version: 66.06
glider: 148
mission: 12
dive: 240
start: 7 13 113 11 41 25
data:
$ID,148
$MISSION,12
$DIVE,240
$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,390
$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,-1020882.2
$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,21
$R_STBD_OVSHOOT,53
$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
$GPS1,112341,2253.332,-15701.690,41,1.6,58,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-73.5
$GPS2,114031,2253.374,-15701.692,14,1.0,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.069,0.250
$KALMAN_X,-221867.9,2.2,-160.0,321709.1,882.9
$KALMAN_Y,163827.9,216.9,211.9,-148727.3,-762.1
$MHEAD_RNG_PITCHd_Wd,334.5,23489,-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,13,begin dive
$GC,15,-1.27,-145.9,0.0,0.0,0,114,0.00,0.00,-96.32,0.000,2,0.000,0.000,413,1626,2975,0,0,0,0,0,0
$GC,118,-1.27,-146.0,3.4,-5.8,13,150,14.55,2.42,-7.50,0.000,4,0.166,0.035,3100,3144,3397,0,0,0,0,0,0
$GC,224,-1.10,-146.0,29.7,-16.3,28,234,0.17,2.62,0.00,0.000,6,0.082,0.032,3143,1559,3397,0,0,0,0,0,0
$GC,493,-0.92,-146.0,75.5,-16.2,53,498,0.17,2.28,0.00,0.000,4,0.104,0.043,3181,168,3398,0,0,0,0,0,0
$GC,549,-0.88,-146.0,84.1,-13.6,57,553,0.00,2.15,0.00,0.000,6,0.000,0.017,3181,1604,3397,0,0,0,0,0,0
$GC,817,-0.83,-146.0,115.9,-11.4,81,822,0.10,2.38,0.00,0.000,4,0.120,0.021,3204,3132,3397,0,0,0,0,0,0
$GC,845,-0.83,-146.0,119.6,-11.1,83,850,0.00,2.53,0.00,0.000,6,0.000,0.028,3204,1558,3398,0,0,0,0,0,0
$GC,1113,-0.83,-146.0,144.6,-8.9,107,1117,0.00,2.28,0.00,0.000,4,0.000,0.044,3204,167,3397,0,0,0,0,0,0
$GC,1162,-0.88,-146.0,149.6,-9.7,111,1166,0.00,2.10,0.00,0.000,6,0.000,0.017,3204,1583,3397,0,0,0,0,0,0
$GC,1426,-0.88,-146.0,173.9,-8.5,135,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1586,3397,0,0,0,0,0,0
$GC,1693,-0.92,-146.0,195.3,-7.4,160,1697,0.00,2.38,0.00,0.000,4,0.000,0.021,3204,3119,3397,0,0,0,0,0,0
$GC,1714,-0.99,-146.0,197.3,-8.1,161,1720,0.15,2.53,0.00,0.000,6,0.052,0.028,3122,1553,3397,0,0,0,0,0,0
$GC,1998,-0.86,-146.0,233.4,-13.1,171,2003,0.30,2.28,0.00,0.000,4,0.084,0.043,3194,166,3397,0,0,0,0,0,0
$GC,2047,-0.96,-146.0,238.7,-8.8,172,2051,0.00,2.10,0.00,0.000,6,0.000,0.018,3194,1557,3396,0,0,0,0,0,0
$GC,2331,-1.03,-146.0,261.5,-8.0,179,2336,0.15,2.45,0.00,0.000,4,0.055,0.022,3126,3123,3396,0,0,0,0,0,0
$GC,2355,-1.03,-146.0,264.1,-9.9,179,2361,0.15,2.53,0.00,0.000,6,0.093,0.029,3160,1561,3396,0,0,0,0,0,0
$GC,2619,-1.03,-146.0,290.0,-10.2,186,2624,0.00,2.30,0.00,0.000,4,0.000,0.048,3160,167,3395,0,0,0,0,0,0
