version: 66.06
glider: 148
mission: 12
dive: 33
start: 5 27 113 19 43 1
data:
$ID,148
$MISSION,12
$DIVE,33
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1015664.8
$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,3380
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1560
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2855
$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
$GPS1,192353,2304.529,-15804.713,59,1.8,59,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.5
$GPS2,194207,2304.772,-15804.718,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,-0.183
$KALMAN_X,-11984.6,171.7,87.3,3766.1,-282.0
$KALMAN_Y,4245.1,-127.2,301.5,32219.9,96.0
$MHEAD_RNG_PITCHd_Wd,124.7,66835,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.15,0.000,2,0.000,0.000,416,1590,3151,0,0,0,0,0,0
$GC,88,-1.27,-146.0,4.2,-8.0,9,113,14.00,0.00,-4.88,0.000,6,0.150,0.000,3098,1590,3449,0,0,0,0,0,0
$GC,382,-0.99,-146.0,66.9,-16.5,41,387,0.28,2.40,0.00,0.000,4,0.097,0.023,3162,3108,3450,0,0,0,0,0,0
$GC,424,-0.99,-146.0,73.0,-11.4,44,428,0.00,2.55,0.00,0.000,6,0.000,0.030,3162,1543,3450,0,0,0,0,0,0
$GC,687,-0.92,-146.0,103.6,-11.5,68,691,0.00,2.50,0.00,0.000,4,0.000,0.025,3162,3109,3450,0,0,0,0,0,0
$GC,707,-0.92,-146.0,105.7,-11.9,69,712,0.00,2.50,0.00,0.000,6,0.000,0.028,3162,1552,3450,0,0,0,0,0,0
$GC,974,-0.92,-146.0,136.6,-11.9,93,978,0.00,2.47,0.00,0.000,4,0.000,0.025,3162,3103,3450,0,0,0,0,0,0
$GC,992,-0.92,-146.0,139.4,-11.2,94,1001,0.00,2.50,0.00,0.000,6,0.000,0.028,3162,1572,3450,0,0,0,0,0,0
$GC,1256,-0.92,-146.0,169.0,-10.6,119,1260,0.00,2.40,0.00,0.000,4,0.000,0.025,3162,3101,3450,0,0,0,0,0,0
$GC,1271,-0.92,-146.0,170.8,-10.4,120,1275,0.00,2.45,0.00,0.000,6,0.000,0.027,3162,1572,3450,0,0,0,0,0,0
$GC,1535,-0.92,-146.0,196.1,-9.2,144,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1572,3450,0,0,0,0,0,0
$GC,1817,-0.92,-146.0,223.4,-9.5,154,1822,0.00,2.42,0.00,0.000,4,0.000,0.025,3162,3111,3450,0,0,0,0,0,0
$GC,1855,-1.04,-146.0,226.9,-8.8,154,1861,0.00,2.50,0.00,0.000,6,0.000,0.030,3162,1573,3450,0,0,0,0,0,0
$GC,2107,-1.04,-146.0,250.4,-9.4,161,2111,0.00,2.42,0.00,0.000,4,0.000,0.026,3162,3101,3450,0,0,0,0,0,0
$GC,2135,-1.15,-146.0,253.1,-8.5,161,2140,0.15,2.47,0.00,0.000,6,0.052,0.031,3079,1583,3450,0,0,0,0,0,0
$GC,2392,-0.95,-146.0,286.3,-13.4,168,2397,0.38,2.42,0.00,0.000,4,0.087,0.028,3165,3101,3450,0,0,0,0,0,0
$GC,2408,-0.85,-146.0,288.5,-12.7,168,2413,0.12,2.42,0.00,0.000,6,0.095,0.029,3195,1592,3450,0,0,0,0,0,0
