version: 66.06
glider: 148
mission: 12
dive: 243
start: 7 14 113 4 7 43
data:
$ID,148
$MISSION,12
$DIVE,243
$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,390
$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,-1020933.3
$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,128
$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
$GPS1,035936,2300.443,-15702.357,27,1.6,27,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.6
$GPS2,040649,2300.439,-15702.352,15,1.6,15,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_30
$TGT_LATLONG,2306.000,-15703.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.259
$KALMAN_X,-221683.8,-161.3,239.1,320165.1,-429.9
$KALMAN_Y,163555.5,-30.0,51.9,-134964.9,-128.6
$MHEAD_RNG_PITCHd_Wd,349.1,10357,-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,-145.6,0.0,0.0,0,85,0.00,0.00,-66.80,0.000,2,0.000,0.000,417,1603,2899,0,0,0,0,0,0
$GC,89,-1.28,-146.0,3.2,-4.6,9,122,13.85,2.35,-9.12,0.000,4,0.146,0.031,3101,3075,3396,0,0,0,0,0,0
$GC,247,-1.09,-146.0,38.1,-17.4,30,257,0.17,2.47,0.00,0.000,6,0.083,0.032,3144,1571,3397,0,0,0,0,0,0
$GC,516,-0.91,-146.0,80.9,-14.8,55,521,0.20,2.33,0.00,0.000,4,0.104,0.042,3186,159,3398,0,0,0,0,0,0
$GC,547,-0.81,-146.0,86.1,-13.7,57,552,0.10,2.03,0.00,0.000,6,0.125,0.017,3208,1540,3398,0,0,0,0,0,0
$GC,815,-0.81,-146.0,111.2,-9.2,81,820,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1543,3399,0,0,0,0,0,0
$GC,1076,-0.81,-146.0,137.3,-9.8,106,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1543,3399,0,0,0,0,0,0
$GC,1336,-0.81,-146.0,160.0,-9.0,130,1341,0.00,2.42,0.00,0.000,4,0.000,0.021,3208,3104,3399,0,0,0,0,0,0
$GC,1376,-0.92,-146.0,163.2,-8.3,133,1381,0.10,2.50,0.00,0.000,6,0.072,0.028,3136,1556,3399,0,0,0,0,0,0
$GC,1643,-0.79,-146.0,196.4,-13.5,157,1648,0.32,2.28,0.00,0.000,4,0.084,0.041,3210,173,3399,0,0,0,0,0,0
$GC,1688,-0.85,-146.0,202.0,-9.4,160,1692,0.00,2.10,0.00,0.000,6,0.000,0.018,3211,1569,3399,0,0,0,0,0,0
$GC,1981,-0.93,-146.0,225.2,-7.6,167,1986,0.12,2.45,0.00,0.000,4,0.064,0.022,3147,3122,3399,0,0,0,0,0,0
$GC,2010,-0.93,-146.0,228.1,-10.5,167,2015,0.15,2.47,0.00,0.000,6,0.092,0.028,3183,1574,3399,0,0,0,0,0,0
$GC,2266,-0.93,-146.0,249.8,-8.1,174,2270,0.00,2.30,0.00,0.000,4,0.000,0.044,3183,171,3399,0,0,0,0,0,0
$GC,2300,-0.93,-146.0,252.7,-9.7,174,2304,0.00,2.10,0.00,0.000,6,0.000,0.018,3183,1580,3399,0,0,0,0,0,0
$GC,2550,-0.98,-146.0,274.7,-8.7,180,2555,0.00,2.40,0.00,0.000,4,0.000,0.023,3183,3120,3399,0,0,0,0,0,0
$GC,2598,-1.10,-146.0,278.4,-8.0,181,2603,0.15,2.50,0.00,0.000,6,0.053,0.029,3108,1575,3399,0,0,0,0,0,0
