version: 66.06
glider: 148
mission: 12
dive: 194
start: 7 3 113 1 12 13
data:
$ID,148
$MISSION,12
$DIVE,194
$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,-1020016.9
$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,33
$R_STBD_OVSHOOT,95
$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
$GPS1,010054,2254.271,-15753.280,37,1.7,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.8
$GPS2,011119,2254.403,-15753.312,9,1.6,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,0.144
$KALMAN_X,-217336.7,-110.2,-449.3,229425.8,263.1
$KALMAN_Y,113790.4,-2.4,279.2,-96638.4,698.6
$MHEAD_RNG_PITCHd_Wd,46.3,37599,-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,-67.05,0.000,2,0.000,0.000,409,1558,2958,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-4.2,9,122,14.50,2.50,-7.88,0.000,4,0.164,0.035,3101,3102,3398,0,0,0,0,0,0
$GC,158,-1.02,-146.0,23.0,-20.4,18,167,0.22,2.53,0.00,0.000,6,0.081,0.031,3156,1571,3399,0,0,0,0,0,0
$GC,435,-0.88,-146.0,67.3,-14.2,45,440,0.17,2.30,0.00,0.000,4,0.105,0.044,3192,168,3399,0,0,0,0,0,0
$GC,480,-0.88,-146.0,73.8,-12.1,48,484,0.00,2.10,0.00,0.000,6,0.000,0.017,3192,1564,3399,0,0,0,0,0,0
$GC,744,-0.88,-146.0,101.2,-9.6,72,749,0.00,2.42,0.00,0.000,4,0.000,0.021,3192,3123,3400,0,0,0,0,0,0
$GC,772,-0.93,-146.0,104.1,-10.3,74,776,0.00,2.53,0.00,0.000,6,0.000,0.028,3193,1564,3400,0,0,0,0,0,0
$GC,1035,-0.93,-146.0,128.2,-9.2,98,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1564,3400,0,0,0,0,0,0
$GC,1289,-0.93,-146.0,151.2,-9.4,122,1293,0.00,2.45,0.00,0.000,4,0.000,0.021,3193,3116,3401,0,0,0,0,0,0
$GC,1319,-0.99,-146.0,153.6,-8.8,124,1324,0.10,2.47,0.00,0.000,6,0.071,0.028,3130,1572,3401,0,0,0,0,0,0
$GC,1587,-0.87,-146.0,185.6,-12.5,148,1592,0.25,2.42,0.00,0.000,4,0.094,0.021,3188,3117,3401,0,0,0,0,0,0
$GC,1612,-0.87,-146.0,189.4,-11.2,150,1617,0.00,2.45,0.00,0.000,6,0.000,0.028,3188,1586,3401,0,0,0,0,0,0
$GC,1900,-0.87,-146.0,214.0,-8.7,165,1904,0.00,2.30,0.00,0.000,4,0.000,0.045,3188,174,3401,0,0,0,0,0,0
$GC,1923,-0.87,-146.0,216.6,-10.3,165,1927,0.00,2.15,0.00,0.000,6,0.000,0.018,3188,1603,3401,0,0,0,0,0,0
$GC,2184,-0.92,-146.0,243.9,-11.0,172,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1606,3401,0,0,0,0,0,0
$GC,2428,-0.98,-146.0,267.3,-9.1,178,2432,0.00,2.38,0.00,0.000,4,0.000,0.046,3188,165,3401,0,0,0,0,0,0
$GC,2463,-1.06,-146.0,270.2,-8.2,178,2467,0.15,2.12,0.00,0.000,6,0.054,0.018,3116,1575,3401,0,0,0,0,0,0
$GC,2718,-0.98,-146.0,292.9,-8.7,185,2720,0.25,0.00,0.00,0.000,6,0.084,0.000,3173,1577,3400,0,0,0,0,0,0
