version: 66.06
glider: 148
mission: 12
dive: 397
start: 8 17 113 16 24 48
data:
$ID,148
$MISSION,12
$DIVE,397
$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,-1023976.4
$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,87
$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
$GPS1,161528,2300.689,-15735.985,37,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.3
$GPS2,162356,2300.633,-15736.010,12,1.3,31,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.039,0.257
$KALMAN_X,-91101.4,-60.3,-450.3,132683.6,1060.2
$KALMAN_Y,67273.8,-187.9,318.7,-38422.0,-1521.6
$MHEAD_RNG_PITCHd_Wd,341.2,8941,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.27,-145.9,0.0,0.0,0,89,0.00,0.00,-66.78,0.000,2,0.000,0.000,408,1614,2902,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.1,-3.7,9,124,14.60,2.40,-9.10,0.000,4,0.163,0.031,3118,3113,3397,0,0,0,0,0,0
$GC,211,-1.08,-146.0,30.8,-17.9,26,220,0.17,2.58,0.00,0.000,6,0.079,0.033,3162,1565,3398,0,0,0,0,0,0
$GC,478,-0.94,-146.0,74.9,-13.7,51,483,0.15,2.33,0.00,0.000,4,0.102,0.043,3194,162,3398,0,0,0,0,0,0
$GC,502,-0.85,-146.0,79.1,-13.1,52,511,0.00,2.15,0.00,0.000,6,0.000,0.017,3194,1576,3398,0,0,0,0,0,0
$GC,769,-0.80,-146.0,108.0,-10.7,77,774,0.15,2.42,0.00,0.000,4,0.097,0.021,3228,3116,3399,0,0,0,0,0,0
$GC,800,-0.86,-146.0,111.2,-9.4,79,805,0.00,2.53,0.00,0.000,6,0.000,0.028,3228,1563,3399,0,0,0,0,0,0
$GC,1069,-0.92,-146.0,132.2,-8.1,103,1074,0.12,0.00,0.00,0.000,6,0.063,0.000,3161,1563,3399,0,0,0,0,0,0
$GC,1332,-0.81,-146.0,162.9,-11.5,128,1337,0.25,2.45,0.00,0.000,4,0.080,0.020,3221,3119,3399,0,0,0,0,0,0
$GC,1364,-0.81,-146.0,165.6,-8.6,130,1368,0.00,2.47,0.00,0.000,6,0.000,0.028,3221,1577,3399,0,0,0,0,0,0
$GC,1631,-0.87,-146.0,185.4,-7.3,154,1636,0.00,2.42,0.00,0.000,4,0.000,0.021,3221,3117,3400,0,0,0,0,0,0
$GC,1659,-0.97,-146.0,187.7,-7.3,156,1664,0.15,2.50,0.00,0.000,6,0.052,0.028,3135,1578,3400,0,0,0,0,0,0
$GC,1934,-0.82,-146.0,222.0,-13.0,170,1939,0.35,2.33,0.00,0.000,4,0.080,0.041,3214,167,3400,0,0,0,0,0,0
$GC,1963,-0.82,-146.0,225.2,-9.1,170,1967,0.00,2.12,0.00,0.000,6,0.000,0.018,3214,1582,3399,0,0,0,0,0,0
$GC,2220,-0.90,-146.0,241.9,-6.5,177,2224,0.00,2.40,0.00,0.000,4,0.000,0.022,3214,3120,3400,0,0,0,0,0,0
$GC,2263,-1.07,-146.0,244.7,-5.8,178,2268,0.20,2.47,0.00,0.000,6,0.043,0.028,3117,1593,3399,0,0,0,0,0,0
$GC,2553,-0.92,-146.0,279.6,-13.0,185,2555,0.38,0.00,0.00,0.000,6,0.081,0.000,3197,1593,3399,0,0,0,0,0,0
$GC,2798,-0.99,-146.0,298.3,-7.2,191,2802,0.00,2.38,0.00,0.000,4,0.000,0.049,3197,166,3398,0,0,0,0,0,0
