version: 66.06
glider: 148
mission: 12
dive: 81
start: 6 7 113 13 17 17
data:
$ID,148
$MISSION,12
$DIVE,81
$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,-1016739.1
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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,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
$GPS1,130545,2249.226,-15807.047,40,1.4,49,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-77.5
$GPS2,131624,2249.229,-15807.128,7,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,0.229
$KALMAN_X,-78928.3,-135.4,-60.3,67054.0,-1579.1
$KALMAN_Y,17690.6,-70.5,-139.5,-9630.9,-68.1
$MHEAD_RNG_PITCHd_Wd,18.2,28536,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.60,0.000,2,0.000,0.000,412,1628,3226,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.3,-8.3,10,123,14.88,2.40,-2.62,0.000,4,0.174,0.031,3101,3132,3395,0,0,0,0,0,0
$GC,140,-0.22,-146.0,25.2,-49.1,15,149,1.02,2.58,0.00,0.000,6,0.087,0.031,3329,1570,3396,0,0,0,0,0,0
$GC,419,-0.53,-146.0,45.4,-5.3,41,428,0.25,0.00,0.00,0.000,6,0.035,0.000,3236,1570,3397,0,0,0,0,0,0
$GC,687,-0.64,-146.0,64.5,-5.9,66,691,0.00,2.33,0.00,0.000,4,0.000,0.046,3235,173,3397,0,0,0,0,0,0
$GC,732,-0.76,-146.0,67.2,-5.8,69,737,0.00,2.12,0.00,0.000,6,0.000,0.017,3235,1606,3397,0,0,0,0,0,0
$GC,1001,-0.88,-146.0,79.1,-4.1,93,1009,0.17,0.00,0.00,0.000,6,0.048,0.000,3157,1609,3398,0,0,0,0,0,0
$GC,1265,-0.82,-146.0,105.2,-12.1,118,1274,0.22,0.00,0.00,0.000,6,0.089,0.000,3208,1609,3398,0,0,0,0,0,0
$GC,1532,-0.89,-146.0,129.1,-9.1,143,1536,0.00,2.35,0.00,0.000,4,0.000,0.043,3208,166,3399,0,0,0,0,0,0
$GC,1571,-0.97,-146.0,133.1,-9.1,146,1575,0.15,2.10,0.00,0.000,6,0.054,0.018,3143,1578,3399,0,0,0,0,0,0
$GC,1837,-0.88,-146.0,166.5,-12.0,171,1842,0.25,2.40,0.00,0.000,4,0.089,0.021,3192,3112,3399,0,0,0,0,0,0
$GC,1869,-0.96,-146.0,169.6,-8.7,173,1875,0.00,2.45,0.00,0.000,6,0.000,0.028,3191,1577,3399,0,0,0,0,0,0
$GC,2133,-1.02,-146.0,190.4,-8.4,198,2135,0.12,0.00,0.00,0.000,6,0.064,0.000,3133,1577,3399,0,0,0,0,0,0
$GC,2390,-0.95,-146.0,220.2,-11.9,211,2392,0.20,0.00,0.00,0.000,6,0.091,0.000,3177,1577,3399,0,0,0,0,0,0
$GC,2633,-0.99,-146.0,241.4,-8.7,217,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1577,3399,0,0,0,0,0,0
$GC,2877,-1.04,-146.0,263.6,-9.0,223,2881,0.00,2.42,0.00,0.000,4,0.000,0.024,3177,3118,3399,0,0,0,0,0,0
$GC,2901,-1.13,-146.0,265.8,-9.3,223,2906,0.17,2.47,0.00,0.000,6,0.047,0.029,3088,1580,3399,0,0,0,0,0,0
$GC,3162,-0.98,-146.0,299.5,-13.3,230,3167,0.35,2.30,0.00,0.000,4,0.087,0.045,3164,172,3398,0,0,0,0,0,0
