version: 66.06
glider: 148
mission: 12
dive: 428
start: 8 24 113 15 54 28
data:
$ID,148
$MISSION,12
$DIVE,428
$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,-1024584.3
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,154344,2301.192,-15805.264,40,99.0,59,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.6
$GPS2,155331,2301.150,-15805.312,10,1.5,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.047,0.255
$KALMAN_X,-80132.4,255.2,-214.6,71120.9,-8.9
$KALMAN_Y,8245.6,-18.7,-202.2,21908.7,-758.4
$MHEAD_RNG_PITCHd_Wd,0.4,6257,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.80,0.000,2,0.000,0.000,410,1671,2946,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.9,9,124,14.07,2.40,-8.23,0.000,4,0.146,0.033,3119,3170,3398,0,0,0,0,0,0
$GC,161,-1.05,-146.0,22.5,-19.1,18,171,0.20,2.65,0.00,0.000,6,0.076,0.031,3169,1573,3398,0,0,0,0,0,0
$GC,441,-0.88,-146.0,71.3,-16.4,46,446,0.17,2.58,0.00,0.000,4,0.100,0.022,3207,3175,3399,0,0,0,0,0,0
$GC,475,-0.88,-146.0,75.8,-12.1,48,480,0.00,2.60,0.00,0.000,6,0.000,0.027,3208,1579,3399,0,0,0,0,0,0
$GC,738,-0.88,-146.0,104.4,-10.9,72,742,0.00,2.33,0.00,0.000,4,0.000,0.042,3208,166,3399,0,0,0,0,0,0
$GC,779,-0.88,-146.0,109.5,-10.9,75,785,0.00,2.20,0.00,0.000,6,0.000,0.016,3208,1634,3399,0,0,0,0,0,0
$GC,1044,-0.88,-146.0,136.6,-10.4,100,1048,0.00,2.42,0.00,0.000,4,0.000,0.041,3208,168,3400,0,0,0,0,0,0
$GC,1063,-0.88,-146.0,138.6,-10.2,101,1067,0.00,2.20,0.00,0.000,6,0.000,0.017,3208,1636,3400,0,0,0,0,0,0
$GC,1328,-0.88,-146.0,164.7,-9.2,125,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1639,3400,0,0,0,0,0,0
$GC,1590,-0.88,-146.0,187.5,-8.2,150,1594,0.00,2.42,0.00,0.000,4,0.000,0.042,3208,164,3401,0,0,0,0,0,0
$GC,1616,-0.88,-146.0,189.8,-9.5,152,1620,0.00,2.20,0.00,0.000,6,0.000,0.017,3208,1628,3401,0,0,0,0,0,0
$GC,1903,-0.88,-146.0,214.2,-8.7,167,1907,0.00,2.40,0.00,0.000,4,0.000,0.021,3208,3171,3401,0,0,0,0,0,0
$GC,1936,-1.01,-146.0,217.4,-8.7,167,1941,0.12,2.55,0.00,0.000,6,0.060,0.027,3132,1587,3401,0,0,0,0,0,0
$GC,2188,-0.88,-146.0,249.0,-13.1,173,2193,0.32,2.33,0.00,0.000,4,0.081,0.042,3206,165,3401,0,0,0,0,0,0
$GC,2233,-0.98,-146.0,253.8,-9.1,174,2237,0.00,2.25,0.00,0.000,6,0.000,0.018,3206,1635,3401,0,0,0,0,0,0
$GC,2523,-1.06,-146.0,273.0,-6.4,181,2528,0.15,2.45,0.00,0.000,4,0.054,0.024,3134,3174,3400,0,0,0,0,0,0
$GC,2564,-1.06,-146.0,276.8,-9.4,181,2570,0.15,2.58,0.00,0.000,6,0.091,0.029,3170,1584,3401,0,0,0,0,0,0