$GC,2826,-1.05,-146.0,300.7,-8.1,191,2831,0.12,2.15,0.00,0.000,6,0.061,0.019,3129,1579,3398,0,0,0,0,0,0
$GC,3084,-0.97,-146.0,328.0,-11.0,198,3086,0.28,0.00,0.00,0.000,6,0.080,0.000,3191,1582,3398,0,0,0,0,0,0
$GC,3326,-1.03,-146.0,347.1,-7.5,204,3330,0.00,2.50,0.00,0.000,4,0.000,0.028,3191,3131,3397,0,0,0,0,0,0
$GC,3354,-1.14,-146.0,349.5,-8.0,204,3360,0.17,2.50,0.00,0.000,6,0.046,0.033,3112,1604,3397,0,0,0,0,0,0
$GC,3616,-1.03,-146.0,380.2,-12.3,211,3618,0.28,0.00,0.00,0.000,6,0.081,0.000,3175,1604,3395,0,0,0,0,0,0
$GC,3854,-1.03,-146.0,401.6,-8.2,217,3858,0.00,2.42,0.00,0.000,4,0.000,0.059,3175,167,3394,0,0,0,0,0,0
$GC,3877,-1.03,-146.0,403.4,-8.5,217,3882,0.00,2.22,0.00,0.000,6,0.000,0.022,3175,1591,3394,0,0,0,0,0,0
$GC,4143,-1.08,-146.0,421.9,-7.0,224,4148,0.00,2.50,0.00,0.000,4,0.000,0.035,3175,3140,3392,0,0,0,0,0,0
$GC,4181,-1.19,-146.0,424.7,-7.0,224,4188,0.15,2.55,0.00,0.000,6,0.054,0.036,3108,1603,3392,0,0,0,0,0,0
$GC,4436,-1.09,-146.0,449.9,-10.6,231,4441,0.25,2.47,0.00,0.000,4,0.084,0.062,3168,163,3390,0,0,0,0,0,0
$GC,4480,-1.16,-146.0,454.6,-8.7,232,4484,0.00,2.25,0.00,0.000,6,0.000,0.026,3169,1599,3390,0,0,0,0,0,0
$GC,4767,-1.16,-146.0,476.2,-7.5,239,4772,0.00,2.50,0.00,0.000,4,0.000,0.039,3169,3138,3388,0,0,0,0,0,0
$GC,4798,-1.23,-146.0,478.4,-7.8,239,4803,0.15,2.55,0.00,0.000,6,0.052,0.038,3102,1602,3388,0,0,0,0,0,0
$GC,5056,-1.13,-146.0,506.5,-11.0,246,5061,0.22,2.50,0.00,0.000,4,0.086,0.069,3153,162,3386,0,0,0,0,0,0
$GC,5102,-1.13,-146.0,510.9,-9.1,247,5106,0.00,2.28,0.00,0.000,6,0.000,0.029,3153,1589,3386,0,0,0,0,0,0
$GC,5389,-1.13,-146.0,532.8,-7.2,254,5394,0.00,2.60,0.00,0.000,4,0.000,0.051,3153,3155,3384,0,0,0,0,0,0
$GC,5418,-1.19,-146.0,534.9,-7.0,254,5423,0.00,2.62,0.00,0.000,6,0.000,0.041,3153,1590,3384,0,0,0,0,0,0
$GC,5677,-1.19,-146.0,551.8,-6.6,261,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1590,3382,0,0,0,0,0,0
$GC,5917,-1.19,-146.0,568.2,-6.8,267,5921,0.00,2.60,0.00,0.000,4,0.000,0.044,3152,3148,3381,0,0,0,0,0,0
$GC,5941,-1.24,-146.0,570.0,-8.1,267,5945,0.00,2.62,0.00,0.000,6,0.000,0.044,3153,1594,3381,0,0,0,0,0,0
$GC,6200,-1.24,-146.0,588.6,-7.3,274,6205,0.00,2.50,0.00,0.000,4,0.000,0.077,3153,167,3379,0,0,0,0,0,0
$GC,6233,-1.24,-146.0,591.3,-8.0,274,6238,0.00,2.30,0.00,0.000,6,0.000,0.032,3153,1598,3379,0,0,0,0,0,0
$GC,6483,-1.24,-146.0,609.1,-7.0,280,6488,0.00,2.58,0.00,0.000,4,0.000,0.048,3153,3153,3378,0,0,0,0,0,0
$GC,6519,-1.31,-146.0,611.5,-6.8,280,6524,0.15,2.62,0.00,0.000,6,0.054,0.045,3089,1601,3377,0,0,0,0,0,0
