version: 66.06
glider: 148
mission: 12
dive: 387
start: 8 15 113 9 30 43
data:
$ID,148
$MISSION,12
$DIVE,387
$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,-1023762.8
$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,3400
$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,94
$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
$GPS1,091826,2243.973,-15740.314,24,2.1,43,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.7
$GPS2,092951,2243.876,-15740.418,11,2.1,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,0.258
$KALMAN_X,-86716.2,128.1,-434.8,120575.8,345.5
$KALMAN_Y,81299.1,-66.1,-339.2,-82948.2,-874.8
$MHEAD_RNG_PITCHd_Wd,355.6,40816,-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,-67.57,0.000,2,0.000,0.000,411,1580,2959,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.5,-4.9,9,123,14.73,2.45,-7.68,0.000,4,0.167,0.035,3118,3097,3398,0,0,0,0,0,0
$GC,245,-1.06,-146.0,40.6,-18.3,28,251,0.22,2.47,0.00,0.000,6,0.098,0.031,3167,1568,3398,0,0,0,0,0,0
$GC,515,-0.91,-146.0,81.2,-13.5,52,520,0.15,2.33,0.00,0.000,4,0.102,0.044,3200,169,3398,0,0,0,0,0,0
$GC,537,-0.80,-146.0,84.3,-12.1,53,542,0.10,2.10,0.00,0.000,6,0.117,0.017,3223,1583,3398,0,0,0,0,0,0
$GC,805,-0.80,-146.0,106.6,-8.0,77,810,0.00,2.35,0.00,0.000,4,0.000,0.021,3223,3099,3399,0,0,0,0,0,0
$GC,827,-0.85,-146.0,109.3,-9.8,78,836,0.00,2.50,0.00,0.000,6,0.000,0.028,3223,1560,3399,0,0,0,0,0,0
$GC,1095,-0.85,-146.0,132.5,-9.0,103,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1560,3400,0,0,0,0,0,0
$GC,1358,-0.89,-146.0,155.5,-8.4,128,1362,0.00,2.42,0.00,0.000,4,0.000,0.021,3223,3106,3400,0,0,0,0,0,0
$GC,1388,-0.99,-146.0,157.6,-8.1,130,1393,0.17,2.47,0.00,0.000,6,0.051,0.028,3141,1563,3400,0,0,0,0,0,0
$GC,1656,-0.85,-146.0,189.5,-13.3,154,1661,0.30,2.30,0.00,0.000,4,0.080,0.042,3212,170,3400,0,0,0,0,0,0
$GC,1685,-0.85,-146.0,193.5,-9.7,156,1695,0.00,2.10,0.00,0.000,6,0.000,0.018,3212,1560,3400,0,0,0,0,0,0
$GC,1971,-0.90,-146.0,218.4,-8.8,169,1975,0.00,2.42,0.00,0.000,4,0.000,0.022,3212,3113,3400,0,0,0,0,0,0
$GC,2022,-1.05,-146.0,222.9,-7.7,170,2027,0.17,2.47,0.00,0.000,6,0.047,0.028,3123,1574,3400,0,0,0,0,0,0
$GC,2305,-0.93,-146.0,256.8,-12.4,177,2310,0.30,2.30,0.00,0.000,4,0.083,0.044,3194,171,3400,0,0,0,0,0,0
$GC,2339,-0.93,-146.0,261.0,-9.8,177,2343,0.00,2.10,0.00,0.000,6,0.000,0.019,3194,1559,3400,0,0,0,0,0,0
$GC,2591,-0.98,-146.0,280.1,-7.4,183,2595,0.00,2.47,0.00,0.000,4,0.000,0.024,3193,3136,3399,0,0,0,0,0,0
