version: 66.06
glider: 148
mission: 12
dive: 190
start: 7 2 113 3 4 36
data:
$ID,148
$MISSION,12
$DIVE,190
$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,-1019937.3
$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,26
$R_STBD_OVSHOOT,111
$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
$GPS1,025300,2246.006,-15758.508,38,1.3,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.5
$GPS2,030342,2246.017,-15758.573,9,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.141
$KALMAN_X,-212381.6,93.3,240.5,214576.3,-1150.4
$KALMAN_Y,109331.3,102.6,212.0,-107739.5,272.7
$MHEAD_RNG_PITCHd_Wd,47.1,54667,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.93,0.000,2,0.000,0.000,411,1600,2991,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-5.9,9,122,14.73,2.40,-6.93,0.000,4,0.170,0.052,3101,171,3397,0,0,0,0,0,0
$GC,134,-0.26,-146.0,19.8,-37.4,14,142,1.00,2.10,0.00,0.000,6,0.088,0.018,3324,1534,3398,0,0,0,0,0,0
$GC,424,-0.55,-146.0,36.4,-4.4,50,430,0.25,2.50,0.00,0.000,4,0.045,0.021,3246,3130,3399,0,0,0,0,0,0
$GC,457,-0.77,-146.0,38.4,-6.7,52,463,0.12,2.53,0.00,0.000,6,0.071,0.028,3191,1556,3399,0,0,0,0,0,0
$GC,726,-0.77,-146.0,66.9,-10.4,76,731,0.12,2.28,0.00,0.000,4,0.103,0.044,3219,171,3399,0,0,0,0,0,0
$GC,745,-0.77,-146.0,69.2,-10.1,77,750,0.00,2.12,0.00,0.000,6,0.000,0.017,3220,1605,3399,0,0,0,0,0,0
$GC,1012,-0.83,-146.0,91.0,-8.1,101,1016,0.00,2.35,0.00,0.000,4,0.000,0.021,3219,3105,3400,0,0,0,0,0,0
$GC,1043,-0.94,-146.0,93.3,-8.0,103,1048,0.15,2.45,0.00,0.000,6,0.052,0.028,3144,1573,3399,0,0,0,0,0,0
$GC,1310,-0.83,-146.0,124.2,-11.5,127,1314,0.25,2.30,0.00,0.000,4,0.087,0.041,3202,171,3400,0,0,0,0,0,0
$GC,1351,-0.88,-146.0,128.5,-8.8,130,1360,0.00,2.12,0.00,0.000,6,0.000,0.017,3202,1562,3400,0,0,0,0,0,0
$GC,1618,-0.94,-146.0,148.7,-8.0,155,1622,0.00,2.42,0.00,0.000,4,0.000,0.022,3202,3120,3400,0,0,0,0,0,0
$GC,1651,-1.05,-146.0,151.7,-7.4,157,1658,0.20,2.50,0.00,0.000,6,0.042,0.028,3107,1575,3400,0,0,0,0,0,0
$GC,1914,-0.88,-146.0,186.7,-14.2,182,1919,0.35,2.30,0.00,0.000,4,0.083,0.041,3190,163,3400,0,0,0,0,0,0
$GC,1946,-0.88,-146.0,191.2,-12.8,184,1952,0.00,2.15,0.00,0.000,6,0.000,0.018,3190,1581,3400,0,0,0,0,0,0
$GC,2224,-0.94,-146.0,214.2,-8.4,199,2228,0.00,2.40,0.00,0.000,4,0.000,0.021,3190,3122,3400,0,0,0,0,0,0
$GC,2253,-1.05,-146.0,216.9,-8.8,199,2258,0.15,2.50,0.00,0.000,6,0.051,0.028,3112,1573,3400,0,0,0,0,0,0
$GC,2510,-0.94,-146.0,248.9,-12.9,206,2512,0.30,0.00,0.00,0.000,6,0.082,0.000,3179,1572,3400,0,0,0,0,0,0
