version: 66.06
glider: 148
mission: 12
dive: 61
start: 6 3 113 2 16 11
data:
$ID,148
$MISSION,12
$DIVE,61
$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,561.4917
$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,-1016284.4
$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,105
$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
$GPS1,015524,2301.599,-15737.547,37,1.7,37,10.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-79.7
$GPS2,021519,2301.627,-15737.719,18,1.6,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.186
$KALMAN_X,-48982.4,7.9,-549.8,87682.1,-848.1
$KALMAN_Y,24598.8,98.5,-28.5,6150.4,994.3
$MHEAD_RNG_PITCHd_Wd,34.2,8059,-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,-67.65,0.000,2,0.000,0.000,417,1617,3022,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.4,-5.7,9,124,13.98,2.40,-6.45,0.000,4,0.148,0.034,3104,3114,3398,0,0,0,0,0,0
$GC,178,-1.13,-146.0,27.1,-16.4,21,188,0.12,2.53,0.00,0.000,6,0.084,0.031,3136,1585,3398,0,0,0,0,0,0
$GC,457,-0.98,-146.0,68.2,-13.5,47,462,0.15,2.33,0.00,0.000,4,0.111,0.044,3169,171,3398,0,0,0,0,0,0
$GC,491,-0.88,-146.0,73.1,-14.0,49,495,0.12,2.08,0.00,0.000,6,0.109,0.018,3196,1562,3399,0,0,0,0,0,0
$GC,759,-0.88,-146.0,97.6,-8.4,73,763,0.00,2.45,0.00,0.000,4,0.000,0.022,3196,3138,3399,0,0,0,0,0,0
$GC,799,-1.02,-146.0,101.2,-7.2,76,809,0.10,2.53,0.00,0.000,6,0.028,0.028,3113,1590,3398,0,0,0,0,0,0
$GC,1067,-0.85,-146.0,132.2,-12.1,101,1072,0.35,2.30,0.00,0.000,4,0.089,0.041,3194,171,3399,0,0,0,0,0,0
$GC,1117,-0.91,-146.0,137.2,-7.6,105,1121,0.00,2.12,0.00,0.000,6,0.000,0.018,3194,1586,3399,0,0,0,0,0,0
$GC,1382,-0.95,-146.0,155.4,-7.3,129,1386,0.00,2.45,0.00,0.000,4,0.000,0.022,3194,3148,3399,0,0,0,0,0,0
$GC,1403,-1.02,-146.0,157.3,-7.8,130,1409,0.12,2.50,0.00,0.000,6,0.062,0.028,3108,1588,3399,0,0,0,0,0,0
$GC,1668,-0.87,-146.0,197.7,-18.0,155,1673,0.35,2.30,0.00,0.000,4,0.087,0.041,3190,171,3399,0,0,0,0,0,0
$GC,1692,-0.87,-146.0,202.3,-14.3,156,1696,0.00,2.15,0.00,0.000,6,0.000,0.018,3190,1604,3399,0,0,0,0,0,0
$GC,1951,-0.95,-146.0,227.4,-8.7,163,1955,0.00,2.38,0.00,0.000,4,0.000,0.045,3190,169,3399,0,0,0,0,0,0
$GC,1986,-1.04,-146.0,229.8,-7.7,163,1991,0.12,2.12,0.00,0.000,6,0.063,0.018,3123,1582,3399,0,0,0,0,0,0
$GC,2242,-0.97,-146.0,254.5,-9.9,170,2247,0.22,2.47,0.00,0.000,4,0.090,0.022,3173,3149,3398,0,0,0,0,0,0
$GC,2268,-0.97,-146.0,256.6,-8.4,170,2272,0.00,2.53,0.00,0.000,6,0.000,0.029,3173,1577,3398,0,0,0,0,0,0
$GC,2529,-1.02,-146.0,276.4,-8.0,177,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1577,3398,0,0,0,0,0,0
