version: 66.06
glider: 148
mission: 12
dive: 195
start: 7 3 113 6 48 1
data:
$ID,148
$MISSION,12
$DIVE,195
$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,-1020034.4
$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,1570
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,063950,2256.752,-15751.505,59,2.9,78,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.6
$GPS2,064707,2256.728,-15751.495,9,1.2,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,0.092
$KALMAN_X,-218948.8,29.5,256.1,233295.8,-1718.7
$KALMAN_Y,115299.1,203.2,263.4,-94029.6,245.0
$MHEAD_RNG_PITCHd_Wd,59.1,32534,-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,-67.12,0.000,2,0.000,0.000,410,1645,2976,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.5,9,114,14.00,0.00,-7.35,0.000,6,0.150,0.000,3101,1645,3397,0,0,0,0,0,0
$GC,388,-1.03,-146.0,72.1,-17.9,42,393,0.25,2.42,0.00,0.000,4,0.103,0.040,3158,168,3398,0,0,0,0,0,0
$GC,465,-0.96,-146.0,84.1,-12.4,48,475,0.00,2.17,0.00,0.000,6,0.000,0.016,3158,1593,3399,0,0,0,0,0,0
$GC,732,-0.87,-146.0,111.1,-10.0,73,737,0.17,2.40,0.00,0.000,4,0.100,0.021,3196,3125,3399,0,0,0,0,0,0
$GC,753,-0.87,-146.0,113.4,-8.9,74,762,0.00,2.53,0.00,0.000,6,0.000,0.033,3196,1568,3399,0,0,0,0,0,0
$GC,1020,-0.87,-146.0,133.1,-8.6,99,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1568,3400,0,0,0,0,0,0
$GC,1286,-0.87,-146.0,157.4,-8.9,124,1291,0.00,2.45,0.00,0.000,4,0.000,0.021,3196,3132,3400,0,0,0,0,0,0
$GC,1313,-0.93,-146.0,160.1,-9.0,126,1318,0.00,2.50,0.00,0.000,6,0.000,0.027,3196,1568,3400,0,0,0,0,0,0
$GC,1578,-0.98,-146.0,184.4,-8.5,150,1583,0.10,2.30,0.00,0.000,4,0.075,0.044,3142,164,3400,0,0,0,0,0,0
$GC,1605,-0.91,-146.0,187.8,-12.0,152,1610,0.20,2.12,0.00,0.000,6,0.091,0.017,3186,1601,3400,0,0,0,0,0,0
$GC,1861,-0.91,-146.0,211.0,-8.8,167,1865,0.00,2.33,0.00,0.000,4,0.000,0.021,3186,3104,3400,0,0,0,0,0,0
$GC,1886,-0.99,-146.0,212.8,-8.3,167,1891,0.00,2.45,0.00,0.000,6,0.000,0.028,3186,1572,3400,0,0,0,0,0,0
$GC,2146,-1.04,-146.0,230.6,-6.9,174,2151,0.12,2.30,0.00,0.000,4,0.063,0.045,3126,171,3400,0,0,0,0,0,0
$GC,2196,-0.98,-146.0,236.0,-11.4,175,2201,0.20,2.10,0.00,0.000,6,0.091,0.018,3172,1550,3400,0,0,0,0,0,0
$GC,2479,-0.98,-146.0,262.9,-9.7,182,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1553,3400,0,0,0,0,0,0
$GC,2724,-0.98,-146.0,286.4,-9.4,188,2729,0.00,2.47,0.00,0.000,4,0.000,0.025,3172,3124,3399,0,0,0,0,0,0
$GC,2770,-1.09,-146.0,290.6,-9.8,189,2775,0.10,2.50,0.00,0.000,6,0.074,0.030,3106,1575,3399,0,0,0,0,0,0
