version: 66.06
glider: 148
mission: 12
dive: 109
start: 6 13 113 21 6 52
data:
$ID,148
$MISSION,12
$DIVE,109
$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,-1017399.7
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,42
$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
$GPS1,205759,2242.382,-15737.312,60,1.7,60,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.2
$GPS2,210600,2242.382,-15737.396,16,1.3,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.051,0.255
$KALMAN_X,-114004.6,-190.5,-306.1,153206.1,-380.3
$KALMAN_Y,32792.5,-253.2,-65.3,-37299.9,2216.5
$MHEAD_RNG_PITCHd_Wd,1.2,42817,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.05,0.000,2,0.000,0.000,410,1652,2975,0,0,0,0,0,0
$GC,93,-1.27,-146.0,3.3,-4.2,9,117,14.20,0.00,-7.50,0.000,6,0.154,0.000,3104,1652,3397,0,0,0,0,0,0
$GC,393,-1.09,-146.0,64.8,-15.3,42,402,0.20,0.00,0.00,0.000,6,0.101,0.000,3147,1652,3398,0,0,0,0,0,0
$GC,659,-1.01,-146.0,99.5,-11.6,67,663,0.00,2.42,0.00,0.000,4,0.000,0.042,3148,166,3399,0,0,0,0,0,0
$GC,690,-0.91,-146.0,104.2,-13.6,69,696,0.17,2.15,0.00,0.000,6,0.094,0.017,3186,1601,3399,0,0,0,0,0,0
$GC,955,-0.91,-146.0,129.6,-9.8,94,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1603,3400,0,0,0,0,0,0
$GC,1216,-0.91,-146.0,153.1,-8.6,119,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,1603,3399,0,0,0,0,0,0
$GC,1473,-0.91,-146.0,171.0,-6.3,143,1477,0.00,2.35,0.00,0.000,4,0.000,0.043,3186,159,3400,0,0,0,0,0,0
$GC,1503,-0.91,-146.0,173.2,-7.5,145,1508,0.00,2.12,0.00,0.000,6,0.000,0.018,3186,1576,3400,0,0,0,0,0,0
$GC,1767,-0.96,-146.0,192.7,-8.4,170,1772,0.00,2.40,0.00,0.000,4,0.000,0.022,3186,3122,3400,0,0,0,0,0,0
$GC,1797,-1.03,-146.0,194.9,-8.8,172,1802,0.12,2.53,0.00,0.000,6,0.060,0.028,3110,1556,3400,0,0,0,0,0,0
$GC,2051,-0.91,-146.0,228.2,-13.3,181,2056,0.32,2.47,0.00,0.000,4,0.086,0.021,3182,3122,3400,0,0,0,0,0,0
$GC,2080,-0.99,-146.0,231.1,-7.9,181,2085,0.00,2.47,0.00,0.000,6,0.000,0.028,3183,1573,3400,0,0,0,0,0,0
$GC,2336,-1.05,-146.0,248.3,-6.8,188,2340,0.12,2.30,0.00,0.000,4,0.064,0.046,3125,168,3400,0,0,0,0,0,0
$GC,2363,-1.00,-146.0,250.9,-11.1,188,2368,0.17,2.10,0.00,0.000,6,0.091,0.018,3165,1568,3400,0,0,0,0,0,0
$GC,2623,-1.00,-146.0,275.1,-9.0,195,2627,0.00,2.45,0.00,0.000,4,0.000,0.025,3165,3120,3400,0,0,0,0,0,0
$GC,2661,-1.11,-146.0,278.3,-8.4,195,2666,0.10,2.50,0.00,0.000,6,0.074,0.031,3101,1566,3400,0,0,0,0,0,0
$GC,2913,-1.02,-146.0,306.0,-11.2,201,2917,0.25,2.30,0.00,0.000,4,0.087,0.048,3161,165,3399,0,0,0,0,0,0
