version: 66.06
glider: 148
mission: 12
dive: 259
start: 7 17 113 19 21 1
data:
$ID,148
$MISSION,12
$DIVE,259
$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,-1021237.4
$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,26
$R_STBD_OVSHOOT,80
$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
$GPS1,190429,2305.323,-15732.599,37,2.0,40,10.1
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.4
$GPS2,192006,2305.335,-15732.561,33,1.5,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.257,0.036
$KALMAN_X,-207982.0,296.8,594.2,254045.9,8.7
$KALMAN_Y,162428.2,75.7,25.7,-124842.7,-481.0
$MHEAD_RNG_PITCHd_Wd,267.8,4871,-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,-67.38,0.000,2,0.000,0.000,409,1578,2961,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-4.7,9,121,14.57,2.38,-7.72,0.000,4,0.166,0.054,3104,170,3397,0,0,0,0,0,0
$GC,231,-0.98,-146.0,40.6,-21.7,27,236,0.30,2.10,0.00,0.000,6,0.094,0.017,3169,1559,3398,0,0,0,0,0,0
$GC,498,-0.87,-146.0,80.5,-14.4,51,503,0.12,2.47,0.00,0.000,4,0.109,0.021,3196,3142,3398,0,0,0,0,0,0
$GC,553,-0.95,-146.0,87.4,-11.1,55,558,0.00,2.55,0.00,0.000,6,0.000,0.028,3195,1568,3399,0,0,0,0,0,0
$GC,820,-0.95,-146.0,115.6,-9.8,79,824,0.00,2.28,0.00,0.000,4,0.000,0.041,3196,172,3398,0,0,0,0,0,0
$GC,861,-0.95,-146.0,120.3,-10.5,82,870,0.00,2.17,0.00,0.000,6,0.000,0.016,3196,1603,3399,0,0,0,0,0,0
$GC,1127,-0.95,-146.0,145.4,-9.1,107,1131,0.00,2.35,0.00,0.000,4,0.000,0.021,3196,3119,3399,0,0,0,0,0,0
$GC,1156,-0.95,-146.0,148.3,-9.8,109,1160,0.00,2.47,0.00,0.000,6,0.000,0.028,3195,1582,3399,0,0,0,0,0,0
$GC,1424,-0.95,-146.0,173.2,-10.4,133,1428,0.00,2.30,0.00,0.000,4,0.000,0.043,3195,171,3399,0,0,0,0,0,0
$GC,1463,-1.00,-146.0,177.8,-9.4,136,1469,0.12,2.12,0.00,0.000,6,0.062,0.017,3129,1585,3399,0,0,0,0,0,0
$GC,1755,-0.86,-146.0,216.6,-13.5,155,1760,0.28,2.40,0.00,0.000,4,0.084,0.021,3195,3123,3399,0,0,0,0,0,0
$GC,1770,-0.77,-146.0,219.1,-13.3,155,1775,0.10,2.47,0.00,0.000,6,0.107,0.025,3219,1570,3399,0,0,0,0,0,0
$GC,2041,-0.87,-146.0,237.6,-6.5,162,2046,0.10,2.47,0.00,0.000,4,0.074,0.022,3155,3124,3399,0,0,0,0,0,0
$GC,2066,-0.87,-146.0,239.9,-9.0,162,2071,0.17,2.47,0.00,0.000,6,0.084,0.027,3196,1573,3399,0,0,0,0,0,0
$GC,2327,-0.94,-146.0,258.3,-6.9,169,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1573,3399,0,0,0,0,0,0
$GC,2572,-1.01,-146.0,276.2,-7.4,175,2574,0.15,0.00,0.00,0.000,6,0.054,0.000,3123,1573,3398,0,0,0,0,0,0
$GC,2818,-0.93,-146.0,303.0,-11.2,181,2823,0.25,2.33,0.00,0.000,4,0.080,0.046,3185,171,3398,0,0,0,0,0,0
