version: 66.06
glider: 148
mission: 12
dive: 384
start: 8 14 113 17 7 14
data:
$ID,148
$MISSION,12
$DIVE,384
$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,-1023677.8
$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,3400
$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,24
$R_STBD_OVSHOOT,117
$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
$GPS1,165520,2239.577,-15739.311,37,2.5,56,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.0
$GPS2,170619,2239.493,-15739.403,10,1.2,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOENE
$TGT_LATLONG,2305.430,-15735.418
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.019,0.259
$KALMAN_X,-84654.1,-289.0,-308.8,120539.6,835.1
$KALMAN_Y,87264.1,-266.8,-268.2,-96900.2,-1173.7
$MHEAD_RNG_PITCHd_Wd,345.7,48513,-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,-67.30,0.000,2,0.000,0.000,415,1602,2936,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-3.9,9,123,13.88,2.38,-8.38,0.000,4,0.143,0.034,3117,3083,3398,0,0,0,0,0,0
$GC,189,-1.09,-146.0,27.3,-16.3,23,199,0.17,2.53,0.00,0.000,6,0.082,0.032,3159,1560,3399,0,0,0,0,0,0
$GC,469,-0.92,-146.0,74.2,-17.2,49,474,0.17,2.33,0.00,0.000,4,0.100,0.041,3198,159,3399,0,0,0,0,0,0
$GC,493,-0.81,-146.0,79.3,-15.0,50,502,0.08,2.10,0.00,0.000,6,0.087,0.017,3221,1551,3399,0,0,0,0,0,0
$GC,761,-0.81,-146.0,102.7,-8.0,75,765,0.00,2.45,0.00,0.000,4,0.000,0.021,3220,3112,3400,0,0,0,0,0,0
$GC,810,-0.95,-146.0,106.8,-7.4,79,815,0.12,2.50,0.00,0.000,6,0.060,0.027,3149,1568,3400,0,0,0,0,0,0
$GC,1078,-0.81,-146.0,139.0,-13.0,103,1083,0.30,2.28,0.00,0.000,4,0.081,0.041,3220,170,3400,0,0,0,0,0,0
$GC,1100,-0.75,-146.0,142.6,-12.5,104,1109,0.00,2.12,0.00,0.000,6,0.000,0.017,3220,1575,3400,0,0,0,0,0,0
$GC,1363,-0.80,-146.0,165.6,-9.0,129,1367,0.00,2.42,0.00,0.000,4,0.000,0.021,3220,3117,3401,0,0,0,0,0,0
$GC,1413,-0.95,-146.0,169.5,-8.1,133,1418,0.12,2.47,0.00,0.000,6,0.060,0.027,3146,1587,3401,0,0,0,0,0,0
$GC,1679,-0.85,-146.0,201.1,-11.9,157,1684,0.28,2.30,0.00,0.000,4,0.081,0.041,3211,174,3400,0,0,0,0,0,0
$GC,1714,-0.85,-146.0,205.1,-9.1,157,1719,0.00,2.10,0.00,0.000,6,0.000,0.018,3211,1577,3401,0,0,0,0,0,0
$GC,1965,-0.92,-146.0,224.8,-7.9,163,1969,0.00,2.40,0.00,0.000,4,0.000,0.021,3210,3117,3400,0,0,0,0,0,0
$GC,1989,-1.01,-146.0,226.9,-8.8,163,1994,0.12,2.47,0.00,0.000,6,0.061,0.027,3138,1588,3401,0,0,0,0,0,0
$GC,2251,-0.93,-146.0,255.4,-11.1,170,2256,0.25,2.42,0.00,0.000,4,0.081,0.022,3198,3119,3401,0,0,0,0,0,0
$GC,2298,-1.05,-146.0,259.4,-7.5,171,2303,0.12,2.45,0.00,0.000,6,0.060,0.028,3125,1591,3401,0,0,0,0,0,0