$GC,2984,-1.09,-146.0,311.9,-7.7,202,2988,0.00,2.12,0.00,0.000,6,0.000,0.019,3161,1549,3399,0,0,0,0,0,0
$GC,3249,-1.15,-146.0,332.3,-8.0,209,3254,0.12,2.55,0.00,0.000,4,0.064,0.031,3105,3141,3398,0,0,0,0,0,0
$GC,3283,-1.15,-146.0,335.9,-10.2,209,3288,0.12,2.60,0.00,0.000,6,0.100,0.035,3133,1560,3398,0,0,0,0,0,0
$GC,3532,-1.15,-146.0,362.2,-10.5,215,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1560,3397,0,0,0,0,0,0
$GC,3778,-1.15,-146.0,384.4,-8.8,221,3782,0.00,2.55,0.00,0.000,4,0.000,0.034,3133,3130,3396,0,0,0,0,0,0
$GC,3802,-1.15,-146.0,386.5,-8.6,221,3806,0.00,2.60,0.00,0.000,6,0.000,0.039,3133,1559,3396,0,0,0,0,0,0
$GC,4061,-1.15,-146.0,405.3,-7.2,228,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1559,3394,0,0,0,0,0,0
$GC,4306,-1.15,-146.0,424.8,-8.2,234,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1559,3393,0,0,0,0,0,0
$GC,4549,-1.15,-146.0,446.0,-8.7,240,4553,0.00,2.58,0.00,0.000,4,0.000,0.040,3133,3123,3391,0,0,0,0,0,0
$GC,4568,-1.15,-146.0,447.6,-8.4,240,4572,0.00,2.58,0.00,0.000,6,0.000,0.037,3133,1558,3391,0,0,0,0,0,0
$GC,4833,-1.15,-146.0,467.9,-7.6,247,4837,0.00,2.38,0.00,0.000,4,0.000,0.068,3133,166,3389,0,0,0,0,0,0
$GC,4866,-1.15,-146.0,470.8,-8.3,247,4870,0.00,2.17,0.00,0.000,6,0.000,0.028,3133,1546,3389,0,0,0,0,0,0
$GC,5116,-1.15,-146.0,489.0,-7.4,253,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1546,3387,0,0,0,0,0,0
$GC,5360,-1.15,-146.0,509.8,-8.8,259,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1546,3386,0,0,0,0,0,0
$GC,5605,-1.15,-146.0,530.0,-8.2,265,5610,0.00,2.65,0.00,0.000,4,0.000,0.047,3133,3144,3384,0,0,0,0,0,0
$GC,5634,-1.22,-146.0,532.4,-8.0,265,5638,0.00,2.65,0.00,0.000,6,0.000,0.041,3133,1559,3384,0,0,0,0,0,0
$GC,5889,-1.22,-146.0,552.1,-7.7,272,5893,0.00,2.65,0.00,0.000,4,0.000,0.043,3133,3144,3383,0,0,0,0,0,0
$GC,5915,-1.28,-146.0,554.0,-8.6,272,5920,0.12,2.65,0.00,0.000,6,0.065,0.042,3076,1567,3383,0,0,0,0,0,0
$GC,6176,-1.21,-146.0,579.9,-9.9,279,6181,0.20,2.45,0.00,0.000,4,0.096,0.074,3120,168,3381,0,0,0,0,0,0
$GC,6234,-1.21,-146.0,584.8,-8.2,280,6238,0.00,2.25,0.00,0.000,6,0.000,0.031,3120,1555,3381,0,0,0,0,0,0
$GC,6507,-1.21,-146.0,603.8,-6.6,287,6511,0.00,2.67,0.00,0.000,4,0.000,0.046,3120,3159,3379,0,0,0,0,0,0
$GC,6545,-1.29,-146.0,606.3,-6.3,287,6551,0.00,2.67,0.00,0.000,6,0.000,0.046,3120,1560,3379,0,0,0,0,0,0
$GC,6797,-1.29,-146.0,623.5,-7.1,294,6801,0.00,2.45,0.00,0.000,4,0.000,0.078,3120,165,3377,0,0,0,0,0,0
$GC,6829,-1.29,-146.0,626.4,-7.8,294,6833,0.00,2.25,0.00,0.000,6,0.000,0.032,3120,1563,3378,0,0,0,0,0,0