$GC,2852,-1.00,-146.0,306.5,-8.1,181,2856,0.00,2.12,0.00,0.000,6,0.000,0.020,3185,1552,3397,0,0,0,0,0,0
$GC,3104,-1.08,-146.0,322.8,-6.3,187,3109,0.15,2.55,0.00,0.000,4,0.054,0.029,3116,3135,3396,0,0,0,0,0,0
$GC,3138,-1.08,-146.0,325.8,-8.6,187,3143,0.15,2.53,0.00,0.000,6,0.091,0.033,3151,1588,3397,0,0,0,0,0,0
$GC,3390,-1.08,-146.0,346.1,-8.1,193,3394,0.00,2.50,0.00,0.000,4,0.000,0.032,3150,3136,3395,0,0,0,0,0,0
$GC,3413,-1.08,-146.0,348.2,-8.8,193,3418,0.00,2.55,0.00,0.000,6,0.000,0.035,3151,1587,3395,0,0,0,0,0,0
$GC,3673,-1.08,-146.0,369.0,-7.9,200,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1587,3394,0,0,0,0,0,0
$GC,3919,-1.08,-146.0,388.7,-8.3,206,3923,0.00,2.40,0.00,0.000,4,0.000,0.061,3151,171,3391,0,0,0,0,0,0
$GC,3955,-1.08,-146.0,391.9,-9.2,206,3959,0.00,2.22,0.00,0.000,6,0.000,0.024,3151,1586,3391,0,0,0,0,0,0
$GC,4205,-1.08,-146.0,413.0,-8.3,212,4209,0.00,2.53,0.00,0.000,4,0.000,0.036,3151,3147,3389,0,0,0,0,0,0
$GC,4250,-1.17,-146.0,416.6,-7.4,213,4255,0.00,2.55,0.00,0.000,6,0.000,0.038,3151,1599,3389,0,0,0,0,0,0
$GC,4537,-1.17,-146.0,439.4,-8.0,220,4542,0.00,2.47,0.00,0.000,4,0.000,0.067,3151,162,3386,0,0,0,0,0,0
$GC,4583,-1.17,-146.0,443.3,-8.9,221,4587,0.00,2.25,0.00,0.000,6,0.000,0.026,3151,1592,3386,0,0,0,0,0,0
$GC,4872,-1.17,-146.0,467.4,-8.2,228,4876,0.00,2.53,0.00,0.000,4,0.000,0.038,3150,3143,3384,0,0,0,0,0,0
$GC,4896,-1.23,-146.0,469.5,-8.6,228,4901,0.15,2.58,0.00,0.000,6,0.056,0.038,3085,1588,3384,0,0,0,0,0,0
$GC,5156,-1.12,-146.0,497.9,-11.1,235,5161,0.25,2.45,0.00,0.000,4,0.084,0.069,3146,164,3382,0,0,0,0,0,0
$GC,5211,-1.17,-146.0,503.0,-8.4,236,5215,0.00,2.28,0.00,0.000,6,0.000,0.029,3146,1582,3382,0,0,0,0,0,0
$GC,5489,-1.17,-146.0,524.2,-7.5,243,5493,0.00,2.58,0.00,0.000,4,0.000,0.044,3145,3152,3380,0,0,0,0,0,0
$GC,5526,-1.25,-146.0,526.9,-8.2,243,5531,0.12,2.62,0.00,0.000,6,0.063,0.048,3086,1585,3380,0,0,0,0,0,0
$GC,5776,-1.15,-146.0,553.8,-11.0,249,5781,0.20,2.47,0.00,0.000,4,0.090,0.074,3132,168,3378,0,0,0,0,0,0
$GC,5805,-1.15,-146.0,556.9,-9.8,249,5809,0.00,2.30,0.00,0.000,6,0.000,0.031,3132,1595,3378,0,0,0,0,0,0
$GC,6066,-1.15,-146.0,577.1,-7.8,256,6070,0.00,2.58,0.00,0.000,4,0.000,0.045,3132,3149,3377,0,0,0,0,0,0
$GC,6094,-1.15,-146.0,579.8,-8.4,256,6099,0.00,2.60,0.00,0.000,6,0.000,0.044,3132,1591,3377,0,0,0,0,0,0
$GC,6349,-1.15,-146.0,599.2,-7.7,263,6353,0.00,2.50,0.00,0.000,4,0.000,0.078,3132,168,3375,0,0,0,0,0,0
$GC,6379,-1.15,-146.0,601.7,-9.2,263,6383,0.00,2.30,0.00,0.000,6,0.000,0.031,3132,1593,3374,0,0,0,0,0,0
