version: 66.06
glider: 148
mission: 12
dive: 60
start: 6 2 113 20 46 36
data:
$ID,148
$MISSION,12
$DIVE,60
$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,-1016263.8
$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,26
$R_STBD_OVSHOOT,87
$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
$GPS1,203423,2300.283,-15738.195,25,1.4,42,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.6
$GPS2,204543,2300.205,-15738.354,13,1.6,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,0.090
$KALMAN_X,-46616.5,81.4,288.4,83311.5,-2787.2
$KALMAN_Y,23920.2,44.2,-317.5,4530.9,1446.0
$MHEAD_RNG_PITCHd_Wd,59.5,10892,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.25,0.000,2,0.000,0.000,417,1605,2981,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.2,-4.3,9,124,13.98,2.45,-7.57,0.000,4,0.148,0.033,3101,3136,3399,0,0,0,0,0,0
$GC,160,-1.08,-146.0,22.9,-21.5,18,170,0.17,2.58,0.00,0.000,6,0.082,0.033,3144,1589,3399,0,0,0,0,0,0
$GC,443,-0.96,-146.0,69.9,-14.8,46,452,0.15,0.00,0.00,0.000,6,0.111,0.000,3177,1590,3400,0,0,0,0,0,0
$GC,707,-0.96,-146.0,101.6,-10.8,71,712,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1590,3400,0,0,0,0,0,0
$GC,970,-0.96,-146.0,126.8,-9.1,96,974,0.00,2.45,0.00,0.000,4,0.000,0.023,3176,3135,3400,0,0,0,0,0,0
$GC,1001,-0.96,-146.0,129.6,-8.4,98,1010,0.00,2.53,0.00,0.000,6,0.000,0.028,3176,1596,3400,0,0,0,0,0,0
$GC,1266,-0.96,-146.0,152.4,-9.2,123,1270,0.00,2.33,0.00,0.000,4,0.000,0.045,3176,169,3401,0,0,0,0,0,0
$GC,1286,-0.96,-146.0,154.9,-9.9,124,1292,0.00,2.15,0.00,0.000,6,0.000,0.018,3176,1597,3401,0,0,0,0,0,0
$GC,1550,-0.96,-146.0,181.0,-10.0,149,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,1599,3400,0,0,0,0,0,0
$GC,1818,-0.96,-146.0,209.4,-10.3,169,1822,0.00,2.35,0.00,0.000,4,0.000,0.044,3176,162,3401,0,0,0,0,0,0
$GC,1861,-1.01,-146.0,214.0,-10.4,170,1865,0.00,2.15,0.00,0.000,6,0.000,0.018,3176,1572,3401,0,0,0,0,0,0
$GC,2150,-1.01,-146.0,240.1,-8.8,177,2154,0.00,2.30,0.00,0.000,4,0.000,0.045,3176,167,3401,0,0,0,0,0,0
$GC,2173,-1.01,-146.0,242.4,-9.4,177,2177,0.00,2.17,0.00,0.000,6,0.000,0.019,3176,1598,3401,0,0,0,0,0,0
$GC,2437,-1.07,-146.0,264.6,-8.6,184,2439,0.10,0.00,0.00,0.000,6,0.077,0.000,3124,1601,3401,0,0,0,0,0,0
$GC,2682,-1.02,-146.0,290.0,-10.4,190,2687,0.17,2.47,0.00,0.000,4,0.094,0.027,3163,3146,3401,0,0,0,0,0,0
$GC,2712,-1.08,-146.0,293.1,-9.5,190,2716,0.00,2.53,0.00,0.000,6,0.000,0.031,3163,1588,3401,0,0,0,0,0,0
$GC,2967,-1.14,-146.0,311.9,-7.0,197,2972,0.12,2.38,0.00,0.000,4,0.064,0.052,3108,172,3400,0,0,0,0,0,0
