version: 66.06
glider: 148
mission: 12
dive: 192
start: 7 2 113 14 8 49
data:
$ID,148
$MISSION,12
$DIVE,192
$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,-1019987.7
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,135706,2250.147,-15755.747,34,1.0,34,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-75.5
$GPS2,140755,2250.209,-15755.771,14,1.5,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,0.190
$KALMAN_X,-214391.8,-223.4,-178.6,222122.0,-137.6
$KALMAN_Y,111116.4,293.9,485.1,-102236.7,-602.7
$MHEAD_RNG_PITCHd_Wd,32.9,45837,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.03,0.000,2,0.000,0.000,414,1640,2971,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-5.2,9,122,13.93,2.50,-7.53,0.000,4,0.148,0.054,3103,163,3399,0,0,0,0,0,0
$GC,158,-0.95,-146.0,24.4,-23.3,18,167,0.30,2.20,0.00,0.000,6,0.087,0.018,3172,1572,3399,0,0,0,0,0,0
$GC,439,-0.90,-146.0,62.4,-10.9,45,443,0.00,2.45,0.00,0.000,4,0.000,0.022,3173,3143,3400,0,0,0,0,0,0
$GC,515,-0.97,-146.0,69.5,-7.6,51,520,0.00,2.53,0.00,0.000,6,0.000,0.028,3173,1574,3400,0,0,0,0,0,0
$GC,783,-0.97,-146.0,94.0,-9.2,75,787,0.00,2.28,0.00,0.000,4,0.000,0.042,3173,172,3401,0,0,0,0,0,0
$GC,811,-0.92,-146.0,96.9,-10.6,77,815,0.00,2.15,0.00,0.000,6,0.000,0.017,3173,1608,3401,0,0,0,0,0,0
$GC,1080,-0.92,-146.0,122.3,-9.6,102,1084,0.00,2.38,0.00,0.000,4,0.000,0.021,3173,3120,3401,0,0,0,0,0,0
$GC,1101,-0.92,-146.0,124.7,-9.4,103,1107,0.00,2.47,0.00,0.000,6,0.000,0.027,3173,1580,3401,0,0,0,0,0,0
$GC,1364,-0.92,-146.0,148.5,-9.0,128,1369,0.00,2.30,0.00,0.000,4,0.000,0.043,3173,163,3401,0,0,0,0,0,0
$GC,1387,-0.92,-146.0,150.9,-9.7,129,1396,0.00,2.15,0.00,0.000,6,0.000,0.017,3173,1578,3402,0,0,0,0,0,0
$GC,1654,-0.92,-146.0,175.5,-9.2,154,1658,0.00,2.40,0.00,0.000,4,0.000,0.021,3173,3112,3401,0,0,0,0,0,0
$GC,1673,-0.92,-146.0,177.8,-9.0,155,1679,0.00,2.45,0.00,0.000,6,0.000,0.026,3173,1578,3401,0,0,0,0,0,0
$GC,1957,-0.92,-146.0,204.1,-9.3,179,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1578,3401,0,0,0,0,0,0
$GC,2198,-0.92,-146.0,226.5,-9.2,185,2202,0.00,2.40,0.00,0.000,4,0.000,0.022,3173,3110,3401,0,0,0,0,0,0
$GC,2243,-1.03,-146.0,230.4,-8.5,186,2247,0.00,2.45,0.00,0.000,6,0.000,0.029,3173,1586,3401,0,0,0,0,0,0
$GC,2532,-1.03,-146.0,252.9,-7.0,193,2536,0.00,2.33,0.00,0.000,4,0.000,0.047,3173,167,3401,0,0,0,0,0,0
$GC,2567,-1.03,-146.0,255.6,-7.4,193,2571,0.00,2.12,0.00,0.000,6,0.000,0.018,3172,1578,3401,0,0,0,0,0,0