$GC,2588,-0.96,-146.0,290.0,-11.0,178,2593,0.25,2.35,0.00,0.000,4,0.081,0.045,3186,169,3400,0,0,0,0,0,0
$GC,2622,-1.02,-146.0,293.4,-8.6,178,2626,0.00,2.12,0.00,0.000,6,0.000,0.019,3186,1567,3400,0,0,0,0,0,0
$GC,2874,-1.07,-146.0,311.6,-7.2,184,2879,0.00,2.50,0.00,0.000,4,0.000,0.028,3186,3132,3399,0,0,0,0,0,0
$GC,2898,-1.15,-146.0,313.4,-7.6,184,2904,0.15,2.55,0.00,0.000,6,0.054,0.031,3119,1574,3399,0,0,0,0,0,0
$GC,3161,-1.06,-146.0,339.7,-10.2,191,3163,0.22,0.00,0.00,0.000,6,0.085,0.000,3171,1574,3397,0,0,0,0,0,0
$GC,3404,-1.06,-146.0,357.3,-6.9,197,3408,0.00,2.55,0.00,0.000,4,0.000,0.030,3170,3135,3396,0,0,0,0,0,0
$GC,3424,-1.11,-146.0,358.9,-7.6,197,3428,0.00,2.55,0.00,0.000,6,0.000,0.034,3171,1587,3396,0,0,0,0,0,0
$GC,3688,-1.11,-146.0,377.4,-7.1,204,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1587,3394,0,0,0,0,0,0
$GC,3933,-1.11,-146.0,394.2,-6.8,210,3938,0.00,2.53,0.00,0.000,4,0.000,0.033,3171,3126,3392,0,0,0,0,0,0
$GC,3953,-1.16,-146.0,395.9,-7.4,210,3958,0.10,2.55,0.00,0.000,6,0.075,0.035,3112,1582,3392,0,0,0,0,0,0
$GC,4218,-1.08,-146.0,421.3,-9.8,217,4223,0.22,2.42,0.00,0.000,4,0.085,0.061,3163,169,3390,0,0,0,0,0,0
$GC,4254,-1.08,-146.0,424.5,-8.2,217,4258,0.00,2.20,0.00,0.000,6,0.000,0.024,3164,1563,3390,0,0,0,0,0,0
$GC,4504,-1.08,-146.0,443.1,-7.3,223,4509,0.00,2.58,0.00,0.000,4,0.000,0.035,3163,3140,3388,0,0,0,0,0,0
$GC,4548,-1.17,-146.0,446.4,-7.0,224,4553,0.00,2.58,0.00,0.000,6,0.000,0.038,3163,1590,3388,0,0,0,0,0,0
$GC,4840,-1.17,-146.0,466.6,-6.9,231,4844,0.00,2.42,0.00,0.000,4,0.000,0.067,3163,169,3386,0,0,0,0,0,0
$GC,4869,-1.17,-146.0,469.1,-7.5,231,4874,0.00,2.22,0.00,0.000,6,0.000,0.027,3163,1579,3386,0,0,0,0,0,0
$GC,5126,-1.17,-146.0,486.4,-6.7,238,5130,0.00,2.55,0.00,0.000,4,0.000,0.039,3162,3143,3384,0,0,0,0,0,0
$GC,5155,-1.26,-146.0,488.7,-7.7,238,5160,0.15,2.58,0.00,0.000,6,0.054,0.038,3096,1585,3384,0,0,0,0,0,0
$GC,5410,-1.16,-146.0,513.8,-10.1,245,5415,0.22,2.47,0.00,0.000,4,0.087,0.069,3147,164,3382,0,0,0,0,0,0
$GC,5437,-1.16,-146.0,516.2,-9.1,245,5441,0.00,2.28,0.00,0.000,6,0.000,0.028,3147,1594,3382,0,0,0,0,0,0
$GC,5696,-1.16,-146.0,536.5,-7.8,252,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1594,3380,0,0,0,0,0,0
$GC,5940,-1.16,-146.0,556.1,-8.2,258,5944,0.00,2.58,0.00,0.000,4,0.000,0.044,3147,3150,3378,0,0,0,0,0,0
$GC,5965,-1.16,-146.0,557.9,-8.3,258,5970,0.00,2.62,0.00,0.000,6,0.000,0.042,3147,1590,3379,0,0,0,0,0,0
$GC,6225,-1.16,-146.0,576.8,-7.1,265,6229,0.00,2.50,0.00,0.000,4,0.000,0.074,3147,166,3377,0,0,0,0,0,0
