version: 66.06
glider: 148
mission: 12
dive: 173
start: 6 28 113 7 12 4
data:
$ID,148
$MISSION,12
$DIVE,173
$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,-1019633.4
$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,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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,070256,2249.529,-15739.311,28,3.1,47,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.3
$GPS2,071112,2249.628,-15739.319,12,1.7,17,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,0.239
$KALMAN_X,-191857.1,-460.6,-221.5,227970.5,-338.1
$KALMAN_Y,86731.2,208.2,-394.2,-77958.3,2307.2
$MHEAD_RNG_PITCHd_Wd,13.1,30011,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-67.07,0.000,2,0.000,0.000,414,1668,2962,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.2,-4.3,9,124,13.88,2.40,-8.00,0.000,4,0.147,0.035,3102,3170,3398,0,0,0,0,0,0
$GC,178,-1.10,-146.0,25.3,-16.4,21,188,0.15,2.67,0.00,0.000,6,0.081,0.032,3140,1559,3399,0,0,0,0,0,0
$GC,460,-0.94,-146.0,71.4,-16.6,48,465,0.17,2.30,0.00,0.000,4,0.107,0.043,3178,168,3399,0,0,0,0,0,0
$GC,505,-0.94,-146.0,79.2,-15.0,51,509,0.00,2.17,0.00,0.000,6,0.000,0.017,3178,1614,3399,0,0,0,0,0,0
$GC,774,-0.89,-146.0,108.0,-9.5,75,778,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1617,3400,0,0,0,0,0,0
$GC,1035,-0.89,-146.0,135.1,-11.6,100,1039,0.00,2.38,0.00,0.000,4,0.000,0.042,3178,163,3400,0,0,0,0,0,0
$GC,1067,-0.84,-146.0,139.0,-13.1,102,1077,0.08,2.12,0.00,0.000,6,0.095,0.017,3198,1558,3400,0,0,0,0,0,0
$GC,1333,-0.84,-146.0,165.9,-10.0,127,1337,0.00,2.42,0.00,0.000,4,0.000,0.021,3198,3120,3401,0,0,0,0,0,0
$GC,1361,-0.91,-146.0,168.7,-9.5,129,1366,0.00,2.50,0.00,0.000,6,0.000,0.028,3198,1556,3401,0,0,0,0,0,0
$GC,1624,-0.91,-146.0,191.5,-9.0,153,1628,0.00,2.25,0.00,0.000,4,0.000,0.044,3198,166,3401,0,0,0,0,0,0
$GC,1663,-0.99,-146.0,195.6,-9.7,156,1674,0.10,2.12,0.00,0.000,6,0.029,0.017,3131,1572,3401,0,0,0,0,0,0
$GC,1917,-0.87,-146.0,228.7,-13.7,166,1919,0.28,0.00,0.00,0.000,6,0.084,0.000,3192,1573,3400,0,0,0,0,0,0
$GC,2159,-0.87,-146.0,251.2,-8.6,172,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1573,3401,0,0,0,0,0,0
$GC,2403,-0.93,-146.0,265.5,-5.1,178,2408,0.00,2.30,0.00,0.000,4,0.000,0.044,3193,166,3401,0,0,0,0,0,0
$GC,2443,-1.01,-146.0,268.0,-6.8,178,2449,0.12,2.08,0.00,0.000,6,0.061,0.018,3126,1553,3401,0,0,0,0,0,0
$GC,2693,-0.94,-146.0,295.7,-11.7,185,2698,0.25,2.45,0.00,0.000,4,0.082,0.022,3186,3119,3401,0,0,0,0,0,0
