version: 66.06
glider: 148
mission: 12
dive: 208
start: 7 6 113 5 1 24
data:
$ID,148
$MISSION,12
$DIVE,208
$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,-1020274.2
$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,49
$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
$GPS1,045129,2303.229,-15735.051,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.8
$GPS2,050030,2303.336,-15735.155,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,0.229
$KALMAN_X,-231032.2,-385.7,-782.0,274745.3,1089.0
$KALMAN_Y,139044.6,47.1,-94.1,-105017.5,1117.9
$MHEAD_RNG_PITCHd_Wd,321.7,6936,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.93,0.000,2,0.000,0.000,416,1643,2968,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.3,-4.3,9,123,13.90,2.42,-7.72,0.000,4,0.147,0.035,3101,3154,3397,0,0,0,0,0,0
$GC,173,-1.09,-146.0,25.2,-19.2,20,182,0.17,2.62,0.00,0.000,6,0.081,0.032,3144,1565,3398,0,0,0,0,0,0
$GC,446,-0.90,-146.0,73.5,-17.3,46,451,0.20,2.28,0.00,0.000,4,0.102,0.042,3186,169,3398,0,0,0,0,0,0
$GC,480,-0.78,-146.0,78.8,-15.0,48,485,0.12,2.15,0.00,0.000,6,0.115,0.017,3213,1618,3398,0,0,0,0,0,0
$GC,745,-0.78,-146.0,104.1,-7.9,72,753,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1621,3399,0,0,0,0,0,0
$GC,1014,-0.84,-146.0,125.5,-7.3,97,1018,0.00,2.38,0.00,0.000,4,0.000,0.043,3213,170,3400,0,0,0,0,0,0
$GC,1053,-0.93,-146.0,129.3,-8.2,100,1063,0.10,2.12,0.00,0.000,6,0.028,0.017,3141,1578,3400,0,0,0,0,0,0
$GC,1315,-0.81,-146.0,163.0,-13.1,125,1320,0.28,2.38,0.00,0.000,4,0.087,0.020,3207,3110,3400,0,0,0,0,0,0
$GC,1348,-0.88,-146.0,166.5,-9.1,127,1354,0.00,2.50,0.00,0.000,6,0.000,0.028,3206,1561,3400,0,0,0,0,0,0
$GC,1612,-0.94,-146.0,188.5,-8.4,152,1616,0.12,2.30,0.00,0.000,4,0.062,0.044,3140,172,3400,0,0,0,0,0,0
$GC,1643,-0.87,-146.0,191.3,-11.2,154,1648,0.25,2.08,0.00,0.000,6,0.087,0.017,3195,1578,3400,0,0,0,0,0,0
$GC,1902,-0.87,-146.0,213.9,-7.9,166,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1581,3400,0,0,0,0,0,0
$GC,2147,-0.92,-146.0,236.4,-9.5,172,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1581,3400,0,0,0,0,0,0
$GC,2389,-0.98,-146.0,255.7,-7.5,178,2394,0.10,2.35,0.00,0.000,4,0.076,0.046,3134,172,3400,0,0,0,0,0,0
$GC,2413,-0.93,-146.0,258.6,-11.4,178,2418,0.20,2.10,0.00,0.000,6,0.087,0.018,3180,1561,3400,0,0,0,0,0,0
$GC,2676,-0.98,-146.0,282.4,-9.5,185,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1564,3400,0,0,0,0,0,0
$GC,2918,-1.03,-146.0,302.4,-7.6,191,2922,0.00,2.45,0.00,0.000,4,0.000,0.025,3180,3119,3400,0,0,0,0,0,0
