version: 66.06
glider: 148
mission: 12
dive: 211
start: 7 6 113 20 21 7
data:
$ID,148
$MISSION,12
$DIVE,211
$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,-1020315.6
$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,27
$R_STBD_OVSHOOT,103
$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
$GPS1,200905,2305.598,-15735.389,33,0.8,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-78.1
$GPS2,202013,2305.713,-15735.420,10,1.6,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE3
$TGT_LATLONG,2300.000,-15732.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.207
$KALMAN_X,-236055.9,442.1,-46.9,277740.1,-1193.8
$KALMAN_Y,142213.0,34.1,144.0,-104006.9,755.0
$MHEAD_RNG_PITCHd_Wd,132.6,12080,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.05,0.000,2,0.000,0.000,414,1591,2987,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.6,-4.9,9,122,14.02,2.40,-7.32,0.000,4,0.151,0.055,3102,171,3398,0,0,0,0,0,0
$GC,212,-0.99,-146.0,36.4,-20.7,25,217,0.30,2.08,0.00,0.000,6,0.099,0.017,3166,1538,3398,0,0,0,0,0,0
$GC,482,-0.86,-146.0,81.4,-15.4,49,487,0.12,2.50,0.00,0.000,4,0.113,0.021,3194,3135,3399,0,0,0,0,0,0
$GC,524,-0.91,-146.0,88.2,-11.5,52,533,0.00,2.58,0.00,0.000,6,0.000,0.028,3194,1564,3399,0,0,0,0,0,0
$GC,790,-0.91,-146.0,117.6,-10.7,77,795,0.00,2.47,0.00,0.000,4,0.000,0.021,3193,3144,3400,0,0,0,0,0,0
$GC,807,-0.91,-146.0,119.9,-11.1,78,812,0.00,2.53,0.00,0.000,6,0.000,0.025,3194,1572,3400,0,0,0,0,0,0
$GC,1071,-0.91,-146.0,145.9,-9.8,102,1075,0.00,2.30,0.00,0.000,4,0.000,0.043,3194,165,3400,0,0,0,0,0,0
$GC,1094,-0.91,-146.0,148.2,-9.4,103,1099,0.00,2.15,0.00,0.000,6,0.000,0.016,3194,1602,3400,0,0,0,0,0,0
$GC,1356,-0.91,-146.0,170.5,-7.9,128,1361,0.00,2.35,0.00,0.000,4,0.000,0.021,3194,3120,3401,0,0,0,0,0,0
$GC,1372,-0.91,-146.0,171.9,-7.9,129,1376,0.00,2.47,0.00,0.000,6,0.000,0.025,3194,1568,3400,0,0,0,0,0,0
$GC,1637,-0.91,-146.0,194.3,-8.6,153,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1568,3400,0,0,0,0,0,0
$GC,1910,-0.91,-146.0,217.5,-8.2,165,1914,0.00,2.28,0.00,0.000,4,0.000,0.044,3194,165,3400,0,0,0,0,0,0
$GC,1935,-0.91,-146.0,219.4,-8.4,165,1939,0.00,2.12,0.00,0.000,6,0.000,0.017,3194,1567,3400,0,0,0,0,0,0
$GC,2203,-0.98,-146.0,237.8,-6.8,172,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1570,3401,0,0,0,0,0,0
$GC,2446,-1.05,-146.0,254.9,-7.1,178,2451,0.15,2.42,0.00,0.000,4,0.055,0.023,3126,3115,3400,0,0,0,0,0,0
$GC,2472,-1.05,-146.0,257.4,-9.4,178,2478,0.12,2.50,0.00,0.000,6,0.098,0.029,3155,1570,3400,0,0,0,0,0,0
$GC,2733,-1.05,-146.0,281.7,-9.3,185,2737,0.00,2.33,0.00,0.000,4,0.000,0.047,3155,172,3400,0,0,0,0,0,0
$GC,2757,-1.05,-146.0,284.1,-9.8,185,2761,0.00,2.12,0.00,0.000,6,0.000,0.018,3155,1566,3400,0,0,0,0,0,0
$GC,3017,-1.05,-146.0,306.5,-8.7,192,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1569,3399,0,0,0,0,0,0
$GC,3259,-1.05,-146.0,327.7,-8.9,198,3264,0.00,2.50,0.00,0.000,4,0.000,0.027,3155,3130,3399,0,0,0,0,0,0
$GC,3283,-1.05,-146.0,330.0,-9.9,198,3288,0.00,2.55,0.00,0.000,6,0.000,0.032,3155,1573,3398,0,0,0,0,0,0
$GC,3548,-1.05,-146.0,352.9,-9.0,205,3553,0.00,2.33,0.00,0.000,4,0.000,0.054,3155,171,3397,0,0,0,0,0,0
$GC,3572,-1.05,-146.0,355.6,-9.2,205,3576,0.00,2.12,0.00,0.000,6,0.000,0.020,3155,1559,3397,0,0,0,0,0,0
$GC,3831,-1.05,-146.0,377.3,-8.4,212,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1560,3396,0,0,0,0,0,0