$GC,6634,-1.15,-146.0,622.0,-8.1,270,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1593,3373,0,0,0,0,0,0
$GC,6880,-1.15,-146.0,641.4,-8.0,276,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1593,3372,0,0,0,0,0,0
$GC,7123,-1.15,-146.0,659.7,-7.4,282,7127,0.00,2.50,0.00,0.000,4,0.000,0.074,3132,168,3370,0,0,0,0,0,0
$GC,7151,-1.15,-146.0,662.1,-8.9,282,7155,0.00,2.30,0.00,0.000,6,0.000,0.033,3132,1595,3370,0,0,0,0,0,0
$GC,7406,-1.15,-146.0,680.9,-7.6,289,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1595,3369,0,0,0,0,0,0
$GC,7651,-1.15,-146.0,699.6,-7.7,295,7655,0.00,2.53,0.00,0.000,4,0.000,0.075,3133,162,3367,0,0,0,0,0,0
$GC,7679,-1.15,-146.0,702.2,-8.9,295,7683,0.00,2.33,0.00,0.000,6,0.000,0.034,3132,1587,3367,0,0,0,0,0,0
$GC,7934,-1.15,-146.0,722.5,-8.0,302,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1588,3366,0,0,0,0,0,0
$GC,8177,-1.15,-146.0,741.0,-7.4,308,8182,0.00,2.47,0.00,0.000,4,0.000,0.075,3132,168,3365,0,0,0,0,0,0
$GC,8198,-1.15,-146.0,742.7,-8.2,308,8202,0.00,2.33,0.00,0.000,6,0.000,0.035,3132,1592,3364,0,0,0,0,0,0
$GC,8462,-1.15,-146.0,762.2,-7.2,315,8466,0.00,2.60,0.00,0.000,4,0.000,0.051,3132,3153,3363,0,0,0,0,0,0
$GC,8481,-1.15,-146.0,763.7,-7.4,315,8486,0.00,2.67,0.00,0.000,6,0.000,0.048,3132,1579,3364,0,0,0,0,0,0
$GC,8747,-1.15,-146.0,782.0,-6.9,322,8751,0.00,2.65,0.00,0.000,4,0.000,0.047,3132,3158,3362,0,0,0,0,0,0
$GC,8771,-1.20,-146.0,783.8,-6.7,322,8776,0.00,2.67,0.00,0.000,6,0.000,0.049,3132,1586,3362,0,0,0,0,0,0
$GC,9031,-1.20,-146.0,801.4,-6.8,329,9035,0.00,2.53,0.00,0.000,4,0.000,0.083,3132,164,3362,0,0,0,0,0,0
$GC,9056,-1.20,-146.0,803.3,-8.1,329,9060,0.00,2.35,0.00,0.000,6,0.000,0.034,3132,1603,3361,0,0,0,0,0,0
$GC,9318,-1.20,-146.0,821.2,-6.9,336,9322,0.00,2.60,0.00,0.000,4,0.000,0.051,3132,3152,3361,0,0,0,0,0,0
$GC,9337,-1.25,-146.0,822.9,-7.6,336,9342,0.00,2.62,0.00,0.000,6,0.000,0.048,3132,1592,3361,0,0,0,0,0,0
$GC,9603,-1.25,-146.0,841.1,-7.0,343,9607,0.00,2.53,0.00,0.000,4,0.000,0.082,3132,167,3360,0,0,0,0,0,0
$GC,9622,-1.25,-146.0,842.7,-7.3,343,9626,0.00,2.30,0.00,0.000,6,0.000,0.033,3132,1595,3360,0,0,0,0,0,0
$GC,9886,-1.25,-146.0,860.0,-6.5,350,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1595,3359,0,0,0,0,0,0
$GC,10134,-1.25,-146.0,875.1,-6.3,356,10138,0.00,2.53,0.00,0.000,4,0.000,0.076,3132,164,3358,0,0,0,0,0,0
$GC,10162,-1.25,-146.0,877.3,-7.6,356,10166,0.00,2.35,0.00,0.000,6,0.000,0.035,3132,1600,3358,0,0,0,0,0,0
