version: 66.06
glider: 148
mission: 12
dive: 54
start: 6 1 113 11 46 12
data:
$ID,148
$MISSION,12
$DIVE,54
$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,380
$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,-1016053.9
$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,1600
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,74
$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
$GPS1,112350,2246.355,-15739.825,40,5.3,59,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-75.5
$GPS2,114519,2246.495,-15739.916,14,1.6,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,0.226
$KALMAN_X,-28570.6,-326.0,-279.5,63587.9,-1298.9
$KALMAN_Y,17239.0,122.4,114.8,-14687.4,455.8
$MHEAD_RNG_PITCHd_Wd,19.2,35895,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-66.07,0.000,2,0.000,0.000,412,1649,2970,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-5.0,9,122,14.12,2.42,-7.78,0.000,4,0.152,0.036,3103,3159,3398,0,0,0,0,0,0
$GC,183,-1.12,-146.0,26.4,-17.3,22,193,0.12,2.60,0.00,0.000,6,0.080,0.033,3137,1598,3399,0,0,0,0,0,0
$GC,457,-0.99,-146.0,65.5,-12.7,48,462,0.15,2.35,0.00,0.000,4,0.109,0.052,3169,167,3399,0,0,0,0,0,0
$GC,527,-0.99,-146.0,74.3,-10.3,53,531,0.00,2.15,0.00,0.000,6,0.000,0.018,3168,1595,3399,0,0,0,0,0,0
$GC,791,-0.99,-146.0,101.4,-10.4,77,796,0.00,2.45,0.00,0.000,4,0.000,0.023,3169,3165,3399,0,0,0,0,0,0
$GC,810,-0.99,-146.0,103.8,-10.2,78,821,0.00,2.58,0.00,0.000,6,0.000,0.028,3169,1590,3399,0,0,0,0,0,0
$GC,1079,-0.99,-146.0,130.4,-10.4,103,1083,0.00,2.33,0.00,0.000,4,0.000,0.044,3169,165,3399,0,0,0,0,0,0
$GC,1126,-0.99,-146.0,135.8,-10.5,107,1130,0.00,2.17,0.00,0.000,6,0.000,0.018,3168,1587,3399,0,0,0,0,0,0
$GC,1391,-0.99,-146.0,159.3,-8.7,131,1395,0.00,2.47,0.00,0.000,4,0.000,0.023,3168,3168,3399,0,0,0,0,0,0
$GC,1420,-0.99,-146.0,162.1,-9.3,133,1424,0.00,2.55,0.00,0.000,6,0.000,0.028,3168,1584,3399,0,0,0,0,0,0
$GC,1688,-0.99,-146.0,189.4,-11.7,157,1692,0.00,2.30,0.00,0.000,4,0.000,0.044,3168,166,3399,0,0,0,0,0,0
$GC,1727,-0.99,-146.0,195.2,-12.2,160,1732,0.00,2.17,0.00,0.000,6,0.000,0.018,3168,1603,3399,0,0,0,0,0,0
$GC,1978,-0.99,-146.0,221.2,-10.0,170,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1606,3399,0,0,0,0,0,0
$GC,2222,-0.99,-146.0,243.2,-8.8,176,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1606,3399,0,0,0,0,0,0
$GC,2467,-0.99,-146.0,261.6,-7.4,182,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1606,3398,0,0,0,0,0,0
$GC,2710,-1.04,-146.0,279.3,-7.4,188,2714,0.00,2.38,0.00,0.000,4,0.000,0.048,3169,168,3398,0,0,0,0,0,0