$GC,4077,-1.05,-146.0,395.4,-7.4,218,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1561,3395,0,0,0,0,0,0
$GC,4318,-1.05,-146.0,412.5,-7.0,224,4322,0.00,2.38,0.00,0.000,4,0.000,0.060,3155,167,3393,0,0,0,0,0,0
$GC,4333,-1.05,-146.0,413.6,-7.1,224,4337,0.00,2.20,0.00,0.000,6,0.000,0.022,3155,1570,3393,0,0,0,0,0,0
$GC,4606,-1.05,-146.0,433.2,-7.2,231,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1571,3391,0,0,0,0,0,0
$GC,4851,-1.10,-146.0,452.4,-8.0,237,4856,0.00,2.55,0.00,0.000,4,0.000,0.036,3155,3136,3389,0,0,0,0,0,0
$GC,4882,-1.17,-146.0,455.0,-8.8,237,4887,0.10,2.60,0.00,0.000,6,0.075,0.038,3101,1573,3390,0,0,0,0,0,0
$GC,5143,-1.10,-146.0,481.6,-10.7,244,5148,0.20,2.42,0.00,0.000,4,0.091,0.068,3146,165,3387,0,0,0,0,0,0
$GC,5162,-1.10,-146.0,484.2,-9.8,244,5167,0.00,2.22,0.00,0.000,6,0.000,0.027,3146,1564,3387,0,0,0,0,0,0
$GC,5431,-1.10,-146.0,506.7,-8.4,251,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1565,3386,0,0,0,0,0,0
$GC,5675,-1.10,-146.0,527.2,-8.4,257,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1565,3384,0,0,0,0,0,0
$GC,5920,-1.10,-146.0,547.6,-8.4,263,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1564,3383,0,0,0,0,0,0
$GC,6162,-1.10,-146.0,567.2,-7.9,269,6163,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1565,3381,0,0,0,0,0,0
$GC,6406,-1.10,-146.0,585.8,-7.5,275,6410,0.00,2.65,0.00,0.000,4,0.000,0.046,3146,3150,3380,0,0,0,0,0,0
$GC,6436,-1.19,-146.0,588.0,-7.5,275,6441,0.00,2.65,0.00,0.000,6,0.000,0.045,3146,1574,3379,0,0,0,0,0,0
$GC,6692,-1.23,-146.0,605.8,-6.8,282,6697,0.12,2.47,0.00,0.000,4,0.064,0.077,3093,170,3378,0,0,0,0,0,0
$GC,6712,-1.19,-146.0,607.5,-8.3,282,6717,0.15,2.25,0.00,0.000,6,0.100,0.030,3127,1570,3378,0,0,0,0,0,0
$GC,6983,-1.19,-146.0,626.5,-6.9,289,6987,0.00,2.67,0.00,0.000,4,0.000,0.048,3127,3156,3377,0,0,0,0,0,0
$GC,7002,-1.19,-146.0,628.2,-6.8,289,7006,0.00,2.67,0.00,0.000,6,0.000,0.045,3127,1572,3377,0,0,0,0,0,0
$GC,7266,-1.19,-146.0,643.6,-5.8,296,7270,0.00,2.45,0.00,0.000,4,0.000,0.079,3127,171,3375,0,0,0,0,0,0
$GC,7301,-1.19,-146.0,645.9,-6.8,296,7305,0.00,2.28,0.00,0.000,6,0.000,0.032,3127,1579,3375,0,0,0,0,0,0
$GC,7555,-1.19,-146.0,661.7,-6.2,303,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1579,3373,0,0,0,0,0,0
$GC,7799,-1.19,-146.0,678.5,-7.0,309,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1579,3372,0,0,0,0,0,0
$GC,8044,-1.19,-146.0,697.2,-7.8,315,8049,0.00,2.45,0.00,0.000,4,0.000,0.075,3127,170,3371,0,0,0,0,0,0
$GC,8073,-1.19,-146.0,699.9,-9.3,315,8077,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1571,3371,0,0,0,0,0,0
$GC,8331,-1.19,-146.0,719.1,-7.4,322,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1570,3369,0,0,0,0,0,0
$GC,8576,-1.19,-146.0,736.3,-7.0,328,8581,0.00,2.47,0.00,0.000,4,0.000,0.076,3127,165,3369,0,0,0,0,0,0
$GC,8595,-1.19,-146.0,738.2,-8.0,328,8600,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1567,3368,0,0,0,0,0,0
$GC,8864,-1.19,-146.0,756.4,-6.8,335,8868,0.00,2.65,0.00,0.000,4,0.000,0.052,3127,3158,3368,0,0,0,0,0,0
$GC,8885,-1.19,-146.0,757.8,-7.1,335,8889,0.00,2.70,0.00,0.000,6,0.000,0.048,3127,1566,3367,0,0,0,0,0,0
$GC,9151,-1.19,-146.0,775.5,-6.6,342,9155,0.00,2.45,0.00,0.000,4,0.000,0.081,3127,166,3366,0,0,0,0,0,0
$GC,9179,-1.19,-146.0,777.7,-7.3,342,9183,0.00,2.28,0.00,0.000,6,0.000,0.034,3127,1576,3366,0,0,0,0,0,0
$GC,9438,-1.19,-146.0,794.8,-6.7,349,9442,0.00,2.47,0.00,0.000,4,0.000,0.076,3127,171,3365,0,0,0,0,0,0