$GC,2946,-1.13,-146.0,304.4,-6.8,191,2952,0.17,2.53,0.00,0.000,6,0.046,0.031,3095,1551,3400,0,0,0,0,0,0
$GC,3204,-1.00,-146.0,334.9,-12.4,198,3209,0.30,2.30,0.00,0.000,4,0.084,0.049,3165,172,3399,0,0,0,0,0,0
$GC,3272,-1.06,-146.0,342.1,-9.1,199,3276,0.00,2.10,0.00,0.000,6,0.000,0.020,3165,1533,3399,0,0,0,0,0,0
$GC,3537,-1.06,-146.0,362.1,-7.4,206,3542,0.00,2.58,0.00,0.000,4,0.000,0.029,3165,3141,3398,0,0,0,0,0,0
$GC,3566,-1.15,-146.0,364.4,-7.5,206,3571,0.12,2.62,0.00,0.000,6,0.062,0.036,3094,1547,3398,0,0,0,0,0,0
$GC,3822,-1.04,-146.0,393.4,-11.8,213,3827,0.25,2.33,0.00,0.000,4,0.086,0.059,3154,172,3396,0,0,0,0,0,0
$GC,3848,-1.04,-146.0,396.1,-10.7,213,3852,0.00,2.12,0.00,0.000,6,0.000,0.022,3154,1544,3396,0,0,0,0,0,0
$GC,4115,-1.04,-146.0,417.0,-7.8,220,4119,0.00,2.58,0.00,0.000,4,0.000,0.034,3154,3138,3394,0,0,0,0,0,0
$GC,4139,-1.11,-146.0,419.0,-8.0,220,4144,0.00,2.65,0.00,0.000,6,0.000,0.038,3154,1539,3395,0,0,0,0,0,0
$GC,4400,-1.11,-146.0,437.5,-7.2,227,4404,0.00,2.33,0.00,0.000,4,0.000,0.067,3154,170,3392,0,0,0,0,0,0
$GC,4443,-1.17,-146.0,440.9,-7.9,227,4449,0.10,2.15,0.00,0.000,6,0.074,0.025,3098,1546,3392,0,0,0,0,0,0
$GC,4693,-1.08,-146.0,465.8,-10.4,234,4698,0.22,2.60,0.00,0.000,4,0.087,0.036,3149,3148,3391,0,0,0,0,0,0
$GC,4719,-1.08,-146.0,468.2,-8.3,234,4724,0.00,2.65,0.00,0.000,6,0.000,0.038,3149,1544,3391,0,0,0,0,0,0
$GC,4982,-1.08,-146.0,488.5,-7.8,241,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1544,3388,0,0,0,0,0,0
$GC,5226,-1.08,-146.0,506.0,-7.0,247,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1544,3386,0,0,0,0,0,0
$GC,5471,-1.08,-146.0,521.7,-6.3,253,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1544,3385,0,0,0,0,0,0
$GC,5714,-1.13,-146.0,538.2,-6.9,259,5718,0.00,2.65,0.00,0.000,4,0.000,0.043,3149,3144,3383,0,0,0,0,0,0
$GC,5738,-1.20,-146.0,540.1,-7.8,259,5743,0.12,2.67,0.00,0.000,6,0.062,0.042,3087,1547,3384,0,0,0,0,0,0
$GC,6000,-1.11,-146.0,565.9,-10.2,266,6005,0.25,2.42,0.00,0.000,4,0.087,0.074,3148,164,3382,0,0,0,0,0,0
$GC,6039,-1.17,-146.0,569.6,-7.8,266,6047,0.00,2.22,0.00,0.000,6,0.000,0.029,3148,1552,3382,0,0,0,0,0,0
$GC,6290,-1.22,-146.0,585.4,-6.1,273,6295,0.12,2.65,0.00,0.000,4,0.064,0.044,3090,3146,3380,0,0,0,0,0,0
$GC,6325,-1.22,-146.0,588.1,-8.3,273,6338,0.12,2.70,0.00,0.000,6,0.100,0.046,3119,1548,3379,0,0,0,0,0,0
$GC,6582,-1.22,-146.0,608.2,-8.1,280,6587,0.00,2.42,0.00,0.000,4,0.000,0.077,3119,164,3378,0,0,0,0,0,0
$GC,6621,-1.22,-146.0,612.2,-9.8,280,6627,0.00,2.25,0.00,0.000,6,0.000,0.031,3119,1559,3378,0,0,0,0,0,0
