version: 66.06
glider: 148
mission: 12
dive: 170
start: 6 27 113 15 7 32
data:
$ID,148
$MISSION,12
$DIVE,170
$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,380
$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,-1019568.1
$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,29
$R_STBD_OVSHOOT,55
$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
$GPS1,145641,2239.307,-15737.933,36,1.3,48,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-77.1
$GPS2,150636,2239.315,-15737.986,9,0.9,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.116,0.232
$KALMAN_X,-187276.3,181.4,382.6,224408.5,-1627.5
$KALMAN_Y,80739.5,42.8,62.7,-91353.5,848.7
$MHEAD_RNG_PITCHd_Wd,16.4,48562,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-67.05,0.000,2,0.000,0.000,414,1625,2960,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-4.8,9,122,14.90,2.45,-7.70,0.000,4,0.176,0.035,3104,3149,3397,0,0,0,0,0,0
$GC,151,-0.99,-146.0,21.9,-22.9,17,161,0.25,2.62,0.00,0.000,6,0.082,0.031,3163,1566,3398,0,0,0,0,0,0
$GC,430,-0.90,-146.0,59.4,-11.7,45,435,0.12,2.30,0.00,0.000,4,0.114,0.042,3189,165,3399,0,0,0,0,0,0
$GC,464,-0.85,-146.0,63.9,-12.3,47,468,0.00,2.12,0.00,0.000,6,0.000,0.017,3189,1591,3399,0,0,0,0,0,0
$GC,728,-0.85,-146.0,91.7,-11.8,71,733,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1593,3399,0,0,0,0,0,0
$GC,991,-0.85,-146.0,119.5,-9.4,96,995,0.00,2.35,0.00,0.000,4,0.000,0.041,3189,167,3400,0,0,0,0,0,0
$GC,1011,-0.85,-146.0,121.1,-8.6,97,1015,0.00,2.08,0.00,0.000,6,0.000,0.017,3189,1576,3400,0,0,0,0,0,0
$GC,1279,-0.85,-146.0,144.9,-9.1,121,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1580,3400,0,0,0,0,0,0
$GC,1540,-0.85,-146.0,169.8,-9.7,146,1544,0.00,2.30,0.00,0.000,4,0.000,0.043,3189,168,3400,0,0,0,0,0,0
$GC,1569,-0.85,-146.0,172.3,-10.3,148,1573,0.00,2.05,0.00,0.000,6,0.000,0.017,3190,1562,3400,0,0,0,0,0,0
$GC,1837,-0.85,-146.0,198.6,-9.9,172,1841,0.00,2.42,0.00,0.000,4,0.000,0.021,3189,3109,3400,0,0,0,0,0,0
$GC,1880,-0.98,-146.0,203.4,-9.0,174,1885,0.00,2.47,0.00,0.000,6,0.000,0.028,3189,1561,3400,0,0,0,0,0,0
$GC,2170,-1.03,-146.0,228.3,-8.5,181,2174,0.12,2.28,0.00,0.000,4,0.063,0.045,3130,174,3400,0,0,0,0,0,0
$GC,2194,-0.98,-146.0,231.3,-11.4,181,2199,0.17,2.05,0.00,0.000,6,0.092,0.018,3171,1548,3400,0,0,0,0,0,0
$GC,2455,-0.98,-146.0,257.3,-10.0,188,2459,0.00,2.45,0.00,0.000,4,0.000,0.022,3171,3119,3400,0,0,0,0,0,0
$GC,2488,-1.07,-146.0,260.9,-9.0,188,2493,0.00,2.53,0.00,0.000,6,0.000,0.029,3171,1563,3400,0,0,0,0,0,0
