version: 66.06
glider: 148
mission: 12
dive: 340
start: 8 4 113 22 34 43
data:
$ID,148
$MISSION,12
$DIVE,340
$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,-1022817.1
$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,89
$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
$GPS1,222653,2311.463,-15735.926,24,1.3,41,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.0
$GPS2,223349,2311.448,-15735.904,13,1.1,13,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE2
$TGT_LATLONG,2307.000,-15736.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.068,-0.250
$KALMAN_X,-134611.6,84.8,165.3,175607.1,1134.6
$KALMAN_Y,143139.8,-330.9,24.3,-93822.0,-192.2
$MHEAD_RNG_PITCHd_Wd,185.0,8239,-17.6,-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,-1.28,-145.0,0.0,0.0,0,85,0.00,0.00,-67.12,0.000,2,0.000,0.000,413,1580,2906,0,0,0,0,0,0
$GC,88,-1.28,-146.0,3.2,-3.7,9,120,14.35,2.38,-9.18,0.000,4,0.160,0.051,3101,167,3396,0,0,0,0,0,0
$GC,201,-0.95,-146.0,32.1,-22.9,25,206,0.35,2.10,0.00,0.000,6,0.094,0.017,3177,1553,3396,0,0,0,0,0,0
$GC,470,-0.84,-146.0,75.4,-13.7,49,475,0.12,2.47,0.00,0.000,4,0.109,0.021,3204,3135,3397,0,0,0,0,0,0
$GC,524,-0.94,-146.0,82.1,-9.5,53,529,0.10,2.50,0.00,0.000,6,0.072,0.028,3132,1575,3398,0,0,0,0,0,0
$GC,792,-0.74,-146.0,121.9,-15.4,77,799,0.40,0.00,0.00,0.000,6,0.082,0.000,3221,1575,3398,0,0,0,0,0,0
$GC,1055,-0.74,-146.0,145.9,-8.6,102,1059,0.00,2.45,0.00,0.000,4,0.000,0.021,3220,3140,3398,0,0,0,0,0,0
$GC,1079,-0.82,-146.0,147.9,-8.2,103,1084,0.00,2.53,0.00,0.000,6,0.000,0.027,3221,1579,3399,0,0,0,0,0,0
$GC,1342,-0.88,-146.0,169.4,-8.0,128,1347,0.12,2.33,0.00,0.000,4,0.063,0.044,3150,163,3399,0,0,0,0,0,0
$GC,1362,-0.88,-146.0,171.3,-9.3,129,1367,0.20,2.15,0.00,0.000,6,0.091,0.017,3194,1614,3399,0,0,0,0,0,0
$GC,1623,-0.88,-146.0,197.5,-9.3,153,1627,0.00,2.38,0.00,0.000,4,0.000,0.042,3194,164,3399,0,0,0,0,0,0
$GC,1644,-0.88,-146.0,199.1,-9.5,154,1647,0.00,2.10,0.00,0.000,6,0.000,0.018,3194,1582,3399,0,0,0,0,0,0
$GC,1896,-0.88,-146.0,222.0,-8.9,160,1900,0.00,2.40,0.00,0.000,4,0.000,0.021,3194,3110,3399,0,0,0,0,0,0
$GC,1948,-1.00,-146.0,226.7,-7.5,161,1953,0.12,2.45,0.00,0.000,6,0.061,0.027,3125,1581,3399,0,0,0,0,0,0
$GC,2228,-0.88,-146.0,259.5,-11.8,168,2233,0.28,2.30,0.00,0.000,4,0.084,0.042,3191,170,3399,0,0,0,0,0,0
$GC,2253,-0.88,-146.0,262.2,-9.5,168,2257,0.00,2.12,0.00,0.000,6,0.000,0.018,3191,1568,3399,0,0,0,0,0,0
$GC,2517,-0.94,-146.0,279.9,-6.5,175,2521,0.00,2.45,0.00,0.000,4,0.000,0.024,3191,3129,3399,0,0,0,0,0,0