$GC,2814,-1.06,-146.0,299.4,-9.0,188,2818,0.00,2.35,0.00,0.000,4,0.000,0.049,3170,168,3400,0,0,0,0,0,0
$GC,2880,-1.06,-146.0,306.2,-10.3,189,2884,0.00,2.25,0.00,0.000,6,0.000,0.020,3170,1622,3400,0,0,0,0,0,0
$GC,3152,-1.06,-146.0,329.6,-8.6,196,3157,0.00,2.42,0.00,0.000,4,0.000,0.050,3170,165,3398,0,0,0,0,0,0
$GC,3171,-1.06,-146.0,331.6,-8.4,196,3176,0.00,2.22,0.00,0.000,6,0.000,0.020,3170,1612,3398,0,0,0,0,0,0
$GC,3437,-1.06,-146.0,353.2,-8.2,203,3441,0.00,2.42,0.00,0.000,4,0.000,0.028,3170,3136,3396,0,0,0,0,0,0
$GC,3489,-1.15,-146.0,357.2,-6.6,204,3493,0.00,2.55,0.00,0.000,6,0.000,0.034,3170,1594,3396,0,0,0,0,0,0
$GC,3772,-1.15,-146.0,379.6,-8.4,211,3776,0.00,2.40,0.00,0.000,4,0.000,0.058,3170,172,3395,0,0,0,0,0,0
$GC,3820,-1.15,-146.0,384.4,-8.9,212,3824,0.00,2.20,0.00,0.000,6,0.000,0.022,3170,1583,3394,0,0,0,0,0,0
$GC,4103,-1.15,-146.0,407.5,-8.1,219,4107,0.00,2.53,0.00,0.000,4,0.000,0.034,3170,3147,3392,0,0,0,0,0,0
$GC,4148,-1.26,-146.0,411.1,-8.3,220,4153,0.17,2.55,0.00,0.000,6,0.048,0.037,3096,1598,3392,0,0,0,0,0,0
$GC,4437,-1.12,-146.0,444.4,-11.6,227,4442,0.25,2.47,0.00,0.000,4,0.084,0.063,3157,162,3390,0,0,0,0,0,0
$GC,4493,-1.12,-146.0,450.1,-8.9,228,4498,0.00,2.28,0.00,0.000,6,0.000,0.026,3157,1592,3390,0,0,0,0,0,0
$GC,4767,-1.12,-146.0,470.5,-7.3,235,4771,0.00,2.55,0.00,0.000,4,0.000,0.038,3157,3153,3388,0,0,0,0,0,0
$GC,4796,-1.18,-146.0,472.6,-7.1,235,4800,0.00,2.60,0.00,0.000,6,0.000,0.038,3157,1593,3388,0,0,0,0,0,0
$GC,5052,-1.18,-146.0,490.3,-6.9,242,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1593,3386,0,0,0,0,0,0
$GC,5294,-1.18,-146.0,508.0,-7.4,248,5298,0.00,2.45,0.00,0.000,4,0.000,0.071,3157,172,3385,0,0,0,0,0,0
$GC,5318,-1.18,-146.0,510.1,-8.7,248,5322,0.00,2.28,0.00,0.000,6,0.000,0.028,3157,1603,3385,0,0,0,0,0,0
$GC,5577,-1.18,-146.0,530.3,-7.8,255,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1604,3383,0,0,0,0,0,0
$GC,5825,-1.18,-146.0,550.3,-8.2,261,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1604,3381,0,0,0,0,0,0
$GC,6064,-1.18,-146.0,569.5,-7.7,267,6069,0.00,2.50,0.00,0.000,4,0.000,0.073,3157,166,3380,0,0,0,0,0,0
$GC,6085,-1.18,-146.0,571.2,-9.2,267,6089,0.00,2.33,0.00,0.000,6,0.000,0.030,3157,1603,3380,0,0,0,0,0,0
$GC,6349,-1.18,-146.0,592.0,-7.8,274,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1602,3378,0,0,0,0,0,0
$GC,6593,-1.18,-146.0,611.1,-7.9,280,6597,0.00,2.58,0.00,0.000,4,0.000,0.047,3157,3152,3377,0,0,0,0,0,0
$GC,6612,-1.23,-146.0,612.7,-8.3,280,6618,0.10,2.62,0.00,0.000,6,0.074,0.045,3105,1602,3377,0,0,0,0,0,0
