version: 66.06
glider: 148
mission: 12
dive: 84
start: 6 8 113 5 41 19
data:
$ID,148
$MISSION,12
$DIVE,84
$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,-1016822.4
$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,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,29
$R_STBD_OVSHOOT,49
$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
$GPS1,053206,2255.874,-15807.255,33,1.9,33,10.1
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,6
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-77.9
$GPS2,054024,2255.902,-15807.282,16,1.7,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,0.206
$KALMAN_X,-85510.2,7.7,166.6,73000.3,-1910.0
$KALMAN_Y,16724.8,259.8,180.7,3041.2,-588.5
$MHEAD_RNG_PITCHd_Wd,27.3,16513,-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,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,84,0.00,0.00,-67.07,0.000,2,0.000,0.000,412,1634,2969,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-4.5,9,112,13.98,0.00,-7.88,0.000,6,0.148,0.000,3104,1635,3398,0,0,0,0,0,0
$GC,388,-1.05,-146.0,65.4,-17.8,43,397,0.25,0.00,0.00,0.000,6,0.098,0.000,3161,1635,3399,0,0,0,0,0,0
$GC,650,-0.98,-146.0,96.9,-11.5,68,651,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1635,3400,0,0,0,0,0,0
$GC,906,-0.93,-146.0,126.3,-11.6,92,911,0.10,2.40,0.00,0.000,4,0.123,0.044,3182,171,3400,0,0,0,0,0,0
$GC,948,-0.93,-146.0,130.6,-10.6,95,952,0.00,2.15,0.00,0.000,6,0.000,0.018,3182,1602,3400,0,0,0,0,0,0
$GC,1212,-0.93,-146.0,156.1,-9.9,119,1216,0.00,2.35,0.00,0.000,4,0.000,0.021,3182,3127,3400,0,0,0,0,0,0
$GC,1231,-0.93,-146.0,158.2,-9.1,120,1240,0.00,2.53,0.00,0.000,6,0.000,0.027,3182,1572,3400,0,0,0,0,0,0
$GC,1498,-0.93,-146.0,181.6,-9.1,145,1502,0.00,2.28,0.00,0.000,4,0.000,0.044,3182,166,3400,0,0,0,0,0,0
$GC,1538,-0.93,-146.0,185.2,-9.7,148,1542,0.00,2.10,0.00,0.000,6,0.000,0.018,3182,1580,3400,0,0,0,0,0,0
$GC,1795,-0.93,-146.0,207.8,-8.4,166,1799,0.00,2.38,0.00,0.000,4,0.000,0.021,3183,3116,3400,0,0,0,0,0,0
$GC,1830,-1.03,-146.0,210.5,-7.4,166,1834,0.00,2.50,0.00,0.000,6,0.000,0.028,3182,1557,3400,0,0,0,0,0,0
$GC,2080,-1.08,-146.0,229.8,-7.8,172,2085,0.15,2.28,0.00,0.000,4,0.056,0.045,3117,166,3400,0,0,0,0,0,0
$GC,2109,-0.98,-146.0,232.8,-11.4,172,2114,0.25,2.10,0.00,0.000,6,0.086,0.018,3173,1564,3401,0,0,0,0,0,0
$GC,2371,-0.98,-146.0,252.1,-7.0,179,2375,0.00,2.28,0.00,0.000,4,0.000,0.045,3173,172,3400,0,0,0,0,0,0
$GC,2399,-0.98,-146.0,254.6,-8.5,179,2403,0.00,2.12,0.00,0.000,6,0.000,0.018,3173,1567,3401,0,0,0,0,0,0
$GC,2654,-1.04,-146.0,276.2,-8.9,186,2658,0.00,2.47,0.00,0.000,4,0.000,0.025,3173,3128,3401,0,0,0,0,0,0
