version: 66.06
glider: 148
mission: 12
dive: 141
start: 6 20 113 23 43 5
data:
$ID,148
$MISSION,12
$DIVE,141
$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,-1018929.6
$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,27
$R_STBD_OVSHOOT,105
$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
$GPS1,233506,2251.108,-15807.115,33,1.3,33,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.9
$GPS2,234212,2251.101,-15807.189,12,1.8,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,0.221
$KALMAN_X,-155031.4,-86.1,-14.7,142956.3,-1766.0
$KALMAN_Y,46406.0,-151.3,-37.1,-34895.3,-284.2
$MHEAD_RNG_PITCHd_Wd,21.5,25136,-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,-67.35,0.000,2,0.000,0.000,412,1597,2992,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-6.1,9,123,14.05,2.40,-7.10,0.000,4,0.152,0.035,3102,3089,3398,0,0,0,0,0,0
$GC,177,-1.11,-146.0,26.7,-17.6,21,186,0.15,2.53,0.00,0.000,6,0.080,0.033,3140,1567,3398,0,0,0,0,0,0
$GC,452,-0.97,-146.0,67.3,-12.9,47,461,0.15,0.00,0.00,0.000,6,0.109,0.000,3172,1566,3399,0,0,0,0,0,0
$GC,713,-0.97,-146.0,97.7,-11.9,72,717,0.00,2.40,0.00,0.000,4,0.000,0.021,3172,3100,3400,0,0,0,0,0,0
$GC,745,-0.97,-146.0,101.4,-11.6,74,754,0.00,2.50,0.00,0.000,6,0.000,0.029,3172,1573,3400,0,0,0,0,0,0
$GC,1009,-0.97,-146.0,132.2,-11.8,99,1013,0.00,2.28,0.00,0.000,4,0.000,0.043,3172,171,3401,0,0,0,0,0,0
$GC,1045,-0.97,-146.0,137.2,-13.1,102,1049,0.00,2.08,0.00,0.000,6,0.000,0.017,3172,1561,3401,0,0,0,0,0,0
$GC,1317,-0.97,-146.0,166.2,-10.2,127,1321,0.00,2.40,0.00,0.000,4,0.000,0.021,3172,3109,3401,0,0,0,0,0,0
$GC,1366,-1.05,-146.0,171.5,-8.5,131,1371,0.00,2.45,0.00,0.000,6,0.000,0.028,3172,1580,3401,0,0,0,0,0,0
$GC,1629,-1.05,-146.0,192.9,-7.5,156,1633,0.00,2.33,0.00,0.000,4,0.000,0.044,3171,164,3401,0,0,0,0,0,0
$GC,1677,-1.05,-146.0,196.6,-7.3,160,1681,0.00,2.12,0.00,0.000,6,0.000,0.017,3172,1575,3401,0,0,0,0,0,0
$GC,1930,-1.05,-146.0,215.2,-7.6,169,1934,0.00,2.40,0.00,0.000,4,0.000,0.021,3171,3120,3401,0,0,0,0,0,0
$GC,1963,-1.13,-146.0,218.2,-7.9,169,1968,0.12,2.47,0.00,0.000,6,0.059,0.028,3098,1577,3401,0,0,0,0,0,0
$GC,2219,-0.99,-146.0,251.2,-13.7,176,2224,0.28,2.30,0.00,0.000,4,0.087,0.043,3163,167,3401,0,0,0,0,0,0
$GC,2249,-0.99,-146.0,254.6,-10.3,176,2253,0.00,2.10,0.00,0.000,6,0.000,0.018,3164,1564,3401,0,0,0,0,0,0
$GC,2504,-0.99,-146.0,278.1,-9.1,183,2508,0.00,2.47,0.00,0.000,4,0.000,0.024,3164,3131,3401,0,0,0,0,0,0
$GC,2542,-1.09,-146.0,281.5,-8.0,183,2547,0.00,2.50,0.00,0.000,6,0.000,0.030,3163,1578,3401,0,0,0,0,0,0