$GC,2615,-1.07,-146.0,282.2,-7.8,183,2621,0.10,2.53,0.00,0.000,6,0.074,0.029,3131,1583,3399,0,0,0,0,0,0
$GC,2876,-0.98,-146.0,309.3,-10.5,190,2881,0.25,2.33,0.00,0.000,4,0.082,0.046,3192,172,3399,0,0,0,0,0,0
$GC,2926,-1.08,-146.0,314.0,-8.3,191,2931,0.12,2.15,0.00,0.000,6,0.061,0.021,3124,1573,3398,0,0,0,0,0,0
$GC,3209,-1.00,-146.0,346.3,-11.6,198,3214,0.25,2.50,0.00,0.000,4,0.078,0.028,3184,3131,3397,0,0,0,0,0,0
$GC,3247,-1.13,-146.0,349.7,-8.8,198,3252,0.12,2.55,0.00,0.000,6,0.063,0.036,3125,1575,3397,0,0,0,0,0,0
$GC,3497,-1.06,-146.0,376.6,-10.7,204,3499,0.17,0.00,0.00,0.000,6,0.087,0.000,3168,1575,3395,0,0,0,0,0,0
$GC,3741,-1.06,-146.0,395.2,-7.4,210,3745,0.00,2.55,0.00,0.000,4,0.000,0.035,3168,3129,3394,0,0,0,0,0,0
$GC,3767,-1.12,-146.0,397.1,-8.7,210,3771,0.00,2.58,0.00,0.000,6,0.000,0.035,3168,1577,3394,0,0,0,0,0,0
$GC,4026,-1.12,-146.0,417.5,-7.9,217,4031,0.00,2.55,0.00,0.000,4,0.000,0.037,3168,3128,3392,0,0,0,0,0,0
$GC,4046,-1.18,-146.0,419.0,-7.4,217,4051,0.10,2.55,0.00,0.000,6,0.074,0.036,3108,1581,3392,0,0,0,0,0,0
$GC,4313,-1.09,-146.0,446.6,-10.6,224,4318,0.25,2.45,0.00,0.000,4,0.082,0.066,3170,166,3390,0,0,0,0,0,0
$GC,4361,-1.17,-146.0,450.8,-7.3,225,4366,0.10,2.20,0.00,0.000,6,0.074,0.027,3112,1564,3389,0,0,0,0,0,0
$GC,4646,-1.09,-146.0,478.2,-9.7,232,4652,0.22,2.62,0.00,0.000,4,0.082,0.041,3162,3143,3387,0,0,0,0,0,0
$GC,4691,-1.20,-146.0,481.7,-6.6,233,4696,0.10,2.60,0.00,0.000,6,0.074,0.039,3107,1575,3387,0,0,0,0,0,0
$GC,4981,-1.12,-146.0,508.3,-9.8,240,4986,0.20,2.45,0.00,0.000,4,0.086,0.071,3154,172,3385,0,0,0,0,0,0
$GC,5029,-1.12,-146.0,512.4,-8.0,241,5033,0.00,2.25,0.00,0.000,6,0.000,0.031,3154,1581,3385,0,0,0,0,0,0
$GC,5316,-1.12,-146.0,533.3,-6.9,248,5320,0.00,2.60,0.00,0.000,4,0.000,0.044,3154,3150,3383,0,0,0,0,0,0
$GC,5351,-1.20,-146.0,535.7,-7.1,248,5356,0.00,2.65,0.00,0.000,6,0.000,0.046,3154,1579,3383,0,0,0,0,0,0
$GC,5601,-1.20,-146.0,553.3,-7.3,254,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1578,3381,0,0,0,0,0,0
$GC,5845,-1.20,-146.0,570.6,-7.1,260,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3379,0,0,0,0,0,0
$GC,6093,-1.20,-146.0,588.5,-7.4,266,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3378,0,0,0,0,0,0
$GC,6336,-1.20,-146.0,607.0,-7.6,272,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3376,0,0,0,0,0,0
$GC,6576,-1.20,-146.0,624.8,-7.2,278,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3375,0,0,0,0,0,0
$GC,6820,-1.20,-146.0,640.7,-6.5,284,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1578,3374,0,0,0,0,0,0
