version: 66.06
glider: 148
mission: 12
dive: 256
start: 7 17 113 2 57 4
data:
$ID,148
$MISSION,12
$DIVE,256
$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,-1021167.4
$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,124
$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
$GPS1,024405,2305.564,-15727.423,26,1.3,26,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.3
$GPS2,025607,2305.695,-15727.404,11,1.6,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.259,0.016
$KALMAN_X,-212197.5,166.2,-128.2,267925.0,1091.2
$KALMAN_Y,162054.6,-131.9,332.9,-123909.6,-417.6
$MHEAD_RNG_PITCHd_Wd,263.5,13661,-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,-67.68,0.000,2,0.000,0.000,414,1601,2935,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-4.5,9,121,13.85,2.38,-8.55,0.000,4,0.145,0.037,3102,3077,3398,0,0,0,0,0,0
$GC,234,-1.08,-146.0,37.6,-18.2,28,243,0.17,2.47,0.00,0.000,6,0.079,0.031,3146,1570,3399,0,0,0,0,0,0
$GC,501,-0.91,-146.0,79.4,-13.4,53,506,0.17,2.33,0.00,0.000,4,0.100,0.043,3184,163,3399,0,0,0,0,0,0
$GC,536,-0.81,-146.0,84.7,-12.8,55,542,0.10,2.05,0.00,0.000,6,0.116,0.017,3209,1532,3399,0,0,0,0,0,0
$GC,799,-0.81,-146.0,110.3,-10.9,80,803,0.00,2.45,0.00,0.000,4,0.000,0.021,3208,3113,3400,0,0,0,0,0,0
$GC,872,-0.93,-146.0,117.3,-8.1,86,882,0.08,2.50,0.00,0.000,6,0.031,0.028,3123,1580,3400,0,0,0,0,0,0
$GC,1135,-0.75,-146.0,156.1,-14.6,111,1140,0.40,2.30,0.00,0.000,4,0.081,0.041,3218,162,3400,0,0,0,0,0,0
$GC,1186,-0.84,-146.0,161.6,-9.9,115,1190,0.00,2.12,0.00,0.000,6,0.000,0.017,3218,1588,3400,0,0,0,0,0,0
$GC,1453,-0.90,-146.0,183.4,-7.7,139,1458,0.12,2.40,0.00,0.000,4,0.063,0.022,3151,3121,3401,0,0,0,0,0,0
$GC,1513,-0.90,-146.0,189.6,-9.8,144,1523,0.12,2.50,0.00,0.000,6,0.063,0.028,3187,1592,3400,0,0,0,0,0,0
$GC,1788,-0.90,-146.0,215.5,-9.4,159,1792,0.00,2.30,0.00,0.000,4,0.000,0.044,3187,170,3401,0,0,0,0,0,0
$GC,1807,-0.90,-146.0,217.4,-9.3,159,1811,0.00,2.15,0.00,0.000,6,0.000,0.018,3187,1606,3401,0,0,0,0,0,0
$GC,2076,-0.90,-146.0,240.7,-8.7,166,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1609,3400,0,0,0,0,0,0
$GC,2314,-0.90,-146.0,259.4,-7.5,172,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1609,3401,0,0,0,0,0,0
$GC,2559,-0.95,-146.0,278.5,-7.8,178,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1609,3400,0,0,0,0,0,0
$GC,2804,-1.01,-146.0,295.1,-6.6,184,2809,0.10,2.40,0.00,0.000,4,0.076,0.025,3127,3112,3400,0,0,0,0,0,0
$GC,2842,-1.01,-146.0,298.4,-8.2,184,2848,0.15,2.45,0.00,0.000,6,0.090,0.030,3164,1592,3400,0,0,0,0,0,0
