version: 66.06
glider: 148
mission: 12
dive: 140
start: 6 20 113 18 23 21
data:
$ID,148
$MISSION,12
$DIVE,140
$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,-1018915.1
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,181236,2249.282,-15807.212,33,1.0,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.2
$GPS2,182227,2249.241,-15807.229,20,1.1,20,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,0.232
$KALMAN_X,-153046.3,93.1,-152.1,140860.9,-1503.0
$KALMAN_Y,47048.8,-160.5,61.3,-39069.7,-532.5
$MHEAD_RNG_PITCHd_Wd,16.6,28541,-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,-67.45,0.000,2,0.000,0.000,409,1647,2980,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.9,9,123,14.12,2.45,-7.40,0.000,4,0.153,0.035,3105,3173,3398,0,0,0,0,0,0
$GC,171,-1.11,-146.0,25.7,-18.3,20,180,0.12,2.65,0.00,0.000,6,0.084,0.032,3137,1573,3399,0,0,0,0,0,0
$GC,445,-0.95,-146.0,73.4,-15.7,46,454,0.17,0.00,0.00,0.000,6,0.107,0.000,3175,1572,3399,0,0,0,0,0,0
$GC,710,-0.95,-146.0,105.1,-10.8,71,714,0.00,2.50,0.00,0.000,4,0.000,0.021,3175,3171,3400,0,0,0,0,0,0
$GC,738,-0.95,-146.0,108.1,-10.9,73,743,0.00,2.58,0.00,0.000,6,0.000,0.028,3175,1572,3400,0,0,0,0,0,0
$GC,1006,-0.95,-146.0,136.7,-10.5,97,1010,0.00,2.28,0.00,0.000,4,0.000,0.044,3175,173,3401,0,0,0,0,0,0
$GC,1055,-0.95,-146.0,143.0,-11.2,101,1061,0.00,2.20,0.00,0.000,6,0.000,0.017,3175,1641,3401,0,0,0,0,0,0
$GC,1319,-0.95,-146.0,169.9,-10.3,126,1324,0.00,2.40,0.00,0.000,4,0.000,0.042,3175,173,3401,0,0,0,0,0,0
$GC,1340,-0.95,-146.0,172.5,-11.0,127,1345,0.00,2.17,0.00,0.000,6,0.000,0.017,3175,1643,3401,0,0,0,0,0,0
$GC,1602,-0.95,-146.0,200.4,-10.2,152,1607,0.00,2.40,0.00,0.000,4,0.000,0.021,3175,3180,3401,0,0,0,0,0,0
$GC,1629,-0.95,-146.0,203.1,-10.8,152,1633,0.00,2.55,0.00,0.000,6,0.000,0.027,3175,1584,3401,0,0,0,0,0,0
$GC,1888,-0.95,-146.0,225.7,-8.2,159,1892,0.00,2.30,0.00,0.000,4,0.000,0.044,3175,167,3401,0,0,0,0,0,0
$GC,1952,-1.02,-146.0,230.6,-8.3,160,1956,0.00,2.22,0.00,0.000,6,0.000,0.018,3174,1633,3401,0,0,0,0,0,0
$GC,2221,-1.07,-146.0,255.0,-9.5,167,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1636,3401,0,0,0,0,0,0
$GC,2465,-1.13,-146.0,278.1,-9.2,173,2469,0.15,2.45,0.00,0.000,4,0.055,0.024,3111,3174,3401,0,0,0,0,0,0
$GC,2486,-1.13,-146.0,280.2,-9.4,173,2491,0.12,2.58,0.00,0.000,6,0.100,0.029,3139,1577,3401,0,0,0,0,0,0
$GC,2751,-1.13,-146.0,304.1,-8.7,180,2755,0.00,2.33,0.00,0.000,4,0.000,0.050,3139,166,3401,0,0,0,0,0,0
