version: 66.06
glider: 148
mission: 12
dive: 136
start: 6 19 113 21 2 49
data:
$ID,148
$MISSION,12
$DIVE,136
$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,-1018807.4
$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,26
$R_STBD_OVSHOOT,91
$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
$GPS1,205436,2241.033,-15806.032,37,1.0,37,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.3
$GPS2,210155,2241.051,-15806.100,11,1.0,11,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,0.246
$KALMAN_X,-144948.0,-160.8,-14.5,134808.1,-1236.3
$KALMAN_Y,49703.0,-52.5,-242.0,-56701.6,16.5
$MHEAD_RNG_PITCHd_Wd,8.9,43419,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.12,0.000,2,0.000,0.000,417,1583,2964,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.9,9,120,13.90,2.42,-7.97,0.000,4,0.146,0.033,3102,3103,3398,0,0,0,0,0,0
$GC,213,-1.13,-146.0,31.2,-17.4,27,218,0.15,2.53,0.00,0.000,6,0.105,0.032,3135,1561,3399,0,0,0,0,0,0
$GC,482,-0.98,-146.0,78.9,-17.0,51,491,0.17,0.00,0.00,0.000,6,0.106,0.000,3172,1561,3399,0,0,0,0,0,0
$GC,743,-0.98,-146.0,111.5,-10.8,76,747,0.00,2.25,0.00,0.000,4,0.000,0.044,3172,172,3399,0,0,0,0,0,0
$GC,793,-0.98,-146.0,117.2,-12.2,80,797,0.00,2.08,0.00,0.000,6,0.000,0.017,3172,1573,3399,0,0,0,0,0,0
$GC,1055,-0.98,-146.0,146.4,-11.3,104,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1576,3400,0,0,0,0,0,0
$GC,1310,-0.98,-146.0,174.1,-10.0,128,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1576,3400,0,0,0,0,0,0
$GC,1564,-0.98,-146.0,198.2,-9.4,152,1568,0.00,2.38,0.00,0.000,4,0.000,0.021,3172,3112,3400,0,0,0,0,0,0
$GC,1583,-0.98,-146.0,200.2,-9.8,153,1591,0.00,2.53,0.00,0.000,6,0.000,0.027,3172,1559,3400,0,0,0,0,0,0
$GC,1834,-0.98,-146.0,224.6,-10.1,160,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1558,3400,0,0,0,0,0,0
$GC,2077,-0.98,-146.0,248.8,-9.8,166,2081,0.00,2.42,0.00,0.000,4,0.000,0.021,3172,3117,3400,0,0,0,0,0,0
$GC,2092,-0.98,-146.0,250.2,-9.2,166,2097,0.00,2.50,0.00,0.000,6,0.000,0.027,3172,1550,3400,0,0,0,0,0,0
$GC,2363,-0.98,-146.0,273.5,-8.6,173,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1550,3400,0,0,0,0,0,0
$GC,2605,-1.03,-146.0,293.2,-7.8,179,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1550,3401,0,0,0,0,0,0
$GC,2849,-1.09,-146.0,310.0,-6.9,185,2854,0.10,2.50,0.00,0.000,4,0.073,0.025,3115,3111,3400,0,0,0,0,0,0
$GC,2875,-1.09,-146.0,312.2,-9.1,185,2880,0.15,2.50,0.00,0.000,6,0.097,0.031,3149,1560,3400,0,0,0,0,0,0
