version: 66.06
glider: 148
mission: 12
dive: 248
start: 7 15 113 7 17 29
data:
$ID,148
$MISSION,12
$DIVE,248
$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,-1021018.8
$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,130
$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
$GPS1,070536,2304.905,-15710.078,39,1.2,39,10.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-77.6
$GPS2,071637,2304.892,-15710.095,13,1.2,13,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.260,0.005
$KALMAN_X,-220171.1,187.9,315.9,304995.3,-460.2
$KALMAN_Y,162563.0,-112.7,-52.9,-125533.4,36.5
$MHEAD_RNG_PITCHd_Wd,260.8,43153,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.47,0.000,2,0.000,0.000,414,1622,2932,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.0,9,123,13.82,2.47,-8.55,0.000,4,0.145,0.058,3102,165,3399,0,0,0,0,0,0
$GC,254,-0.97,-146.0,44.0,-20.5,30,259,0.32,2.05,0.00,0.000,6,0.092,0.017,3173,1508,3399,0,0,0,0,0,0
$GC,519,-0.88,-146.0,83.6,-12.4,54,524,0.10,2.45,0.00,0.000,4,0.120,0.021,3194,3073,3399,0,0,0,0,0,0
$GC,582,-0.98,-146.0,90.1,-9.5,59,586,0.00,2.42,0.00,0.000,6,0.000,0.028,3194,1571,3400,0,0,0,0,0,0
$GC,850,-0.98,-146.0,117.1,-9.8,83,854,0.00,2.30,0.00,0.000,4,0.000,0.043,3194,172,3400,0,0,0,0,0,0
$GC,884,-0.98,-146.0,121.3,-10.4,86,888,0.00,2.03,0.00,0.000,6,0.000,0.016,3194,1545,3400,0,0,0,0,0,0
$GC,1149,-0.98,-146.0,147.4,-10.3,110,1153,0.00,2.42,0.00,0.000,4,0.000,0.021,3194,3109,3400,0,0,0,0,0,0
$GC,1169,-0.98,-146.0,149.1,-9.7,111,1173,0.00,2.45,0.00,0.000,6,0.000,0.026,3194,1578,3400,0,0,0,0,0,0
$GC,1432,-0.98,-146.0,174.2,-9.1,135,1436,0.00,2.40,0.00,0.000,4,0.000,0.021,3194,3117,3400,0,0,0,0,0,0
$GC,1460,-1.04,-146.0,176.7,-8.6,137,1465,0.15,2.47,0.00,0.000,6,0.053,0.027,3122,1580,3400,0,0,0,0,0,0
$GC,1734,-0.89,-146.0,211.4,-13.1,156,1739,0.28,2.30,0.00,0.000,4,0.085,0.040,3188,164,3400,0,0,0,0,0,0
$GC,1751,-0.78,-146.0,214.4,-13.5,156,1756,0.12,2.15,0.00,0.000,6,0.104,0.018,3216,1610,3400,0,0,0,0,0,0
$GC,2025,-0.87,-146.0,232.5,-6.2,163,2029,0.00,2.33,0.00,0.000,4,0.000,0.021,3216,3108,3400,0,0,0,0,0,0
$GC,2044,-0.99,-146.0,233.6,-6.0,163,2049,0.20,2.42,0.00,0.000,6,0.042,0.026,3124,1597,3400,0,0,0,0,0,0
$GC,2311,-0.89,-146.0,264.1,-12.3,170,2316,0.28,2.35,0.00,0.000,4,0.080,0.043,3190,170,3400,0,0,0,0,0,0
$GC,2340,-0.93,-146.0,267.2,-9.0,170,2345,0.00,2.15,0.00,0.000,6,0.000,0.018,3190,1575,3400,0,0,0,0,0,0
$GC,2597,-1.00,-146.0,286.1,-7.3,177,2602,0.10,2.47,0.00,0.000,4,0.075,0.025,3131,3139,3400,0,0,0,0,0,0
$GC,2635,-1.00,-146.0,289.8,-9.1,177,2642,0.15,2.53,0.00,0.000,6,0.088,0.031,3168,1589,3400,0,0,0,0,0,0