$GC,2771,-1.09,-146.0,296.6,-8.4,183,2776,0.10,2.33,0.00,0.000,4,0.076,0.051,3121,173,3397,0,0,0,0,0,0
$GC,2818,-1.03,-146.0,302.0,-12.2,184,2823,0.17,2.15,0.00,0.000,6,0.093,0.021,3160,1572,3397,0,0,0,0,0,0
$GC,3105,-1.08,-146.0,325.8,-7.8,191,3109,0.00,2.33,0.00,0.000,4,0.000,0.051,3160,171,3396,0,0,0,0,0,0
$GC,3124,-1.08,-146.0,327.4,-6.7,191,3128,0.00,2.22,0.00,0.000,6,0.000,0.022,3159,1592,3396,0,0,0,0,0,0
$GC,3390,-1.13,-146.0,343.0,-5.7,198,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1594,3395,0,0,0,0,0,0
$GC,3632,-1.19,-146.0,360.6,-7.6,204,3637,0.15,2.40,0.00,0.000,4,0.057,0.055,3096,169,3394,0,0,0,0,0,0
$GC,3651,-1.19,-146.0,362.7,-10.3,204,3656,0.12,2.20,0.00,0.000,6,0.107,0.022,3123,1588,3393,0,0,0,0,0,0
$GC,3917,-1.19,-146.0,389.6,-10.1,211,3921,0.00,2.38,0.00,0.000,4,0.000,0.058,3123,177,3392,0,0,0,0,0,0
$GC,3949,-1.19,-146.0,393.2,-10.7,211,3954,0.00,2.20,0.00,0.000,6,0.000,0.024,3123,1569,3392,0,0,0,0,0,0
$GC,4200,-1.19,-146.0,415.4,-8.6,217,4204,0.00,2.58,0.00,0.000,4,0.000,0.035,3123,3163,3390,0,0,0,0,0,0
$GC,4220,-1.19,-146.0,417.1,-8.5,217,4225,0.00,2.58,0.00,0.000,6,0.000,0.035,3123,1588,3390,0,0,0,0,0,0
$GC,4484,-1.19,-146.0,436.5,-7.0,224,4489,0.00,2.40,0.00,0.000,4,0.000,0.065,3123,172,3388,0,0,0,0,0,0
$GC,4528,-1.19,-146.0,440.6,-9.2,225,4532,0.00,2.22,0.00,0.000,6,0.000,0.027,3122,1581,3387,0,0,0,0,0,0
$GC,4816,-1.19,-146.0,464.5,-8.5,232,4820,0.00,2.58,0.00,0.000,4,0.000,0.038,3123,3166,3386,0,0,0,0,0,0
$GC,4845,-1.25,-146.0,467.2,-8.2,232,4849,0.00,2.65,0.00,0.000,6,0.000,0.039,3123,1577,3386,0,0,0,0,0,0
$GC,5100,-1.25,-146.0,489.3,-8.7,239,5104,0.00,2.42,0.00,0.000,4,0.000,0.072,3123,169,3384,0,0,0,0,0,0
$GC,5125,-1.25,-146.0,491.4,-9.4,239,5129,0.00,2.28,0.00,0.000,6,0.000,0.030,3123,1581,3384,0,0,0,0,0,0
$GC,5389,-1.25,-146.0,512.2,-7.8,246,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1581,3382,0,0,0,0,0,0
$GC,5632,-1.25,-146.0,530.8,-7.7,252,5637,0.00,2.65,0.00,0.000,4,0.000,0.045,3123,3173,3380,0,0,0,0,0,0
$GC,5657,-1.25,-146.0,532.8,-8.5,252,5662,0.00,2.67,0.00,0.000,6,0.000,0.042,3123,1577,3380,0,0,0,0,0,0
$GC,5917,-1.25,-146.0,553.4,-8.0,259,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1577,3379,0,0,0,0,0,0
$GC,6161,-1.25,-146.0,575.4,-9.2,265,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1577,3377,0,0,0,0,0,0
$GC,6405,-1.25,-146.0,599.6,-10.0,271,6410,0.00,2.50,0.00,0.000,4,0.000,0.081,3123,162,3376,0,0,0,0,0,0
