version: 66.06
glider: 148
mission: 12
dive: 420
start: 8 22 113 20 13 57
data:
$ID,148
$MISSION,12
$DIVE,420
$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,-1024457.2
$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,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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,200229,2247.204,-15806.567,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-76.3
$GPS2,201305,2247.173,-15806.574,11,1.2,27,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.012,0.259
$KALMAN_X,-78972.6,-264.2,5.1,68103.5,557.9
$KALMAN_Y,19345.6,-224.5,72.1,-15143.1,-1504.7
$MHEAD_RNG_PITCHd_Wd,347.3,32187,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,95,0.00,0.00,-75.00,0.000,2,0.000,0.000,414,1659,3185,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.2,-6.7,10,123,13.98,2.40,-3.53,0.000,4,0.145,0.031,3116,3189,3396,0,0,0,0,0,0
$GC,167,-1.05,-146.0,26.9,-20.0,19,177,0.20,2.70,0.00,0.000,6,0.077,0.032,3166,1560,3397,0,0,0,0,0,0
$GC,445,-0.90,-146.0,69.1,-13.0,45,454,0.17,0.00,0.00,0.000,6,0.097,0.000,3205,1559,3397,0,0,0,0,0,0
$GC,709,-0.90,-146.0,95.1,-10.0,70,710,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1559,3398,0,0,0,0,0,0
$GC,962,-0.90,-146.0,119.7,-9.5,94,966,0.00,2.55,0.00,0.000,4,0.000,0.022,3205,3179,3399,0,0,0,0,0,0
$GC,995,-0.90,-146.0,122.7,-8.9,96,1004,0.00,2.62,0.00,0.000,6,0.000,0.028,3204,1573,3399,0,0,0,0,0,0
$GC,1261,-0.90,-146.0,146.6,-9.0,121,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1573,3399,0,0,0,0,0,0
$GC,1524,-0.90,-146.0,170.1,-7.9,146,1529,0.00,2.28,0.00,0.000,4,0.000,0.043,3205,170,3399,0,0,0,0,0,0
$GC,1554,-0.90,-146.0,172.4,-8.4,148,1558,0.00,2.20,0.00,0.000,6,0.000,0.017,3205,1638,3399,0,0,0,0,0,0
$GC,1822,-0.90,-146.0,194.6,-9.1,172,1826,0.00,2.40,0.00,0.000,4,0.000,0.021,3205,3182,3399,0,0,0,0,0,0
$GC,1847,-0.97,-146.0,197.2,-8.4,174,1852,0.00,2.60,0.00,0.000,6,0.000,0.027,3205,1573,3399,0,0,0,0,0,0
$GC,2129,-0.97,-146.0,223.1,-9.2,183,2133,0.00,2.30,0.00,0.000,4,0.000,0.044,3205,173,3399,0,0,0,0,0,0
$GC,2159,-0.97,-146.0,226.0,-10.2,183,2163,0.00,2.22,0.00,0.000,6,0.000,0.017,3205,1642,3399,0,0,0,0,0,0
$GC,2414,-1.02,-146.0,248.3,-8.9,190,2416,0.12,0.00,0.00,0.000,6,0.063,0.000,3139,1645,3399,0,0,0,0,0,0
$GC,2661,-0.95,-146.0,275.1,-10.7,196,2666,0.25,2.40,0.00,0.000,4,0.079,0.022,3200,3173,3399,0,0,0,0,0,0
$GC,2693,-1.06,-146.0,278.2,-7.7,196,2698,0.12,2.58,0.00,0.000,6,0.060,0.028,3124,1572,3398,0,0,0,0,0,0
$GC,2949,-0.95,-146.0,306.6,-11.5,203,2954,0.28,2.30,0.00,0.000,4,0.080,0.046,3189,173,3398,0,0,0,0,0,0