$GC,2770,-1.13,-146.0,305.9,-9.3,180,2774,0.00,2.20,0.00,0.000,6,0.000,0.020,3139,1607,3401,0,0,0,0,0,0
$GC,3035,-1.13,-146.0,329.9,-9.3,187,3039,0.00,2.42,0.00,0.000,4,0.000,0.028,3139,3139,3399,0,0,0,0,0,0
$GC,3054,-1.13,-146.0,332.2,-10.6,187,3058,0.00,2.58,0.00,0.000,6,0.000,0.039,3139,1569,3399,0,0,0,0,0,0
$GC,3318,-1.13,-146.0,358.2,-10.0,194,3322,0.00,2.35,0.00,0.000,4,0.000,0.058,3139,164,3398,0,0,0,0,0,0
$GC,3347,-1.13,-146.0,361.3,-11.5,194,3352,0.00,2.20,0.00,0.000,6,0.000,0.022,3139,1564,3398,0,0,0,0,0,0
$GC,3602,-1.13,-146.0,385.9,-9.5,201,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1565,3396,0,0,0,0,0,0
$GC,3846,-1.13,-146.0,407.2,-8.6,207,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1565,3395,0,0,0,0,0,0
$GC,4089,-1.13,-146.0,426.3,-7.9,213,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1565,3393,0,0,0,0,0,0
$GC,4335,-1.13,-146.0,446.2,-8.3,219,4339,0.00,2.58,0.00,0.000,4,0.000,0.036,3139,3141,3392,0,0,0,0,0,0
$GC,4359,-1.19,-146.0,448.3,-9.1,219,4363,0.00,2.60,0.00,0.000,6,0.000,0.039,3139,1567,3392,0,0,0,0,0,0
$GC,4618,-1.19,-146.0,470.3,-8.5,226,4623,0.00,2.40,0.00,0.000,4,0.000,0.070,3139,168,3390,0,0,0,0,0,0
$GC,4664,-1.23,-146.0,474.4,-8.9,227,4668,0.10,2.20,0.00,0.000,6,0.076,0.028,3093,1559,3390,0,0,0,0,0,0
$GC,4956,-1.17,-146.0,507.6,-11.6,234,4961,0.17,2.60,0.00,0.000,4,0.097,0.041,3129,3145,3387,0,0,0,0,0,0
$GC,4982,-1.17,-146.0,510.1,-9.6,234,4986,0.00,2.62,0.00,0.000,6,0.000,0.041,3129,1560,3387,0,0,0,0,0,0
$GC,5241,-1.17,-146.0,531.2,-7.6,241,5245,0.00,2.40,0.00,0.000,4,0.000,0.074,3129,166,3386,0,0,0,0,0,0
$GC,5269,-1.17,-146.0,533.4,-7.5,241,5274,0.00,2.22,0.00,0.000,6,0.000,0.028,3129,1568,3385,0,0,0,0,0,0
$GC,5526,-1.17,-146.0,548.9,-5.9,248,5530,0.00,2.60,0.00,0.000,4,0.000,0.041,3129,3150,3384,0,0,0,0,0,0
$GC,5550,-1.23,-146.0,550.4,-6.3,248,5554,0.00,2.65,0.00,0.000,6,0.000,0.043,3129,1567,3384,0,0,0,0,0,0
$GC,5809,-1.23,-146.0,566.1,-6.3,255,5814,0.00,2.42,0.00,0.000,4,0.000,0.075,3130,165,3382,0,0,0,0,0,0
$GC,5839,-1.23,-146.0,568.3,-7.9,255,5843,0.00,2.25,0.00,0.000,6,0.000,0.029,3129,1563,3382,0,0,0,0,0,0
$GC,6094,-1.23,-146.0,585.3,-6.6,262,6098,0.00,2.62,0.00,0.000,4,0.000,0.043,3129,3154,3381,0,0,0,0,0,0
$GC,6113,-1.23,-146.0,586.8,-7.4,262,6117,0.00,2.65,0.00,0.000,6,0.000,0.044,3129,1565,3381,0,0,0,0,0,0
$GC,6379,-1.23,-146.0,603.6,-6.4,269,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1564,3380,0,0,0,0,0,0
$GC,6621,-1.23,-146.0,620.4,-7.2,275,6625,0.00,2.62,0.00,0.000,4,0.000,0.042,3129,3155,3378,0,0,0,0,0,0