$GC,7080,-1.29,-146.0,644.2,-7.1,300,7084,0.00,2.65,0.00,0.000,4,0.000,0.050,3120,3159,3376,0,0,0,0,0,0
$GC,7105,-1.35,-146.0,645.9,-7.1,300,7112,0.12,2.70,0.00,0.000,6,0.063,0.053,3061,1562,3376,0,0,0,0,0,0
$GC,7369,-1.25,-146.0,670.4,-9.3,307,7374,0.22,2.45,0.00,0.000,4,0.097,0.077,3110,172,3374,0,0,0,0,0,0
$GC,7390,-1.21,-146.0,672.3,-9.4,307,7394,0.00,2.25,0.00,0.000,6,0.000,0.032,3111,1567,3374,0,0,0,0,0,0
$GC,7655,-1.21,-146.0,692.4,-7.8,314,7660,0.00,2.45,0.00,0.000,4,0.000,0.074,3111,172,3373,0,0,0,0,0,0
$GC,7688,-1.21,-146.0,695.3,-8.7,314,7692,0.00,2.28,0.00,0.000,6,0.000,0.035,3111,1564,3372,0,0,0,0,0,0
$GC,7938,-1.21,-146.0,713.3,-6.9,320,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1564,3372,0,0,0,0,0,0
$GC,8183,-1.21,-146.0,729.6,-6.7,326,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1564,3371,0,0,0,0,0,0
$GC,8426,-1.21,-146.0,747.0,-7.3,332,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1564,3370,0,0,0,0,0,0
$GC,8669,-1.21,-146.0,766.0,-7.8,338,8674,0.00,2.45,0.00,0.000,4,0.000,0.075,3111,172,3368,0,0,0,0,0,0
$GC,8699,-1.21,-146.0,768.5,-9.4,338,8703,0.00,2.25,0.00,0.000,6,0.000,0.034,3111,1555,3368,0,0,0,0,0,0
$GC,8958,-1.21,-146.0,787.6,-7.3,345,8959,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1555,3367,0,0,0,0,0,0
$GC,9202,-1.21,-146.0,803.6,-6.4,351,9206,0.00,2.42,0.00,0.000,4,0.000,0.075,3110,172,3366,0,0,0,0,0,0
$GC,9230,-1.21,-146.0,805.7,-7.6,351,9234,0.00,2.28,0.00,0.000,6,0.000,0.034,3110,1561,3366,0,0,0,0,0,0
$GC,9486,-1.21,-146.0,821.4,-6.1,358,9490,0.00,2.70,0.00,0.000,4,0.000,0.054,3111,3157,3365,0,0,0,0,0,0
$GC,9515,-1.27,-146.0,823.4,-6.4,358,9519,0.00,2.72,0.00,0.000,6,0.000,0.049,3111,1555,3365,0,0,0,0,0,0
$GC,9771,-1.27,-146.0,840.5,-6.8,365,9775,0.00,2.45,0.00,0.000,4,0.000,0.082,3111,162,3364,0,0,0,0,0,0
$GC,9799,-1.27,-146.0,842.9,-8.8,365,9803,0.00,2.28,0.00,0.000,6,0.000,0.033,3111,1555,3364,0,0,0,0,0,0
$GC,10058,-1.27,-146.0,861.9,-7.4,372,10063,0.00,2.67,0.00,0.000,4,0.000,0.054,3111,3153,3363,0,0,0,0,0,0
$GC,10093,-1.35,-146.0,864.3,-6.0,372,10098,0.00,2.70,0.00,0.000,6,0.000,0.050,3111,1555,3363,0,0,0,0,0,0
$GC,10343,-1.35,-146.0,882.4,-7.1,378,10347,0.00,2.42,0.00,0.000,4,0.000,0.082,3111,169,3363,0,0,0,0,0,0
$GC,10367,-1.35,-146.0,884.1,-7.6,378,10371,0.00,2.28,0.00,0.000,6,0.000,0.033,3111,1563,3362,0,0,0,0,0,0
$STATE,10628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10628,begin apogee
$GC,10636,-0.31,0.0,901.5,6.4,385,10758,0.90,0.00,118.62,1.168,6,0.077,0.000,3314,1343,2800,0,0,0,0,0,0
$STATE,10759,end apogee,CONTROL_FINISHED_OK