$GC,3061,-1.00,-146.0,323.7,-11.7,196,3066,0.25,2.33,0.00,0.000,4,0.084,0.048,3167,168,3399,0,0,0,0,0,0
$GC,3087,-1.00,-146.0,326.8,-9.9,196,3091,0.00,2.15,0.00,0.000,6,0.000,0.020,3166,1557,3398,0,0,0,0,0,0
$GC,3353,-1.06,-146.0,347.7,-7.5,203,3358,0.00,2.53,0.00,0.000,4,0.000,0.031,3167,3136,3397,0,0,0,0,0,0
$GC,3393,-1.18,-146.0,350.4,-6.4,203,3399,0.17,2.58,0.00,0.000,6,0.048,0.035,3089,1575,3398,0,0,0,0,0,0
$GC,3645,-1.07,-146.0,377.0,-11.0,210,3647,0.28,0.00,0.00,0.000,6,0.085,0.000,3150,1574,3396,0,0,0,0,0,0
$GC,3887,-1.07,-146.0,396.0,-7.7,216,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1574,3395,0,0,0,0,0,0
$GC,4130,-1.07,-146.0,414.6,-7.7,222,4135,0.00,2.58,0.00,0.000,4,0.000,0.037,3149,3130,3393,0,0,0,0,0,0
$GC,4178,-1.17,-146.0,417.8,-7.4,223,4183,0.00,2.58,0.00,0.000,6,0.000,0.038,3150,1581,3392,0,0,0,0,0,0
$GC,4466,-1.17,-146.0,438.2,-6.8,230,4470,0.00,2.42,0.00,0.000,4,0.000,0.065,3150,165,3391,0,0,0,0,0,0
$GC,4526,-1.22,-146.0,442.7,-7.6,231,4531,0.12,2.20,0.00,0.000,6,0.064,0.025,3091,1568,3390,0,0,0,0,0,0
$GC,4800,-1.13,-146.0,470.2,-10.6,238,4805,0.20,2.60,0.00,0.000,4,0.091,0.040,3137,3141,3388,0,0,0,0,0,0
$GC,4824,-1.13,-146.0,473.1,-9.1,238,4829,0.00,2.58,0.00,0.000,6,0.000,0.038,3137,1576,3388,0,0,0,0,0,0
$GC,5086,-1.13,-146.0,496.1,-9.0,245,5090,0.00,2.62,0.00,0.000,4,0.000,0.044,3137,3145,3387,0,0,0,0,0,0
$GC,5114,-1.19,-146.0,498.7,-8.3,245,5119,0.00,2.60,0.00,0.000,6,0.000,0.040,3137,1588,3387,0,0,0,0,0,0
$GC,5369,-1.19,-146.0,518.6,-7.7,252,5374,0.00,2.47,0.00,0.000,4,0.000,0.072,3137,164,3384,0,0,0,0,0,0
$GC,5419,-1.24,-146.0,522.5,-8.1,253,5423,0.00,2.28,0.00,0.000,6,0.000,0.030,3137,1575,3385,0,0,0,0,0,0
$GC,5702,-1.24,-146.0,542.1,-6.9,260,5706,0.00,2.60,0.00,0.000,4,0.000,0.045,3136,3147,3383,0,0,0,0,0,0
$GC,5721,-1.24,-146.0,543.5,-7.1,260,5725,0.00,2.62,0.00,0.000,6,0.000,0.041,3137,1578,3382,0,0,0,0,0,0
$GC,5986,-1.24,-146.0,562.5,-7.3,267,5990,0.00,2.47,0.00,0.000,4,0.000,0.075,3137,164,3381,0,0,0,0,0,0
$GC,6005,-1.24,-146.0,564.2,-8.4,267,6009,0.00,2.30,0.00,0.000,6,0.000,0.030,3137,1586,3381,0,0,0,0,0,0
$GC,6276,-1.24,-146.0,584.5,-7.6,274,6280,0.00,2.60,0.00,0.000,4,0.000,0.048,3136,3150,3379,0,0,0,0,0,0
$GC,6293,-1.24,-146.0,585.9,-7.8,274,6298,0.00,2.62,0.00,0.000,6,0.000,0.044,3137,1578,3379,0,0,0,0,0,0
$GC,6562,-1.24,-146.0,607.9,-8.2,281,6566,0.00,2.47,0.00,0.000,4,0.000,0.077,3137,168,3378,0,0,0,0,0,0
$GC,6581,-1.24,-146.0,609.6,-9.0,281,6586,0.00,2.28,0.00,0.000,6,0.000,0.031,3137,1575,3377,0,0,0,0,0,0
