version: 66.06
glider: 148
mission: 12
dive: 264
start: 7 18 113 23 11 57
data:
$ID,148
$MISSION,12
$DIVE,264
$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,-1021337
$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,37
$R_STBD_OVSHOOT,93
$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
$GPS1,225020,2317.802,-15735.250,43,2.1,62,10.2
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.7
$GPS2,231103,2317.982,-15735.314,12,2.2,31,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE_UP1
$TGT_LATLONG,2320.900,-15734.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.251
$KALMAN_X,-201966.7,-70.2,-186.9,244497.2,778.4
$KALMAN_Y,166812.0,112.5,125.1,-105956.2,219.4
$MHEAD_RNG_PITCHd_Wd,4.4,5847,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.82,0.000,2,0.000,0.000,412,1550,2933,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-3.3,9,122,14.05,2.50,-8.50,0.000,4,0.151,0.032,3101,3107,3397,0,0,0,0,0,0
$GC,214,-1.09,-146.0,32.0,-18.7,27,220,0.20,2.47,0.00,0.000,6,0.099,0.031,3145,1579,3398,0,0,0,0,0,0
$GC,484,-0.91,-146.0,78.5,-14.4,51,489,0.20,2.30,0.00,0.000,4,0.098,0.041,3188,166,3398,0,0,0,0,0,0
$GC,546,-0.91,-146.0,87.8,-11.3,56,555,0.00,2.08,0.00,0.000,6,0.000,0.016,3188,1541,3398,0,0,0,0,0,0
$GC,811,-0.91,-146.0,115.4,-11.2,81,816,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1543,3399,0,0,0,0,0,0
$GC,1072,-0.91,-146.0,146.0,-10.9,106,1077,0.00,2.45,0.00,0.000,4,0.000,0.021,3188,3118,3399,0,0,0,0,0,0
$GC,1092,-0.91,-146.0,147.6,-11.5,107,1096,0.00,2.53,0.00,0.000,6,0.000,0.026,3188,1540,3399,0,0,0,0,0,0
$GC,1357,-0.91,-146.0,171.4,-8.7,131,1361,0.00,2.47,0.00,0.000,4,0.000,0.021,3188,3118,3399,0,0,0,0,0,0
$GC,1376,-0.91,-146.0,173.6,-9.0,132,1385,0.00,2.55,0.00,0.000,6,0.000,0.027,3188,1554,3399,0,0,0,0,0,0
$GC,1643,-0.91,-146.0,196.7,-9.4,157,1648,0.00,2.25,0.00,0.000,4,0.000,0.044,3188,168,3399,0,0,0,0,0,0
$GC,1680,-0.91,-146.0,200.8,-10.3,160,1684,0.00,2.05,0.00,0.000,6,0.000,0.017,3188,1558,3399,0,0,0,0,0,0
$GC,1935,-0.91,-146.0,224.9,-9.5,166,1940,0.00,2.42,0.00,0.000,4,0.000,0.021,3188,3118,3399,0,0,0,0,0,0
$GC,1971,-1.00,-146.0,228.1,-8.2,166,1975,0.00,2.55,0.00,0.000,6,0.000,0.028,3188,1542,3399,0,0,0,0,0,0
$GC,2221,-1.00,-146.0,248.6,-8.1,172,2225,0.00,2.47,0.00,0.000,4,0.000,0.022,3188,3117,3398,0,0,0,0,0,0
$GC,2254,-1.11,-146.0,251.3,-7.5,172,2259,0.17,2.53,0.00,0.000,6,0.044,0.029,3099,1560,3399,0,0,0,0,0,0
$GC,2506,-0.96,-146.0,283.6,-13.6,178,2511,0.30,2.28,0.00,0.000,4,0.084,0.044,3170,168,3397,0,0,0,0,0,0
