version: 66.06
glider: 148
mission: 12
dive: 172
start: 6 28 113 1 46 24
data:
$ID,148
$MISSION,12
$DIVE,172
$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,-1019614
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,013626,2246.410,-15738.739,28,99.0,47,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-76.4
$GPS2,014532,2246.479,-15738.895,9,99.0,28,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,0.250
$KALMAN_X,-189925.1,-621.7,-31.2,226738.5,-426.8
$KALMAN_Y,84631.8,152.0,450.9,-82475.8,430.7
$MHEAD_RNG_PITCHd_Wd,5.5,35592,-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,-67.47,0.000,2,0.000,0.000,414,1639,2979,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-5.0,9,124,13.90,2.47,-7.62,0.000,4,0.148,0.037,3102,3169,3398,0,0,0,0,0,0
$GC,186,-1.12,-146.0,25.9,-17.0,22,196,0.12,2.65,0.00,0.000,6,0.081,0.033,3135,1571,3399,0,0,0,0,0,0
$GC,460,-0.97,-146.0,68.4,-15.6,48,465,0.17,2.55,0.00,0.000,4,0.104,0.022,3172,3178,3399,0,0,0,0,0,0
$GC,481,-0.85,-146.0,72.2,-15.8,49,487,0.12,2.60,0.00,0.000,6,0.100,0.027,3201,1560,3400,0,0,0,0,0,0
$GC,749,-0.85,-146.0,96.4,-7.4,73,754,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1560,3399,0,0,0,0,0,0
$GC,1010,-0.85,-146.0,115.8,-7.4,98,1015,0.00,2.53,0.00,0.000,4,0.000,0.022,3200,3168,3400,0,0,0,0,0,0
$GC,1034,-0.91,-146.0,117.7,-8.5,99,1040,0.00,2.60,0.00,0.000,6,0.000,0.028,3201,1566,3400,0,0,0,0,0,0
$GC,1297,-0.91,-146.0,139.8,-10.0,124,1301,0.00,2.28,0.00,0.000,4,0.000,0.044,3201,173,3400,0,0,0,0,0,0
$GC,1339,-0.96,-146.0,143.9,-10.6,127,1344,0.10,2.20,0.00,0.000,6,0.073,0.017,3137,1627,3400,0,0,0,0,0,0
$GC,1606,-0.86,-146.0,178.9,-13.0,151,1611,0.25,2.40,0.00,0.000,4,0.087,0.020,3195,3171,3401,0,0,0,0,0,0
$GC,1634,-0.86,-146.0,182.3,-10.3,153,1639,0.00,2.55,0.00,0.000,6,0.000,0.027,3195,1575,3400,0,0,0,0,0,0
$GC,1926,-0.91,-146.0,207.7,-8.5,174,1930,0.00,2.30,0.00,0.000,4,0.000,0.044,3195,164,3401,0,0,0,0,0,0
$GC,1974,-1.00,-146.0,212.3,-9.2,175,1979,0.12,2.20,0.00,0.000,6,0.062,0.017,3126,1621,3400,0,0,0,0,0,0
$GC,2257,-0.91,-146.0,248.9,-13.6,182,2262,0.25,2.42,0.00,0.000,4,0.086,0.021,3184,3169,3401,0,0,0,0,0,0
$GC,2272,-0.91,-146.0,250.9,-12.9,182,2277,0.00,2.58,0.00,0.000,6,0.000,0.025,3184,1557,3401,0,0,0,0,0,0
$GC,2543,-0.97,-146.0,272.5,-7.7,189,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1557,3401,0,0,0,0,0,0
$GC,2785,-1.05,-146.0,287.5,-5.9,195,2790,0.12,2.58,0.00,0.000,4,0.063,0.025,3122,3172,3401,0,0,0,0,0,0