$GC,2885,-1.00,-146.0,311.2,-8.6,184,2890,0.00,2.35,0.00,0.000,4,0.000,0.049,3168,172,3400,0,0,0,0,0,0
$GC,2939,-1.07,-146.0,315.7,-8.5,185,2943,0.00,2.17,0.00,0.000,6,0.000,0.021,3168,1580,3400,0,0,0,0,0,0
$GC,3221,-1.07,-146.0,337.2,-7.1,192,3225,0.00,2.50,0.00,0.000,4,0.000,0.028,3168,3142,3398,0,0,0,0,0,0
$GC,3288,-1.17,-146.0,341.7,-6.8,193,3294,0.15,2.55,0.00,0.000,6,0.054,0.035,3093,1592,3398,0,0,0,0,0,0
$GC,3553,-1.04,-146.0,370.9,-11.3,200,3558,0.25,2.40,0.00,0.000,4,0.085,0.054,3154,168,3397,0,0,0,0,0,0
$GC,3582,-1.04,-146.0,374.0,-10.2,200,3586,0.00,2.22,0.00,0.000,6,0.000,0.021,3154,1608,3396,0,0,0,0,0,0
$GC,3838,-1.04,-146.0,396.7,-8.9,207,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1610,3395,0,0,0,0,0,0
$GC,4080,-1.04,-146.0,416.7,-8.1,213,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1611,3393,0,0,0,0,0,0
$GC,4324,-1.04,-146.0,435.4,-7.7,219,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1611,3391,0,0,0,0,0,0
$GC,4570,-1.04,-146.0,454.1,-7.6,225,4574,0.00,2.53,0.00,0.000,4,0.000,0.038,3154,3144,3389,0,0,0,0,0,0
$GC,4589,-1.04,-146.0,455.7,-7.7,225,4593,0.00,2.53,0.00,0.000,6,0.000,0.036,3154,1608,3389,0,0,0,0,0,0
$GC,4853,-1.04,-146.0,476.0,-7.8,232,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1608,3387,0,0,0,0,0,0
$GC,5098,-1.04,-146.0,495.5,-7.9,238,5102,0.00,2.50,0.00,0.000,4,0.000,0.070,3154,167,3386,0,0,0,0,0,0
$GC,5126,-1.04,-146.0,498.0,-9.0,238,5130,0.00,2.28,0.00,0.000,6,0.000,0.030,3154,1601,3386,0,0,0,0,0,0
$GC,5381,-1.09,-146.0,517.6,-7.7,245,5386,0.00,2.47,0.00,0.000,4,0.000,0.067,3154,170,3384,0,0,0,0,0,0
$GC,5400,-1.09,-146.0,519.4,-8.9,245,5404,0.00,2.30,0.00,0.000,6,0.000,0.029,3154,1615,3384,0,0,0,0,0,0
$GC,5666,-1.13,-146.0,539.3,-7.5,252,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1615,3382,0,0,0,0,0,0
$GC,5908,-1.18,-146.0,557.7,-7.5,258,5913,0.12,2.55,0.00,0.000,4,0.064,0.071,3098,165,3381,0,0,0,0,0,0
$GC,5957,-1.10,-146.0,562.8,-12.0,259,5963,0.20,2.33,0.00,0.000,6,0.090,0.033,3143,1596,3380,0,0,0,0,0,0
$GC,6243,-1.10,-146.0,586.7,-8.2,266,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3379,0,0,0,0,0,0
$GC,6485,-1.10,-146.0,607.2,-8.4,272,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3377,0,0,0,0,0,0
$GC,6730,-1.10,-146.0,627.5,-8.2,278,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1597,3376,0,0,0,0,0,0
$GC,6972,-1.10,-146.0,646.3,-7.6,284,6976,0.00,2.50,0.00,0.000,4,0.000,0.074,3143,173,3375,0,0,0,0,0,0
$GC,7000,-1.10,-146.0,648.7,-8.4,284,7004,0.00,2.33,0.00,0.000,6,0.000,0.033,3143,1603,3374,0,0,0,0,0,0