$GC,2557,-1.08,-146.0,282.7,-7.3,175,2564,0.15,2.53,0.00,0.000,6,0.022,0.030,3117,1594,3399,0,0,0,0,0,0
$GC,2807,-0.97,-146.0,311.5,-12.1,182,2812,0.25,2.35,0.00,0.000,4,0.085,0.047,3177,172,3399,0,0,0,0,0,0
$GC,2836,-0.97,-146.0,314.7,-9.9,182,2840,0.00,2.17,0.00,0.000,6,0.000,0.019,3177,1596,3399,0,0,0,0,0,0
$GC,3092,-0.97,-146.0,336.6,-8.4,189,3097,0.00,2.38,0.00,0.000,4,0.000,0.050,3177,171,3398,0,0,0,0,0,0
$GC,3130,-0.97,-146.0,340.3,-9.1,189,3135,0.00,2.20,0.00,0.000,6,0.000,0.021,3177,1590,3397,0,0,0,0,0,0
$GC,3386,-1.02,-146.0,360.3,-7.9,196,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,1593,3396,0,0,0,0,0,0
$GC,3624,-1.07,-146.0,379.5,-8.0,202,3626,0.12,0.00,0.00,0.000,6,0.063,0.000,3115,1593,3394,0,0,0,0,0,0
$GC,3867,-0.99,-146.0,406.4,-11.2,208,3872,0.22,2.47,0.00,0.000,4,0.084,0.031,3168,3130,3393,0,0,0,0,0,0
$GC,3883,-0.99,-146.0,408.2,-11.4,208,3887,0.00,2.50,0.00,0.000,6,0.000,0.033,3168,1595,3393,0,0,0,0,0,0
$GC,4154,-1.04,-146.0,429.0,-7.6,215,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1595,3391,0,0,0,0,0,0
$GC,4398,-1.09,-146.0,448.1,-7.9,221,4402,0.00,2.53,0.00,0.000,4,0.000,0.035,3168,3127,3389,0,0,0,0,0,0
$GC,4428,-1.18,-146.0,450.5,-7.7,221,4434,0.17,2.55,0.00,0.000,6,0.049,0.038,3090,1595,3390,0,0,0,0,0,0
$GC,4684,-1.05,-146.0,478.9,-11.3,228,4689,0.25,2.45,0.00,0.000,4,0.085,0.066,3151,167,3388,0,0,0,0,0,0
$GC,4732,-1.05,-146.0,483.9,-8.4,229,4736,0.00,2.25,0.00,0.000,6,0.000,0.028,3151,1573,3387,0,0,0,0,0,0
$GC,5018,-1.05,-146.0,507.1,-8.2,236,5023,0.00,2.60,0.00,0.000,4,0.000,0.043,3151,3147,3385,0,0,0,0,0,0
$GC,5070,-1.14,-146.0,511.8,-7.6,237,5075,0.00,2.58,0.00,0.000,6,0.000,0.041,3151,1600,3385,0,0,0,0,0,0
$GC,5350,-1.14,-146.0,533.4,-7.8,244,5355,0.00,2.47,0.00,0.000,4,0.000,0.074,3151,169,3384,0,0,0,0,0,0
$GC,5383,-1.14,-146.0,536.5,-9.3,244,5387,0.00,2.28,0.00,0.000,6,0.000,0.029,3151,1594,3383,0,0,0,0,0,0
$GC,5633,-1.14,-146.0,556.4,-7.8,250,5638,0.00,2.58,0.00,0.000,4,0.000,0.042,3151,3148,3382,0,0,0,0,0,0
$GC,5664,-1.21,-146.0,558.7,-7.8,250,5669,0.12,2.58,0.00,0.000,6,0.063,0.043,3086,1604,3382,0,0,0,0,0,0
$GC,5920,-1.10,-146.0,585.5,-10.7,257,5925,0.25,2.53,0.00,0.000,4,0.085,0.076,3147,161,3379,0,0,0,0,0,0
$GC,5958,-1.10,-146.0,589.4,-8.4,257,5964,0.00,2.35,0.00,0.000,6,0.000,0.031,3147,1607,3379,0,0,0,0,0,0
$GC,6210,-1.10,-146.0,608.1,-7.4,264,6211,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1607,3378,0,0,0,0,0,0
$GC,6452,-1.10,-146.0,625.8,-7.2,270,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1607,3376,0,0,0,0,0,0