$GC,2738,-1.09,-146.0,282.1,-9.3,188,2742,0.00,2.15,0.00,0.000,6,0.000,0.021,3169,1579,3398,0,0,0,0,0,0
$GC,2999,-1.15,-146.0,302.6,-7.8,195,3004,0.15,2.55,0.00,0.000,4,0.057,0.029,3105,3163,3397,0,0,0,0,0,0
$GC,3019,-1.15,-146.0,304.6,-8.7,195,3024,0.12,2.58,0.00,0.000,6,0.100,0.032,3134,1582,3397,0,0,0,0,0,0
$GC,3285,-1.15,-146.0,328.7,-9.0,202,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1582,3396,0,0,0,0,0,0
$GC,3528,-1.15,-146.0,348.6,-7.9,208,3532,0.00,2.58,0.00,0.000,4,0.000,0.032,3134,3165,3395,0,0,0,0,0,0
$GC,3547,-1.15,-146.0,350.1,-7.3,208,3551,0.00,2.60,0.00,0.000,6,0.000,0.035,3134,1591,3395,0,0,0,0,0,0
$GC,3811,-1.15,-146.0,369.4,-7.5,215,3815,0.00,2.40,0.00,0.000,4,0.000,0.061,3134,163,3393,0,0,0,0,0,0
$GC,3859,-1.15,-146.0,373.1,-7.5,216,3863,0.00,2.22,0.00,0.000,6,0.000,0.025,3134,1586,3393,0,0,0,0,0,0
$GC,4141,-1.15,-146.0,395.6,-7.9,223,4146,0.00,2.60,0.00,0.000,4,0.000,0.036,3135,3178,3391,0,0,0,0,0,0
$GC,4171,-1.20,-146.0,398.1,-9.1,223,4176,0.00,2.60,0.00,0.000,6,0.000,0.036,3134,1592,3391,0,0,0,0,0,0
$GC,4426,-1.20,-146.0,421.2,-9.2,230,4430,0.00,2.42,0.00,0.000,4,0.000,0.067,3134,169,3389,0,0,0,0,0,0
$GC,4460,-1.20,-146.0,424.5,-10.7,230,4464,0.00,2.22,0.00,0.000,6,0.000,0.026,3135,1586,3389,0,0,0,0,0,0
$GC,4712,-1.20,-146.0,447.5,-9.4,236,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1589,3387,0,0,0,0,0,0
$GC,4954,-1.20,-146.0,471.3,-9.8,242,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1589,3385,0,0,0,0,0,0
$GC,5198,-1.20,-146.0,494.8,-9.6,248,5202,0.00,2.45,0.00,0.000,4,0.000,0.070,3134,166,3383,0,0,0,0,0,0
$GC,5221,-1.20,-146.0,497.2,-10.5,248,5225,0.00,2.28,0.00,0.000,6,0.000,0.031,3134,1579,3382,0,0,0,0,0,0
$GC,5486,-1.20,-146.0,519.3,-8.1,255,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1580,3381,0,0,0,0,0,0
$GC,5728,-1.20,-146.0,534.0,-5.7,261,5733,0.00,2.45,0.00,0.000,4,0.000,0.071,3134,176,3379,0,0,0,0,0,0
$GC,5758,-1.20,-146.0,535.7,-5.9,261,5762,0.00,2.30,0.00,0.000,6,0.000,0.035,3135,1588,3379,0,0,0,0,0,0
$GC,6015,-1.24,-146.0,549.4,-5.4,268,6019,0.00,2.67,0.00,0.000,4,0.000,0.047,3134,3188,3378,0,0,0,0,0,0
$GC,6034,-1.30,-146.0,550.5,-5.4,268,6041,0.15,2.70,0.00,0.000,6,0.056,0.043,3070,1581,3378,0,0,0,0,0,0
$GC,6301,-1.21,-146.0,576.2,-10.3,275,6306,0.22,2.50,0.00,0.000,4,0.098,0.077,3119,163,3376,0,0,0,0,0,0
$GC,6326,-1.21,-146.0,578.7,-10.1,275,6331,0.00,2.33,0.00,0.000,6,0.000,0.035,3119,1593,3376,0,0,0,0,0,0
$GC,6590,-1.21,-146.0,602.4,-9.0,282,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1594,3374,0,0,0,0,0,0