$GC,2887,-1.00,-146.0,311.7,-11.4,188,2892,0.25,2.33,0.00,0.000,4,0.084,0.047,3169,171,3399,0,0,0,0,0,0
$GC,2911,-1.00,-146.0,314.4,-9.2,188,2916,0.00,2.12,0.00,0.000,6,0.000,0.019,3169,1579,3399,0,0,0,0,0,0
$GC,3172,-1.00,-146.0,334.2,-7.7,195,3176,0.00,2.45,0.00,0.000,4,0.000,0.028,3169,3121,3399,0,0,0,0,0,0
$GC,3196,-1.07,-146.0,336.4,-8.5,195,3201,0.00,2.50,0.00,0.000,6,0.000,0.033,3169,1581,3399,0,0,0,0,0,0
$GC,3456,-1.07,-146.0,356.1,-7.6,202,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1581,3398,0,0,0,0,0,0
$GC,3701,-1.12,-146.0,373.6,-7.1,208,3706,0.12,2.40,0.00,0.000,4,0.065,0.058,3107,173,3396,0,0,0,0,0,0
$GC,3745,-1.04,-146.0,378.3,-11.5,209,3750,0.22,2.15,0.00,0.000,6,0.086,0.022,3158,1568,3396,0,0,0,0,0,0
$GC,4036,-1.04,-146.0,401.4,-7.9,216,4040,0.00,2.55,0.00,0.000,4,0.000,0.034,3158,3137,3394,0,0,0,0,0,0
$GC,4066,-1.11,-146.0,403.8,-7.5,216,4070,0.00,2.55,0.00,0.000,6,0.000,0.041,3158,1590,3394,0,0,0,0,0,0
$GC,4321,-1.11,-146.0,424.4,-8.1,223,4325,0.00,2.40,0.00,0.000,4,0.000,0.063,3158,170,3392,0,0,0,0,0,0
$GC,4374,-1.18,-146.0,428.9,-8.5,224,4379,0.12,2.20,0.00,0.000,6,0.064,0.024,3097,1580,3391,0,0,0,0,0,0
$GC,4655,-1.09,-146.0,458.1,-10.6,231,4657,0.22,0.00,0.00,0.000,6,0.088,0.000,3148,1581,3390,0,0,0,0,0,0
$GC,4896,-1.09,-146.0,476.7,-7.4,237,4901,0.00,2.45,0.00,0.000,4,0.000,0.065,3147,162,3388,0,0,0,0,0,0
$GC,4931,-1.09,-146.0,479.5,-8.6,237,4935,0.00,2.25,0.00,0.000,6,0.000,0.028,3147,1576,3388,0,0,0,0,0,0
$GC,5181,-1.09,-146.0,497.1,-7.0,243,5185,0.00,2.60,0.00,0.000,4,0.000,0.041,3147,3153,3386,0,0,0,0,0,0
$GC,5228,-1.19,-146.0,500.4,-6.4,244,5233,0.00,2.62,0.00,0.000,6,0.000,0.047,3147,1583,3386,0,0,0,0,0,0
$GC,5515,-1.19,-146.0,521.0,-7.5,251,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1583,3384,0,0,0,0,0,0
$GC,5755,-1.19,-146.0,540.7,-8.2,257,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1584,3382,0,0,0,0,0,0
$GC,5998,-1.19,-146.0,560.4,-8.0,263,6003,0.00,2.62,0.00,0.000,4,0.000,0.044,3147,3150,3381,0,0,0,0,0,0
$GC,6020,-1.25,-146.0,561.9,-7.8,263,6025,0.15,2.62,0.00,0.000,6,0.056,0.044,3086,1589,3381,0,0,0,0,0,0
$GC,6285,-1.16,-146.0,587.8,-9.7,270,6290,0.20,2.50,0.00,0.000,4,0.094,0.074,3131,165,3379,0,0,0,0,0,0
$GC,6336,-1.16,-146.0,592.1,-8.6,271,6340,0.00,2.28,0.00,0.000,6,0.000,0.031,3131,1588,3378,0,0,0,0,0,0
$GC,6619,-1.16,-146.0,611.8,-7.1,278,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3377,0,0,0,0,0,0
$GC,6862,-1.16,-146.0,630.9,-7.9,284,6863,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3375,0,0,0,0,0,0
$GC,7106,-1.16,-146.0,649.3,-7.6,290,7110,0.00,2.47,0.00,0.000,4,0.000,0.074,3130,169,3374,0,0,0,0,0,0