$GC,6880,-1.16,-146.0,638.2,-9.7,287,6885,0.17,2.55,0.00,0.000,4,0.091,0.081,3146,168,3375,0,0,0,0,0,0
$GC,6924,-1.16,-146.0,642.6,-9.6,288,6928,0.00,2.33,0.00,0.000,6,0.000,0.033,3146,1597,3375,0,0,0,0,0,0
$GC,7215,-1.16,-146.0,666.8,-8.5,295,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1597,3373,0,0,0,0,0,0
$GC,7461,-1.16,-146.0,687.7,-8.4,301,7465,0.00,2.62,0.00,0.000,4,0.000,0.051,3146,3160,3372,0,0,0,0,0,0
$GC,7485,-1.16,-146.0,690.1,-8.9,301,7489,0.00,2.67,0.00,0.000,6,0.000,0.047,3146,1590,3371,0,0,0,0,0,0
$GC,7744,-1.16,-146.0,709.8,-7.5,308,7748,0.00,2.53,0.00,0.000,4,0.000,0.083,3146,168,3370,0,0,0,0,0,0
$GC,7770,-1.16,-146.0,711.6,-9.4,308,7774,0.00,2.33,0.00,0.000,6,0.000,0.035,3147,1590,3370,0,0,0,0,0,0
$GC,8029,-1.16,-146.0,730.1,-7.0,315,8033,0.00,2.65,0.00,0.000,4,0.000,0.051,3146,3156,3369,0,0,0,0,0,0
$GC,8053,-1.20,-146.0,731.8,-7.2,315,8058,0.00,2.67,0.00,0.000,6,0.000,0.048,3147,1589,3369,0,0,0,0,0,0
$GC,8315,-1.20,-146.0,749.9,-7.1,322,8319,0.00,2.53,0.00,0.000,4,0.000,0.083,3146,169,3367,0,0,0,0,0,0
$GC,8343,-1.20,-146.0,752.5,-7.5,322,8347,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1600,3367,0,0,0,0,0,0
$GC,8597,-1.20,-146.0,769.9,-6.8,329,8602,0.00,2.65,0.00,0.000,4,0.000,0.051,3146,3164,3366,0,0,0,0,0,0
$GC,8619,-1.20,-146.0,771.3,-6.9,329,8623,0.00,2.67,0.00,0.000,6,0.000,0.048,3146,1587,3366,0,0,0,0,0,0
$GC,8885,-1.20,-146.0,788.4,-6.4,336,8889,0.00,2.53,0.00,0.000,4,0.000,0.084,3146,166,3365,0,0,0,0,0,0
$GC,8913,-1.20,-146.0,790.7,-7.8,336,8918,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,1594,3365,0,0,0,0,0,0
$GC,9170,-1.20,-146.0,807.0,-6.3,343,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1594,3364,0,0,0,0,0,0
$GC,9412,-1.20,-146.0,822.4,-6.4,349,9416,0.00,2.62,0.00,0.000,4,0.000,0.051,3146,3156,3363,0,0,0,0,0,0
$GC,9431,-1.25,-146.0,823.7,-6.5,349,9436,0.00,2.67,0.00,0.000,6,0.000,0.048,3146,1591,3363,0,0,0,0,0,0
$GC,9700,-1.25,-146.0,839.9,-6.1,356,9704,0.00,2.53,0.00,0.000,4,0.000,0.083,3146,169,3362,0,0,0,0,0,0
$GC,9743,-1.25,-146.0,843.0,-6.7,357,9747,0.00,2.33,0.00,0.000,6,0.000,0.035,3146,1589,3362,0,0,0,0,0,0
$GC,10030,-1.25,-146.0,860.5,-6.0,364,10035,0.00,2.62,0.00,0.000,4,0.000,0.052,3146,3157,3361,0,0,0,0,0,0
$GC,10052,-1.31,-146.0,861.7,-6.3,364,10057,0.12,2.67,0.00,0.000,6,0.064,0.049,3094,1590,3361,0,0,0,0,0,0
$GC,10320,-1.23,-146.0,883.1,-8.1,371,10325,0.17,2.55,0.00,0.000,4,0.092,0.082,3133,165,3360,0,0,0,0,0,0
