version: 66.06
glider: 148
mission: 12
dive: 110
start: 6 14 113 2 29 11
data:
$ID,148
$MISSION,12
$DIVE,110
$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,-1017416.6
$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,25
$R_STBD_OVSHOOT,90
$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
$GPS1,021623,2245.439,-15737.605,40,1.1,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.8
$GPS2,022819,2245.493,-15737.718,11,1.4,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,0.243
$KALMAN_X,-115687.5,-356.5,90.8,154116.9,-1036.6
$KALMAN_Y,33859.7,-220.4,27.8,-32724.3,1379.3
$MHEAD_RNG_PITCHd_Wd,10.5,37130,-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,-67.32,0.000,2,0.000,0.000,414,1585,2996,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.3,9,121,13.93,2.45,-7.12,0.000,4,0.147,0.034,3101,3110,3398,0,0,0,0,0,0
$GC,177,-1.04,-146.0,27.4,-19.4,21,187,0.22,2.55,0.00,0.000,6,0.084,0.031,3154,1565,3399,0,0,0,0,0,0
$GC,455,-0.96,-146.0,70.1,-13.6,47,460,0.10,2.47,0.00,0.000,4,0.125,0.023,3175,3114,3399,0,0,0,0,0,0
$GC,488,-0.96,-146.0,74.6,-12.0,49,493,0.00,2.47,0.00,0.000,6,0.000,0.028,3176,1574,3399,0,0,0,0,0,0
$GC,754,-0.96,-146.0,103.1,-10.1,73,758,0.00,2.30,0.00,0.000,4,0.000,0.043,3175,173,3400,0,0,0,0,0,0
$GC,783,-0.96,-146.0,106.1,-10.8,75,787,0.00,2.10,0.00,0.000,6,0.000,0.017,3175,1581,3400,0,0,0,0,0,0
$GC,1050,-0.96,-146.0,133.6,-10.4,99,1054,0.00,2.40,0.00,0.000,4,0.000,0.021,3175,3116,3400,0,0,0,0,0,0
$GC,1101,-1.05,-146.0,138.9,-9.7,103,1106,0.00,2.45,0.00,0.000,6,0.000,0.028,3175,1591,3400,0,0,0,0,0,0
$GC,1369,-1.05,-146.0,164.7,-9.7,127,1373,0.00,2.30,0.00,0.000,4,0.000,0.043,3175,169,3400,0,0,0,0,0,0
$GC,1437,-1.11,-146.0,172.0,-10.1,133,1442,0.12,2.12,0.00,0.000,6,0.063,0.017,3112,1593,3400,0,0,0,0,0,0
$GC,1730,-0.98,-146.0,212.0,-14.2,154,1735,0.25,2.38,0.00,0.000,4,0.091,0.020,3172,3120,3400,0,0,0,0,0,0
$GC,1758,-0.98,-146.0,216.1,-10.2,154,1763,0.00,2.45,0.00,0.000,6,0.000,0.026,3171,1585,3400,0,0,0,0,0,0
$GC,2013,-0.98,-146.0,236.1,-7.6,161,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1586,3400,0,0,0,0,0,0
$GC,2258,-0.98,-146.0,256.7,-8.9,167,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1585,3400,0,0,0,0,0,0
$GC,2501,-1.04,-146.0,277.6,-8.1,173,2505,0.00,2.40,0.00,0.000,4,0.000,0.024,3172,3112,3400,0,0,0,0,0,0
$GC,2520,-1.11,-146.0,279.3,-8.0,173,2525,0.12,2.45,0.00,0.000,6,0.062,0.028,3105,1588,3400,0,0,0,0,0,0
$GC,2787,-1.03,-146.0,308.0,-10.8,180,2791,0.25,2.35,0.00,0.000,4,0.086,0.048,3162,174,3400,0,0,0,0,0,0
$GC,2853,-1.12,-146.0,314.5,-8.5,181,2857,0.00,2.12,0.00,0.000,6,0.000,0.019,3162,1564,3400,0,0,0,0,0,0
$GC,3119,-1.18,-146.0,333.1,-7.0,188,3124,0.15,2.55,0.00,0.000,4,0.057,0.031,3097,3142,3399,0,0,0,0,0,0
$GC,3163,-1.18,-146.0,337.0,-8.7,189,3168,0.12,2.55,0.00,0.000,6,0.101,0.035,3126,1580,3399,0,0,0,0,0,0
$GC,3451,-1.18,-146.0,362.2,-9.0,196,3455,0.00,2.38,0.00,0.000,4,0.000,0.058,3126,163,3397,0,0,0,0,0,0
$GC,3471,-1.18,-146.0,364.0,-9.3,196,3475,0.00,2.20,0.00,0.000,6,0.000,0.021,3126,1581,3397,0,0,0,0,0,0
$GC,3739,-1.18,-146.0,387.0,-8.3,203,3744,0.00,2.50,0.00,0.000,4,0.000,0.032,3127,3138,3395,0,0,0,0,0,0
$GC,3768,-1.18,-146.0,389.4,-7.8,203,3772,0.00,2.58,0.00,0.000,6,0.000,0.038,3127,1577,3395,0,0,0,0,0,0
$GC,4024,-1.18,-146.0,409.8,-7.9,210,4028,0.00,2.40,0.00,0.000,4,0.000,0.062,3127,168,3393,0,0,0,0,0,0
