version: 66.06
glider: 148
mission: 12
dive: 143
start: 6 21 113 10 15 5
data:
$ID,148
$MISSION,12
$DIVE,143
$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,-1018961.5
$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,28
$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
$GPS1,100706,2255.512,-15806.758,29,1.3,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.8
$GPS2,101412,2255.490,-15806.799,10,1.8,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,0.234
$KALMAN_X,-158772.0,-104.3,-143.2,147511.7,-1178.0
$KALMAN_Y,45953.6,291.3,-64.9,-26730.4,-586.7
$MHEAD_RNG_PITCHd_Wd,15.6,17039,-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,-67.18,0.000,2,0.000,0.000,414,1638,2955,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.5,9,115,13.88,0.00,-8.00,0.000,6,0.147,0.000,3102,1638,3398,0,0,0,0,0,0
$GC,389,-1.04,-146.0,71.8,-17.0,42,394,0.25,2.42,0.00,0.000,4,0.099,0.040,3159,161,3399,0,0,0,0,0,0
$GC,412,-0.88,-146.0,76.3,-16.0,43,422,0.10,2.22,0.00,0.000,6,0.079,0.017,3187,1613,3399,0,0,0,0,0,0
$GC,676,-0.88,-146.0,99.0,-7.3,68,680,0.00,2.38,0.00,0.000,4,0.000,0.021,3187,3129,3400,0,0,0,0,0,0
$GC,696,-0.88,-146.0,100.3,-7.5,69,700,0.00,2.53,0.00,0.000,6,0.000,0.026,3187,1551,3400,0,0,0,0,0,0
$GC,964,-0.88,-146.0,122.0,-9.0,93,968,0.00,2.28,0.00,0.000,4,0.000,0.043,3188,165,3401,0,0,0,0,0,0
$GC,993,-0.88,-146.0,124.9,-9.7,95,997,0.00,2.10,0.00,0.000,6,0.000,0.017,3187,1584,3401,0,0,0,0,0,0
$GC,1261,-0.88,-146.0,150.0,-9.7,119,1265,0.00,2.38,0.00,0.000,4,0.000,0.021,3188,3111,3401,0,0,0,0,0,0
$GC,1298,-0.97,-146.0,154.3,-9.9,122,1302,0.00,2.47,0.00,0.000,6,0.000,0.028,3187,1565,3401,0,0,0,0,0,0
$GC,1562,-0.97,-146.0,179.4,-9.2,146,1566,0.00,2.28,0.00,0.000,4,0.000,0.044,3187,164,3401,0,0,0,0,0,0
$GC,1581,-0.97,-146.0,181.5,-9.4,147,1590,0.00,2.12,0.00,0.000,6,0.000,0.018,3187,1574,3401,0,0,0,0,0,0
$GC,1854,-0.97,-146.0,203.6,-7.7,170,1858,0.00,2.38,0.00,0.000,4,0.000,0.021,3187,3102,3401,0,0,0,0,0,0
$GC,1882,-1.07,-146.0,205.9,-6.8,170,1887,0.15,2.47,0.00,0.000,6,0.053,0.028,3108,1557,3401,0,0,0,0,0,0
$GC,2138,-0.94,-146.0,238.1,-13.3,177,2140,0.32,0.00,0.00,0.000,6,0.085,0.000,3179,1558,3401,0,0,0,0,0,0
$GC,2384,-1.00,-146.0,257.8,-7.7,183,2388,0.00,2.42,0.00,0.000,4,0.000,0.022,3179,3102,3401,0,0,0,0,0,0
$GC,2419,-1.14,-146.0,260.4,-7.2,183,2424,0.17,2.45,0.00,0.000,6,0.048,0.029,3098,1575,3401,0,0,0,0,0,0
$GC,2669,-1.02,-146.0,287.3,-10.8,189,2674,0.25,2.30,0.00,0.000,4,0.087,0.045,3158,174,3401,0,0,0,0,0,0