$GC,2719,-1.01,-146.0,298.2,-8.8,185,2724,0.00,2.53,0.00,0.000,6,0.000,0.029,3186,1556,3401,0,0,0,0,0,0
$GC,2979,-1.11,-146.0,313.7,-5.4,192,2981,0.17,0.00,0.00,0.000,6,0.049,0.000,3110,1555,3401,0,0,0,0,0,0
$GC,3223,-1.04,-146.0,337.2,-10.3,198,3228,0.22,2.28,0.00,0.000,4,0.085,0.050,3161,176,3400,0,0,0,0,0,0
$GC,3244,-1.04,-146.0,339.4,-9.8,198,3248,0.00,2.08,0.00,0.000,6,0.000,0.020,3161,1535,3400,0,0,0,0,0,0
$GC,3508,-1.10,-146.0,360.7,-8.0,205,3513,0.00,2.55,0.00,0.000,4,0.000,0.031,3161,3130,3399,0,0,0,0,0,0
$GC,3560,-1.22,-146.0,364.5,-6.7,206,3565,0.17,2.55,0.00,0.000,6,0.049,0.037,3082,1572,3399,0,0,0,0,0,0
$GC,3841,-1.11,-146.0,392.3,-10.0,213,3846,0.25,2.55,0.00,0.000,4,0.088,0.035,3142,3129,3397,0,0,0,0,0,0
$GC,3861,-1.11,-146.0,394.3,-8.8,213,3865,0.00,2.58,0.00,0.000,6,0.000,0.035,3142,1566,3397,0,0,0,0,0,0
$GC,4126,-1.11,-146.0,411.2,-6.6,220,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1566,3395,0,0,0,0,0,0
$GC,4368,-1.11,-146.0,427.8,-7.0,226,4373,0.00,2.38,0.00,0.000,4,0.000,0.064,3142,174,3393,0,0,0,0,0,0
$GC,4392,-1.11,-146.0,429.8,-8.5,226,4396,0.00,2.15,0.00,0.000,6,0.000,0.024,3142,1553,3393,0,0,0,0,0,0
$GC,4653,-1.11,-146.0,448.8,-7.3,233,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1554,3391,0,0,0,0,0,0
$GC,4895,-1.11,-146.0,466.8,-7.4,239,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1554,3390,0,0,0,0,0,0
$GC,5138,-1.11,-146.0,484.9,-7.5,245,5143,0.00,2.62,0.00,0.000,4,0.000,0.041,3142,3143,3387,0,0,0,0,0,0
$GC,5167,-1.19,-146.0,487.2,-7.5,245,5172,0.00,2.60,0.00,0.000,6,0.000,0.039,3142,1569,3387,0,0,0,0,0,0
$GC,5424,-1.19,-146.0,506.7,-7.8,252,5428,0.00,2.42,0.00,0.000,4,0.000,0.071,3142,169,3386,0,0,0,0,0,0
$GC,5461,-1.19,-146.0,510.1,-8.5,252,5465,0.00,2.20,0.00,0.000,6,0.000,0.028,3142,1553,3385,0,0,0,0,0,0
$GC,5715,-1.19,-146.0,528.9,-7.3,259,5720,0.00,2.62,0.00,0.000,4,0.000,0.043,3142,3153,3384,0,0,0,0,0,0
$GC,5746,-1.28,-146.0,530.9,-7.0,259,5751,0.15,2.65,0.00,0.000,6,0.055,0.041,3076,1557,3384,0,0,0,0,0,0
$GC,6002,-1.18,-146.0,556.2,-10.3,266,6007,0.22,2.40,0.00,0.000,4,0.091,0.073,3127,169,3382,0,0,0,0,0,0
$GC,6037,-1.18,-146.0,559.6,-8.8,266,6041,0.00,2.25,0.00,0.000,6,0.000,0.030,3127,1561,3382,0,0,0,0,0,0
$GC,6287,-1.18,-146.0,580.2,-8.2,272,6292,0.00,2.62,0.00,0.000,4,0.000,0.044,3126,3157,3381,0,0,0,0,0,0
$GC,6316,-1.23,-146.0,582.7,-8.3,272,6320,0.00,2.67,0.00,0.000,6,0.000,0.044,3126,1552,3381,0,0,0,0,0,0