$GC,2638,-1.03,-146.0,292.4,-10.3,186,2642,0.00,2.10,0.00,0.000,6,0.000,0.019,3160,1563,3396,0,0,0,0,0,0
$GC,2902,-1.03,-146.0,316.5,-8.9,193,2906,0.00,2.47,0.00,0.000,4,0.000,0.027,3160,3120,3395,0,0,0,0,0,0
$GC,2955,-1.13,-146.0,321.1,-8.3,194,2960,0.00,2.50,0.00,0.000,6,0.000,0.033,3160,1578,3395,0,0,0,0,0,0
$GC,3236,-1.13,-146.0,343.9,-8.2,201,3240,0.00,2.35,0.00,0.000,4,0.000,0.054,3160,171,3393,0,0,0,0,0,0
$GC,3301,-1.19,-146.0,349.9,-8.9,202,3306,0.15,2.12,0.00,0.000,6,0.054,0.020,3090,1551,3393,0,0,0,0,0,0
$GC,3567,-1.08,-146.0,380.3,-11.5,209,3573,0.25,2.55,0.00,0.000,4,0.085,0.031,3150,3136,3391,0,0,0,0,0,0
$GC,3592,-1.08,-146.0,382.8,-8.9,209,3597,0.00,2.60,0.00,0.000,6,0.000,0.038,3150,1562,3390,0,0,0,0,0,0
$GC,3855,-1.08,-146.0,403.1,-7.9,216,3859,0.00,2.38,0.00,0.000,4,0.000,0.063,3150,168,3389,0,0,0,0,0,0
$GC,3903,-1.08,-146.0,407.8,-9.4,217,3907,0.00,2.17,0.00,0.000,6,0.000,0.023,3150,1557,3388,0,0,0,0,0,0
$GC,4190,-1.08,-146.0,432.0,-8.2,224,4194,0.00,2.55,0.00,0.000,4,0.000,0.035,3150,3138,3386,0,0,0,0,0,0
$GC,4243,-1.19,-146.0,436.1,-7.7,225,4248,0.10,2.60,0.00,0.000,6,0.073,0.039,3097,1571,3385,0,0,0,0,0,0
$GC,4522,-1.10,-146.0,464.3,-10.2,232,4527,0.20,2.42,0.00,0.000,4,0.092,0.067,3142,168,3384,0,0,0,0,0,0
$GC,4576,-1.10,-146.0,469.2,-8.7,233,4580,0.00,2.20,0.00,0.000,6,0.000,0.028,3142,1558,3383,0,0,0,0,0,0
$GC,4853,-1.10,-146.0,491.1,-7.8,240,4858,0.00,2.60,0.00,0.000,4,0.000,0.041,3142,3147,3381,0,0,0,0,0,0
$GC,4873,-1.10,-146.0,492.6,-7.9,240,4877,0.00,2.62,0.00,0.000,6,0.000,0.038,3142,1568,3381,0,0,0,0,0,0
$GC,5139,-1.10,-146.0,512.3,-7.4,247,5143,0.00,2.42,0.00,0.000,4,0.000,0.072,3142,168,3379,0,0,0,0,0,0
$GC,5185,-1.10,-146.0,516.4,-8.5,248,5190,0.00,2.25,0.00,0.000,6,0.000,0.029,3142,1576,3378,0,0,0,0,0,0
$GC,5468,-1.10,-146.0,536.6,-7.2,255,5472,0.00,2.60,0.00,0.000,4,0.000,0.044,3142,3148,3376,0,0,0,0,0,0
$GC,5494,-1.16,-146.0,538.5,-8.3,255,5498,0.00,2.65,0.00,0.000,6,0.000,0.043,3142,1569,3376,0,0,0,0,0,0
$GC,5753,-1.16,-146.0,558.6,-8.0,262,5757,0.00,2.45,0.00,0.000,4,0.000,0.074,3142,166,3375,0,0,0,0,0,0
$GC,5777,-1.16,-146.0,560.8,-9.7,262,5781,0.00,2.22,0.00,0.000,6,0.000,0.029,3142,1567,3374,0,0,0,0,0,0
$GC,6038,-1.16,-146.0,580.4,-7.4,269,6042,0.00,2.60,0.00,0.000,4,0.000,0.045,3142,3147,3373,0,0,0,0,0,0
$GC,6071,-1.24,-146.0,583.0,-7.3,269,6076,0.12,2.65,0.00,0.000,6,0.064,0.046,3086,1574,3373,0,0,0,0,0,0
$GC,6327,-1.16,-146.0,605.6,-9.3,275,6332,0.20,2.47,0.00,0.000,4,0.091,0.076,3131,165,3371,0,0,0,0,0,0