$GC,3135,-1.09,-146.0,335.9,-9.4,192,3139,0.00,2.30,0.00,0.000,4,0.000,0.053,3149,169,3399,0,0,0,0,0,0
$GC,3209,-1.14,-146.0,344.1,-11.0,193,3213,0.00,2.05,0.00,0.000,6,0.000,0.021,3148,1513,3399,0,0,0,0,0,0
$GC,3470,-1.14,-146.0,366.4,-8.5,200,3474,0.00,2.53,0.00,0.000,4,0.000,0.031,3149,3098,3398,0,0,0,0,0,0
$GC,3508,-1.25,-146.0,369.3,-6.5,200,3514,0.15,2.53,0.00,0.000,6,0.054,0.038,3082,1557,3398,0,0,0,0,0,0
$GC,3759,-1.14,-146.0,393.6,-9.7,207,3764,0.25,2.35,0.00,0.000,4,0.091,0.060,3141,165,3396,0,0,0,0,0,0
$GC,3789,-1.14,-146.0,396.3,-8.7,207,3793,0.00,2.08,0.00,0.000,6,0.000,0.022,3141,1506,3396,0,0,0,0,0,0
$GC,4044,-1.14,-146.0,416.2,-8.0,214,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1508,3394,0,0,0,0,0,0
$GC,4287,-1.14,-146.0,437.3,-8.8,220,4292,0.00,2.58,0.00,0.000,4,0.000,0.035,3141,3101,3393,0,0,0,0,0,0
$GC,4318,-1.22,-146.0,439.8,-8.1,220,4322,0.00,2.60,0.00,0.000,6,0.000,0.040,3141,1537,3393,0,0,0,0,0,0
$GC,4573,-1.22,-146.0,457.3,-6.2,227,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1537,3391,0,0,0,0,0,0
$GC,4816,-1.22,-146.0,469.3,-4.8,233,4821,0.00,2.58,0.00,0.000,4,0.000,0.039,3141,3095,3389,0,0,0,0,0,0
$GC,4847,-1.30,-146.0,470.7,-5.1,233,4852,0.17,2.55,0.00,0.000,6,0.048,0.041,3076,1548,3389,0,0,0,0,0,0
$GC,5102,-1.21,-146.0,495.4,-10.4,240,5107,0.20,2.40,0.00,0.000,4,0.098,0.069,3120,162,3387,0,0,0,0,0,0
$GC,5159,-1.21,-146.0,501.3,-9.5,241,5163,0.00,2.12,0.00,0.000,6,0.000,0.028,3120,1495,3387,0,0,0,0,0,0
$GC,5437,-1.21,-146.0,526.4,-8.9,248,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1496,3385,0,0,0,0,0,0
$GC,5680,-1.21,-146.0,545.6,-7.8,254,5685,0.00,2.65,0.00,0.000,4,0.000,0.044,3120,3097,3383,0,0,0,0,0,0
$GC,5726,-1.29,-146.0,548.9,-7.7,255,5730,0.00,2.60,0.00,0.000,6,0.000,0.044,3119,1543,3384,0,0,0,0,0,0
$GC,6013,-1.29,-146.0,573.2,-8.7,262,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1543,3381,0,0,0,0,0,0
$GC,6257,-1.29,-146.0,595.5,-9.2,268,6261,0.00,2.38,0.00,0.000,4,0.000,0.077,3120,172,3380,0,0,0,0,0,0
$GC,6286,-1.29,-146.0,598.5,-11.4,268,6290,0.00,2.12,0.00,0.000,6,0.000,0.031,3120,1492,3379,0,0,0,0,0,0
$GC,6540,-1.29,-146.0,623.6,-9.7,275,6545,0.00,2.65,0.00,0.000,4,0.000,0.047,3120,3099,3379,0,0,0,0,0,0
$GC,6579,-1.37,-146.0,627.2,-8.6,275,6585,0.15,2.62,0.00,0.000,6,0.054,0.048,3055,1546,3379,0,0,0,0,0,0
$GC,6830,-1.25,-146.0,656.1,-11.7,282,6835,0.25,2.40,0.00,0.000,4,0.103,0.079,3112,172,3376,0,0,0,0,0,0
$GC,6859,-1.25,-146.0,659.3,-9.5,282,6863,0.00,2.12,0.00,0.000,6,0.000,0.032,3112,1486,3376,0,0,0,0,0,0