$GC,6452,-1.25,-146.0,604.9,-11.3,272,6456,0.00,2.33,0.00,0.000,6,0.000,0.035,3123,1584,3376,0,0,0,0,0,0
$GC,6734,-1.25,-146.0,630.5,-8.7,279,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1584,3374,0,0,0,0,0,0
$GC,6978,-1.25,-146.0,649.5,-7.7,285,6982,0.00,2.50,0.00,0.000,4,0.000,0.076,3123,169,3373,0,0,0,0,0,0
$GC,6998,-1.25,-146.0,651.2,-8.3,285,7002,0.00,2.33,0.00,0.000,6,0.000,0.035,3123,1588,3372,0,0,0,0,0,0
$GC,7262,-1.25,-146.0,670.4,-7.3,292,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1588,3371,0,0,0,0,0,0
$GC,7506,-1.25,-146.0,688.7,-7.6,298,7510,0.00,2.47,0.00,0.000,4,0.000,0.076,3123,173,3370,0,0,0,0,0,0
$GC,7545,-1.25,-146.0,691.9,-9.3,298,7550,0.00,2.30,0.00,0.000,6,0.000,0.036,3123,1574,3370,0,0,0,0,0,0
$GC,7795,-1.25,-146.0,711.2,-7.7,305,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1574,3369,0,0,0,0,0,0
$GC,8038,-1.25,-146.0,728.9,-7.2,311,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1574,3367,0,0,0,0,0,0
$GC,8284,-1.29,-146.0,746.2,-7.2,317,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1574,3366,0,0,0,0,0,0
$GC,8526,-1.33,-146.0,764.1,-7.3,323,8528,0.12,0.00,0.00,0.000,6,0.065,0.000,3068,1574,3365,0,0,0,0,0,0
$GC,8770,-1.26,-146.0,788.6,-10.3,329,8775,0.17,2.50,0.00,0.000,4,0.100,0.076,3108,169,3364,0,0,0,0,0,0
$GC,8802,-1.26,-146.0,791.6,-9.5,329,8806,0.00,2.33,0.00,0.000,6,0.000,0.037,3108,1581,3364,0,0,0,0,0,0
$GC,9056,-1.26,-146.0,814.2,-8.8,336,9061,0.00,2.70,0.00,0.000,4,0.000,0.054,3108,3178,3363,0,0,0,0,0,0
$GC,9076,-1.26,-146.0,816.0,-8.8,336,9080,0.00,2.72,0.00,0.000,6,0.000,0.049,3108,1578,3363,0,0,0,0,0,0
$GC,9341,-1.26,-146.0,838.2,-8.4,343,9345,0.00,2.50,0.00,0.000,4,0.000,0.083,3108,168,3362,0,0,0,0,0,0
$GC,9388,-1.26,-146.0,842.4,-9.0,344,9392,0.00,2.30,0.00,0.000,6,0.000,0.036,3107,1580,3361,0,0,0,0,0,0
$GC,9670,-1.26,-146.0,863.7,-7.3,351,9674,0.00,2.50,0.00,0.000,4,0.000,0.077,3108,166,3360,0,0,0,0,0,0
$GC,9700,-1.26,-146.0,866.0,-8.3,351,9704,0.00,2.33,0.00,0.000,6,0.000,0.040,3108,1577,3360,0,0,0,0,0,0
$GC,9955,-1.26,-146.0,883.5,-6.7,358,9959,0.00,2.50,0.00,0.000,4,0.000,0.077,3108,165,3359,0,0,0,0,0,0
$GC,9974,-1.26,-146.0,885.0,-7.2,358,9978,0.00,2.33,0.00,0.000,6,0.000,0.037,3108,1577,3359,0,0,0,0,0,0
$STATE,10235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10235,begin apogee
$GC,10243,-0.31,0.0,902.3,6.6,365,10364,0.93,0.00,118.25,1.169,6,0.077,0.000,3317,1347,2800,0,0,0,0,0,0
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,1.27,146.0,905.0,0.0,368,10506,1.42,2.15,130.15,1.144,4,0.031,0.079,3667,177,2203,0,0,0,0,0,0