$GC,6375,-1.16,-146.0,609.8,-8.6,276,6379,0.00,2.25,0.00,0.000,6,0.000,0.031,3131,1575,3370,0,0,0,0,0,0
$GC,6662,-1.16,-146.0,632.0,-7.7,283,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1575,3369,0,0,0,0,0,0
$GC,6907,-1.16,-146.0,652.3,-8.3,289,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1575,3367,0,0,0,0,0,0
$GC,7149,-1.16,-146.0,672.8,-8.4,295,7154,0.00,2.47,0.00,0.000,4,0.000,0.074,3131,167,3365,0,0,0,0,0,0
$GC,7173,-1.16,-146.0,675.2,-10.1,295,7177,0.00,2.28,0.00,0.000,6,0.000,0.032,3131,1569,3365,0,0,0,0,0,0
$GC,7434,-1.16,-146.0,695.6,-7.8,302,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1570,3363,0,0,0,0,0,0
$GC,7676,-1.16,-146.0,713.2,-7.2,308,7680,0.00,2.47,0.00,0.000,4,0.000,0.075,3131,164,3363,0,0,0,0,0,0
$GC,7708,-1.16,-146.0,715.8,-8.1,308,7713,0.00,2.28,0.00,0.000,6,0.000,0.033,3131,1561,3363,0,0,0,0,0,0
$GC,7960,-1.16,-146.0,733.8,-7.1,314,7965,0.00,2.65,0.00,0.000,4,0.000,0.052,3131,3152,3362,0,0,0,0,0,0
$GC,7994,-1.24,-146.0,736.3,-7.1,314,7999,0.00,2.70,0.00,0.000,6,0.000,0.050,3130,1565,3362,0,0,0,0,0,0
$GC,8244,-1.24,-146.0,754.2,-7.1,320,8248,0.00,2.47,0.00,0.000,4,0.000,0.082,3131,164,3360,0,0,0,0,0,0
$GC,8278,-1.24,-146.0,756.8,-8.2,320,8282,0.00,2.28,0.00,0.000,6,0.000,0.035,3131,1559,3360,0,0,0,0,0,0
$GC,8537,-1.24,-146.0,775.4,-7.1,327,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1559,3359,0,0,0,0,0,0
$GC,8781,-1.24,-146.0,791.5,-6.5,333,8786,0.00,2.67,0.00,0.000,4,0.000,0.052,3131,3160,3358,0,0,0,0,0,0
$GC,8806,-1.29,-146.0,793.0,-7.2,333,8813,0.12,2.72,0.00,0.000,6,0.065,0.050,3076,1561,3358,0,0,0,0,0,0
$GC,9070,-1.22,-146.0,815.0,-8.5,340,9075,0.20,2.47,0.00,0.000,4,0.094,0.081,3121,162,3357,0,0,0,0,0,0
$GC,9108,-1.22,-146.0,818.2,-7.6,340,9116,0.00,2.30,0.00,0.000,6,0.000,0.035,3121,1554,3356,0,0,0,0,0,0
$GC,9360,-1.22,-146.0,833.9,-6.3,347,9365,0.00,2.70,0.00,0.000,4,0.000,0.053,3121,3159,3355,0,0,0,0,0,0
$GC,9394,-1.30,-146.0,836.3,-6.8,347,9398,0.00,2.72,0.00,0.000,6,0.000,0.051,3121,1562,3356,0,0,0,0,0,0
$GC,9644,-1.30,-146.0,852.4,-6.5,353,9648,0.00,2.47,0.00,0.000,4,0.000,0.082,3121,165,3355,0,0,0,0,0,0
$GC,9689,-1.30,-146.0,855.6,-7.6,354,9693,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1571,3355,0,0,0,0,0,0
$GC,9980,-1.30,-146.0,874.9,-6.6,361,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1571,3354,0,0,0,0,0,0
$GC,10220,-1.30,-146.0,891.1,-6.7,367,10224,0.00,2.47,0.00,0.000,4,0.000,0.076,3121,167,3353,0,0,0,0,0,0
$GC,10245,-1.30,-146.0,893.0,-8.7,367,10249,0.00,2.28,0.00,0.000,6,0.000,0.035,3121,1560,3352,0,0,0,0,0,0
