version: 66.06
glider: 148
mission: 12
dive: 138
start: 6 20 113 7 35 36
data:
$ID,148
$MISSION,12
$DIVE,138
$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,-1018877.9
$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,43
$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
$GPS1,072423,2245.439,-15806.914,40,1.6,40,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.6
$GPS2,073442,2245.381,-15806.998,14,1.7,31,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.249
$KALMAN_X,-148907.9,-305.3,-139.5,137509.2,-934.3
$KALMAN_Y,48048.5,204.4,228.8,-47757.7,-1444.4
$MHEAD_RNG_PITCHd_Wd,6.1,35566,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.82,0.000,2,0.000,0.000,413,1670,2989,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.6,-5.9,9,122,14.07,2.38,-7.10,0.000,4,0.153,0.034,3102,3162,3398,0,0,0,0,0,0
$GC,201,-1.10,-146.0,32.5,-17.2,24,206,0.20,2.60,0.00,0.000,6,0.096,0.032,3145,1569,3398,0,0,0,0,0,0
$GC,470,-0.98,-146.0,74.2,-14.3,48,479,0.12,0.00,0.00,0.000,6,0.119,0.000,3171,1569,3399,0,0,0,0,0,0
$GC,734,-0.98,-146.0,103.4,-10.4,73,738,0.00,2.28,0.00,0.000,4,0.000,0.043,3171,168,3400,0,0,0,0,0,0
$GC,770,-0.98,-146.0,107.8,-11.0,76,774,0.00,2.17,0.00,0.000,6,0.000,0.017,3171,1619,3400,0,0,0,0,0,0
$GC,1042,-0.98,-146.0,135.0,-10.2,101,1047,0.00,2.33,0.00,0.000,4,0.000,0.021,3172,3120,3400,0,0,0,0,0,0
$GC,1071,-0.98,-146.0,138.1,-10.4,103,1075,0.00,2.47,0.00,0.000,6,0.000,0.027,3171,1568,3400,0,0,0,0,0,0
$GC,1338,-0.98,-146.0,165.5,-11.2,127,1343,0.00,2.28,0.00,0.000,4,0.000,0.043,3171,166,3400,0,0,0,0,0,0
$GC,1383,-0.98,-146.0,171.3,-11.0,131,1387,0.00,2.10,0.00,0.000,6,0.000,0.017,3171,1577,3400,0,0,0,0,0,0
$GC,1647,-0.98,-146.0,198.7,-10.6,155,1651,0.00,2.40,0.00,0.000,4,0.000,0.021,3171,3123,3400,0,0,0,0,0,0
$GC,1670,-0.98,-146.0,201.7,-11.2,156,1675,0.00,2.47,0.00,0.000,6,0.000,0.027,3172,1573,3400,0,0,0,0,0,0
$GC,1929,-0.98,-146.0,228.3,-10.1,163,1933,0.00,2.28,0.00,0.000,4,0.000,0.044,3171,172,3400,0,0,0,0,0,0
$GC,1963,-0.98,-146.0,231.6,-9.6,163,1968,0.00,2.08,0.00,0.000,6,0.000,0.018,3171,1566,3400,0,0,0,0,0,0
$GC,2213,-0.98,-146.0,254.2,-9.0,169,2217,0.00,2.42,0.00,0.000,4,0.000,0.023,3172,3112,3400,0,0,0,0,0,0
$GC,2256,-1.11,-146.0,257.9,-7.8,169,2262,0.12,2.50,0.00,0.000,6,0.061,0.028,3102,1560,3400,0,0,0,0,0,0
$GC,2507,-1.01,-146.0,285.9,-11.3,176,2512,0.25,2.28,0.00,0.000,4,0.087,0.045,3162,173,3400,0,0,0,0,0,0
$GC,2536,-1.01,-146.0,289.3,-9.8,176,2541,0.00,2.10,0.00,0.000,6,0.000,0.019,3162,1556,3400,0,0,0,0,0,0
