version: 66.06
glider: 148
mission: 12
dive: 249
start: 7 15 113 13 2 11
data:
$ID,148
$MISSION,12
$DIVE,249
$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,-1021056.2
$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,75
$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
$GPS1,124006,2305.118,-15712.524,39,1.4,39,10.2
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-76.4
$GPS2,130119,2305.204,-15712.518,35,1.6,35,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.011
$KALMAN_X,-219119.0,20.7,-53.3,300340.8,664.4
$KALMAN_Y,162543.8,315.5,21.1,-125443.0,-153.0
$MHEAD_RNG_PITCHd_Wd,262.2,39016,-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,17,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-66.93,0.000,2,0.000,0.000,415,1588,2923,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.1,-3.8,9,124,13.85,2.40,-8.82,0.000,4,0.145,0.052,3101,168,3396,0,0,0,0,0,0
$GC,269,-0.98,-146.0,49.1,-23.3,30,274,0.32,2.10,0.00,0.000,6,0.095,0.017,3172,1560,3397,0,0,0,0,0,0
$GC,532,-0.87,-146.0,88.6,-12.1,54,537,0.10,2.50,0.00,0.000,4,0.120,0.021,3193,3146,3397,0,0,0,0,0,0
$GC,567,-0.87,-146.0,92.2,-8.8,56,576,0.00,2.58,0.00,0.000,6,0.000,0.028,3194,1568,3397,0,0,0,0,0,0
$GC,832,-0.87,-146.0,118.6,-10.4,81,836,0.00,2.30,0.00,0.000,4,0.000,0.042,3193,164,3397,0,0,0,0,0,0
$GC,868,-0.87,-146.0,123.0,-11.8,84,872,0.00,2.15,0.00,0.000,6,0.000,0.016,3193,1592,3397,0,0,0,0,0,0
$GC,1140,-0.87,-146.0,152.3,-10.4,109,1144,0.00,2.40,0.00,0.000,4,0.000,0.021,3193,3128,3397,0,0,0,0,0,0
$GC,1180,-0.95,-146.0,156.8,-8.8,112,1185,0.00,2.53,0.00,0.000,6,0.000,0.028,3193,1564,3397,0,0,0,0,0,0
$GC,1444,-0.95,-146.0,181.9,-9.6,137,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1564,3397,0,0,0,0,0,0
$GC,1706,-0.95,-146.0,208.3,-9.9,156,1710,0.00,2.45,0.00,0.000,4,0.000,0.021,3193,3121,3397,0,0,0,0,0,0
$GC,1746,-1.05,-146.0,212.0,-8.1,156,1752,0.17,2.50,0.00,0.000,6,0.049,0.028,3109,1571,3397,0,0,0,0,0,0
$GC,1996,-0.87,-146.0,246.9,-14.6,163,2001,0.35,2.28,0.00,0.000,4,0.082,0.040,3192,165,3397,0,0,0,0,0,0
$GC,2044,-0.93,-146.0,252.4,-9.7,164,2048,0.00,2.10,0.00,0.000,6,0.000,0.018,3192,1568,3397,0,0,0,0,0,0
$GC,2331,-0.97,-146.0,275.3,-7.8,171,2335,0.00,2.45,0.00,0.000,4,0.000,0.023,3192,3125,3397,0,0,0,0,0,0
$GC,2374,-1.11,-146.0,278.8,-7.1,172,2380,0.20,2.47,0.00,0.000,6,0.042,0.028,3105,1586,3397,0,0,0,0,0,0
$GC,2664,-0.98,-146.0,312.8,-12.2,179,2669,0.25,2.33,0.00,0.000,4,0.085,0.044,3167,166,3397,0,0,0,0,0,0