$GC,6872,-1.22,-146.0,634.7,-9.0,287,6876,0.00,2.65,0.00,0.000,4,0.000,0.046,3119,3154,3377,0,0,0,0,0,0
$GC,6891,-1.22,-146.0,636.6,-9.2,287,6895,0.00,2.67,0.00,0.000,6,0.000,0.046,3119,1556,3377,0,0,0,0,0,0
$GC,7158,-1.22,-146.0,659.5,-8.5,294,7162,0.00,2.45,0.00,0.000,4,0.000,0.080,3119,164,3375,0,0,0,0,0,0
$GC,7183,-1.22,-146.0,661.7,-9.2,294,7187,0.00,2.25,0.00,0.000,6,0.000,0.032,3119,1554,3375,0,0,0,0,0,0
$GC,7446,-1.22,-146.0,682.2,-7.9,301,7450,0.00,2.67,0.00,0.000,4,0.000,0.050,3119,3150,3374,0,0,0,0,0,0
$GC,7465,-1.22,-146.0,684.0,-7.8,301,7470,0.00,2.70,0.00,0.000,6,0.000,0.047,3119,1554,3374,0,0,0,0,0,0
$GC,7731,-1.22,-146.0,703.6,-7.4,308,7735,0.00,2.42,0.00,0.000,4,0.000,0.080,3119,164,3372,0,0,0,0,0,0
$GC,7774,-1.22,-146.0,707.3,-8.2,309,7778,0.00,2.25,0.00,0.000,6,0.000,0.033,3119,1550,3372,0,0,0,0,0,0
$GC,8066,-1.22,-146.0,727.7,-7.0,316,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1550,3370,0,0,0,0,0,0
$GC,8308,-1.22,-146.0,745.5,-7.4,322,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1550,3370,0,0,0,0,0,0
$GC,8552,-1.22,-146.0,764.5,-7.8,328,8556,0.00,2.42,0.00,0.000,4,0.000,0.075,3119,168,3368,0,0,0,0,0,0
$GC,8576,-1.22,-146.0,766.7,-8.9,328,8580,0.00,2.22,0.00,0.000,6,0.000,0.033,3119,1550,3368,0,0,0,0,0,0
$GC,8841,-1.22,-146.0,785.0,-6.7,335,8845,0.00,2.67,0.00,0.000,4,0.000,0.052,3119,3154,3368,0,0,0,0,0,0
$GC,8875,-1.29,-146.0,787.3,-6.3,335,8879,0.00,2.72,0.00,0.000,6,0.000,0.049,3119,1550,3368,0,0,0,0,0,0
$GC,9125,-1.29,-146.0,803.1,-6.5,341,9129,0.00,2.42,0.00,0.000,4,0.000,0.081,3119,164,3366,0,0,0,0,0,0
$GC,9178,-1.29,-146.0,806.9,-7.4,342,9182,0.00,2.25,0.00,0.000,6,0.000,0.035,3118,1545,3366,0,0,0,0,0,0
$GC,9459,-1.29,-146.0,826.2,-7.0,349,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1545,3365,0,0,0,0,0,0
$GC,9704,-1.29,-146.0,844.0,-7.4,355,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1545,3364,0,0,0,0,0,0
$GC,9946,-1.29,-146.0,861.9,-7.3,361,9951,0.00,2.70,0.00,0.000,4,0.000,0.053,3119,3151,3363,0,0,0,0,0,0
$GC,9965,-1.29,-146.0,863.6,-7.0,361,9970,0.00,2.72,0.00,0.000,6,0.000,0.048,3119,1546,3363,0,0,0,0,0,0
$GC,10230,-1.29,-146.0,882.2,-7.1,368,10234,0.00,2.42,0.00,0.000,4,0.000,0.081,3119,168,3362,0,0,0,0,0,0
$GC,10259,-1.29,-146.0,884.5,-7.8,368,10264,0.00,2.25,0.00,0.000,6,0.000,0.034,3119,1550,3363,0,0,0,0,0,0
$STATE,10511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10511,begin apogee
$GC,10518,-0.31,0.0,901.7,6.7,375,10640,0.85,0.00,118.55,1.158,6,0.073,0.000,3315,1344,2800,0,0,0,0,0,0