$GC,2738,-1.07,-146.0,284.6,-9.4,194,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1563,3400,0,0,0,0,0,0
$GC,2984,-1.13,-146.0,302.3,-7.1,200,2986,0.15,0.00,0.00,0.000,6,0.054,0.000,3104,1563,3400,0,0,0,0,0,0
$GC,3226,-1.05,-146.0,328.5,-11.7,206,3231,0.22,2.50,0.00,0.000,4,0.087,0.028,3155,3110,3399,0,0,0,0,0,0
$GC,3275,-1.16,-146.0,333.3,-8.4,207,3281,0.10,2.50,0.00,0.000,6,0.075,0.035,3095,1577,3399,0,0,0,0,0,0
$GC,3560,-1.08,-146.0,365.6,-11.5,214,3562,0.25,0.00,0.00,0.000,6,0.087,0.000,3152,1577,3397,0,0,0,0,0,0
$GC,3803,-1.12,-146.0,383.0,-6.7,220,3807,0.00,2.40,0.00,0.000,4,0.000,0.061,3152,167,3397,0,0,0,0,0,0
$GC,3848,-1.17,-146.0,386.2,-8.0,221,3852,0.00,2.12,0.00,0.000,6,0.000,0.022,3152,1537,3396,0,0,0,0,0,0
$GC,4135,-1.22,-146.0,407.2,-7.3,228,4140,0.15,2.62,0.00,0.000,4,0.057,0.034,3088,3141,3394,0,0,0,0,0,0
$GC,4187,-1.22,-146.0,412.3,-10.1,229,4193,0.12,2.60,0.00,0.000,6,0.104,0.039,3118,1567,3394,0,0,0,0,0,0
$GC,4468,-1.22,-146.0,436.9,-8.8,236,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1567,3391,0,0,0,0,0,0
$GC,4710,-1.22,-146.0,458.4,-8.9,242,4714,0.00,2.38,0.00,0.000,4,0.000,0.067,3118,171,3390,0,0,0,0,0,0
$GC,4733,-1.22,-146.0,460.9,-10.1,242,4737,0.00,2.20,0.00,0.000,6,0.000,0.027,3118,1566,3390,0,0,0,0,0,0
$GC,4994,-1.22,-146.0,484.2,-9.0,249,4998,0.00,2.58,0.00,0.000,4,0.000,0.039,3118,3146,3388,0,0,0,0,0,0
$GC,5018,-1.22,-146.0,486.5,-8.5,249,5022,0.00,2.60,0.00,0.000,6,0.000,0.039,3118,1572,3388,0,0,0,0,0,0
$GC,5277,-1.22,-146.0,507.9,-8.3,256,5281,0.00,2.40,0.00,0.000,4,0.000,0.071,3118,172,3386,0,0,0,0,0,0
$GC,5311,-1.22,-146.0,511.0,-10.2,256,5315,0.00,2.25,0.00,0.000,6,0.000,0.035,3118,1573,3386,0,0,0,0,0,0
$GC,5561,-1.22,-146.0,533.4,-9.0,262,5565,0.00,2.60,0.00,0.000,4,0.000,0.042,3118,3150,3384,0,0,0,0,0,0
$GC,5599,-1.28,-146.0,537.1,-9.0,262,5605,0.00,2.65,0.00,0.000,6,0.000,0.043,3118,1571,3384,0,0,0,0,0,0
$GC,5851,-1.28,-146.0,560.5,-9.3,269,5855,0.00,2.42,0.00,0.000,4,0.000,0.076,3118,169,3382,0,0,0,0,0,0
$GC,5880,-1.28,-146.0,563.5,-9.9,269,5885,0.00,2.28,0.00,0.000,6,0.000,0.031,3118,1576,3382,0,0,0,0,0,0
$GC,6135,-1.28,-146.0,586.1,-8.7,276,6139,0.00,2.62,0.00,0.000,4,0.000,0.044,3118,3156,3380,0,0,0,0,0,0
$GC,6160,-1.28,-146.0,588.3,-8.8,276,6165,0.00,2.67,0.00,0.000,6,0.000,0.045,3118,1570,3380,0,0,0,0,0,0
$GC,6420,-1.28,-146.0,610.3,-8.5,283,6424,0.00,2.42,0.00,0.000,4,0.000,0.077,3118,171,3379,0,0,0,0,0,0
