version: 66.06
glider: 148
mission: 12
dive: 417
start: 8 22 113 4 2 36
data:
$ID,148
$MISSION,12
$DIVE,417
$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,-1024399.6
$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,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,27
$R_STBD_OVSHOOT,56
$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
$GPS1,035420,2243.291,-15806.548,38,2.2,57,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.0
$GPS2,040142,2243.343,-15806.515,8,1.3,13,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,0.256
$KALMAN_X,-79807.5,-29.6,-182.0,68995.7,1067.5
$KALMAN_Y,25986.3,188.9,-169.1,-29055.2,-1567.6
$MHEAD_RNG_PITCHd_Wd,340.1,39238,-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,15,-1.27,-146.0,0.0,0.0,0,92,0.00,0.00,-74.50,0.000,2,0.000,0.000,416,1624,3172,0,0,0,0,0,0
$GC,97,-1.27,-146.0,4.3,-7.2,10,122,13.95,2.40,-3.62,0.000,4,0.144,0.031,3117,3155,3396,0,0,0,0,0,0
$GC,193,-1.10,-146.0,32.9,-16.7,23,198,0.20,2.60,0.00,0.000,6,0.098,0.031,3160,1567,3397,0,0,0,0,0,0
$GC,463,-0.92,-146.0,77.2,-14.8,47,467,0.17,2.33,0.00,0.000,4,0.102,0.042,3198,164,3398,0,0,0,0,0,0
$GC,518,-0.87,-146.0,84.9,-12.6,51,522,0.00,2.15,0.00,0.000,6,0.000,0.016,3198,1598,3398,0,0,0,0,0,0
$GC,786,-0.87,-146.0,115.0,-10.7,75,790,0.00,2.38,0.00,0.000,4,0.000,0.021,3198,3123,3399,0,0,0,0,0,0
$GC,805,-0.87,-146.0,117.8,-10.4,76,816,0.00,2.53,0.00,0.000,6,0.000,0.026,3198,1572,3399,0,0,0,0,0,0
$GC,1072,-0.87,-146.0,144.0,-9.4,101,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1571,3399,0,0,0,0,0,0
$GC,1335,-0.87,-146.0,170.0,-9.7,126,1339,0.00,2.42,0.00,0.000,4,0.000,0.021,3198,3118,3400,0,0,0,0,0,0
$GC,1365,-0.92,-146.0,173.2,-8.9,128,1371,0.00,2.50,0.00,0.000,6,0.000,0.028,3198,1572,3400,0,0,0,0,0,0
$GC,1630,-0.92,-146.0,197.7,-9.9,153,1634,0.00,2.30,0.00,0.000,4,0.000,0.042,3198,165,3400,0,0,0,0,0,0
$GC,1653,-0.92,-146.0,200.4,-10.0,154,1658,0.00,2.15,0.00,0.000,6,0.000,0.017,3198,1592,3400,0,0,0,0,0,0
$GC,1905,-0.92,-146.0,221.9,-8.4,161,1909,0.00,2.40,0.00,0.000,4,0.000,0.021,3198,3119,3400,0,0,0,0,0,0
$GC,1925,-0.92,-146.0,223.6,-7.7,161,1930,0.00,2.50,0.00,0.000,6,0.000,0.026,3198,1570,3400,0,0,0,0,0,0
$GC,2194,-0.92,-146.0,242.5,-6.9,168,2198,0.00,2.45,0.00,0.000,4,0.000,0.022,3198,3117,3400,0,0,0,0,0,0
$GC,2218,-0.99,-146.0,244.2,-7.1,168,2223,0.00,2.45,0.00,0.000,6,0.000,0.027,3198,1587,3400,0,0,0,0,0,0
$GC,2480,-1.04,-146.0,262.7,-7.4,175,2485,0.10,2.35,0.00,0.000,4,0.074,0.046,3140,169,3399,0,0,0,0,0,0