$GC,3048,-1.06,-146.0,321.0,-11.6,198,3053,0.20,2.17,0.00,0.000,6,0.091,0.021,3152,1566,3400,0,0,0,0,0,0
$GC,3304,-1.06,-146.0,344.3,-8.9,205,3308,0.00,2.55,0.00,0.000,4,0.000,0.031,3152,3165,3399,0,0,0,0,0,0
$GC,3339,-1.18,-146.0,347.2,-7.8,205,3344,0.10,2.58,0.00,0.000,6,0.073,0.036,3085,1591,3399,0,0,0,0,0,0
$GC,3589,-1.07,-146.0,376.1,-11.7,211,3594,0.25,2.40,0.00,0.000,4,0.091,0.058,3145,167,3398,0,0,0,0,0,0
$GC,3629,-1.12,-146.0,379.6,-7.5,211,3634,0.00,2.25,0.00,0.000,6,0.000,0.024,3145,1590,3398,0,0,0,0,0,0
$GC,3879,-1.12,-146.0,397.4,-7.1,218,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1592,3397,0,0,0,0,0,0
$GC,4123,-1.17,-146.0,416.1,-7.7,224,4127,0.00,2.40,0.00,0.000,4,0.000,0.061,3145,175,3395,0,0,0,0,0,0
$GC,4168,-1.24,-146.0,419.5,-8.0,225,4173,0.12,2.22,0.00,0.000,6,0.064,0.026,3087,1587,3394,0,0,0,0,0,0
$GC,4456,-1.16,-146.0,447.6,-9.7,232,4461,0.20,2.60,0.00,0.000,4,0.094,0.037,3131,3168,3393,0,0,0,0,0,0
$GC,4480,-1.16,-146.0,449.9,-8.5,232,4485,0.00,2.62,0.00,0.000,6,0.000,0.037,3131,1586,3393,0,0,0,0,0,0
$GC,4742,-1.16,-146.0,468.6,-7.1,239,4746,0.00,2.42,0.00,0.000,4,0.000,0.070,3131,169,3390,0,0,0,0,0,0
$GC,4774,-1.16,-146.0,471.6,-8.6,239,4779,0.00,2.28,0.00,0.000,6,0.000,0.029,3132,1583,3390,0,0,0,0,0,0
$GC,5024,-1.16,-146.0,490.5,-7.6,245,5029,0.00,2.60,0.00,0.000,4,0.000,0.041,3131,3169,3389,0,0,0,0,0,0
$GC,5050,-1.22,-146.0,492.5,-8.7,245,5055,0.00,2.65,0.00,0.000,6,0.000,0.040,3131,1583,3389,0,0,0,0,0,0
$GC,5310,-1.22,-146.0,514.5,-8.7,252,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1583,3386,0,0,0,0,0,0
$GC,5553,-1.22,-146.0,536.3,-9.0,258,5558,0.00,2.45,0.00,0.000,4,0.000,0.076,3131,170,3385,0,0,0,0,0,0
$GC,5601,-1.22,-146.0,541.1,-9.9,259,5606,0.00,2.30,0.00,0.000,6,0.000,0.032,3131,1586,3385,0,0,0,0,0,0
$GC,5884,-1.22,-146.0,565.4,-8.4,266,5888,0.00,2.47,0.00,0.000,4,0.000,0.072,3131,170,3383,0,0,0,0,0,0
$GC,5917,-1.22,-146.0,568.5,-9.4,266,5921,0.00,2.30,0.00,0.000,6,0.000,0.033,3132,1593,3383,0,0,0,0,0,0
$GC,6168,-1.22,-146.0,590.0,-8.5,272,6173,0.00,2.65,0.00,0.000,4,0.000,0.046,3131,3180,3381,0,0,0,0,0,0
$GC,6202,-1.33,-146.0,593.0,-8.1,272,6211,0.15,2.70,0.00,0.000,6,0.053,0.047,3064,1588,3381,0,0,0,0,0,0
$GC,6456,-1.23,-146.0,621.0,-11.3,279,6461,0.25,2.47,0.00,0.000,4,0.094,0.077,3122,170,3380,0,0,0,0,0,0
$GC,6480,-1.23,-146.0,623.8,-10.4,279,6485,0.00,2.30,0.00,0.000,6,0.000,0.034,3123,1593,3380,0,0,0,0,0,0
$GC,6740,-1.23,-146.0,644.8,-8.0,286,6744,0.00,2.53,0.00,0.000,4,0.000,0.076,3122,165,3378,0,0,0,0,0,0