$GC,7257,-1.10,-146.0,667.3,-7.2,291,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1603,3373,0,0,0,0,0,0
$GC,7501,-1.15,-146.0,684.7,-7.2,297,7505,0.00,2.62,0.00,0.000,4,0.000,0.054,3143,3155,3372,0,0,0,0,0,0
$GC,7531,-1.22,-146.0,687.0,-7.6,297,7536,0.10,2.62,0.00,0.000,6,0.076,0.048,3091,1610,3372,0,0,0,0,0,0
$GC,7789,-1.16,-146.0,711.6,-9.7,304,7794,0.17,2.58,0.00,0.000,4,0.094,0.080,3131,162,3371,0,0,0,0,0,0
$GC,7860,-1.16,-146.0,718.4,-9.0,305,7864,0.00,2.35,0.00,0.000,6,0.000,0.034,3131,1604,3370,0,0,0,0,0,0
$GC,8120,-1.16,-146.0,738.6,-7.7,312,8125,0.00,2.62,0.00,0.000,4,0.000,0.054,3131,3157,3369,0,0,0,0,0,0
$GC,8141,-1.16,-146.0,740.3,-8.3,312,8145,0.00,2.62,0.00,0.000,6,0.000,0.048,3132,1599,3369,0,0,0,0,0,0
$GC,8405,-1.16,-146.0,759.7,-7.2,319,8409,0.00,2.53,0.00,0.000,4,0.000,0.081,3131,169,3368,0,0,0,0,0,0
$GC,8452,-1.16,-146.0,763.5,-8.5,320,8456,0.00,2.33,0.00,0.000,6,0.000,0.033,3132,1598,3368,0,0,0,0,0,0
$GC,8738,-1.16,-146.0,782.9,-6.7,327,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1598,3367,0,0,0,0,0,0
$GC,8978,-1.16,-146.0,798.9,-6.4,333,8982,0.00,2.53,0.00,0.000,4,0.000,0.075,3132,167,3365,0,0,0,0,0,0
$GC,9025,-1.16,-146.0,802.4,-7.0,334,9029,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1589,3365,0,0,0,0,0,0
$GC,9311,-1.16,-146.0,820.5,-6.3,341,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1590,3364,0,0,0,0,0,0
$GC,9551,-1.16,-146.0,836.3,-6.5,347,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3363,0,0,0,0,0,0
$GC,9795,-1.16,-146.0,852.6,-6.8,353,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1590,3363,0,0,0,0,0,0
$GC,10040,-1.16,-146.0,868.9,-6.7,359,10045,0.00,2.65,0.00,0.000,4,0.000,0.054,3132,3152,3362,0,0,0,0,0,0
$GC,10069,-1.23,-146.0,871.1,-6.8,359,10073,0.00,2.67,0.00,0.000,6,0.000,0.050,3131,1585,3362,0,0,0,0,0,0
$GC,10326,-1.23,-146.0,888.1,-6.6,366,10331,0.00,2.53,0.00,0.000,4,0.000,0.083,3132,161,3362,0,0,0,0,0,0
$GC,10365,-1.23,-146.0,891.0,-8.4,366,10371,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,1594,3361,0,0,0,0,0,0
$STATE,10534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10534,begin apogee
$GC,10540,-0.31,0.0,901.7,6.3,371,10663,0.80,0.00,119.38,1.157,6,0.069,0.000,3316,1335,2800,0,0,0,0,0,0
$STATE,10664,end apogee,CONTROL_FINISHED_OK
$STATE,10664,begin climb
$GC,10667,1.27,146.0,904.6,0.0,374,10807,1.42,2.15,131.02,1.134,4,0.033,0.077,3663,179,2204,0,0,0,0,0,0
$GC,10889,1.02,146.0,887.0,15.7,379,10893,0.28,1.95,0.00,0.000,6,0.112,0.031,3608,1360,2199,0,0,0,0,0,0