$GC,2500,-1.04,-146.0,264.9,-9.7,175,2504,0.15,2.12,0.00,0.000,6,0.096,0.018,3173,1586,3399,0,0,0,0,0,0
$GC,2771,-1.04,-146.0,289.3,-9.2,182,2775,0.00,2.42,0.00,0.000,4,0.000,0.024,3173,3119,3399,0,0,0,0,0,0
$GC,2808,-1.11,-146.0,292.8,-8.6,182,2813,0.00,2.47,0.00,0.000,6,0.000,0.030,3173,1587,3399,0,0,0,0,0,0
$GC,3058,-1.11,-146.0,313.9,-8.5,188,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1587,3398,0,0,0,0,0,0
$GC,3304,-1.11,-146.0,335.1,-8.6,194,3308,0.00,2.45,0.00,0.000,4,0.000,0.029,3173,3110,3397,0,0,0,0,0,0
$GC,3356,-1.20,-146.0,339.7,-7.6,195,3361,0.15,2.50,0.00,0.000,6,0.053,0.033,3102,1589,3397,0,0,0,0,0,0
$GC,3635,-1.06,-146.0,373.5,-12.3,202,3640,0.25,2.47,0.00,0.000,4,0.084,0.031,3163,3113,3395,0,0,0,0,0,0
$GC,3661,-1.06,-146.0,375.8,-8.2,202,3666,0.00,2.50,0.00,0.000,6,0.000,0.035,3164,1597,3395,0,0,0,0,0,0
$GC,3921,-1.06,-146.0,396.3,-7.9,209,3925,0.00,2.42,0.00,0.000,4,0.000,0.059,3164,166,3394,0,0,0,0,0,0
$GC,3969,-1.06,-146.0,400.2,-8.3,210,3973,0.00,2.17,0.00,0.000,6,0.000,0.023,3163,1562,3393,0,0,0,0,0,0
$GC,4252,-1.06,-146.0,420.6,-7.3,217,4256,0.00,2.55,0.00,0.000,4,0.000,0.036,3163,3139,3392,0,0,0,0,0,0
$GC,4280,-1.11,-146.0,422.8,-7.5,217,4285,0.00,2.55,0.00,0.000,6,0.000,0.041,3163,1585,3392,0,0,0,0,0,0
$GC,4537,-1.11,-146.0,441.8,-7.6,224,4541,0.00,2.40,0.00,0.000,4,0.000,0.064,3163,167,3389,0,0,0,0,0,0
$GC,4570,-1.11,-146.0,444.9,-9.1,224,4574,0.00,2.22,0.00,0.000,6,0.000,0.024,3164,1589,3389,0,0,0,0,0,0
$GC,4820,-1.11,-146.0,465.3,-8.1,230,4825,0.00,2.53,0.00,0.000,4,0.000,0.039,3163,3137,3388,0,0,0,0,0,0
$GC,4856,-1.19,-146.0,468.2,-8.2,230,4861,0.10,2.58,0.00,0.000,6,0.074,0.038,3108,1588,3388,0,0,0,0,0,0
$GC,5108,-1.10,-146.0,495.4,-11.3,236,5113,0.22,2.60,0.00,0.000,4,0.086,0.041,3158,3141,3386,0,0,0,0,0,0
$GC,5138,-1.14,-146.0,498.7,-9.8,236,5142,0.00,2.58,0.00,0.000,6,0.000,0.039,3158,1589,3385,0,0,0,0,0,0
$GC,5395,-1.14,-146.0,520.0,-8.4,243,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1589,3384,0,0,0,0,0,0
$GC,5637,-1.14,-146.0,538.3,-7.3,249,5641,0.00,2.58,0.00,0.000,4,0.000,0.043,3158,3140,3383,0,0,0,0,0,0
$GC,5665,-1.21,-146.0,540.3,-6.2,249,5670,0.00,2.58,0.00,0.000,6,0.000,0.041,3158,1604,3382,0,0,0,0,0,0
$GC,5926,-1.21,-146.0,556.7,-6.3,256,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1604,3380,0,0,0,0,0,0
$GC,6164,-1.21,-146.0,572.7,-6.7,262,6168,0.00,2.55,0.00,0.000,4,0.000,0.043,3159,3134,3379,0,0,0,0,0,0
$GC,6199,-1.31,-146.0,574.9,-6.2,262,6204,0.17,2.60,0.00,0.000,6,0.048,0.044,3090,1594,3379,0,0,0,0,0,0