$GC,2679,-0.91,-146.0,314.9,-11.8,179,2683,0.00,2.15,0.00,0.000,6,0.000,0.019,3167,1595,3397,0,0,0,0,0,0
$GC,2952,-0.91,-146.0,338.5,-8.8,186,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1598,3396,0,0,0,0,0,0
$GC,3191,-0.91,-146.0,357.1,-7.4,192,3196,0.00,2.40,0.00,0.000,4,0.000,0.051,3167,169,3395,0,0,0,0,0,0
$GC,3235,-0.99,-146.0,360.5,-7.8,193,3239,0.00,2.15,0.00,0.000,6,0.000,0.021,3167,1567,3395,0,0,0,0,0,0
$GC,3524,-1.04,-146.0,383.8,-8.3,200,3528,0.00,2.55,0.00,0.000,4,0.000,0.032,3167,3136,3393,0,0,0,0,0,0
$GC,3562,-1.16,-146.0,387.0,-7.8,200,3570,0.12,2.58,0.00,0.000,6,0.028,0.038,3099,1598,3393,0,0,0,0,0,0
$GC,3812,-1.06,-146.0,414.2,-11.1,207,3817,0.22,2.45,0.00,0.000,4,0.087,0.060,3152,167,3390,0,0,0,0,0,0
$GC,3843,-1.06,-146.0,417.4,-9.6,207,3847,0.00,2.20,0.00,0.000,6,0.000,0.023,3152,1583,3390,0,0,0,0,0,0
$GC,4097,-1.06,-146.0,438.7,-8.1,214,4102,0.00,2.53,0.00,0.000,4,0.000,0.037,3152,3139,3388,0,0,0,0,0,0
$GC,4169,-1.16,-146.0,444.4,-8.3,215,4174,0.00,2.58,0.00,0.000,6,0.000,0.038,3151,1589,3388,0,0,0,0,0,0
$GC,4429,-1.16,-146.0,467.3,-9.0,222,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1589,3386,0,0,0,0,0,0
$GC,4672,-1.16,-146.0,488.6,-8.6,228,4677,0.00,2.47,0.00,0.000,4,0.000,0.069,3152,162,3384,0,0,0,0,0,0
$GC,4696,-1.16,-146.0,490.7,-9.0,228,4700,0.00,2.30,0.00,0.000,6,0.000,0.028,3152,1599,3384,0,0,0,0,0,0
$GC,4955,-1.16,-146.0,509.4,-6.9,235,4960,0.00,2.47,0.00,0.000,4,0.000,0.067,3152,167,3381,0,0,0,0,0,0
$GC,5001,-1.22,-146.0,512.5,-6.8,236,5006,0.15,2.30,0.00,0.000,6,0.054,0.030,3087,1598,3381,0,0,0,0,0,0
$GC,5293,-1.12,-146.0,540.6,-9.9,243,5298,0.25,2.55,0.00,0.000,4,0.086,0.042,3147,3150,3379,0,0,0,0,0,0
$GC,5332,-1.23,-146.0,544.1,-6.8,243,5338,0.12,2.60,0.00,0.000,6,0.064,0.043,3087,1598,3379,0,0,0,0,0,0
$GC,5584,-1.13,-146.0,568.6,-10.3,250,5589,0.22,2.50,0.00,0.000,4,0.087,0.073,3138,168,3377,0,0,0,0,0,0
$GC,5630,-1.13,-146.0,573.0,-8.3,251,5634,0.00,2.28,0.00,0.000,6,0.000,0.031,3138,1591,3377,0,0,0,0,0,0
$GC,5917,-1.13,-146.0,596.5,-8.0,258,5922,0.00,2.60,0.00,0.000,4,0.000,0.046,3138,3159,3374,0,0,0,0,0,0
$GC,5943,-1.19,-146.0,598.5,-8.7,258,5947,0.00,2.65,0.00,0.000,6,0.000,0.045,3138,1589,3374,0,0,0,0,0,0
$GC,6202,-1.19,-146.0,618.5,-7.7,265,6207,0.00,2.50,0.00,0.000,4,0.000,0.077,3138,166,3372,0,0,0,0,0,0
$GC,6240,-1.19,-146.0,621.8,-9.1,265,6248,0.00,2.33,0.00,0.000,6,0.000,0.031,3138,1587,3372,0,0,0,0,0,0
$GC,6492,-1.19,-146.0,642.3,-8.4,272,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1587,3371,0,0,0,0,0,0