$GC,6774,-1.20,-146.0,633.8,-9.0,286,6779,0.22,2.53,0.00,0.000,4,0.087,0.076,3139,167,3376,0,0,0,0,0,0
$GC,6821,-1.20,-146.0,637.9,-7.2,287,6825,0.00,2.33,0.00,0.000,6,0.000,0.034,3139,1605,3375,0,0,0,0,0,0
$GC,7107,-1.20,-146.0,655.6,-6.2,294,7112,0.00,2.53,0.00,0.000,4,0.000,0.073,3140,167,3374,0,0,0,0,0,0
$GC,7131,-1.20,-146.0,657.4,-7.8,294,7135,0.00,2.30,0.00,0.000,6,0.000,0.035,3139,1591,3373,0,0,0,0,0,0
$GC,7396,-1.20,-146.0,675.1,-7.1,301,7401,0.00,2.62,0.00,0.000,4,0.000,0.055,3139,3153,3372,0,0,0,0,0,0
$GC,7420,-1.20,-146.0,677.4,-8.3,301,7425,0.00,2.62,0.00,0.000,6,0.000,0.048,3139,1594,3372,0,0,0,0,0,0
$GC,7680,-1.20,-146.0,697.2,-7.8,308,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,1594,3370,0,0,0,0,0,0
$GC,7923,-1.20,-146.0,716.0,-7.7,314,7928,0.00,2.50,0.00,0.000,4,0.000,0.081,3140,166,3369,0,0,0,0,0,0
$GC,7944,-1.20,-146.0,717.7,-8.4,314,7949,0.00,2.33,0.00,0.000,6,0.000,0.035,3140,1591,3369,0,0,0,0,0,0
$GC,8211,-1.20,-146.0,737.2,-7.1,321,8215,0.00,2.62,0.00,0.000,4,0.000,0.055,3139,3153,3368,0,0,0,0,0,0
$GC,8230,-1.20,-146.0,738.7,-7.0,321,8234,0.00,2.67,0.00,0.000,6,0.000,0.048,3139,1584,3368,0,0,0,0,0,0
$GC,8496,-1.20,-146.0,756.6,-6.8,328,8500,0.00,2.50,0.00,0.000,4,0.000,0.081,3139,161,3367,0,0,0,0,0,0
$GC,8519,-1.20,-146.0,758.6,-8.3,328,8524,0.00,2.35,0.00,0.000,6,0.000,0.035,3140,1592,3366,0,0,0,0,0,0
$GC,8779,-1.20,-146.0,776.7,-7.0,335,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1593,3366,0,0,0,0,0,0
$GC,9026,-1.20,-146.0,793.9,-7.0,341,9031,0.00,2.62,0.00,0.000,4,0.000,0.056,3140,3153,3365,0,0,0,0,0,0
$GC,9046,-1.20,-146.0,795.6,-6.9,341,9050,0.00,2.67,0.00,0.000,6,0.000,0.049,3140,1581,3365,0,0,0,0,0,0
$GC,9310,-1.20,-146.0,814.5,-7.0,348,9314,0.00,2.47,0.00,0.000,4,0.000,0.081,3140,169,3364,0,0,0,0,0,0
$GC,9340,-1.20,-146.0,816.7,-8.1,348,9344,0.00,2.33,0.00,0.000,6,0.000,0.035,3139,1592,3364,0,0,0,0,0,0
$GC,9595,-1.20,-146.0,833.7,-6.5,355,9599,0.00,2.65,0.00,0.000,4,0.000,0.058,3139,3160,3363,0,0,0,0,0,0
$GC,9628,-1.27,-146.0,835.8,-6.2,355,9633,0.00,2.67,0.00,0.000,6,0.000,0.050,3139,1594,3363,0,0,0,0,0,0
$GC,9884,-1.27,-146.0,851.0,-6.0,361,9889,0.00,2.50,0.00,0.000,4,0.000,0.081,3140,169,3362,0,0,0,0,0,0
$GC,9908,-1.27,-146.0,853.0,-6.9,361,9912,0.00,2.35,0.00,0.000,6,0.000,0.036,3140,1600,3361,0,0,0,0,0,0
$GC,10167,-1.27,-146.0,867.4,-5.4,368,10172,0.00,2.62,0.00,0.000,4,0.000,0.057,3139,3157,3361,0,0,0,0,0,0