$GC,6834,-1.21,-146.0,623.7,-8.7,288,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1594,3373,0,0,0,0,0,0
$GC,7079,-1.21,-146.0,642.7,-7.6,294,7083,0.00,2.53,0.00,0.000,4,0.000,0.077,3119,167,3372,0,0,0,0,0,0
$GC,7117,-1.21,-146.0,646.1,-8.0,294,7122,0.00,2.33,0.00,0.000,6,0.000,0.038,3119,1581,3371,0,0,0,0,0,0
$GC,7367,-1.21,-146.0,664.8,-7.6,301,7371,0.00,2.70,0.00,0.000,4,0.000,0.053,3119,3182,3370,0,0,0,0,0,0
$GC,7387,-1.21,-146.0,666.4,-8.0,301,7392,0.00,2.72,0.00,0.000,6,0.000,0.048,3119,1580,3370,0,0,0,0,0,0
$GC,7652,-1.21,-146.0,688.0,-8.2,308,7656,0.00,2.47,0.00,0.000,4,0.000,0.082,3119,169,3369,0,0,0,0,0,0
$GC,7680,-1.21,-146.0,690.6,-9.3,308,7684,0.00,2.33,0.00,0.000,6,0.000,0.036,3119,1584,3369,0,0,0,0,0,0
$GC,7936,-1.21,-146.0,712.2,-8.5,315,7940,0.00,2.47,0.00,0.000,4,0.000,0.076,3119,172,3367,0,0,0,0,0,0
$GC,7973,-1.21,-146.0,715.9,-9.7,315,7977,0.00,2.28,0.00,0.000,6,0.000,0.036,3119,1568,3367,0,0,0,0,0,0
$GC,8227,-1.21,-146.0,735.0,-7.3,322,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1569,3366,0,0,0,0,0,0
$GC,8471,-1.21,-146.0,750.9,-6.4,328,8476,0.00,2.72,0.00,0.000,4,0.000,0.051,3119,3185,3365,0,0,0,0,0,0
$GC,8497,-1.27,-146.0,752.5,-6.8,328,8501,0.00,2.75,0.00,0.000,6,0.000,0.050,3119,1573,3365,0,0,0,0,0,0
$GC,8756,-1.27,-146.0,768.9,-6.3,335,8761,0.00,2.47,0.00,0.000,4,0.000,0.084,3119,168,3364,0,0,0,0,0,0
$GC,8785,-1.27,-146.0,770.9,-7.5,335,8789,0.00,2.33,0.00,0.000,6,0.000,0.037,3119,1580,3364,0,0,0,0,0,0
$GC,9041,-1.32,-146.0,786.7,-6.2,342,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1580,3363,0,0,0,0,0,0
$GC,9283,-1.32,-146.0,802.7,-6.7,348,9287,0.00,2.72,0.00,0.000,4,0.000,0.054,3119,3192,3363,0,0,0,0,0,0
$GC,9318,-1.41,-146.0,805.2,-7.8,348,9327,0.17,2.78,0.00,0.000,6,0.049,0.051,3047,1566,3362,0,0,0,0,0,0
$GC,9573,-1.30,-146.0,829.3,-9.6,355,9575,0.25,0.00,0.00,0.000,6,0.100,0.000,3101,1566,3361,0,0,0,0,0,0
$GC,9815,-1.30,-146.0,846.0,-6.5,361,9819,0.00,2.47,0.00,0.000,4,0.000,0.084,3101,163,3360,0,0,0,0,0,0
$GC,9848,-1.30,-146.0,848.5,-8.1,361,9852,0.00,2.33,0.00,0.000,6,0.000,0.038,3100,1574,3360,0,0,0,0,0,0
$GC,10099,-1.30,-146.0,865.6,-6.9,367,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1574,3359,0,0,0,0,0,0
$GC,10342,-1.30,-146.0,881.9,-6.8,373,10346,0.00,2.50,0.00,0.000,4,0.000,0.078,3101,165,3359,0,0,0,0,0,0
$GC,10370,-1.30,-146.0,884.2,-7.6,373,10374,0.00,2.30,0.00,0.000,6,0.000,0.038,3101,1566,3358,0,0,0,0,0,0
$STATE,10585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10585,begin apogee