$GC,2535,-0.96,-146.0,287.3,-10.8,178,2539,0.00,2.08,0.00,0.000,6,0.000,0.019,3170,1532,3397,0,0,0,0,0,0
$GC,2790,-1.01,-146.0,308.9,-8.3,185,2794,0.00,2.58,0.00,0.000,4,0.000,0.027,3170,3140,3397,0,0,0,0,0,0
$GC,2820,-1.10,-146.0,311.3,-7.4,185,2826,0.12,2.60,0.00,0.000,6,0.061,0.033,3102,1558,3397,0,0,0,0,0,0
$GC,3076,-0.99,-146.0,339.8,-11.4,192,3081,0.25,2.33,0.00,0.000,4,0.084,0.053,3163,166,3395,0,0,0,0,0,0
$GC,3149,-1.05,-146.0,347.6,-9.8,193,3153,0.00,2.12,0.00,0.000,6,0.000,0.021,3163,1550,3395,0,0,0,0,0,0
$GC,3408,-1.05,-146.0,371.0,-8.9,200,3413,0.00,2.55,0.00,0.000,4,0.000,0.033,3163,3134,3393,0,0,0,0,0,0
$GC,3446,-1.17,-146.0,374.4,-7.8,200,3455,0.10,2.65,0.00,0.000,6,0.028,0.038,3100,1556,3393,0,0,0,0,0,0
$GC,3698,-1.07,-146.0,400.3,-10.5,207,3703,0.22,2.35,0.00,0.000,4,0.086,0.061,3151,168,3391,0,0,0,0,0,0
$GC,3727,-1.07,-146.0,403.1,-8.0,207,3731,0.00,2.17,0.00,0.000,6,0.000,0.023,3151,1551,3391,0,0,0,0,0,0
$GC,3984,-1.07,-146.0,421.8,-7.6,214,3988,0.00,2.60,0.00,0.000,4,0.000,0.035,3151,3148,3389,0,0,0,0,0,0
$GC,4012,-1.15,-146.0,424.1,-7.3,214,4017,0.00,2.65,0.00,0.000,6,0.000,0.039,3151,1559,3389,0,0,0,0,0,0
$GC,4270,-1.15,-146.0,443.2,-7.7,221,4274,0.00,2.40,0.00,0.000,4,0.000,0.067,3152,164,3386,0,0,0,0,0,0
$GC,4318,-1.15,-146.0,447.7,-9.0,222,4322,0.00,2.20,0.00,0.000,6,0.000,0.026,3151,1559,3386,0,0,0,0,0,0
$GC,4601,-1.15,-146.0,470.6,-8.3,229,4605,0.00,2.62,0.00,0.000,4,0.000,0.039,3151,3151,3384,0,0,0,0,0,0
$GC,4639,-1.25,-146.0,473.9,-8.4,229,4645,0.15,2.65,0.00,0.000,6,0.054,0.041,3086,1567,3384,0,0,0,0,0,0
$GC,4893,-1.15,-146.0,501.8,-11.2,236,4898,0.22,2.42,0.00,0.000,4,0.087,0.071,3137,163,3382,0,0,0,0,0,0
$GC,4927,-1.15,-146.0,505.9,-9.6,236,4931,0.00,2.22,0.00,0.000,6,0.000,0.029,3137,1560,3382,0,0,0,0,0,0
$GC,5177,-1.15,-146.0,528.0,-8.9,242,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1560,3380,0,0,0,0,0,0
$GC,5423,-1.15,-146.0,549.9,-8.9,248,5427,0.00,2.62,0.00,0.000,4,0.000,0.044,3137,3147,3378,0,0,0,0,0,0
$GC,5442,-1.15,-146.0,551.8,-8.9,248,5446,0.00,2.67,0.00,0.000,6,0.000,0.044,3137,1559,3378,0,0,0,0,0,0
$GC,5706,-1.15,-146.0,574.0,-8.5,255,5710,0.00,2.45,0.00,0.000,4,0.000,0.077,3137,162,3375,0,0,0,0,0,0
$GC,5731,-1.15,-146.0,576.2,-9.1,255,5735,0.00,2.25,0.00,0.000,6,0.000,0.030,3137,1568,3375,0,0,0,0,0,0
$GC,5990,-1.15,-146.0,597.4,-8.1,262,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1568,3373,0,0,0,0,0,0
$GC,6234,-1.15,-146.0,616.0,-7.5,268,6238,0.00,2.62,0.00,0.000,4,0.000,0.047,3137,3146,3372,0,0,0,0,0,0