$GC,3095,-1.01,-146.0,319.6,-8.8,191,3099,0.00,2.38,0.00,0.000,4,0.000,0.049,3164,164,3399,0,0,0,0,0,0
$GC,3119,-1.01,-146.0,322.3,-11.0,191,3123,0.00,2.15,0.00,0.000,6,0.000,0.021,3163,1565,3399,0,0,0,0,0,0
$GC,3383,-1.01,-146.0,344.0,-7.9,198,3387,0.00,2.50,0.00,0.000,4,0.000,0.031,3164,3133,3398,0,0,0,0,0,0
$GC,3421,-1.12,-146.0,346.9,-7.4,198,3427,0.10,2.53,0.00,0.000,6,0.074,0.035,3100,1599,3398,0,0,0,0,0,0
$GC,3673,-1.01,-146.0,372.2,-10.4,205,3678,0.25,2.50,0.00,0.000,4,0.084,0.033,3161,3130,3397,0,0,0,0,0,0
$GC,3693,-1.01,-146.0,374.3,-8.9,205,3697,0.00,2.53,0.00,0.000,6,0.000,0.036,3161,1600,3397,0,0,0,0,0,0
$GC,3957,-1.01,-146.0,392.3,-6.9,212,3961,0.00,2.42,0.00,0.000,4,0.000,0.062,3161,165,3395,0,0,0,0,0,0
$GC,3982,-1.01,-146.0,394.1,-7.9,212,3986,0.00,2.25,0.00,0.000,6,0.000,0.023,3161,1594,3395,0,0,0,0,0,0
$GC,4242,-1.06,-146.0,414.4,-8.0,219,4243,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1594,3393,0,0,0,0,0,0
$GC,4486,-1.10,-146.0,433.7,-7.9,225,4490,0.00,2.45,0.00,0.000,4,0.000,0.063,3162,168,3391,0,0,0,0,0,0
$GC,4506,-1.10,-146.0,435.3,-8.1,225,4510,0.00,2.25,0.00,0.000,6,0.000,0.025,3161,1604,3391,0,0,0,0,0,0
$GC,4770,-1.16,-146.0,454.2,-7.0,232,4775,0.12,2.50,0.00,0.000,4,0.064,0.037,3102,3142,3389,0,0,0,0,0,0
$GC,4795,-1.16,-146.0,456.3,-8.8,232,4800,0.12,2.55,0.00,0.000,6,0.098,0.038,3133,1599,3389,0,0,0,0,0,0
$GC,5057,-1.16,-146.0,475.9,-7.4,239,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1599,3387,0,0,0,0,0,0
$GC,5299,-1.16,-146.0,496.0,-8.3,245,5303,0.00,2.55,0.00,0.000,4,0.000,0.040,3133,3141,3385,0,0,0,0,0,0
$GC,5327,-1.16,-146.0,498.6,-9.1,245,5332,0.00,2.58,0.00,0.000,6,0.000,0.039,3133,1596,3385,0,0,0,0,0,0
$GC,5584,-1.16,-146.0,519.6,-8.2,252,5588,0.00,2.47,0.00,0.000,4,0.000,0.072,3133,170,3383,0,0,0,0,0,0
$GC,5607,-1.16,-146.0,521.9,-8.9,252,5611,0.00,2.25,0.00,0.000,6,0.000,0.029,3133,1593,3383,0,0,0,0,0,0
$GC,5867,-1.16,-146.0,543.0,-8.3,259,5871,0.00,2.58,0.00,0.000,4,0.000,0.042,3133,3153,3381,0,0,0,0,0,0
$GC,5897,-1.20,-146.0,545.6,-8.9,259,5902,0.00,2.60,0.00,0.000,6,0.000,0.042,3133,1603,3381,0,0,0,0,0,0
$GC,6155,-1.20,-146.0,568.1,-8.9,266,6159,0.00,2.50,0.00,0.000,4,0.000,0.075,3133,168,3379,0,0,0,0,0,0
$GC,6206,-1.20,-146.0,573.4,-10.0,267,6210,0.00,2.28,0.00,0.000,6,0.000,0.030,3133,1595,3379,0,0,0,0,0,0
$GC,6484,-1.20,-146.0,597.1,-8.6,274,6485,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1596,3378,0,0,0,0,0,0