$GC,2823,-1.09,-146.0,275.2,-7.9,199,2828,0.10,2.45,0.00,0.000,4,0.075,0.025,3117,3133,3401,0,0,0,0,0,0
$GC,2870,-1.09,-146.0,280.9,-11.5,200,2875,0.15,2.47,0.00,0.000,6,0.092,0.031,3152,1603,3401,0,0,0,0,0,0
$GC,3155,-1.09,-146.0,309.0,-9.8,207,3159,0.00,2.38,0.00,0.000,4,0.000,0.051,3152,164,3400,0,0,0,0,0,0
$GC,3188,-1.09,-146.0,312.3,-9.4,207,3192,0.00,2.22,0.00,0.000,6,0.000,0.021,3152,1598,3399,0,0,0,0,0,0
$GC,3438,-1.09,-146.0,331.6,-7.4,213,3442,0.00,2.47,0.00,0.000,4,0.000,0.031,3151,3136,3399,0,0,0,0,0,0
$GC,3469,-1.16,-146.0,333.8,-6.7,213,3473,0.00,2.50,0.00,0.000,6,0.000,0.035,3152,1607,3399,0,0,0,0,0,0
$GC,3726,-1.16,-146.0,352.6,-7.5,220,3730,0.00,2.40,0.00,0.000,4,0.000,0.056,3152,168,3397,0,0,0,0,0,0
$GC,3764,-1.20,-146.0,356.2,-8.6,220,3770,0.12,2.25,0.00,0.000,6,0.063,0.022,3090,1600,3397,0,0,0,0,0,0
$GC,4016,-1.10,-146.0,385.1,-12.0,227,4021,0.25,2.50,0.00,0.000,4,0.088,0.033,3149,3149,3395,0,0,0,0,0,0
$GC,4035,-1.10,-146.0,387.5,-10.6,227,4040,0.00,2.58,0.00,0.000,6,0.000,0.036,3149,1595,3395,0,0,0,0,0,0
$GC,4300,-1.10,-146.0,408.6,-7.8,234,4304,0.00,2.55,0.00,0.000,4,0.000,0.035,3149,3147,3393,0,0,0,0,0,0
$GC,4325,-1.16,-146.0,410.4,-8.4,234,4330,0.00,2.55,0.00,0.000,6,0.000,0.039,3149,1604,3393,0,0,0,0,0,0
$GC,4589,-1.16,-146.0,428.8,-7.0,241,4593,0.00,2.45,0.00,0.000,4,0.000,0.064,3149,164,3391,0,0,0,0,0,0
$GC,4617,-1.16,-146.0,431.3,-8.4,241,4621,0.00,2.30,0.00,0.000,6,0.000,0.025,3149,1617,3391,0,0,0,0,0,0
$GC,4879,-1.16,-146.0,450.4,-7.4,248,4883,0.00,2.47,0.00,0.000,4,0.000,0.038,3149,3146,3389,0,0,0,0,0,0
$GC,4908,-1.26,-146.0,452.9,-7.2,248,4913,0.15,2.55,0.00,0.000,6,0.056,0.038,3082,1610,3389,0,0,0,0,0,0
$GC,5164,-1.15,-146.0,480.1,-11.0,255,5169,0.22,2.47,0.00,0.000,4,0.093,0.067,3132,167,3387,0,0,0,0,0,0
$GC,5194,-1.15,-146.0,483.1,-9.1,255,5199,0.00,2.33,0.00,0.000,6,0.000,0.028,3132,1616,3387,0,0,0,0,0,0
$GC,5451,-1.15,-146.0,504.2,-8.2,262,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1616,3385,0,0,0,0,0,0
$GC,5695,-1.15,-146.0,524.8,-8.7,268,5699,0.00,2.55,0.00,0.000,4,0.000,0.046,3132,3149,3384,0,0,0,0,0,0
$GC,5715,-1.15,-146.0,526.8,-8.9,268,5720,0.00,2.55,0.00,0.000,6,0.000,0.039,3132,1617,3384,0,0,0,0,0,0
$GC,5979,-1.15,-146.0,550.7,-9.1,275,5984,0.00,2.53,0.00,0.000,4,0.000,0.074,3132,168,3382,0,0,0,0,0,0
$GC,6017,-1.15,-146.0,554.4,-10.2,275,6022,0.00,2.33,0.00,0.000,6,0.000,0.031,3133,1609,3382,0,0,0,0,0,0
$GC,6268,-1.15,-146.0,577.3,-9.1,282,6273,0.00,2.58,0.00,0.000,4,0.000,0.047,3132,3154,3381,0,0,0,0,0,0
