version: 66.06
glider: 148
mission: 12
dive: 390
start: 8 16 113 1 50 49
data:
$ID,148
$MISSION,12
$DIVE,390
$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,-1023810.4
$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,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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,014206,2248.948,-15738.942,26,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.6
$GPS2,014955,2248.953,-15738.977,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.017,0.259
$KALMAN_X,-87662.3,-11.4,-173.7,123857.5,185.0
$KALMAN_Y,76301.0,118.5,394.8,-69468.4,-2207.2
$MHEAD_RNG_PITCHd_Wd,353.6,31112,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.50,0.000,2,0.000,0.000,416,1647,2930,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.2,-4.0,9,124,13.93,2.42,-8.57,0.000,4,0.144,0.035,3117,3157,3398,0,0,0,0,0,0
$GC,179,-1.06,-146.0,25.8,-19.7,21,188,0.20,2.62,0.00,0.000,6,0.081,0.031,3166,1574,3398,0,0,0,0,0,0
$GC,454,-0.92,-146.0,72.6,-13.8,47,459,0.15,2.35,0.00,0.000,4,0.102,0.045,3198,166,3399,0,0,0,0,0,0
$GC,500,-0.92,-146.0,78.7,-12.1,50,504,0.00,2.17,0.00,0.000,6,0.000,0.017,3198,1602,3399,0,0,0,0,0,0
$GC,762,-0.92,-146.0,107.3,-11.2,74,767,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3127,3400,0,0,0,0,0,0
$GC,793,-0.92,-146.0,111.0,-11.3,76,804,0.00,2.58,0.00,0.000,6,0.000,0.028,3198,1555,3400,0,0,0,0,0,0
$GC,1062,-0.92,-146.0,138.6,-9.6,101,1067,0.00,2.45,0.00,0.000,4,0.000,0.021,3198,3116,3400,0,0,0,0,0,0
$GC,1081,-0.92,-146.0,141.4,-10.1,102,1090,0.00,2.55,0.00,0.000,6,0.000,0.027,3198,1556,3401,0,0,0,0,0,0
$GC,1348,-0.92,-146.0,166.2,-9.4,127,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1556,3401,0,0,0,0,0,0
$GC,1610,-0.92,-146.0,192.8,-10.1,152,1615,0.00,2.47,0.00,0.000,4,0.000,0.021,3198,3119,3401,0,0,0,0,0,0
$GC,1658,-1.03,-146.0,197.2,-8.4,156,1663,0.10,2.53,0.00,0.000,6,0.071,0.028,3128,1561,3401,0,0,0,0,0,0
$GC,1931,-0.88,-146.0,232.0,-13.0,164,1936,0.32,2.28,0.00,0.000,4,0.080,0.042,3202,164,3401,0,0,0,0,0,0
$GC,1970,-0.94,-146.0,236.5,-9.4,164,1975,0.00,2.10,0.00,0.000,6,0.000,0.018,3202,1570,3401,0,0,0,0,0,0
$GC,2223,-1.01,-146.0,257.7,-8.3,171,2227,0.00,2.42,0.00,0.000,4,0.000,0.022,3202,3121,3401,0,0,0,0,0,0
$GC,2272,-1.15,-146.0,261.4,-6.7,172,2277,0.22,2.53,0.00,0.000,6,0.038,0.028,3104,1568,3401,0,0,0,0,0,0
$GC,2555,-0.99,-146.0,296.9,-13.0,179,2557,0.35,0.00,0.00,0.000,6,0.080,0.000,3183,1568,3401,0,0,0,0,0,0
$GC,2800,-0.99,-146.0,316.8,-8.0,185,2805,0.00,2.47,0.00,0.000,4,0.000,0.025,3183,3120,3400,0,0,0,0,0,0