$GC,3003,-1.02,-146.0,311.5,-8.2,204,3007,0.00,2.20,0.00,0.000,6,0.000,0.019,3189,1613,3397,0,0,0,0,0,0
$GC,3289,-1.09,-146.0,334.0,-7.9,211,3294,0.12,2.42,0.00,0.000,4,0.062,0.028,3125,3138,3396,0,0,0,0,0,0
$GC,3309,-1.09,-146.0,336.2,-8.7,211,3314,0.17,2.55,0.00,0.000,6,0.083,0.031,3166,1567,3396,0,0,0,0,0,0
$GC,3576,-1.09,-146.0,357.5,-7.9,218,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1567,3395,0,0,0,0,0,0
$GC,3818,-1.09,-146.0,377.3,-8.2,224,3822,0.00,2.58,0.00,0.000,4,0.000,0.031,3166,3140,3393,0,0,0,0,0,0
$GC,3843,-1.14,-146.0,379.4,-9.2,224,3848,0.00,2.55,0.00,0.000,6,0.000,0.035,3165,1582,3393,0,0,0,0,0,0
$GC,4107,-1.14,-146.0,399.8,-7.7,231,4111,0.00,2.42,0.00,0.000,4,0.000,0.061,3165,162,3392,0,0,0,0,0,0
$GC,4164,-1.20,-146.0,404.8,-8.1,232,4169,0.12,2.20,0.00,0.000,6,0.061,0.024,3102,1571,3391,0,0,0,0,0,0
$GC,4439,-1.09,-146.0,432.8,-10.5,239,4445,0.25,2.55,0.00,0.000,4,0.080,0.035,3163,3135,3389,0,0,0,0,0,0
$GC,4478,-1.17,-146.0,436.3,-7.2,239,4484,0.00,2.58,0.00,0.000,6,0.000,0.036,3163,1569,3389,0,0,0,0,0,0
$GC,4731,-1.17,-146.0,456.2,-8.2,246,4735,0.00,2.60,0.00,0.000,4,0.000,0.038,3163,3139,3387,0,0,0,0,0,0
$GC,4752,-1.22,-146.0,458.2,-8.7,246,4757,0.12,2.58,0.00,0.000,6,0.061,0.037,3101,1586,3387,0,0,0,0,0,0
$GC,5017,-1.12,-146.0,488.0,-11.4,253,5022,0.25,2.45,0.00,0.000,4,0.081,0.067,3162,169,3385,0,0,0,0,0,0
$GC,5070,-1.19,-146.0,493.0,-8.7,254,5074,0.00,2.25,0.00,0.000,6,0.000,0.026,3162,1579,3385,0,0,0,0,0,0
$GC,5352,-1.19,-146.0,513.7,-7.3,261,5356,0.00,2.58,0.00,0.000,4,0.000,0.041,3162,3144,3383,0,0,0,0,0,0
$GC,5385,-1.28,-146.0,516.5,-7.2,261,5390,0.17,2.60,0.00,0.000,6,0.048,0.046,3092,1578,3383,0,0,0,0,0,0
$GC,5637,-1.17,-146.0,542.2,-10.6,267,5642,0.22,2.47,0.00,0.000,4,0.084,0.071,3144,163,3381,0,0,0,0,0,0
$GC,5666,-1.17,-146.0,545.3,-9.7,267,5670,0.00,2.28,0.00,0.000,6,0.000,0.028,3144,1577,3380,0,0,0,0,0,0
$GC,5921,-1.17,-146.0,566.3,-8.2,274,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1577,3379,0,0,0,0,0,0
$GC,6166,-1.17,-146.0,586.6,-8.4,280,6171,0.00,2.62,0.00,0.000,4,0.000,0.044,3144,3149,3377,0,0,0,0,0,0
$GC,6190,-1.17,-146.0,588.8,-9.6,280,6194,0.00,2.65,0.00,0.000,6,0.000,0.044,3144,1581,3377,0,0,0,0,0,0
$GC,6450,-1.17,-146.0,610.7,-8.5,287,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1581,3375,0,0,0,0,0,0
$GC,6693,-1.17,-146.0,630.6,-8.1,293,6698,0.00,2.60,0.00,0.000,4,0.000,0.043,3144,3148,3374,0,0,0,0,0,0
$GC,6719,-1.17,-146.0,632.7,-9.5,293,6723,0.00,2.65,0.00,0.000,6,0.000,0.047,3144,1587,3374,0,0,0,0,0,0
