version: 66.06
glider: 148
mission: 12
dive: 210
start: 7 6 113 14 53 18
data:
$ID,148
$MISSION,12
$DIVE,210
$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,-1020302.5
$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,35
$R_STBD_OVSHOOT,93
$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
$GPS1,144339,2307.103,-15736.266,39,1.9,54,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-78.2
$GPS2,145224,2307.172,-15736.360,12,1.7,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE3
$TGT_LATLONG,2300.000,-15732.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.228
$KALMAN_X,-234695.3,-148.0,-170.6,275492.8,-865.6
$KALMAN_Y,141232.0,7.5,-250.2,-99906.2,1635.7
$MHEAD_RNG_PITCHd_Wd,141.2,15221,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.62,0.000,2,0.000,0.000,417,1555,2987,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.4,-4.4,9,124,13.88,2.30,-7.32,0.000,4,0.147,0.050,3102,172,3398,0,0,0,0,0,0
$GC,215,-0.98,-146.0,35.9,-21.2,25,220,0.32,2.10,0.00,0.000,6,0.100,0.017,3171,1544,3399,0,0,0,0,0,0
$GC,483,-0.87,-146.0,78.2,-13.7,49,492,0.12,0.00,0.00,0.000,6,0.113,0.000,3197,1546,3399,0,0,0,0,0,0
$GC,746,-0.87,-146.0,108.4,-10.0,74,750,0.00,2.47,0.00,0.000,4,0.000,0.021,3197,3138,3400,0,0,0,0,0,0
$GC,766,-0.87,-146.0,109.9,-9.7,75,770,0.00,2.53,0.00,0.000,6,0.000,0.027,3197,1575,3399,0,0,0,0,0,0
$GC,1033,-0.87,-146.0,135.3,-9.1,99,1037,0.00,2.30,0.00,0.000,4,0.000,0.044,3197,163,3400,0,0,0,0,0,0
$GC,1070,-0.87,-146.0,139.3,-10.2,102,1074,0.00,2.12,0.00,0.000,6,0.000,0.017,3197,1596,3400,0,0,0,0,0,0
$GC,1341,-0.87,-146.0,164.8,-9.8,127,1345,0.00,2.35,0.00,0.000,4,0.000,0.021,3197,3116,3400,0,0,0,0,0,0
$GC,1358,-0.87,-146.0,166.8,-9.6,128,1362,0.00,2.47,0.00,0.000,6,0.000,0.026,3197,1573,3400,0,0,0,0,0,0
$GC,1621,-0.87,-146.0,188.5,-7.0,152,1625,0.00,2.28,0.00,0.000,4,0.000,0.044,3197,170,3400,0,0,0,0,0,0
$GC,1662,-0.92,-146.0,191.7,-7.9,155,1670,0.00,2.10,0.00,0.000,6,0.000,0.017,3197,1577,3400,0,0,0,0,0,0
$GC,1937,-0.97,-146.0,212.8,-7.6,170,1939,0.10,0.00,0.00,0.000,6,0.076,0.000,3141,1580,3401,0,0,0,0,0,0
$GC,2181,-0.88,-146.0,240.1,-11.6,176,2186,0.22,2.30,0.00,0.000,4,0.087,0.041,3192,172,3400,0,0,0,0,0,0
$GC,2211,-0.88,-146.0,243.1,-9.8,176,2215,0.00,2.08,0.00,0.000,6,0.000,0.018,3192,1570,3400,0,0,0,0,0,0
$GC,2466,-0.95,-146.0,260.8,-6.7,183,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1573,3400,0,0,0,0,0,0
$GC,2710,-1.04,-146.0,278.0,-6.9,189,2712,0.15,0.00,0.00,0.000,6,0.054,0.000,3122,1573,3400,0,0,0,0,0,0