$GC,2699,-1.19,-146.0,280.1,-9.1,187,2704,0.20,2.53,0.00,0.000,6,0.047,0.030,3085,1564,3401,0,0,0,0,0,0
$GC,2987,-1.07,-146.0,315.8,-12.2,194,2992,0.25,2.28,0.00,0.000,4,0.089,0.047,3145,175,3400,0,0,0,0,0,0
$GC,3054,-1.07,-146.0,322.4,-9.6,195,3058,0.00,2.10,0.00,0.000,6,0.000,0.019,3145,1554,3400,0,0,0,0,0,0
$GC,3318,-1.07,-146.0,345.2,-8.6,202,3322,0.00,2.30,0.00,0.000,4,0.000,0.051,3145,167,3399,0,0,0,0,0,0
$GC,3341,-1.07,-146.0,347.5,-9.8,202,3346,0.00,2.17,0.00,0.000,6,0.000,0.021,3145,1563,3399,0,0,0,0,0,0
$GC,3602,-1.07,-146.0,371.5,-9.3,209,3606,0.00,2.53,0.00,0.000,4,0.000,0.031,3145,3143,3397,0,0,0,0,0,0
$GC,3616,-1.07,-146.0,373.1,-8.9,209,3621,0.00,2.58,0.00,0.000,6,0.000,0.034,3145,1559,3397,0,0,0,0,0,0
$GC,3885,-1.07,-146.0,392.7,-6.7,216,3889,0.00,2.33,0.00,0.000,4,0.000,0.059,3145,170,3396,0,0,0,0,0,0
$GC,3915,-1.07,-146.0,394.8,-7.5,216,3919,0.00,2.15,0.00,0.000,6,0.000,0.023,3145,1547,3396,0,0,0,0,0,0
$GC,4174,-1.07,-146.0,412.2,-6.8,223,4178,0.00,2.60,0.00,0.000,4,0.000,0.035,3145,3147,3394,0,0,0,0,0,0
$GC,4212,-1.18,-146.0,414.9,-7.4,223,4218,0.00,2.62,0.00,0.000,6,0.000,0.041,3145,1554,3394,0,0,0,0,0,0
$GC,4463,-1.18,-146.0,433.5,-7.8,230,4468,0.00,2.38,0.00,0.000,4,0.000,0.064,3145,162,3392,0,0,0,0,0,0
$GC,4493,-1.18,-146.0,436.1,-8.9,230,4497,0.00,2.20,0.00,0.000,6,0.000,0.025,3145,1566,3392,0,0,0,0,0,0
$GC,4748,-1.23,-146.0,457.4,-8.3,237,4750,0.12,0.00,0.00,0.000,6,0.064,0.000,3088,1567,3390,0,0,0,0,0,0
$GC,4993,-1.16,-146.0,483.1,-10.6,243,4998,0.20,2.40,0.00,0.000,4,0.091,0.065,3132,169,3389,0,0,0,0,0,0
$GC,5017,-1.16,-146.0,485.7,-9.5,243,5021,0.00,2.20,0.00,0.000,6,0.000,0.028,3132,1550,3389,0,0,0,0,0,0
$GC,5281,-1.16,-146.0,506.4,-7.8,250,5285,0.00,2.62,0.00,0.000,4,0.000,0.043,3132,3149,3387,0,0,0,0,0,0
$GC,5311,-1.23,-146.0,508.8,-8.1,250,5316,0.00,2.65,0.00,0.000,6,0.000,0.041,3132,1561,3387,0,0,0,0,0,0
$GC,5566,-1.23,-146.0,529.3,-8.0,257,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1561,3385,0,0,0,0,0,0
$GC,5810,-1.23,-146.0,548.8,-7.8,263,5814,0.00,2.42,0.00,0.000,4,0.000,0.074,3132,169,3384,0,0,0,0,0,0
$GC,5835,-1.23,-146.0,550.9,-8.4,263,5839,0.00,2.25,0.00,0.000,6,0.000,0.031,3132,1563,3384,0,0,0,0,0,0
$GC,6094,-1.23,-146.0,569.9,-7.2,270,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3383,0,0,0,0,0,0
$GC,6338,-1.23,-146.0,587.1,-6.9,276,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3381,0,0,0,0,0,0
$GC,6583,-1.23,-146.0,603.6,-6.8,282,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3380,0,0,0,0,0,0