$GC,7065,-1.20,-146.0,655.8,-6.1,290,7070,0.00,2.67,0.00,0.000,4,0.000,0.052,3154,3149,3373,0,0,0,0,0,0
$GC,7090,-1.27,-146.0,657.4,-7.8,290,7095,0.12,2.67,0.00,0.000,6,0.062,0.049,3099,1583,3373,0,0,0,0,0,0
$GC,7350,-1.19,-146.0,680.4,-9.1,297,7356,0.17,2.55,0.00,0.000,4,0.091,0.084,3139,162,3371,0,0,0,0,0,0
$GC,7398,-1.19,-146.0,684.5,-8.9,298,7402,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1580,3370,0,0,0,0,0,0
$GC,7685,-1.19,-146.0,707.2,-7.8,305,7690,0.00,2.67,0.00,0.000,4,0.000,0.054,3139,3155,3369,0,0,0,0,0,0
$GC,7721,-1.26,-146.0,709.8,-7.8,305,7725,0.00,2.67,0.00,0.000,6,0.000,0.049,3139,1589,3369,0,0,0,0,0,0
$GC,7973,-1.26,-146.0,729.3,-7.8,311,7977,0.00,2.53,0.00,0.000,4,0.000,0.081,3139,167,3368,0,0,0,0,0,0
$GC,8011,-1.26,-146.0,732.6,-8.6,311,8018,0.00,2.28,0.00,0.000,6,0.000,0.035,3139,1585,3367,0,0,0,0,0,0
$GC,8262,-1.26,-146.0,751.7,-7.6,318,8267,0.00,2.65,0.00,0.000,4,0.000,0.054,3139,3154,3367,0,0,0,0,0,0
$GC,8282,-1.26,-146.0,753.6,-8.7,318,8286,0.00,2.65,0.00,0.000,6,0.000,0.048,3139,1584,3367,0,0,0,0,0,0
$GC,8546,-1.26,-146.0,774.0,-7.8,325,8550,0.00,2.50,0.00,0.000,4,0.000,0.082,3139,166,3366,0,0,0,0,0,0
$GC,8571,-1.26,-146.0,776.0,-8.4,325,8575,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1584,3365,0,0,0,0,0,0
$GC,8830,-1.26,-146.0,795.4,-7.4,332,8835,0.00,2.65,0.00,0.000,4,0.000,0.055,3139,3161,3365,0,0,0,0,0,0
$GC,8855,-1.30,-146.0,797.2,-8.4,332,8860,0.10,2.70,0.00,0.000,6,0.076,0.049,3092,1580,3365,0,0,0,0,0,0
$GC,9117,-1.23,-146.0,821.8,-9.7,339,9122,0.17,2.53,0.00,0.000,4,0.091,0.082,3133,165,3364,0,0,0,0,0,0
$GC,9170,-1.23,-146.0,826.8,-8.7,340,9174,0.00,2.33,0.00,0.000,6,0.000,0.037,3133,1579,3363,0,0,0,0,0,0
$GC,9447,-1.23,-146.0,848.5,-7.7,347,9448,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1579,3362,0,0,0,0,0,0
$GC,9691,-1.23,-146.0,867.4,-7.8,353,9696,0.00,2.65,0.00,0.000,4,0.000,0.056,3132,3154,3362,0,0,0,0,0,0
$GC,9720,-1.28,-146.0,869.8,-7.8,353,9725,0.00,2.70,0.00,0.000,6,0.000,0.050,3133,1571,3361,0,0,0,0,0,0
$GC,9975,-1.28,-146.0,890.2,-7.9,360,9979,0.00,2.47,0.00,0.000,4,0.000,0.082,3132,167,3361,0,0,0,0,0,0
$GC,10001,-1.28,-146.0,892.3,-9.6,360,10005,0.00,2.30,0.00,0.000,6,0.000,0.035,3132,1583,3360,0,0,0,0,0,0
$STATE,10094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10094,begin apogee
$GC,10101,-0.31,0.0,900.2,8.1,363,10225,0.85,0.00,120.70,1.147,6,0.065,0.000,3330,1338,2799,0,0,0,0,0,0
$STATE,10226,end apogee,CONTROL_FINISHED_OK
$STATE,10226,begin climb
