version: 66.06
glider: 148
mission: 12
dive: 337
start: 8 4 113 6 24 1
data:
$ID,148
$MISSION,12
$DIVE,337
$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,-1022744.6
$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,110
$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
$GPS1,061526,2319.883,-15739.824,63,2.1,82,10.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.7
$GPS2,062307,2319.859,-15739.811,11,1.4,11,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,-0.256
$KALMAN_X,-140128.8,253.3,134.8,174315.6,309.6
$KALMAN_Y,144542.7,93.9,-159.0,-79894.5,416.4
$MHEAD_RNG_PITCHd_Wd,159.5,24683,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.15,0.000,2,0.000,0.000,407,1598,2937,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.5,9,122,14.02,2.40,-8.32,0.000,4,0.150,0.054,3102,171,3398,0,0,0,0,0,0
$GC,233,-0.95,-146.0,40.7,-23.1,27,238,0.35,2.05,0.00,0.000,6,0.093,0.017,3177,1532,3399,0,0,0,0,0,0
$GC,501,-0.85,-146.0,83.0,-12.7,51,506,0.10,2.53,0.00,0.000,4,0.119,0.021,3199,3138,3399,0,0,0,0,0,0
$GC,573,-0.94,-146.0,91.4,-8.8,57,577,0.00,2.53,0.00,0.000,6,0.000,0.028,3199,1576,3400,0,0,0,0,0,0
$GC,841,-0.94,-146.0,118.1,-10.0,81,845,0.00,2.30,0.00,0.000,4,0.000,0.043,3199,170,3400,0,0,0,0,0,0
$GC,870,-0.94,-146.0,121.3,-10.8,83,874,0.00,2.15,0.00,0.000,6,0.000,0.017,3199,1599,3400,0,0,0,0,0,0
$GC,1138,-0.94,-146.0,147.4,-9.9,107,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1602,3400,0,0,0,0,0,0
$GC,1399,-0.94,-146.0,174.1,-9.6,132,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1602,3401,0,0,0,0,0,0
$GC,1656,-0.94,-146.0,198.6,-9.4,156,1660,0.00,2.35,0.00,0.000,4,0.000,0.021,3199,3116,3400,0,0,0,0,0,0
$GC,1676,-0.94,-146.0,200.2,-9.5,157,1681,0.00,2.45,0.00,0.000,6,0.000,0.027,3199,1575,3401,0,0,0,0,0,0
$GC,1945,-0.94,-146.0,224.8,-9.2,164,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1575,3401,0,0,0,0,0,0
$GC,2190,-0.94,-146.0,244.7,-7.9,170,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1575,3401,0,0,0,0,0,0
$GC,2435,-0.99,-146.0,264.9,-8.6,176,2440,0.12,2.45,0.00,0.000,4,0.061,0.022,3133,3122,3400,0,0,0,0,0,0
$GC,2455,-0.99,-146.0,267.4,-10.7,176,2460,0.15,2.50,0.00,0.000,6,0.094,0.028,3169,1575,3401,0,0,0,0,0,0
$GC,2721,-0.99,-146.0,292.7,-9.3,183,2726,0.00,2.30,0.00,0.000,4,0.000,0.047,3169,172,3400,0,0,0,0,0,0
$GC,2740,-0.99,-146.0,294.8,-9.3,183,2744,0.00,2.12,0.00,0.000,6,0.000,0.019,3169,1574,3400,0,0,0,0,0,0
$GC,3004,-0.99,-146.0,316.5,-8.2,190,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1577,3400,0,0,0,0,0,0
$GC,3253,-0.99,-146.0,335.5,-7.8,196,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1577,3399,0,0,0,0,0,0
$GC,3492,-0.99,-146.0,354.9,-8.0,202,3496,0.00,2.47,0.00,0.000,4,0.000,0.028,3169,3127,3398,0,0,0,0,0,0
$GC,3516,-1.04,-146.0,357.0,-8.7,202,3520,0.00,2.53,0.00,0.000,6,0.000,0.033,3169,1576,3398,0,0,0,0,0,0
$GC,3777,-1.04,-146.0,377.8,-8.1,209,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1576,3396,0,0,0,0,0,0
$GC,4019,-1.04,-146.0,397.9,-8.1,215,4023,0.00,2.50,0.00,0.000,4,0.000,0.031,3169,3118,3394,0,0,0,0,0,0
$GC,4048,-1.13,-146.0,400.0,-7.0,215,4053,0.12,2.55,0.00,0.000,6,0.064,0.037,3109,1580,3394,0,0,0,0,0,0
$GC,4305,-1.04,-146.0,424.8,-9.9,222,4310,0.22,2.42,0.00,0.000,4,0.087,0.062,3159,168,3393,0,0,0,0,0,0
$GC,4322,-0.97,-146.0,426.5,-9.9,222,4327,0.00,2.17,0.00,0.000,6,0.000,0.022,3160,1567,3392,0,0,0,0,0,0
