version: 66.06
glider: 148
mission: 12
dive: 58
start: 6 2 113 9 46 16
data:
$ID,148
$MISSION,12
$DIVE,58
$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,-1016231.2
$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,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,1590
$C_ROLL_CLIMB,1360
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,44
$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
$GPS1,093804,2256.229,-15740.465,41,2.0,45,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.0
$GPS2,094524,2256.260,-15740.545,14,1.3,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.135
$KALMAN_X,-41623.6,3.6,-388.9,75341.1,-1759.8
$KALMAN_Y,21750.1,24.7,-530.0,-371.2,1910.1
$MHEAD_RNG_PITCHd_Wd,48.6,19096,-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,-67.40,0.000,2,0.000,0.000,409,1652,2981,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.8,9,122,14.75,2.45,-7.25,0.000,4,0.170,0.036,3101,3169,3398,0,0,0,0,0,0
$GC,196,-1.11,-146.0,29.7,-15.8,24,206,0.15,2.62,0.00,0.000,6,0.086,0.034,3138,1594,3399,0,0,0,0,0,0
$GC,465,-0.98,-146.0,63.9,-12.0,49,474,0.15,0.00,0.00,0.000,6,0.116,0.000,3169,1594,3399,0,0,0,0,0,0
$GC,726,-0.98,-146.0,92.0,-10.6,74,730,0.00,2.53,0.00,0.000,4,0.000,0.023,3169,3185,3399,0,0,0,0,0,0
$GC,746,-0.98,-146.0,93.6,-10.8,75,751,0.00,2.60,0.00,0.000,6,0.000,0.028,3169,1570,3400,0,0,0,0,0,0
$GC,1011,-0.98,-146.0,124.8,-12.2,99,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1570,3400,0,0,0,0,0,0
$GC,1277,-0.98,-146.0,157.4,-11.9,124,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1570,3400,0,0,0,0,0,0
$GC,1537,-0.98,-146.0,187.8,-10.6,149,1542,0.00,2.53,0.00,0.000,4,0.000,0.023,3169,3175,3400,0,0,0,0,0,0
$GC,1556,-0.98,-146.0,189.8,-10.1,150,1565,0.00,2.60,0.00,0.000,6,0.000,0.028,3169,1586,3400,0,0,0,0,0,0
$GC,1834,-0.98,-146.0,215.0,-8.7,165,1838,0.00,2.33,0.00,0.000,4,0.000,0.045,3169,169,3401,0,0,0,0,0,0
$GC,1862,-0.98,-146.0,218.1,-9.6,165,1866,0.00,2.22,0.00,0.000,6,0.000,0.018,3169,1624,3401,0,0,0,0,0,0
$GC,2121,-0.98,-146.0,238.5,-7.8,172,2125,0.00,2.40,0.00,0.000,4,0.000,0.045,3169,164,3401,0,0,0,0,0,0
$GC,2170,-1.06,-146.0,242.2,-7.2,173,2174,0.00,2.17,0.00,0.000,6,0.000,0.019,3169,1586,3401,0,0,0,0,0,0
$GC,2452,-1.10,-146.0,261.2,-6.9,180,2457,0.10,2.47,0.00,0.000,4,0.077,0.025,3119,3156,3401,0,0,0,0,0,0
$GC,2483,-1.10,-146.0,263.9,-9.9,180,2488,0.12,2.55,0.00,0.000,6,0.103,0.031,3146,1576,3401,0,0,0,0,0,0
$GC,2738,-1.10,-146.0,286.1,-8.6,187,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1576,3401,0,0,0,0,0,0
