version: 66.06
glider: 148
mission: 12
dive: 369
start: 8 11 113 7 9 1
data:
$ID,148
$MISSION,12
$DIVE,369
$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,-1023377.8
$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,3400
$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,25
$R_STBD_OVSHOOT,82
$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
$GPS1,070025,2256.408,-15804.987,43,1.7,62,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.2
$GPS2,070807,2256.429,-15804.976,12,1.7,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.034,0.257
$KALMAN_X,-101750.1,-22.2,-2.0,93374.1,849.3
$KALMAN_Y,105658.3,143.8,-191.7,-84416.9,4.4
$MHEAD_RNG_PITCHd_Wd,342.4,14874,-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,12,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,2,0.000,0.000,415,1623,2911,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-3.8,9,121,13.88,2.40,-8.98,0.000,4,0.143,0.032,3118,3118,3398,0,0,0,0,0,0
$GC,201,-1.09,-146.0,29.7,-17.5,25,211,0.15,2.58,0.00,0.000,6,0.078,0.032,3157,1565,3399,0,0,0,0,0,0
$GC,470,-0.93,-146.0,77.4,-16.2,50,475,0.17,2.30,0.00,0.000,4,0.100,0.042,3194,167,3399,0,0,0,0,0,0
$GC,492,-0.80,-146.0,81.3,-15.2,51,497,0.15,2.10,0.00,0.000,6,0.110,0.017,3226,1584,3399,0,0,0,0,0,0
$GC,761,-0.80,-146.0,109.3,-9.9,75,765,0.00,2.40,0.00,0.000,4,0.000,0.021,3226,3114,3400,0,0,0,0,0,0
$GC,798,-0.92,-146.0,113.2,-9.0,78,804,0.12,2.50,0.00,0.000,6,0.061,0.027,3151,1565,3400,0,0,0,0,0,0
$GC,1063,-0.79,-146.0,148.0,-13.3,102,1068,0.32,2.28,0.00,0.000,4,0.080,0.040,3225,173,3401,0,0,0,0,0,0
$GC,1113,-0.89,-146.0,153.2,-8.9,106,1117,0.00,2.08,0.00,0.000,6,0.000,0.017,3225,1575,3401,0,0,0,0,0,0
$GC,1382,-0.95,-146.0,172.3,-7.4,130,1386,0.15,2.40,0.00,0.000,4,0.054,0.021,3153,3110,3401,0,0,0,0,0,0
$GC,1436,-0.95,-146.0,178.5,-10.1,135,1441,0.17,2.50,0.00,0.000,6,0.086,0.028,3193,1565,3401,0,0,0,0,0,0
$GC,1708,-0.95,-146.0,203.8,-9.2,157,1712,0.00,2.28,0.00,0.000,4,0.000,0.043,3193,173,3401,0,0,0,0,0,0
$GC,1736,-0.95,-146.0,206.9,-10.3,157,1740,0.00,2.08,0.00,0.000,6,0.000,0.018,3193,1563,3401,0,0,0,0,0,0
$GC,1995,-0.95,-146.0,230.0,-8.7,164,1999,0.00,2.42,0.00,0.000,4,0.000,0.021,3193,3122,3401,0,0,0,0,0,0
$GC,2048,-1.05,-146.0,234.2,-7.9,165,2053,0.00,2.50,0.00,0.000,6,0.000,0.028,3193,1572,3401,0,0,0,0,0,0
$GC,2326,-1.05,-146.0,256.5,-8.1,172,2330,0.00,2.28,0.00,0.000,4,0.000,0.044,3193,169,3401,0,0,0,0,0,0
$GC,2361,-1.05,-146.0,259.6,-8.9,172,2365,0.00,2.10,0.00,0.000,6,0.000,0.018,3193,1575,3401,0,0,0,0,0,0