$GC,7114,-1.25,-146.0,681.4,-8.7,289,7118,0.00,2.65,0.00,0.000,4,0.000,0.049,3112,3092,3375,0,0,0,0,0,0
$GC,7150,-1.32,-146.0,684.4,-8.4,289,7155,0.00,2.60,0.00,0.000,6,0.000,0.049,3112,1544,3375,0,0,0,0,0,0
$GC,7401,-1.32,-146.0,706.0,-8.7,295,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1545,3373,0,0,0,0,0,0
$GC,7644,-1.32,-146.0,726.4,-8.3,301,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1545,3372,0,0,0,0,0,0
$GC,7889,-1.32,-146.0,746.4,-8.2,307,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1545,3371,0,0,0,0,0,0
$GC,8132,-1.32,-146.0,765.8,-7.9,313,8136,0.00,2.58,0.00,0.000,4,0.000,0.045,3112,3094,3370,0,0,0,0,0,0
$GC,8165,-1.39,-146.0,768.3,-7.1,313,8170,0.12,2.60,0.00,0.000,6,0.063,0.051,3053,1552,3370,0,0,0,0,0,0
$GC,8417,-1.28,-146.0,791.7,-9.5,319,8422,0.22,2.45,0.00,0.000,4,0.102,0.081,3102,169,3369,0,0,0,0,0,0
$GC,8483,-1.28,-146.0,797.7,-8.5,320,8487,0.00,2.12,0.00,0.000,6,0.000,0.032,3102,1494,3369,0,0,0,0,0,0
$GC,8747,-1.28,-146.0,816.6,-7.2,327,8751,0.00,2.67,0.00,0.000,4,0.000,0.051,3102,3093,3367,0,0,0,0,0,0
$GC,8777,-1.28,-146.0,818.7,-7.5,327,8781,0.00,2.62,0.00,0.000,6,0.000,0.050,3102,1546,3367,0,0,0,0,0,0
$GC,9031,-1.28,-146.0,838.4,-7.9,334,9036,0.00,2.42,0.00,0.000,4,0.000,0.082,3101,163,3366,0,0,0,0,0,0
$GC,9055,-1.28,-146.0,840.6,-9.8,334,9059,0.00,2.15,0.00,0.000,6,0.000,0.032,3102,1494,3366,0,0,0,0,0,0
$GC,9320,-1.28,-146.0,861.8,-8.0,341,9325,0.00,2.67,0.00,0.000,4,0.000,0.052,3102,3101,3366,0,0,0,0,0,0
$GC,9358,-1.34,-146.0,865.1,-8.4,341,9364,0.00,2.62,0.00,0.000,6,0.000,0.050,3102,1549,3365,0,0,0,0,0,0
$GC,9609,-1.34,-146.0,885.2,-8.1,348,9613,0.00,2.45,0.00,0.000,4,0.000,0.083,3102,165,3365,0,0,0,0,0,0
$GC,9648,-1.34,-146.0,888.6,-8.4,348,9653,0.00,2.15,0.00,0.000,6,0.000,0.034,3102,1488,3364,0,0,0,0,0,0
$STATE,9813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9814,begin apogee
$GC,9820,-0.31,0.0,902.5,8.2,353,9943,0.95,0.00,119.12,1.161,6,0.075,0.000,3318,1341,2800,0,0,0,0,0,0
$STATE,9943,end apogee,CONTROL_FINISHED_OK
$STATE,9943,begin climb
$GC,9946,1.27,146.0,906.6,0.0,356,10086,1.45,2.17,129.65,1.135,4,0.043,0.076,3661,178,2203,0,0,0,0,0,0
$GC,10273,1.00,146.0,872.8,16.0,363,10277,0.28,1.80,0.00,0.000,6,0.114,0.029,3606,1293,2198,0,0,0,0,0,0
$GC,10542,0.91,146.0,840.3,11.9,370,10543,0.10,0.00,0.00,0.000,6,0.134,0.000,3585,1294,2193,0,0,0,0,0,0
$GC,10787,0.86,146.0,812.8,11.3,376,10791,0.00,2.67,0.00,0.000,4,0.000,0.049,3585,2876,2191,0,0,0,0,0,0
