version: 66.06
glider: 148
mission: 12
dive: 196
start: 7 3 113 12 14 28
data:
$ID,148
$MISSION,12
$DIVE,196
$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,-1020083.9
$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,91
$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
$GPS1,120159,2258.480,-15750.109,37,1.5,37,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.6
$GPS2,121336,2258.570,-15750.253,35,1.6,47,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.247,0.081
$KALMAN_X,-220369.7,-34.3,-498.3,237652.1,-238.4
$KALMAN_Y,117137.0,391.1,-52.4,-92331.4,1230.0
$MHEAD_RNG_PITCHd_Wd,61.6,28864,-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,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.47,0.000,2,0.000,0.000,415,1557,2976,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.2,9,123,13.90,2.50,-7.40,0.000,4,0.146,0.035,3103,3103,3398,0,0,0,0,0,0
$GC,147,-0.83,-146.0,22.1,-28.1,16,156,0.43,2.50,0.00,0.000,6,0.079,0.028,3202,1575,3398,0,0,0,0,0,0
$GC,421,-0.83,-146.0,57.6,-11.0,44,425,0.00,2.40,0.00,0.000,4,0.000,0.021,3202,3106,3399,0,0,0,0,0,0
$GC,443,-0.83,-146.0,60.1,-9.1,45,452,0.00,2.50,0.00,0.000,6,0.000,0.028,3202,1579,3399,0,0,0,0,0,0
$GC,703,-0.83,-146.0,86.1,-10.1,70,707,0.00,2.33,0.00,0.000,4,0.000,0.044,3202,167,3400,0,0,0,0,0,0
$GC,746,-0.83,-146.0,89.9,-11.1,73,750,0.00,2.10,0.00,0.000,6,0.000,0.017,3202,1581,3400,0,0,0,0,0,0
$GC,1012,-0.83,-146.0,115.9,-9.6,97,1016,0.00,2.40,0.00,0.000,4,0.000,0.021,3202,3115,3400,0,0,0,0,0,0
$GC,1043,-0.90,-146.0,118.6,-9.1,99,1047,0.00,2.47,0.00,0.000,6,0.000,0.028,3202,1568,3400,0,0,0,0,0,0
$GC,1310,-0.95,-146.0,142.0,-8.8,123,1314,0.10,2.30,0.00,0.000,4,0.076,0.044,3148,165,3400,0,0,0,0,0,0
$GC,1340,-0.89,-146.0,145.2,-11.5,125,1344,0.20,2.10,0.00,0.000,6,0.090,0.017,3192,1576,3400,0,0,0,0,0,0
$GC,1608,-0.89,-146.0,168.6,-8.5,150,1612,0.00,2.38,0.00,0.000,4,0.000,0.021,3192,3111,3400,0,0,0,0,0,0
$GC,1629,-0.94,-146.0,170.5,-8.5,151,1634,0.00,2.47,0.00,0.000,6,0.000,0.027,3191,1575,3401,0,0,0,0,0,0
$GC,1893,-0.94,-146.0,192.5,-9.1,176,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1575,3400,0,0,0,0,0,0
$GC,2147,-0.94,-146.0,214.7,-8.6,189,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1575,3400,0,0,0,0,0,0
$GC,2393,-1.00,-146.0,233.3,-7.3,195,2398,0.10,2.42,0.00,0.000,4,0.076,0.022,3137,3114,3400,0,0,0,0,0,0
$GC,2413,-1.00,-146.0,235.3,-8.7,195,2418,0.15,2.47,0.00,0.000,6,0.097,0.027,3171,1577,3400,0,0,0,0,0,0