$GC,2805,-1.05,-146.0,289.2,-7.8,195,2810,0.15,2.60,0.00,0.000,6,0.091,0.029,3157,1573,3400,0,0,0,0,0,0
$GC,3072,-1.05,-146.0,313.4,-10.0,202,3076,0.00,2.30,0.00,0.000,4,0.000,0.049,3157,172,3400,0,0,0,0,0,0
$GC,3115,-1.05,-146.0,317.3,-9.0,203,3119,0.00,2.22,0.00,0.000,6,0.000,0.021,3157,1597,3400,0,0,0,0,0,0
$GC,3403,-1.05,-146.0,339.0,-7.1,210,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1600,3399,0,0,0,0,0,0
$GC,3646,-1.10,-146.0,359.3,-8.7,216,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1600,3397,0,0,0,0,0,0
$GC,3890,-1.15,-146.0,379.0,-7.8,222,3894,0.00,2.40,0.00,0.000,4,0.000,0.056,3157,167,3396,0,0,0,0,0,0
$GC,3909,-1.19,-146.0,380.6,-8.1,222,3914,0.15,2.20,0.00,0.000,6,0.054,0.021,3087,1573,3397,0,0,0,0,0,0
$GC,4175,-1.10,-146.0,408.8,-10.9,229,4180,0.25,2.53,0.00,0.000,4,0.088,0.034,3147,3133,3394,0,0,0,0,0,0
$GC,4220,-1.22,-146.0,412.8,-7.6,230,4225,0.12,2.58,0.00,0.000,6,0.064,0.039,3080,1579,3394,0,0,0,0,0,0
$GC,4510,-1.11,-146.0,441.3,-10.0,237,4515,0.25,2.40,0.00,0.000,4,0.089,0.064,3139,172,3392,0,0,0,0,0,0
$GC,4557,-1.11,-146.0,445.3,-7.7,238,4562,0.00,2.17,0.00,0.000,6,0.000,0.026,3139,1557,3392,0,0,0,0,0,0
$GC,4841,-1.11,-146.0,466.5,-8.1,245,4845,0.00,2.60,0.00,0.000,4,0.000,0.041,3139,3147,3390,0,0,0,0,0,0
$GC,4870,-1.18,-146.0,469.1,-7.9,245,4875,0.00,2.65,0.00,0.000,6,0.000,0.040,3139,1559,3390,0,0,0,0,0,0
$GC,5125,-1.18,-146.0,489.9,-8.1,252,5129,0.00,2.40,0.00,0.000,4,0.000,0.071,3139,169,3388,0,0,0,0,0,0
$GC,5159,-1.18,-146.0,492.6,-8.2,252,5163,0.00,2.22,0.00,0.000,6,0.000,0.028,3140,1562,3388,0,0,0,0,0,0
$GC,5414,-1.18,-146.0,510.9,-7.0,259,5418,0.00,2.60,0.00,0.000,4,0.000,0.042,3140,3147,3386,0,0,0,0,0,0
$GC,5443,-1.26,-146.0,512.9,-6.8,259,5448,0.12,2.65,0.00,0.000,6,0.064,0.041,3074,1566,3386,0,0,0,0,0,0
$GC,5700,-1.16,-146.0,539.6,-11.0,266,5705,0.25,2.42,0.00,0.000,4,0.090,0.074,3133,168,3384,0,0,0,0,0,0
$GC,5738,-1.16,-146.0,543.8,-9.7,266,5744,0.00,2.25,0.00,0.000,6,0.000,0.031,3133,1558,3384,0,0,0,0,0,0
$GC,5988,-1.16,-146.0,562.4,-7.1,273,5993,0.00,2.65,0.00,0.000,4,0.000,0.046,3133,3151,3383,0,0,0,0,0,0
$GC,6019,-1.23,-146.0,564.3,-6.1,273,6023,0.00,2.65,0.00,0.000,6,0.000,0.045,3133,1566,3382,0,0,0,0,0,0
$GC,6276,-1.23,-146.0,580.4,-6.3,280,6280,0.00,2.42,0.00,0.000,4,0.000,0.077,3134,170,3381,0,0,0,0,0,0
$GC,6299,-1.23,-146.0,582.3,-8.2,280,6303,0.00,2.28,0.00,0.000,6,0.000,0.031,3133,1574,3380,0,0,0,0,0,0
$GC,6560,-1.23,-146.0,598.9,-6.5,287,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1574,3379,0,0,0,0,0,0