$GC,6288,-1.15,-146.0,579.1,-8.8,282,6292,0.00,2.58,0.00,0.000,6,0.000,0.044,3132,1610,3381,0,0,0,0,0,0
$GC,6554,-1.15,-146.0,601.3,-8.4,289,6558,0.00,2.53,0.00,0.000,4,0.000,0.076,3132,167,3379,0,0,0,0,0,0
$GC,6575,-1.15,-146.0,603.5,-8.9,289,6579,0.00,2.35,0.00,0.000,6,0.000,0.031,3132,1616,3379,0,0,0,0,0,0
$GC,6843,-1.15,-146.0,624.4,-7.6,296,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1617,3377,0,0,0,0,0,0
$GC,7087,-1.15,-146.0,641.4,-7.0,302,7091,0.00,2.55,0.00,0.000,4,0.000,0.073,3132,166,3377,0,0,0,0,0,0
$GC,7121,-1.15,-146.0,643.9,-7.9,302,7126,0.00,2.35,0.00,0.000,6,0.000,0.034,3132,1617,3376,0,0,0,0,0,0
$GC,7373,-1.15,-146.0,660.6,-6.6,308,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1617,3375,0,0,0,0,0,0
$GC,7615,-1.15,-146.0,676.4,-6.6,314,7619,0.00,2.53,0.00,0.000,4,0.000,0.074,3132,169,3373,0,0,0,0,0,0
$GC,7654,-1.15,-146.0,679.3,-8.4,314,7660,0.00,2.38,0.00,0.000,6,0.000,0.035,3132,1617,3373,0,0,0,0,0,0
$GC,7904,-1.15,-146.0,697.1,-7.0,321,7909,0.00,2.60,0.00,0.000,4,0.000,0.054,3132,3158,3372,0,0,0,0,0,0
$GC,7938,-1.26,-146.0,699.8,-8.2,321,7942,0.00,2.62,0.00,0.000,6,0.000,0.049,3132,1604,3372,0,0,0,0,0,0
$GC,8189,-1.26,-146.0,719.1,-7.9,327,8194,0.00,2.55,0.00,0.000,4,0.000,0.081,3132,164,3371,0,0,0,0,0,0
$GC,8222,-1.26,-146.0,722.1,-8.0,327,8226,0.00,2.35,0.00,0.000,6,0.000,0.035,3132,1610,3371,0,0,0,0,0,0
$GC,8472,-1.26,-146.0,742.0,-7.8,333,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1610,3369,0,0,0,0,0,0
$GC,8716,-1.30,-146.0,760.2,-7.4,339,8721,0.12,2.62,0.00,0.000,4,0.065,0.054,3078,3156,3369,0,0,0,0,0,0
$GC,8733,-1.30,-146.0,761.5,-7.3,339,8738,0.10,2.62,0.00,0.000,6,0.118,0.048,3100,1612,3368,0,0,0,0,0,0
$GC,9006,-1.30,-146.0,783.1,-7.8,346,9011,0.00,2.55,0.00,0.000,4,0.000,0.081,3100,168,3367,0,0,0,0,0,0
$GC,9055,-1.30,-146.0,787.4,-8.0,347,9059,0.00,2.38,0.00,0.000,6,0.000,0.036,3100,1612,3367,0,0,0,0,0,0
$GC,9337,-1.30,-146.0,807.5,-7.0,354,9341,0.00,2.53,0.00,0.000,4,0.000,0.074,3100,168,3366,0,0,0,0,0,0
$GC,9383,-1.30,-146.0,810.7,-7.1,355,9387,0.00,2.35,0.00,0.000,6,0.000,0.035,3100,1602,3366,0,0,0,0,0,0
$GC,9671,-1.30,-146.0,831.3,-7.1,362,9676,0.00,2.53,0.00,0.000,4,0.000,0.075,3100,169,3365,0,0,0,0,0,0
$GC,9695,-1.30,-146.0,833.4,-8.7,362,9699,0.00,2.35,0.00,0.000,6,0.000,0.036,3100,1601,3365,0,0,0,0,0,0
$GC,9954,-1.30,-146.0,852.3,-7.2,369,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1601,3364,0,0,0,0,0,0
$GC,10199,-1.30,-146.0,869.7,-7.3,375,10204,0.00,2.53,0.00,0.000,4,0.000,0.075,3100,168,3363,0,0,0,0,0,0