$GC,6640,-1.28,-146.0,621.8,-7.4,275,6645,0.00,2.70,0.00,0.000,6,0.000,0.047,3129,1557,3378,0,0,0,0,0,0
$GC,6906,-1.28,-146.0,642.0,-7.7,282,6910,0.00,2.42,0.00,0.000,4,0.000,0.081,3129,170,3376,0,0,0,0,0,0
$GC,6945,-1.28,-146.0,645.8,-9.4,282,6952,0.00,2.28,0.00,0.000,6,0.000,0.032,3129,1572,3375,0,0,0,0,0,0
$GC,7195,-1.28,-146.0,667.7,-8.8,289,7196,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1572,3375,0,0,0,0,0,0
$GC,7441,-1.32,-146.0,689.8,-9.1,295,7443,0.12,0.00,0.00,0.000,6,0.065,0.000,3077,1572,3373,0,0,0,0,0,0
$GC,7683,-1.25,-146.0,715.5,-10.5,301,7688,0.15,2.50,0.00,0.000,4,0.105,0.076,3110,166,3372,0,0,0,0,0,0
$GC,7712,-1.25,-146.0,718.5,-9.1,301,7716,0.00,2.25,0.00,0.000,6,0.000,0.033,3110,1559,3372,0,0,0,0,0,0
$GC,7968,-1.25,-146.0,739.4,-8.2,308,7972,0.00,2.65,0.00,0.000,4,0.000,0.050,3110,3157,3371,0,0,0,0,0,0
$GC,7992,-1.25,-146.0,741.6,-9.1,308,7996,0.00,2.67,0.00,0.000,6,0.000,0.048,3110,1565,3371,0,0,0,0,0,0
$GC,8251,-1.25,-146.0,761.0,-7.4,315,8255,0.00,2.47,0.00,0.000,4,0.000,0.082,3110,165,3370,0,0,0,0,0,0
$GC,8275,-1.25,-146.0,762.9,-7.8,315,8279,0.00,2.30,0.00,0.000,6,0.000,0.034,3110,1576,3370,0,0,0,0,0,0
$GC,8536,-1.25,-146.0,780.7,-6.7,322,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1576,3369,0,0,0,0,0,0
$GC,8778,-1.25,-146.0,796.2,-6.4,328,8782,0.00,2.65,0.00,0.000,4,0.000,0.050,3110,3155,3368,0,0,0,0,0,0
$GC,8797,-1.25,-146.0,797.4,-5.9,328,8802,0.00,2.67,0.00,0.000,6,0.000,0.048,3110,1566,3369,0,0,0,0,0,0
$GC,9063,-1.25,-146.0,812.9,-5.8,335,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1566,3367,0,0,0,0,0,0
$GC,9305,-1.25,-146.0,826.6,-5.6,341,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1566,3366,0,0,0,0,0,0
$GC,9549,-1.25,-146.0,841.4,-6.2,347,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1566,3365,0,0,0,0,0,0
$GC,9794,-1.25,-146.0,857.4,-6.7,353,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1566,3364,0,0,0,0,0,0
$GC,10036,-1.25,-146.0,874.4,-7.0,359,10040,0.00,2.45,0.00,0.000,4,0.000,0.081,3110,166,3364,0,0,0,0,0,0
$GC,10060,-1.25,-146.0,876.4,-8.5,359,10064,0.00,2.28,0.00,0.000,6,0.000,0.034,3110,1563,3363,0,0,0,0,0,0
$GC,10319,-1.25,-146.0,895.4,-7.4,366,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1563,3363,0,0,0,0,0,0
$STATE,10397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10397,begin apogee
$GC,10405,-0.31,0.0,901.4,7.2,368,10528,0.90,0.00,119.38,1.164,6,0.078,0.000,3315,1345,2800,0,0,0,0,0,0