$GC,6572,-1.23,-146.0,603.2,-8.0,279,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1552,3379,0,0,0,0,0,0
$GC,6814,-1.23,-146.0,621.7,-7.6,285,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1552,3378,0,0,0,0,0,0
$GC,7058,-1.23,-146.0,640.0,-7.5,291,7062,0.00,2.42,0.00,0.000,4,0.000,0.080,3126,169,3377,0,0,0,0,0,0
$GC,7095,-1.23,-146.0,643.1,-8.7,291,7099,0.00,2.28,0.00,0.000,6,0.000,0.033,3127,1573,3376,0,0,0,0,0,0
$GC,7353,-1.23,-146.0,661.9,-7.2,298,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1573,3375,0,0,0,0,0,0
$GC,7595,-1.23,-146.0,677.8,-6.4,304,7599,0.00,2.65,0.00,0.000,4,0.000,0.051,3126,3151,3374,0,0,0,0,0,0
$GC,7639,-1.33,-146.0,680.6,-6.9,305,7644,0.12,2.67,0.00,0.000,6,0.063,0.048,3068,1563,3374,0,0,0,0,0,0
$GC,7928,-1.24,-146.0,709.8,-10.6,312,7933,0.20,2.47,0.00,0.000,4,0.095,0.078,3114,163,3372,0,0,0,0,0,0
$GC,7976,-1.24,-146.0,715.0,-10.4,313,7980,0.00,2.28,0.00,0.000,6,0.000,0.034,3114,1570,3372,0,0,0,0,0,0
$GC,8259,-1.24,-146.0,740.1,-8.9,320,8264,0.00,2.67,0.00,0.000,4,0.000,0.052,3113,3157,3371,0,0,0,0,0,0
$GC,8279,-1.24,-146.0,742.1,-9.0,320,8283,0.00,2.70,0.00,0.000,6,0.000,0.048,3114,1551,3371,0,0,0,0,0,0
$GC,8545,-1.24,-146.0,764.0,-8.2,327,8549,0.00,2.45,0.00,0.000,4,0.000,0.081,3114,164,3370,0,0,0,0,0,0
$GC,8579,-1.24,-146.0,767.0,-8.8,327,8583,0.00,2.25,0.00,0.000,6,0.000,0.033,3114,1557,3369,0,0,0,0,0,0
$GC,8829,-1.24,-146.0,786.4,-7.7,333,8833,0.00,2.67,0.00,0.000,4,0.000,0.051,3114,3160,3368,0,0,0,0,0,0
$GC,8853,-1.24,-146.0,788.3,-8.8,333,8857,0.00,2.70,0.00,0.000,6,0.000,0.048,3114,1555,3368,0,0,0,0,0,0
$GC,9114,-1.24,-146.0,808.5,-7.8,340,9115,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1556,3367,0,0,0,0,0,0
$GC,9356,-1.24,-146.0,827.8,-7.9,346,9361,0.00,2.70,0.00,0.000,4,0.000,0.044,3113,3160,3366,0,0,0,0,0,0
$GC,9385,-1.29,-146.0,830.0,-6.9,346,9390,0.00,2.70,0.00,0.000,6,0.000,0.049,3114,1559,3366,0,0,0,0,0,0
$GC,9640,-1.29,-146.0,847.8,-6.8,353,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,1559,3365,0,0,0,0,0,0
$GC,9885,-1.29,-146.0,864.3,-6.9,359,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1559,3364,0,0,0,0,0,0
$GC,10127,-1.29,-146.0,882.7,-7.7,365,10132,0.00,2.45,0.00,0.000,4,0.000,0.083,3114,164,3364,0,0,0,0,0,0
$GC,10151,-1.29,-146.0,884.9,-8.8,365,10155,0.00,2.28,0.00,0.000,6,0.000,0.033,3113,1568,3363,0,0,0,0,0,0
$STATE,10368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10368,begin apogee