$GC,6979,-1.17,-146.0,652.7,-7.7,300,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1586,3372,0,0,0,0,0,0
$GC,7225,-1.17,-146.0,670.0,-7.1,306,7229,0.00,2.53,0.00,0.000,4,0.000,0.084,3144,168,3371,0,0,0,0,0,0
$GC,7247,-1.17,-146.0,671.7,-7.5,306,7251,0.00,2.30,0.00,0.000,6,0.000,0.032,3144,1584,3371,0,0,0,0,0,0
$GC,7513,-1.17,-146.0,689.3,-6.5,313,7518,0.00,2.65,0.00,0.000,4,0.000,0.051,3143,3153,3369,0,0,0,0,0,0
$GC,7532,-1.17,-146.0,690.9,-7.2,313,7537,0.00,2.67,0.00,0.000,6,0.000,0.047,3144,1580,3369,0,0,0,0,0,0
$GC,7799,-1.17,-146.0,708.0,-6.6,320,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1579,3367,0,0,0,0,0,0
$GC,8043,-1.17,-146.0,724.9,-6.9,326,8047,0.00,2.65,0.00,0.000,4,0.000,0.044,3144,3158,3366,0,0,0,0,0,0
$GC,8067,-1.22,-146.0,726.8,-8.0,326,8071,0.00,2.67,0.00,0.000,6,0.000,0.048,3144,1588,3366,0,0,0,0,0,0
$GC,8328,-1.22,-146.0,745.8,-7.4,333,8333,0.00,2.53,0.00,0.000,4,0.000,0.086,3144,169,3365,0,0,0,0,0,0
$GC,8361,-1.22,-146.0,748.8,-9.3,333,8365,0.00,2.33,0.00,0.000,6,0.000,0.035,3144,1591,3365,0,0,0,0,0,0
$GC,8611,-1.22,-146.0,767.4,-7.4,339,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3364,0,0,0,0,0,0
$GC,8857,-1.22,-146.0,783.9,-6.6,345,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3363,0,0,0,0,0,0
$GC,9101,-1.22,-146.0,800.5,-6.9,351,9105,0.00,2.53,0.00,0.000,4,0.000,0.077,3144,166,3362,0,0,0,0,0,0
$GC,9134,-1.22,-146.0,803.4,-8.6,351,9138,0.00,2.33,0.00,0.000,6,0.000,0.036,3144,1592,3362,0,0,0,0,0,0
$GC,9386,-1.22,-146.0,821.5,-7.2,357,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3361,0,0,0,0,0,0
$GC,9628,-1.22,-146.0,840.3,-7.7,363,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3360,0,0,0,0,0,0
$GC,9872,-1.22,-146.0,858.3,-7.4,369,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3359,0,0,0,0,0,0
$GC,10115,-1.22,-146.0,875.6,-7.0,375,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3358,0,0,0,0,0,0
$GC,10363,-1.22,-146.0,892.6,-6.9,381,10368,0.00,2.53,0.00,0.000,4,0.000,0.076,3144,166,3358,0,0,0,0,0,0
$GC,10407,-1.27,-146.0,896.0,-8.5,382,10411,0.00,2.33,0.00,0.000,6,0.000,0.037,3144,1583,3358,0,0,0,0,0,0
$STATE,10488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10488,begin apogee
$GC,10495,-0.31,0.0,901.8,6.6,384,10618,0.80,0.00,120.12,1.149,6,0.065,0.000,3330,1338,2800,0,0,0,0,0,0
$STATE,10619,end apogee,CONTROL_FINISHED_OK
$STATE,10619,begin climb
$GC,10624,1.27,146.0,905.3,0.0,387,10765,1.42,2.12,131.25,1.130,4,0.033,0.078,3677,172,2203,0,0,0,0,0,0
$GC,10815,1.01,146.0,893.3,14.7,391,10820,0.28,1.95,0.00,0.000,6,0.110,0.031,3621,1361,2200,0,0,0,0,0,0