$GC,6825,-1.23,-146.0,620.0,-6.6,288,6830,0.00,2.65,0.00,0.000,4,0.000,0.048,3132,3156,3378,0,0,0,0,0,0
$GC,6845,-1.29,-146.0,621.5,-7.6,288,6850,0.12,2.70,0.00,0.000,6,0.061,0.045,3069,1557,3379,0,0,0,0,0,0
$GC,7112,-1.20,-146.0,646.4,-9.6,295,7117,0.25,2.45,0.00,0.000,4,0.093,0.078,3128,168,3377,0,0,0,0,0,0
$GC,7180,-1.25,-146.0,652.0,-7.5,296,7184,0.00,2.25,0.00,0.000,6,0.000,0.034,3127,1552,3377,0,0,0,0,0,0
$GC,7444,-1.25,-146.0,669.1,-6.4,303,7448,0.00,2.67,0.00,0.000,4,0.000,0.051,3127,3150,3375,0,0,0,0,0,0
$GC,7465,-1.30,-146.0,670.4,-6.4,303,7472,0.12,2.67,0.00,0.000,6,0.062,0.047,3062,1556,3375,0,0,0,0,0,0
$GC,7731,-1.21,-146.0,696.6,-10.1,310,7733,0.25,0.00,0.00,0.000,6,0.093,0.000,3118,1557,3374,0,0,0,0,0,0
$GC,7975,-1.21,-146.0,716.9,-8.2,316,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3373,0,0,0,0,0,0
$GC,8220,-1.21,-146.0,737.5,-8.6,322,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3372,0,0,0,0,0,0
$GC,8462,-1.21,-146.0,758.1,-8.4,328,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3371,0,0,0,0,0,0
$GC,8706,-1.21,-146.0,777.0,-7.8,334,8707,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3370,0,0,0,0,0,0
$GC,8951,-1.21,-146.0,795.6,-7.6,340,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3369,0,0,0,0,0,0
$GC,9194,-1.21,-146.0,814.4,-7.7,346,9195,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3368,0,0,0,0,0,0
$GC,9437,-1.21,-146.0,833.5,-7.8,352,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3367,0,0,0,0,0,0
$GC,9682,-1.26,-146.0,851.9,-7.4,358,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3366,0,0,0,0,0,0
$GC,9927,-1.30,-146.0,868.8,-6.8,364,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1557,3365,0,0,0,0,0,0
$GC,10169,-1.35,-146.0,884.5,-6.4,370,10171,0.12,0.00,0.00,0.000,6,0.066,0.000,3067,1557,3364,0,0,0,0,0,0
$STATE,10369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10369,begin apogee
$GC,10375,-0.31,0.0,902.1,8.9,375,10498,1.10,0.00,119.12,1.170,6,0.083,0.000,3313,1348,2800,0,0,0,0,0,0
$STATE,10499,end apogee,CONTROL_FINISHED_OK
$STATE,10499,begin climb
$GC,10503,1.27,146.0,905.8,0.0,378,10638,1.48,0.00,131.10,1.146,6,0.034,0.000,3669,1348,2204,0,0,0,0,0,0
$GC,10856,1.05,146.0,870.8,14.0,387,10860,0.25,2.12,0.00,0.000,4,0.117,0.080,3614,175,2193,0,0,0,0,0,0
$GC,10927,0.88,146.0,860.9,14.1,388,10932,0.17,1.95,0.00,0.000,6,0.112,0.030,3578,1362,2193,0,0,0,0,0,0
$GC,11187,0.88,146.0,833.2,10.5,395,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1363,2190,0,0,0,0,0,0
