version: 66.06
glider: 148
mission: 12
dive: 97
start: 6 11 113 4 5 14
data:
$ID,148
$MISSION,12
$DIVE,97
$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,-1017139
$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,25
$R_STBD_OVSHOOT,96
$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
$GPS1,035706,2250.275,-15751.053,39,1.8,45,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-76.9
$GPS2,040422,2250.294,-15751.092,17,1.1,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,-0.187
$KALMAN_X,-99194.1,-96.5,-277.1,114884.6,-508.1
$KALMAN_Y,18589.8,319.8,-423.8,-8661.8,738.3
$MHEAD_RNG_PITCHd_Wd,125.8,31393,-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,-67.55,0.000,2,0.000,0.000,412,1613,2979,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-4.7,9,122,14.02,2.42,-7.25,0.000,4,0.150,0.053,3103,163,3398,0,0,0,0,0,0
$GC,176,-1.00,-146.0,29.2,-21.6,21,184,0.25,2.12,0.00,0.000,6,0.087,0.018,3162,1528,3398,0,0,0,0,0,0
$GC,446,-0.92,-146.0,66.8,-12.2,46,451,0.10,2.53,0.00,0.000,4,0.120,0.022,3183,3140,3398,0,0,0,0,0,0
$GC,490,-0.97,-146.0,71.8,-9.1,49,494,0.00,2.55,0.00,0.000,6,0.000,0.028,3183,1567,3398,0,0,0,0,0,0
$GC,758,-0.97,-146.0,94.8,-8.8,73,762,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1567,3399,0,0,0,0,0,0
$GC,1019,-0.97,-146.0,118.4,-8.9,98,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1567,3400,0,0,0,0,0,0
$GC,1275,-0.97,-146.0,139.7,-8.3,122,1279,0.00,2.47,0.00,0.000,4,0.000,0.021,3183,3148,3400,0,0,0,0,0,0
$GC,1295,-0.97,-146.0,141.4,-9.4,123,1299,0.00,2.55,0.00,0.000,6,0.000,0.026,3183,1567,3400,0,0,0,0,0,0
$GC,1559,-0.97,-146.0,165.3,-9.0,147,1563,0.00,2.28,0.00,0.000,4,0.000,0.042,3183,169,3400,0,0,0,0,0,0
$GC,1580,-0.97,-146.0,167.6,-9.1,148,1585,0.00,2.12,0.00,0.000,6,0.000,0.018,3183,1603,3401,0,0,0,0,0,0
$GC,1843,-0.97,-146.0,190.0,-8.8,173,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1605,3401,0,0,0,0,0,0
$GC,2122,-1.02,-146.0,215.3,-9.2,188,2126,0.00,2.35,0.00,0.000,4,0.000,0.043,3184,175,3400,0,0,0,0,0,0
$GC,2140,-1.02,-146.0,217.3,-10.1,188,2144,0.00,2.10,0.00,0.000,6,0.000,0.018,3183,1580,3401,0,0,0,0,0,0
$GC,2409,-1.09,-146.0,241.9,-8.9,195,2411,0.15,0.00,0.00,0.000,6,0.055,0.000,3118,1583,3401,0,0,0,0,0,0
$GC,2653,-1.01,-146.0,269.5,-10.9,201,2655,0.20,0.00,0.00,0.000,6,0.091,0.000,3163,1583,3401,0,0,0,0,0,0
$GC,2896,-1.01,-146.0,287.1,-7.0,207,2900,0.00,2.40,0.00,0.000,4,0.000,0.024,3164,3099,3401,0,0,0,0,0,0
