version: 66.06
glider: 148
mission: 12
dive: 239
start: 7 13 113 6 4 3
data:
$ID,148
$MISSION,12
$DIVE,239
$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,561.4917
$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,-1020865.8
$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,25
$R_STBD_OVSHOOT,120
$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
$GPS1,052805,2250.760,-15701.471,65,1.4,69,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-75.7
$GPS2,060311,2250.677,-15701.509,10,1.8,20,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,0.259
$KALMAN_X,-222001.5,-280.0,25.9,322256.5,125.8
$KALMAN_Y,164076.1,-31.5,-121.5,-153390.7,56.9
$MHEAD_RNG_PITCHd_Wd,343.2,28492,-17.4,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-66.95,0.000,2,0.000,0.000,416,1605,2955,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-4.7,9,124,13.82,2.35,-8.02,0.000,4,0.145,0.034,3102,3080,3398,0,0,0,0,0,0
$GC,206,-1.07,-146.0,30.6,-18.8,25,212,0.22,2.45,0.00,0.000,6,0.102,0.032,3151,1564,3398,0,0,0,0,0,0
$GC,474,-0.92,-146.0,74.7,-15.4,49,478,0.15,2.30,0.00,0.000,4,0.107,0.042,3183,168,3398,0,0,0,0,0,0
$GC,508,-0.81,-146.0,81.0,-15.1,51,514,0.10,2.05,0.00,0.000,6,0.120,0.017,3207,1547,3398,0,0,0,0,0,0
$GC,772,-0.81,-146.0,107.9,-9.3,76,781,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1550,3398,0,0,0,0,0,0
$GC,1039,-0.81,-146.0,130.9,-7.8,101,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1550,3398,0,0,0,0,0,0
$GC,1300,-0.81,-146.0,151.9,-8.2,126,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1550,3398,0,0,0,0,0,0
$GC,1555,-0.81,-146.0,173.5,-8.4,150,1559,0.00,2.42,0.00,0.000,4,0.000,0.021,3207,3114,3398,0,0,0,0,0,0
$GC,1597,-0.95,-146.0,176.8,-7.2,153,1607,0.10,2.53,0.00,0.000,6,0.027,0.028,3130,1565,3398,0,0,0,0,0,0
$GC,1866,-0.83,-146.0,211.5,-13.0,173,1871,0.30,2.28,0.00,0.000,4,0.084,0.042,3202,170,3398,0,0,0,0,0,0
$GC,1907,-0.89,-146.0,215.8,-8.8,173,1912,0.00,2.10,0.00,0.000,6,0.000,0.018,3201,1572,3398,0,0,0,0,0,0
$GC,2157,-0.96,-146.0,234.2,-7.0,180,2159,0.10,0.00,0.00,0.000,6,0.077,0.000,3140,1574,3398,0,0,0,0,0,0
$GC,2403,-0.88,-146.0,261.4,-11.7,186,2408,0.22,2.42,0.00,0.000,4,0.084,0.021,3192,3122,3397,0,0,0,0,0,0
$GC,2428,-0.88,-146.0,264.4,-10.4,186,2433,0.00,2.50,0.00,0.000,6,0.000,0.028,3192,1559,3397,0,0,0,0,0,0
$GC,2689,-0.95,-146.0,286.1,-8.1,193,2693,0.00,2.45,0.00,0.000,4,0.000,0.024,3192,3117,3397,0,0,0,0,0,0
$GC,2719,-1.07,-146.0,288.4,-7.0,193,2724,0.17,2.53,0.00,0.000,6,0.048,0.031,3125,1565,3396,0,0,0,0,0,0
$GC,2975,-1.00,-146.0,314.4,-10.3,200,2977,0.17,0.00,0.00,0.000,6,0.096,0.000,3165,1564,3395,0,0,0,0,0,0
$GC,3221,-1.00,-146.0,334.9,-8.5,206,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1564,3394,0,0,0,0,0,0
$GC,3464,-1.00,-146.0,356.3,-8.9,212,3468,0.00,2.47,0.00,0.000,4,0.000,0.030,3165,3106,3392,0,0,0,0,0,0
$GC,3492,-1.08,-146.0,359.1,-8.8,212,3497,0.00,2.50,0.00,0.000,6,0.000,0.035,3165,1574,3392,0,0,0,0,0,0
$GC,3747,-1.08,-146.0,378.2,-7.2,219,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1574,3391,0,0,0,0,0,0
$GC,3993,-1.12,-146.0,394.8,-6.9,225,3998,0.10,2.38,0.00,0.000,4,0.077,0.061,3109,172,3388,0,0,0,0,0,0
$GC,4017,-1.05,-146.0,397.4,-10.7,225,4022,0.20,2.12,0.00,0.000,6,0.092,0.022,3154,1550,3388,0,0,0,0,0,0
$GC,4278,-1.05,-146.0,419.8,-8.4,232,4282,0.00,2.58,0.00,0.000,4,0.000,0.035,3154,3145,3386,0,0,0,0,0,0
