version: 66.06
glider: 148
mission: 12
dive: 56
start: 6 1 113 22 57 54
data:
$ID,148
$MISSION,12
$DIVE,56
$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,-1016180.9
$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,27
$R_STBD_OVSHOOT,110
$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
$GPS1,223626,2251.688,-15740.774,26,99.0,45,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.5
$GPS2,225701,2251.818,-15741.105,16,1.3,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.190
$KALMAN_X,-35563.9,-284.2,-398.8,68629.4,-1514.4
$KALMAN_Y,19364.5,191.9,-72.0,-6844.3,941.2
$MHEAD_RNG_PITCHd_Wd,32.9,27008,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.25,0.000,2,0.000,0.000,413,1642,3005,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.8,9,123,14.07,2.38,-6.95,0.000,4,0.151,0.035,3102,3117,3398,0,0,0,0,0,0
$GC,226,-1.13,-146.0,32.6,-17.1,28,231,0.15,2.47,0.00,0.000,6,0.104,0.031,3136,1591,3399,0,0,0,0,0,0
$GC,495,-1.00,-146.0,72.5,-13.7,52,504,0.12,0.00,0.00,0.000,6,0.117,0.000,3162,1590,3399,0,0,0,0,0,0
$GC,760,-1.00,-146.0,103.2,-10.5,77,764,0.00,2.33,0.00,0.000,4,0.000,0.044,3163,163,3399,0,0,0,0,0,0
$GC,813,-1.00,-146.0,109.1,-11.5,81,817,0.00,2.12,0.00,0.000,6,0.000,0.018,3162,1558,3399,0,0,0,0,0,0
$GC,1079,-1.00,-146.0,136.1,-9.4,105,1083,0.00,2.53,0.00,0.000,4,0.000,0.023,3162,3163,3399,0,0,0,0,0,0
$GC,1098,-1.00,-146.0,138.5,-9.8,106,1107,0.00,2.58,0.00,0.000,6,0.000,0.027,3162,1587,3399,0,0,0,0,0,0
$GC,1362,-1.00,-146.0,166.1,-11.8,131,1366,0.00,2.30,0.00,0.000,4,0.000,0.044,3163,169,3399,0,0,0,0,0,0
$GC,1381,-0.95,-146.0,169.0,-12.7,132,1390,0.00,2.20,0.00,0.000,6,0.000,0.018,3163,1609,3399,0,0,0,0,0,0
$GC,1649,-0.95,-146.0,200.6,-11.3,157,1653,0.00,2.35,0.00,0.000,4,0.000,0.044,3163,174,3399,0,0,0,0,0,0
$GC,1668,-0.90,-146.0,203.6,-11.1,157,1673,0.12,2.12,0.00,0.000,6,0.110,0.018,3190,1593,3399,0,0,0,0,0,0
$GC,1937,-0.90,-146.0,223.3,-7.0,164,1941,0.00,2.42,0.00,0.000,4,0.000,0.024,3190,3151,3399,0,0,0,0,0,0
$GC,1963,-1.00,-146.0,225.0,-7.5,164,1968,0.10,2.53,0.00,0.000,6,0.072,0.028,3146,1572,3399,0,0,0,0,0,0
$GC,2222,-1.00,-146.0,254.7,-12.4,171,2224,0.10,0.00,0.00,0.000,6,0.120,0.000,3167,1572,3399,0,0,0,0,0,0
$GC,2467,-1.00,-146.0,277.0,-9.1,177,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1572,3399,0,0,0,0,0,0
$GC,2712,-1.05,-146.0,294.9,-7.0,183,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1572,3398,0,0,0,0,0,0
$GC,2954,-1.11,-146.0,315.6,-8.5,189,2959,0.12,2.33,0.00,0.000,4,0.065,0.051,3111,177,3397,0,0,0,0,0,0