$GC,2982,-1.10,-146.0,306.6,-8.4,193,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1576,3401,0,0,0,0,0,0
$GC,3226,-1.10,-146.0,327.7,-8.5,199,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1576,3400,0,0,0,0,0,0
$GC,3471,-1.10,-146.0,343.2,-5.9,205,3475,0.00,2.53,0.00,0.000,4,0.000,0.031,3146,3147,3398,0,0,0,0,0,0
$GC,3485,-1.10,-146.0,344.1,-5.5,205,3489,0.00,2.58,0.00,0.000,6,0.000,0.033,3146,1579,3398,0,0,0,0,0,0
$GC,3754,-1.10,-146.0,360.8,-6.9,212,3758,0.00,2.35,0.00,0.000,4,0.000,0.057,3146,168,3397,0,0,0,0,0,0
$GC,3806,-1.10,-146.0,366.1,-10.7,213,3810,0.00,2.15,0.00,0.000,6,0.000,0.023,3146,1553,3396,0,0,0,0,0,0
$GC,4084,-1.15,-146.0,393.7,-9.7,220,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1556,3395,0,0,0,0,0,0
$GC,4328,-1.20,-146.0,413.7,-8.1,226,4333,0.10,2.62,0.00,0.000,4,0.077,0.038,3097,3158,3394,0,0,0,0,0,0
$GC,4367,-1.20,-146.0,417.8,-11.5,226,4374,0.12,2.62,0.00,0.000,6,0.104,0.039,3124,1582,3394,0,0,0,0,0,0
$GC,4617,-1.20,-146.0,441.8,-9.5,233,4622,0.00,2.40,0.00,0.000,4,0.000,0.067,3124,172,3392,0,0,0,0,0,0
$GC,4654,-1.20,-146.0,446.0,-11.0,233,4660,0.00,2.25,0.00,0.000,6,0.000,0.027,3124,1580,3392,0,0,0,0,0,0
$GC,4906,-1.20,-146.0,471.1,-9.9,240,4910,0.00,2.62,0.00,0.000,4,0.000,0.040,3124,3176,3390,0,0,0,0,0,0
$GC,4958,-1.30,-146.0,476.4,-9.2,241,4962,0.00,2.65,0.00,0.000,6,0.000,0.041,3124,1590,3390,0,0,0,0,0,0
$GC,5237,-1.30,-146.0,499.4,-7.7,248,5241,0.00,2.47,0.00,0.000,4,0.000,0.074,3124,169,3388,0,0,0,0,0,0
$GC,5284,-1.30,-146.0,502.9,-7.2,249,5288,0.00,2.30,0.00,0.000,6,0.000,0.031,3124,1593,3388,0,0,0,0,0,0
$GC,5566,-1.30,-146.0,517.5,-4.7,256,5571,0.00,2.47,0.00,0.000,4,0.000,0.069,3124,169,3386,0,0,0,0,0,0
$GC,5596,-1.30,-146.0,518.9,-5.0,256,5600,0.00,2.30,0.00,0.000,6,0.000,0.033,3125,1586,3386,0,0,0,0,0,0
$GC,5850,-1.30,-146.0,529.6,-4.2,263,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1586,3384,0,0,0,0,0,0
$GC,6094,-1.30,-146.0,541.8,-5.3,269,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1586,3383,0,0,0,0,0,0
$GC,6338,-1.30,-146.0,558.1,-6.9,275,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1587,3382,0,0,0,0,0,0
$GC,6583,-1.30,-146.0,576.9,-7.9,281,6587,0.00,2.50,0.00,0.000,4,0.000,0.074,3124,163,3380,0,0,0,0,0,0
$GC,6611,-1.30,-146.0,579.5,-9.3,281,6615,0.00,2.33,0.00,0.000,6,0.000,0.035,3124,1586,3380,0,0,0,0,0,0
$GC,6866,-1.30,-146.0,598.8,-7.6,288,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1586,3379,0,0,0,0,0,0
$GC,7111,-1.30,-146.0,618.9,-8.5,294,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1586,3378,0,0,0,0,0,0