$GC,4308,-1.12,-146.0,422.3,-9.1,232,4312,0.00,2.58,0.00,0.000,6,0.000,0.038,3154,1579,3387,0,0,0,0,0,0
$GC,4563,-1.12,-146.0,444.2,-8.6,239,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1579,3385,0,0,0,0,0,0
$GC,4807,-1.12,-146.0,463.3,-7.6,245,4811,0.00,2.42,0.00,0.000,4,0.000,0.068,3154,173,3383,0,0,0,0,0,0
$GC,4836,-1.12,-146.0,465.6,-8.4,245,4841,0.00,2.20,0.00,0.000,6,0.000,0.026,3154,1574,3382,0,0,0,0,0,0
$GC,5091,-1.16,-146.0,483.2,-6.9,252,5096,0.00,2.55,0.00,0.000,4,0.000,0.040,3154,3142,3381,0,0,0,0,0,0
$GC,5135,-1.27,-146.0,486.5,-7.3,253,5141,0.20,2.55,0.00,0.000,6,0.044,0.040,3089,1592,3380,0,0,0,0,0,0
$GC,5425,-1.17,-146.0,517.3,-11.2,260,5430,0.17,2.50,0.00,0.000,4,0.099,0.073,3127,164,3378,0,0,0,0,0,0
$GC,5518,-1.17,-146.0,527.5,-10.4,262,5522,0.00,2.28,0.00,0.000,6,0.000,0.030,3127,1582,3378,0,0,0,0,0,0
$GC,5806,-1.17,-146.0,553.8,-8.9,269,5811,0.00,2.60,0.00,0.000,4,0.000,0.044,3127,3151,3376,0,0,0,0,0,0
$GC,5840,-1.23,-146.0,556.9,-8.8,269,5844,0.00,2.62,0.00,0.000,6,0.000,0.044,3127,1586,3376,0,0,0,0,0,0
$GC,6090,-1.23,-146.0,577.4,-8.0,275,6094,0.00,2.45,0.00,0.000,4,0.000,0.075,3127,168,3373,0,0,0,0,0,0
$GC,6144,-1.23,-146.0,582.1,-8.3,276,6148,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1580,3373,0,0,0,0,0,0
$GC,6422,-1.23,-146.0,603.1,-7.7,283,6426,0.00,2.58,0.00,0.000,4,0.000,0.046,3127,3149,3371,0,0,0,0,0,0
$GC,6457,-1.28,-146.0,606.0,-8.4,283,6461,0.00,2.65,0.00,0.000,6,0.000,0.046,3127,1577,3371,0,0,0,0,0,0
$GC,6707,-1.28,-146.0,627.2,-8.7,289,6711,0.00,2.47,0.00,0.000,4,0.000,0.079,3127,167,3370,0,0,0,0,0,0
$GC,6735,-1.28,-146.0,630.0,-9.5,289,6739,0.00,2.28,0.00,0.000,6,0.000,0.031,3127,1586,3369,0,0,0,0,0,0
$GC,6994,-1.28,-146.0,653.1,-9.0,296,6995,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1587,3367,0,0,0,0,0,0
$GC,7233,-1.28,-146.0,674.9,-9.0,302,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1587,3366,0,0,0,0,0,0
$GC,7477,-1.28,-146.0,696.1,-8.6,308,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1587,3364,0,0,0,0,0,0
$GC,7721,-1.28,-146.0,715.9,-8.1,314,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1586,3363,0,0,0,0,0,0
$GC,7966,-1.28,-146.0,734.9,-7.7,320,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1586,3362,0,0,0,0,0,0
$GC,8211,-1.28,-146.0,753.2,-7.5,326,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1586,3361,0,0,0,0,0,0
$GC,8452,-1.28,-146.0,772.1,-7.8,332,8456,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,167,3360,0,0,0,0,0,0
$GC,8485,-1.28,-146.0,775.0,-8.5,332,8489,0.00,2.30,0.00,0.000,6,0.000,0.034,3127,1588,3360,0,0,0,0,0,0
$GC,8737,-1.28,-146.0,795.5,-8.3,338,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1588,3359,0,0,0,0,0,0
$GC,8979,-1.28,-146.0,816.0,-8.4,344,8983,0.00,2.47,0.00,0.000,4,0.000,0.075,3127,170,3358,0,0,0,0,0,0
$GC,9012,-1.28,-146.0,818.9,-9.2,344,9016,0.00,2.30,0.00,0.000,6,0.000,0.034,3127,1580,3358,0,0,0,0,0,0
$GC,9264,-1.28,-146.0,837.9,-7.3,350,9268,0.00,2.65,0.00,0.000,4,0.000,0.054,3127,3153,3356,0,0,0,0,0,0
$GC,9283,-1.28,-146.0,839.4,-6.7,350,9288,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1577,3356,0,0,0,0,0,0
$GC,9549,-1.28,-146.0,856.5,-6.4,357,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1577,3355,0,0,0,0,0,0
$GC,9793,-1.28,-146.0,872.1,-6.3,363,9797,0.00,2.50,0.00,0.000,4,0.000,0.082,3128,163,3354,0,0,0,0,0,0
$GC,9821,-1.28,-146.0,874.2,-7.8,363,9825,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1583,3354,0,0,0,0,0,0