$GC,2955,-0.96,-146.0,303.6,-10.7,195,2957,0.22,0.00,0.00,0.000,6,0.084,0.000,3174,1573,3399,0,0,0,0,0,0
$GC,3197,-1.02,-146.0,323.2,-7.7,201,3202,0.00,2.42,0.00,0.000,4,0.000,0.027,3174,3103,3399,0,0,0,0,0,0
$GC,3221,-1.11,-146.0,325.0,-7.6,201,3227,0.15,2.53,0.00,0.000,6,0.051,0.040,3098,1564,3399,0,0,0,0,0,0
$GC,3488,-1.00,-146.0,354.7,-11.7,208,3493,0.28,2.33,0.00,0.000,4,0.084,0.052,3163,167,3398,0,0,0,0,0,0
$GC,3503,-0.94,-146.0,357.0,-10.4,208,3507,0.00,2.12,0.00,0.000,6,0.000,0.020,3163,1547,3398,0,0,0,0,0,0
$GC,3773,-0.99,-146.0,376.4,-7.0,215,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1549,3396,0,0,0,0,0,0
$GC,4015,-1.05,-146.0,395.0,-7.8,221,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1548,3395,0,0,0,0,0,0
$GC,4259,-1.11,-146.0,415.4,-8.4,227,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1549,3393,0,0,0,0,0,0
$GC,4503,-1.17,-146.0,433.7,-7.4,233,4508,0.15,2.38,0.00,0.000,4,0.055,0.063,3097,166,3391,0,0,0,0,0,0
$GC,4519,-1.17,-146.0,435.2,-7.2,233,4524,0.15,2.17,0.00,0.000,6,0.100,0.025,3132,1559,3391,0,0,0,0,0,0
$GC,4789,-1.17,-146.0,458.6,-8.6,240,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1559,3389,0,0,0,0,0,0
$GC,5033,-1.17,-146.0,478.7,-8.2,246,5037,0.00,2.35,0.00,0.000,4,0.000,0.064,3132,175,3387,0,0,0,0,0,0
$GC,5048,-1.17,-146.0,480.0,-8.2,246,5053,0.00,2.20,0.00,0.000,6,0.000,0.025,3132,1559,3387,0,0,0,0,0,0
$GC,5320,-1.17,-146.0,501.0,-7.7,253,5325,0.00,2.60,0.00,0.000,4,0.000,0.043,3132,3146,3386,0,0,0,0,0,0
$GC,5335,-1.17,-146.0,502.6,-7.8,253,5339,0.00,2.62,0.00,0.000,6,0.000,0.038,3132,1564,3386,0,0,0,0,0,0
$GC,5605,-1.17,-146.0,524.5,-8.5,260,5610,0.00,2.42,0.00,0.000,4,0.000,0.071,3132,166,3384,0,0,0,0,0,0
$GC,5629,-1.17,-146.0,526.9,-9.4,260,5633,0.00,2.22,0.00,0.000,6,0.000,0.028,3132,1560,3384,0,0,0,0,0,0
$GC,5888,-1.17,-146.0,550.2,-9.1,267,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1560,3382,0,0,0,0,0,0
$GC,6133,-1.17,-146.0,571.2,-8.5,273,6134,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1560,3381,0,0,0,0,0,0
$GC,6375,-1.17,-146.0,592.0,-8.7,279,6380,0.00,2.42,0.00,0.000,4,0.000,0.071,3132,169,3379,0,0,0,0,0,0
$GC,6399,-1.17,-146.0,594.5,-10.4,279,6403,0.00,2.22,0.00,0.000,6,0.000,0.030,3131,1556,3378,0,0,0,0,0,0
$GC,6664,-1.17,-146.0,616.3,-8.3,286,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1556,3377,0,0,0,0,0,0
$GC,6906,-1.17,-146.0,635.4,-7.7,292,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1556,3376,0,0,0,0,0,0
$GC,7150,-1.17,-146.0,653.3,-7.3,298,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1556,3375,0,0,0,0,0,0