$STATE,10343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10350,-0.31,0.0,900.0,6.8,370,10471,0.85,0.00,117.53,1.154,6,0.071,0.000,3316,1343,2800,0,0,0,0,0,0
$STATE,10472,end apogee,CONTROL_FINISHED_OK
$STATE,10472,begin climb
$GC,10474,1.27,146.0,902.7,0.0,373,10614,1.42,2.15,131.12,1.131,4,0.031,0.077,3666,171,2203,0,0,0,0,0,0
$GC,10718,1.02,146.0,882.1,15.3,378,10722,0.28,1.98,0.00,0.000,6,0.110,0.031,3610,1350,2198,0,0,0,0,0,0
$GC,10987,0.95,146.0,851.9,11.0,385,10991,0.00,2.08,0.00,0.000,4,0.000,0.071,3610,174,2193,0,0,0,0,0,0
$GC,11034,0.81,146.0,846.0,12.7,386,11039,0.22,1.92,0.00,0.000,6,0.104,0.030,3563,1350,2192,0,0,0,0,0,0
$GC,11318,0.84,164.5,819.9,9.1,393,11340,0.00,2.12,16.35,1.011,4,0.000,0.072,3563,172,2128,0,0,0,0,0,0
$GC,11377,0.84,164.5,813.8,10.9,394,11380,0.00,1.92,0.00,0.000,6,0.000,0.030,3563,1340,2127,0,0,0,0,0,0
$GC,11653,0.85,177.3,788.1,9.4,401,11673,0.00,2.75,12.43,0.966,4,0.000,0.051,3563,2928,2075,0,0,0,0,0,0
$GC,11706,0.95,182.8,782.5,9.7,402,11720,0.12,2.72,6.55,0.834,6,0.067,0.050,3609,1355,2053,0,0,0,0,0,0
$GC,11992,0.90,182.8,749.1,12.0,409,11997,0.12,2.67,0.00,0.000,4,0.110,0.044,3583,2928,2050,0,0,0,0,0,0
$GC,12007,0.90,182.8,747.0,11.6,409,12012,0.00,2.72,0.00,0.000,6,0.000,0.050,3583,1347,2049,0,0,0,0,0,0
$GC,12278,0.91,192.1,720.8,9.6,416,12289,0.00,0.00,9.40,0.897,6,0.000,0.000,3583,1347,2016,0,0,0,0,0,0
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$STATE,18727,end climb,SURFACE_DEPTH_REACHED
$STATE,18727,begin surface coast
$FINISH,1.0,1.023369
$STATE,18769,end surface coast,CONTROL_FINISHED_OK
$STATE,18769,begin surface
$SM_CCo,18793,45.80,0.429,0,0,1209,390.03
$SM_GC,1.58,0.00,0.00,45.80,0.000,0.000,0.429,414,1616,1209,-13.67,1.30,390.03
$IRIDIUM_FIX,2244.02,-15703.74,071002,111155
$TT8_MAMPS,0.027612
$HUMID,65.63
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,49
$24V_AH,23.3,35.355
$10V_AH,9.9,32.842
$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
$DEVICE_SECS,34.475,219.125,403.800,45.800,0.000,56.993,74.640,653.066,12.250,0.000,15.719,1578.896,13790.773,549.873,2640.873,1278.966,33.385,1704.954,0.000,2640.240,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,479.017,368.748,470.267,961.698,1265.396,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355872
$DATA_FILE_SIZE,57394,703
$CAP_FILE_SIZE,197147,0
$CFSIZE,260165632,154062848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130713,165635,2255.476,-15702.224,27,1.5,27,10.2