$STATE,10641,end apogee,CONTROL_FINISHED_OK
$STATE,10641,begin climb
$GC,10645,1.27,146.0,904.5,0.0,378,10783,1.42,2.17,129.12,1.132,4,0.030,0.078,3666,176,2203,0,0,0,0,0,0
$GC,10862,1.00,146.0,887.4,15.5,382,10868,0.30,1.95,0.00,0.000,6,0.110,0.031,3606,1360,2199,0,0,0,0,0,0
$GC,11112,0.91,146.0,860.1,10.6,389,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1360,2193,0,0,0,0,0,0
$GC,11356,0.83,146.0,834.2,10.9,395,11361,0.17,2.12,0.00,0.000,4,0.107,0.073,3568,166,2192,0,0,0,0,0,0
$GC,11377,0.77,146.0,832.0,10.5,395,11381,0.00,1.92,0.00,0.000,6,0.000,0.031,3568,1349,2192,0,0,0,0,0,0
$GC,11645,0.78,157.0,806.2,9.5,402,11661,0.00,2.10,8.82,0.918,4,0.000,0.072,3568,173,2159,0,0,0,0,0,0
$GC,11671,0.81,177.0,803.7,9.1,402,11696,0.00,1.92,20.17,1.019,6,0.000,0.029,3568,1347,2078,0,0,0,0,0,0
$GC,11986,0.83,194.8,774.4,9.2,410,12006,0.00,0.00,17.08,0.996,6,0.000,0.000,3568,1347,2005,0,0,0,0,0,0
$GC,12275,0.83,194.8,745.1,10.1,417,12279,0.00,2.67,0.00,0.000,4,0.000,0.051,3568,2937,2002,0,0,0,0,0,0
$GC,12300,0.90,215.0,742.6,9.1,417,12326,0.00,2.70,19.17,0.989,6,0.000,0.049,3568,1356,1925,0,0,0,0,0,0
$GC,12615,0.90,215.0,709.1,10.6,425,12619,0.00,2.12,0.00,0.000,4,0.000,0.084,3568,165,1921,0,0,0,0,0,0
$GC,12635,0.90,215.0,706.8,10.6,425,12639,0.00,1.92,0.00,0.000,6,0.000,0.029,3568,1351,1921,0,0,0,0,0,0
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$STATE,18554,end climb,SURFACE_DEPTH_REACHED
$STATE,18554,begin surface coast
$FINISH,1.0,1.023229
$STATE,18594,end surface coast,CONTROL_FINISHED_OK
$STATE,18594,begin surface
$SM_CCo,18619,40.62,0.433,0,0,1249,380.21
$SM_GC,1.92,0.00,0.00,40.62,0.000,0.000,0.433,413,1645,1249,-13.67,2.09,380.21
$IRIDIUM_FIX,2251.04,-15732.35,290902,232349
$TT8_MAMPS,0.026845
$HUMID,64.68
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,21
$24V_AH,23.3,30.354
$10V_AH,9.9,27.450
$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,34.900,222.500,405.100,40.625,0.000,26.673,55.731,298.481,5.250,0.000,14.066,1545.307,13486.006,532.314,2759.885,867.329,33.366,1626.807,0.000,2768.766,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,84.370,1158.170,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.604,566.506,710.854,1106.618,1561.535,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356056
$DATA_FILE_SIZE,57383,693
$CAP_FILE_SIZE,186862,0
$CFSIZE,260165632,156614656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060713,101336,2306.185,-15737.219,29,1.1,29,10.1