$GC,10076,-1.28,-146.0,890.6,-6.3,370,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1583,3354,0,0,0,0,0,0
$STATE,10235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10235,begin apogee
$GC,10243,-0.31,0.0,901.2,6.5,374,10364,0.82,0.00,117.43,1.155,6,0.072,0.000,3317,1338,2800,0,0,0,0,0,0
$STATE,10365,end apogee,CONTROL_FINISHED_OK
$STATE,10365,begin climb
$GC,10368,1.27,146.0,904.6,0.0,377,10506,1.42,2.15,129.85,1.132,4,0.039,0.078,3658,172,2203,0,0,0,0,0,0
$GC,10529,1.02,146.0,897.6,12.0,380,10534,0.25,1.95,0.00,0.000,6,0.114,0.031,3609,1360,2201,0,0,0,0,0,0
$GC,10782,0.94,146.0,870.7,10.4,386,10785,0.00,2.12,0.00,0.000,4,0.000,0.072,3609,174,2195,0,0,0,0,0,0
$GC,10848,0.80,146.0,862.8,12.0,387,10853,0.22,1.90,0.00,0.000,6,0.108,0.030,3562,1344,2194,0,0,0,0,0,0
$GC,11112,0.86,190.9,841.1,7.9,394,11155,0.00,0.00,40.60,1.078,6,0.000,0.000,3562,1345,2021,0,0,0,0,0,0
$GC,11401,0.92,208.3,815.5,9.2,401,11426,0.10,2.72,17.35,1.015,4,0.079,0.049,3603,2926,1948,0,0,0,0,0,0
$GC,11435,0.92,208.3,811.1,10.9,401,11440,0.00,2.72,0.00,0.000,6,0.000,0.048,3603,1355,1947,0,0,0,0,0,0
$GC,11685,0.92,208.3,783.0,11.3,407,11686,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1355,1944,0,0,0,0,0,0
$GC,11930,0.92,208.3,756.6,10.7,413,11934,0.00,2.12,0.00,0.000,4,0.000,0.087,3604,165,1944,0,0,0,0,0,0
$GC,11946,0.88,208.3,754.7,11.2,413,11950,0.12,1.90,0.00,0.000,6,0.117,0.029,3578,1349,1944,0,0,0,0,0,0
$GC,12219,0.88,209.7,727.3,9.9,420,12224,0.00,2.70,0.00,0.000,4,0.000,0.051,3577,2929,1942,0,0,0,0,0,0
$GC,12259,0.96,209.7,723.5,10.8,420,12268,0.00,2.75,0.00,0.000,6,0.000,0.050,3578,1345,1940,0,0,0,0,0,0
$GC,12509,0.96,209.7,698.1,10.1,427,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,1345,1940,0,0,0,0,0,0
$GC,12752,0.96,209.7,673.2,10.1,433,12757,0.00,2.67,0.00,0.000,4,0.000,0.044,3578,2931,1940,0,0,0,0,0,0
$GC,12771,0.97,218.0,671.3,9.6,433,12787,0.00,2.72,8.52,0.858,6,0.000,0.052,3578,1353,1911,0,0,0,0,0,0
$GC,13041,0.98,226.4,645.4,9.6,440,13052,0.00,0.00,9.55,0.865,6,0.000,0.000,3578,1353,1877,0,0,0,0,0,0
$GC,13284,0.99,236.8,622.1,9.5,446,13301,0.10,2.20,11.12,0.873,4,0.078,0.082,3624,163,1834,0,0,0,0,0,0
$GC,13322,0.91,236.8,617.2,13.4,446,13327,0.20,1.92,0.00,0.000,6,0.104,0.028,3582,1358,1834,0,0,0,0,0,0
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$STATE,18823,end climb,SURFACE_DEPTH_REACHED
$STATE,18823,begin surface coast
$FINISH,1.0,1.022993
$STATE,18870,end surface coast,CONTROL_FINISHED_OK
$STATE,18870,begin surface
$SM_CCo,18894,168.20,0.423,3,0,510,561.49
$SM_GC,1.61,0.00,0.00,168.20,0.000,0.000,0.423,414,1626,510,-13.67,1.58,561.49
$IRIDIUM_FIX,2244.02,-15703.74,071002,060619
$TT8_MAMPS,0.027612
$HUMID,60.59
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.90
$XPDR_PINGS,102
$24V_AH,23.3,35.186
$10V_AH,9.9,32.688
$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
$DEVICE_SECS,33.050,175.100,403.900,168.200,0.000,141.069,185.858,1333.959,25.500,0.000,22.033,1545.316,14240.742,674.902,2540.571,2170.185,33.372,1690.767,0.000,2550.779,0.000,0.540,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.467,392.301,506.021,1023.547,1375.628,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57498,732
$CAP_FILE_SIZE,198932,0
$CFSIZE,260165632,154136576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,130713,112341,2253.332,-15701.690,41,1.6,58,10.1