$GC,2752,-1.00,-146.0,268.3,-7.6,212,2757,0.00,2.33,0.00,0.000,4,0.000,0.048,3179,172,3400,0,0,0,0,0,0
$GC,2787,-1.05,-146.0,271.2,-8.6,212,2792,0.10,2.15,0.00,0.000,6,0.075,0.019,3120,1573,3400,0,0,0,0,0,0
$GC,3039,-0.99,-146.0,296.4,-10.1,218,3044,0.22,2.50,0.00,0.000,4,0.084,0.025,3172,3139,3399,0,0,0,0,0,0
$GC,3064,-1.04,-146.0,298.6,-7.9,218,3068,0.00,2.53,0.00,0.000,6,0.000,0.031,3172,1590,3399,0,0,0,0,0,0
$GC,3325,-1.11,-146.0,317.5,-7.4,225,3327,0.12,0.00,0.00,0.000,6,0.064,0.000,3111,1590,3398,0,0,0,0,0,0
$GC,3567,-1.04,-146.0,341.0,-9.6,231,3572,0.20,2.38,0.00,0.000,4,0.085,0.052,3157,167,3397,0,0,0,0,0,0
$GC,3596,-1.04,-146.0,343.7,-8.1,231,3601,0.00,2.17,0.00,0.000,6,0.000,0.021,3157,1578,3397,0,0,0,0,0,0
$GC,3855,-1.09,-146.0,363.5,-7.9,238,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1581,3395,0,0,0,0,0,0
$GC,4098,-1.14,-146.0,384.4,-8.7,244,4102,0.00,2.53,0.00,0.000,4,0.000,0.032,3157,3136,3394,0,0,0,0,0,0
$GC,4141,-1.26,-146.0,388.4,-8.5,245,4147,0.20,2.53,0.00,0.000,6,0.044,0.038,3075,1601,3393,0,0,0,0,0,0
$GC,4431,-1.13,-146.0,427.3,-13.7,252,4436,0.25,2.45,0.00,0.000,4,0.087,0.062,3135,161,3391,0,0,0,0,0,0
$GC,4536,-1.13,-146.0,438.7,-9.2,254,4541,0.00,2.25,0.00,0.000,6,0.000,0.025,3135,1578,3391,0,0,0,0,0,0
$GC,4811,-1.13,-146.0,460.2,-7.5,261,4815,0.00,2.55,0.00,0.000,4,0.000,0.040,3135,3144,3389,0,0,0,0,0,0
$GC,4830,-1.13,-146.0,461.7,-7.0,261,4834,0.00,2.58,0.00,0.000,6,0.000,0.037,3135,1589,3389,0,0,0,0,0,0
$GC,5098,-1.13,-146.0,481.6,-7.8,268,5102,0.00,2.45,0.00,0.000,4,0.000,0.069,3135,167,3386,0,0,0,0,0,0
$GC,5135,-1.13,-146.0,485.2,-8.8,268,5139,0.00,2.28,0.00,0.000,6,0.000,0.029,3135,1586,3386,0,0,0,0,0,0
$GC,5387,-1.13,-146.0,504.6,-7.6,274,5392,0.00,2.58,0.00,0.000,4,0.000,0.042,3135,3147,3385,0,0,0,0,0,0
$GC,5427,-1.22,-146.0,507.6,-7.6,274,5433,0.00,2.60,0.00,0.000,6,0.000,0.041,3135,1592,3385,0,0,0,0,0,0
$GC,5677,-1.22,-146.0,526.2,-7.6,281,5681,0.00,2.47,0.00,0.000,4,0.000,0.074,3135,170,3383,0,0,0,0,0,0
$GC,5724,-1.22,-146.0,530.2,-8.6,282,5728,0.00,2.30,0.00,0.000,6,0.000,0.029,3135,1597,3383,0,0,0,0,0,0
$GC,6010,-1.22,-146.0,551.3,-7.4,289,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1597,3381,0,0,0,0,0,0
$GC,6252,-1.22,-146.0,569.2,-7.4,295,6253,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1598,3379,0,0,0,0,0,0
$GC,6497,-1.22,-146.0,587.5,-7.6,301,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1598,3378,0,0,0,0,0,0