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10532,1.27,146.0,904.9,0.0,371,10671,1.42,2.20,129.73,1.139,4,0.031,0.077,3666,176,2203,0,0,0,0,0,0
$GC,10736,0.99,146.0,889.4,16.7,375,10741,0.32,1.92,0.00,0.000,6,0.114,0.031,3601,1352,2199,0,0,0,0,0,0
$GC,10988,0.91,146.0,860.2,11.5,381,10992,0.00,2.10,0.00,0.000,4,0.000,0.072,3601,176,2193,0,0,0,0,0,0
$GC,11050,0.76,146.0,851.9,13.1,382,11055,0.25,1.92,0.00,0.000,6,0.101,0.030,3549,1349,2193,0,0,0,0,0,0
$GC,11319,0.78,161.2,826.1,9.3,389,11334,0.00,0.00,13.18,0.997,6,0.000,0.000,3549,1349,2142,0,0,0,0,0,0
$GC,11564,0.80,176.3,803.4,9.3,395,11584,0.00,2.72,14.85,1.001,4,0.000,0.049,3549,2931,2081,0,0,0,0,0,0
$GC,11600,0.93,239.0,800.1,7.1,395,11669,0.15,2.72,59.72,1.068,6,0.059,0.048,3601,1350,1825,0,0,0,0,0,0
$GC,11938,0.93,239.0,757.0,13.0,404,11943,0.00,2.70,0.00,0.000,4,0.000,0.043,3601,2930,1818,0,0,0,0,0,0
$GC,11966,0.93,239.0,753.4,13.2,404,11971,0.00,2.72,0.00,0.000,6,0.000,0.049,3601,1352,1815,0,0,0,0,0,0
$GC,12223,0.93,239.0,721.8,12.6,411,12227,0.00,2.65,0.00,0.000,4,0.000,0.043,3601,2932,1814,0,0,0,0,0,0
$GC,12237,0.93,239.0,719.7,12.6,411,12241,0.00,2.70,0.00,0.000,6,0.000,0.048,3601,1351,1813,0,0,0,0,0,0
$GC,12505,0.93,239.0,685.4,12.8,418,12506,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1351,1813,0,0,0,0,0,0
$GC,12749,0.93,239.0,652.7,13.5,424,12753,0.00,2.12,0.00,0.000,4,0.000,0.086,3601,159,1813,0,0,0,0,0,0
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$STATE,18519,end climb,SURFACE_DEPTH_REACHED
$STATE,18520,begin surface coast
$FINISH,0.9,1.018145
$STATE,18566,end surface coast,CONTROL_FINISHED_OK
$STATE,18566,begin surface
$SM_CCo,18589,37.92,0.430,0,0,1248,380.21
$SM_GC,1.86,0.00,0.00,37.92,0.000,0.000,0.430,412,1597,1248,-13.68,0.76,380.21
$IRIDIUM_FIX,2241.69,-15806.70,140902,181842
$TT8_MAMPS,0.027612
$HUMID,63.30
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,11
$24V_AH,23.3,20.236
$10V_AH,9.9,17.826
$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,32.850,213.525,407.275,37.925,0.000,49.966,67.230,249.911,2.750,0.000,21.662,1506.088,14041.215,536.962,2307.984,820.078,33.381,1596.602,0.000,2297.335,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,85.904,1164.306,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.189,317.823,413.717,700.753,985.049,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,54031,699
$CAP_FILE_SIZE,181257,0
$CFSIZE,260165632,161853440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200613,233506,2251.108,-15807.115,33,1.3,33,10.1