$GC,6270,-1.16,-146.0,580.2,-8.2,266,6275,0.00,2.28,0.00,0.000,6,0.000,0.030,3147,1586,3376,0,0,0,0,0,0
$GC,6560,-1.16,-146.0,600.6,-6.9,273,6564,0.00,2.60,0.00,0.000,4,0.000,0.045,3147,3156,3376,0,0,0,0,0,0
$GC,6590,-1.23,-146.0,602.9,-7.3,273,6595,0.00,2.65,0.00,0.000,6,0.000,0.046,3147,1591,3375,0,0,0,0,0,0
$GC,6847,-1.23,-146.0,622.1,-7.7,280,6851,0.00,2.50,0.00,0.000,4,0.000,0.077,3147,167,3374,0,0,0,0,0,0
$GC,6894,-1.23,-146.0,625.9,-9.8,281,6899,0.00,2.30,0.00,0.000,6,0.000,0.033,3147,1594,3374,0,0,0,0,0,0
$GC,7181,-1.23,-146.0,649.2,-8.0,288,7186,0.00,2.60,0.00,0.000,4,0.000,0.050,3147,3157,3373,0,0,0,0,0,0
$GC,7218,-1.31,-146.0,652.0,-8.4,288,7223,0.12,2.67,0.00,0.000,6,0.062,0.048,3087,1581,3373,0,0,0,0,0,0
$GC,7468,-1.21,-146.0,678.7,-10.8,294,7474,0.22,2.47,0.00,0.000,4,0.088,0.078,3138,167,3370,0,0,0,0,0,0
$GC,7516,-1.21,-146.0,683.2,-9.6,295,7520,0.00,2.33,0.00,0.000,6,0.000,0.035,3138,1590,3370,0,0,0,0,0,0
$GC,7800,-1.21,-146.0,704.9,-7.5,302,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1590,3369,0,0,0,0,0,0
$GC,8042,-1.21,-146.0,721.6,-6.7,308,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1590,3368,0,0,0,0,0,0
$GC,8286,-1.21,-146.0,736.3,-6.0,314,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1590,3367,0,0,0,0,0,0
$GC,8530,-1.21,-146.0,751.5,-6.3,320,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1590,3366,0,0,0,0,0,0
$GC,8777,-1.21,-146.0,768.0,-6.9,326,8782,0.00,2.62,0.00,0.000,4,0.000,0.054,3138,3152,3366,0,0,0,0,0,0
$GC,8801,-1.21,-146.0,770.1,-7.5,326,8806,0.00,2.65,0.00,0.000,6,0.000,0.048,3137,1585,3366,0,0,0,0,0,0
$GC,9061,-1.21,-146.0,789.3,-7.6,333,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1585,3364,0,0,0,0,0,0
$GC,9306,-1.21,-146.0,809.2,-8.2,339,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1585,3364,0,0,0,0,0,0
$GC,9548,-1.21,-146.0,829.9,-8.5,345,9552,0.00,2.53,0.00,0.000,4,0.000,0.082,3138,163,3363,0,0,0,0,0,0
$GC,9569,-1.21,-146.0,831.6,-8.9,345,9573,0.00,2.33,0.00,0.000,6,0.000,0.034,3138,1587,3363,0,0,0,0,0,0
$GC,9835,-1.21,-146.0,854.1,-8.4,352,9839,0.00,2.62,0.00,0.000,4,0.000,0.054,3138,3152,3362,0,0,0,0,0,0
$GC,9864,-1.27,-146.0,856.9,-8.6,352,9868,0.00,2.67,0.00,0.000,6,0.000,0.049,3138,1585,3362,0,0,0,0,0,0
$GC,10118,-1.27,-146.0,877.9,-8.2,359,10123,0.00,2.50,0.00,0.000,4,0.000,0.081,3138,170,3362,0,0,0,0,0,0
$GC,10144,-1.27,-146.0,880.1,-9.0,359,10148,0.00,2.30,0.00,0.000,6,0.000,0.034,3138,1588,3361,0,0,0,0,0,0
