,2.38,0.00,0.000,4,0.095,0.059,3131,173,3392,0,0,0,0,0,0
$GC,3812,-1.14,-146.0,384.9,-10.1,206,3816,0.00,2.20,0.00,0.000,6,0.000,0.025,3131,1573,3391,0,0,0,0,0,0
$GC,4091,-1.14,-146.0,407.9,-8.2,213,4095,0.00,2.60,0.00,0.000,4,0.000,0.038,3131,3175,3389,0,0,0,0,0,0
$GC,4120,-1.20,-146.0,410.3,-7.3,213,4124,0.00,2.65,0.00,0.000,6,0.000,0.037,3131,1571,3389,0,0,0,0,0,0
$GC,4375,-1.20,-146.0,430.5,-8.1,220,4379,0.00,2.38,0.00,0.000,4,0.000,0.066,3131,173,3387,0,0,0,0,0,0
$GC,4423,-1.20,-146.0,434.8,-8.9,221,4427,0.00,2.22,0.00,0.000,6,0.000,0.027,3131,1570,3387,0,0,0,0,0,0
$GC,4705,-1.20,-146.0,456.2,-7.4,228,4709,0.00,2.40,0.00,0.000,4,0.000,0.064,3131,164,3385,0,0,0,0,0,0
$GC,4733,-1.20,-146.0,458.5,-8.4,228,4737,0.00,2.22,0.00,0.000,6,0.000,0.028,3131,1566,3385,0,0,0,0,0,0
$GC,4989,-1.20,-146.0,477.2,-7.5,235,4994,0.00,2.65,0.00,0.000,4,0.000,0.041,3131,3175,3382,0,0,0,0,0,0
$GC,5018,-1.26,-146.0,479.6,-6.9,235,5023,0.00,2.65,0.00,0.000,6,0.000,0.039,3131,1571,3382,0,0,0,0,0,0
$GC,5273,-1.26,-146.0,499.0,-7.7,242,5277,0.00,2.45,0.00,0.000,4,0.000,0.074,3131,162,3381,0,0,0,0,0,0
$GC,5298,-1.26,-146.0,501.1,-7.8,242,5302,0.00,2.25,0.00,0.000,6,0.000,0.031,3131,1568,3381,0,0,0,0,0,0
$GC,5557,-1.26,-146.0,520.1,-7.2,249,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1568,3379,0,0,0,0,0,0
$GC,5801,-1.26,-146.0,535.0,-5.8,255,5805,0.00,2.70,0.00,0.000,4,0.000,0.046,3131,3183,3377,0,0,0,0,0,0
$GC,5822,-1.31,-146.0,536.1,-5.8,255,5829,0.15,2.72,0.00,0.000,6,0.055,0.041,3061,1564,3377,0,0,0,0,0,0
$GC,6089,-1.20,-146.0,558.4,-8.3,262,6094,0.25,2.42,0.00,0.000,4,0.094,0.076,3121,170,3375,0,0,0,0,0,0
$GC,6114,-1.20,-146.0,560.4,-7.4,262,6118,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1567,3376,0,0,0,0,0,0
$GC,6375,-1.20,-146.0,575.9,-6.0,269,6378,0.00,2.45,0.00,0.000,4,0.000,0.073,3121,166,3374,0,0,0,0,0,0
$GC,6393,-1.20,-146.0,577.4,-7.4,269,6397,0.00,2.28,0.00,0.000,6,0.000,0.033,3121,1563,3374,0,0,0,0,0,0
$GC,6661,-1.20,-146.0,595.5,-6.9,276,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1563,3372,0,0,0,0,0,0
$GC,6907,-1.20,-146.0,614.4,-8.0,282,6911,0.00,2.72,0.00,0.000,4,0.000,0.051,3121,3180,3371,0,0,0,0,0,0
$GC,6932,-1.25,-146.0,616.6,-8.7,282,6937,0.00,2.75,0.00,0.000,6,0.000,0.048,3121,1563,3371,0,0,0,0,0,0
$GC,7192,-1.25,-146.0,639.3,-9.0,289,7196,0.00,2.45,0.00,0.000,4,0.000,0.082,3121,166,3370,0,0,0,0,0,0
$GC,7223,-1.25,-146.0,642.2,-10.1,289,7227,0.00,2.28,0.00,0.000,6,0.000,0.036,3121,1567,3369,0,0,0,0,0,0
$GC,7478,-1.25,-146.0,664.6,-8.5,296,7482,0.00,2.72,0.00,0.000,4,0.000,0.051,3121,3184,3368,0,0,0,0,0,0
$GC,7497,-1.30,-146.0,666.3,-8.6,296,7502,0.00,2.75,0.00,0.000,6,0.000,0.049,3121,1556,3368,0,0,0,0,0,0
$GC,7763,-1.30,-146.0,683.9,-6.2,303,7767,0.00,2.45,0.00,0.000,4,0.000,0.083,3121,168,3366,0,0,0,0,0,0
$GC,7792,-1.30,-146.0,685.8,-5.9,303,7796,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1571,3366,0,0,0,0,0,0
$GC,8046,-1.30,-146.0,697.1,-4.2,310,8051,0.00,2.72,0.00,0.000,4,0.000,0.051,3121,3189,3365,0,0,0,0,0,0
$GC,8072,-1.36,-146.0,698.1,-4.3,310,8079,0.15,2.78,0.00,0.000,6,0.054,0.050,3053,1561,3365,0,0,0,0,0,0
$GC,8335,-1.26,-146.0,715.7,-6.8,317,8340,0.25,2.45,0.00,0.000,4,0.097,0.081,3111,169,3364,0,0,0,0,0,0
$GC,8359,-1.26,-146.0,717.3,-6.4,317,8363,0.00,2.30,0.00,0.000,6,0.000,0.035,3111,1572,3364,0,0,0,0,0,0
$GC,8620,-1.26,-146.0,729.4,-5.0,324,8624,0.00,2.72,0.00,0.000,4,0.000,0.051,3111,3188,3363,0,0,0,0,0,0