$GC,10360,-1.23,-146.0,886.5,-7.2,371,10366,0.00,2.33,0.00,0.000,6,0.000,0.035,3133,1589,3360,0,0,0,0,0,0
$STATE,10567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10567,begin apogee
$GC,10573,-0.31,0.0,900.1,6.3,377,10697,0.85,0.00,120.47,1.149,6,0.065,0.000,3331,1342,2800,0,0,0,0,0,0
$STATE,10698,end apogee,CONTROL_FINISHED_OK
$STATE,10698,begin climb
$GC,10701,1.27,146.0,902.5,0.0,380,10842,1.42,2.15,131.45,1.129,4,0.031,0.078,3683,175,2202,0,0,0,0,0,0
$GC,10921,1.01,146.0,885.2,14.8,385,10926,0.30,1.95,0.00,0.000,6,0.106,0.032,3622,1351,2198,0,0,0,0,0,0
$GC,11206,0.93,146.0,854.7,10.5,392,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1352,2192,0,0,0,0,0,0
$GC,11448,0.86,146.0,829.6,10.2,398,11450,0.17,0.00,0.00,0.000,6,0.103,0.000,3585,1353,2191,0,0,0,0,0,0
$GC,11694,0.89,176.1,807.9,8.6,404,11726,0.00,2.20,26.73,1.042,4,0.000,0.074,3585,170,2081,0,0,0,0,0,0
$GC,11759,0.89,176.1,801.2,10.7,405,11763,0.00,1.92,0.00,0.000,6,0.000,0.031,3585,1346,2081,0,0,0,0,0,0
$GC,12027,0.91,188.7,775.5,9.4,412,12041,0.00,0.00,12.65,0.962,6,0.000,0.000,3585,1346,2030,0,0,0,0,0,0
$GC,12272,0.92,200.8,752.4,9.4,418,12292,0.00,2.75,12.48,0.948,4,0.000,0.050,3585,2936,1979,0,0,0,0,0,0
$GC,12302,0.97,238.3,749.3,8.3,418,12348,0.10,2.75,37.03,1.022,6,0.079,0.048,3624,1354,1827,0,0,0,0,0,0
$GC,12606,0.97,238.3,713.3,12.2,426,12611,0.00,2.67,0.00,0.000,4,0.000,0.044,3624,2932,1822,0,0,0,0,0,0
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$STATE,18896,end climb,SURFACE_DEPTH_REACHED
$STATE,18896,begin surface coast
$FINISH,1.0,1.009589
$STATE,18934,end surface coast,CONTROL_FINISHED_OK
$STATE,18934,begin surface
$SM_CCo,18958,35.45,0.427,0,0,1209,390.03
$SM_GC,2.22,0.00,0.00,35.45,0.000,0.000,0.427,408,1681,1209,-13.77,3.14,390.03
$IRIDIUM_FIX,2251.04,-15802.79,181102,101016
$TT8_MAMPS,0.027612
$HUMID,67.24
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.0,63.097
$10V_AH,9.7,60.907
$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
$DEVICE_SECS,32.575,216.025,428.050,35.450,0.000,30.865,40.277,353.826,1.000,0.000,12.197,1546.448,13942.127,549.303,2629.083,906.066,33.372,1664.855,0.000,2629.206,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.595,360.745,472.269,972.543,1312.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,57313,711
$CAP_FILE_SIZE,181261,0
$CFSIZE,260165632,139730944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240813,211253,2303.392,-15804.284,67,1.3,67,10.1