$GC,10406,-1.27,-146.0,899.9,-7.4,366,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1588,3360,0,0,0,0,0,0
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10448,-0.31,0.0,902.9,7.3,367,10572,0.82,0.00,120.70,1.149,6,0.067,0.000,3330,1343,2800,0,0,0,0,0,0
$STATE,10572,end apogee,CONTROL_FINISHED_OK
$STATE,10573,begin climb
$GC,10577,1.27,146.0,906.9,0.0,370,10717,1.42,2.17,131.57,1.128,4,0.031,0.079,3681,181,2204,0,0,0,0,0,0
$GC,10807,1.01,146.0,890.8,14.6,375,10812,0.30,1.95,0.00,0.000,6,0.106,0.031,3620,1361,2199,0,0,0,0,0,0
$GC,11081,0.96,162.1,864.4,9.3,382,11101,0.00,2.20,14.60,1.004,4,0.000,0.074,3620,177,2138,0,0,0,0,0,0
$GC,11191,0.85,162.1,852.0,11.5,384,11196,0.17,1.90,0.00,0.000,6,0.110,0.030,3584,1344,2137,0,0,0,0,0,0
$GC,11465,0.89,190.8,828.6,8.7,391,11498,0.00,0.00,27.83,1.048,6,0.000,0.000,3584,1345,2021,0,0,0,0,0,0
$GC,11745,0.89,197.5,801.6,9.7,398,11757,0.00,2.15,6.97,0.853,4,0.000,0.074,3583,180,1994,0,0,0,0,0,0
$GC,11785,0.89,197.5,796.9,11.5,398,11791,0.00,1.92,0.00,0.000,6,0.000,0.030,3583,1344,1994,0,0,0,0,0,0
$GC,12035,0.89,197.5,771.4,10.2,405,12040,0.00,2.72,0.00,0.000,4,0.000,0.054,3583,2935,1992,0,0,0,0,0,0
$GC,12066,0.98,213.4,768.5,9.3,405,12089,0.12,2.70,16.42,0.984,6,0.066,0.050,3630,1360,1930,0,0,0,0,0,0
$GC,12372,0.93,213.4,731.7,12.1,413,12377,0.12,2.70,0.00,0.000,4,0.114,0.045,3603,2932,1927,0,0,0,0,0,0
$GC,12389,0.93,213.4,729.6,12.0,413,12393,0.00,2.72,0.00,0.000,6,0.000,0.050,3603,1346,1926,0,0,0,0,0,0
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$STATE,19015,end climb,SURFACE_DEPTH_REACHED
$STATE,19015,begin surface coast
$FINISH,1.0,1.000787
$STATE,19049,end surface coast,CONTROL_FINISHED_OK
$STATE,19049,begin surface
$SM_CCo,19075,28.38,0.423,0,0,1209,390.03
$SM_GC,1.66,0.00,0.00,28.38,0.000,0.000,0.423,408,1652,1209,-13.76,2.32,390.03
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$TT8_MAMPS,0.028379
$HUMID,67.01
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,9
$24V_AH,23.0,56.609
$10V_AH,9.8,54.328
$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
$DEVICE_SECS,34.175,230.200,448.150,28.375,0.000,58.275,76.413,296.164,2.250,0.000,12.382,1612.537,13963.747,562.379,2666.309,947.187,33.377,1703.056,0.000,2669.536,0.000,0.536,0.000
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$SENSOR_SECS,490.096,382.858,485.137,998.157,1314.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,57344,720
$CAP_FILE_SIZE,195241,0
$CFSIZE,260165632,143065088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140813,222720,2241.260,-15739.861,39,99.0,58,10.1