$GC,2791,-1.06,-146.0,309.5,-7.9,183,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1559,3400,0,0,0,0,0,0
$GC,3036,-1.11,-146.0,325.8,-6.3,189,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1559,3398,0,0,0,0,0,0
$GC,3279,-1.17,-146.0,342.7,-7.2,195,3281,0.15,0.00,0.00,0.000,6,0.056,0.000,3099,1559,3398,0,0,0,0,0,0
$GC,3522,-1.10,-146.0,370.4,-11.4,201,3527,0.20,2.53,0.00,0.000,4,0.089,0.029,3144,3135,3396,0,0,0,0,0,0
$GC,3558,-1.17,-146.0,373.8,-8.9,201,3562,0.00,2.60,0.00,0.000,6,0.000,0.037,3144,1557,3396,0,0,0,0,0,0
$GC,3808,-1.17,-146.0,394.2,-8.1,207,3812,0.00,2.35,0.00,0.000,4,0.000,0.061,3145,169,3394,0,0,0,0,0,0
$GC,3827,-1.17,-146.0,395.8,-8.2,207,3831,0.00,2.15,0.00,0.000,6,0.000,0.022,3144,1554,3394,0,0,0,0,0,0
$GC,4096,-1.17,-146.0,415.2,-7.0,214,4101,0.00,2.55,0.00,0.000,4,0.000,0.035,3144,3138,3392,0,0,0,0,0,0
$GC,4125,-1.25,-146.0,417.3,-6.5,214,4130,0.12,2.60,0.00,0.000,6,0.061,0.039,3075,1562,3393,0,0,0,0,0,0
$GC,4381,-1.14,-146.0,443.6,-10.5,221,4386,0.25,2.40,0.00,0.000,4,0.091,0.066,3134,162,3390,0,0,0,0,0,0
$GC,4458,-1.14,-146.0,450.4,-8.2,222,4462,0.00,2.17,0.00,0.000,6,0.000,0.026,3134,1548,3390,0,0,0,0,0,0
$GC,4712,-1.14,-146.0,470.7,-8.0,229,4717,0.00,2.60,0.00,0.000,4,0.000,0.041,3134,3143,3388,0,0,0,0,0,0
$GC,4747,-1.21,-146.0,473.5,-7.7,229,4752,0.00,2.62,0.00,0.000,6,0.000,0.040,3134,1559,3388,0,0,0,0,0,0
$GC,4997,-1.21,-146.0,494.1,-8.2,235,5002,0.00,2.38,0.00,0.000,4,0.000,0.069,3134,172,3386,0,0,0,0,0,0
$GC,5021,-1.21,-146.0,496.3,-9.5,235,5025,0.00,2.22,0.00,0.000,6,0.000,0.027,3134,1562,3386,0,0,0,0,0,0
$GC,5280,-1.21,-146.0,517.4,-8.1,242,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1563,3385,0,0,0,0,0,0
$GC,5524,-1.21,-146.0,536.2,-7.5,248,5528,0.00,2.40,0.00,0.000,4,0.000,0.067,3134,167,3383,0,0,0,0,0,0
$GC,5552,-1.21,-146.0,538.5,-7.9,248,5556,0.00,2.25,0.00,0.000,6,0.000,0.030,3134,1560,3383,0,0,0,0,0,0
$GC,5811,-1.21,-146.0,557.2,-7.2,255,5816,0.00,2.65,0.00,0.000,4,0.000,0.046,3134,3152,3381,0,0,0,0,0,0
$GC,5842,-1.29,-146.0,559.3,-7.4,255,5847,0.12,2.67,0.00,0.000,6,0.061,0.044,3068,1560,3381,0,0,0,0,0,0
$GC,6098,-1.18,-146.0,586.2,-10.9,262,6103,0.25,2.42,0.00,0.000,4,0.091,0.074,3127,165,3380,0,0,0,0,0,0
$GC,6133,-1.18,-146.0,589.6,-9.3,262,6137,0.00,2.25,0.00,0.000,6,0.000,0.031,3127,1556,3380,0,0,0,0,0,0
$GC,6383,-1.18,-146.0,608.7,-7.5,268,6388,0.00,2.65,0.00,0.000,4,0.000,0.048,3128,3159,3378,0,0,0,0,0,0
$GC,6421,-1.28,-146.0,611.7,-7.6,268,6427,0.00,2.70,0.00,0.000,6,0.000,0.053,3127,1551,3378,0,0,0,0,0,0