$GC,10593,-0.31,0.0,900.1,7.2,379,10715,0.95,0.00,117.75,1.177,6,0.077,0.000,3317,1336,2800,0,0,0,0,0,0
$STATE,10715,end apogee,CONTROL_FINISHED_OK
$STATE,10715,begin climb
$GC,10718,1.27,146.0,903.7,0.0,382,10857,1.42,2.12,129.23,1.151,4,0.031,0.080,3668,174,2202,0,0,0,0,0,0
$GC,10973,0.98,146.0,882.5,14.5,387,10980,0.35,1.95,0.00,0.000,6,0.115,0.032,3598,1359,2197,0,0,0,0,0,0
$GC,11225,0.90,151.7,857.6,9.7,394,11234,0.00,2.15,4.62,0.745,4,0.000,0.075,3597,171,2180,0,0,0,0,0,0
$GC,11311,0.75,151.7,848.1,11.7,395,11317,0.22,1.95,0.00,0.000,6,0.109,0.033,3551,1347,2180,0,0,0,0,0,0
$GC,11562,0.81,204.8,828.3,7.5,402,11619,0.00,2.22,49.55,1.096,4,0.000,0.077,3550,173,1964,0,0,0,0,0,0
$GC,11638,0.86,242.0,822.0,8.3,403,11679,0.00,1.95,36.00,1.071,6,0.000,0.034,3550,1339,1813,0,0,0,0,0,0
$GC,11932,0.94,267.1,795.9,8.8,411,11961,0.17,2.78,22.80,1.035,4,0.057,0.054,3607,2928,1710,0,0,0,0,0,0
$GC,12001,0.94,267.1,788.1,12.1,412,12005,0.00,2.75,0.00,0.000,6,0.000,0.051,3607,1354,1706,0,0,0,0,0,0
$GC,12266,0.94,267.1,755.6,12.2,419,12271,0.00,2.70,0.00,0.000,4,0.000,0.048,3607,2931,1705,0,0,0,0,0,0
$GC,12285,0.94,267.1,752.9,12.2,419,12289,0.00,2.72,0.00,0.000,6,0.000,0.049,3607,1351,1703,0,0,0,0,0,0
$GC,12549,0.94,267.1,720.4,12.4,426,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1352,1703,0,0,0,0,0,0
$GC,12794,0.94,267.1,689.0,13.1,432,12795,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1351,1702,0,0,0,0,0,0
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$STATE,18119,end climb,SURFACE_DEPTH_REACHED
$STATE,18119,begin surface coast
$FINISH,0.7,1.022063
$STATE,18153,end surface coast,CONTROL_FINISHED_OK
$STATE,18153,begin surface
$SM_CCo,18177,31.67,0.447,0,0,1250,380.21
$SM_GC,1.74,0.00,0.00,31.67,0.000,0.000,0.447,416,1629,1250,-13.66,0.82,380.21
$IRIDIUM_FIX,2239.35,-15742.40,260802,111130
$TT8_MAMPS,0.027612
$HUMID,64.37
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,25
$24V_AH,23.2,7.351
$10V_AH,9.9,6.471
$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,32.075,213.625,415.425,31.675,0.000,113.681,151.348,656.608,6.250,0.000,15.669,1494.710,13734.305,534.180,2342.865,1382.669,33.383,1609.036,0.000,2330.858,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,84.370,1177.345,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.902,319.856,410.814,717.148,985.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,51084,686
$CAP_FILE_SIZE,188261,0
$CFSIZE,260165632,168398848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010613,165105,2249.238,-15740.281,42,1.8,42,10.1