$GC,2677,-1.04,-146.0,306.4,-6.4,175,2682,0.17,2.38,0.00,0.000,4,0.049,0.055,3117,171,3449,0,0,0,0,0,0
$GC,2698,-1.04,-146.0,308.1,-7.8,175,2703,0.15,2.17,0.00,0.000,6,0.097,0.022,3152,1561,3449,0,0,0,0,0,0
$GC,2963,-1.11,-146.0,327.0,-6.8,182,2968,0.00,2.53,0.00,0.000,4,0.000,0.033,3152,3133,3448,0,0,0,0,0,0
$GC,2997,-1.26,-146.0,329.4,-7.2,182,3002,0.20,2.55,0.00,0.000,6,0.041,0.036,3060,1591,3447,0,0,0,0,0,0
$GC,3248,-1.04,-146.0,360.3,-13.2,188,3253,0.38,2.40,0.00,0.000,4,0.088,0.056,3148,171,3446,0,0,0,0,0,0
$GC,3324,-1.15,-146.0,367.9,-8.5,189,3329,0.00,2.20,0.00,0.000,6,0.000,0.025,3148,1576,3446,0,0,0,0,0,0
$GC,3581,-1.22,-146.0,389.1,-8.6,196,3586,0.15,2.55,0.00,0.000,4,0.058,0.038,3089,3137,3444,0,0,0,0,0,0
$GC,3596,-1.22,-146.0,390.8,-8.7,196,3601,0.12,2.58,0.00,0.000,6,0.106,0.033,3116,1569,3444,0,0,0,0,0,0
$GC,3865,-1.22,-146.0,417.0,-9.7,203,3870,0.00,2.58,0.00,0.000,4,0.000,0.037,3116,3133,3442,0,0,0,0,0,0
$GC,3890,-1.22,-146.0,419.6,-10.8,203,3894,0.00,2.55,0.00,0.000,6,0.000,0.035,3116,1578,3442,0,0,0,0,0,0
$GC,4149,-1.22,-146.0,445.3,-10.0,210,4150,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1578,3440,0,0,0,0,0,0
$GC,4393,-1.22,-146.0,468.9,-9.7,216,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1577,3439,0,0,0,0,0,0
$GC,4638,-1.22,-146.0,491.6,-9.1,222,4643,0.00,2.60,0.00,0.000,4,0.000,0.045,3116,3132,3437,0,0,0,0,0,0
$GC,4667,-1.22,-146.0,494.4,-8.8,222,4671,0.00,2.60,0.00,0.000,6,0.000,0.041,3116,1579,3437,0,0,0,0,0,0
$GC,4922,-1.22,-146.0,516.0,-8.4,229,4926,0.00,2.60,0.00,0.000,4,0.000,0.047,3116,3125,3435,0,0,0,0,0,0
$GC,4937,-1.22,-146.0,517.3,-8.5,229,4942,0.00,2.58,0.00,0.000,6,0.000,0.041,3116,1580,3435,0,0,0,0,0,0
$GC,5206,-1.22,-146.0,540.8,-8.7,236,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1580,3433,0,0,0,0,0,0
$GC,5450,-1.22,-146.0,561.0,-8.3,242,5454,0.00,2.60,0.00,0.000,4,0.000,0.049,3116,3131,3432,0,0,0,0,0,0
$GC,5469,-1.22,-146.0,562.7,-8.5,242,5473,0.00,2.60,0.00,0.000,6,0.000,0.045,3116,1590,3432,0,0,0,0,0,0
$GC,5734,-1.22,-146.0,585.1,-8.6,249,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1590,3430,0,0,0,0,0,0
$GC,5977,-1.22,-146.0,606.2,-8.7,255,5981,0.00,2.58,0.00,0.000,4,0.000,0.048,3116,3124,3429,0,0,0,0,0,0
$GC,6000,-1.22,-146.0,608.4,-9.8,255,6005,0.00,2.60,0.00,0.000,6,0.000,0.048,3116,1590,3429,0,0,0,0,0,0
$GC,6261,-1.22,-146.0,631.6,-9.2,262,6265,0.00,2.53,0.00,0.000,4,0.000,0.084,3116,169,3426,0,0,0,0,0,0