$GC,8644,-1.30,-146.0,731.1,-7.3,324,8649,0.00,2.78,0.00,0.000,6,0.000,0.050,3112,1564,3363,0,0,0,0,0,0
$GC,8905,-1.30,-146.0,747.8,-6.9,331,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1563,3362,0,0,0,0,0,0
$GC,9147,-1.30,-146.0,765.8,-7.5,337,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1564,3361,0,0,0,0,0,0
$GC,9391,-1.30,-146.0,784.5,-7.7,343,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1564,3360,0,0,0,0,0,0
$GC,9635,-1.30,-146.0,802.3,-7.3,349,9639,0.00,2.45,0.00,0.000,4,0.000,0.084,3112,169,3359,0,0,0,0,0,0
$GC,9665,-1.30,-146.0,804.6,-8.5,349,9669,0.00,2.30,0.00,0.000,6,0.000,0.037,3112,1579,3359,0,0,0,0,0,0
$GC,9919,-1.30,-146.0,823.6,-7.3,356,9920,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1579,3359,0,0,0,0,0,0
$GC,10163,-1.30,-146.0,840.5,-7.0,362,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1579,3358,0,0,0,0,0,0
$GC,10407,-1.30,-146.0,857.0,-6.7,368,10411,0.00,2.47,0.00,0.000,4,0.000,0.077,3111,169,3357,0,0,0,0,0,0
$GC,10436,-1.30,-146.0,859.2,-7.8,368,10440,0.00,2.30,0.00,0.000,6,0.000,0.037,3111,1569,3357,0,0,0,0,0,0
$GC,10691,-1.30,-146.0,875.8,-6.5,375,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1569,3356,0,0,0,0,0,0
$GC,10935,-1.30,-146.0,890.3,-6.0,381,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1569,3356,0,0,0,0,0,0
$STATE,11135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11135,begin apogee
$GC,11143,-0.31,0.0,902.1,5.8,386,11264,0.90,0.00,117.45,1.181,6,0.074,0.000,3316,1339,2800,0,0,0,0,0,0
$STATE,11265,end apogee,CONTROL_FINISHED_OK
$STATE,11265,begin climb
$GC,11267,1.27,146.0,904.4,0.0,389,11407,1.45,2.12,129.85,1.152,4,0.028,0.079,3670,176,2204,0,0,0,0,0,0
$GC,11509,0.96,146.0,881.1,16.0,394,11515,0.38,1.95,0.00,0.000,6,0.116,0.033,3596,1351,2198,0,0,0,0,0,0
$GC,11761,0.87,147.2,855.0,9.9,401,11765,0.00,2.10,0.00,0.000,4,0.000,0.075,3596,171,2193,0,0,0,0,0,0
$GC,11874,0.73,147.2,842.2,11.2,403,11879,0.20,1.95,0.00,0.000,6,0.097,0.033,3545,1335,2194,0,0,0,0,0,0
$GC,12144,0.83,224.6,824.3,6.4,410,12222,0.00,0.00,71.88,1.106,6,0.000,0.000,3545,1335,1884,0,0,0,0,0,0
$GC,12467,0.92,252.6,798.0,8.7,418,12496,0.17,0.00,26.08,1.049,6,0.057,0.000,3600,1335,1770,0,0,0,0,0,0
$GC,12710,0.88,252.6,766.9,13.1,424,12717,0.12,2.75,0.00,0.000,4,0.115,0.056,3575,2928,1765,0,0,0,0,0,0
$GC,12729,0.88,252.6,764.7,11.5,424,12733,0.00,2.72,0.00,0.000,6,0.000,0.048,3575,1345,1762,0,0,0,0,0,0
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$STATE,18828,end climb,SURFACE_DEPTH_REACHED
$STATE,18828,begin surface coast
$FINISH,0.8,1.023401
$STATE,18874,end surface coast,CONTROL_FINISHED_OK
$STATE,18874,begin surface
$SM_CCo,18898,27.83,0.446,0,0,1248,380.21
$SM_GC,1.78,0.00,0.00,27.83,0.000,0.000,0.446,414,1642,1248,-13.67,1.19,380.21
$IRIDIUM_FIX,2241.69,-15739.35,260802,171706
$TT8_MAMPS,0.027612
$HUMID,64.29
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.2,7.547
$10V_AH,9.9,6.610
$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
$DEVICE_SECS,34.400,236.975,423.575,27.825,0.000,145.614,175.081,815.810,10.000,0.000,108.254,1554.379,14341.827,600.333,2446.807,1626.061,33.364,1679.435,0.000,2349.792,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,469.475,312.457,395.519,684.309,935.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,51031,689
$CAP_FILE_SIZE,205844,0
$CFSIZE,260165632,168300544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010613,223626,2251.688,-15740.774,26,99.0,45,10.1