$GC,6847,-1.24,-146.0,629.6,-7.3,288,6851,0.00,2.62,0.00,0.000,4,0.000,0.051,3137,3150,3377,0,0,0,0,0,0
$GC,6880,-1.34,-146.0,632.2,-7.3,288,6892,0.17,2.65,0.00,0.000,6,0.050,0.049,3068,1582,3377,0,0,0,0,0,0
$GC,7136,-1.22,-146.0,656.9,-9.8,295,7141,0.22,2.50,0.00,0.000,4,0.092,0.078,3118,167,3375,0,0,0,0,0,0
$GC,7167,-1.22,-146.0,659.8,-8.1,295,7171,0.00,2.30,0.00,0.000,6,0.000,0.034,3118,1579,3374,0,0,0,0,0,0
$GC,7422,-1.22,-146.0,677.9,-7.1,302,7426,0.00,2.65,0.00,0.000,4,0.000,0.054,3118,3153,3373,0,0,0,0,0,0
$GC,7446,-1.22,-146.0,679.6,-7.8,302,7450,0.00,2.65,0.00,0.000,6,0.000,0.047,3118,1587,3373,0,0,0,0,0,0
$GC,7707,-1.22,-146.0,697.6,-6.9,309,7711,0.00,2.47,0.00,0.000,4,0.000,0.081,3118,171,3372,0,0,0,0,0,0
$GC,7744,-1.22,-146.0,700.4,-7.3,309,7752,0.00,2.33,0.00,0.000,6,0.000,0.035,3118,1575,3372,0,0,0,0,0,0
$GC,7999,-1.22,-146.0,717.0,-6.6,316,8003,0.00,2.45,0.00,0.000,4,0.000,0.074,3118,170,3371,0,0,0,0,0,0
$GC,8023,-1.22,-146.0,719.2,-8.0,316,8027,0.00,2.33,0.00,0.000,6,0.000,0.035,3118,1590,3371,0,0,0,0,0,0
$GC,8287,-1.22,-146.0,737.0,-6.7,323,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1591,3369,0,0,0,0,0,0
$GC,8532,-1.22,-146.0,754.4,-7.2,329,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1591,3368,0,0,0,0,0,0
$GC,8775,-1.22,-146.0,772.6,-7.6,335,8780,0.00,2.62,0.00,0.000,4,0.000,0.055,3118,3156,3367,0,0,0,0,0,0
$GC,8804,-1.27,-146.0,775.0,-8.1,335,8809,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1585,3367,0,0,0,0,0,0
$GC,9059,-1.27,-146.0,794.8,-7.7,342,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1585,3366,0,0,0,0,0,0
$GC,9305,-1.27,-146.0,813.7,-7.7,348,9309,0.00,2.62,0.00,0.000,4,0.000,0.047,3118,3156,3365,0,0,0,0,0,0
$GC,9324,-1.27,-146.0,815.4,-8.3,348,9328,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1585,3365,0,0,0,0,0,0
$GC,9590,-1.27,-146.0,835.1,-7.4,355,9594,0.00,2.53,0.00,0.000,4,0.000,0.084,3118,163,3364,0,0,0,0,0,0
$GC,9611,-1.27,-146.0,836.9,-7.9,355,9615,0.00,2.35,0.00,0.000,6,0.000,0.035,3118,1595,3364,0,0,0,0,0,0
$GC,9879,-1.27,-146.0,856.1,-7.0,362,9883,0.00,2.65,0.00,0.000,4,0.000,0.056,3118,3157,3363,0,0,0,0,0,0
$GC,9903,-1.32,-146.0,857.9,-8.1,362,9908,0.00,2.67,0.00,0.000,6,0.000,0.048,3118,1584,3363,0,0,0,0,0,0
$GC,10164,-1.32,-146.0,876.0,-7.0,369,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1584,3362,0,0,0,0,0,0
$GC,10406,-1.32,-146.0,892.9,-7.0,375,10411,0.00,2.65,0.00,0.000,4,0.000,0.048,3118,3156,3362,0,0,0,0,0,0