$GC,2611,-1.05,-146.0,280.7,-8.7,178,2615,0.00,2.42,0.00,0.000,4,0.000,0.024,3193,3123,3401,0,0,0,0,0,0
$GC,2640,-1.12,-146.0,283.4,-8.9,178,2645,0.15,2.50,0.00,0.000,6,0.053,0.028,3113,1572,3401,0,0,0,0,0,0
$GC,2897,-1.00,-146.0,315.7,-13.0,185,2902,0.28,2.30,0.00,0.000,4,0.083,0.045,3180,166,3400,0,0,0,0,0,0
$GC,2935,-1.00,-146.0,320.6,-11.1,185,2943,0.00,2.15,0.00,0.000,6,0.000,0.020,3180,1544,3400,0,0,0,0,0,0
$GC,3185,-1.00,-146.0,341.6,-8.3,192,3190,0.00,2.53,0.00,0.000,4,0.000,0.028,3180,3137,3399,0,0,0,0,0,0
$GC,3216,-1.08,-146.0,343.9,-7.7,192,3220,0.00,2.55,0.00,0.000,6,0.000,0.031,3180,1575,3399,0,0,0,0,0,0
$GC,3471,-1.08,-146.0,362.8,-7.4,199,3475,0.00,2.35,0.00,0.000,4,0.000,0.054,3180,172,3398,0,0,0,0,0,0
$GC,3509,-1.15,-146.0,366.0,-8.5,199,3515,0.12,2.15,0.00,0.000,6,0.062,0.021,3112,1573,3398,0,0,0,0,0,0
$GC,3763,-1.05,-146.0,391.7,-10.7,206,3768,0.25,2.53,0.00,0.000,4,0.082,0.033,3172,3130,3397,0,0,0,0,0,0
$GC,3798,-1.13,-146.0,395.3,-7.7,206,3802,0.00,2.55,0.00,0.000,6,0.000,0.035,3173,1580,3397,0,0,0,0,0,0
$GC,4050,-1.18,-146.0,413.3,-7.1,212,4055,0.12,2.55,0.00,0.000,4,0.063,0.037,3111,3130,3395,0,0,0,0,0,0
$GC,4075,-1.18,-146.0,415.6,-9.8,212,4080,0.15,2.53,0.00,0.000,6,0.089,0.035,3146,1583,3395,0,0,0,0,0,0
$GC,4335,-1.18,-146.0,437.4,-8.4,219,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3393,0,0,0,0,0,0
$GC,4580,-1.18,-146.0,457.1,-8.1,225,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3392,0,0,0,0,0,0
$GC,4825,-1.18,-146.0,474.8,-7.3,231,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1584,3390,0,0,0,0,0,0
$GC,5066,-1.18,-146.0,493.4,-7.9,237,5071,0.00,2.58,0.00,0.000,4,0.000,0.044,3146,3129,3389,0,0,0,0,0,0
$GC,5090,-1.18,-146.0,495.3,-8.2,237,5094,0.00,2.55,0.00,0.000,6,0.000,0.038,3146,1585,3389,0,0,0,0,0,0
$GC,5351,-1.18,-146.0,515.2,-7.8,244,5355,0.00,2.45,0.00,0.000,4,0.000,0.071,3146,169,3387,0,0,0,0,0,0
$GC,5379,-1.18,-146.0,517.9,-9.0,244,5384,0.00,2.22,0.00,0.000,6,0.000,0.028,3146,1572,3386,0,0,0,0,0,0
$GC,5636,-1.18,-146.0,537.0,-7.4,251,5641,0.00,2.60,0.00,0.000,4,0.000,0.044,3146,3151,3385,0,0,0,0,0,0
$GC,5662,-1.18,-146.0,539.1,-8.4,251,5666,0.00,2.60,0.00,0.000,6,0.000,0.041,3146,1590,3385,0,0,0,0,0,0
$GC,5921,-1.18,-146.0,559.2,-7.7,258,5925,0.00,2.47,0.00,0.000,4,0.000,0.075,3146,170,3383,0,0,0,0,0,0
$GC,5945,-1.18,-146.0,561.3,-9.4,258,5949,0.00,2.28,0.00,0.000,6,0.000,0.030,3146,1594,3383,0,0,0,0,0,0