$GC,6739,-1.22,-146.0,605.2,-7.1,307,6744,0.00,2.50,0.00,0.000,4,0.000,0.075,3135,165,3377,0,0,0,0,0,0
$GC,6769,-1.22,-146.0,607.5,-7.8,307,6773,0.00,2.33,0.00,0.000,6,0.000,0.031,3135,1595,3377,0,0,0,0,0,0
$GC,7024,-1.22,-146.0,624.7,-6.7,314,7028,0.00,2.60,0.00,0.000,4,0.000,0.048,3135,3150,3375,0,0,0,0,0,0
$GC,7045,-1.28,-146.0,626.2,-7.0,314,7050,0.12,2.62,0.00,0.000,6,0.065,0.046,3078,1588,3376,0,0,0,0,0,0
$GC,7312,-1.19,-146.0,650.8,-9.5,321,7317,0.20,2.50,0.00,0.000,4,0.093,0.077,3123,169,3373,0,0,0,0,0,0
$GC,7346,-1.19,-146.0,654.1,-8.9,321,7350,0.00,2.28,0.00,0.000,6,0.000,0.033,3124,1585,3373,0,0,0,0,0,0
$GC,7597,-1.19,-146.0,673.4,-7.8,327,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1585,3372,0,0,0,0,0,0
$GC,7840,-1.19,-146.0,692.4,-7.8,333,7844,0.00,2.62,0.00,0.000,4,0.000,0.051,3123,3151,3371,0,0,0,0,0,0
$GC,7873,-1.25,-146.0,695.0,-7.8,333,7878,0.00,2.62,0.00,0.000,6,0.000,0.048,3123,1590,3371,0,0,0,0,0,0
$GC,8123,-1.25,-146.0,714.1,-7.7,339,8127,0.00,2.53,0.00,0.000,4,0.000,0.081,3123,161,3370,0,0,0,0,0,0
$GC,8148,-1.25,-146.0,716.0,-8.5,339,8152,0.00,2.33,0.00,0.000,6,0.000,0.034,3123,1587,3369,0,0,0,0,0,0
$GC,8416,-1.25,-146.0,735.7,-7.3,346,8417,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1588,3368,0,0,0,0,0,0
$GC,8658,-1.25,-146.0,753.0,-7.0,352,8662,0.00,2.50,0.00,0.000,4,0.000,0.075,3123,168,3367,0,0,0,0,0,0
$GC,8683,-1.25,-146.0,754.9,-8.2,352,8687,0.00,2.30,0.00,0.000,6,0.000,0.034,3123,1586,3367,0,0,0,0,0,0
$GC,8942,-1.25,-146.0,773.0,-7.1,359,8947,0.00,2.65,0.00,0.000,4,0.000,0.051,3123,3159,3366,0,0,0,0,0,0
$GC,8971,-1.32,-146.0,775.2,-7.5,359,8976,0.10,2.67,0.00,0.000,6,0.077,0.048,3074,1588,3366,0,0,0,0,0,0
$GC,9229,-1.24,-146.0,799.5,-9.8,366,9234,0.17,2.50,0.00,0.000,4,0.097,0.081,3113,169,3365,0,0,0,0,0,0
$GC,9253,-1.24,-146.0,802.2,-9.9,366,9257,0.00,2.33,0.00,0.000,6,0.000,0.035,3113,1587,3365,0,0,0,0,0,0
$GC,9516,-1.24,-146.0,822.8,-7.8,373,9520,0.00,2.65,0.00,0.000,4,0.000,0.053,3113,3157,3364,0,0,0,0,0,0
$GC,9545,-1.28,-146.0,825.1,-6.9,373,9549,0.00,2.67,0.00,0.000,6,0.000,0.049,3113,1588,3364,0,0,0,0,0,0
$GC,9800,-1.28,-146.0,843.8,-7.3,380,9804,0.00,2.50,0.00,0.000,4,0.000,0.082,3113,165,3363,0,0,0,0,0,0
$GC,9845,-1.28,-146.0,847.0,-8.3,381,9849,0.00,2.33,0.00,0.000,6,0.000,0.035,3113,1585,3362,0,0,0,0,0,0
$GC,10134,-1.28,-146.0,866.6,-6.8,388,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1585,3362,0,0,0,0,0,0
$GC,10379,-1.28,-146.0,883.6,-7.0,394,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1585,3361,0,0,0,0,0,0