$GC,2680,-1.00,-146.0,257.2,-8.7,202,2684,0.00,2.33,0.00,0.000,4,0.000,0.047,3171,165,3400,0,0,0,0,0,0
$GC,2696,-1.00,-146.0,258.8,-9.0,202,2700,0.00,2.15,0.00,0.000,6,0.000,0.018,3171,1594,3400,0,0,0,0,0,0
$GC,2964,-1.00,-146.0,282.8,-8.8,209,2968,0.00,2.38,0.00,0.000,4,0.000,0.024,3171,3114,3400,0,0,0,0,0,0
$GC,2983,-1.04,-146.0,284.7,-9.8,209,2988,0.00,2.47,0.00,0.000,6,0.000,0.028,3171,1584,3400,0,0,0,0,0,0
$GC,3250,-1.09,-146.0,306.3,-8.3,216,3251,0.10,0.00,0.00,0.000,6,0.075,0.000,3117,1584,3399,0,0,0,0,0,0
$GC,3491,-1.03,-146.0,334.8,-11.7,222,3493,0.17,0.00,0.00,0.000,6,0.091,0.000,3158,1584,3399,0,0,0,0,0,0
$GC,3735,-1.03,-146.0,354.5,-7.6,228,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1584,3397,0,0,0,0,0,0
$GC,3980,-1.03,-146.0,370.1,-6.3,234,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1584,3396,0,0,0,0,0,0
$GC,4223,-1.08,-146.0,389.3,-8.4,240,4227,0.00,2.40,0.00,0.000,4,0.000,0.059,3158,171,3395,0,0,0,0,0,0
$GC,4246,-1.08,-146.0,391.7,-9.5,240,4250,0.00,2.12,0.00,0.000,6,0.000,0.022,3158,1544,3395,0,0,0,0,0,0
$GC,4514,-1.13,-146.0,416.8,-9.4,247,4519,0.00,2.60,0.00,0.000,4,0.000,0.038,3158,3140,3393,0,0,0,0,0,0
$GC,4558,-1.26,-146.0,420.9,-8.5,248,4563,0.20,2.58,0.00,0.000,6,0.044,0.043,3080,1586,3392,0,0,0,0,0,0
$GC,4846,-1.14,-146.0,455.9,-12.3,255,4851,0.25,2.42,0.00,0.000,4,0.089,0.064,3140,171,3391,0,0,0,0,0,0
$GC,4895,-1.14,-146.0,460.7,-10.6,256,4899,0.00,2.22,0.00,0.000,6,0.000,0.027,3140,1583,3390,0,0,0,0,0,0
$GC,5182,-1.14,-146.0,487.2,-8.7,263,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1583,3388,0,0,0,0,0,0
$GC,5429,-1.14,-146.0,507.0,-7.9,269,5433,0.00,2.58,0.00,0.000,4,0.000,0.044,3140,3144,3387,0,0,0,0,0,0
$GC,5453,-1.19,-146.0,509.0,-7.8,269,5458,0.00,2.60,0.00,0.000,6,0.000,0.039,3140,1585,3387,0,0,0,0,0,0
$GC,5713,-1.19,-146.0,527.9,-7.2,276,5717,0.00,2.47,0.00,0.000,4,0.000,0.072,3140,162,3385,0,0,0,0,0,0
$GC,5733,-1.19,-146.0,529.4,-7.6,276,5738,0.00,2.30,0.00,0.000,6,0.000,0.030,3140,1592,3385,0,0,0,0,0,0
$GC,5999,-1.19,-146.0,548.4,-7.2,283,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1593,3383,0,0,0,0,0,0
$GC,6243,-1.19,-146.0,565.5,-7.0,289,6248,0.00,2.58,0.00,0.000,4,0.000,0.045,3140,3153,3382,0,0,0,0,0,0
$GC,6267,-1.26,-146.0,567.4,-7.1,289,6273,0.12,2.62,0.00,0.000,6,0.063,0.048,3078,1587,3381,0,0,0,0,0,0
$GC,6529,-1.17,-146.0,593.1,-10.2,296,6534,0.22,2.45,0.00,0.000,4,0.091,0.074,3129,170,3380,0,0,0,0,0,0
$GC,6577,-1.17,-146.0,597.8,-8.8,297,6581,0.00,2.28,0.00,0.000,6,0.000,0.031,3130,1588,3380,0,0,0,0,0,0