$GC,6673,-1.28,-146.0,628.9,-6.8,275,6677,0.00,2.42,0.00,0.000,4,0.000,0.078,3128,170,3376,0,0,0,0,0,0
$GC,6720,-1.33,-146.0,632.5,-7.4,276,6725,0.15,2.22,0.00,0.000,6,0.057,0.033,3071,1556,3376,0,0,0,0,0,0
$GC,7007,-1.24,-146.0,657.9,-9.0,283,7009,0.20,0.00,0.00,0.000,6,0.096,0.000,3115,1557,3374,0,0,0,0,0,0
$GC,7248,-1.24,-146.0,675.9,-7.3,289,7253,0.00,2.67,0.00,0.000,4,0.000,0.052,3114,3151,3373,0,0,0,0,0,0
$GC,7268,-1.24,-146.0,677.5,-8.5,289,7272,0.00,2.72,0.00,0.000,6,0.000,0.048,3115,1547,3373,0,0,0,0,0,0
$GC,7532,-1.24,-146.0,697.2,-7.5,296,7536,0.00,2.45,0.00,0.000,4,0.000,0.081,3114,165,3372,0,0,0,0,0,0
$GC,7552,-1.24,-146.0,698.8,-7.9,296,7556,0.00,2.25,0.00,0.000,6,0.000,0.033,3114,1558,3372,0,0,0,0,0,0
$GC,7816,-1.24,-146.0,717.5,-7.0,303,7820,0.00,2.67,0.00,0.000,4,0.000,0.051,3115,3151,3371,0,0,0,0,0,0
$GC,7844,-1.30,-146.0,719.5,-6.5,303,7849,0.00,2.70,0.00,0.000,6,0.000,0.048,3115,1556,3371,0,0,0,0,0,0
$GC,8101,-1.30,-146.0,735.9,-6.5,310,8105,0.00,2.45,0.00,0.000,4,0.000,0.081,3115,171,3369,0,0,0,0,0,0
$GC,8129,-1.30,-146.0,738.0,-7.3,310,8133,0.00,2.25,0.00,0.000,6,0.000,0.034,3115,1562,3369,0,0,0,0,0,0
$GC,8383,-1.30,-146.0,754.1,-6.3,317,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1562,3369,0,0,0,0,0,0
$GC,8629,-1.30,-146.0,769.5,-6.3,323,8633,0.00,2.45,0.00,0.000,4,0.000,0.075,3115,171,3367,0,0,0,0,0,0
$GC,8657,-1.30,-146.0,771.6,-7.7,323,8661,0.00,2.22,0.00,0.000,6,0.000,0.035,3115,1551,3367,0,0,0,0,0,0
$GC,8911,-1.30,-146.0,788.3,-6.5,330,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1551,3366,0,0,0,0,0,0
$GC,9156,-1.30,-146.0,804.8,-6.8,336,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1550,3365,0,0,0,0,0,0
$GC,9399,-1.30,-146.0,822.2,-7.3,342,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1551,3364,0,0,0,0,0,0
$GC,9642,-1.30,-146.0,841.7,-8.0,348,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1551,3364,0,0,0,0,0,0
$GC,9886,-1.30,-146.0,862.0,-8.3,354,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1551,3363,0,0,0,0,0,0
$GC,10131,-1.30,-146.0,881.6,-7.9,360,10136,0.00,2.70,0.00,0.000,4,0.000,0.054,3115,3153,3363,0,0,0,0,0,0
$GC,10162,-1.37,-146.0,884.1,-8.7,360,10169,0.12,2.70,0.00,0.000,6,0.062,0.049,3058,1556,3362,0,0,0,0,0,0
$STATE,10335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10336,begin apogee
$GC,10342,-0.31,0.0,901.6,9.9,365,10465,1.15,0.00,118.97,1.161,6,0.080,0.000,3318,1348,2800,0,0,0,0,0,0
$STATE,10465,end apogee,CONTROL_FINISHED_OK