$GC,2825,-1.06,-146.0,319.0,-8.7,185,2829,0.00,2.50,0.00,0.000,6,0.000,0.030,3183,1575,3400,0,0,0,0,0,0
$GC,3085,-1.10,-146.0,339.9,-8.0,192,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1575,3399,0,0,0,0,0,0
$GC,3330,-1.15,-146.0,359.3,-7.9,198,3335,0.15,2.50,0.00,0.000,4,0.054,0.030,3114,3115,3398,0,0,0,0,0,0
$GC,3360,-1.08,-146.0,362.1,-9.2,198,3365,0.22,2.53,0.00,0.000,6,0.080,0.035,3166,1581,3398,0,0,0,0,0,0
$GC,3616,-1.08,-146.0,381.3,-7.4,205,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1581,3396,0,0,0,0,0,0
$GC,3865,-1.08,-146.0,400.3,-7.9,211,3866,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1581,3395,0,0,0,0,0,0
$GC,4103,-1.08,-146.0,420.9,-8.6,217,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1581,3393,0,0,0,0,0,0
$GC,4347,-1.08,-146.0,442.7,-8.9,223,4351,0.00,2.50,0.00,0.000,4,0.000,0.036,3166,3101,3392,0,0,0,0,0,0
$GC,4377,-1.15,-146.0,445.2,-7.7,223,4382,0.00,2.53,0.00,0.000,6,0.000,0.037,3166,1574,3391,0,0,0,0,0,0
$GC,4632,-1.15,-146.0,465.8,-7.8,230,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1574,3390,0,0,0,0,0,0
$GC,4879,-1.20,-146.0,485.6,-8.4,236,4884,0.12,2.55,0.00,0.000,4,0.063,0.040,3107,3102,3388,0,0,0,0,0,0
$GC,4899,-1.20,-146.0,487.8,-8.7,236,4904,0.12,2.50,0.00,0.000,6,0.100,0.038,3137,1587,3388,0,0,0,0,0,0
$GC,5165,-1.20,-146.0,514.5,-10.2,243,5169,0.00,2.45,0.00,0.000,4,0.000,0.073,3137,173,3386,0,0,0,0,0,0
$GC,5188,-1.20,-146.0,517.3,-11.8,243,5192,0.00,2.17,0.00,0.000,6,0.000,0.028,3137,1543,3386,0,0,0,0,0,0
$GC,5449,-1.20,-146.0,541.7,-9.2,250,5454,0.00,2.67,0.00,0.000,4,0.000,0.043,3136,3150,3384,0,0,0,0,0,0
$GC,5478,-1.20,-146.0,544.4,-8.1,250,5482,0.00,2.60,0.00,0.000,6,0.000,0.042,3137,1591,3384,0,0,0,0,0,0
$GC,5733,-1.20,-146.0,565.1,-8.0,257,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1591,3382,0,0,0,0,0,0
$GC,5977,-1.20,-146.0,583.6,-7.6,263,5981,0.00,2.47,0.00,0.000,4,0.000,0.076,3137,167,3381,0,0,0,0,0,0
$GC,6007,-1.20,-146.0,586.2,-9.3,263,6011,0.00,2.30,0.00,0.000,6,0.000,0.031,3137,1589,3381,0,0,0,0,0,0
$GC,6261,-1.20,-146.0,606.3,-7.9,270,6266,0.00,2.62,0.00,0.000,4,0.000,0.047,3137,3159,3379,0,0,0,0,0,0
$GC,6281,-1.20,-146.0,607.8,-7.8,270,6285,0.00,2.65,0.00,0.000,6,0.000,0.044,3137,1583,3379,0,0,0,0,0,0
$GC,6547,-1.20,-146.0,629.9,-8.6,277,6551,0.00,2.65,0.00,0.000,4,0.000,0.044,3137,3152,3377,0,0,0,0,0,0
$GC,6566,-1.20,-146.0,632.0,-9.2,277,6570,0.00,2.67,0.00,0.000,6,0.000,0.046,3137,1578,3377,0,0,0,0,0,0