$GC,6257,-1.15,-146.0,617.6,-8.0,268,6261,0.00,2.67,0.00,0.000,6,0.000,0.047,3137,1556,3372,0,0,0,0,0,0
$GC,6521,-1.15,-146.0,637.6,-7.7,275,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1556,3370,0,0,0,0,0,0
$GC,6767,-1.15,-146.0,656.3,-7.6,281,6771,0.00,2.67,0.00,0.000,4,0.000,0.045,3137,3147,3369,0,0,0,0,0,0
$GC,6794,-1.20,-146.0,658.5,-8.1,281,6799,0.00,2.70,0.00,0.000,6,0.000,0.048,3137,1563,3369,0,0,0,0,0,0
$GC,7054,-1.20,-146.0,678.9,-7.9,288,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1563,3367,0,0,0,0,0,0
$GC,7298,-1.20,-146.0,697.6,-7.6,294,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1563,3365,0,0,0,0,0,0
$GC,7542,-1.20,-146.0,716.1,-7.6,300,7546,0.00,2.65,0.00,0.000,4,0.000,0.047,3137,3149,3364,0,0,0,0,0,0
$GC,7567,-1.26,-146.0,718.2,-8.8,300,7574,0.12,2.70,0.00,0.000,6,0.063,0.051,3082,1559,3364,0,0,0,0,0,0
$GC,7830,-1.17,-146.0,747.3,-11.5,307,7835,0.20,2.47,0.00,0.000,4,0.091,0.083,3129,168,3363,0,0,0,0,0,0
$GC,7883,-1.17,-146.0,753.1,-11.1,308,7887,0.00,2.25,0.00,0.000,6,0.000,0.035,3128,1559,3362,0,0,0,0,0,0
$GC,8166,-1.17,-146.0,779.9,-9.2,315,8170,0.00,2.67,0.00,0.000,4,0.000,0.054,3128,3155,3362,0,0,0,0,0,0
$GC,8185,-1.17,-146.0,781.7,-9.6,315,8189,0.00,2.70,0.00,0.000,6,0.000,0.049,3128,1560,3362,0,0,0,0,0,0
$GC,8451,-1.17,-146.0,802.4,-7.5,322,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1560,3361,0,0,0,0,0,0
$GC,8693,-1.17,-146.0,818.6,-6.7,328,8697,0.00,2.47,0.00,0.000,4,0.000,0.084,3128,165,3360,0,0,0,0,0,0
$GC,8712,-1.17,-146.0,820.1,-7.4,328,8716,0.00,2.28,0.00,0.000,6,0.000,0.034,3128,1573,3360,0,0,0,0,0,0
$GC,8976,-1.17,-146.0,836.1,-5.9,335,8980,0.00,2.65,0.00,0.000,4,0.000,0.054,3128,3152,3359,0,0,0,0,0,0
$GC,9002,-1.22,-146.0,837.7,-6.4,335,9006,0.00,2.72,0.00,0.000,6,0.000,0.050,3128,1557,3359,0,0,0,0,0,0
$GC,9261,-1.22,-146.0,852.3,-5.6,342,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1557,3357,0,0,0,0,0,0
$GC,9505,-1.22,-146.0,867.9,-6.5,348,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1557,3356,0,0,0,0,0,0
$GC,9751,-1.22,-146.0,884.4,-6.7,354,9755,0.00,2.67,0.00,0.000,4,0.000,0.047,3128,3158,3356,0,0,0,0,0,0
$GC,9780,-1.29,-146.0,886.7,-7.0,354,9787,0.10,2.72,0.00,0.000,6,0.076,0.051,3081,1567,3355,0,0,0,0,0,0
$STATE,9953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9953,begin apogee
$GC,9961,-0.31,0.0,902.5,9.2,359,10083,1.02,0.00,118.28,1.157,6,0.074,0.000,3315,1349,2800,0,0,0,0,0,0
$STATE,10084,end apogee,CONTROL_FINISHED_OK
$STATE,10084,begin climb