$STATE,10466,begin climb
$GC,10470,1.27,146.0,905.7,0.0,368,10605,1.48,0.00,130.62,1.138,6,0.036,0.000,3670,1348,2204,0,0,0,0,0,0
$GC,10824,1.05,146.0,872.5,13.3,377,10829,0.25,2.10,0.00,0.000,4,0.112,0.081,3615,172,2196,0,0,0,0,0,0
$GC,10841,0.84,146.0,870.3,13.6,377,10846,0.22,1.95,0.00,0.000,6,0.107,0.031,3570,1363,2196,0,0,0,0,0,0
$GC,11110,0.86,161.3,844.8,9.3,384,11126,0.00,0.00,13.68,1.003,6,0.000,0.000,3570,1363,2142,0,0,0,0,0,0
$GC,11353,0.86,161.3,819.6,10.5,390,11357,0.00,2.10,0.00,0.000,4,0.000,0.071,3570,170,2139,0,0,0,0,0,0
$GC,11373,0.86,161.3,817.3,11.2,390,11377,0.00,1.92,0.00,0.000,6,0.000,0.030,3569,1359,2139,0,0,0,0,0,0
$GC,11641,0.86,161.3,789.1,10.5,397,11642,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1359,2138,0,0,0,0,0,0
$GC,11885,0.87,168.8,765.4,9.7,403,11897,0.00,2.12,7.75,0.881,4,0.000,0.072,3570,170,2111,0,0,0,0,0,0
$GC,11913,0.91,205.5,762.7,8.3,403,11954,0.00,1.95,34.97,1.042,6,0.000,0.030,3569,1355,1963,0,0,0,0,0,0
$GC,12220,0.91,207.4,731.7,9.9,411,12224,0.00,2.67,0.00,0.000,4,0.000,0.050,3570,2931,1957,0,0,0,0,0,0
$GC,12240,0.93,219.0,729.6,9.5,411,12263,0.00,2.67,13.23,0.948,6,0.000,0.048,3569,1358,1906,0,0,0,0,0,0
$GC,12506,0.94,229.5,703.5,9.5,418,12523,0.00,2.20,11.25,0.915,4,0.000,0.084,3570,175,1864,0,0,0,0,0,0
$GC,12542,0.95,235.2,699.8,9.7,418,12555,0.10,1.92,7.15,0.821,6,0.081,0.029,3608,1359,1841,0,0,0,0,0,0
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$STATE,18577,end climb,SURFACE_DEPTH_REACHED
$STATE,18577,begin surface coast
$FINISH,0.9,1.011885
$STATE,18624,end surface coast,CONTROL_FINISHED_OK
$STATE,18624,begin surface
$SM_CCo,18649,38.08,0.430,0,0,1249,380.21
$SM_GC,1.55,0.00,0.00,38.08,0.000,0.000,0.430,410,1664,1249,-13.69,2.66,380.21
$IRIDIUM_FIX,2234.68,-15807.58,140902,070732
$TT8_MAMPS,0.027612
$HUMID,63.54
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.30
$XPDR_PINGS,7
$24V_AH,23.3,19.950
$10V_AH,9.9,17.564
$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,32.825,186.975,411.525,38.075,0.000,54.551,67.463,259.761,1.750,0.000,33.424,1499.989,14149.400,561.809,2268.527,819.009,33.372,1547.132,0.000,2253.617,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,83.603,1161.238,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.607,336.610,425.903,754.209,1026.471,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,54114,710
$CAP_FILE_SIZE,171340,0
$CFSIZE,260165632,162021376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200613,124844,2247.349,-15807.226,38,2.4,57,10.1