$GC,10375,-0.31,0.0,902.0,7.8,371,10498,0.90,0.00,119.90,1.157,6,0.075,0.000,3318,1337,2800,0,0,0,0,0,0
$STATE,10499,end apogee,CONTROL_FINISHED_OK
$STATE,10499,begin climb
$GC,10502,1.27,146.0,906.7,0.0,374,10642,1.42,2.17,129.68,1.138,4,0.030,0.077,3669,176,2203,0,0,0,0,0,0
$GC,10695,0.97,146.0,895.3,15.0,378,10700,0.35,1.95,0.00,0.000,6,0.107,0.031,3598,1354,2199,0,0,0,0,0,0
$GC,10962,0.90,149.6,868.3,9.8,385,10966,0.00,2.08,0.00,0.000,4,0.000,0.071,3598,176,2193,0,0,0,0,0,0
$GC,10994,0.76,149.6,864.4,10.9,385,10999,0.22,1.92,0.00,0.000,6,0.102,0.031,3552,1358,2193,0,0,0,0,0,0
$GC,11249,0.81,187.9,842.9,8.2,392,11289,0.00,0.00,37.80,1.081,6,0.000,0.000,3552,1359,2033,0,0,0,0,0,0
$GC,11535,0.83,205.0,817.3,9.2,399,11559,0.00,2.75,16.65,1.016,4,0.000,0.051,3552,2936,1963,0,0,0,0,0,0
$GC,11592,0.94,205.0,811.5,10.1,400,11599,0.15,2.75,0.00,0.000,6,0.058,0.050,3605,1352,1959,0,0,0,0,0,0
$GC,11870,0.88,205.0,777.5,12.5,407,11872,0.12,0.00,0.00,0.000,6,0.114,0.000,3579,1352,1959,0,0,0,0,0,0
$GC,12112,0.88,205.0,748.7,11.8,413,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1352,1958,0,0,0,0,0,0
$GC,12355,0.88,205.0,719.0,12.2,419,12360,0.00,2.65,0.00,0.000,4,0.000,0.043,3578,2933,1957,0,0,0,0,0,0
$GC,12379,0.88,205.0,716.2,10.6,419,12383,0.00,2.72,0.00,0.000,6,0.000,0.051,3578,1342,1954,0,0,0,0,0,0
$GC,12640,0.88,205.0,687.7,10.8,426,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1342,1954,0,0,0,0,0,0
$GC,12882,0.89,214.1,664.1,9.6,432,12898,0.00,2.72,8.68,0.861,4,0.000,0.042,3578,2933,1925,0,0,0,0,0,0
$GC,12959,0.99,234.7,656.8,9.0,433,12988,0.10,2.75,20.58,0.954,6,0.078,0.053,3619,1350,1843,0,0,0,0,0,0
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$STATE,18519,end climb,SURFACE_DEPTH_REACHED
$STATE,18519,begin surface coast
$FINISH,1.1,1.023444
$STATE,18534,end surface coast,CONTROL_FINISHED_OK
$STATE,18534,begin surface
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$TT8_MAMPS,0.027612
$HUMID,65.43
$INTERNAL_PRESSURE,9.36946
$TCM_TEMP,21.50
$XPDR_PINGS,14
$24V_AH,23.3,25.186
$10V_AH,9.9,22.199
$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
$DEVICE_SECS,34.250,202.475,425.500,28.800,0.000,29.355,35.517,275.944,3.500,0.000,18.719,1493.478,13996.896,552.040,2250.821,782.615,33.360,1597.901,0.000,2238.873,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,51148,683
$CAP_FILE_SIZE,177146,0
$CFSIZE,260165632,159354880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280613,122326,2253.577,-15739.030,29,2.4,48,10.1