$GC,6863,-1.17,-146.0,619.4,-7.5,304,6868,0.00,2.62,0.00,0.000,4,0.000,0.051,3129,3161,3378,0,0,0,0,0,0
$GC,6897,-1.24,-146.0,622.4,-8.1,304,6902,0.00,2.65,0.00,0.000,6,0.000,0.046,3129,1591,3378,0,0,0,0,0,0
$GC,7151,-1.24,-146.0,642.3,-8.1,310,7155,0.00,2.62,0.00,0.000,4,0.000,0.047,3129,3153,3377,0,0,0,0,0,0
$GC,7167,-1.24,-146.0,644.0,-7.8,310,7171,0.00,2.65,0.00,0.000,6,0.000,0.046,3129,1585,3377,0,0,0,0,0,0
$GC,7436,-1.24,-146.0,664.1,-7.5,317,7440,0.00,2.50,0.00,0.000,4,0.000,0.081,3129,168,3375,0,0,0,0,0,0
$GC,7466,-1.24,-146.0,666.5,-8.6,317,7470,0.00,2.30,0.00,0.000,6,0.000,0.034,3129,1592,3375,0,0,0,0,0,0
$GC,7722,-1.24,-146.0,684.2,-6.7,324,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1592,3373,0,0,0,0,0,0
$GC,7964,-1.24,-146.0,700.1,-6.5,330,7968,0.00,2.62,0.00,0.000,4,0.000,0.054,3129,3157,3372,0,0,0,0,0,0
$GC,7988,-1.30,-146.0,701.7,-6.8,330,7993,0.12,2.65,0.00,0.000,6,0.064,0.048,3073,1582,3372,0,0,0,0,0,0
$GC,8253,-1.21,-146.0,725.8,-9.6,337,8258,0.22,2.47,0.00,0.000,4,0.094,0.080,3122,168,3371,0,0,0,0,0,0
$GC,8314,-1.21,-146.0,732.1,-9.2,338,8319,0.00,2.30,0.00,0.000,6,0.000,0.035,3122,1587,3371,0,0,0,0,0,0
$GC,8585,-1.21,-146.0,752.7,-7.7,345,8589,0.00,2.65,0.00,0.000,4,0.000,0.055,3122,3154,3369,0,0,0,0,0,0
$GC,8604,-1.21,-146.0,754.4,-8.1,345,8608,0.00,2.65,0.00,0.000,6,0.000,0.048,3122,1588,3369,0,0,0,0,0,0
$GC,8870,-1.21,-146.0,774.7,-7.5,352,8874,0.00,2.50,0.00,0.000,4,0.000,0.081,3122,161,3368,0,0,0,0,0,0
$GC,8902,-1.21,-146.0,777.1,-8.2,352,8906,0.00,2.35,0.00,0.000,6,0.000,0.035,3122,1593,3368,0,0,0,0,0,0
$GC,9156,-1.21,-146.0,794.6,-6.6,359,9161,0.00,2.62,0.00,0.000,4,0.000,0.055,3122,3160,3367,0,0,0,0,0,0
$GC,9175,-1.21,-146.0,796.0,-6.9,359,9180,0.00,2.67,0.00,0.000,6,0.000,0.048,3122,1578,3367,0,0,0,0,0,0
$GC,9441,-1.21,-146.0,812.9,-6.4,366,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1578,3366,0,0,0,0,0,0
$GC,9683,-1.21,-146.0,828.9,-6.7,372,9688,0.00,2.65,0.00,0.000,4,0.000,0.046,3122,3158,3365,0,0,0,0,0,0
$GC,9702,-1.21,-146.0,830.3,-7.7,372,9707,0.00,2.65,0.00,0.000,6,0.000,0.048,3122,1587,3365,0,0,0,0,0,0
$GC,9969,-1.21,-146.0,847.6,-6.7,379,9973,0.00,2.50,0.00,0.000,4,0.000,0.083,3122,163,3364,0,0,0,0,0,0
$GC,10004,-1.21,-146.0,850.2,-7.6,379,10008,0.00,2.35,0.00,0.000,6,0.000,0.040,3122,1595,3364,0,0,0,0,0,0
$GC,10258,-1.21,-146.0,867.0,-6.6,385,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1595,3363,0,0,0,0,0,0
$GC,10501,-1.21,-146.0,882.2,-6.2,391,10506,0.00,2.65,0.00,0.000,4,0.000,0.057,3122,3158,3362,0,0,0,0,0,0