$GC,6280,-1.22,-146.0,633.7,-9.6,262,6284,0.00,2.30,0.00,0.000,6,0.000,0.038,3116,1575,3426,0,0,0,0,0,0
$GC,6544,-1.22,-146.0,656.4,-8.3,269,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1575,3425,0,0,0,0,0,0
$GC,6789,-1.22,-146.0,674.9,-7.4,275,6794,0.00,2.67,0.00,0.000,4,0.000,0.058,3116,3149,3423,0,0,0,0,0,0
$GC,6823,-1.32,-146.0,677.5,-7.6,275,6828,0.10,2.65,0.00,0.000,6,0.075,0.051,3059,1595,3424,0,0,0,0,0,0
$GC,7073,-1.19,-146.0,702.0,-10.1,281,7078,0.25,2.55,0.00,0.000,4,0.094,0.082,3118,163,3422,0,0,0,0,0,0
$GC,7104,-1.19,-146.0,704.8,-8.5,281,7108,0.00,2.35,0.00,0.000,6,0.000,0.039,3118,1591,3421,0,0,0,0,0,0
$GC,7358,-1.19,-146.0,722.2,-6.7,288,7359,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1591,3421,0,0,0,0,0,0
$GC,7602,-1.19,-146.0,737.8,-6.3,294,7607,0.00,2.65,0.00,0.000,4,0.000,0.057,3118,3150,3419,0,0,0,0,0,0
$GC,7628,-1.28,-146.0,739.4,-6.5,294,7633,0.00,2.67,0.00,0.000,6,0.000,0.052,3118,1587,3419,0,0,0,0,0,0
$GC,7888,-1.34,-146.0,755.2,-6.2,301,7893,0.12,2.55,0.00,0.000,4,0.065,0.086,3067,166,3418,0,0,0,0,0,0
$GC,7903,-1.34,-146.0,756.5,-6.1,301,7907,0.00,2.38,0.00,0.000,6,0.000,0.038,3067,1605,3418,0,0,0,0,0,0
$GC,8174,-1.25,-146.0,780.5,-9.0,308,8175,0.17,0.00,0.00,0.000,6,0.102,0.000,3105,1605,3417,0,0,0,0,0,0
$GC,8415,-1.25,-146.0,799.3,-7.7,314,8420,0.00,2.60,0.00,0.000,4,0.000,0.057,3105,3147,3416,0,0,0,0,0,0
$GC,8434,-1.25,-146.0,800.9,-8.6,314,8439,0.00,2.65,0.00,0.000,6,0.000,0.051,3105,1596,3416,0,0,0,0,0,0
$GC,8700,-1.25,-146.0,822.0,-8.1,321,8704,0.00,2.55,0.00,0.000,4,0.000,0.086,3105,166,3415,0,0,0,0,0,0
$GC,8733,-1.25,-146.0,825.2,-9.3,321,8737,0.00,2.38,0.00,0.000,6,0.000,0.040,3105,1600,3415,0,0,0,0,0,0
$GC,8983,-1.25,-146.0,846.2,-8.4,327,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1601,3413,0,0,0,0,0,0
$GC,9228,-1.25,-146.0,865.5,-7.9,333,9233,0.00,2.62,0.00,0.000,4,0.000,0.058,3105,3152,3412,0,0,0,0,0,0
$GC,9252,-1.32,-146.0,867.7,-8.6,333,9257,0.00,2.65,0.00,0.000,6,0.000,0.052,3105,1598,3412,0,0,0,0,0,0
$GC,9512,-1.32,-146.0,887.6,-7.7,340,9517,0.00,2.62,0.00,0.000,4,0.000,0.051,3105,3148,3412,0,0,0,0,0,0
$GC,9528,-1.32,-146.0,888.7,-7.5,340,9533,0.00,2.62,0.00,0.000,6,0.000,0.051,3105,1602,3412,0,0,0,0,0,0
$STATE,9672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9672,begin apogee
$GC,9678,-0.31,0.0,900.1,7.7,344,9798,0.90,0.00,116.45,1.177,6,0.077,0.000,3311,1299,2856,0,0,0,0,0,0
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9802,1.27,146.0,904.0,0.0,347,9941,1.42,2.15,130.20,1.151,4,0.031,0.089,3665,169,2258,0,0,0,0,0,0