$GC,6774,-1.23,-146.0,647.9,-9.4,286,6779,0.00,2.35,0.00,0.000,6,0.000,0.035,3122,1594,3378,0,0,0,0,0,0
$GC,7024,-1.23,-146.0,667.8,-7.9,292,7029,0.00,2.50,0.00,0.000,4,0.000,0.076,3122,170,3377,0,0,0,0,0,0
$GC,7045,-1.23,-146.0,669.5,-8.2,292,7049,0.00,2.33,0.00,0.000,6,0.000,0.035,3122,1588,3376,0,0,0,0,0,0
$GC,7309,-1.23,-146.0,692.2,-8.6,299,7310,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1588,3375,0,0,0,0,0,0
$GC,7554,-1.23,-146.0,712.7,-8.4,305,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1588,3374,0,0,0,0,0,0
$GC,7796,-1.23,-146.0,732.7,-8.2,311,7800,0.00,2.50,0.00,0.000,4,0.000,0.077,3122,166,3373,0,0,0,0,0,0
$GC,7815,-1.23,-146.0,734.6,-9.2,311,7819,0.00,2.30,0.00,0.000,6,0.000,0.035,3122,1580,3373,0,0,0,0,0,0
$GC,8080,-1.23,-146.0,755.4,-7.7,318,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1581,3372,0,0,0,0,0,0
$GC,8322,-1.23,-146.0,772.3,-6.8,324,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1581,3371,0,0,0,0,0,0
$GC,8567,-1.27,-146.0,787.8,-6.4,330,8571,0.00,2.50,0.00,0.000,4,0.000,0.077,3122,170,3370,0,0,0,0,0,0
$GC,8606,-1.32,-146.0,790.7,-8.8,330,8612,0.10,2.30,0.00,0.000,6,0.077,0.036,3079,1573,3369,0,0,0,0,0,0
$GC,8857,-1.27,-146.0,813.6,-9.4,337,8864,0.12,2.75,0.00,0.000,4,0.112,0.056,3106,3181,3368,0,0,0,0,0,0
$GC,8874,-1.27,-146.0,815.4,-9.5,337,8878,0.00,2.75,0.00,0.000,6,0.000,0.049,3106,1566,3368,0,0,0,0,0,0
$GC,9144,-1.27,-146.0,837.9,-8.4,344,9148,0.00,2.47,0.00,0.000,4,0.000,0.084,3106,171,3367,0,0,0,0,0,0
$GC,9163,-1.27,-146.0,839.9,-9.7,344,9167,0.00,2.28,0.00,0.000,6,0.000,0.035,3106,1571,3367,0,0,0,0,0,0
$GC,9427,-1.27,-146.0,864.3,-9.2,351,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,1572,3366,0,0,0,0,0,0
$GC,9672,-1.27,-146.0,886.0,-8.9,357,9676,0.00,2.45,0.00,0.000,4,0.000,0.077,3106,171,3365,0,0,0,0,0,0
$GC,9691,-1.27,-146.0,887.8,-8.7,357,9695,0.00,2.30,0.00,0.000,6,0.000,0.035,3106,1570,3365,0,0,0,0,0,0
$STATE,9871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9871,begin apogee
$GC,9877,-0.31,0.0,902.6,8.1,362,10000,0.93,0.00,118.95,1.173,6,0.078,0.000,3315,1355,2800,0,0,0,0,0,0
$STATE,10000,end apogee,CONTROL_FINISHED_OK
$STATE,10001,begin climb
$GC,10005,1.27,146.0,906.8,0.0,365,10146,1.45,2.15,130.57,1.146,4,0.028,0.079,3671,176,2203,0,0,0,0,0,0
$GC,10252,0.96,146.0,885.0,16.8,371,10256,0.38,1.98,0.00,0.000,6,0.113,0.033,3596,1375,2198,0,0,0,0,0,0
$GC,10544,0.88,146.0,853.1,10.6,378,10548,0.00,2.12,0.00,0.000,4,0.000,0.074,3596,174,2192,0,0,0,0,0,0
$GC,10567,0.75,146.0,850.2,12.0,378,10572,0.22,1.98,0.00,0.000,6,0.106,0.033,3550,1351,2192,0,0,0,0,0,0