$GC,3224,-1.07,-146.0,305.9,-8.2,231,3228,0.00,2.10,0.00,0.000,6,0.000,0.020,3164,1546,3398,0,0,0,0,0,0
$GC,3495,-1.12,-146.0,325.6,-7.3,238,3500,0.10,2.55,0.00,0.000,4,0.077,0.030,3113,3142,3397,0,0,0,0,0,0
$GC,3533,-1.12,-146.0,329.1,-8.6,238,3539,0.12,2.58,0.00,0.000,6,0.100,0.035,3142,1576,3397,0,0,0,0,0,0
$GC,3784,-1.12,-146.0,347.9,-7.4,245,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1576,3396,0,0,0,0,0,0
$GC,4027,-1.12,-146.0,366.3,-7.7,251,4031,0.00,2.35,0.00,0.000,4,0.000,0.056,3142,168,3395,0,0,0,0,0,0
$GC,4055,-1.12,-146.0,368.7,-7.9,251,4059,0.00,2.22,0.00,0.000,6,0.000,0.030,3142,1581,3395,0,0,0,0,0,0
$GC,4309,-1.12,-146.0,390.5,-8.8,258,4314,0.00,2.53,0.00,0.000,4,0.000,0.032,3142,3149,3393,0,0,0,0,0,0
$GC,4355,-1.23,-146.0,394.3,-7.4,259,4360,0.10,2.58,0.00,0.000,6,0.075,0.036,3081,1582,3393,0,0,0,0,0,0
$GC,4643,-1.13,-146.0,426.3,-11.1,266,4648,0.25,2.40,0.00,0.000,4,0.088,0.061,3141,166,3391,0,0,0,0,0,0
$GC,4675,-1.13,-146.0,429.1,-8.4,266,4679,0.00,2.22,0.00,0.000,6,0.000,0.025,3140,1585,3391,0,0,0,0,0,0
$GC,4929,-1.13,-146.0,449.0,-7.8,273,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1587,3390,0,0,0,0,0,0
$GC,5173,-1.13,-146.0,468.0,-7.7,279,5177,0.00,2.55,0.00,0.000,4,0.000,0.038,3141,3143,3388,0,0,0,0,0,0
$GC,5194,-1.19,-146.0,469.6,-8.3,279,5199,0.00,2.58,0.00,0.000,6,0.000,0.036,3141,1588,3388,0,0,0,0,0,0
$GC,5459,-1.23,-146.0,490.9,-8.2,286,5464,0.10,2.47,0.00,0.000,4,0.077,0.071,3091,169,3386,0,0,0,0,0,0
$GC,5536,-1.17,-146.0,500.1,-12.5,287,5541,0.17,2.25,0.00,0.000,6,0.095,0.029,3130,1578,3385,0,0,0,0,0,0
$GC,5791,-1.17,-146.0,522.8,-8.4,294,5796,0.00,2.58,0.00,0.000,4,0.000,0.041,3130,3151,3383,0,0,0,0,0,0
$GC,5820,-1.23,-146.0,525.2,-8.4,294,5824,0.00,2.60,0.00,0.000,6,0.000,0.040,3130,1583,3383,0,0,0,0,0,0
$GC,6076,-1.23,-146.0,542.8,-6.7,301,6081,0.00,2.47,0.00,0.000,4,0.000,0.074,3130,164,3382,0,0,0,0,0,0
$GC,6119,-1.23,-146.0,545.7,-7.0,302,6124,0.00,2.30,0.00,0.000,6,0.000,0.031,3130,1587,3381,0,0,0,0,0,0
$GC,6406,-1.23,-146.0,562.9,-6.3,309,6411,0.00,2.60,0.00,0.000,4,0.000,0.044,3130,3154,3380,0,0,0,0,0,0
$GC,6427,-1.28,-146.0,564.4,-7.3,309,6433,0.10,2.60,0.00,0.000,6,0.076,0.042,3075,1591,3380,0,0,0,0,0,0
$GC,6692,-1.20,-146.0,591.8,-10.8,316,6697,0.22,2.50,0.00,0.000,4,0.091,0.075,3125,167,3378,0,0,0,0,0,0
$GC,6742,-1.24,-146.0,596.6,-9.1,317,6746,0.00,2.33,0.00,0.000,6,0.000,0.034,3125,1592,3378,0,0,0,0,0,0
$GC,7024,-1.24,-146.0,619.5,-7.9,324,7029,0.00,2.60,0.00,0.000,4,0.000,0.047,3125,3155,3376,0,0,0,0,0,0