$GC,6727,-1.20,-146.0,616.7,-7.9,280,6731,0.00,2.50,0.00,0.000,4,0.000,0.072,3132,166,3376,0,0,0,0,0,0
$GC,6751,-1.20,-146.0,618.7,-8.8,280,6755,0.00,2.30,0.00,0.000,6,0.000,0.031,3133,1598,3376,0,0,0,0,0,0
$GC,7012,-1.20,-146.0,637.7,-7.2,287,7016,0.00,2.60,0.00,0.000,4,0.000,0.048,3132,3154,3375,0,0,0,0,0,0
$GC,7037,-1.20,-146.0,639.8,-7.8,287,7042,0.00,2.65,0.00,0.000,6,0.000,0.047,3133,1586,3375,0,0,0,0,0,0
$GC,7297,-1.20,-146.0,658.1,-7.0,294,7301,0.00,2.47,0.00,0.000,4,0.000,0.080,3133,167,3373,0,0,0,0,0,0
$GC,7342,-1.20,-146.0,661.6,-7.8,295,7346,0.00,2.30,0.00,0.000,6,0.000,0.033,3133,1587,3373,0,0,0,0,0,0
$GC,7629,-1.20,-146.0,682.8,-7.3,302,7633,0.00,2.60,0.00,0.000,4,0.000,0.050,3133,3152,3371,0,0,0,0,0,0
$GC,7678,-1.28,-146.0,686.6,-8.0,303,7683,0.12,2.65,0.00,0.000,6,0.064,0.048,3074,1591,3371,0,0,0,0,0,0
$GC,7961,-1.18,-146.0,715.9,-10.6,310,7963,0.25,0.00,0.00,0.000,6,0.087,0.000,3130,1591,3370,0,0,0,0,0,0
$GC,8210,-1.18,-146.0,736.0,-8.1,316,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1591,3369,0,0,0,0,0,0
$GC,8450,-1.18,-146.0,755.6,-8.1,322,8455,0.00,2.53,0.00,0.000,4,0.000,0.081,3130,164,3367,0,0,0,0,0,0
$GC,8483,-1.18,-146.0,758.5,-8.3,322,8487,0.00,2.33,0.00,0.000,6,0.000,0.033,3131,1593,3367,0,0,0,0,0,0
$GC,8733,-1.18,-146.0,777.2,-7.3,328,8738,0.00,2.60,0.00,0.000,4,0.000,0.051,3130,3158,3366,0,0,0,0,0,0
$GC,8749,-1.18,-146.0,778.3,-7.3,328,8754,0.00,2.65,0.00,0.000,6,0.000,0.048,3130,1594,3366,0,0,0,0,0,0
$GC,9018,-1.18,-146.0,797.0,-6.8,335,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1594,3365,0,0,0,0,0,0
$GC,9264,-1.18,-146.0,813.5,-6.8,341,9269,0.00,2.60,0.00,0.000,4,0.000,0.042,3130,3153,3364,0,0,0,0,0,0
$GC,9285,-1.18,-146.0,814.9,-6.5,341,9289,0.00,2.65,0.00,0.000,6,0.000,0.049,3130,1597,3364,0,0,0,0,0,0
$GC,9549,-1.18,-146.0,832.1,-6.5,348,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1597,3363,0,0,0,0,0,0
$GC,9795,-1.18,-146.0,847.1,-6.2,354,9799,0.00,2.53,0.00,0.000,4,0.000,0.082,3130,169,3362,0,0,0,0,0,0
$GC,9832,-1.18,-146.0,849.8,-6.9,354,9838,0.00,2.33,0.00,0.000,6,0.000,0.034,3130,1594,3362,0,0,0,0,0,0
$GC,10088,-1.18,-146.0,864.5,-5.8,361,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1594,3362,0,0,0,0,0,0
$GC,10326,-1.18,-146.0,879.0,-6.0,367,10331,0.00,2.53,0.00,0.000,4,0.000,0.076,3130,162,3361,0,0,0,0,0,0
$GC,10345,-1.18,-146.0,880.4,-6.4,367,10349,0.00,2.33,0.00,0.000,6,0.000,0.033,3130,1598,3361,0,0,0,0,0,0
$GC,10615,-1.18,-146.0,897.3,-6.3,374,10620,0.00,2.60,0.00,0.000,4,0.000,0.051,3130,3155,3360,0,0,0,0,0,0