$GC,2964,-1.03,-146.0,306.6,-5.8,191,2968,0.00,2.42,0.00,0.000,4,0.000,0.025,3173,3120,3400,0,0,0,0,0,0
$GC,2983,-1.11,-146.0,308.1,-6.7,191,2988,0.12,2.50,0.00,0.000,6,0.062,0.031,3102,1574,3400,0,0,0,0,0,0
$GC,3248,-1.02,-146.0,336.8,-11.3,198,3253,0.25,2.47,0.00,0.000,4,0.087,0.028,3162,3115,3399,0,0,0,0,0,0
$GC,3279,-1.10,-146.0,339.7,-8.2,198,3284,0.00,2.53,0.00,0.000,6,0.000,0.036,3162,1585,3399,0,0,0,0,0,0
$GC,3538,-1.15,-146.0,359.3,-7.4,205,3543,0.12,2.40,0.00,0.000,4,0.064,0.058,3101,164,3398,0,0,0,0,0,0
$GC,3575,-1.06,-146.0,363.3,-11.8,205,3580,0.22,2.17,0.00,0.000,6,0.084,0.022,3153,1565,3398,0,0,0,0,0,0
$GC,3829,-1.06,-146.0,382.3,-7.1,211,3833,0.00,2.53,0.00,0.000,4,0.000,0.031,3153,3144,3396,0,0,0,0,0,0
$GC,3876,-1.18,-146.0,385.7,-5.9,212,3881,0.12,2.55,0.00,0.000,6,0.064,0.038,3103,1593,3396,0,0,0,0,0,0
$GC,4161,-1.10,-146.0,409.6,-8.6,219,4166,0.20,2.42,0.00,0.000,4,0.093,0.060,3147,171,3394,0,0,0,0,0,0
$GC,4181,-1.10,-146.0,411.6,-8.7,219,4185,0.00,2.22,0.00,0.000,6,0.000,0.023,3147,1601,3394,0,0,0,0,0,0
$GC,4448,-1.10,-146.0,431.3,-7.8,226,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1602,3392,0,0,0,0,0,0
$GC,4692,-1.10,-146.0,452.6,-8.9,232,4696,0.00,2.45,0.00,0.000,4,0.000,0.064,3147,172,3390,0,0,0,0,0,0
$GC,4730,-1.15,-146.0,456.5,-9.9,232,4736,0.00,2.22,0.00,0.000,6,0.000,0.026,3147,1580,3390,0,0,0,0,0,0
$GC,4980,-1.15,-146.0,476.7,-7.9,239,4984,0.00,2.55,0.00,0.000,4,0.000,0.040,3147,3145,3388,0,0,0,0,0,0
$GC,5011,-1.23,-146.0,478.9,-7.2,239,5016,0.12,2.60,0.00,0.000,6,0.062,0.038,3093,1585,3388,0,0,0,0,0,0
$GC,5267,-1.15,-146.0,503.1,-9.5,246,5269,0.17,0.00,0.00,0.000,6,0.099,0.000,3132,1585,3386,0,0,0,0,0,0
$GC,5512,-1.15,-146.0,522.1,-7.6,252,5516,0.00,2.60,0.00,0.000,4,0.000,0.043,3132,3151,3384,0,0,0,0,0,0
$GC,5536,-1.20,-146.0,524.1,-8.0,252,5540,0.00,2.60,0.00,0.000,6,0.000,0.042,3132,1591,3385,0,0,0,0,0,0
$GC,5798,-1.20,-146.0,542.4,-6.8,259,5802,0.00,2.47,0.00,0.000,4,0.000,0.074,3132,167,3383,0,0,0,0,0,0
$GC,5846,-1.20,-146.0,545.9,-7.1,260,5850,0.00,2.30,0.00,0.000,6,0.000,0.030,3132,1591,3383,0,0,0,0,0,0
$GC,6128,-1.20,-146.0,564.1,-6.4,267,6133,0.00,2.58,0.00,0.000,4,0.000,0.043,3131,3150,3381,0,0,0,0,0,0
$GC,6147,-1.20,-146.0,565.4,-6.9,267,6152,0.00,2.62,0.00,0.000,6,0.000,0.042,3132,1588,3381,0,0,0,0,0,0
$GC,6416,-1.20,-146.0,583.0,-6.8,274,6420,0.00,2.50,0.00,0.000,4,0.000,0.077,3132,164,3379,0,0,0,0,0,0
$GC,6435,-1.20,-146.0,584.8,-7.9,274,6439,0.00,2.33,0.00,0.000,6,0.000,0.031,3132,1603,3379,0,0,0,0,0,0