$GC,10050,0.84,146.0,886.9,13.9,352,10055,0.50,1.90,0.00,0.000,6,0.112,0.035,3564,1311,2253,0,0,0,0,0,0
$GC,10305,0.87,169.4,863.0,8.9,359,10333,0.00,2.72,20.92,1.066,4,0.000,0.054,3564,2878,2162,0,0,0,0,0,0
$GC,10359,0.87,170.5,858.1,10.0,360,10363,0.00,2.78,0.00,0.000,6,0.000,0.054,3564,1299,2160,0,0,0,0,0,0
$GC,10637,0.88,174.7,831.0,9.8,367,10644,0.00,0.00,5.75,0.826,6,0.000,0.000,3564,1299,2142,0,0,0,0,0,0
$GC,10880,0.88,174.7,806.2,10.3,373,10884,0.00,2.08,0.00,0.000,4,0.000,0.092,3564,164,2140,0,0,0,0,0,0
$GC,10937,0.79,174.7,799.6,12.5,374,10941,0.00,1.88,0.00,0.000,6,0.000,0.034,3564,1301,2140,0,0,0,0,0,0
$GC,11214,0.79,174.7,771.3,10.0,381,11219,0.00,2.67,0.00,0.000,4,0.000,0.054,3564,2878,2139,0,0,0,0,0,0
$GC,11257,0.81,184.7,767.4,9.5,382,11274,0.00,2.72,10.18,0.952,6,0.000,0.054,3564,1298,2101,0,0,0,0,0,0
$GC,11549,0.82,196.0,739.9,9.5,389,11562,0.00,0.00,11.45,0.959,6,0.000,0.000,3564,1298,2056,0,0,0,0,0,0
$GC,11791,0.83,203.9,716.4,9.6,395,11801,0.00,0.00,8.70,0.899,6,0.000,0.000,3564,1298,2023,0,0,0,0,0,0
$GC,12035,0.84,208.1,692.2,9.8,401,12042,0.00,0.00,5.53,0.773,6,0.000,0.000,3563,1298,2006,0,0,0,0,0,0
$GC,12280,0.86,226.6,669.4,9.1,407,12300,0.00,0.00,18.90,0.976,6,0.000,0.000,3564,1298,1931,0,0,0,0,0,0
$GC,12522,0.86,232.1,645.7,9.7,413,12530,0.00,0.00,6.38,0.795,6,0.000,0.000,3564,1298,1908,0,0,0,0,0,0
$GC,12766,0.88,241.6,622.5,9.6,419,12782,0.00,2.75,10.43,0.884,4,0.000,0.045,3563,2872,1870,0,0,0,0,0,0
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$STATE,18244,end climb,SURFACE_DEPTH_REACHED
$STATE,18244,begin surface coast
$FINISH,0.7,1.022848
$STATE,18278,end surface coast,CONTROL_FINISHED_OK
$STATE,18278,begin surface
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$SM_GC,1.44,0.00,0.00,30.02,0.000,0.000,0.451,416,1587,1305,-13.63,0.76,380.21
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$TT8_MAMPS,0.027612
$HUMID,62.83
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.10
$XPDR_PINGS,18
$24V_AH,23.2,4.152
$10V_AH,9.8,3.720
$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
$DEVICE_SECS,34.525,208.575,438.275,30.025,0.000,102.232,153.174,483.004,4.500,0.000,15.249,1501.540,13881.896,553.062,2287.923,1196.023,33.368,1615.644,0.000,2282.332,0.000,0.537,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,50978,683
$CAP_FILE_SIZE,190673,0
$CFSIZE,260165632,169984000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280513,005019,2303.680,-15802.132,42,99.0,61,10.1