$GC,7393,-1.17,-146.0,671.7,-7.4,304,7397,0.00,2.42,0.00,0.000,4,0.000,0.075,3132,174,3374,0,0,0,0,0,0
$GC,7414,-1.17,-146.0,673.6,-8.0,304,7418,0.00,2.25,0.00,0.000,6,0.000,0.033,3132,1560,3373,0,0,0,0,0,0
$GC,7678,-1.17,-146.0,693.5,-7.6,311,7682,0.00,2.70,0.00,0.000,4,0.000,0.055,3132,3158,3372,0,0,0,0,0,0
$GC,7694,-1.17,-146.0,694.9,-7.5,311,7698,0.00,2.70,0.00,0.000,6,0.000,0.046,3132,1561,3372,0,0,0,0,0,0
$GC,7964,-1.17,-146.0,715.5,-7.6,318,7968,0.00,2.42,0.00,0.000,4,0.000,0.081,3132,168,3370,0,0,0,0,0,0
$GC,7993,-1.17,-146.0,718.1,-9.6,318,7997,0.00,2.28,0.00,0.000,6,0.000,0.034,3132,1567,3370,0,0,0,0,0,0
$GC,8251,-1.17,-146.0,737.5,-7.6,325,8252,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1567,3369,0,0,0,0,0,0
$GC,8496,-1.17,-146.0,756.9,-8.0,331,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1567,3368,0,0,0,0,0,0
$GC,8738,-1.17,-146.0,776.3,-8.0,337,8742,0.00,2.47,0.00,0.000,4,0.000,0.077,3132,164,3367,0,0,0,0,0,0
$GC,8753,-1.17,-146.0,777.8,-7.9,337,8757,0.00,2.28,0.00,0.000,6,0.000,0.033,3132,1562,3367,0,0,0,0,0,0
$GC,9022,-1.17,-146.0,799.3,-8.0,344,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1563,3366,0,0,0,0,0,0
$GC,9265,-1.17,-146.0,817.6,-7.3,350,9269,0.00,2.45,0.00,0.000,4,0.000,0.077,3132,169,3365,0,0,0,0,0,0
$GC,9293,-1.17,-146.0,819.9,-8.3,350,9297,0.00,2.25,0.00,0.000,6,0.000,0.035,3132,1549,3365,0,0,0,0,0,0
$GC,9547,-1.17,-146.0,836.6,-6.5,357,9552,0.00,2.67,0.00,0.000,4,0.000,0.054,3132,3150,3364,0,0,0,0,0,0
$GC,9564,-1.22,-146.0,837.6,-5.9,357,9568,0.00,2.70,0.00,0.000,6,0.000,0.048,3132,1546,3364,0,0,0,0,0,0
$GC,9837,-1.27,-146.0,852.8,-5.5,364,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1546,3363,0,0,0,0,0,0
$GC,10081,-1.31,-146.0,865.1,-4.9,370,10083,0.15,0.00,0.00,0.000,6,0.056,0.000,3074,1546,3363,0,0,0,0,0,0
$GC,10327,-1.23,-146.0,884.0,-8.0,376,10329,0.20,0.00,0.00,0.000,6,0.094,0.000,3118,1546,3362,0,0,0,0,0,0
$GC,10568,-1.23,-146.0,899.7,-6.4,382,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1546,3361,0,0,0,0,0,0
$STATE,10602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10602,begin apogee
$GC,10608,-0.31,0.0,902.5,6.5,383,10731,0.85,0.00,118.95,1.159,6,0.067,0.000,3316,1343,2800,0,0,0,0,0,0
$STATE,10731,end apogee,CONTROL_FINISHED_OK
$STATE,10731,begin climb
$GC,10736,1.27,146.0,905.9,0.0,386,10874,1.42,2.20,129.85,1.134,4,0.032,0.083,3665,174,2203,0,0,0,0,0,0
$GC,10920,1.00,146.0,895.4,15.0,390,10925,0.30,1.98,0.00,0.000,6,0.110,0.031,3605,1349,2200,0,0,0,0,0,0