$GC,2793,-1.09,-146.0,302.2,-8.5,190,2797,0.00,2.33,0.00,0.000,4,0.000,0.050,3163,167,3401,0,0,0,0,0,0
$GC,2826,-1.09,-146.0,305.6,-9.5,190,2830,0.00,2.17,0.00,0.000,6,0.000,0.021,3164,1570,3401,0,0,0,0,0,0
$GC,3077,-1.14,-146.0,325.3,-7.7,196,3082,0.12,2.50,0.00,0.000,4,0.064,0.028,3106,3137,3400,0,0,0,0,0,0
$GC,3108,-1.14,-146.0,327.9,-8.9,196,3113,0.12,2.55,0.00,0.000,6,0.102,0.034,3135,1584,3400,0,0,0,0,0,0
$GC,3363,-1.14,-146.0,347.6,-7.7,203,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1584,3399,0,0,0,0,0,0
$GC,3607,-1.14,-146.0,368.7,-8.8,209,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1584,3397,0,0,0,0,0,0
$GC,3852,-1.14,-146.0,388.5,-8.1,215,3856,0.00,2.38,0.00,0.000,4,0.000,0.058,3135,171,3396,0,0,0,0,0,0
$GC,3890,-1.14,-146.0,392.0,-9.0,215,3895,0.00,2.17,0.00,0.000,6,0.000,0.022,3136,1572,3396,0,0,0,0,0,0
$GC,4140,-1.14,-146.0,412.5,-8.2,222,4144,0.00,2.40,0.00,0.000,4,0.000,0.060,3135,171,3394,0,0,0,0,0,0
$GC,4165,-1.14,-146.0,414.7,-9.6,222,4169,0.00,2.20,0.00,0.000,6,0.000,0.025,3135,1577,3394,0,0,0,0,0,0
$GC,4428,-1.14,-146.0,435.7,-7.9,229,4433,0.00,2.53,0.00,0.000,4,0.000,0.036,3136,3141,3393,0,0,0,0,0,0
$GC,4448,-1.14,-146.0,437.3,-8.1,229,4452,0.00,2.58,0.00,0.000,6,0.000,0.038,3135,1574,3393,0,0,0,0,0,0
$GC,4713,-1.14,-146.0,456.9,-7.4,236,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1574,3391,0,0,0,0,0,0
$GC,4955,-1.14,-146.0,476.5,-8.2,242,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1574,3389,0,0,0,0,0,0
$GC,5199,-1.14,-146.0,495.2,-7.7,248,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1574,3388,0,0,0,0,0,0
$GC,5443,-1.14,-146.0,513.3,-7.2,254,5447,0.00,2.60,0.00,0.000,4,0.000,0.044,3135,3136,3386,0,0,0,0,0,0
$GC,5468,-1.20,-146.0,515.0,-7.7,254,5473,0.00,2.58,0.00,0.000,6,0.000,0.041,3136,1587,3386,0,0,0,0,0,0
$GC,5728,-1.20,-146.0,531.8,-6.4,261,5732,0.00,2.47,0.00,0.000,4,0.000,0.073,3135,164,3385,0,0,0,0,0,0
$GC,5772,-1.25,-146.0,534.8,-7.4,262,5776,0.10,2.28,0.00,0.000,6,0.075,0.030,3086,1576,3384,0,0,0,0,0,0
$GC,6063,-1.18,-146.0,560.1,-9.0,269,6068,0.17,2.62,0.00,0.000,4,0.097,0.044,3124,3150,3383,0,0,0,0,0,0
$GC,6083,-1.18,-146.0,562.2,-8.6,269,6087,0.00,2.60,0.00,0.000,6,0.000,0.041,3125,1580,3383,0,0,0,0,0,0
$GC,6348,-1.18,-146.0,581.5,-7.5,276,6353,0.00,2.45,0.00,0.000,4,0.000,0.075,3125,165,3381,0,0,0,0,0,0
$GC,6381,-1.18,-146.0,584.4,-8.8,276,6386,0.00,2.30,0.00,0.000,6,0.000,0.031,3125,1587,3381,0,0,0,0,0,0
$GC,6633,-1.18,-146.0,602.4,-7.1,282,6637,0.00,2.60,0.00,0.000,4,0.000,0.047,3124,3149,3379,0,0,0,0,0,0