$GC,3029,-1.05,-146.0,325.5,-13.7,190,3034,0.20,2.12,0.00,0.000,6,0.091,0.021,3156,1549,3397,0,0,0,0,0,0
$GC,3286,-1.05,-146.0,348.9,-8.7,197,3290,0.00,2.53,0.00,0.000,4,0.000,0.030,3156,3134,3396,0,0,0,0,0,0
$GC,3307,-1.11,-146.0,350.6,-7.7,197,3312,0.00,2.55,0.00,0.000,6,0.000,0.035,3156,1572,3396,0,0,0,0,0,0
$GC,3573,-1.17,-146.0,366.7,-5.5,204,3578,0.12,2.38,0.00,0.000,4,0.065,0.060,3101,166,3395,0,0,0,0,0,0
$GC,3602,-1.09,-146.0,369.2,-8.7,204,3607,0.20,2.12,0.00,0.000,6,0.090,0.023,3146,1539,3394,0,0,0,0,0,0
$GC,3862,-1.09,-146.0,386.9,-6.8,211,3867,0.00,2.58,0.00,0.000,4,0.000,0.035,3146,3136,3393,0,0,0,0,0,0
$GC,3897,-1.19,-146.0,389.3,-6.4,211,3902,0.00,2.60,0.00,0.000,6,0.000,0.038,3146,1572,3393,0,0,0,0,0,0
$GC,4148,-1.24,-146.0,406.1,-6.4,217,4150,0.12,0.00,0.00,0.000,6,0.065,0.000,3090,1572,3391,0,0,0,0,0,0
$GC,4391,-1.17,-146.0,425.8,-8.5,223,4396,0.17,2.40,0.00,0.000,4,0.094,0.067,3130,168,3389,0,0,0,0,0,0
$GC,4417,-1.17,-146.0,428.0,-8.0,223,4421,0.00,2.15,0.00,0.000,6,0.000,0.026,3130,1536,3389,0,0,0,0,0,0
$GC,4681,-1.17,-146.0,446.8,-7.0,230,4685,0.00,2.62,0.00,0.000,4,0.000,0.039,3130,3134,3387,0,0,0,0,0,0
$GC,4714,-1.25,-146.0,449.1,-6.3,230,4719,0.00,2.55,0.00,0.000,6,0.000,0.041,3130,1589,3387,0,0,0,0,0,0
$GC,4966,-1.25,-146.0,465.9,-6.9,236,4970,0.00,2.42,0.00,0.000,4,0.000,0.071,3130,171,3385,0,0,0,0,0,0
$GC,4980,-1.25,-146.0,467.3,-7.4,236,4984,0.00,2.20,0.00,0.000,6,0.000,0.028,3130,1547,3385,0,0,0,0,0,0
$GC,5248,-1.25,-146.0,491.0,-9.0,243,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1548,3384,0,0,0,0,0,0
$GC,5493,-1.25,-146.0,512.2,-8.6,249,5498,0.00,2.62,0.00,0.000,4,0.000,0.044,3130,3131,3382,0,0,0,0,0,0
$GC,5527,-1.33,-146.0,515.2,-8.0,249,5532,0.15,2.55,0.00,0.000,6,0.055,0.041,3059,1590,3382,0,0,0,0,0,0
$GC,5777,-1.21,-146.0,542.4,-11.0,255,5782,0.25,2.47,0.00,0.000,4,0.093,0.075,3119,167,3380,0,0,0,0,0,0
$GC,5803,-1.21,-146.0,545.0,-9.7,255,5807,0.00,2.20,0.00,0.000,6,0.000,0.033,3119,1532,3380,0,0,0,0,0,0
$GC,6066,-1.21,-146.0,566.9,-8.4,262,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1532,3378,0,0,0,0,0,0
$GC,6310,-1.21,-146.0,585.9,-7.7,268,6315,0.00,2.65,0.00,0.000,4,0.000,0.048,3119,3121,3376,0,0,0,0,0,0
$GC,6335,-1.21,-146.0,588.0,-9.3,268,6340,0.00,2.60,0.00,0.000,6,0.000,0.046,3119,1583,3376,0,0,0,0,0,0
$GC,6595,-1.21,-146.0,607.8,-7.6,275,6599,0.00,2.50,0.00,0.000,4,0.000,0.081,3119,165,3375,0,0,0,0,0,0
$GC,6615,-1.21,-146.0,609.3,-7.5,275,6619,0.00,2.22,0.00,0.000,6,0.000,0.033,3119,1532,3374,0,0,0,0,0,0
