version: 66.06
glider: 148
mission: 12
dive: 255
start: 7 16 113 21 34 20
data:
$ID,148
$MISSION,12
$DIVE,255
$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,-1021153.5
$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,27
$R_STBD_OVSHOOT,95
$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
$GPS1,212430,2305.257,-15725.182,41,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.1
$GPS2,213325,2305.338,-15725.229,14,1.5,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,0.001
$KALMAN_X,-213457.6,175.7,181.3,272584.9,154.6
$KALMAN_Y,161809.2,88.6,-277.0,-123933.2,32.0
$MHEAD_RNG_PITCHd_Wd,260.1,17361,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.28,0.000,2,0.000,0.000,413,1557,2959,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.9,-6.4,9,121,13.82,2.35,-7.80,0.000,4,0.144,0.054,3102,164,3398,0,0,0,0,0,0
$GC,265,-0.99,-146.0,48.2,-21.3,30,275,0.28,2.12,0.00,0.000,6,0.084,0.017,3167,1535,3399,0,0,0,0,0,0
$GC,531,-0.88,-146.0,86.2,-13.2,55,536,0.12,2.55,0.00,0.000,4,0.107,0.022,3194,3146,3399,0,0,0,0,0,0
$GC,549,-0.81,-146.0,89.3,-13.0,56,554,0.00,2.55,0.00,0.000,6,0.000,0.026,3194,1554,3399,0,0,0,0,0,0
$GC,812,-0.81,-146.0,119.2,-11.5,80,816,0.00,2.50,0.00,0.000,4,0.000,0.021,3194,3146,3400,0,0,0,0,0,0
$GC,831,-0.81,-146.0,121.2,-11.5,81,836,0.00,2.53,0.00,0.000,6,0.000,0.027,3194,1567,3400,0,0,0,0,0,0
$GC,1097,-0.81,-146.0,148.4,-10.1,105,1101,0.00,2.28,0.00,0.000,4,0.000,0.043,3194,175,3400,0,0,0,0,0,0
$GC,1113,-0.81,-146.0,150.4,-9.7,106,1117,0.00,2.10,0.00,0.000,6,0.000,0.018,3194,1610,3400,0,0,0,0,0,0
$GC,1381,-0.81,-146.0,176.5,-9.9,130,1385,0.00,2.33,0.00,0.000,4,0.000,0.021,3194,3096,3401,0,0,0,0,0,0
$GC,1419,-0.88,-146.0,180.2,-9.3,133,1423,0.00,2.47,0.00,0.000,6,0.000,0.028,3194,1563,3401,0,0,0,0,0,0
$GC,1692,-0.88,-146.0,204.2,-8.7,155,1696,0.00,2.28,0.00,0.000,4,0.000,0.043,3194,170,3401,0,0,0,0,0,0
$GC,1711,-0.88,-146.0,206.4,-9.1,155,1715,0.00,2.05,0.00,0.000,6,0.000,0.018,3194,1567,3401,0,0,0,0,0,0
$GC,1977,-0.88,-146.0,229.4,-8.9,162,1981,0.00,2.38,0.00,0.000,4,0.000,0.021,3194,3099,3401,0,0,0,0,0,0
$GC,2012,-0.99,-146.0,232.3,-7.7,162,2017,0.10,2.45,0.00,0.000,6,0.074,0.028,3130,1573,3401,0,0,0,0,0,0
$GC,2262,-0.89,-146.0,262.7,-13.0,168,2267,0.25,2.28,0.00,0.000,4,0.084,0.042,3189,170,3401,0,0,0,0,0,0
$GC,2301,-0.97,-146.0,267.3,-10.6,168,2306,0.00,2.08,0.00,0.000,6,0.000,0.018,3190,1542,3401,0,0,0,0,0,0
$GC,2553,-1.03,-146.0,288.7,-8.4,175,2558,0.12,2.53,0.00,0.000,4,0.064,0.025,3124,3133,3401,0,0,0,0,0,0