$GC,6654,-1.18,-146.0,603.9,-7.5,282,6658,0.00,2.65,0.00,0.000,6,0.000,0.045,3125,1577,3380,0,0,0,0,0,0
$GC,6918,-1.18,-146.0,621.8,-6.8,289,6922,0.00,2.45,0.00,0.000,4,0.000,0.077,3124,165,3378,0,0,0,0,0,0
$GC,6976,-1.18,-146.0,626.3,-7.6,290,6980,0.00,2.28,0.00,0.000,6,0.000,0.032,3125,1579,3378,0,0,0,0,0,0
$GC,7250,-1.18,-146.0,645.1,-7.0,297,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1579,3376,0,0,0,0,0,0
$GC,7493,-1.18,-146.0,662.2,-7.1,303,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1579,3375,0,0,0,0,0,0
$GC,7736,-1.18,-146.0,680.0,-7.3,309,7740,0.00,2.47,0.00,0.000,4,0.000,0.075,3125,171,3374,0,0,0,0,0,0
$GC,7771,-1.18,-146.0,682.7,-8.7,309,7775,0.00,2.28,0.00,0.000,6,0.000,0.034,3125,1578,3374,0,0,0,0,0,0
$GC,8021,-1.18,-146.0,703.3,-8.3,315,8025,0.00,2.47,0.00,0.000,4,0.000,0.075,3125,170,3373,0,0,0,0,0,0
$GC,8049,-1.18,-146.0,705.8,-9.0,315,8054,0.00,2.28,0.00,0.000,6,0.000,0.035,3125,1562,3373,0,0,0,0,0,0
$GC,8306,-1.18,-146.0,727.9,-8.7,322,8310,0.00,2.70,0.00,0.000,4,0.000,0.053,3125,3163,3371,0,0,0,0,0,0
$GC,8340,-1.27,-146.0,731.0,-8.5,322,8344,0.00,2.72,0.00,0.000,6,0.000,0.048,3125,1560,3371,0,0,0,0,0,0
$GC,8590,-1.32,-146.0,752.7,-8.7,328,8595,0.12,2.45,0.00,0.000,4,0.066,0.081,3075,169,3370,0,0,0,0,0,0
$GC,8616,-1.25,-146.0,755.4,-11.9,328,8621,0.17,2.28,0.00,0.000,6,0.098,0.035,3114,1560,3370,0,0,0,0,0,0
$GC,8876,-1.25,-146.0,778.7,-8.5,335,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1560,3370,0,0,0,0,0,0
$GC,9120,-1.25,-146.0,797.3,-7.4,341,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1560,3368,0,0,0,0,0,0
$GC,9365,-1.25,-146.0,813.7,-6.7,347,9370,0.00,2.67,0.00,0.000,4,0.000,0.055,3114,3154,3368,0,0,0,0,0,0
$GC,9389,-1.30,-146.0,815.4,-6.9,347,9394,0.00,2.70,0.00,0.000,6,0.000,0.049,3114,1561,3367,0,0,0,0,0,0
$GC,9649,-1.30,-146.0,832.1,-6.4,354,9653,0.00,2.47,0.00,0.000,4,0.000,0.081,3114,161,3367,0,0,0,0,0,0
$GC,9681,-1.30,-146.0,834.1,-6.9,354,9685,0.00,2.30,0.00,0.000,6,0.000,0.035,3114,1566,3366,0,0,0,0,0,0
$GC,9935,-1.30,-146.0,849.9,-6.0,361,9940,0.00,2.67,0.00,0.000,4,0.000,0.055,3114,3157,3366,0,0,0,0,0,0
$GC,9959,-1.35,-146.0,851.5,-7.4,361,9965,0.10,2.70,0.00,0.000,6,0.076,0.049,3065,1558,3366,0,0,0,0,0,0
$GC,10222,-1.27,-146.0,872.0,-8.0,368,10227,0.20,2.47,0.00,0.000,4,0.096,0.080,3110,161,3365,0,0,0,0,0,0
$GC,10256,-1.27,-146.0,874.6,-6.6,368,10260,0.00,2.30,0.00,0.000,6,0.000,0.035,3109,1562,3365,0,0,0,0,0,0
