version: 66.06
glider: 148
mission: 12
dive: 177
start: 6 29 113 4 34 7
data:
$ID,148
$MISSION,12
$DIVE,177
$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,-1019710.8
$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,28
$R_STBD_OVSHOOT,94
$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
$GPS1,042436,2302.375,-15736.945,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.8
$GPS2,043313,2302.385,-15737.039,15,1.4,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,0.156
$KALMAN_X,-199185.1,-354.0,337.2,238516.9,-1724.0
$KALMAN_Y,95128.0,321.5,62.9,-63301.3,1298.8
$MHEAD_RNG_PITCHd_Wd,43.0,6279,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.27,-146.0,0.0,0.0,0,95,0.00,0.00,-74.32,0.000,2,0.000,0.000,413,1619,3205,0,0,0,0,0,0
$GC,98,-1.27,-146.0,4.4,-7.5,10,123,14.18,2.40,-3.10,0.000,4,0.155,0.039,3101,3092,3396,0,0,0,0,0,0
$GC,135,0.04,-146.0,21.5,-45.0,14,144,1.30,2.50,0.00,0.000,6,0.091,0.028,3388,1563,3397,0,0,0,0,0,0
$GC,422,-0.48,-146.0,45.1,-7.6,47,427,0.43,2.30,0.00,0.000,4,0.056,0.047,3283,169,3398,0,0,0,0,0,0
$GC,544,-0.96,-146.0,53.8,-7.1,56,553,0.43,2.10,0.00,0.000,6,0.048,0.018,3174,1585,3398,0,0,0,0,0,0
$GC,811,-0.90,-146.0,76.0,-10.9,81,816,0.00,2.33,0.00,0.000,4,0.000,0.043,3173,164,3398,0,0,0,0,0,0
$GC,841,-0.83,-146.0,80.0,-12.2,83,846,0.15,2.03,0.00,0.000,6,0.107,0.017,3205,1542,3399,0,0,0,0,0,0
$GC,1109,-0.83,-146.0,105.5,-9.6,107,1114,0.00,2.45,0.00,0.000,4,0.000,0.021,3205,3105,3399,0,0,0,0,0,0
$GC,1166,-0.98,-146.0,111.0,-8.2,112,1171,0.15,2.47,0.00,0.000,6,0.057,0.035,3161,1571,3399,0,0,0,0,0,0
$GC,1430,-0.92,-146.0,142.1,-11.9,136,1435,0.10,2.30,0.00,0.000,4,0.123,0.044,3184,164,3399,0,0,0,0,0,0
$GC,1462,-0.92,-146.0,146.1,-10.7,138,1471,0.00,2.12,0.00,0.000,6,0.000,0.017,3184,1568,3399,0,0,0,0,0,0
$GC,1730,-0.92,-146.0,170.9,-9.1,163,1734,0.00,2.42,0.00,0.000,4,0.000,0.022,3184,3114,3399,0,0,0,0,0,0
$GC,1755,-0.97,-146.0,173.6,-8.3,165,1759,0.00,2.45,0.00,0.000,6,0.000,0.028,3184,1581,3400,0,0,0,0,0,0
$GC,2019,-0.97,-146.0,198.0,-8.7,189,2023,0.00,2.30,0.00,0.000,4,0.000,0.044,3184,166,3399,0,0,0,0,0,0
$GC,2040,-0.97,-146.0,200.4,-9.8,190,2046,0.00,2.12,0.00,0.000,6,0.000,0.018,3184,1592,3399,0,0,0,0,0,0
$GC,2290,-0.97,-146.0,220.9,-8.2,197,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1594,3399,0,0,0,0,0,0
$GC,2535,-0.97,-146.0,240.4,-8.0,203,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1594,3399,0,0,0,0,0,0
$GC,2778,-1.02,-146.0,257.9,-7.1,209,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1594,3399,0,0,0,0,0,0