$GC,6698,-1.10,-146.0,643.5,-7.4,276,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1607,3375,0,0,0,0,0,0
$GC,6941,-1.10,-146.0,660.9,-7.0,282,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1607,3374,0,0,0,0,0,0
$GC,7183,-1.10,-146.0,676.7,-6.3,288,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1607,3373,0,0,0,0,0,0
$GC,7427,-1.10,-146.0,691.8,-6.3,294,7431,0.00,2.53,0.00,0.000,4,0.000,0.077,3147,169,3372,0,0,0,0,0,0
$GC,7446,-1.10,-146.0,693.2,-7.1,294,7450,0.00,2.35,0.00,0.000,6,0.000,0.034,3147,1605,3371,0,0,0,0,0,0
$GC,7716,-1.10,-146.0,712.0,-7.3,301,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1605,3369,0,0,0,0,0,0
$GC,7954,-1.10,-146.0,730.0,-7.4,307,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1605,3369,0,0,0,0,0,0
$GC,8198,-1.15,-146.0,748.0,-7.4,313,8202,0.00,2.53,0.00,0.000,4,0.000,0.077,3147,168,3368,0,0,0,0,0,0
$GC,8219,-1.15,-146.0,749.6,-8.3,313,8223,0.00,2.35,0.00,0.000,6,0.000,0.035,3147,1610,3368,0,0,0,0,0,0
$GC,8483,-1.19,-146.0,768.8,-7.3,320,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1610,3367,0,0,0,0,0,0
$GC,8729,-1.24,-146.0,787.3,-7.5,326,8731,0.15,0.00,0.00,0.000,6,0.057,0.000,3085,1610,3366,0,0,0,0,0,0
$GC,8972,-1.16,-146.0,812.5,-10.5,332,8977,0.20,2.55,0.00,0.000,4,0.091,0.076,3130,166,3365,0,0,0,0,0,0
$GC,8988,-1.10,-146.0,814.4,-10.2,332,8992,0.00,2.38,0.00,0.000,6,0.000,0.035,3131,1609,3365,0,0,0,0,0,0
$GC,9256,-1.10,-146.0,834.9,-7.5,339,9258,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1609,3364,0,0,0,0,0,0
$GC,9502,-1.10,-146.0,852.9,-7.2,345,9506,0.00,2.55,0.00,0.000,4,0.000,0.077,3131,168,3363,0,0,0,0,0,0
$GC,9530,-1.10,-146.0,855.3,-7.5,345,9534,0.00,2.33,0.00,0.000,6,0.000,0.036,3130,1598,3363,0,0,0,0,0,0
$GC,9785,-1.10,-146.0,873.8,-7.2,352,9786,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1598,3362,0,0,0,0,0,0
$GC,10028,-1.10,-146.0,891.0,-7.1,358,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1598,3362,0,0,0,0,0,0
$STATE,10188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10188,begin apogee
$GC,10196,-0.31,0.0,902.0,6.8,362,10319,0.80,0.00,119.53,1.157,6,0.068,0.000,3316,1339,2800,0,0,0,0,0,0
$STATE,10320,end apogee,CONTROL_FINISHED_OK
$STATE,10320,begin climb
$GC,10322,1.28,146.0,904.8,0.0,365,10462,1.45,2.15,130.98,1.131,4,0.036,0.080,3666,176,2203,0,0,0,0,0,0
$GC,10569,1.04,146.0,883.8,14.1,370,10573,0.25,1.92,0.00,0.000,6,0.110,0.030,3615,1354,2199,0,0,0,0,0,0
$GC,10826,0.98,146.0,855.3,11.1,377,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1354,2193,0,0,0,0,0,0