$GC,11080,0.95,153.3,866.7,9.7,398,11092,0.00,2.17,6.38,0.846,4,0.000,0.074,3620,182,2173,0,0,0,0,0,0
$GC,11123,0.80,153.3,862.2,11.4,398,11129,0.22,1.92,0.00,0.000,6,0.105,0.031,3575,1348,2173,0,0,0,0,0,0
$GC,11373,0.86,199.7,842.0,7.9,405,11425,0.00,2.80,44.15,1.075,4,0.000,0.054,3575,2939,1984,0,0,0,0,0,0
$GC,11453,0.97,222.1,835.5,9.0,406,11482,0.15,2.75,22.40,1.029,6,0.060,0.051,3627,1363,1893,0,0,0,0,0,0
$GC,11756,0.92,222.1,799.0,12.1,414,11758,0.12,0.00,0.00,0.000,6,0.114,0.000,3601,1363,1887,0,0,0,0,0,0
$GC,12001,0.92,222.1,771.0,11.4,420,12005,0.00,2.67,0.00,0.000,4,0.000,0.045,3601,2933,1886,0,0,0,0,0,0
$GC,12029,0.92,222.1,767.4,11.6,420,12034,0.00,2.72,0.00,0.000,6,0.000,0.051,3601,1359,1883,0,0,0,0,0,0
$GC,12284,0.92,222.1,738.9,11.3,427,12288,0.00,2.67,0.00,0.000,4,0.000,0.046,3601,2935,1883,0,0,0,0,0,0
$GC,12298,0.92,222.1,737.2,11.0,427,12303,0.00,2.70,0.00,0.000,6,0.000,0.049,3601,1356,1882,0,0,0,0,0,0
$GC,12569,0.92,222.1,708.0,11.0,434,12573,0.00,2.65,0.00,0.000,4,0.000,0.044,3601,2929,1882,0,0,0,0,0,0
$GC,12597,0.96,222.1,704.6,11.4,434,12602,0.00,2.72,0.00,0.000,6,0.000,0.054,3601,1360,1880,0,0,0,0,0,0
$GC,12856,0.96,222.1,676.0,11.2,441,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1360,1880,0,0,0,0,0,0
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$GC,15633,1.12,281.2,381.0,10.0,508,15638,0.10,2.65,0.00,0.000,6,0.077,0.044,3660,1357,1655,0,0,0,0,0,0
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$STATE,18851,end climb,SURFACE_DEPTH_REACHED
$STATE,18852,begin surface coast
$FINISH,0.9,1.022451
$STATE,18892,end surface coast,CONTROL_FINISHED_OK
$STATE,18896,begin surface
$SM_CCo,18919,8.93,0.387,0,0,1209,390.03
$SM_GC,1.66,0.00,0.00,8.93,0.000,0.000,0.387,411,1618,1209,-13.75,1.39,390.03
$IRIDIUM_FIX,2237.01,-15805.41,161102,141431
$TT8_MAMPS,0.027612
$HUMID,70.04
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,10
$24V_AH,23.0,61.914
$10V_AH,9.7,59.720
$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,33.625,204.550,468.250,8.925,0.000,30.868,34.863,395.329,2.500,0.000,29.144,1543.162,13934.689,534.448,2586.711,952.808,33.379,1645.979,0.000,2574.574,0.000,0.536,0.000
$DEVICE_MAMPS,144.963,85.904,1148.966,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.605,374.512,480.914,986.400,1300.484,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,57246,714
$CAP_FILE_SIZE,182467,0
$CFSIZE,260165632,140353536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230813,013036,2248.660,-15806.977,27,1.5,27,10.1