$GC,2741,-1.10,-146.0,292.9,-7.2,190,2745,0.00,2.08,0.00,0.000,6,0.000,0.020,3158,1534,3401,0,0,0,0,0,0
$GC,3000,-1.10,-146.0,311.7,-7.4,197,3005,0.00,2.55,0.00,0.000,4,0.000,0.028,3158,3140,3401,0,0,0,0,0,0
$GC,3035,-1.21,-146.0,314.5,-8.1,197,3041,0.17,2.55,0.00,0.000,6,0.048,0.033,3074,1568,3401,0,0,0,0,0,0
$GC,3285,-1.08,-146.0,345.8,-13.0,203,3290,0.30,2.33,0.00,0.000,4,0.089,0.052,3144,169,3399,0,0,0,0,0,0
$GC,3321,-1.08,-146.0,349.4,-9.6,203,3325,0.00,2.15,0.00,0.000,6,0.000,0.021,3144,1563,3399,0,0,0,0,0,0
$GC,3572,-1.08,-146.0,371.6,-8.8,209,3577,0.00,2.55,0.00,0.000,4,0.000,0.033,3144,3141,3397,0,0,0,0,0,0
$GC,3610,-1.17,-146.0,374.9,-7.6,209,3616,0.00,2.60,0.00,0.000,6,0.000,0.038,3144,1569,3398,0,0,0,0,0,0
$GC,3861,-1.17,-146.0,392.9,-7.0,216,3865,0.00,2.38,0.00,0.000,4,0.000,0.061,3144,170,3396,0,0,0,0,0,0
$GC,3890,-1.17,-146.0,395.0,-7.4,216,3894,0.00,2.17,0.00,0.000,6,0.000,0.023,3144,1567,3396,0,0,0,0,0,0
$GC,4149,-1.17,-146.0,412.5,-6.8,223,4154,0.00,2.55,0.00,0.000,4,0.000,0.036,3144,3146,3394,0,0,0,0,0,0
$GC,4178,-1.25,-146.0,414.7,-7.1,223,4183,0.15,2.60,0.00,0.000,6,0.054,0.038,3090,1567,3394,0,0,0,0,0,0
$GC,4435,-1.18,-146.0,441.3,-10.8,230,4437,0.17,0.00,0.00,0.000,6,0.100,0.000,3128,1567,3393,0,0,0,0,0,0
$GC,4677,-1.18,-146.0,462.6,-8.5,236,4682,0.00,2.40,0.00,0.000,4,0.000,0.068,3128,172,3391,0,0,0,0,0,0
$GC,4707,-1.18,-146.0,465.1,-9.2,236,4711,0.00,2.25,0.00,0.000,6,0.000,0.027,3128,1583,3390,0,0,0,0,0,0
$GC,4963,-1.18,-146.0,486.3,-8.3,243,4964,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3389,0,0,0,0,0,0
$GC,5205,-1.18,-146.0,506.7,-8.3,249,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3387,0,0,0,0,0,0
$GC,5449,-1.18,-146.0,525.1,-7.3,255,5453,0.00,2.45,0.00,0.000,4,0.000,0.071,3128,165,3386,0,0,0,0,0,0
$GC,5475,-1.18,-146.0,527.0,-8.3,255,5479,0.00,2.28,0.00,0.000,6,0.000,0.029,3129,1575,3386,0,0,0,0,0,0
$GC,5734,-1.18,-146.0,546.5,-7.6,262,5738,0.00,2.62,0.00,0.000,4,0.000,0.045,3128,3155,3384,0,0,0,0,0,0
$GC,5758,-1.23,-146.0,548.6,-8.2,262,5763,0.00,2.62,0.00,0.000,6,0.000,0.043,3128,1579,3384,0,0,0,0,0,0
$GC,6019,-1.23,-146.0,569.3,-8.1,269,6023,0.00,2.45,0.00,0.000,4,0.000,0.075,3128,166,3383,0,0,0,0,0,0
$GC,6043,-1.23,-146.0,571.3,-8.5,269,6047,0.00,2.30,0.00,0.000,6,0.000,0.030,3128,1591,3382,0,0,0,0,0,0
$GC,6302,-1.23,-146.0,592.2,-8.1,276,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1591,3381,0,0,0,0,0,0