$GC,11431,0.88,146.0,808.0,10.3,401,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1363,2189,0,0,0,0,0,0
$GC,11675,0.88,150.3,783.9,9.8,407,11678,0.00,2.12,0.00,0.000,4,0.000,0.073,3578,166,2189,0,0,0,0,0,0
$GC,11704,0.78,150.3,781.0,11.4,407,11708,0.10,1.92,0.00,0.000,6,0.133,0.029,3558,1359,2189,0,0,0,0,0,0
$GC,11964,0.82,179.2,758.1,8.7,414,11999,0.00,2.15,28.77,1.045,4,0.000,0.072,3558,171,2068,0,0,0,0,0,0
$GC,12024,0.82,179.2,752.2,10.9,415,12028,0.00,1.95,0.00,0.000,6,0.000,0.029,3558,1351,2067,0,0,0,0,0,0
$GC,12297,0.84,192.3,726.5,9.4,422,12317,0.00,2.70,12.77,0.956,4,0.000,0.046,3558,2934,2014,0,0,0,0,0,0
$GC,12327,0.90,240.8,723.6,7.8,422,12381,0.00,2.72,46.58,1.032,6,0.000,0.048,3558,1352,1817,0,0,0,0,0,0
$GC,12625,0.95,240.8,689.8,11.6,430,12630,0.15,2.70,0.00,0.000,4,0.061,0.046,3609,2929,1811,0,0,0,0,0,0
$GC,12664,0.95,240.8,684.5,13.9,430,12669,0.00,2.72,0.00,0.000,6,0.000,0.050,3609,1353,1807,0,0,0,0,0,0
$GC,12915,0.95,240.8,647.9,14.8,437,12919,0.00,2.67,0.00,0.000,4,0.000,0.047,3609,2934,1807,0,0,0,0,0,0
$GC,12948,0.95,240.8,642.6,13.4,437,12952,0.00,2.72,0.00,0.000,6,0.000,0.056,3609,1354,1806,0,0,0,0,0,0
$GC,13198,0.95,240.8,605.6,15.0,443,13201,0.00,2.12,0.00,0.000,4,0.000,0.081,3609,163,1806,0,0,0,0,0,0
$GC,13222,0.88,240.8,601.9,15.1,443,13227,0.10,1.95,0.00,0.000,6,0.090,0.028,3576,1350,1806,0,0,0,0,0,0
$GC,13486,0.88,240.8,567.3,13.1,450,13491,0.00,2.62,0.00,0.000,4,0.000,0.044,3576,2930,1806,0,0,0,0,0,0
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$STATE,18361,end climb,SURFACE_DEPTH_REACHED
$STATE,18361,begin surface coast
$FINISH,0.9,1.023606
$STATE,18407,end surface coast,CONTROL_FINISHED_OK
$STATE,18407,begin surface
$SM_CCo,18430,40.40,0.441,0,0,1249,380.21
$SM_GC,1.79,0.00,0.00,40.40,0.000,0.000,0.441,413,1614,1249,-13.67,1.24,380.21
$IRIDIUM_FIX,2244.02,-15806.70,020902,000050
$TT8_MAMPS,0.027612
$HUMID,62.24
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.30
$XPDR_PINGS,12
$24V_AH,23.3,11.918
$10V_AH,9.9,10.438
$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,33.025,178.300,401.550,40.400,0.000,27.538,34.153,271.667,3.000,0.000,32.085,1505.203,13866.207,556.677,2290.103,744.578,33.361,1530.835,0.000,2272.471,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,80.535,1170.442,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.470,341.707,433.189,764.280,1038.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,54104,711
$CAP_FILE_SIZE,167429,0
$CFSIZE,260165632,166121472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080613,105120,2257.669,-15806.387,69,99.0,88,10.1