$GC,10639,-1.24,-146.0,899.3,-8.5,374,10644,0.00,2.67,0.00,0.000,6,0.000,0.049,3130,1581,3360,0,0,0,0,0,0
$STATE,10652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10652,begin apogee
$GC,10659,-0.31,0.0,900.1,5.6,375,10781,0.80,0.00,118.85,1.157,6,0.071,0.000,3314,1349,2800,0,0,0,0,0,0
$STATE,10782,end apogee,CONTROL_FINISHED_OK
$STATE,10782,begin climb
$GC,10786,1.27,146.0,903.6,0.0,378,10922,1.48,0.00,131.48,1.132,6,0.032,0.000,3673,1349,2204,0,0,0,0,0,0
$GC,11139,1.07,146.0,871.5,13.1,387,11144,0.25,2.12,0.00,0.000,4,0.107,0.081,3617,170,2194,0,0,0,0,0,0
$GC,11179,0.91,146.0,866.5,13.0,387,11185,0.15,1.92,0.00,0.000,6,0.114,0.030,3586,1353,2194,0,0,0,0,0,0
$GC,11429,0.92,154.8,842.4,9.6,394,11441,0.00,2.17,6.95,0.869,4,0.000,0.074,3586,167,2169,0,0,0,0,0,0
$GC,11476,0.84,154.8,837.5,10.6,395,11480,0.00,1.92,0.00,0.000,6,0.000,0.029,3586,1344,2169,0,0,0,0,0,0
$GC,11770,0.85,159.3,809.1,9.8,402,11778,0.00,0.00,5.93,0.818,6,0.000,0.000,3586,1344,2150,0,0,0,0,0,0
$GC,12011,0.86,169.6,785.9,9.5,408,12024,0.00,0.00,11.23,0.955,6,0.000,0.000,3586,1345,2108,0,0,0,0,0,0
$GC,12254,0.86,169.6,761.3,10.1,414,12259,0.00,2.67,0.00,0.000,4,0.000,0.049,3586,2928,2105,0,0,0,0,0,0
$GC,12275,0.88,183.8,759.4,9.3,414,12297,0.00,2.70,13.85,0.971,6,0.000,0.054,3586,1351,2051,0,0,0,0,0,0
$GC,12545,0.88,183.8,731.6,10.5,421,12549,0.00,2.12,0.00,0.000,4,0.000,0.086,3586,166,2048,0,0,0,0,0,0
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$STATE,19209,end climb,SURFACE_DEPTH_REACHED
$STATE,19210,begin surface coast
$FINISH,0.9,1.010538
$STATE,19258,end surface coast,CONTROL_FINISHED_OK
$STATE,19258,begin surface
$SM_CCo,19284,44.45,0.427,0,0,1209,390.03
$SM_GC,1.87,0.00,0.00,44.45,0.000,0.000,0.427,407,1624,1209,-13.70,1.53,390.03
$IRIDIUM_FIX,2255.72,-15726.23,111002,020225
$TT8_MAMPS,0.027612
$HUMID,64.37
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.60
$XPDR_PINGS,22
$24V_AH,23.3,37.791
$10V_AH,9.9,35.236
$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,33.200,217.725,411.275,44.450,0.000,52.903,77.461,361.536,5.500,0.000,13.317,1577.732,14346.172,614.987,2515.195,989.432,33.378,1661.824,0.000,2521.014,0.000,0.537,0.000
$DEVICE_MAMPS,144.963,85.904,1156.636,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.274,374.650,471.787,979.834,1287.251,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,57362,717
$CAP_FILE_SIZE,189745,0
$CFSIZE,260165632,152838144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,082120,2305.689,-15729.339,65,9.0,84,10.1