$GC,10188,-1.27,-146.0,868.7,-5.6,368,10193,0.00,2.67,0.00,0.000,6,0.000,0.049,3139,1588,3361,0,0,0,0,0,0
$GC,10452,-1.27,-146.0,883.4,-5.8,375,10457,0.00,2.53,0.00,0.000,4,0.000,0.082,3140,163,3360,0,0,0,0,0,0
$GC,10485,-1.27,-146.0,885.7,-6.7,375,10490,0.00,2.35,0.00,0.000,6,0.000,0.035,3139,1595,3360,0,0,0,0,0,0
$STATE,10735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10735,begin apogee
$GC,10744,-0.31,0.0,901.9,6.7,381,10868,0.82,0.00,120.85,1.158,6,0.066,0.000,3331,1336,2800,0,0,0,0,0,0
$STATE,10869,end apogee,CONTROL_FINISHED_OK
$STATE,10869,begin climb
$GC,10871,1.27,146.0,906.0,0.0,384,11014,1.42,2.15,132.05,1.135,4,0.032,0.080,3679,169,2203,0,0,0,0,0,0
$GC,11070,1.02,146.0,895.2,14.3,388,11075,0.28,1.98,0.00,0.000,6,0.110,0.032,3624,1359,2199,0,0,0,0,0,0
$GC,11332,0.96,162.6,870.5,9.2,395,11353,0.00,2.20,14.98,1.015,4,0.000,0.074,3624,177,2136,0,0,0,0,0,0
$GC,11368,0.86,173.9,866.7,9.5,395,11387,0.17,1.95,12.32,0.982,6,0.111,0.031,3589,1350,2090,0,0,0,0,0,0
$GC,11674,0.87,178.4,837.6,9.8,403,11680,0.00,0.00,4.75,0.741,6,0.000,0.000,3589,1350,2072,0,0,0,0,0,0
$GC,11913,0.87,178.4,811.7,10.7,409,11918,0.00,2.72,0.00,0.000,4,0.000,0.058,3589,2930,2070,0,0,0,0,0,0
$GC,11951,0.94,178.4,807.7,10.7,409,11957,0.00,2.72,0.00,0.000,6,0.000,0.051,3589,1357,2068,0,0,0,0,0,0
$GC,12205,0.94,178.4,781.4,10.5,416,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,1357,2068,0,0,0,0,0,0
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$STATE,19345,end climb,SURFACE_DEPTH_REACHED
$STATE,19345,begin surface coast
$FINISH,2.2,1.023246
$STATE,19360,end surface coast,CONTROL_FINISHED_OK
$STATE,19360,begin surface
$SM_CCo,19388,45.88,0.433,0,0,1209,390.03
$SM_GC,1.80,0.00,0.00,45.88,0.000,0.000,0.433,415,1555,1209,-13.73,-0.42,390.03
$IRIDIUM_FIX,2251.04,-15730.19,111102,111141
$TT8_MAMPS,0.027612
$HUMID,66.73
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.50
$XPDR_PINGS,14
$24V_AH,23.0,58.539
$10V_AH,9.8,56.296
$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,35.875,242.150,422.600,45.875,0.000,32.830,43.416,249.572,3.500,0.000,33.406,1620.053,14222.313,565.000,2675.107,845.950,33.372,1698.694,0.000,2663.696,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,87.438,1158.170,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.230,391.851,493.877,1020.149,1350.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,57407,730
$CAP_FILE_SIZE,194721,0
$CFSIZE,260165632,142069760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170813,215006,2302.202,-15736.274,36,1.9,41,10.1