$GC,2924,-1.08,-146.0,289.3,-7.1,207,2929,0.00,2.47,0.00,0.000,6,0.000,0.031,3163,1570,3401,0,0,0,0,0,0
$GC,3181,-1.13,-146.0,309.7,-8.2,214,3186,0.10,2.33,0.00,0.000,4,0.076,0.051,3114,170,3401,0,0,0,0,0,0
$GC,3225,-1.02,-146.0,315.1,-12.8,215,3230,0.20,2.10,0.00,0.000,6,0.091,0.020,3160,1530,3401,0,0,0,0,0,0
$GC,3516,-1.07,-146.0,338.6,-7.1,222,3520,0.00,2.58,0.00,0.000,4,0.000,0.029,3160,3143,3400,0,0,0,0,0,0
$GC,3531,-1.14,-146.0,339.9,-6.5,222,3535,0.00,2.60,0.00,0.000,6,0.000,0.033,3160,1557,3399,0,0,0,0,0,0
$GC,3800,-1.20,-146.0,358.5,-7.2,229,3802,0.15,0.00,0.00,0.000,6,0.055,0.000,3098,1557,3399,0,0,0,0,0,0
$GC,4045,-1.12,-146.0,386.2,-11.7,235,4050,0.20,2.33,0.00,0.000,4,0.091,0.058,3142,174,3397,0,0,0,0,0,0
$GC,4064,-1.12,-146.0,388.6,-10.4,235,4068,0.00,2.15,0.00,0.000,6,0.000,0.021,3142,1563,3397,0,0,0,0,0,0
$GC,4328,-1.12,-146.0,410.5,-7.9,242,4332,0.00,2.55,0.00,0.000,4,0.000,0.035,3142,3134,3396,0,0,0,0,0,0
$GC,4352,-1.18,-146.0,412.3,-8.0,242,4357,0.00,2.60,0.00,0.000,6,0.000,0.038,3143,1564,3395,0,0,0,0,0,0
$GC,4612,-1.18,-146.0,430.2,-7.0,249,4616,0.00,2.38,0.00,0.000,4,0.000,0.064,3142,172,3394,0,0,0,0,0,0
$GC,4626,-1.18,-146.0,431.4,-7.1,249,4630,0.00,2.17,0.00,0.000,6,0.000,0.023,3142,1565,3393,0,0,0,0,0,0
$GC,4900,-1.18,-146.0,453.9,-8.7,256,4904,0.00,2.40,0.00,0.000,4,0.000,0.064,3142,172,3392,0,0,0,0,0,0
$GC,4919,-1.18,-146.0,456.0,-9.8,256,4923,0.00,2.17,0.00,0.000,6,0.000,0.026,3142,1554,3391,0,0,0,0,0,0
$GC,5185,-1.23,-146.0,478.7,-8.5,263,5187,0.10,0.00,0.00,0.000,6,0.077,0.000,3095,1554,3390,0,0,0,0,0,0
$GC,5427,-1.18,-146.0,502.4,-9.8,269,5429,0.15,0.00,0.00,0.000,6,0.099,0.000,3129,1554,3388,0,0,0,0,0,0
$GC,5670,-1.18,-146.0,521.6,-7.8,275,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1554,3387,0,0,0,0,0,0
$GC,5914,-1.18,-146.0,541.3,-8.1,281,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1554,3386,0,0,0,0,0,0
$GC,6158,-1.18,-146.0,560.0,-7.7,287,6162,0.00,2.65,0.00,0.000,4,0.000,0.047,3129,3138,3384,0,0,0,0,0,0
$GC,6173,-1.18,-146.0,561.2,-7.4,287,6177,0.00,2.65,0.00,0.000,6,0.000,0.042,3128,1564,3384,0,0,0,0,0,0
$GC,6441,-1.18,-146.0,581.5,-7.6,294,6446,0.00,2.45,0.00,0.000,4,0.000,0.077,3129,166,3383,0,0,0,0,0,0
$GC,6457,-1.18,-146.0,582.6,-7.6,294,6461,0.00,2.25,0.00,0.000,6,0.000,0.030,3129,1563,3383,0,0,0,0,0,0
$GC,6730,-1.18,-146.0,603.9,-7.7,301,6735,0.00,2.62,0.00,0.000,4,0.000,0.046,3129,3149,3381,0,0,0,0,0,0
$GC,6750,-1.23,-146.0,605.3,-6.7,301,6754,0.00,2.67,0.00,0.000,6,0.000,0.044,3129,1561,3381,0,0,0,0,0,0