$GC,11068,0.91,146.0,829.3,10.6,383,11072,0.15,2.10,0.00,0.000,4,0.110,0.074,3583,176,2191,0,0,0,0,0,0
$GC,11111,0.87,146.0,824.7,11.6,384,11115,0.00,1.92,0.00,0.000,6,0.000,0.029,3583,1359,2191,0,0,0,0,0,0
$GC,11408,0.92,186.8,800.1,8.1,391,11446,0.00,0.00,36.47,1.053,6,0.000,0.000,3583,1360,2038,0,0,0,0,0,0
$GC,11686,0.95,211.7,775.6,8.8,398,11713,0.00,0.00,24.70,1.019,6,0.000,0.000,3583,1360,1936,0,0,0,0,0,0
$GC,11932,0.96,221.8,752.6,9.5,404,11944,0.00,0.00,10.38,0.918,6,0.000,0.000,3583,1360,1895,0,0,0,0,0,0
$GC,12174,0.96,223.1,728.7,9.9,410,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1361,1893,0,0,0,0,0,0
$GC,12420,1.01,223.1,704.4,10.0,416,12424,0.00,2.65,0.00,0.000,4,0.000,0.046,3583,2931,1891,0,0,0,0,0,0
$GC,12453,1.13,245.8,700.9,8.9,416,12483,0.20,2.72,22.83,0.976,6,0.048,0.049,3647,1358,1798,0,0,0,0,0,0
$GC,12752,1.06,245.8,660.6,13.7,424,12756,0.15,2.15,0.00,0.000,4,0.113,0.082,3617,164,1794,0,0,0,0,0,0
$GC,12776,0.99,245.8,657.2,13.8,424,12780,0.00,1.95,0.00,0.000,6,0.000,0.028,3617,1358,1794,0,0,0,0,0,0
$GC,13043,0.99,245.8,625.5,11.9,431,13047,0.00,2.65,0.00,0.000,4,0.000,0.046,3617,2931,1793,0,0,0,0,0,0
$GC,13062,0.99,245.8,622.6,12.1,431,13066,0.00,2.70,0.00,0.000,6,0.000,0.046,3616,1356,1791,0,0,0,0,0,0
$GC,13326,0.99,245.8,591.2,12.0,438,13330,0.00,2.65,0.00,0.000,4,0.000,0.042,3617,2926,1790,0,0,0,0,0,0
$GC,13351,0.99,245.8,588.1,11.4,438,13355,0.00,2.67,0.00,0.000,6,0.000,0.050,3617,1361,1790,0,0,0,0,0,0
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$STATE,18618,end climb,SURFACE_DEPTH_REACHED
$STATE,18620,begin surface coast
$FINISH,0.9,1.010918
$STATE,18661,end surface coast,CONTROL_FINISHED_OK
$STATE,18661,begin surface
$SM_CCo,18684,47.35,0.429,0,0,1209,390.03
$SM_GC,1.73,0.00,0.00,47.35,0.000,0.000,0.429,412,1598,1209,-13.68,0.79,390.03
$IRIDIUM_FIX,2305.10,-15737.96,291002,171743
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.2,50.195
$10V_AH,9.8,47.745
$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,34.950,181.700,402.125,47.350,0.000,27.529,34.442,194.529,3.000,0.000,14.607,1511.547,13929.942,550.956,2423.606,725.307,33.371,1554.702,0.000,2427.455,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,82.069,1156.636,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,476.334,362.452,465.647,954.250,1254.366,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,54225,700
$CAP_FILE_SIZE,172722,0
$CFSIZE,260165632,146456576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050813,034850,2308.749,-15736.060,52,2.1,71,10.1