$GC,10086,1.27,146.0,906.6,0.0,362,10225,1.42,2.17,130.12,1.136,4,0.035,0.086,3665,168,2204,0,0,0,0,0,0
$GC,10241,1.03,146.0,901.0,11.3,365,10246,0.28,1.98,0.00,0.000,6,0.106,0.032,3610,1357,2202,0,0,0,0,0,0
$GC,10497,0.97,157.7,876.2,9.5,372,10509,0.00,0.00,10.57,0.969,6,0.000,0.000,3610,1357,2157,0,0,0,0,0,0
$GC,10742,0.90,162.4,852.2,9.8,378,10755,0.12,2.15,5.32,0.792,4,0.117,0.072,3583,164,2138,0,0,0,0,0,0
$GC,10770,0.87,181.4,849.3,9.1,378,10794,0.00,1.95,19.52,1.038,6,0.000,0.031,3582,1358,2059,0,0,0,0,0,0
$GC,11083,0.87,185.9,819.5,9.8,386,11089,0.00,0.00,4.53,0.719,6,0.000,0.000,3582,1359,2042,0,0,0,0,0,0
$GC,11321,0.88,189.2,795.6,9.8,392,11332,0.00,2.15,4.85,0.736,4,0.000,0.071,3583,162,2027,0,0,0,0,0,0
$GC,11342,0.88,189.2,793.2,10.2,392,11346,0.00,1.92,0.00,0.000,6,0.000,0.029,3582,1345,2027,0,0,0,0,0,0
$GC,11612,0.88,192.3,766.6,9.9,399,11621,0.00,2.10,4.50,0.713,4,0.000,0.071,3582,162,2014,0,0,0,0,0,0
$GC,11631,0.88,193.2,764.3,10.0,399,11634,0.00,1.95,0.00,0.000,6,0.000,0.030,3583,1350,2015,0,0,0,0,0,0
$GC,11902,0.88,193.2,737.6,10.1,406,11906,0.00,2.10,0.00,0.000,4,0.000,0.071,3582,164,2013,0,0,0,0,0,0
$GC,11938,0.88,193.2,733.5,13.1,406,11941,0.00,1.92,0.00,0.000,6,0.000,0.030,3583,1341,2013,0,0,0,0,0,0
$GC,12192,0.89,196.7,708.0,9.8,413,12199,0.00,0.00,5.38,0.762,6,0.000,0.000,3583,1342,1998,0,0,0,0,0,0
$GC,12435,0.89,203.3,684.1,9.7,419,12445,0.00,0.00,7.90,0.851,6,0.000,0.000,3583,1342,1971,0,0,0,0,0,0
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$STATE,18613,end climb,SURFACE_DEPTH_REACHED
$STATE,18613,begin surface coast
$FINISH,0.9,1.023298
$STATE,18669,end surface coast,CONTROL_FINISHED_OK
$STATE,18669,begin surface
$SM_CCo,18692,55.60,0.431,0,0,1210,390.03
$SM_GC,1.88,0.00,0.00,55.60,0.000,0.000,0.431,411,1585,1210,-13.68,0.42,390.03
$IRIDIUM_FIX,2307.44,-15737.06,121002,232329
$TT8_MAMPS,0.027612
$HUMID,63.86
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.80
$XPDR_PINGS,19
$24V_AH,23.3,38.994
$10V_AH,9.9,36.436
$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
$DEVICE_SECS,33.250,221.100,400.525,55.600,0.000,132.061,219.856,441.667,4.750,0.000,34.217,1565.079,13962.500,559.911,2580.470,1311.393,33.366,1637.081,0.000,2569.919,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.743,378.493,481.171,997.948,1316.064,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,57238,712
$CAP_FILE_SIZE,195714,0
$CFSIZE,260165632,152219648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190713,042619,2321.468,-15735.307,51,2.2,70,10.2