$GC,7016,-1.23,-146.0,623.7,-6.7,308,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1561,3380,0,0,0,0,0,0
$GC,7258,-1.23,-146.0,638.3,-5.9,314,7262,0.00,2.65,0.00,0.000,4,0.000,0.044,3129,3152,3378,0,0,0,0,0,0
$GC,7277,-1.28,-146.0,639.6,-6.9,314,7282,0.10,2.70,0.00,0.000,6,0.074,0.047,3078,1558,3378,0,0,0,0,0,0
$GC,7546,-1.22,-146.0,662.8,-9.1,321,7551,0.17,2.47,0.00,0.000,4,0.098,0.081,3117,167,3377,0,0,0,0,0,0
$GC,7590,-1.22,-146.0,667.0,-8.9,322,7594,0.00,2.28,0.00,0.000,6,0.000,0.032,3117,1567,3376,0,0,0,0,0,0
$GC,7877,-1.22,-146.0,689.7,-7.9,329,7881,0.00,2.45,0.00,0.000,4,0.000,0.074,3117,172,3375,0,0,0,0,0,0
$GC,7905,-1.22,-146.0,692.0,-8.3,329,7909,0.00,2.28,0.00,0.000,6,0.000,0.034,3117,1564,3375,0,0,0,0,0,0
$GC,8160,-1.22,-146.0,711.0,-7.2,336,8164,0.00,2.45,0.00,0.000,4,0.000,0.074,3117,172,3374,0,0,0,0,0,0
$GC,8194,-1.22,-146.0,713.7,-8.2,336,8198,0.00,2.25,0.00,0.000,6,0.000,0.035,3117,1560,3373,0,0,0,0,0,0
$GC,8445,-1.22,-146.0,732.5,-7.5,342,8449,0.00,2.45,0.00,0.000,4,0.000,0.075,3117,171,3372,0,0,0,0,0,0
$GC,8468,-1.22,-146.0,734.5,-9.2,342,8472,0.00,2.28,0.00,0.000,6,0.000,0.041,3117,1559,3372,0,0,0,0,0,0
$GC,8729,-1.22,-146.0,752.8,-7.0,349,8733,0.00,2.70,0.00,0.000,4,0.000,0.054,3117,3156,3371,0,0,0,0,0,0
$GC,8743,-1.22,-146.0,754.1,-6.9,349,8748,0.00,2.70,0.00,0.000,6,0.000,0.047,3117,1558,3372,0,0,0,0,0,0
$GC,9012,-1.22,-146.0,771.4,-6.3,356,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1557,3371,0,0,0,0,0,0
$GC,9256,-1.22,-146.0,785.8,-5.8,362,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1557,3370,0,0,0,0,0,0
$GC,9501,-1.22,-146.0,800.6,-6.1,368,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1557,3369,0,0,0,0,0,0
$GC,9743,-1.22,-146.0,816.5,-6.7,374,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1557,3368,0,0,0,0,0,0
$GC,9987,-1.22,-146.0,834.9,-7.7,380,9988,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1557,3367,0,0,0,0,0,0
$GC,10232,-1.22,-146.0,853.6,-7.5,386,10237,0.00,2.45,0.00,0.000,4,0.000,0.082,3117,169,3367,0,0,0,0,0,0
$GC,10256,-1.22,-146.0,855.6,-8.7,386,10260,0.00,2.28,0.00,0.000,6,0.000,0.033,3117,1563,3366,0,0,0,0,0,0
$GC,10515,-1.26,-146.0,873.7,-7.0,393,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1563,3366,0,0,0,0,0,0
$GC,10759,-1.26,-146.0,890.1,-6.6,399,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1563,3365,0,0,0,0,0,0
$STATE,10919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10919,begin apogee