$GC,6703,-1.20,-146.0,605.7,-7.9,281,6707,0.00,2.50,0.00,0.000,4,0.000,0.072,3132,169,3377,0,0,0,0,0,0
$GC,6737,-1.20,-146.0,608.7,-9.0,281,6741,0.00,2.28,0.00,0.000,6,0.000,0.031,3132,1587,3377,0,0,0,0,0,0
$GC,6987,-1.20,-146.0,630.0,-8.5,287,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1587,3376,0,0,0,0,0,0
$GC,7233,-1.20,-146.0,651.3,-8.7,293,7237,0.00,2.62,0.00,0.000,4,0.000,0.048,3132,3156,3375,0,0,0,0,0,0
$GC,7247,-1.20,-146.0,652.8,-8.6,293,7252,0.00,2.65,0.00,0.000,6,0.000,0.045,3132,1586,3375,0,0,0,0,0,0
$GC,7518,-1.20,-146.0,675.2,-8.3,300,7522,0.00,2.47,0.00,0.000,4,0.000,0.081,3132,169,3374,0,0,0,0,0,0
$GC,7555,-1.20,-146.0,678.6,-9.0,300,7565,0.00,2.33,0.00,0.000,6,0.000,0.034,3132,1580,3374,0,0,0,0,0,0
$GC,7810,-1.20,-146.0,696.5,-7.0,307,7814,0.00,2.65,0.00,0.000,4,0.000,0.051,3132,3157,3372,0,0,0,0,0,0
$GC,7840,-1.27,-146.0,698.7,-6.5,307,7845,0.10,2.67,0.00,0.000,6,0.075,0.048,3086,1583,3372,0,0,0,0,0,0
$GC,8098,-1.21,-146.0,720.2,-8.6,314,8103,0.15,2.53,0.00,0.000,4,0.108,0.082,3119,167,3371,0,0,0,0,0,0
$GC,8156,-1.21,-146.0,725.1,-8.3,315,8161,0.00,2.33,0.00,0.000,6,0.000,0.035,3120,1586,3371,0,0,0,0,0,0
$GC,8432,-1.21,-146.0,743.9,-6.9,322,8436,0.00,2.62,0.00,0.000,4,0.000,0.051,3119,3161,3369,0,0,0,0,0,0
$GC,8451,-1.21,-146.0,745.5,-7.3,322,8455,0.00,2.67,0.00,0.000,6,0.000,0.048,3120,1581,3369,0,0,0,0,0,0
$GC,8717,-1.21,-146.0,763.3,-6.8,329,8718,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1580,3368,0,0,0,0,0,0
$GC,8959,-1.21,-146.0,779.9,-6.9,335,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1580,3367,0,0,0,0,0,0
$GC,9202,-1.21,-146.0,796.4,-6.7,341,9207,0.00,2.62,0.00,0.000,4,0.000,0.044,3119,3156,3366,0,0,0,0,0,0
$GC,9225,-1.21,-146.0,797.8,-7.8,341,9229,0.00,2.67,0.00,0.000,6,0.000,0.048,3119,1585,3367,0,0,0,0,0,0
$GC,9489,-1.21,-146.0,815.9,-6.8,348,9493,0.00,2.53,0.00,0.000,4,0.000,0.083,3119,162,3366,0,0,0,0,0,0
$GC,9522,-1.21,-146.0,818.4,-7.9,348,9526,0.00,2.33,0.00,0.000,6,0.000,0.035,3119,1583,3365,0,0,0,0,0,0
$GC,9773,-1.21,-146.0,836.9,-7.5,354,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1584,3364,0,0,0,0,0,0
$GC,10015,-1.21,-146.0,856.1,-7.9,360,10020,0.00,2.65,0.00,0.000,4,0.000,0.053,3119,3155,3364,0,0,0,0,0,0
$GC,10035,-1.21,-146.0,857.8,-8.3,360,10039,0.00,2.65,0.00,0.000,6,0.000,0.048,3119,1581,3363,0,0,0,0,0,0
$GC,10301,-1.21,-146.0,878.9,-8.2,367,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1581,3363,0,0,0,0,0,0