$GC,10431,-1.37,-146.0,894.6,-7.5,375,10436,0.12,2.65,0.00,0.000,6,0.065,0.049,3064,1586,3362,0,0,0,0,0,0
$STATE,10526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10526,begin apogee
$GC,10534,-0.31,0.0,903.2,9.2,378,10656,1.10,0.00,118.82,1.161,6,0.077,0.000,3314,1347,2800,0,0,0,0,0,0
$STATE,10657,end apogee,CONTROL_FINISHED_OK
$STATE,10657,begin climb
$GC,10659,1.27,146.0,906.8,0.0,381,10799,1.45,2.15,129.65,1.135,4,0.033,0.084,3663,173,2204,0,0,0,0,0,0
$GC,10836,0.99,146.0,897.2,13.9,385,10841,0.30,1.98,0.00,0.000,6,0.112,0.032,3603,1360,2201,0,0,0,0,0,0
$GC,11121,0.91,146.0,867.7,10.0,392,11125,0.00,2.12,0.00,0.000,4,0.000,0.073,3603,172,2194,0,0,0,0,0,0
$GC,11140,0.79,146.0,865.5,10.2,392,11145,0.22,1.92,0.00,0.000,6,0.104,0.031,3557,1352,2194,0,0,0,0,0,0
$GC,11404,0.86,199.3,845.0,7.5,399,11459,0.00,2.83,47.92,1.091,4,0.000,0.057,3556,2935,1985,0,0,0,0,0,0
$GC,11482,0.98,250.8,839.1,7.6,400,11538,0.17,2.72,48.65,1.077,6,0.053,0.050,3614,1358,1777,0,0,0,0,0,0
$GC,11783,0.92,250.8,799.6,13.7,408,11785,0.12,0.00,0.00,0.000,6,0.113,0.000,3588,1358,1770,0,0,0,0,0,0
$GC,12024,0.92,250.8,769.2,12.3,414,12029,0.00,2.67,0.00,0.000,4,0.000,0.047,3587,2931,1767,0,0,0,0,0,0
$GC,12070,0.98,250.8,764.0,11.6,415,12075,0.00,2.72,0.00,0.000,6,0.000,0.053,3588,1350,1764,0,0,0,0,0,0
$GC,12358,0.98,250.8,729.9,11.8,422,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1350,1763,0,0,0,0,0,0
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$STATE,18687,end climb,SURFACE_DEPTH_REACHED
$STATE,18687,begin surface coast
$FINISH,1.0,1.023088
$STATE,18695,end surface coast,CONTROL_FINISHED_OK
$STATE,18695,begin surface
$SM_CCo,18722,35.97,0.433,0,0,1248,380.21
$SM_GC,1.81,0.00,0.00,35.97,0.000,0.000,0.433,416,1557,1248,-13.66,-0.37,380.21
$IRIDIUM_FIX,2246.36,-15758.45,270902,010144
$TT8_MAMPS,0.027612
$HUMID,64.96
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.70
$XPDR_PINGS,13
$24V_AH,23.3,28.463
$10V_AH,9.9,25.286
$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
$DEVICE_SECS,34.325,231.700,408.925,35.975,0.000,35.322,33.773,210.425,3.250,0.000,16.859,1568.120,13615.935,542.034,2686.368,772.856,33.368,1672.347,0.000,2701.327,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.380,330.519,423.506,1109.381,1409.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,57131,705
$CAP_FILE_SIZE,187239,0
$CFSIZE,260165632,157642752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030713,120159,2258.480,-15750.109,37,1.5,37,10.1