$GC,6451,-1.19,-146.0,599.6,-10.1,268,6456,0.22,2.50,0.00,0.000,4,0.087,0.074,3140,166,3377,0,0,0,0,0,0
$GC,6519,-1.19,-146.0,605.5,-8.2,269,6523,0.00,2.30,0.00,0.000,6,0.000,0.031,3140,1584,3376,0,0,0,0,0,0
$GC,6787,-1.19,-146.0,625.5,-7.7,276,6791,0.00,2.62,0.00,0.000,4,0.000,0.048,3140,3152,3375,0,0,0,0,0,0
$GC,6822,-1.25,-146.0,628.5,-7.2,276,6827,0.00,2.62,0.00,0.000,6,0.000,0.046,3140,1596,3375,0,0,0,0,0,0
$GC,7073,-1.25,-146.0,647.4,-7.7,282,7077,0.00,2.53,0.00,0.000,4,0.000,0.080,3140,164,3373,0,0,0,0,0,0
$GC,7112,-1.25,-146.0,650.6,-8.5,282,7118,0.00,2.35,0.00,0.000,6,0.000,0.035,3141,1601,3373,0,0,0,0,0,0
$GC,7362,-1.25,-146.0,669.5,-7.4,289,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1601,3372,0,0,0,0,0,0
$GC,7606,-1.25,-146.0,687.1,-7.2,295,7610,0.00,2.53,0.00,0.000,4,0.000,0.074,3140,165,3371,0,0,0,0,0,0
$GC,7643,-1.25,-146.0,690.5,-9.0,295,7651,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1583,3370,0,0,0,0,0,0
$GC,7895,-1.25,-146.0,711.2,-8.5,302,7900,0.00,2.50,0.00,0.000,4,0.000,0.075,3140,165,3369,0,0,0,0,0,0
$GC,7933,-1.25,-146.0,715.3,-10.5,302,7938,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,1593,3368,0,0,0,0,0,0
$GC,8183,-1.25,-146.0,736.9,-8.6,309,8187,0.00,2.62,0.00,0.000,4,0.000,0.055,3140,3155,3368,0,0,0,0,0,0
$GC,8214,-1.30,-146.0,739.2,-8.6,309,8219,0.10,2.67,0.00,0.000,6,0.075,0.049,3092,1587,3368,0,0,0,0,0,0
$GC,8474,-1.21,-146.0,764.8,-10.0,316,8479,0.20,2.53,0.00,0.000,4,0.090,0.080,3136,164,3366,0,0,0,0,0,0
$GC,8514,-1.21,-146.0,768.7,-8.3,316,8519,0.00,2.35,0.00,0.000,6,0.000,0.040,3136,1593,3366,0,0,0,0,0,0
$GC,8764,-1.21,-146.0,787.3,-7.3,323,8769,0.00,2.65,0.00,0.000,4,0.000,0.057,3136,3163,3366,0,0,0,0,0,0
$GC,8802,-1.28,-146.0,790.1,-7.0,323,8808,0.00,2.67,0.00,0.000,6,0.000,0.050,3136,1592,3366,0,0,0,0,0,0
$GC,9054,-1.28,-146.0,807.9,-7.3,330,9058,0.00,2.53,0.00,0.000,4,0.000,0.081,3136,166,3364,0,0,0,0,0,0
$GC,9078,-1.28,-146.0,809.8,-8.1,330,9082,0.00,2.33,0.00,0.000,6,0.000,0.035,3136,1595,3364,0,0,0,0,0,0
$GC,9337,-1.28,-146.0,828.1,-7.0,337,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1595,3363,0,0,0,0,0,0
$GC,9581,-1.28,-146.0,846.1,-7.4,343,9585,0.00,2.53,0.00,0.000,4,0.000,0.076,3136,166,3363,0,0,0,0,0,0
$GC,9630,-1.28,-146.0,850.1,-8.1,344,9634,0.00,2.35,0.00,0.000,6,0.000,0.037,3136,1592,3362,0,0,0,0,0,0
$GC,9915,-1.28,-146.0,871.2,-7.3,351,9919,0.00,2.67,0.00,0.000,4,0.000,0.056,3136,3161,3361,0,0,0,0,0,0