$GC,10546,-1.21,-146.0,898.6,-8.1,373,10547,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1581,3362,0,0,0,0,0,0
$STATE,10580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10580,begin apogee
$GC,10587,-0.31,0.0,902.1,8.1,374,10709,0.85,0.00,119.30,1.157,6,0.071,0.000,3316,1347,2800,0,0,0,0,0,0
$STATE,10710,end apogee,CONTROL_FINISHED_OK
$STATE,10710,begin climb
$GC,10713,1.27,146.0,906.8,0.0,377,10851,1.42,2.20,129.55,1.134,4,0.034,0.084,3662,179,2204,0,0,0,0,0,0
$GC,10891,1.00,146.0,898.6,13.2,381,10895,0.28,1.95,0.00,0.000,6,0.114,0.031,3608,1355,2200,0,0,0,0,0,0
$GC,11178,0.92,151.3,870.6,9.8,388,11185,0.10,0.00,4.35,0.708,6,0.129,0.000,3586,1355,2183,0,0,0,0,0,0
$GC,11420,0.89,165.5,847.7,9.3,394,11437,0.00,0.00,14.85,1.016,6,0.000,0.000,3586,1355,2125,0,0,0,0,0,0
$GC,11664,0.89,165.5,823.1,10.2,400,11668,0.00,2.10,0.00,0.000,4,0.000,0.073,3586,171,2121,0,0,0,0,0,0
$GC,11694,0.79,165.5,819.5,11.7,400,11698,0.12,1.95,0.00,0.000,6,0.118,0.030,3560,1358,2121,0,0,0,0,0,0
$GC,11949,0.80,172.6,794.5,9.7,407,11958,0.00,0.00,7.35,0.877,6,0.000,0.000,3560,1359,2096,0,0,0,0,0,0
$GC,12194,0.81,175.5,770.5,9.9,413,12203,0.00,2.12,4.12,0.673,4,0.000,0.071,3560,164,2084,0,0,0,0,0,0
$GC,12217,0.81,175.5,768.0,10.2,413,12221,0.00,1.95,0.00,0.000,6,0.000,0.030,3560,1351,2084,0,0,0,0,0,0
$GC,12480,0.83,197.5,743.8,9.0,420,12509,0.00,2.80,21.83,1.009,4,0.000,0.053,3560,2928,1993,0,0,0,0,0,0
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$STATE,19404,end climb,SURFACE_DEPTH_REACHED
$STATE,19404,begin surface coast
$FINISH,1.1,1.023440
$STATE,19460,end surface coast,CONTROL_FINISHED_OK
$STATE,19460,begin surface
$SM_CCo,19485,50.00,0.430,0,0,1249,380.21
$SM_GC,1.78,0.00,0.00,50.00,0.000,0.000,0.430,410,1645,1249,-13.69,2.12,380.21
$IRIDIUM_FIX,2244.02,-15754.11,270902,010111
$TT8_MAMPS,0.027612
$HUMID,63.46
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.30
$XPDR_PINGS,16
$24V_AH,23.3,28.321
$10V_AH,9.9,25.129
$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,34.400,226.150,392.000,50.000,0.000,53.983,70.469,269.641,4.000,0.000,12.792,1638.605,14283.084,543.815,2784.568,897.582,33.370,1666.807,0.000,2796.743,0.000,0.536,0.000
$DEVICE_MAMPS,164.138,85.137,1157.403,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.408,348.361,442.814,1202.148,1530.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,60379,737
$CAP_FILE_SIZE,194253,0
$CFSIZE,260165632,157708288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030713,063950,2256.752,-15751.505,59,2.9,78,10.1