$GC,4591,-0.97,-146.0,448.4,-8.3,229,4595,0.00,2.55,0.00,0.000,4,0.000,0.036,3160,3139,3391,0,0,0,0,0,0
$GC,4607,-0.97,-146.0,449.7,-8.1,229,4612,0.00,2.58,0.00,0.000,6,0.000,0.035,3160,1581,3391,0,0,0,0,0,0
$GC,4879,-0.97,-146.0,471.4,-8.1,236,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1581,3389,0,0,0,0,0,0
$GC,5120,-0.97,-146.0,491.1,-8.1,242,5124,0.00,2.58,0.00,0.000,4,0.000,0.041,3160,3136,3387,0,0,0,0,0,0
$GC,5136,-0.97,-146.0,492.3,-8.1,242,5141,0.00,2.58,0.00,0.000,6,0.000,0.038,3160,1588,3387,0,0,0,0,0,0
$GC,5405,-0.97,-146.0,514.0,-8.2,249,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1588,3385,0,0,0,0,0,0
$GC,5649,-0.97,-146.0,533.2,-7.8,255,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1588,3384,0,0,0,0,0,0
$GC,5894,-0.97,-146.0,552.3,-7.9,261,5899,0.00,2.50,0.00,0.000,4,0.000,0.076,3160,166,3382,0,0,0,0,0,0
$GC,5920,-0.97,-146.0,554.8,-9.6,261,5924,0.00,2.28,0.00,0.000,6,0.000,0.030,3160,1575,3382,0,0,0,0,0,0
$GC,6179,-0.97,-146.0,574.7,-7.4,268,6183,0.00,2.60,0.00,0.000,4,0.000,0.043,3160,3153,3380,0,0,0,0,0,0
$GC,6194,-1.02,-146.0,576.0,-7.3,268,6199,0.00,2.62,0.00,0.000,6,0.000,0.042,3160,1591,3380,0,0,0,0,0,0
$GC,6469,-1.06,-146.0,594.4,-6.7,275,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1591,3378,0,0,0,0,0,0
$GC,6709,-1.11,-146.0,610.8,-6.8,281,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1591,3377,0,0,0,0,0,0
$GC,6951,-1.16,-146.0,627.1,-6.6,287,6956,0.12,2.62,0.00,0.000,4,0.064,0.043,3106,3150,3376,0,0,0,0,0,0
$GC,6972,-1.16,-146.0,628.9,-8.1,287,6978,0.12,2.65,0.00,0.000,6,0.100,0.047,3134,1590,3375,0,0,0,0,0,0
$GC,7238,-1.16,-146.0,650.1,-8.0,294,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1590,3375,0,0,0,0,0,0
$GC,7481,-1.16,-146.0,669.9,-8.1,300,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1590,3373,0,0,0,0,0,0
$GC,7729,-1.16,-146.0,690.8,-8.7,306,7733,0.00,2.60,0.00,0.000,4,0.000,0.044,3134,3150,3371,0,0,0,0,0,0
$GC,7745,-1.16,-146.0,692.6,-8.6,306,7750,0.00,2.65,0.00,0.000,6,0.000,0.048,3134,1593,3371,0,0,0,0,0,0
$GC,8014,-1.16,-146.0,715.7,-8.6,313,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1593,3370,0,0,0,0,0,0
$GC,8258,-1.16,-146.0,736.2,-8.4,319,8262,0.00,2.55,0.00,0.000,4,0.000,0.085,3134,161,3369,0,0,0,0,0,0
$GC,8282,-1.16,-146.0,738.5,-9.8,319,8286,0.00,2.33,0.00,0.000,6,0.000,0.034,3135,1585,3369,0,0,0,0,0,0
$GC,8543,-1.16,-146.0,759.2,-7.8,326,8548,0.00,2.62,0.00,0.000,4,0.000,0.051,3134,3162,3367,0,0,0,0,0,0
$GC,8560,-1.16,-146.0,760.7,-7.6,326,8564,0.00,2.67,0.00,0.000,6,0.000,0.048,3134,1584,3368,0,0,0,0,0,0
$GC,8829,-1.16,-146.0,780.8,-7.4,333,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1584,3367,0,0,0,0,0,0
$GC,9072,-1.16,-146.0,799.3,-7.6,339,9077,0.00,2.50,0.00,0.000,4,0.000,0.083,3134,162,3366,0,0,0,0,0,0
$GC,9091,-1.16,-146.0,800.8,-8.0,339,9096,0.00,2.35,0.00,0.000,6,0.000,0.035,3135,1597,3365,0,0,0,0,0,0
$GC,9362,-1.16,-146.0,819.9,-7.0,346,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3365,0,0,0,0,0,0
$GC,9599,-1.16,-146.0,836.9,-7.0,352,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3364,0,0,0,0,0,0
$GC,9843,-1.16,-146.0,854.6,-7.3,358,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3363,0,0,0,0,0,0
$GC,10088,-1.16,-146.0,872.1,-7.1,364,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1597,3362,0,0,0,0,0,0