$GC,10527,-1.26,-146.0,883.8,-6.2,391,10531,0.00,2.65,0.00,0.000,6,0.000,0.049,3122,1595,3362,0,0,0,0,0,0
$GC,10787,-1.26,-146.0,899.3,-6.0,398,10791,0.00,2.53,0.00,0.000,4,0.000,0.081,3122,167,3362,0,0,0,0,0,0
$STATE,10798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10798,begin apogee
$GC,10807,-0.31,0.0,900.3,5.9,398,10929,0.82,0.00,118.75,1.154,6,0.074,0.000,3315,1367,2800,0,0,0,0,0,0
$STATE,10930,end apogee,CONTROL_FINISHED_OK
$STATE,10930,begin climb
$GC,10934,1.27,146.0,903.2,0.0,401,11076,1.45,2.22,130.40,1.134,4,0.029,0.074,3671,171,2203,0,0,0,0,0,0
$GC,11092,1.00,146.0,895.8,13.3,405,11097,0.32,1.95,0.00,0.000,6,0.110,0.031,3605,1344,2201,0,0,0,0,0,0
$GC,11369,0.91,146.0,866.5,10.4,412,11371,0.10,0.00,0.00,0.000,6,0.129,0.000,3583,1344,2193,0,0,0,0,0,0
$GC,11612,0.89,170.3,844.5,8.9,418,11636,0.00,0.00,21.88,1.049,6,0.000,0.000,3583,1344,2105,0,0,0,0,0,0
$GC,11858,0.91,187.9,822.1,9.2,424,11882,0.00,2.15,17.12,1.019,4,0.000,0.071,3583,165,2032,0,0,0,0,0,0
$GC,11910,0.84,187.9,816.3,11.1,425,11914,0.00,1.98,0.00,0.000,6,0.000,0.031,3583,1359,2031,0,0,0,0,0,0
$GC,12194,0.84,190.0,788.6,9.9,432,12198,0.00,2.70,0.00,0.000,4,0.000,0.055,3583,2935,2028,0,0,0,0,0,0
$GC,12213,0.84,191.1,786.4,10.0,432,12218,0.00,2.72,0.00,0.000,6,0.000,0.048,3583,1351,2026,0,0,0,0,0,0
$GC,12480,0.85,192.3,760.1,9.9,439,12489,0.00,2.12,4.62,0.718,4,0.000,0.084,3583,165,2014,0,0,0,0,0,0
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$STATE,18995,end climb,SURFACE_DEPTH_REACHED
$STATE,18995,begin surface coast
$FINISH,0.9,1.016240
$STATE,19035,end surface coast,CONTROL_FINISHED_OK
$STATE,19035,begin surface
$SM_CCo,19059,33.40,0.430,0,0,1249,380.21
$SM_GC,1.83,0.00,0.00,33.40,0.000,0.000,0.430,416,1612,1249,-13.66,1.19,380.21
$IRIDIUM_FIX,2251.04,-15748.01,270902,121214
$TT8_MAMPS,0.027612
$HUMID,65.75
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.60
$XPDR_PINGS,27
$24V_AH,23.3,28.612
$10V_AH,9.9,25.450
$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
$DEVICE_SECS,34.300,214.800,411.125,33.400,0.000,59.120,73.832,298.181,6.750,0.000,48.948,1594.676,13941.992,565.055,2748.411,928.266,33.365,1645.380,0.000,2730.234,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,495.378,348.090,443.270,1178.132,1498.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57124,726
$CAP_FILE_SIZE,189059,0
$CFSIZE,260165632,157560832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030713,173418,2300.754,-15748.097,41,1.9,53,10.1