$GC,7048,-1.30,-146.0,621.4,-8.3,324,7054,0.10,2.62,0.00,0.000,6,0.075,0.045,3072,1586,3376,0,0,0,0,0,0
$GC,7311,-1.22,-146.0,646.2,-9.5,331,7316,0.20,2.50,0.00,0.000,4,0.094,0.079,3117,171,3375,0,0,0,0,0,0
$GC,7346,-1.22,-146.0,649.6,-8.7,331,7350,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1592,3375,0,0,0,0,0,0
$GC,7596,-1.22,-146.0,667.0,-7.1,337,7600,0.00,2.53,0.00,0.000,4,0.000,0.074,3117,163,3374,0,0,0,0,0,0
$GC,7653,-1.22,-146.0,672.1,-9.6,338,7658,0.00,2.30,0.00,0.000,6,0.000,0.035,3117,1577,3373,0,0,0,0,0,0
$GC,7931,-1.22,-146.0,695.7,-8.5,345,7936,0.00,2.65,0.00,0.000,4,0.000,0.051,3117,3157,3372,0,0,0,0,0,0
$GC,7976,-1.31,-146.0,699.5,-8.0,346,7981,0.00,2.67,0.00,0.000,6,0.000,0.050,3117,1582,3372,0,0,0,0,0,0
$GC,8264,-1.31,-146.0,724.0,-8.3,353,8268,0.00,2.47,0.00,0.000,4,0.000,0.081,3117,169,3370,0,0,0,0,0,0
$GC,8307,-1.31,-146.0,727.7,-8.6,354,8311,0.00,2.33,0.00,0.000,6,0.000,0.035,3117,1591,3370,0,0,0,0,0,0
$GC,8596,-1.31,-146.0,747.4,-6.5,361,8600,0.00,2.50,0.00,0.000,4,0.000,0.075,3117,163,3368,0,0,0,0,0,0
$GC,8624,-1.31,-146.0,749.3,-6.6,361,8628,0.00,2.33,0.00,0.000,6,0.000,0.035,3117,1579,3368,0,0,0,0,0,0
$GC,8878,-1.31,-146.0,764.8,-6.0,368,8883,0.00,2.65,0.00,0.000,4,0.000,0.052,3117,3157,3367,0,0,0,0,0,0
$GC,8899,-1.31,-146.0,766.0,-6.1,368,8904,0.00,2.65,0.00,0.000,6,0.000,0.048,3117,1578,3367,0,0,0,0,0,0
$GC,9163,-1.31,-146.0,782.6,-6.3,375,9168,0.00,2.50,0.00,0.000,4,0.000,0.082,3117,166,3366,0,0,0,0,0,0
$GC,9191,-1.31,-146.0,784.6,-7.2,375,9196,0.00,2.30,0.00,0.000,6,0.000,0.034,3117,1574,3366,0,0,0,0,0,0
$GC,9448,-1.31,-146.0,802.6,-7.2,382,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1575,3365,0,0,0,0,0,0
$GC,9690,-1.31,-146.0,821.0,-7.6,388,9694,0.00,2.67,0.00,0.000,4,0.000,0.053,3117,3162,3364,0,0,0,0,0,0
$GC,9714,-1.36,-146.0,823.1,-8.3,388,9719,0.12,2.67,0.00,0.000,6,0.062,0.049,3062,1574,3364,0,0,0,0,0,0
$GC,9976,-1.28,-146.0,850.3,-10.7,395,9981,0.20,2.47,0.00,0.000,4,0.097,0.080,3106,166,3363,0,0,0,0,0,0
$GC,10033,-1.28,-146.0,856.0,-9.3,396,10037,0.00,2.30,0.00,0.000,6,0.000,0.035,3106,1570,3362,0,0,0,0,0,0
$GC,10308,-1.28,-146.0,876.6,-7.3,403,10309,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1570,3362,0,0,0,0,0,0
$GC,10550,-1.28,-146.0,892.7,-6.3,409,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1570,3361,0,0,0,0,0,0
$STATE,10709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10710,begin apogee