$GC,11180,0.95,146.0,855.3,10.7,386,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3608,1360,2193,0,0,0,0,0,0
$GC,11420,0.88,146.0,828.9,10.7,392,11422,0.15,0.00,0.00,0.000,6,0.112,0.000,3576,1361,2192,0,0,0,0,0,0
$GC,11665,0.89,153.9,805.0,9.6,398,11677,0.00,2.15,6.28,0.838,4,0.000,0.071,3577,179,2172,0,0,0,0,0,0
$GC,11692,0.92,175.4,802.0,9.0,398,11720,0.00,1.92,21.80,1.030,6,0.000,0.031,3576,1351,2083,0,0,0,0,0,0
$GC,12005,0.92,175.4,770.9,10.1,406,12009,0.00,2.10,0.00,0.000,4,0.000,0.071,3577,167,2079,0,0,0,0,0,0
$GC,12042,0.92,175.4,766.1,10.6,406,12047,0.00,1.95,0.00,0.000,6,0.000,0.031,3577,1353,2079,0,0,0,0,0,0
$GC,12292,0.94,189.3,742.1,9.4,413,12312,0.00,2.75,13.12,0.956,4,0.000,0.056,3577,2927,2027,0,0,0,0,0,0
$GC,12320,0.97,213.7,739.5,8.9,413,12352,0.00,2.70,24.75,1.002,6,0.000,0.047,3576,1356,1928,0,0,0,0,0,0
$GC,12631,0.98,224.3,710.1,9.5,421,12648,0.10,2.70,10.82,0.910,4,0.080,0.046,3617,2926,1884,0,0,0,0,0,0
$GC,12659,0.98,224.3,706.7,10.1,421,12664,0.00,2.72,0.00,0.000,6,0.000,0.048,3617,1356,1882,0,0,0,0,0,0
$GC,12918,0.98,224.3,677.1,11.5,428,12922,0.00,2.12,0.00,0.000,4,0.000,0.084,3617,167,1882,0,0,0,0,0,0
$GC,12937,0.91,224.3,674.7,12.4,428,12942,0.17,1.95,0.00,0.000,6,0.106,0.030,3581,1366,1882,0,0,0,0,0,0
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$GC,18787,1.35,316.7,53.8,8.3,662,18827,0.00,2.55,33.70,0.472,4,0.000,0.025,3670,2881,1507,0,0,0,0,0,0
$GC,18850,1.44,336.5,48.4,9.1,667,18876,0.12,2.55,18.12,0.451,6,0.064,0.032,3726,1340,1427,0,0,0,0,0,0
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$STATE,19173,end climb,SURFACE_DEPTH_REACHED
$STATE,19173,begin surface coast
$FINISH,0.8,1.012068
$STATE,19214,end surface coast,CONTROL_FINISHED_OK
$STATE,19214,begin surface
$SM_CCo,19241,33.20,0.423,0,0,1209,390.03
$SM_GC,1.95,0.00,0.00,33.20,0.000,0.000,0.423,416,1588,1209,-13.66,0.51,390.03
$IRIDIUM_FIX,2253.38,-15711.46,091002,070749
$TT8_MAMPS,0.026845
$HUMID,64.25
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.70
$XPDR_PINGS,17
$24V_AH,23.3,36.601
$10V_AH,9.9,34.038
$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
$DEVICE_SECS,34.225,194.075,435.575,33.200,0.000,52.436,75.510,306.829,4.250,0.000,16.494,1565.110,14333.706,536.455,2576.686,912.043,33.370,1623.794,0.000,2573.402,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.497,368.806,470.022,965.014,1265.108,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355784
$DATA_FILE_SIZE,57337,714
$CAP_FILE_SIZE,186961,0
$CFSIZE,260165632,153468928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150713,124006,2305.118,-15712.524,39,1.4,39,10.2