$GC,6830,-1.20,-146.0,655.6,-9.1,284,6834,0.00,2.50,0.00,0.000,4,0.000,0.081,3137,166,3376,0,0,0,0,0,0
$GC,6888,-1.20,-146.0,661.1,-9.4,285,6892,0.00,2.33,0.00,0.000,6,0.000,0.035,3137,1588,3375,0,0,0,0,0,0
$GC,7166,-1.20,-146.0,685.6,-8.7,292,7170,0.00,2.65,0.00,0.000,4,0.000,0.054,3137,3158,3374,0,0,0,0,0,0
$GC,7207,-1.28,-146.0,689.2,-8.3,292,7213,0.00,2.67,0.00,0.000,6,0.000,0.048,3137,1585,3374,0,0,0,0,0,0
$GC,7457,-1.28,-146.0,710.3,-8.4,299,7462,0.00,2.53,0.00,0.000,4,0.000,0.081,3137,163,3372,0,0,0,0,0,0
$GC,7486,-1.28,-146.0,712.9,-9.6,299,7490,0.00,2.35,0.00,0.000,6,0.000,0.036,3137,1592,3372,0,0,0,0,0,0
$GC,7743,-1.28,-146.0,733.0,-7.8,306,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1593,3371,0,0,0,0,0,0
$GC,7986,-1.28,-146.0,751.3,-7.4,312,7990,0.00,2.50,0.00,0.000,4,0.000,0.075,3137,166,3370,0,0,0,0,0,0
$GC,8019,-1.28,-146.0,754.0,-8.2,312,8023,0.00,2.33,0.00,0.000,6,0.000,0.037,3137,1581,3369,0,0,0,0,0,0
$GC,8269,-1.28,-146.0,772.1,-7.1,318,8273,0.00,2.67,0.00,0.000,4,0.000,0.055,3137,3156,3368,0,0,0,0,0,0
$GC,8290,-1.28,-146.0,773.5,-7.6,318,8294,0.00,2.70,0.00,0.000,6,0.000,0.049,3137,1575,3369,0,0,0,0,0,0
$GC,8554,-1.28,-146.0,793.1,-7.5,325,8558,0.00,2.50,0.00,0.000,4,0.000,0.083,3137,165,3367,0,0,0,0,0,0
$GC,8587,-1.28,-146.0,795.7,-7.9,325,8591,0.00,2.33,0.00,0.000,6,0.000,0.036,3137,1580,3367,0,0,0,0,0,0
$GC,8842,-1.28,-146.0,813.9,-7.2,331,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1580,3367,0,0,0,0,0,0
$GC,9081,-1.28,-146.0,831.1,-7.0,337,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1580,3366,0,0,0,0,0,0
$GC,9325,-1.28,-146.0,847.0,-6.5,343,9329,0.00,2.65,0.00,0.000,4,0.000,0.056,3137,3155,3365,0,0,0,0,0,0
$GC,9351,-1.32,-146.0,848.5,-6.9,343,9358,0.12,2.70,0.00,0.000,6,0.064,0.050,3083,1574,3365,0,0,0,0,0,0
$GC,9613,-1.24,-146.0,870.2,-8.3,350,9618,0.20,2.50,0.00,0.000,4,0.091,0.081,3128,167,3364,0,0,0,0,0,0
$GC,9642,-1.24,-146.0,872.5,-7.3,350,9647,0.00,2.33,0.00,0.000,6,0.000,0.037,3128,1585,3364,0,0,0,0,0,0
$GC,9899,-1.24,-146.0,887.4,-5.8,357,9903,0.00,2.67,0.00,0.000,4,0.000,0.057,3128,3154,3363,0,0,0,0,0,0
$GC,9923,-1.24,-146.0,889.0,-6.6,357,9927,0.00,2.65,0.00,0.000,6,0.000,0.049,3128,1587,3363,0,0,0,0,0,0
$STATE,10139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10139,begin apogee
$GC,10145,-0.31,0.0,901.7,5.9,363,10270,0.88,0.00,120.93,1.149,6,0.071,0.000,3330,1340,2800,0,0,0,0,0,0
$STATE,10271,end apogee,CONTROL_FINISHED_OK
$STATE,10271,begin climb