$GC,3022,-1.09,-146.0,276.6,-8.0,215,3023,0.15,0.00,0.00,0.000,6,0.054,0.000,3129,1594,3399,0,0,0,0,0,0
$GC,3267,-1.04,-146.0,300.6,-9.8,221,3272,0.12,2.38,0.00,0.000,4,0.109,0.047,3157,165,3399,0,0,0,0,0,0
$GC,3291,-1.04,-146.0,303.3,-9.7,221,3295,0.00,2.10,0.00,0.000,6,0.000,0.019,3157,1549,3399,0,0,0,0,0,0
$GC,3550,-1.04,-146.0,324.3,-8.2,228,3555,0.00,2.50,0.00,0.000,4,0.000,0.028,3157,3127,3399,0,0,0,0,0,0
$GC,3590,-1.16,-146.0,327.4,-7.2,228,3596,0.10,2.53,0.00,0.000,6,0.074,0.035,3112,1590,3399,0,0,0,0,0,0
$GC,3840,-1.10,-146.0,351.2,-9.3,235,3845,0.15,2.40,0.00,0.000,4,0.104,0.054,3145,166,3397,0,0,0,0,0,0
$GC,3897,-1.14,-146.0,355.8,-7.3,236,3902,0.00,2.17,0.00,0.000,6,0.000,0.021,3145,1558,3397,0,0,0,0,0,0
$GC,4172,-1.14,-146.0,374.9,-7.0,243,4176,0.00,2.58,0.00,0.000,4,0.000,0.033,3145,3147,3396,0,0,0,0,0,0
$GC,4196,-1.19,-146.0,376.6,-7.3,243,4201,0.00,2.60,0.00,0.000,6,0.000,0.038,3145,1577,3396,0,0,0,0,0,0
$GC,4457,-1.19,-146.0,396.2,-7.8,250,4461,0.00,2.38,0.00,0.000,4,0.000,0.061,3145,168,3394,0,0,0,0,0,0
$GC,4495,-1.19,-146.0,399.7,-8.6,250,4500,0.00,2.20,0.00,0.000,6,0.000,0.023,3145,1581,3394,0,0,0,0,0,0
$GC,4745,-1.19,-146.0,418.9,-7.6,257,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1581,3392,0,0,0,0,0,0
$GC,4988,-1.19,-146.0,437.8,-7.7,263,4989,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1581,3391,0,0,0,0,0,0
$GC,5234,-1.19,-146.0,455.6,-7.2,269,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1581,3389,0,0,0,0,0,0
$GC,5476,-1.24,-146.0,473.4,-7.3,275,5478,0.12,0.00,0.00,0.000,6,0.064,0.000,3090,1581,3388,0,0,0,0,0,0
$GC,5720,-1.17,-146.0,497.7,-10.2,281,5725,0.17,2.60,0.00,0.000,4,0.097,0.041,3128,3148,3387,0,0,0,0,0,0
$GC,5746,-1.17,-146.0,500.1,-8.8,281,5750,0.00,2.58,0.00,0.000,6,0.000,0.037,3128,1582,3387,0,0,0,0,0,0
$GC,6005,-1.17,-146.0,520.3,-7.6,288,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1583,3385,0,0,0,0,0,0
$GC,6249,-1.17,-146.0,538.5,-7.5,294,6253,0.00,2.62,0.00,0.000,4,0.000,0.045,3128,3146,3383,0,0,0,0,0,0
$GC,6270,-1.17,-146.0,540.1,-8.3,294,6274,0.00,2.58,0.00,0.000,6,0.000,0.041,3128,1587,3384,0,0,0,0,0,0
$GC,6534,-1.17,-146.0,561.1,-7.8,301,6538,0.00,2.45,0.00,0.000,4,0.000,0.074,3128,169,3383,0,0,0,0,0,0
$GC,6595,-1.17,-146.0,566.3,-8.6,302,6599,0.00,2.25,0.00,0.000,6,0.000,0.030,3128,1572,3383,0,0,0,0,0,0
$GC,6865,-1.17,-146.0,584.5,-6.5,309,6869,0.00,2.62,0.00,0.000,4,0.000,0.046,3128,3149,3381,0,0,0,0,0,0