$STATE,10619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10619,begin apogee
$GC,10627,-0.31,0.0,901.0,7.2,400,10749,0.88,0.00,119.10,1.157,6,0.071,0.000,3315,1339,2800,0,0,0,0,0,0
$STATE,10750,end apogee,CONTROL_FINISHED_OK
$STATE,10750,begin climb
$GC,10753,1.27,146.0,905.0,0.0,403,10893,1.42,2.15,130.48,1.137,4,0.032,0.078,3662,176,2203,0,0,0,0,0,0
$GC,10929,0.99,146.0,896.8,14.0,407,10934,0.30,1.95,0.00,0.000,6,0.113,0.031,3603,1351,2200,0,0,0,0,0,0
$GC,11218,0.92,158.3,868.4,9.4,414,11235,0.00,2.17,10.80,0.975,4,0.000,0.074,3602,175,2154,0,0,0,0,0,0
$GC,11293,0.78,158.3,860.2,11.8,415,11298,0.22,1.92,0.00,0.000,6,0.105,0.029,3556,1347,2152,0,0,0,0,0,0
$GC,11553,0.84,207.4,839.2,7.7,422,11606,0.00,2.20,45.78,1.085,4,0.000,0.074,3556,172,1953,0,0,0,0,0,0
$GC,11633,0.86,226.1,832.5,9.1,423,11656,0.00,1.95,19.05,1.023,6,0.000,0.030,3556,1348,1878,0,0,0,0,0,0
$GC,11932,0.92,237.1,804.1,9.5,431,11949,0.12,2.75,10.88,0.953,4,0.068,0.051,3600,2938,1832,0,0,0,0,0,0
$GC,12004,0.92,237.1,796.3,10.8,432,12008,0.00,2.75,0.00,0.000,6,0.000,0.051,3600,1355,1828,0,0,0,0,0,0
$GC,12270,0.92,237.1,763.6,12.3,439,12274,0.00,2.15,0.00,0.000,4,0.000,0.086,3600,162,1828,0,0,0,0,0,0
$GC,12295,0.85,237.1,760.2,12.4,439,12300,0.15,1.98,0.00,0.000,6,0.110,0.029,3570,1355,1827,0,0,0,0,0,0
$GC,12559,0.85,237.1,731.3,10.7,446,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,1356,1827,0,0,0,0,0,0
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$STATE,18780,end climb,SURFACE_DEPTH_REACHED
$STATE,18781,begin surface coast
$FINISH,1.3,1.023332
$STATE,18827,end surface coast,CONTROL_FINISHED_OK
$STATE,18827,begin surface
$SM_CCo,18852,32.67,0.426,0,0,1249,380.21
$SM_GC,1.68,0.00,0.00,32.67,0.000,0.000,0.426,418,1556,1249,-13.65,-0.40,380.21
$IRIDIUM_FIX,2237.01,-15800.20,260902,030309
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,21
$24V_AH,23.3,27.732
$10V_AH,9.9,24.450
$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,36.925,222.250,408.550,32.675,0.000,55.418,72.656,291.563,5.250,0.000,17.888,1616.612,13586.984,541.834,2868.775,903.717,33.366,1663.948,0.000,2868.042,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,85.904,1157.403,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.738,357.151,448.842,1237.005,1588.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,57291,726
$CAP_FILE_SIZE,193187,0
$CFSIZE,260165632,158031872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020713,082041,2247.594,-15757.033,31,1.9,36,10.1