$STATE,10759,begin climb
$GC,10761,1.27,146.0,903.9,0.0,388,10899,1.45,2.17,128.77,1.143,4,0.033,0.077,3665,174,2203,0,0,0,0,0,0
$GC,10993,0.99,146.0,882.3,17.2,393,10998,0.32,1.95,0.00,0.000,6,0.111,0.030,3600,1358,2200,0,0,0,0,0,0
$GC,11264,0.90,146.0,851.3,11.2,400,11268,0.00,2.10,0.00,0.000,4,0.000,0.072,3600,172,2194,0,0,0,0,0,0
$GC,11292,0.76,146.0,847.8,11.6,400,11297,0.22,1.95,0.00,0.000,6,0.108,0.031,3553,1355,2194,0,0,0,0,0,0
$GC,11547,0.81,190.0,826.9,8.0,407,11588,0.00,0.00,39.55,1.084,6,0.000,0.000,3553,1355,2025,0,0,0,0,0,0
$GC,11832,0.85,217.5,802.2,8.7,414,11865,0.00,2.80,26.02,1.049,4,0.000,0.054,3554,2930,1912,0,0,0,0,0,0
$GC,11884,0.97,259.2,797.3,8.1,415,11930,0.17,2.72,39.20,1.058,6,0.053,0.048,3611,1360,1743,0,0,0,0,0,0
$GC,12209,0.93,259.2,754.6,13.6,423,12213,0.12,2.15,0.00,0.000,4,0.114,0.084,3585,163,1737,0,0,0,0,0,0
$GC,12246,0.93,259.2,749.0,12.7,423,12250,0.00,1.98,0.00,0.000,6,0.000,0.032,3585,1349,1737,0,0,0,0,0,0
$GC,12502,0.93,259.2,717.9,12.4,430,12506,0.00,2.70,0.00,0.000,4,0.000,0.051,3585,2936,1735,0,0,0,0,0,0
$GC,12545,0.99,259.2,712.4,11.4,431,12550,0.00,2.70,0.00,0.000,6,0.000,0.048,3585,1359,1732,0,0,0,0,0,0
$GC,12832,0.99,259.2,677.0,12.4,438,12836,0.00,2.12,0.00,0.000,4,0.000,0.084,3585,160,1732,0,0,0,0,0,0
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$GC,15368,1.08,259.2,358.2,10.0,500,15372,0.00,2.60,0.00,0.000,6,0.000,0.044,3600,1363,1726,0,0,0,0,0,0
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$STATE,18388,end climb,SURFACE_DEPTH_REACHED
$STATE,18390,begin surface coast
$FINISH,1.0,1.023374
$STATE,18418,end surface coast,CONTROL_FINISHED_OK
$STATE,18419,begin surface
$SM_CCo,18444,44.22,0.443,0,0,1249,380.21
$SM_GC,1.76,0.00,0.00,44.22,0.000,0.000,0.443,415,1585,1249,-13.66,0.42,380.21
$IRIDIUM_FIX,2232.34,-15738.97,070902,151542
$TT8_MAMPS,0.027612
$HUMID,63.07
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,18
$24V_AH,23.3,15.614
$10V_AH,9.9,13.746
$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,34.475,217.725,406.275,44.225,0.000,22.686,48.026,237.053,4.500,0.000,35.198,1533.765,13751.266,546.235,2372.445,756.303,33.368,1624.486,0.000,2342.639,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,83.603,1168.141,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.671,328.368,422.202,721.276,981.963,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,54285,699
$CAP_FILE_SIZE,181892,0
$CFSIZE,260165632,164212736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,021623,2245.439,-15737.605,40,1.1,40,10.1