$GC,10833,0.76,158.4,825.4,9.4,385,10849,0.00,2.17,10.15,0.960,4,0.000,0.074,3549,176,2153,0,0,0,0,0,0
$GC,10879,0.76,158.4,820.3,11.6,386,10882,0.00,1.92,0.00,0.000,6,0.000,0.033,3550,1352,2153,0,0,0,0,0,0
$GC,11171,0.76,158.4,791.1,10.0,393,11175,0.00,2.72,0.00,0.000,4,0.000,0.054,3549,2945,2151,0,0,0,0,0,0
$GC,11185,0.76,161.3,789.4,9.9,393,11190,0.00,2.72,0.00,0.000,6,0.000,0.049,3549,1349,2149,0,0,0,0,0,0
$GC,11454,0.78,177.3,764.3,9.3,400,11479,0.00,2.22,18.35,1.016,4,0.000,0.087,3550,166,2076,0,0,0,0,0,0
$GC,11522,0.78,177.3,757.1,11.1,401,11526,0.00,2.00,0.00,0.000,6,0.000,0.033,3549,1381,2076,0,0,0,0,0,0
$GC,11791,0.81,194.4,732.0,9.2,408,11809,0.00,0.00,16.90,0.991,6,0.000,0.000,3550,1382,2007,0,0,0,0,0,0
$GC,12035,0.88,211.5,709.5,9.2,414,12054,0.10,0.00,17.15,0.976,6,0.080,0.000,3588,1382,1937,0,0,0,0,0,0
$GC,12279,0.88,211.5,682.3,11.2,420,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,1383,1934,0,0,0,0,0,0
$GC,12521,0.88,211.5,654.8,11.3,426,12525,0.00,2.15,0.00,0.000,4,0.000,0.072,3588,166,1932,0,0,0,0,0,0
$GC,12545,0.82,211.5,651.8,13.0,426,12549,0.12,1.92,0.00,0.000,6,0.116,0.031,3563,1353,1932,0,0,0,0,0,0
$GC,12805,0.82,211.5,625.6,10.0,433,12809,0.00,2.08,0.00,0.000,4,0.000,0.071,3563,166,1932,0,0,0,0,0,0
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$GC,14290,0.98,269.1,476.5,9.4,469,14310,0.00,2.65,12.50,0.799,4,0.000,0.040,3582,2933,1702,0,0,0,0,0,0
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$STATE,18342,end climb,SURFACE_DEPTH_REACHED
$STATE,18342,begin surface coast
$FINISH,0.7,1.023482
$STATE,18384,end surface coast,CONTROL_FINISHED_OK
$STATE,18384,begin surface
$SM_CCo,18408,39.17,0.442,0,0,1250,380.21
$SM_GC,1.57,0.00,0.00,39.17,0.000,0.000,0.442,418,1616,1250,-13.65,0.74,380.21
$IRIDIUM_FIX,2251.04,-15735.41,270802,202033
$TT8_MAMPS,0.026845
$HUMID,62.95
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.2,8.342
$10V_AH,9.9,7.283
$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,33.600,208.650,403.300,39.175,0.000,52.984,81.541,325.192,3.500,0.000,15.997,1544.379,13644.921,575.928,2432.937,920.590,33.368,1655.420,0.000,2437.457,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,86.671,1172.743,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.570,325.231,433.536,731.167,1030.734,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,54158,707
$CAP_FILE_SIZE,184499,0
$CFSIZE,260165632,167931904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030613,015524,2301.599,-15737.547,37,1.7,37,10.1