$GC,10716,-0.31,0.0,902.2,5.8,413,10838,0.93,0.00,118.53,1.171,6,0.081,0.000,3314,1338,2800,0,0,0,0,0,0
$STATE,10839,end apogee,CONTROL_FINISHED_OK
$STATE,10839,begin climb
$GC,10843,1.27,146.0,903.9,0.0,416,10985,1.48,2.12,130.70,1.145,4,0.031,0.077,3674,168,2203,0,0,0,0,0,0
$GC,11090,0.96,146.0,878.8,17.3,422,11095,0.38,1.98,0.00,0.000,6,0.110,0.031,3597,1374,2197,0,0,0,0,0,0
$GC,11382,0.88,146.0,846.0,10.6,429,11386,0.00,2.15,0.00,0.000,4,0.000,0.073,3597,169,2191,0,0,0,0,0,0
$GC,11420,0.74,146.0,841.8,11.4,429,11426,0.25,1.95,0.00,0.000,6,0.104,0.031,3545,1350,2192,0,0,0,0,0,0
$GC,11671,0.79,191.8,821.7,7.9,436,11714,0.00,0.00,41.08,1.083,6,0.000,0.000,3545,1351,2018,0,0,0,0,0,0
$GC,11954,0.85,198.9,795.4,9.7,443,11967,0.10,2.72,7.25,0.875,4,0.081,0.051,3583,2932,1988,0,0,0,0,0,0
$GC,12002,0.85,198.9,790.1,11.4,444,12006,0.00,2.72,0.00,0.000,6,0.000,0.049,3583,1360,1986,0,0,0,0,0,0
$GC,12284,0.85,198.9,757.0,11.7,451,12288,0.00,2.12,0.00,0.000,4,0.000,0.084,3582,164,1984,0,0,0,0,0,0
$GC,12321,0.80,198.9,752.2,13.5,451,12328,0.12,1.95,0.00,0.000,6,0.117,0.031,3558,1354,1984,0,0,0,0,0,0
$GC,12573,0.80,198.9,726.3,10.3,458,12577,0.00,2.67,0.00,0.000,4,0.000,0.048,3558,2937,1983,0,0,0,0,0,0
$GC,12601,0.87,207.2,723.4,9.6,458,12616,0.00,2.70,8.20,0.884,6,0.000,0.048,3558,1355,1955,0,0,0,0,0,0
$GC,12860,0.93,216.6,698.4,9.6,465,12873,0.12,0.00,10.62,0.918,6,0.069,0.000,3602,1355,1917,0,0,0,0,0,0
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$STATE,19180,end climb,SURFACE_DEPTH_REACHED
$STATE,19180,begin surface coast
$FINISH,0.8,1.023488
$STATE,19197,end surface coast,CONTROL_FINISHED_OK
$STATE,19197,begin surface
$SM_CCo,19223,34.38,0.443,0,0,1249,380.21
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$IRIDIUM_FIX,2239.35,-15812.78,010902,131353
$TT8_MAMPS,0.026845
$HUMID,61.77
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,22.10
$XPDR_PINGS,11
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$10V_AH,9.9,10.038
$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
$DEVICE_SECS,37.075,220.350,427.525,34.375,0.000,59.738,71.794,292.419,2.750,0.000,16.008,1652.443,14095.953,586.552,2652.066,902.535,33.372,1732.066,0.000,2661.633,0.000,0.537,0.000
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$SENSOR_SECS,520.139,389.555,489.197,911.651,1244.688,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,57424,766
$CAP_FILE_SIZE,193447,0
$CFSIZE,260165632,166309888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070613,183953,2251.121,-15807.166,37,1.3,54,10.1