$GC,7353,-1.30,-146.0,640.6,-9.0,300,7357,0.00,2.50,0.00,0.000,4,0.000,0.077,3124,171,3376,0,0,0,0,0,0
$GC,7372,-1.30,-146.0,642.6,-9.8,300,7376,0.00,2.30,0.00,0.000,6,0.000,0.035,3125,1580,3376,0,0,0,0,0,0
$GC,7637,-1.30,-146.0,665.9,-8.8,307,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1581,3375,0,0,0,0,0,0
$GC,7879,-1.30,-146.0,685.2,-7.7,313,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1581,3374,0,0,0,0,0,0
$GC,8123,-1.30,-146.0,700.2,-5.9,319,8128,0.00,2.50,0.00,0.000,4,0.000,0.077,3124,167,3373,0,0,0,0,0,0
$GC,8144,-1.30,-146.0,701.3,-5.7,319,8148,0.00,2.30,0.00,0.000,6,0.000,0.035,3124,1584,3372,0,0,0,0,0,0
$GC,8410,-1.34,-146.0,714.9,-4.9,326,8412,0.12,0.00,0.00,0.000,6,0.065,0.000,3068,1583,3371,0,0,0,0,0,0
$GC,8652,-1.27,-146.0,733.7,-8.0,332,8654,0.17,0.00,0.00,0.000,6,0.102,0.000,3106,1584,3370,0,0,0,0,0,0
$GC,8895,-1.27,-146.0,751.9,-7.6,338,8899,0.00,2.47,0.00,0.000,4,0.000,0.077,3107,170,3370,0,0,0,0,0,0
$GC,8940,-1.27,-146.0,755.8,-9.7,339,8944,0.00,2.33,0.00,0.000,6,0.000,0.036,3106,1585,3369,0,0,0,0,0,0
$GC,9227,-1.27,-146.0,781.2,-9.0,346,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1585,3368,0,0,0,0,0,0
$GC,9470,-1.27,-146.0,803.0,-8.9,352,9475,0.00,2.67,0.00,0.000,4,0.000,0.053,3106,3181,3368,0,0,0,0,0,0
$GC,9491,-1.27,-146.0,804.8,-8.5,352,9495,0.00,2.72,0.00,0.000,6,0.000,0.050,3106,1571,3368,0,0,0,0,0,0
$GC,9755,-1.27,-146.0,827.8,-8.7,359,9759,0.00,2.50,0.00,0.000,4,0.000,0.084,3107,165,3366,0,0,0,0,0,0
$GC,9774,-1.27,-146.0,829.8,-9.7,359,9778,0.00,2.33,0.00,0.000,6,0.000,0.036,3106,1580,3366,0,0,0,0,0,0
$GC,10039,-1.27,-146.0,852.5,-8.4,366,10044,0.00,2.70,0.00,0.000,4,0.000,0.055,3106,3171,3365,0,0,0,0,0,0
$GC,10064,-1.31,-146.0,854.7,-9.0,366,10068,0.00,2.70,0.00,0.000,6,0.000,0.051,3106,1579,3365,0,0,0,0,0,0
$GC,10325,-1.31,-146.0,876.4,-8.4,373,10329,0.00,2.47,0.00,0.000,4,0.000,0.084,3107,169,3364,0,0,0,0,0,0
$GC,10370,-1.31,-146.0,880.5,-9.9,374,10374,0.00,2.33,0.00,0.000,6,0.000,0.036,3106,1584,3364,0,0,0,0,0,0
$STATE,10613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10613,begin apogee
$GC,10620,-0.31,0.0,900.5,7.8,380,10742,0.93,0.00,119.18,1.173,6,0.079,0.000,3315,1354,2800,0,0,0,0,0,0
$STATE,10743,end apogee,CONTROL_FINISHED_OK
$STATE,10743,begin climb
$GC,10747,1.27,146.0,904.7,0.0,383,10889,1.45,2.17,130.57,1.147,4,0.030,0.079,3670,175,2203,0,0,0,0,0,0
$GC,10917,0.96,146.0,895.4,14.6,387,10922,0.38,1.98,0.00,0.000,6,0.117,0.034,3596,1367,2200,0,0,0,0,0,0