$GC,6453,-1.28,-146.0,613.6,-9.7,283,6457,0.00,2.25,0.00,0.000,6,0.000,0.031,3118,1572,3379,0,0,0,0,0,0
$GC,6704,-1.28,-146.0,635.4,-8.7,289,6706,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1572,3378,0,0,0,0,0,0
$GC,6947,-1.28,-146.0,657.1,-9.0,295,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1572,3376,0,0,0,0,0,0
$GC,7190,-1.28,-146.0,678.8,-9.0,301,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1572,3375,0,0,0,0,0,0
$GC,7434,-1.28,-146.0,699.4,-8.4,307,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1572,3373,0,0,0,0,0,0
$GC,7679,-1.28,-146.0,720.0,-8.5,313,7684,0.00,2.62,0.00,0.000,4,0.000,0.051,3118,3152,3372,0,0,0,0,0,0
$GC,7698,-1.28,-146.0,722.0,-9.2,313,7703,0.00,2.67,0.00,0.000,6,0.000,0.047,3117,1561,3372,0,0,0,0,0,0
$GC,7963,-1.28,-146.0,743.6,-8.2,320,7967,0.00,2.45,0.00,0.000,4,0.000,0.081,3118,163,3371,0,0,0,0,0,0
$GC,7988,-1.28,-146.0,745.8,-10.0,320,7992,0.00,2.28,0.00,0.000,6,0.000,0.032,3118,1564,3370,0,0,0,0,0,0
$GC,8251,-1.28,-146.0,768.4,-8.6,327,8256,0.00,2.42,0.00,0.000,4,0.000,0.074,3118,171,3370,0,0,0,0,0,0
$GC,8275,-1.28,-146.0,770.8,-10.3,327,8279,0.00,2.25,0.00,0.000,6,0.000,0.033,3118,1565,3369,0,0,0,0,0,0
$GC,8535,-1.28,-146.0,794.9,-9.4,334,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1564,3368,0,0,0,0,0,0
$GC,8777,-1.28,-146.0,816.4,-8.7,340,8782,0.00,2.42,0.00,0.000,4,0.000,0.074,3118,172,3367,0,0,0,0,0,0
$GC,8801,-1.28,-146.0,818.4,-9.0,340,8805,0.00,2.28,0.00,0.000,6,0.000,0.034,3118,1566,3367,0,0,0,0,0,0
$GC,9066,-1.28,-146.0,838.0,-7.3,347,9071,0.00,2.67,0.00,0.000,4,0.000,0.051,3118,3158,3366,0,0,0,0,0,0
$GC,9090,-1.34,-146.0,839.9,-7.8,347,9095,0.10,2.70,0.00,0.000,6,0.075,0.048,3068,1570,3366,0,0,0,0,0,0
$GC,9351,-1.26,-146.0,862.5,-8.9,354,9356,0.20,2.45,0.00,0.000,4,0.098,0.080,3112,170,3365,0,0,0,0,0,0
$GC,9383,-1.26,-146.0,865.0,-8.0,354,9387,0.00,2.30,0.00,0.000,6,0.000,0.035,3112,1574,3365,0,0,0,0,0,0
$GC,9638,-1.26,-146.0,883.7,-7.5,361,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1574,3364,0,0,0,0,0,0
$STATE,9838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9838,begin apogee
$GC,9844,-0.31,0.0,900.9,8.5,366,9967,0.90,0.00,119.72,1.157,6,0.077,0.000,3317,1342,2800,0,0,0,0,0,0
$STATE,9968,end apogee,CONTROL_FINISHED_OK
$STATE,9968,begin climb
$GC,9972,1.27,146.0,906.1,0.0,369,10109,1.42,0.00,130.32,1.137,6,0.035,0.000,3663,1342,2204,0,0,0,0,0,0
$GC,10341,1.06,146.0,877.4,11.7,378,10346,0.22,2.08,0.00,0.000,4,0.114,0.073,3618,178,2194,0,0,0,0,0,0