$GC,7131,-1.16,-146.0,651.4,-8.7,290,7135,0.00,2.30,0.00,0.000,6,0.000,0.032,3131,1587,3374,0,0,0,0,0,0
$GC,7390,-1.16,-146.0,672.0,-7.9,297,7392,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1587,3373,0,0,0,0,0,0
$GC,7634,-1.16,-146.0,691.0,-7.7,303,7639,0.00,2.65,0.00,0.000,4,0.000,0.053,3131,3158,3372,0,0,0,0,0,0
$GC,7665,-1.23,-146.0,693.3,-8.5,303,7669,0.00,2.67,0.00,0.000,6,0.000,0.049,3131,1585,3372,0,0,0,0,0,0
$GC,7920,-1.23,-146.0,712.9,-7.7,310,7924,0.00,2.50,0.00,0.000,4,0.000,0.081,3131,167,3370,0,0,0,0,0,0
$GC,7943,-1.23,-146.0,715.0,-8.8,310,7947,0.00,2.28,0.00,0.000,6,0.000,0.033,3131,1584,3370,0,0,0,0,0,0
$GC,8204,-1.23,-146.0,734.7,-7.6,317,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1584,3369,0,0,0,0,0,0
$GC,8446,-1.23,-146.0,753.6,-7.8,323,8450,0.00,2.50,0.00,0.000,4,0.000,0.075,3131,164,3367,0,0,0,0,0,0
$GC,8470,-1.23,-146.0,755.7,-9.7,323,8474,0.00,2.30,0.00,0.000,6,0.000,0.034,3131,1587,3367,0,0,0,0,0,0
$GC,8731,-1.23,-146.0,776.3,-7.9,330,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1587,3366,0,0,0,0,0,0
$GC,8975,-1.23,-146.0,794.7,-7.4,336,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1587,3366,0,0,0,0,0,0
$GC,9217,-1.23,-146.0,810.9,-6.5,342,9221,0.00,2.50,0.00,0.000,4,0.000,0.076,3131,167,3364,0,0,0,0,0,0
$GC,9240,-1.23,-146.0,812.7,-6.7,342,9244,0.00,2.30,0.00,0.000,6,0.000,0.041,3131,1577,3364,0,0,0,0,0,0
$GC,9506,-1.23,-146.0,828.0,-5.5,349,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1578,3364,0,0,0,0,0,0
$GC,9748,-1.23,-146.0,841.0,-5.4,355,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1578,3363,0,0,0,0,0,0
$GC,9995,-1.23,-146.0,855.0,-5.7,361,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1578,3362,0,0,0,0,0,0
$GC,10237,-1.23,-146.0,870.3,-6.4,367,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1577,3362,0,0,0,0,0,0
$GC,10479,-1.27,-146.0,887.3,-7.0,373,10484,0.10,2.67,0.00,0.000,4,0.077,0.054,3086,3153,3361,0,0,0,0,0,0
$GC,10495,-1.27,-146.0,888.8,-7.2,373,10500,0.10,2.67,0.00,0.000,6,0.117,0.048,3108,1578,3361,0,0,0,0,0,0
$STATE,10639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10639,begin apogee
$GC,10648,-0.31,0.0,900.7,8.1,377,10770,0.90,0.00,119.38,1.156,6,0.072,0.000,3315,1343,2801,0,0,0,0,0,0
$STATE,10771,end apogee,CONTROL_FINISHED_OK
$STATE,10771,begin climb
$GC,10774,1.28,146.0,905.0,0.0,380,10913,1.42,2.17,130.57,1.137,4,0.031,0.082,3662,165,2203,0,0,0,0,0,0
$GC,10939,1.01,146.0,897.9,12.4,383,10945,0.28,1.98,0.00,0.000,6,0.110,0.032,3607,1353,2200,0,0,0,0,0,0
$GC,11189,0.94,146.0,871.8,10.2,390,11190,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1353,2193,0,0,0,0,0,0