$GC,11188,0.88,146.0,866.4,10.5,394,11192,0.00,2.15,0.00,0.000,4,0.000,0.074,3595,169,2192,0,0,0,0,0,0
$GC,11263,0.74,146.0,857.2,12.7,395,11267,0.25,1.98,0.00,0.000,6,0.105,0.032,3544,1364,2192,0,0,0,0,0,0
$GC,11519,0.76,166.4,833.8,9.1,402,11544,0.00,2.80,17.52,1.036,4,0.000,0.054,3544,2938,2121,0,0,0,0,0,0
$GC,11554,0.82,212.5,830.5,7.9,402,11604,0.00,2.75,43.83,1.084,6,0.000,0.049,3544,1360,1933,0,0,0,0,0,0
$GC,11848,0.87,212.5,800.5,10.2,410,11854,0.12,2.72,0.00,0.000,4,0.070,0.047,3588,2941,1926,0,0,0,0,0,0
$GC,11905,0.87,212.5,794.4,10.4,411,11910,0.00,2.72,0.00,0.000,6,0.000,0.051,3588,1374,1924,0,0,0,0,0,0
$GC,12180,0.87,212.5,764.7,10.9,418,12184,0.00,2.17,0.00,0.000,4,0.000,0.088,3588,165,1923,0,0,0,0,0,0
$GC,12258,0.80,212.5,755.1,11.2,419,12263,0.12,1.95,0.00,0.000,6,0.117,0.033,3562,1362,1923,0,0,0,0,0,0
$GC,12509,0.83,235.2,732.3,9.0,425,12537,0.00,2.78,20.90,1.008,4,0.000,0.053,3562,2944,1840,0,0,0,0,0,0
$GC,12558,0.90,246.9,727.7,9.5,426,12575,0.00,2.72,11.77,0.937,6,0.000,0.050,3562,1366,1793,0,0,0,0,0,0
$GC,12839,0.90,246.9,699.2,10.1,433,12843,0.00,2.15,0.00,0.000,4,0.000,0.084,3562,162,1791,0,0,0,0,0,0
$GC,12868,0.90,246.9,696.1,11.2,433,12872,0.00,2.00,0.00,0.000,6,0.000,0.031,3562,1375,1791,0,0,0,0,0,0
$GC,13127,0.95,246.9,670.0,10.2,440,13129,0.12,0.00,0.00,0.000,6,0.070,0.000,3609,1376,1790,0,0,0,0,0,0
$GC,13370,0.90,246.9,638.0,13.6,446,13376,0.12,2.70,0.00,0.000,4,0.117,0.054,3583,2945,1790,0,0,0,0,0,0
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$STATE,19030,end climb,SURFACE_DEPTH_REACHED
$STATE,19030,begin surface coast
$FINISH,2.0,1.023244
$STATE,19046,end surface coast,CONTROL_FINISHED_OK
$STATE,19046,begin surface
$SM_CCo,19073,49.53,0.448,0,0,1249,380.21
$SM_GC,1.52,0.00,0.00,49.53,0.000,0.000,0.448,414,1580,1249,-13.67,-0.28,380.21
$IRIDIUM_FIX,2246.36,-15738.46,270802,040459
$TT8_MAMPS,0.027612
$HUMID,62.40
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.20
$XPDR_PINGS,18
$24V_AH,23.2,8.039
$10V_AH,9.8,7.015
$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,33.125,193.150,402.950,49.525,0.000,30.600,37.384,202.080,4.500,0.000,33.311,1553.746,14321.866,566.170,2408.946,700.252,33.361,1609.184,0.000,2391.093,0.000,0.537,0.000
$DEVICE_MAMPS,170.274,88.205,1172.743,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.503,347.456,439.957,777.264,1058.763,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,54006,731
$CAP_FILE_SIZE,174230,0
$CFSIZE,260165632,168095744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020613,150623,2258.586,-15739.619,24,1.8,42,10.1