$GC,10417,-1.25,-146.0,892.1,-5.6,363,10421,0.00,2.60,0.00,0.000,4,0.000,0.051,3132,3152,3357,0,0,0,0,0,0
$GC,10452,-1.34,-146.0,894.0,-5.6,363,10461,0.17,2.65,0.00,0.000,6,0.050,0.050,3066,1595,3357,0,0,0,0,0,0
$STATE,10543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10544,begin apogee
$GC,10550,-0.31,0.0,901.0,7.8,366,10672,1.10,0.00,118.57,1.155,6,0.074,0.000,3316,1347,2800,0,0,0,0,0,0
$STATE,10673,end apogee,CONTROL_FINISHED_OK
$STATE,10673,begin climb
$GC,10676,1.27,146.0,903.2,0.0,369,10814,1.42,2.17,130.45,1.132,4,0.033,0.084,3670,171,2204,0,0,0,0,0,0
$GC,10891,1.01,146.0,884.5,15.5,373,10897,0.30,1.95,0.00,0.000,6,0.108,0.031,3608,1356,2200,0,0,0,0,0,0
$GC,11141,0.94,146.0,856.0,10.9,380,11145,0.00,2.12,0.00,0.000,4,0.000,0.073,3607,164,2194,0,0,0,0,0,0
$GC,11165,0.82,146.0,853.1,11.3,380,11169,0.20,1.95,0.00,0.000,6,0.104,0.030,3565,1355,2194,0,0,0,0,0,0
$GC,11430,0.85,171.1,829.0,8.8,387,11459,0.00,2.20,22.35,1.042,4,0.000,0.073,3564,172,2102,0,0,0,0,0,0
$GC,11469,0.89,206.5,825.2,8.4,387,11510,0.00,1.95,34.30,1.054,6,0.000,0.030,3564,1353,1958,0,0,0,0,0,0
$GC,11765,0.94,206.5,795.3,10.3,395,11770,0.10,2.70,0.00,0.000,4,0.079,0.051,3604,2930,1950,0,0,0,0,0,0
$GC,11785,0.94,206.5,792.5,10.8,395,11790,0.00,2.72,0.00,0.000,6,0.000,0.048,3604,1348,1948,0,0,0,0,0,0
$GC,12049,0.94,206.5,760.8,12.0,402,12050,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1348,1948,0,0,0,0,0,0
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$STATE,18884,end climb,SURFACE_DEPTH_REACHED
$STATE,18885,begin surface coast
$FINISH,1.1,1.023337
$STATE,18934,end surface coast,CONTROL_FINISHED_OK
$STATE,18934,begin surface
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$SM_GC,1.92,0.00,0.00,42.55,0.000,0.000,0.429,416,1588,1209,-13.66,0.51,390.03
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$TT8_MAMPS,0.026845
$HUMID,65.19
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,22
$24V_AH,23.3,38.245
$10V_AH,9.9,35.678
$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
$DEVICE_SECS,34.775,233.325,404.725,42.550,0.000,84.983,168.177,376.756,5.500,0.000,38.448,1568.719,14139.280,550.012,2546.295,1124.455,33.371,1635.852,0.000,2526.419,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.257,361.688,456.528,951.883,1256.208,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355796
$DATA_FILE_SIZE,54283,695
$CAP_FILE_SIZE,194568,0
$CFSIZE,260165632,152604672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180713,003929,2305.566,-15734.706,59,1.6,64,10.1