$GC,6734,-1.19,-146.0,661.8,-8.0,278,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1587,3369,0,0,0,0,0,0
$GC,6977,-1.19,-146.0,679.5,-7.2,284,6982,0.00,2.50,0.00,0.000,4,0.000,0.074,3138,164,3367,0,0,0,0,0,0
$GC,7006,-1.19,-146.0,681.7,-7.2,284,7010,0.00,2.33,0.00,0.000,6,0.000,0.032,3138,1594,3367,0,0,0,0,0,0
$GC,7266,-1.19,-146.0,699.0,-6.7,291,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3365,0,0,0,0,0,0
$GC,7505,-1.19,-146.0,715.5,-6.9,297,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1594,3365,0,0,0,0,0,0
$GC,7749,-1.19,-146.0,733.0,-7.2,303,7754,0.00,2.60,0.00,0.000,4,0.000,0.052,3138,3150,3364,0,0,0,0,0,0
$GC,7770,-1.24,-146.0,734.5,-7.9,303,7775,0.00,2.62,0.00,0.000,6,0.000,0.048,3138,1592,3364,0,0,0,0,0,0
$GC,8035,-1.24,-146.0,752.8,-6.8,310,8039,0.00,2.50,0.00,0.000,4,0.000,0.081,3138,170,3362,0,0,0,0,0,0
$GC,8054,-1.24,-146.0,754.2,-6.7,310,8058,0.00,2.30,0.00,0.000,6,0.000,0.032,3138,1599,3362,0,0,0,0,0,0
$GC,8320,-1.24,-146.0,770.2,-6.0,317,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1599,3362,0,0,0,0,0,0
$GC,8562,-1.28,-146.0,785.3,-6.1,323,8567,0.15,2.53,0.00,0.000,4,0.057,0.074,3078,165,3360,0,0,0,0,0,0
$GC,8587,-1.18,-146.0,787.5,-10.2,323,8592,0.22,2.33,0.00,0.000,6,0.090,0.034,3128,1590,3360,0,0,0,0,0,0
$GC,8849,-1.18,-146.0,806.4,-7.1,330,8853,0.00,2.62,0.00,0.000,4,0.000,0.053,3128,3150,3359,0,0,0,0,0,0
$GC,8873,-1.23,-146.0,808.3,-7.8,330,8877,0.00,2.65,0.00,0.000,6,0.000,0.048,3128,1591,3359,0,0,0,0,0,0
$GC,9132,-1.23,-146.0,826.9,-7.3,337,9137,0.00,2.53,0.00,0.000,4,0.000,0.082,3129,164,3358,0,0,0,0,0,0
$GC,9177,-1.23,-146.0,830.5,-8.8,338,9182,0.00,2.33,0.00,0.000,6,0.000,0.034,3128,1589,3358,0,0,0,0,0,0
$GC,9464,-1.23,-146.0,851.7,-7.3,345,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1589,3357,0,0,0,0,0,0
$GC,9710,-1.23,-146.0,869.8,-7.4,351,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1589,3356,0,0,0,0,0,0
$GC,9953,-1.23,-146.0,887.7,-7.4,357,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1589,3355,0,0,0,0,0,0
$STATE,10152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10152,begin apogee
$GC,10159,-0.31,0.0,902.5,7.2,362,10280,0.80,0.00,118.03,1.157,6,0.068,0.000,3315,1343,2800,0,0,0,0,0,0
$STATE,10281,end apogee,CONTROL_FINISHED_OK
$STATE,10281,begin climb
$GC,10283,1.27,146.0,906.3,0.0,365,10422,1.42,2.12,130.73,1.136,4,0.035,0.077,3662,169,2203,0,0,0,0,0,0
$GC,10448,1.01,146.0,898.6,12.9,368,10455,0.28,1.98,0.00,0.000,6,0.114,0.032,3608,1360,2199,0,0,0,0,0,0