$GC,10330,-1.16,-146.0,888.5,-6.7,370,10331,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3362,0,0,0,0,0,0
$STATE,10530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10530,begin apogee
$GC,10537,-0.31,0.0,901.4,6.3,375,10660,0.80,0.00,119.62,1.154,6,0.070,0.000,3319,1339,2800,0,0,0,0,0,0
$STATE,10661,end apogee,CONTROL_FINISHED_OK
$STATE,10661,begin climb
$GC,10665,1.27,146.0,903.7,0.0,378,10806,1.42,2.20,130.48,1.132,4,0.035,0.080,3667,164,2203,0,0,0,0,0,0
$GC,10966,1.04,146.0,873.0,15.4,384,10971,0.28,1.98,0.00,0.000,6,0.110,0.030,3611,1359,2197,0,0,0,0,0,0
$GC,11216,0.98,146.0,844.4,11.0,390,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1360,2193,0,0,0,0,0,0
$GC,11464,0.92,146.0,818.9,10.3,396,11468,0.12,2.12,0.00,0.000,4,0.117,0.074,3585,168,2192,0,0,0,0,0,0
$GC,11492,0.87,146.0,815.4,10.3,396,11496,0.00,1.95,0.00,0.000,6,0.000,0.031,3585,1353,2192,0,0,0,0,0,0
$GC,11756,0.89,161.4,790.9,9.3,403,11771,0.00,0.00,13.25,0.980,6,0.000,0.000,3585,1354,2142,0,0,0,0,0,0
$GC,12001,0.92,182.5,768.7,9.0,409,12023,0.00,0.00,20.67,1.010,6,0.000,0.000,3585,1355,2056,0,0,0,0,0,0
$GC,12243,0.96,214.6,747.7,8.5,415,12276,0.00,0.00,31.60,1.021,6,0.000,0.000,3585,1355,1925,0,0,0,0,0,0
$GC,12491,0.99,245.0,726.9,8.6,421,12527,0.00,2.17,28.92,1.002,4,0.000,0.073,3585,165,1800,0,0,0,0,0,0
$GC,12543,1.01,260.2,721.7,9.3,422,12564,0.00,1.98,15.32,0.946,6,0.000,0.030,3585,1357,1739,0,0,0,0,0,0
$GC,12824,1.07,260.2,693.6,10.2,429,12829,0.12,2.67,0.00,0.000,4,0.067,0.048,3631,2934,1733,0,0,0,0,0,0
$GC,12869,1.07,260.2,688.4,11.7,430,12874,0.00,2.72,0.00,0.000,6,0.000,0.048,3631,1358,1730,0,0,0,0,0,0
$GC,13158,1.07,260.2,649.4,13.8,437,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1359,1730,0,0,0,0,0,0
$GC,13400,1.07,260.2,616.3,13.5,443,13404,0.00,2.65,0.00,0.000,4,0.000,0.041,3631,2933,1729,0,0,0,0,0,0
$GC,13439,1.07,260.2,611.5,12.6,443,13445,0.00,2.72,0.00,0.000,6,0.000,0.050,3631,1354,1727,0,0,0,0,0,0
$GC,13689,1.07,260.2,578.5,13.2,450,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1354,1727,0,0,0,0,0,0
$GC,13934,1.07,260.2,546.2,13.4,456,13938,0.00,2.10,0.00,0.000,4,0.000,0.077,3631,161,1727,0,0,0,0,0,0
$GC,13962,1.01,260.2,541.7,14.9,456,13967,0.12,1.95,0.00,0.000,6,0.115,0.026,3606,1377,1727,0,0,0,0,0,0
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$STATE,18550,end climb,SURFACE_DEPTH_REACHED
$STATE,18551,begin surface coast
$FINISH,1.0,1.023273
$STATE,18597,end surface coast,CONTROL_FINISHED_OK
$STATE,18597,begin surface
$SM_CCo,18621,42.05,0.430,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,42.05,0.000,0.000,0.430,412,1585,1209,-13.68,0.42,390.03
$IRIDIUM_FIX,2314.48,-15740.51,291002,010125
$TT8_MAMPS,0.027612
$HUMID,66.49
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,11
$24V_AH,23.2,49.770
$10V_AH,9.8,47.312
$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
$DEVICE_SECS,32.600,163.900,409.875,42.050,0.000,30.078,36.946,228.711,2.750,0.000,13.042,1490.266,13952.057,529.115,2396.571,749.532,33.371,1499.224,0.000,2401.501,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.428,359.236,456.790,955.121,1257.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,54340,694
$CAP_FILE_SIZE,164876,0
$CFSIZE,260165632,146681856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040813,113635,2317.406,-15738.180,42,1.4,47,10.2