$GC,6898,-1.24,-146.0,586.7,-6.7,309,6903,0.00,2.62,0.00,0.000,6,0.000,0.044,3128,1585,3381,0,0,0,0,0,0
$GC,7148,-1.24,-146.0,601.9,-6.0,315,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3380,0,0,0,0,0,0
$GC,7394,-1.24,-146.0,617.8,-6.7,321,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3378,0,0,0,0,0,0
$GC,7636,-1.24,-146.0,635.6,-7.4,327,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1585,3377,0,0,0,0,0,0
$GC,7880,-1.24,-146.0,652.9,-7.0,333,7884,0.00,2.47,0.00,0.000,4,0.000,0.079,3128,165,3376,0,0,0,0,0,0
$GC,7929,-1.29,-146.0,656.6,-7.7,334,7933,0.10,2.30,0.00,0.000,6,0.076,0.034,3079,1577,3376,0,0,0,0,0,0
$GC,8212,-1.22,-146.0,683.8,-9.8,341,8214,0.17,0.00,0.00,0.000,6,0.100,0.000,3117,1577,3375,0,0,0,0,0,0
$GC,8455,-1.22,-146.0,704.0,-8.2,347,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1577,3373,0,0,0,0,0,0
$GC,8701,-1.22,-146.0,723.5,-7.9,353,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1577,3373,0,0,0,0,0,0
$GC,8943,-1.22,-146.0,743.6,-8.3,359,8947,0.00,2.45,0.00,0.000,4,0.000,0.074,3117,169,3371,0,0,0,0,0,0
$GC,8962,-1.22,-146.0,745.3,-8.4,359,8966,0.00,2.30,0.00,0.000,6,0.000,0.033,3117,1583,3371,0,0,0,0,0,0
$GC,9227,-1.22,-146.0,765.5,-7.5,366,9232,0.00,2.65,0.00,0.000,4,0.000,0.054,3117,3153,3370,0,0,0,0,0,0
$GC,9251,-1.22,-146.0,767.4,-8.6,366,9255,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1575,3370,0,0,0,0,0,0
$GC,9511,-1.22,-146.0,785.0,-6.7,373,9515,0.00,2.47,0.00,0.000,4,0.000,0.080,3117,168,3369,0,0,0,0,0,0
$GC,9530,-1.22,-146.0,786.4,-7.5,373,9534,0.00,2.30,0.00,0.000,6,0.000,0.033,3117,1582,3369,0,0,0,0,0,0
$GC,9795,-1.22,-146.0,804.8,-7.0,380,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1583,3368,0,0,0,0,0,0
$GC,10037,-1.22,-146.0,822.1,-7.2,386,10041,0.00,2.62,0.00,0.000,4,0.000,0.054,3117,3153,3367,0,0,0,0,0,0
$GC,10061,-1.27,-146.0,824.0,-8.0,386,10066,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1571,3367,0,0,0,0,0,0
$GC,10322,-1.27,-146.0,841.7,-6.7,393,10327,0.00,2.45,0.00,0.000,4,0.000,0.081,3117,167,3366,0,0,0,0,0,0
$GC,10374,-1.27,-146.0,845.8,-7.6,394,10378,0.00,2.30,0.00,0.000,6,0.000,0.034,3116,1578,3366,0,0,0,0,0,0
$GC,10653,-1.27,-146.0,863.4,-6.1,401,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1578,3365,0,0,0,0,0,0
$GC,10895,-1.27,-146.0,877.7,-5.7,407,10899,0.00,2.47,0.00,0.000,4,0.000,0.074,3117,170,3364,0,0,0,0,0,0
$GC,10923,-1.27,-146.0,879.8,-7.9,407,10927,0.00,2.28,0.00,0.000,6,0.000,0.035,3117,1566,3363,0,0,0,0,0,0
$GC,11184,-1.27,-146.0,895.7,-6.2,414,11189,0.00,2.67,0.00,0.000,4,0.000,0.055,3117,3153,3363,0,0,0,0,0,0