$GC,10700,0.95,150.2,873.0,9.8,375,10701,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1360,2193,0,0,0,0,0,0
$GC,10945,0.88,155.8,849.2,9.7,381,10959,0.15,2.15,8.32,0.921,4,0.113,0.071,3576,169,2163,0,0,0,0,0,0
$GC,10979,0.90,167.5,845.7,9.5,381,10996,0.00,1.95,12.48,0.984,6,0.000,0.030,3577,1353,2117,0,0,0,0,0,0
$GC,11281,0.92,184.5,817.9,9.2,389,11299,0.00,0.00,16.55,1.016,6,0.000,0.000,3576,1353,2048,0,0,0,0,0,0
$GC,11523,0.93,193.9,794.5,9.6,395,11534,0.00,0.00,9.82,0.937,6,0.000,0.000,3576,1354,2009,0,0,0,0,0,0
$GC,11770,0.93,193.9,769.6,10.2,401,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,1354,2006,0,0,0,0,0,0
$GC,12010,0.93,193.9,745.0,10.0,407,12014,0.00,2.70,0.00,0.000,4,0.000,0.053,3576,2935,2005,0,0,0,0,0,0
$GC,12043,1.02,207.9,741.7,9.4,407,12065,0.12,2.70,14.38,0.968,6,0.069,0.050,3624,1355,1952,0,0,0,0,0,0
$GC,12346,0.96,207.9,706.7,11.7,415,12348,0.15,0.00,0.00,0.000,6,0.108,0.000,3593,1355,1948,0,0,0,0,0,0
$GC,12590,0.96,207.9,681.9,10.0,421,12594,0.00,2.12,0.00,0.000,4,0.000,0.085,3593,167,1947,0,0,0,0,0,0
$GC,12637,0.96,207.9,675.9,12.0,422,12641,0.00,1.92,0.00,0.000,6,0.000,0.029,3593,1355,1947,0,0,0,0,0,0
$GC,12924,0.96,207.9,643.5,11.3,429,12928,0.00,2.65,0.00,0.000,4,0.000,0.048,3593,2929,1947,0,0,0,0,0,0
$GC,12938,0.96,207.9,641.8,11.0,429,12942,0.00,2.70,0.00,0.000,6,0.000,0.048,3593,1350,1945,0,0,0,0,0,0
$GC,13213,0.96,207.9,612.7,10.8,436,13216,0.00,2.12,0.00,0.000,4,0.000,0.081,3593,164,1946,0,0,0,0,0,0
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$STATE,18693,end climb,SURFACE_DEPTH_REACHED
$STATE,18694,begin surface coast
$FINISH,0.8,1.023142
$STATE,18734,end surface coast,CONTROL_FINISHED_OK
$STATE,18734,begin surface
$SM_CCo,18759,43.12,0.429,0,0,1209,390.03
$SM_GC,1.77,0.00,0.00,43.12,0.000,0.000,0.429,418,1585,1209,-13.65,0.42,390.03
$IRIDIUM_FIX,2258.07,-15713.62,091002,131321
$TT8_MAMPS,0.027612
$HUMID,65.39
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,30
$24V_AH,23.3,36.768
$10V_AH,9.9,34.191
$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
$DEVICE_SECS,33.600,190.350,411.150,43.125,0.000,136.251,176.642,507.892,7.500,0.000,36.859,1534.807,14077.934,536.551,2592.405,1321.168,33.376,1608.822,0.000,2568.395,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.306,362.802,461.198,958.407,1259.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355780
$DATA_FILE_SIZE,54271,699
$CAP_FILE_SIZE,190745,0
$CFSIZE,260165632,153391104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150713,181714,2305.145,-15714.365,39,99.0,58,10.2