$GC,10413,0.89,146.0,868.9,12.4,379,10417,0.20,1.92,0.00,0.000,6,0.112,0.030,3578,1350,2194,0,0,0,0,0,0
$GC,10672,0.92,173.1,845.7,8.7,386,10702,0.00,2.15,24.17,1.058,4,0.000,0.071,3578,175,2093,0,0,0,0,0,0
$GC,10723,0.85,173.1,840.9,10.8,387,10726,0.00,1.95,0.00,0.000,6,0.000,0.030,3577,1353,2092,0,0,0,0,0,0
$GC,11004,0.85,173.1,812.5,10.0,394,11008,0.00,2.10,0.00,0.000,4,0.000,0.071,3578,169,2088,0,0,0,0,0,0
$GC,11032,0.78,173.1,809.2,10.8,394,11036,0.10,1.92,0.00,0.000,6,0.128,0.030,3558,1345,2088,0,0,0,0,0,0
$GC,11293,0.80,191.0,785.1,9.2,401,11312,0.00,0.00,16.92,1.010,6,0.000,0.000,3558,1346,2020,0,0,0,0,0,0
$GC,11535,0.83,210.6,762.9,9.1,407,11557,0.00,0.00,19.60,1.007,6,0.000,0.000,3558,1346,1941,0,0,0,0,0,0
$GC,11781,0.90,226.1,740.3,9.3,413,11799,0.10,0.00,15.90,0.977,6,0.080,0.000,3597,1346,1878,0,0,0,0,0,0
$GC,12022,0.90,226.1,712.9,11.3,419,12027,0.00,2.70,0.00,0.000,4,0.000,0.051,3597,2931,1875,0,0,0,0,0,0
$GC,12050,0.90,226.1,709.7,11.2,419,12055,0.00,2.72,0.00,0.000,6,0.000,0.048,3597,1343,1872,0,0,0,0,0,0
$GC,12305,0.90,226.1,683.2,10.2,426,12310,0.00,2.67,0.00,0.000,4,0.000,0.043,3597,2929,1872,0,0,0,0,0,0
$GC,12330,0.94,261.8,680.9,8.4,426,12371,0.00,2.72,33.10,0.991,6,0.000,0.051,3597,1342,1732,0,0,0,0,0,0
$GC,12635,0.94,261.8,647.6,11.0,434,12640,0.00,2.70,0.00,0.000,4,0.000,0.044,3597,2935,1727,0,0,0,0,0,0
$GC,12669,0.94,261.8,643.8,10.6,434,12674,0.00,2.75,0.00,0.000,6,0.000,0.051,3597,1347,1725,0,0,0,0,0,0
$GC,12919,0.94,261.8,615.6,11.4,440,12920,0.00,0.00,0.00,0.000,6,0.000,0.000,3597,1346,1725,0,0,0,0,0,0
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$STATE,18196,end climb,SURFACE_DEPTH_REACHED
$STATE,18197,begin surface coast
$FINISH,0.9,1.023832
$STATE,18239,end surface coast,CONTROL_FINISHED_OK
$STATE,18239,begin surface
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$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,13
$24V_AH,23.3,24.738
$10V_AH,9.9,21.811
$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
$DEVICE_SECS,34.425,202.900,402.175,43.475,0.000,56.989,71.306,251.337,3.250,0.000,10.921,1515.012,13699.750,560.416,2297.532,824.321,33.369,1573.237,0.000,2299.749,0.000,0.536,0.000
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$SENSOR_SECS,474.437,336.576,426.386,750.930,1024.257,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,54171,697
$CAP_FILE_SIZE,177742,0
$CFSIZE,260165632,159580160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270613,201405,2242.595,-15737.921,38,1.6,43,10.1