$GC,2591,-1.03,-146.0,293.1,-11.6,175,2598,0.12,2.55,0.00,0.000,6,0.067,0.031,3159,1581,3400,0,0,0,0,0,0
$GC,2843,-1.03,-146.0,314.0,-8.2,182,2847,0.00,2.35,0.00,0.000,4,0.000,0.050,3159,163,3400,0,0,0,0,0,0
$GC,2866,-1.03,-146.0,316.3,-9.4,182,2870,0.00,2.17,0.00,0.000,6,0.000,0.020,3159,1582,3400,0,0,0,0,0,0
$GC,3130,-1.03,-146.0,336.5,-7.6,189,3134,0.00,2.47,0.00,0.000,4,0.000,0.029,3159,3138,3399,0,0,0,0,0,0
$GC,3156,-1.09,-146.0,338.7,-8.7,189,3160,0.00,2.55,0.00,0.000,6,0.000,0.034,3159,1581,3399,0,0,0,0,0,0
$GC,3420,-1.09,-146.0,360.5,-8.7,196,3424,0.00,2.38,0.00,0.000,4,0.000,0.058,3159,172,3398,0,0,0,0,0,0
$GC,3448,-1.09,-146.0,363.6,-9.7,196,3452,0.00,2.17,0.00,0.000,6,0.000,0.022,3159,1579,3397,0,0,0,0,0,0
$GC,3704,-1.09,-146.0,386.2,-8.8,203,3709,0.00,2.53,0.00,0.000,4,0.000,0.034,3159,3149,3396,0,0,0,0,0,0
$GC,3738,-1.18,-146.0,389.3,-8.9,203,3743,0.12,2.60,0.00,0.000,6,0.063,0.041,3091,1581,3396,0,0,0,0,0,0
$GC,3988,-1.07,-146.0,419.6,-12.4,209,3993,0.25,2.42,0.00,0.000,4,0.087,0.063,3152,167,3394,0,0,0,0,0,0
$GC,4023,-1.07,-146.0,423.4,-10.4,209,4027,0.00,2.20,0.00,0.000,6,0.000,0.025,3152,1574,3394,0,0,0,0,0,0
$GC,4273,-1.07,-146.0,444.1,-8.1,215,4277,0.00,2.55,0.00,0.000,4,0.000,0.037,3151,3148,3392,0,0,0,0,0,0
$GC,4293,-1.11,-146.0,445.7,-8.7,215,4297,0.00,2.58,0.00,0.000,6,0.000,0.037,3151,1577,3392,0,0,0,0,0,0
$GC,4558,-1.11,-146.0,466.3,-7.9,222,4562,0.00,2.42,0.00,0.000,4,0.000,0.068,3152,168,3390,0,0,0,0,0,0
$GC,4586,-1.11,-146.0,468.9,-8.7,222,4590,0.00,2.22,0.00,0.000,6,0.000,0.026,3151,1583,3389,0,0,0,0,0,0
$GC,4841,-1.11,-146.0,489.4,-8.0,229,4845,0.00,2.45,0.00,0.000,4,0.000,0.067,3151,167,3388,0,0,0,0,0,0
$GC,4871,-1.11,-146.0,491.9,-9.3,229,4875,0.00,2.22,0.00,0.000,6,0.000,0.028,3152,1574,3387,0,0,0,0,0,0
$GC,5128,-1.11,-146.0,511.7,-7.8,236,5132,0.00,2.60,0.00,0.000,4,0.000,0.042,3151,3148,3386,0,0,0,0,0,0
$GC,5166,-1.21,-146.0,514.9,-7.9,236,5172,0.12,2.62,0.00,0.000,6,0.064,0.041,3090,1579,3386,0,0,0,0,0,0
$GC,5418,-1.12,-146.0,541.4,-10.8,243,5420,0.22,0.00,0.00,0.000,6,0.089,0.000,3141,1578,3383,0,0,0,0,0,0
$GC,5660,-1.12,-146.0,560.8,-7.6,249,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1578,3382,0,0,0,0,0,0
$GC,5903,-1.12,-146.0,578.5,-7.2,255,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1578,3380,0,0,0,0,0,0
$GC,6151,-1.12,-146.0,595.4,-6.9,261,6156,0.00,2.62,0.00,0.000,4,0.000,0.046,3140,3148,3379,0,0,0,0,0,0
$GC,6175,-1.17,-146.0,597.4,-8.0,261,6180,0.00,2.65,0.00,0.000,6,0.000,0.046,3141,1574,3379,0,0,0,0,0,0