$GC,6547,-1.23,-146.0,610.9,-7.5,282,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1591,3380,0,0,0,0,0,0
$GC,6789,-1.23,-146.0,626.9,-6.5,288,6793,0.00,2.50,0.00,0.000,4,0.000,0.073,3128,167,3379,0,0,0,0,0,0
$GC,6817,-1.23,-146.0,629.1,-7.5,288,6822,0.00,2.30,0.00,0.000,6,0.000,0.031,3128,1584,3379,0,0,0,0,0,0
$GC,7074,-1.23,-146.0,647.3,-7.3,295,7078,0.00,2.62,0.00,0.000,4,0.000,0.050,3128,3152,3378,0,0,0,0,0,0
$GC,7104,-1.30,-146.0,649.7,-8.4,295,7109,0.12,2.65,0.00,0.000,6,0.061,0.048,3086,1579,3377,0,0,0,0,0,0
$GC,7360,-1.24,-146.0,675.7,-10.5,302,7365,0.12,2.47,0.00,0.000,4,0.119,0.080,3112,172,3375,0,0,0,0,0,0
$GC,7405,-1.24,-146.0,680.3,-10.7,303,7409,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1580,3375,0,0,0,0,0,0
$GC,7692,-1.24,-146.0,706.0,-8.7,310,7696,0.00,2.65,0.00,0.000,4,0.000,0.051,3111,3160,3374,0,0,0,0,0,0
$GC,7711,-1.24,-146.0,707.7,-8.1,310,7716,0.00,2.65,0.00,0.000,6,0.000,0.048,3111,1580,3374,0,0,0,0,0,0
$GC,7977,-1.24,-146.0,728.9,-7.8,317,7981,0.00,2.50,0.00,0.000,4,0.000,0.081,3111,166,3373,0,0,0,0,0,0
$GC,8005,-1.24,-146.0,731.4,-8.1,317,8009,0.00,2.30,0.00,0.000,6,0.000,0.034,3111,1576,3372,0,0,0,0,0,0
$GC,8259,-1.24,-146.0,748.7,-6.5,324,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1576,3372,0,0,0,0,0,0
$GC,8505,-1.24,-146.0,763.2,-5.7,330,8509,0.00,2.67,0.00,0.000,4,0.000,0.052,3112,3158,3371,0,0,0,0,0,0
$GC,8529,-1.24,-146.0,764.7,-6.0,330,8533,0.00,2.67,0.00,0.000,6,0.000,0.048,3112,1576,3371,0,0,0,0,0,0
$GC,8788,-1.24,-146.0,778.4,-5.3,337,8792,0.00,2.50,0.00,0.000,4,0.000,0.082,3112,165,3370,0,0,0,0,0,0
$GC,8812,-1.24,-146.0,779.8,-6.3,337,8816,0.00,2.30,0.00,0.000,6,0.000,0.034,3112,1583,3369,0,0,0,0,0,0
$GC,9072,-1.24,-146.0,795.5,-6.2,344,9077,0.00,2.50,0.00,0.000,4,0.000,0.076,3111,164,3369,0,0,0,0,0,0
$GC,9096,-1.24,-146.0,797.3,-7.4,344,9100,0.00,2.28,0.00,0.000,6,0.000,0.035,3112,1572,3369,0,0,0,0,0,0
$GC,9355,-1.24,-146.0,816.0,-7.4,351,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1572,3368,0,0,0,0,0,0
$GC,9600,-1.24,-146.0,834.9,-7.7,357,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1572,3367,0,0,0,0,0,0
$GC,9843,-1.24,-146.0,853.3,-7.5,363,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1571,3366,0,0,0,0,0,0
$GC,10086,-1.24,-146.0,871.6,-7.5,369,10091,0.00,2.45,0.00,0.000,4,0.000,0.076,3112,171,3365,0,0,0,0,0,0
$GC,10131,-1.24,-146.0,875.2,-8.9,370,10135,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1573,3365,0,0,0,0,0,0