$GC,11437,0.87,146.0,846.9,10.3,396,11441,0.15,2.10,0.00,0.000,4,0.111,0.071,3575,168,2191,0,0,0,0,0,0
$GC,11452,0.80,146.0,844.8,10.6,396,11455,0.00,1.92,0.00,0.000,6,0.000,0.031,3575,1357,2191,0,0,0,0,0,0
$GC,11724,0.82,164.3,819.6,9.2,403,11742,0.00,0.00,15.93,1.014,6,0.000,0.000,3575,1358,2130,0,0,0,0,0,0
$GC,11969,0.84,176.7,796.7,9.4,409,11984,0.00,0.00,12.48,0.974,6,0.000,0.000,3575,1358,2079,0,0,0,0,0,0
$GC,12212,0.86,193.2,774.1,9.2,415,12230,0.00,0.00,16.38,0.996,6,0.000,0.000,3575,1358,2012,0,0,0,0,0,0
$GC,12460,0.87,205.6,751.0,9.4,421,12475,0.00,0.00,13.32,0.960,6,0.000,0.000,3575,1359,1961,0,0,0,0,0,0
$GC,12701,0.88,213.8,727.7,9.6,427,12717,0.00,2.70,9.05,0.892,4,0.000,0.053,3575,2929,1926,0,0,0,0,0,0
$GC,12723,0.92,242.7,725.6,8.7,427,12759,0.00,2.72,28.25,1.003,6,0.000,0.046,3575,1351,1810,0,0,0,0,0,0
$GC,13032,0.97,242.7,694.0,10.1,435,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,1352,1805,0,0,0,0,0,0
$GC,13278,1.01,242.7,669.4,10.1,441,13283,0.12,2.67,0.00,0.000,4,0.068,0.043,3621,2929,1803,0,0,0,0,0,0
$GC,13335,1.01,242.7,662.4,12.1,442,13339,0.00,2.72,0.00,0.000,6,0.000,0.052,3621,1353,1800,0,0,0,0,0,0
$GC,13609,1.01,242.7,627.8,12.7,449,13611,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1353,1800,0,0,0,0,0,0
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$GC,16264,1.13,259.5,321.7,9.3,514,16285,0.12,2.58,13.82,0.694,4,0.066,0.034,3654,2904,1741,0,0,0,0,0,0
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$STATE,19054,end climb,SURFACE_DEPTH_REACHED
$STATE,19055,begin surface coast
$FINISH,0.8,1.014320
$STATE,19098,end surface coast,CONTROL_FINISHED_OK
$STATE,19098,begin surface
$SM_CCo,19122,43.50,0.431,0,0,1209,390.03
$SM_GC,1.81,0.00,0.00,43.50,0.000,0.000,0.431,409,1624,1209,-13.69,1.53,390.03
$IRIDIUM_FIX,2248.70,-15700.68,071002,222219
$TT8_MAMPS,0.027612
$HUMID,66.02
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,14
$24V_AH,23.3,35.849
$10V_AH,9.9,33.296
$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,33.775,178.700,411.975,43.500,0.000,28.135,40.561,208.566,3.500,0.000,16.545,1535.288,14281.580,546.005,2489.988,737.020,33.369,1578.010,0.000,2494.443,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,82.069,1155.869,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.849,373.332,472.182,971.585,1281.959,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355808
$DATA_FILE_SIZE,57527,713
$CAP_FILE_SIZE,175281,0
$CFSIZE,260165632,153858048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140713,092830,2302.946,-15702.593,39,1.3,39,10.2