$GC,4043,-1.18,-146.0,411.6,-8.7,210,4047,0.00,2.20,0.00,0.000,6,0.000,0.023,3126,1581,3393,0,0,0,0,0,0
$GC,4307,-1.18,-146.0,433.2,-8.3,217,4311,0.00,2.53,0.00,0.000,4,0.000,0.035,3126,3135,3391,0,0,0,0,0,0
$GC,4327,-1.18,-146.0,435.0,-8.9,217,4332,0.00,2.55,0.00,0.000,6,0.000,0.037,3127,1584,3391,0,0,0,0,0,0
$GC,4591,-1.18,-146.0,457.3,-8.6,224,4596,0.00,2.42,0.00,0.000,4,0.000,0.068,3127,163,3389,0,0,0,0,0,0
$GC,4634,-1.18,-146.0,461.1,-8.9,225,4639,0.00,2.22,0.00,0.000,6,0.000,0.027,3127,1570,3388,0,0,0,0,0,0
$GC,4923,-1.18,-146.0,481.7,-6.8,232,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1571,3387,0,0,0,0,0,0
$GC,5165,-1.18,-146.0,498.7,-7.2,238,5169,0.00,2.42,0.00,0.000,4,0.000,0.067,3127,172,3385,0,0,0,0,0,0
$GC,5202,-1.18,-146.0,502.1,-9.3,238,5207,0.00,2.25,0.00,0.000,6,0.000,0.030,3126,1577,3385,0,0,0,0,0,0
$GC,5454,-1.18,-146.0,521.9,-7.9,244,5458,0.00,2.60,0.00,0.000,4,0.000,0.042,3127,3148,3383,0,0,0,0,0,0
$GC,5473,-1.18,-146.0,523.7,-8.6,244,5477,0.00,2.60,0.00,0.000,6,0.000,0.041,3127,1577,3383,0,0,0,0,0,0
$GC,5737,-1.18,-146.0,544.1,-7.7,251,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3381,0,0,0,0,0,0
$GC,5982,-1.18,-146.0,562.1,-7.4,257,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3380,0,0,0,0,0,0
$GC,6224,-1.18,-146.0,578.9,-6.8,263,6228,0.00,2.47,0.00,0.000,4,0.000,0.077,3127,169,3378,0,0,0,0,0,0
$GC,6262,-1.18,-146.0,581.7,-8.0,263,6267,0.00,2.30,0.00,0.000,6,0.000,0.031,3127,1586,3378,0,0,0,0,0,0
$GC,6513,-1.18,-146.0,599.6,-7.1,270,6518,0.00,2.58,0.00,0.000,4,0.000,0.044,3127,3150,3377,0,0,0,0,0,0
$GC,6533,-1.24,-146.0,601.2,-7.7,270,6537,0.00,2.62,0.00,0.000,6,0.000,0.044,3126,1577,3377,0,0,0,0,0,0
$GC,6797,-1.24,-146.0,621.6,-8.0,277,6801,0.00,2.47,0.00,0.000,4,0.000,0.079,3126,172,3375,0,0,0,0,0,0
$GC,6826,-1.24,-146.0,624.2,-9.6,277,6830,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1579,3375,0,0,0,0,0,0
$GC,7087,-1.24,-146.0,644.5,-7.6,284,7091,0.00,2.62,0.00,0.000,4,0.000,0.048,3127,3152,3373,0,0,0,0,0,0
$GC,7116,-1.31,-146.0,646.6,-6.9,284,7121,0.12,2.65,0.00,0.000,6,0.062,0.047,3067,1585,3373,0,0,0,0,0,0
$GC,7373,-1.23,-146.0,672.0,-10.1,291,7378,0.22,2.47,0.00,0.000,4,0.097,0.078,3115,169,3372,0,0,0,0,0,0
$GC,7402,-1.23,-146.0,675.0,-9.0,291,7406,0.00,2.28,0.00,0.000,6,0.000,0.032,3115,1580,3372,0,0,0,0,0,0
$GC,7657,-1.23,-146.0,693.7,-7.2,298,7661,0.00,2.50,0.00,0.000,4,0.000,0.075,3115,163,3371,0,0,0,0,0,0
$GC,7686,-1.23,-146.0,696.1,-8.3,298,7690,0.00,2.33,0.00,0.000,6,0.000,0.034,3115,1583,3371,0,0,0,0,0,0
$GC,7941,-1.23,-146.0,714.9,-7.4,305,7945,0.00,2.50,0.00,0.000,4,0.000,0.075,3115,166,3370,0,0,0,0,0,0
$GC,7960,-1.23,-146.0,716.6,-8.9,305,7964,0.00,2.30,0.00,0.000,6,0.000,0.033,3115,1573,3370,0,0,0,0,0,0
$GC,8225,-1.23,-146.0,734.6,-6.8,312,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1573,3368,0,0,0,0,0,0
$GC,8467,-1.23,-146.0,752.2,-7.4,318,8472,0.00,2.65,0.00,0.000,4,0.000,0.052,3115,3154,3368,0,0,0,0,0,0
$GC,8491,-1.28,-146.0,754.0,-8.4,318,8496,0.00,2.70,0.00,0.000,6,0.000,0.048,3115,1567,3367,0,0,0,0,0,0
$GC,8753,-1.28,-146.0,771.8,-6.8,325,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3366,0,0,0,0,0,0
$GC,8995,-1.28,-146.0,789.3,-7.2,331,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3366,0,0,0,0,0,0