$GC,10645,0.98,146.0,876.8,16.3,374,10650,0.32,1.95,0.00,0.000,6,0.116,0.032,3601,1365,2197,0,0,0,0,0,0
$GC,10916,0.88,146.0,846.2,11.1,381,10921,0.10,2.15,0.00,0.000,4,0.134,0.074,3580,167,2192,0,0,0,0,0,0
$GC,10982,0.78,146.0,838.5,12.1,382,10987,0.12,1.98,0.00,0.000,6,0.123,0.033,3556,1363,2192,0,0,0,0,0,0
$GC,11248,0.80,164.2,814.3,9.2,389,11268,0.00,2.20,15.70,1.018,4,0.000,0.075,3555,168,2129,0,0,0,0,0,0
$GC,11293,0.75,164.2,809.7,11.6,390,11297,0.00,1.98,0.00,0.000,6,0.000,0.033,3555,1356,2129,0,0,0,0,0,0
$GC,11586,0.77,181.0,782.4,9.2,397,11609,0.00,2.75,16.20,1.010,4,0.000,0.051,3555,2945,2060,0,0,0,0,0,0
$GC,11615,0.84,234.5,779.6,7.5,397,11673,0.00,2.75,51.60,1.062,6,0.000,0.048,3555,1353,1843,0,0,0,0,0,0
$GC,11956,0.91,253.5,747.1,9.1,406,11981,0.12,2.72,17.17,0.990,4,0.071,0.044,3601,2942,1765,0,0,0,0,0,0
$GC,12014,0.91,253.5,741.1,10.2,407,12019,0.00,2.78,0.00,0.000,6,0.000,0.052,3601,1355,1761,0,0,0,0,0,0
$GC,12289,0.91,253.5,710.6,11.3,414,12293,0.00,2.15,0.00,0.000,4,0.000,0.084,3601,162,1760,0,0,0,0,0,0
$GC,12317,0.83,253.5,706.7,12.4,414,12321,0.15,1.98,0.00,0.000,6,0.111,0.032,3569,1359,1760,0,0,0,0,0,0
$GC,12572,0.83,253.5,678.4,11.3,421,12576,0.00,2.70,0.00,0.000,4,0.000,0.051,3569,2942,1758,0,0,0,0,0,0
$GC,12597,0.88,253.5,675.4,10.9,421,12602,0.00,2.72,0.00,0.000,6,0.000,0.050,3569,1354,1757,0,0,0,0,0,0
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$STATE,18220,end climb,SURFACE_DEPTH_REACHED
$STATE,18220,begin surface coast
$FINISH,1.1,1.023526
$STATE,18262,end surface coast,CONTROL_FINISHED_OK
$STATE,18262,begin surface
$SM_CCo,18285,185.60,0.444,3,0,510,561.49
$SM_GC,1.50,0.00,0.00,185.60,0.000,0.000,0.444,414,1663,510,-13.67,2.06,561.49
$IRIDIUM_FIX,2253.38,-15734.52,280802,020236
$TT8_MAMPS,0.027612
$HUMID,60.35
$INTERNAL_PRESSURE,9.31087
$TCM_TEMP,21.90
$XPDR_PINGS,14
$24V_AH,23.2,8.523
$10V_AH,9.8,7.419
$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,33.800,237.350,383.875,185.600,0.000,144.133,184.810,434.911,3.500,0.000,20.014,1561.348,13706.397,686.033,2461.789,1257.964,33.363,1818.448,0.000,2448.024,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,84.370,1168.908,444.093,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.805,319.462,405.433,714.692,976.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,51033,685
$CAP_FILE_SIZE,202541,0
$CFSIZE,260165632,167833600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030613,072537,2304.055,-15736.636,35,1.3,35,10.1