$GC,10418,-1.24,-146.0,896.1,-7.2,377,10422,0.00,2.67,0.00,0.000,4,0.000,0.054,3112,3157,3364,0,0,0,0,0,0
$GC,10456,-1.34,-146.0,899.1,-8.2,377,10462,0.00,2.70,0.00,0.000,6,0.000,0.050,3112,1563,3364,0,0,0,0,0,0
$STATE,10500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10500,begin apogee
$GC,10508,-0.31,0.0,902.3,7.2,379,10631,0.90,0.00,119.88,1.164,6,0.074,0.000,3317,1344,2800,0,0,0,0,0,0
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10635,1.27,146.0,906.3,0.0,382,10776,1.42,2.17,130.12,1.142,4,0.032,0.084,3666,171,2203,0,0,0,0,0,0
$GC,10824,0.99,146.0,895.1,15.3,386,10828,0.32,1.98,0.00,0.000,6,0.110,0.031,3600,1374,2200,0,0,0,0,0,0
$GC,11098,0.90,149.6,867.4,9.8,393,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1375,2193,0,0,0,0,0,0
$GC,11343,0.84,158.8,843.9,9.6,399,11360,0.15,2.22,10.88,0.975,4,0.111,0.074,3569,168,2152,0,0,0,0,0,0
$GC,11423,0.78,161.9,835.8,9.9,400,11432,0.00,1.95,4.80,0.749,6,0.000,0.030,3569,1353,2139,0,0,0,0,0,0
$GC,11679,0.81,182.2,812.6,9.1,406,11703,0.00,2.17,19.35,1.035,4,0.000,0.074,3569,166,2057,0,0,0,0,0,0
$GC,11732,0.76,182.2,806.9,11.2,407,11735,0.00,1.95,0.00,0.000,6,0.000,0.030,3568,1345,2056,0,0,0,0,0,0
$GC,12015,0.76,182.2,778.0,10.3,414,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,1346,2053,0,0,0,0,0,0
$GC,12257,0.76,182.2,753.0,10.3,420,12261,0.00,2.67,0.00,0.000,4,0.000,0.051,3569,2929,2052,0,0,0,0,0,0
$GC,12281,0.77,186.5,750.5,9.8,420,12293,0.00,2.72,4.45,0.700,6,0.000,0.048,3569,1346,2039,0,0,0,0,0,0
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$STATE,18923,end climb,SURFACE_DEPTH_REACHED
$STATE,18923,begin surface coast
$FINISH,1.0,1.002298
$STATE,18969,end surface coast,CONTROL_FINISHED_OK
$STATE,18969,begin surface
$SM_CCo,18994,43.12,0.434,0,0,1249,380.21
$SM_GC,1.88,0.00,0.00,43.12,0.000,0.000,0.434,408,1582,1249,-13.69,0.34,380.21
$IRIDIUM_FIX,2241.69,-15808.88,150902,050538
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,12
$24V_AH,23.3,20.664
$10V_AH,9.9,18.207
$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
$DEVICE_SECS,32.575,225.175,411.275,43.125,0.000,28.573,36.485,204.728,3.000,0.000,16.644,1586.180,14164.299,556.995,2414.083,732.780,33.365,1649.661,0.000,2404.683,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.870,344.653,436.541,747.623,1017.572,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,54128,722
$CAP_FILE_SIZE,186007,0
$CFSIZE,260165632,161624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210613,153336,2257.740,-15806.463,30,1.3,30,10.1