$GC,10927,-0.31,0.0,900.5,6.4,403,11049,0.88,0.00,119.07,1.160,6,0.077,0.000,3316,1345,2800,0,0,0,0,0,0
$STATE,11050,end apogee,CONTROL_FINISHED_OK
$STATE,11050,begin climb
$GC,11053,1.27,146.0,902.9,0.0,406,11195,1.45,2.15,129.73,1.135,4,0.030,0.079,3666,169,2203,0,0,0,0,0,0
$GC,11289,0.98,146.0,880.6,16.8,411,11293,0.32,1.98,0.00,0.000,6,0.110,0.031,3600,1360,2200,0,0,0,0,0,0
$GC,11540,0.89,146.0,850.5,11.8,417,11544,0.00,2.12,0.00,0.000,4,0.000,0.074,3600,173,2194,0,0,0,0,0,0
$GC,11592,0.75,146.0,843.8,12.7,418,11596,0.25,1.92,0.00,0.000,6,0.105,0.031,3549,1345,2194,0,0,0,0,0,0
$GC,11870,0.79,178.6,818.9,8.5,425,11901,0.00,0.00,28.80,1.058,6,0.000,0.000,3549,1346,2072,0,0,0,0,0,0
$GC,12158,0.81,198.8,793.2,9.1,432,12183,0.00,2.80,19.27,1.019,4,0.000,0.054,3549,2935,1989,0,0,0,0,0,0
$GC,12203,0.94,253.4,789.1,7.5,433,12263,0.17,2.75,51.92,1.062,6,0.053,0.048,3606,1352,1765,0,0,0,0,0,0
$GC,12531,0.90,253.4,747.7,12.7,441,12536,0.12,2.70,0.00,0.000,4,0.113,0.046,3581,2934,1759,0,0,0,0,0,0
$GC,12560,0.90,253.4,744.2,10.7,441,12564,0.00,2.75,0.00,0.000,6,0.000,0.049,3580,1344,1756,0,0,0,0,0,0
$GC,12816,0.90,253.4,715.1,11.6,448,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1344,1755,0,0,0,0,0,0
$GC,13058,0.90,253.4,686.5,11.8,454,13062,0.00,2.12,0.00,0.000,4,0.000,0.085,3580,165,1755,0,0,0,0,0,0
$GC,13086,0.90,253.4,683.0,11.5,454,13089,0.00,1.95,0.00,0.000,6,0.000,0.030,3580,1357,1755,0,0,0,0,0,0
$GC,13346,0.90,253.4,653.6,11.3,461,13350,0.00,2.67,0.00,0.000,4,0.000,0.053,3581,2934,1754,0,0,0,0,0,0
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$STATE,18809,end climb,SURFACE_DEPTH_REACHED
$STATE,18809,begin surface coast
$FINISH,0.8,1.023068
$STATE,18855,end surface coast,CONTROL_FINISHED_OK
$STATE,18855,begin surface
$SM_CCo,18879,37.70,0.437,0,0,1250,380.21
$SM_GC,1.83,0.00,0.00,37.70,0.000,0.000,0.437,410,1605,1250,-13.69,0.99,380.21
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$TT8_MAMPS,0.027612
$HUMID,64.21
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.90
$XPDR_PINGS,15
$24V_AH,23.3,13.824
$10V_AH,9.9,12.162
$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
$DEVICE_SECS,33.400,188.975,397.275,37.700,0.000,29.052,34.227,213.992,3.750,0.000,19.637,1557.764,14157.010,531.274,2372.281,723.957,33.369,1565.934,0.000,2374.631,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,54151,729
$CAP_FILE_SIZE,175491,0
$CFSIZE,260165632,165134336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110613,092158,2249.317,-15749.543,25,99.0,44,10.1