$GC,6435,-1.17,-146.0,615.7,-7.3,268,6439,0.00,2.47,0.00,0.000,4,0.000,0.079,3141,168,3377,0,0,0,0,0,0
$GC,6460,-1.17,-146.0,617.7,-9.4,268,6464,0.00,2.25,0.00,0.000,6,0.000,0.031,3141,1576,3377,0,0,0,0,0,0
$GC,6723,-1.17,-146.0,638.1,-7.9,275,6727,0.00,2.65,0.00,0.000,4,0.000,0.050,3141,3157,3376,0,0,0,0,0,0
$GC,6747,-1.23,-146.0,640.2,-8.9,275,6752,0.10,2.67,0.00,0.000,6,0.076,0.047,3089,1576,3376,0,0,0,0,0,0
$GC,7009,-1.15,-146.0,665.8,-10.1,282,7011,0.20,0.00,0.00,0.000,6,0.091,0.000,3135,1576,3374,0,0,0,0,0,0
$GC,7251,-1.15,-146.0,685.7,-7.9,288,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1576,3373,0,0,0,0,0,0
$GC,7495,-1.15,-146.0,705.2,-7.9,294,7499,0.00,2.47,0.00,0.000,4,0.000,0.081,3135,170,3372,0,0,0,0,0,0
$GC,7520,-1.15,-146.0,707.5,-9.5,294,7524,0.00,2.28,0.00,0.000,6,0.000,0.031,3135,1579,3371,0,0,0,0,0,0
$GC,7784,-1.15,-146.0,728.0,-7.5,301,7788,0.00,2.47,0.00,0.000,4,0.000,0.075,3134,170,3370,0,0,0,0,0,0
$GC,7803,-1.15,-146.0,729.8,-7.7,301,7807,0.00,2.28,0.00,0.000,6,0.000,0.033,3135,1572,3370,0,0,0,0,0,0
$GC,8068,-1.15,-146.0,749.3,-7.5,308,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1572,3369,0,0,0,0,0,0
$GC,8310,-1.15,-146.0,766.5,-7.1,314,8314,0.00,2.65,0.00,0.000,4,0.000,0.052,3135,3150,3368,0,0,0,0,0,0
$GC,8344,-1.24,-146.0,768.8,-6.8,314,8348,0.00,2.67,0.00,0.000,6,0.000,0.049,3135,1575,3367,0,0,0,0,0,0
$GC,8595,-1.24,-146.0,785.3,-6.7,320,8600,0.00,2.62,0.00,0.000,4,0.000,0.044,3135,3151,3367,0,0,0,0,0,0
$GC,8615,-1.29,-146.0,786.8,-6.9,320,8620,0.12,2.67,0.00,0.000,6,0.064,0.049,3077,1579,3367,0,0,0,0,0,0
$GC,8880,-1.21,-146.0,811.6,-9.7,327,8885,0.20,2.50,0.00,0.000,4,0.092,0.081,3122,170,3366,0,0,0,0,0,0
$GC,8902,-1.21,-146.0,813.7,-10.1,327,8906,0.00,2.28,0.00,0.000,6,0.000,0.033,3122,1582,3365,0,0,0,0,0,0
$GC,9166,-1.21,-146.0,834.9,-8.0,334,9170,0.00,2.65,0.00,0.000,4,0.000,0.052,3122,3159,3364,0,0,0,0,0,0
$GC,9185,-1.21,-146.0,836.7,-9.1,334,9189,0.00,2.67,0.00,0.000,6,0.000,0.049,3122,1584,3364,0,0,0,0,0,0
$GC,9453,-1.21,-146.0,858.4,-8.2,341,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1584,3364,0,0,0,0,0,0
$GC,9693,-1.21,-146.0,878.5,-8.2,347,9694,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1584,3363,0,0,0,0,0,0
$GC,9937,-1.21,-146.0,898.3,-8.1,353,9941,0.00,2.62,0.00,0.000,4,0.000,0.044,3122,3153,3361,0,0,0,0,0,0
$STATE,9958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9958,begin apogee
$GC,9969,-0.31,0.0,900.3,9.1,353,10091,0.82,0.00,119.10,1.152,6,0.070,0.000,3315,1352,2800,0,0,0,0,0,0