$GC,11208,0.91,146.0,865.0,10.4,397,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1350,2193,0,0,0,0,0,0
$GC,11453,0.83,146.0,840.2,10.2,403,11457,0.17,2.12,0.00,0.000,4,0.107,0.074,3568,165,2192,0,0,0,0,0,0
$GC,11482,0.78,146.0,836.5,10.2,403,11485,0.00,1.95,0.00,0.000,6,0.000,0.030,3568,1354,2192,0,0,0,0,0,0
$GC,11740,0.83,188.7,815.2,8.0,410,11780,0.00,0.00,38.30,1.065,6,0.000,0.000,3568,1354,2030,0,0,0,0,0,0
$GC,12026,0.85,202.5,789.1,9.4,417,12045,0.00,2.15,13.45,0.973,4,0.000,0.072,3568,170,1973,0,0,0,0,0,0
$GC,12065,0.86,208.6,785.1,9.7,417,12077,0.00,1.98,7.43,0.862,6,0.000,0.030,3568,1350,1949,0,0,0,0,0,0
$GC,12368,0.87,219.1,756.7,9.5,425,12384,0.00,2.78,11.00,0.933,4,0.000,0.056,3568,2925,1905,0,0,0,0,0,0
$GC,12418,0.99,252.5,751.6,8.5,426,12461,0.12,2.72,32.15,1.019,6,0.067,0.049,3615,1353,1770,0,0,0,0,0,0
$GC,12708,0.94,252.5,714.9,13.5,433,12710,0.12,0.00,0.00,0.000,6,0.113,0.000,3590,1353,1766,0,0,0,0,0,0
$GC,12948,0.94,252.5,686.1,11.7,439,12952,0.00,2.67,0.00,0.000,4,0.000,0.046,3590,2928,1765,0,0,0,0,0,0
$GC,12971,0.94,252.5,682.7,11.1,439,12976,0.00,2.70,0.00,0.000,6,0.000,0.056,3590,1350,1762,0,0,0,0,0,0
$GC,13231,0.94,252.5,653.8,11.3,446,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1351,1762,0,0,0,0,0,0
$GC,13476,0.94,252.5,624.3,12.3,452,13480,0.00,2.67,0.00,0.000,4,0.000,0.046,3590,2930,1762,0,0,0,0,0,0
$GC,13509,0.99,252.5,619.8,12.2,452,13514,0.00,2.72,0.00,0.000,6,0.000,0.051,3590,1352,1759,0,0,0,0,0,0
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$STATE,18764,end climb,SURFACE_DEPTH_REACHED
$STATE,18764,begin surface coast
$FINISH,0.9,1.017786
$STATE,18812,end surface coast,CONTROL_FINISHED_OK
$STATE,18812,begin surface
$SM_CCo,18836,35.12,0.427,0,0,1250,380.21
$SM_GC,2.08,0.00,0.00,35.12,0.000,0.000,0.427,415,1591,1250,-13.67,0.59,380.21
$IRIDIUM_FIX,2255.72,-15739.74,300902,101008
$TT8_MAMPS,0.027612
$HUMID,65.35
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.10
$XPDR_PINGS,23
$24V_AH,23.3,30.625
$10V_AH,9.9,27.770
$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
$DEVICE_SECS,33.375,174.475,403.400,35.125,0.000,25.135,49.426,299.804,5.750,0.000,13.953,1516.030,13827.146,513.393,2703.949,829.315,33.371,1535.984,0.000,2711.752,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.692,570.373,719.878,1113.209,1572.663,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,57402,702
$CAP_FILE_SIZE,173118,0
$CFSIZE,260165632,156479488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060713,200905,2305.598,-15735.389,33,0.8,33,10.1