$GC,6206,-1.18,-146.0,580.0,-7.2,265,6211,0.00,2.58,0.00,0.000,4,0.000,0.045,3146,3150,3381,0,0,0,0,0,0
$GC,6235,-1.23,-146.0,582.4,-7.5,265,6240,0.00,2.62,0.00,0.000,6,0.000,0.045,3146,1591,3381,0,0,0,0,0,0
$GC,6490,-1.23,-146.0,599.9,-6.9,272,6494,0.00,2.50,0.00,0.000,4,0.000,0.077,3146,167,3380,0,0,0,0,0,0
$GC,6516,-1.23,-146.0,601.8,-8.6,272,6520,0.00,2.30,0.00,0.000,6,0.000,0.032,3146,1587,3379,0,0,0,0,0,0
$GC,6777,-1.23,-146.0,620.6,-7.1,279,6781,0.00,2.60,0.00,0.000,4,0.000,0.048,3146,3154,3378,0,0,0,0,0,0
$GC,6801,-1.28,-146.0,622.4,-7.5,279,6806,0.10,2.65,0.00,0.000,6,0.075,0.046,3095,1584,3378,0,0,0,0,0,0
$GC,7068,-1.20,-146.0,647.5,-10.0,286,7073,0.20,2.50,0.00,0.000,4,0.090,0.080,3140,168,3376,0,0,0,0,0,0
$GC,7106,-1.20,-146.0,652.0,-9.3,286,7112,0.00,2.30,0.00,0.000,6,0.000,0.035,3140,1582,3376,0,0,0,0,0,0
$GC,7356,-1.20,-146.0,672.8,-8.5,293,7361,0.00,2.65,0.00,0.000,4,0.000,0.052,3140,3155,3374,0,0,0,0,0,0
$GC,7387,-1.25,-146.0,675.2,-8.0,293,7392,0.00,2.67,0.00,0.000,6,0.000,0.053,3140,1581,3374,0,0,0,0,0,0
$GC,7642,-1.25,-146.0,695.7,-7.9,300,7646,0.00,2.50,0.00,0.000,4,0.000,0.082,3141,167,3373,0,0,0,0,0,0
$GC,7675,-1.25,-146.0,698.7,-8.1,300,7679,0.00,2.33,0.00,0.000,6,0.000,0.035,3141,1586,3373,0,0,0,0,0,0
$GC,7929,-1.25,-146.0,717.3,-7.2,306,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1586,3372,0,0,0,0,0,0
$GC,8169,-1.25,-146.0,733.2,-6.5,312,8173,0.00,2.50,0.00,0.000,4,0.000,0.076,3140,169,3370,0,0,0,0,0,0
$GC,8192,-1.25,-146.0,734.9,-7.2,312,8196,0.00,2.33,0.00,0.000,6,0.000,0.036,3140,1588,3370,0,0,0,0,0,0
$GC,8458,-1.25,-146.0,751.7,-6.4,319,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1588,3369,0,0,0,0,0,0
$GC,8700,-1.25,-146.0,768.9,-7.2,325,8704,0.00,2.62,0.00,0.000,4,0.000,0.054,3140,3155,3368,0,0,0,0,0,0
$GC,8724,-1.31,-146.0,770.8,-8.3,325,8729,0.10,2.67,0.00,0.000,6,0.075,0.049,3092,1585,3367,0,0,0,0,0,0
$GC,8987,-1.24,-146.0,794.9,-9.4,332,8992,0.17,2.53,0.00,0.000,4,0.093,0.083,3132,167,3367,0,0,0,0,0,0
$GC,9007,-1.24,-146.0,797.0,-9.7,332,9011,0.00,2.30,0.00,0.000,6,0.000,0.035,3132,1585,3367,0,0,0,0,0,0
$GC,9271,-1.24,-146.0,816.9,-7.4,339,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1586,3365,0,0,0,0,0,0
$GC,9516,-1.24,-146.0,834.9,-7.4,345,9520,0.00,2.65,0.00,0.000,4,0.000,0.054,3132,3154,3365,0,0,0,0,0,0
$GC,9540,-1.24,-146.0,836.8,-8.2,345,9544,0.00,2.70,0.00,0.000,6,0.000,0.049,3132,1577,3365,0,0,0,0,0,0
$GC,9799,-1.24,-146.0,855.4,-7.0,352,9804,0.00,2.50,0.00,0.000,4,0.000,0.083,3132,167,3364,0,0,0,0,0,0