$GC,9468,-1.19,-146.0,797.2,-7.1,349,9472,0.00,2.28,0.00,0.000,6,0.000,0.035,3127,1564,3364,0,0,0,0,0,0
$GC,9722,-1.19,-146.0,813.8,-6.4,356,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1564,3364,0,0,0,0,0,0
$GC,9966,-1.19,-146.0,828.8,-6.1,362,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1564,3364,0,0,0,0,0,0
$GC,10211,-1.19,-146.0,843.3,-5.8,368,10215,0.00,2.45,0.00,0.000,4,0.000,0.077,3127,164,3363,0,0,0,0,0,0
$GC,10239,-1.19,-146.0,845.4,-7.5,368,10244,0.00,2.25,0.00,0.000,6,0.000,0.035,3127,1555,3362,0,0,0,0,0,0
$GC,10499,-1.19,-146.0,861.7,-6.4,375,10500,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1555,3362,0,0,0,0,0,0
$GC,10744,-1.19,-146.0,878.5,-6.9,381,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1555,3362,0,0,0,0,0,0
$GC,10986,-1.19,-146.0,895.2,-6.7,387,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1555,3361,0,0,0,0,0,0
$STATE,11064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11065,begin apogee
$GC,11071,-0.31,0.0,900.9,6.9,389,11193,0.82,0.00,118.95,1.154,6,0.074,0.000,3316,1340,2800,0,0,0,0,0,0
$STATE,11194,end apogee,CONTROL_FINISHED_OK
$STATE,11194,begin climb
$GC,11198,1.27,146.0,904.7,0.0,392,11337,1.42,2.17,129.68,1.132,4,0.031,0.079,3670,176,2203,0,0,0,0,0,0
$GC,11438,0.99,146.0,886.0,15.5,397,11443,0.32,1.92,0.00,0.000,6,0.109,0.031,3603,1357,2198,0,0,0,0,0,0
$GC,11707,0.91,147.7,858.6,9.9,404,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1357,2193,0,0,0,0,0,0
$GC,11952,0.83,147.7,833.7,10.3,410,11957,0.17,2.12,0.00,0.000,4,0.107,0.073,3566,171,2192,0,0,0,0,0,0
$GC,12001,0.80,159.1,828.4,9.5,411,12017,0.00,1.95,11.27,0.970,6,0.000,0.031,3566,1362,2150,0,0,0,0,0,0
$GC,12294,0.83,182.4,802.3,8.9,418,12319,0.00,0.00,22.50,1.034,6,0.000,0.000,3566,1362,2056,0,0,0,0,0,0
$GC,12541,0.84,191.4,779.3,9.6,424,12557,0.00,2.20,9.50,0.921,4,0.000,0.073,3566,174,2018,0,0,0,0,0,0
$GC,12594,0.84,191.4,772.7,12.0,425,12598,0.00,1.92,0.00,0.000,6,0.000,0.030,3566,1344,2017,0,0,0,0,0,0
$GC,12878,0.84,193.7,744.6,9.9,432,12882,0.00,2.70,0.00,0.000,4,0.000,0.051,3566,2934,2015,0,0,0,0,0,0
$GC,12907,0.91,205.8,741.5,9.4,432,12927,0.00,2.70,14.43,0.966,6,0.000,0.049,3566,1355,1959,0,0,0,0,0,0
$GC,13216,0.91,207.6,710.7,9.9,440,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,1355,1957,0,0,0,0,0,0
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$STATE,19568,end climb,SURFACE_DEPTH_REACHED
$STATE,19568,begin surface coast
$FINISH,0.9,1.010137
$STATE,19608,end surface coast,CONTROL_FINISHED_OK
$STATE,19608,begin surface
$SM_CCo,19633,44.85,0.432,0,0,1250,380.21
$SM_GC,2.25,0.00,0.00,44.85,0.000,0.000,0.432,416,1605,1250,-13.66,0.99,380.21
$IRIDIUM_FIX,2255.72,-15734.52,300902,141402
$TT8_MAMPS,0.027612
$HUMID,63.62
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,18
$24V_AH,23.3,30.777
$10V_AH,9.9,27.944
$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,32.400,187.500,400.550,44.850,0.000,25.414,35.403,445.569,4.500,0.000,12.426,1572.165,14443.921,516.667,2784.800,1019.404,33.386,1579.483,0.000,2825.075,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,82.836,1154.335,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.049,612.325,761.533,1170.943,1652.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,60523,735
$CAP_FILE_SIZE,179915,0
$CFSIZE,260165632,156393472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070713,015029,2304.100,-15734.166,36,1.7,41,10.1