$GC,9238,-1.28,-146.0,806.7,-7.2,337,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3365,0,0,0,0,0,0
$GC,9482,-1.28,-146.0,824.9,-7.5,343,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3364,0,0,0,0,0,0
$GC,9727,-1.28,-146.0,843.4,-7.6,349,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1567,3363,0,0,0,0,0,0
$GC,9970,-1.28,-146.0,863.3,-8.3,355,9974,0.00,2.45,0.00,0.000,4,0.000,0.081,3115,169,3363,0,0,0,0,0,0
$GC,9993,-1.28,-146.0,865.4,-8.9,355,9997,0.00,2.30,0.00,0.000,6,0.000,0.033,3115,1578,3362,0,0,0,0,0,0
$GC,10254,-1.28,-146.0,886.7,-8.0,362,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1577,3362,0,0,0,0,0,0
$STATE,10453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10453,begin apogee
$GC,10459,-0.31,0.0,902.5,7.7,367,10581,0.90,0.00,118.60,1.170,6,0.081,0.000,3319,1342,2800,0,0,0,0,0,0
$STATE,10582,end apogee,CONTROL_FINISHED_OK
$STATE,10582,begin climb
$GC,10585,1.27,146.0,906.9,0.0,370,10722,1.42,0.00,129.82,1.145,6,0.034,0.000,3663,1342,2204,0,0,0,0,0,0
$GC,10951,1.05,146.0,873.5,12.9,379,10956,0.25,2.10,0.00,0.000,4,0.117,0.074,3609,169,2194,0,0,0,0,0,0
$GC,11068,0.88,146.0,859.1,12.3,381,11073,0.15,1.95,0.00,0.000,6,0.118,0.030,3579,1354,2194,0,0,0,0,0,0
$GC,11328,0.90,162.5,834.8,9.2,388,11348,0.00,2.17,14.25,1.012,4,0.000,0.073,3579,178,2137,0,0,0,0,0,0
$GC,11368,0.83,172.5,830.8,9.5,388,11385,0.00,1.92,11.18,0.969,6,0.000,0.030,3579,1351,2096,0,0,0,0,0,0
$GC,11666,0.83,174.7,801.6,9.9,396,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1352,2090,0,0,0,0,0,0
$GC,11907,0.83,174.7,777.1,10.1,402,11911,0.00,2.70,0.00,0.000,4,0.000,0.051,3579,2938,2090,0,0,0,0,0,0
$GC,11936,0.83,174.7,774.1,10.3,402,11941,0.00,2.70,0.00,0.000,6,0.000,0.048,3579,1356,2087,0,0,0,0,0,0
$GC,12191,0.83,174.7,747.5,10.4,409,12195,0.00,2.65,0.00,0.000,4,0.000,0.041,3579,2932,2087,0,0,0,0,0,0
$GC,12207,0.83,174.7,745.9,10.4,409,12211,0.00,2.70,0.00,0.000,6,0.000,0.048,3579,1356,2086,0,0,0,0,0,0
$GC,12477,0.83,174.8,718.4,10.0,416,12481,0.00,2.12,0.00,0.000,4,0.000,0.085,3579,165,2086,0,0,0,0,0,0
$GC,12496,0.79,174.8,716.3,10.0,416,12500,0.05,1.98,0.00,0.000,6,0.110,0.031,3555,1362,2086,0,0,0,0,0,0
$GC,12765,0.86,203.2,692.5,8.7,423,12795,0.00,0.00,27.92,1.004,6,0.000,0.000,3555,1363,1971,0,0,0,0,0,0
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$STATE,19116,end climb,SURFACE_DEPTH_REACHED
$STATE,19116,begin surface coast
$FINISH,1.1,1.023362
$STATE,19162,end surface coast,CONTROL_FINISHED_OK
$STATE,19162,begin surface
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$SM_GC,1.68,0.00,0.00,31.25,0.000,0.000,0.428,414,1649,1249,-13.67,2.21,380.21
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$TT8_MAMPS,0.027612
$HUMID,62.87
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,20
$24V_AH,23.3,15.766
$10V_AH,9.9,13.878
$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
$DEVICE_SECS,32.025,212.350,416.350,31.250,0.000,59.689,75.420,359.855,5.000,0.000,16.276,1554.531,14543.404,553.836,2327.260,944.560,33.372,1593.870,0.000,2324.600,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.267,334.983,428.233,744.348,1014.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54165,724
$CAP_FILE_SIZE,184052,0
$CFSIZE,260165632,164134912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,075054,2248.325,-15738.182,43,1.5,43,10.1