$GC,11204,-1.31,-146.0,897.1,-7.1,414,11208,0.00,2.67,0.00,0.000,6,0.000,0.048,3117,1562,3363,0,0,0,0,0,0
$STATE,11262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11262,begin apogee
$GC,11268,-0.31,0.0,901.0,6.7,416,11391,0.88,0.00,119.62,1.154,6,0.080,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,11392,end apogee,CONTROL_FINISHED_OK
$STATE,11392,begin climb
$GC,11396,1.27,146.0,904.1,0.0,419,11538,1.48,2.22,130.30,1.134,4,0.035,0.083,3669,165,2203,0,0,0,0,0,0
$GC,11576,0.98,146.0,892.9,15.6,423,11581,0.35,1.95,0.00,0.000,6,0.111,0.031,3599,1352,2200,0,0,0,0,0,0
$GC,11837,0.90,146.0,865.5,10.2,430,11841,0.00,2.12,0.00,0.000,4,0.000,0.072,3599,164,2193,0,0,0,0,0,0
$GC,11902,0.77,146.0,857.8,11.3,431,11907,0.15,1.95,0.00,0.000,6,0.091,0.030,3556,1337,2193,0,0,0,0,0,0
$GC,12173,0.82,190.5,835.5,7.9,438,12217,0.00,2.15,40.03,1.076,4,0.000,0.074,3555,167,2023,0,0,0,0,0,0
$GC,12236,0.82,190.5,829.9,10.7,439,12240,0.00,1.95,0.00,0.000,6,0.000,0.030,3555,1346,2022,0,0,0,0,0,0
$GC,12500,0.84,201.8,805.3,9.5,446,12516,0.00,2.72,11.07,0.956,4,0.000,0.052,3555,2929,1976,0,0,0,0,0,0
$GC,12533,0.94,237.3,802.1,8.4,446,12574,0.15,2.75,34.92,1.050,6,0.058,0.048,3609,1342,1832,0,0,0,0,0,0
$GC,12834,0.89,237.3,760.4,14.3,454,12839,0.15,2.70,0.00,0.000,4,0.107,0.044,3578,2936,1826,0,0,0,0,0,0
$GC,12860,0.89,237.3,756.9,13.0,454,12864,0.00,2.75,0.00,0.000,6,0.000,0.048,3578,1340,1823,0,0,0,0,0,0
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$STATE,19275,end climb,SURFACE_DEPTH_REACHED
$STATE,19275,begin surface coast
$FINISH,0.8,1.010308
$STATE,19309,end surface coast,CONTROL_FINISHED_OK
$STATE,19309,begin surface
$SM_CCo,19334,23.08,0.425,0,0,1249,380.21
$SM_GC,1.87,0.00,0.00,23.08,0.000,0.000,0.425,413,1625,1249,-13.68,1.55,380.21
$IRIDIUM_FIX,2251.04,-15739.74,220902,232317
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.70
$XPDR_PINGS,21
$24V_AH,23.3,25.791
$10V_AH,9.9,22.737
$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
$DEVICE_SECS,35.525,220.850,440.975,23.075,0.000,24.448,38.308,298.970,5.250,0.000,17.423,1607.281,14345.263,596.426,2482.781,833.654,33.365,1673.448,0.000,2477.080,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.263,356.196,444.989,809.296,1112.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,57232,737
$CAP_FILE_SIZE,187049,0
$CFSIZE,260165632,159035392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290613,095825,2305.018,-15735.911,38,2.3,57,10.1