$GC,10229,1.27,146.0,904.3,0.0,366,10369,1.42,2.17,131.40,1.127,4,0.031,0.081,3682,176,2203,0,0,0,0,0,0
$GC,10401,1.00,146.0,896.4,14.0,370,10405,0.30,1.95,0.00,0.000,6,0.107,0.031,3621,1351,2200,0,0,0,0,0,0
$GC,10690,0.93,146.3,866.7,10.0,377,10694,0.00,2.12,0.00,0.000,4,0.000,0.074,3621,167,2193,0,0,0,0,0,0
$GC,10709,0.82,146.3,864.4,10.2,377,10714,0.12,1.98,0.00,0.000,6,0.094,0.031,3580,1351,2193,0,0,0,0,0,0
$GC,10980,0.85,176.8,841.4,8.6,384,11011,0.00,0.00,27.48,1.053,6,0.000,0.000,3580,1351,2079,0,0,0,0,0,0
$GC,11271,0.86,182.4,814.0,9.7,391,11283,0.00,2.20,5.82,0.805,4,0.000,0.074,3580,166,2056,0,0,0,0,0,0
$GC,11293,0.86,182.4,811.0,10.1,391,11297,0.00,1.95,0.00,0.000,6,0.000,0.031,3580,1358,2056,0,0,0,0,0,0
$GC,11563,0.87,186.6,784.5,9.8,398,11575,0.00,2.15,5.47,0.782,4,0.000,0.074,3580,168,2038,0,0,0,0,0,0
$GC,11590,0.87,186.6,781.5,10.3,398,11593,0.00,1.95,0.00,0.000,6,0.000,0.031,3580,1349,2038,0,0,0,0,0,0
$GC,11855,0.88,202.5,756.6,9.3,405,11879,0.00,2.75,16.52,0.979,4,0.000,0.051,3580,2929,1973,0,0,0,0,0,0
$GC,11903,0.99,232.8,752.4,8.6,406,11940,0.15,2.75,30.48,1.012,6,0.058,0.050,3631,1354,1850,0,0,0,0,0,0
$GC,12194,0.99,232.8,716.5,12.6,413,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1353,1845,0,0,0,0,0,0
$GC,12434,0.99,232.8,686.5,12.2,419,12438,0.00,2.67,0.00,0.000,4,0.000,0.044,3631,2929,1843,0,0,0,0,0,0
$GC,12448,0.99,232.8,684.7,12.5,419,12453,0.00,2.70,0.00,0.000,6,0.000,0.048,3631,1354,1842,0,0,0,0,0,0
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$STATE,18750,end climb,SURFACE_DEPTH_REACHED
$STATE,18750,begin surface coast
$FINISH,0.9,1.010893
$STATE,18804,end surface coast,CONTROL_FINISHED_OK
$STATE,18805,begin surface
$SM_CCo,18830,44.20,0.428,0,0,1209,390.03
$SM_GC,1.98,0.00,0.00,44.20,0.000,0.000,0.428,414,1562,1209,-13.74,-0.23,390.03
$IRIDIUM_FIX,2237.01,-15738.08,091102,090959
$TT8_MAMPS,0.027612
$HUMID,66.57
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,23.0,57.048
$10V_AH,9.9,54.783
$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,35.975,207.075,412.825,44.200,0.000,62.147,80.238,297.380,3.000,0.000,32.477,1596.332,13805.510,540.887,2669.623,935.909,33.368,1655.824,0.000,2652.489,0.000,0.536,0.000
$DEVICE_MAMPS,167.206,84.370,1146.665,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.007,388.036,494.926,1014.408,1338.920,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,57448,724
$CAP_FILE_SIZE,189700,0
$CFSIZE,260165632,142839808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150813,144656,2245.836,-15740.007,35,99.0,54,10.1