$GC,6802,-1.23,-146.0,614.3,-6.2,293,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1574,3378,0,0,0,0,0,0
$GC,7046,-1.23,-146.0,629.3,-6.3,299,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1574,3376,0,0,0,0,0,0
$GC,7289,-1.23,-146.0,643.3,-5.7,305,7294,0.00,2.45,0.00,0.000,4,0.000,0.074,3133,170,3375,0,0,0,0,0,0
$GC,7314,-1.23,-146.0,644.9,-6.9,305,7319,0.00,2.28,0.00,0.000,6,0.000,0.033,3134,1573,3374,0,0,0,0,0,0
$GC,7579,-1.28,-146.0,659.7,-5.5,312,7584,0.12,2.70,0.00,0.000,4,0.066,0.053,3081,3162,3374,0,0,0,0,0,0
$GC,7614,-1.28,-146.0,662.3,-8.2,312,7623,0.10,2.72,0.00,0.000,6,0.115,0.048,3104,1561,3374,0,0,0,0,0,0
$GC,7867,-1.28,-146.0,680.7,-7.3,319,7871,0.00,2.47,0.00,0.000,4,0.000,0.081,3104,164,3372,0,0,0,0,0,0
$GC,7891,-1.28,-146.0,682.6,-8.8,319,7895,0.00,2.28,0.00,0.000,6,0.000,0.035,3105,1566,3372,0,0,0,0,0,0
$GC,8155,-1.28,-146.0,703.7,-8.2,326,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1566,3371,0,0,0,0,0,0
$GC,8398,-1.28,-146.0,725.9,-9.2,332,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1566,3370,0,0,0,0,0,0
$GC,8642,-1.28,-146.0,748.8,-9.3,338,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1566,3369,0,0,0,0,0,0
$GC,8886,-1.28,-146.0,771.4,-9.3,344,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1566,3368,0,0,0,0,0,0
$GC,9131,-1.28,-146.0,793.4,-9.1,350,9135,0.00,2.67,0.00,0.000,4,0.000,0.055,3104,3156,3366,0,0,0,0,0,0
$GC,9145,-1.28,-146.0,794.9,-9.0,350,9150,0.00,2.70,0.00,0.000,6,0.000,0.047,3105,1567,3366,0,0,0,0,0,0
$GC,9414,-1.28,-146.0,818.1,-8.6,357,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1567,3365,0,0,0,0,0,0
$GC,9659,-1.28,-146.0,838.8,-8.5,363,9664,0.00,2.67,0.00,0.000,4,0.000,0.045,3104,3158,3365,0,0,0,0,0,0
$GC,9683,-1.28,-146.0,841.0,-9.0,363,9688,0.00,2.67,0.00,0.000,6,0.000,0.048,3105,1574,3365,0,0,0,0,0,0
$GC,9943,-1.28,-146.0,861.5,-7.9,370,9947,0.00,2.47,0.00,0.000,4,0.000,0.083,3104,166,3364,0,0,0,0,0,0
$GC,9971,-1.28,-146.0,864.1,-8.7,370,9975,0.00,2.30,0.00,0.000,6,0.000,0.035,3104,1569,3363,0,0,0,0,0,0
$GC,10228,-1.28,-146.0,884.6,-8.0,377,10229,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1569,3363,0,0,0,0,0,0
$STATE,10426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10426,begin apogee
$GC,10433,-0.31,0.0,901.9,8.5,382,10556,0.93,0.00,119.68,1.160,6,0.075,0.000,3315,1339,2800,0,0,0,0,0,0
$STATE,10556,end apogee,CONTROL_FINISHED_OK
$STATE,10557,begin climb
$GC,10561,1.27,146.0,906.5,0.0,385,10701,1.42,2.12,130.45,1.137,4,0.030,0.078,3667,173,2203,0,0,0,0,0,0