$GC,10805,0.86,146.0,810.5,10.5,376,10810,0.00,2.60,0.00,0.000,6,0.000,0.048,3585,1360,2189,0,0,0,0,0,0
$GC,11069,0.86,146.0,780.9,11.1,383,11073,0.00,2.15,0.00,0.000,4,0.000,0.085,3585,165,2189,0,0,0,0,0,0
$GC,11168,0.75,146.0,768.8,13.5,385,11172,0.17,1.83,0.00,0.000,6,0.110,0.028,3550,1290,2188,0,0,0,0,0,0
$GC,11451,0.79,175.9,743.2,8.6,392,11483,0.00,2.75,25.75,1.021,4,0.000,0.048,3550,2864,2082,0,0,0,0,0,0
$GC,11510,0.92,215.7,738.3,8.2,393,11556,0.15,2.60,38.30,1.023,6,0.059,0.048,3602,1349,1920,0,0,0,0,0,0
$GC,11829,0.92,215.7,699.7,12.2,401,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1349,1913,0,0,0,0,0,0
$GC,12074,0.92,215.7,671.0,11.8,407,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1349,1912,0,0,0,0,0,0
$GC,12316,0.92,215.7,642.5,11.7,413,12321,0.00,2.58,0.00,0.000,4,0.000,0.041,3602,2877,1911,0,0,0,0,0,0
$GC,12340,0.92,215.7,639.6,10.3,413,12344,0.00,2.62,0.00,0.000,6,0.000,0.048,3601,1345,1909,0,0,0,0,0,0
$GC,12599,0.92,215.7,609.6,11.8,420,12603,0.00,2.58,0.00,0.000,4,0.000,0.042,3602,2874,1909,0,0,0,0,0,0
$GC,12619,0.92,215.7,607.4,11.5,420,12624,0.00,2.60,0.00,0.000,6,0.000,0.051,3602,1352,1908,0,0,0,0,0,0
$GC,12883,0.92,215.7,575.9,12.1,427,12887,0.00,2.10,0.00,0.000,4,0.000,0.082,3602,162,1908,0,0,0,0,0,0
$GC,12902,0.86,215.7,573.4,12.1,427,12906,0.15,1.83,0.00,0.000,6,0.110,0.027,3572,1314,1907,0,0,0,0,0,0
$GC,13172,0.91,215.7,544.1,10.9,434,13177,0.00,2.70,0.00,0.000,4,0.000,0.044,3572,2929,1908,0,0,0,0,0,0
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$STATE,17963,end climb,SURFACE_DEPTH_REACHED
$STATE,17964,begin surface coast
$FINISH,0.8,1.023468
$STATE,18012,end surface coast,CONTROL_FINISHED_OK
$STATE,18012,begin surface
$SM_CCo,18037,49.83,0.430,0,0,1249,380.21
$SM_GC,1.82,0.00,0.00,49.83,0.000,0.000,0.430,413,1610,1249,-13.67,1.13,380.21
$IRIDIUM_FIX,2230.01,-15804.11,130902,161635
$TT8_MAMPS,0.027612
$HUMID,62.56
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.50
$XPDR_PINGS,15
$24V_AH,23.3,19.669
$10V_AH,9.9,17.306
$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
$DEVICE_SECS,33.375,189.825,382.225,49.825,0.000,27.296,35.524,218.295,3.750,0.000,13.385,1511.803,13357.090,512.720,2419.839,717.762,33.366,1583.566,0.000,2412.362,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.497,327.923,414.337,747.810,1015.586,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,54067,688
$CAP_FILE_SIZE,173404,0
$CFSIZE,260165632,162168832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200613,020535,2243.016,-15806.421,38,1.2,38,10.0