$GC,9830,-1.24,-146.0,857.7,-7.4,352,9834,0.00,2.30,0.00,0.000,6,0.000,0.036,3132,1581,3364,0,0,0,0,0,0
$GC,10084,-1.24,-146.0,874.8,-6.5,359,10089,0.00,2.67,0.00,0.000,4,0.000,0.054,3132,3160,3363,0,0,0,0,0,0
$GC,10108,-1.24,-146.0,876.5,-7.1,359,10113,0.00,2.70,0.00,0.000,6,0.000,0.050,3132,1579,3363,0,0,0,0,0,0
$GC,10372,-1.24,-146.0,892.0,-5.9,366,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1579,3362,0,0,0,0,0,0
$STATE,10527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10527,begin apogee
$GC,10534,-0.31,0.0,901.7,5.9,370,10657,0.88,0.00,120.10,1.151,6,0.073,0.000,3332,1345,2800,0,0,0,0,0,0
$STATE,10658,end apogee,CONTROL_FINISHED_OK
$STATE,10658,begin climb
$GC,10661,1.27,146.0,903.5,0.0,373,10801,1.42,2.20,130.57,1.130,4,0.031,0.084,3680,178,2203,0,0,0,0,0,0
$GC,10840,1.00,146.0,891.6,14.8,377,10845,0.30,1.95,0.00,0.000,6,0.109,0.031,3619,1354,2201,0,0,0,0,0,0
$GC,11125,0.92,146.0,860.9,10.4,384,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1355,2194,0,0,0,0,0,0
$GC,11367,0.85,146.0,836.2,10.3,390,11372,0.15,2.12,0.00,0.000,4,0.116,0.074,3588,164,2192,0,0,0,0,0,0
$GC,11427,0.80,146.0,829.9,10.4,391,11431,0.00,1.95,0.00,0.000,6,0.000,0.030,3588,1351,2192,0,0,0,0,0,0
$GC,11704,0.84,175.7,805.9,8.6,398,11733,0.00,0.00,26.67,1.044,6,0.000,0.000,3588,1351,2083,0,0,0,0,0,0
$GC,11948,0.85,184.4,782.8,9.6,404,11964,0.00,2.72,8.77,0.903,4,0.000,0.050,3588,2931,2047,0,0,0,0,0,0
$GC,11980,0.87,200.8,779.6,9.2,404,12005,0.00,2.75,17.00,0.989,6,0.000,0.049,3588,1344,1980,0,0,0,0,0,0
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$STATE,18933,end climb,SURFACE_DEPTH_REACHED
$STATE,18933,begin surface coast
$FINISH,1.0,1.009647
$STATE,18982,end surface coast,CONTROL_FINISHED_OK
$STATE,18982,begin surface
$SM_CCo,19007,51.47,0.430,0,0,1209,390.03
$SM_GC,1.88,0.00,0.00,51.47,0.000,0.000,0.430,415,1578,1209,-13.73,0.23,390.03
$IRIDIUM_FIX,2244.02,-15804.53,051102,010156
$TT8_MAMPS,0.027612
$HUMID,66.77
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,14
$24V_AH,23.1,54.288
$10V_AH,9.8,52.002
$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
$DEVICE_SECS,34.050,240.200,400.150,51.475,0.000,30.482,42.514,222.486,3.500,0.000,14.255,1582.273,13999.799,578.985,2551.144,797.321,33.371,1678.817,0.000,2554.123,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,57367,706
$CAP_FILE_SIZE,191488,0
$CFSIZE,260165632,144232448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110813,122805,2258.401,-15804.700,37,1.8,42,10.1