$GC,10275,1.27,146.0,903.7,0.0,366,10412,1.45,0.00,133.05,1.126,6,0.032,0.000,3681,1340,2204,0,0,0,0,0,0
$GC,10626,1.08,146.0,870.2,13.1,375,10630,0.22,2.12,0.00,0.000,4,0.111,0.081,3635,165,2194,0,0,0,0,0,0
$GC,10686,0.91,146.0,862.8,12.6,376,10691,0.17,1.92,0.00,0.000,6,0.116,0.031,3601,1344,2194,0,0,0,0,0,0
$GC,10960,0.96,181.0,838.6,8.4,383,10997,0.00,2.78,31.42,1.057,4,0.000,0.054,3600,2934,2061,0,0,0,0,0,0
$GC,11009,1.01,226.5,834.5,7.9,383,11061,0.00,2.78,44.38,1.059,6,0.000,0.048,3600,1346,1876,0,0,0,0,0,0
$GC,11334,1.01,226.5,800.2,11.0,391,11339,0.00,2.72,0.00,0.000,4,0.000,0.046,3600,2936,1869,0,0,0,0,0,0
$GC,11364,1.01,226.5,796.3,10.1,391,11369,0.00,2.78,0.00,0.000,6,0.000,0.051,3600,1343,1866,0,0,0,0,0,0
$GC,11619,1.01,226.5,767.5,11.4,398,11623,0.00,2.15,0.00,0.000,4,0.000,0.089,3600,164,1866,0,0,0,0,0,0
$GC,11637,1.01,226.5,765.2,10.9,398,11641,0.00,1.98,0.00,0.000,6,0.000,0.031,3600,1349,1866,0,0,0,0,0,0
$GC,11905,1.01,226.5,734.8,11.2,405,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1349,1865,0,0,0,0,0,0
$GC,12153,1.01,226.5,707.3,11.3,411,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1350,1865,0,0,0,0,0,0
$GC,12393,1.01,226.5,679.8,11.3,417,12397,0.00,2.70,0.00,0.000,4,0.000,0.052,3600,2936,1864,0,0,0,0,0,0
$GC,12407,1.01,226.5,678.0,11.6,417,12412,0.00,2.70,0.00,0.000,6,0.000,0.047,3600,1353,1862,0,0,0,0,0,0
$GC,12677,1.01,226.5,646.2,11.9,424,12682,0.00,2.67,0.00,0.000,4,0.000,0.045,3600,2936,1862,0,0,0,0,0,0
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$STATE,18638,end climb,SURFACE_DEPTH_REACHED
$STATE,18638,begin surface coast
$FINISH,1.1,1.010037
$STATE,18690,end surface coast,CONTROL_FINISHED_OK
$STATE,18690,begin surface
$SM_CCo,18714,44.25,0.426,0,0,1210,390.03
$SM_GC,1.80,0.00,0.00,44.25,0.000,0.000,0.426,416,1613,1210,-13.73,1.22,390.03
$IRIDIUM_FIX,2239.35,-15739.35,091102,202024
$TT8_MAMPS,0.027612
$HUMID,66.97
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,9
$24V_AH,23.0,57.476
$10V_AH,9.8,55.235
$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
$DEVICE_SECS,33.425,210.625,410.175,44.250,0.000,24.104,38.374,245.100,2.250,0.000,15.818,1538.833,13775.492,591.527,2500.954,811.064,33.373,1618.718,0.000,2524.775,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.243,390.650,488.506,1001.287,1325.781,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,57388,716
$CAP_FILE_SIZE,176002,0
$CFSIZE,260165632,142618624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160813,070456,2250.435,-15739.067,25,2.1,44,10.1