$GC,6880,-1.21,-146.0,629.6,-7.7,282,6885,0.00,2.65,0.00,0.000,4,0.000,0.049,3119,3124,3374,0,0,0,0,0,0
$GC,6900,-1.21,-146.0,631.2,-7.6,282,6904,0.00,2.60,0.00,0.000,6,0.000,0.048,3119,1588,3373,0,0,0,0,0,0
$GC,7165,-1.21,-146.0,648.9,-6.4,289,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1588,3372,0,0,0,0,0,0
$GC,7410,-1.21,-146.0,664.4,-6.5,295,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1588,3370,0,0,0,0,0,0
$GC,7652,-1.21,-146.0,681.3,-7.1,301,7657,0.00,2.50,0.00,0.000,4,0.000,0.082,3119,165,3369,0,0,0,0,0,0
$GC,7676,-1.21,-146.0,683.2,-8.9,301,7680,0.00,2.25,0.00,0.000,6,0.000,0.035,3119,1540,3369,0,0,0,0,0,0
$GC,7941,-1.21,-146.0,703.9,-7.8,308,7946,0.00,2.67,0.00,0.000,4,0.000,0.051,3119,3129,3367,0,0,0,0,0,0
$GC,7965,-1.26,-146.0,706.1,-9.2,308,7970,0.00,2.60,0.00,0.000,6,0.000,0.049,3119,1588,3368,0,0,0,0,0,0
$GC,8225,-1.26,-146.0,727.6,-8.4,315,8229,0.00,2.53,0.00,0.000,4,0.000,0.083,3119,163,3366,0,0,0,0,0,0
$GC,8258,-1.26,-146.0,730.6,-8.6,315,8262,0.00,2.25,0.00,0.000,6,0.000,0.035,3119,1536,3366,0,0,0,0,0,0
$GC,8509,-1.26,-146.0,750.8,-7.9,321,8514,0.00,2.67,0.00,0.000,4,0.000,0.051,3119,3127,3365,0,0,0,0,0,0
$GC,8543,-1.34,-146.0,753.5,-7.2,321,8548,0.12,2.60,0.00,0.000,6,0.062,0.049,3058,1598,3365,0,0,0,0,0,0
$GC,8795,-1.25,-146.0,777.6,-9.8,327,8800,0.25,2.53,0.00,0.000,4,0.093,0.082,3116,167,3364,0,0,0,0,0,0
$GC,8843,-1.25,-146.0,781.7,-7.2,328,8847,0.00,2.22,0.00,0.000,6,0.000,0.035,3117,1529,3364,0,0,0,0,0,0
$GC,9125,-1.25,-146.0,801.3,-7.0,335,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1529,3362,0,0,0,0,0,0
$GC,9370,-1.25,-146.0,817.9,-6.8,341,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1529,3362,0,0,0,0,0,0
$GC,9612,-1.25,-146.0,832.5,-5.9,347,9616,0.00,2.40,0.00,0.000,4,0.000,0.077,3117,170,3362,0,0,0,0,0,0
$GC,9631,-1.25,-146.0,833.5,-6.1,347,9635,0.00,2.20,0.00,0.000,6,0.000,0.035,3117,1525,3361,0,0,0,0,0,0
$GC,9896,-1.25,-146.0,847.2,-5.0,354,9900,0.00,2.70,0.00,0.000,4,0.000,0.051,3117,3127,3360,0,0,0,0,0,0
$GC,9911,-1.30,-146.0,848.1,-4.8,354,9915,0.00,2.62,0.00,0.000,6,0.000,0.049,3116,1588,3361,0,0,0,0,0,0
$GC,10180,-1.34,-146.0,861.3,-5.0,361,10185,0.10,2.55,0.00,0.000,4,0.077,0.084,3071,165,3359,0,0,0,0,0,0
$GC,10208,-1.27,-146.0,863.2,-8.9,361,10213,0.17,2.22,0.00,0.000,6,0.100,0.035,3109,1533,3359,0,0,0,0,0,0
$GC,10468,-1.27,-146.0,880.8,-6.7,368,10469,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1534,3359,0,0,0,0,0,0