$GC,9940,-1.28,-146.0,873.3,-7.3,351,9945,0.00,2.67,0.00,0.000,6,0.000,0.050,3136,1589,3361,0,0,0,0,0,0
$GC,10200,-1.28,-146.0,891.3,-6.8,358,10204,0.00,2.53,0.00,0.000,4,0.000,0.082,3136,165,3360,0,0,0,0,0,0
$GC,10228,-1.28,-146.0,893.5,-8.2,358,10232,0.00,2.35,0.00,0.000,6,0.000,0.036,3136,1594,3360,0,0,0,0,0,0
$STATE,10322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10322,begin apogee
$GC,10331,-0.31,0.0,900.3,7.5,361,10454,0.85,0.00,120.07,1.147,6,0.068,0.000,3332,1336,2800,0,0,0,0,0,0
$STATE,10455,end apogee,CONTROL_FINISHED_OK
$STATE,10455,begin climb
$GC,10458,1.27,146.0,904.1,0.0,364,10599,1.42,2.20,130.77,1.125,4,0.031,0.081,3682,172,2203,0,0,0,0,0,0
$GC,10611,1.04,146.0,898.2,11.5,367,10616,0.28,1.98,0.00,0.000,6,0.112,0.033,3627,1356,2203,0,0,0,0,0,0
$GC,10871,0.95,146.0,869.7,10.8,374,10875,0.00,2.10,0.00,0.000,4,0.000,0.074,3627,173,2195,0,0,0,0,0,0
$GC,10952,0.80,146.0,859.9,13.2,375,10956,0.25,1.92,0.00,0.000,6,0.102,0.031,3575,1343,2194,0,0,0,0,0,0
$GC,11204,0.85,183.6,838.6,8.3,381,11241,0.00,0.00,34.28,1.061,6,0.000,0.000,3575,1343,2051,0,0,0,0,0,0
$GC,11487,0.87,196.6,812.3,9.4,388,11502,0.00,0.00,12.88,0.972,6,0.000,0.000,3575,1344,1998,0,0,0,0,0,0
$GC,11730,0.93,212.7,789.6,9.3,394,11754,0.12,2.80,16.52,0.992,4,0.067,0.055,3622,2934,1931,0,0,0,0,0,0
$GC,11774,0.93,212.7,784.7,10.8,395,11779,0.00,2.75,0.00,0.000,6,0.000,0.049,3621,1355,1929,0,0,0,0,0,0
$GC,12065,0.89,212.7,751.1,11.6,402,12071,0.12,2.70,0.00,0.000,4,0.114,0.047,3595,2929,1927,0,0,0,0,0,0
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$STATE,18780,end climb,SURFACE_DEPTH_REACHED
$STATE,18780,begin surface coast
$FINISH,1.0,1.023235
$STATE,18818,end surface coast,CONTROL_FINISHED_OK
$STATE,18818,begin surface
$SM_CCo,18842,25.88,0.426,0,0,1210,390.03
$SM_GC,1.62,0.00,0.00,25.88,0.000,0.000,0.426,409,1595,1210,-13.75,0.71,390.03
$IRIDIUM_FIX,2232.34,-15803.24,151102,222218
$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.00
$XPDR_PINGS,13
$24V_AH,23.0,61.445
$10V_AH,9.8,59.265
$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
$DEVICE_SECS,33.575,250.575,443.925,25.875,0.000,24.901,38.934,215.190,3.250,0.000,15.169,1567.002,13759.083,576.467,2605.134,789.028,33.375,1707.739,0.000,2607.102,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,472.850,357.205,464.880,939.531,1264.374,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,54260,696
$CAP_FILE_SIZE,191084,0
$CFSIZE,260165632,140578816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220813,091837,2244.749,-15806.459,37,1.5,50,10.0