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10092,begin climb
$GC,10095,1.27,146.0,904.7,0.0,356,10233,1.42,2.22,129.55,1.132,4,0.035,0.087,3664,172,2203,0,0,0,0,0,0
$GC,10256,1.01,146.0,899.5,12.8,359,10261,0.28,1.95,0.00,0.000,6,0.109,0.031,3608,1349,2202,0,0,0,0,0,0
$GC,10506,0.94,146.0,874.0,10.0,365,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1350,2193,0,0,0,0,0,0
$GC,10754,0.87,146.0,848.7,10.5,371,10758,0.15,2.15,0.00,0.000,4,0.113,0.074,3575,158,2191,0,0,0,0,0,0
$GC,10792,0.81,146.0,844.1,11.1,371,10797,0.00,1.95,0.00,0.000,6,0.000,0.030,3575,1350,2191,0,0,0,0,0,0
$GC,11042,0.83,163.0,821.1,9.2,378,11062,0.00,2.17,14.57,1.006,4,0.000,0.073,3576,168,2135,0,0,0,0,0,0
$GC,11074,0.85,179.6,818.1,9.2,378,11096,0.00,1.95,16.88,1.011,6,0.000,0.029,3575,1354,2067,0,0,0,0,0,0
$GC,11378,0.85,184.2,788.5,9.8,386,11389,0.00,2.67,4.53,0.712,4,0.000,0.050,3575,2929,2050,0,0,0,0,0,0
$GC,11401,0.91,225.8,785.8,8.1,386,11450,0.00,2.72,41.28,1.050,6,0.000,0.048,3575,1347,1879,0,0,0,0,0,0
$GC,11710,0.91,225.8,752.6,10.7,394,11714,0.00,2.67,0.00,0.000,4,0.000,0.044,3575,2927,1874,0,0,0,0,0,0
$GC,11736,0.98,241.6,750.0,9.3,394,11757,0.10,2.72,14.80,0.963,6,0.078,0.051,3618,1353,1814,0,0,0,0,0,0
$GC,12045,0.93,241.6,711.1,12.5,402,12049,0.15,2.17,0.00,0.000,4,0.109,0.087,3587,159,1811,0,0,0,0,0,0
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$STATE,18381,end climb,SURFACE_DEPTH_REACHED
$STATE,18381,begin surface coast
$FINISH,1.0,1.009916
$STATE,18434,end surface coast,CONTROL_FINISHED_OK
$STATE,18434,begin surface
$SM_CCo,18457,57.00,0.429,0,0,1209,390.03
$SM_GC,1.90,0.00,0.00,57.00,0.000,0.000,0.429,414,1601,1209,-13.67,0.88,390.03
$IRIDIUM_FIX,2258.07,-15703.16,101002,161626
$TT8_MAMPS,0.027612
$HUMID,64.64
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.40
$XPDR_PINGS,16
$24V_AH,23.3,37.640
$10V_AH,9.9,35.086
$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,33.650,232.050,388.625,57.000,0.000,28.711,44.339,290.512,4.000,0.000,16.280,1550.718,13538.167,542.220,2540.572,870.288,33.375,1631.250,0.000,2549.594,0.000,0.538,0.000
$DEVICE_MAMPS,144.196,87.438,1152.034,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.376,367.667,470.697,959.923,1264.179,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355804
$DATA_FILE_SIZE,54098,696
$CAP_FILE_SIZE,188636,0
$CFSIZE,260165632,152920064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,024405,2305.564,-15727.423,26,1.3,26,10.1