$GC,10246,-1.30,-146.0,873.6,-9.3,376,10250,0.00,2.35,0.00,0.000,6,0.000,0.036,3100,1599,3363,0,0,0,0,0,0
$GC,10533,-1.30,-146.0,895.4,-7.3,383,10538,0.00,2.53,0.00,0.000,4,0.000,0.075,3100,168,3363,0,0,0,0,0,0
$GC,10559,-1.30,-146.0,897.4,-9.4,383,10563,0.00,2.35,0.00,0.000,6,0.000,0.040,3100,1598,3363,0,0,0,0,0,0
$STATE,10615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10615,begin apogee
$GC,10621,-0.31,0.0,901.9,7.9,385,10744,0.95,0.00,119.20,1.161,6,0.077,0.000,3316,1339,2800,0,0,0,0,0,0
$STATE,10745,end apogee,CONTROL_FINISHED_OK
$STATE,10745,begin climb
$GC,10747,1.27,146.0,905.0,0.0,388,10887,1.45,2.17,129.88,1.139,4,0.040,0.077,3662,173,2203,0,0,0,0,0,0
$GC,11000,0.99,146.0,882.1,15.4,393,11005,0.30,1.95,0.00,0.000,6,0.112,0.031,3601,1353,2198,0,0,0,0,0,0
$GC,11258,0.91,146.0,852.8,11.2,400,11262,0.00,2.10,0.00,0.000,4,0.000,0.073,3602,175,2192,0,0,0,0,0,0
$GC,11396,0.77,146.0,834.6,13.1,403,11401,0.22,1.92,0.00,0.000,6,0.105,0.031,3554,1345,2192,0,0,0,0,0,0
$GC,11683,0.78,158.3,806.8,9.4,410,11699,0.00,2.78,10.05,0.948,4,0.000,0.052,3554,2928,2154,0,0,0,0,0,0
$GC,11707,0.82,185.5,804.6,8.7,410,11739,0.00,2.75,26.60,1.042,6,0.000,0.048,3554,1342,2042,0,0,0,0,0,0
$GC,12020,0.82,188.8,773.7,9.8,418,12024,0.00,2.12,0.00,0.000,4,0.000,0.085,3554,164,2037,0,0,0,0,0,0
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$STATE,18707,end climb,SURFACE_DEPTH_REACHED
$STATE,18707,begin surface coast
$FINISH,1.1,1.023435
$STATE,18749,end surface coast,CONTROL_FINISHED_OK
$STATE,18749,begin surface
$SM_CCo,18774,20.70,0.429,0,0,1249,380.21
$SM_GC,1.94,0.00,0.00,20.70,0.000,0.000,0.429,416,1571,1249,-13.66,0.03,380.21
$IRIDIUM_FIX,2241.69,-15757.16,260902,141426
$TT8_MAMPS,0.027612
$HUMID,65.59
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.60
$XPDR_PINGS,32
$24V_AH,23.3,28.027
$10V_AH,9.9,24.788
$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,32.450,249.275,443.875,20.700,0.000,56.970,68.671,286.905,8.000,0.000,16.145,1589.065,13549.736,567.939,2788.701,936.752,33.369,1722.274,0.000,2805.324,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,85.137,1161.238,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,481.096,338.784,430.754,1161.700,1479.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,57332,706
$CAP_FILE_SIZE,193941,0
$CFSIZE,260165632,157872128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020713,192324,2252.292,-15754.656,37,1.5,37,10.1