$GC,10707,1.03,146.0,902.2,11.1,388,10712,0.28,1.98,0.00,0.000,6,0.116,0.031,3613,1354,2202,0,0,0,0,0,0
$GC,10969,0.92,146.0,874.8,10.6,395,10973,0.12,2.08,0.00,0.000,4,0.122,0.072,3588,175,2194,0,0,0,0,0,0
$GC,11058,0.81,146.0,864.5,12.1,396,11064,0.12,1.90,0.00,0.000,6,0.120,0.029,3563,1343,2193,0,0,0,0,0,0
$GC,11309,0.85,177.9,842.7,8.5,403,11340,0.00,0.00,28.83,1.066,6,0.000,0.000,3563,1344,2074,0,0,0,0,0,0
$GC,11551,0.88,202.2,821.1,8.9,409,11580,0.00,2.78,23.25,1.044,4,0.000,0.056,3563,2931,1974,0,0,0,0,0,0
$GC,11599,0.95,259.7,816.9,7.3,410,11661,0.12,2.75,54.38,1.068,6,0.065,0.049,3610,1351,1740,0,0,0,0,0,0
$GC,11924,0.91,259.7,777.5,12.2,418,11929,0.12,2.70,0.00,0.000,4,0.114,0.047,3583,2938,1732,0,0,0,0,0,0
$GC,11960,0.97,273.8,773.6,9.3,418,11980,0.00,2.72,12.93,0.959,6,0.000,0.051,3583,1351,1683,0,0,0,0,0,0
$GC,12259,0.97,273.8,739.3,11.7,426,12264,0.00,2.70,0.00,0.000,4,0.000,0.047,3583,2937,1681,0,0,0,0,0,0
$GC,12278,0.97,273.8,736.7,11.9,426,12283,0.00,2.70,0.00,0.000,6,0.000,0.049,3583,1356,1678,0,0,0,0,0,0
$GC,12544,0.97,273.8,703.6,12.7,433,12545,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,1356,1679,0,0,0,0,0,0
$GC,12786,0.97,273.8,674.9,11.5,439,12791,0.00,2.65,0.00,0.000,4,0.000,0.045,3583,2933,1678,0,0,0,0,0,0
$GC,12833,1.06,273.8,670.2,10.0,440,12840,0.12,2.70,0.00,0.000,6,0.066,0.053,3634,1363,1675,0,0,0,0,0,0
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$STATE,18784,end climb,SURFACE_DEPTH_REACHED
$STATE,18784,begin surface coast
$FINISH,0.9,1.010300
$STATE,18837,end surface coast,CONTROL_FINISHED_OK
$STATE,18837,begin surface
$SM_CCo,18861,40.20,0.424,0,0,1249,380.21
$SM_GC,1.89,0.00,0.00,40.20,0.000,0.000,0.424,414,1667,1249,-13.67,2.74,380.21
$IRIDIUM_FIX,2232.34,-15735.92,210902,202013
$TT8_MAMPS,0.027612
$HUMID,63.38
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.30
$XPDR_PINGS,11
$24V_AH,23.3,25.040
$10V_AH,9.9,22.077
$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,33.975,212.775,394.900,40.200,0.000,22.081,47.551,308.580,2.750,0.000,30.903,1563.664,14004.962,569.893,2457.990,840.078,33.375,1631.789,0.000,2445.361,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,82.836,1159.704,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.999,336.737,442.746,765.925,1091.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,54094,724
$CAP_FILE_SIZE,182428,0
$CFSIZE,260165632,159424512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280613,070256,2249.529,-15739.311,28,3.1,47,10.1