$GC,10713,-1.27,-146.0,899.1,-7.6,374,10718,0.00,2.67,0.00,0.000,4,0.000,0.053,3110,3122,3358,0,0,0,0,0,0
$STATE,10721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10721,begin apogee
$GC,10731,-0.31,0.0,900.1,7.5,374,10853,0.88,0.00,117.93,1.172,6,0.076,0.000,3312,1342,2800,0,0,0,0,0,0
$STATE,10853,end apogee,CONTROL_FINISHED_OK
$STATE,10854,begin climb
$GC,10856,1.27,146.0,904.9,0.0,377,10996,1.45,2.22,129.57,1.149,4,0.034,0.085,3662,169,2204,0,0,0,0,0,0
$GC,11072,0.99,146.0,891.9,13.6,382,11077,0.30,1.88,0.00,0.000,6,0.120,0.031,3603,1301,2200,0,0,0,0,0,0
$GC,11363,0.92,173.5,865.6,8.7,389,11395,0.00,2.08,24.95,1.077,4,0.000,0.074,3603,169,2091,0,0,0,0,0,0
$GC,11439,0.78,173.5,857.5,10.9,390,11444,0.22,1.95,0.00,0.000,6,0.109,0.033,3558,1342,2090,0,0,0,0,0,0
$GC,11695,0.84,219.5,837.1,7.9,397,11744,0.00,2.20,42.83,1.093,4,0.000,0.077,3557,171,1905,0,0,0,0,0,0
$GC,11786,0.84,219.5,828.3,10.6,399,11790,0.00,1.95,0.00,0.000,6,0.000,0.033,3557,1341,1904,0,0,0,0,0,0
$GC,12074,0.84,220.9,800.5,9.9,406,12075,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,1342,1900,0,0,0,0,0,0
$GC,12316,0.85,224.4,776.4,9.8,412,12323,0.00,0.00,4.85,0.748,6,0.000,0.000,3557,1342,1884,0,0,0,0,0,0
$GC,12560,0.87,241.6,753.6,9.2,418,12585,0.00,2.83,17.70,1.009,4,0.000,0.054,3557,2928,1813,0,0,0,0,0,0
$GC,12607,0.93,241.6,749.4,10.0,419,12614,0.12,2.75,0.00,0.000,6,0.068,0.051,3602,1347,1810,0,0,0,0,0,0
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$STATE,18934,end climb,SURFACE_DEPTH_REACHED
$STATE,18934,begin surface coast
$FINISH,0.6,1.010736
$STATE,18992,end surface coast,CONTROL_FINISHED_OK
$STATE,18993,begin surface
$SM_CCo,19016,48.72,0.450,0,0,1249,380.21
$SM_GC,1.71,0.00,0.00,48.72,0.000,0.000,0.450,414,1686,1249,-13.67,2.43,380.21
$IRIDIUM_FIX,2244.02,-15739.35,260802,222233
$TT8_MAMPS,0.027612
$HUMID,63.19
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,21
$24V_AH,23.2,7.727
$10V_AH,9.8,6.752
$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,33.225,226.525,389.600,48.725,0.000,95.914,129.955,715.541,5.250,0.000,17.491,1584.675,14290.249,534.552,2463.240,1417.442,33.368,1639.078,0.000,2453.265,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,85.137,1171.976,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,489.844,340.938,430.030,773.963,1053.190,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,54181,718
$CAP_FILE_SIZE,196619,0
$CFSIZE,260165632,168226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020613,041700,2254.653,-15740.385,37,1.8,37,10.1