$GC,10506,-1.27,-146.0,889.0,-5.7,374,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1563,3364,0,0,0,0,0,0
$STATE,10706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10706,begin apogee
$GC,10714,-0.31,0.0,900.2,5.5,379,10837,0.90,0.00,119.45,1.157,6,0.074,0.000,3316,1344,2800,0,0,0,0,0,0
$STATE,10838,end apogee,CONTROL_FINISHED_OK
$STATE,10838,begin climb
$GC,10840,1.27,146.0,901.8,0.0,382,10980,1.42,2.20,129.52,1.134,4,0.031,0.078,3665,173,2204,0,0,0,0,0,0
$GC,11056,1.00,146.0,882.1,17.8,387,11061,0.30,1.95,0.00,0.000,6,0.114,0.032,3605,1352,2199,0,0,0,0,0,0
$GC,11345,0.91,146.0,844.8,12.7,394,11350,0.10,2.08,0.00,0.000,4,0.139,0.072,3585,175,2193,0,0,0,0,0,0
$GC,11389,0.80,146.0,838.8,12.9,395,11393,0.12,1.92,0.00,0.000,6,0.124,0.031,3561,1360,2193,0,0,0,0,0,0
$GC,11677,0.80,146.0,808.9,10.1,402,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1361,2191,0,0,0,0,0,0
$GC,11920,0.82,162.9,785.9,9.2,408,11940,0.00,2.20,14.50,0.992,4,0.000,0.073,3561,173,2135,0,0,0,0,0,0
$GC,11969,0.82,162.9,781.2,10.6,409,11972,0.00,1.92,0.00,0.000,6,0.000,0.030,3561,1351,2134,0,0,0,0,0,0
$GC,12256,0.86,193.5,756.2,8.6,416,12293,0.00,2.72,29.08,1.029,4,0.000,0.050,3561,2929,2009,0,0,0,0,0,0
$GC,12308,0.90,225.9,751.5,8.5,417,12345,0.00,2.72,31.55,1.019,6,0.000,0.048,3561,1349,1878,0,0,0,0,0,0
$GC,12628,0.90,225.9,719.1,10.4,425,12632,0.00,2.67,0.00,0.000,4,0.000,0.042,3561,2935,1871,0,0,0,0,0,0
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$STATE,18627,end climb,SURFACE_DEPTH_REACHED
$STATE,18627,begin surface coast
$FINISH,0.8,1.013722
$STATE,18667,end surface coast,CONTROL_FINISHED_OK
$STATE,18667,begin surface
$SM_CCo,18690,30.52,0.428,0,0,1250,380.21
$SM_GC,1.91,0.00,0.00,30.52,0.000,0.000,0.428,410,1683,1250,-13.69,3.19,380.21
$IRIDIUM_FIX,2239.35,-15757.16,140902,181803
$TT8_MAMPS,0.027612
$HUMID,63.62
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,19
$24V_AH,23.3,20.378
$10V_AH,9.9,17.953
$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,33.000,215.975,418.150,30.525,0.000,27.213,34.078,214.990,4.750,0.000,13.933,1536.040,13952.087,537.727,2392.599,721.178,33.367,1630.086,0.000,2384.130,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,84.370,1156.636,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.201,325.473,411.889,734.464,1000.876,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,54110,695
$CAP_FILE_SIZE,181275,0
$CFSIZE,260165632,161779712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210613,045630,2253.397,-15806.855,40,1.4,40,10.1