version: 66.06
glider: 148
mission: 12
dive: 106
start: 6 13 113 5 47 43
data:
$ID,148
$MISSION,12
$DIVE,106
$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,-1017323.4
$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,27
$R_STBD_OVSHOOT,89
$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
$GPS1,052720,2240.536,-15739.362,66,99.0,85,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.8
$GPS2,054651,2240.735,-15739.499,11,99.0,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.166,-0.199
$KALMAN_X,-111117.1,33.2,-103.0,146306.5,-966.6
$KALMAN_Y,26854.3,527.8,-109.4,-35160.2,804.0
$MHEAD_RNG_PITCHd_Wd,130.1,4913,-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,-67.47,0.000,2,0.000,0.000,407,1586,3034,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.7,-6.2,9,116,14.15,2.40,-6.05,0.000,4,0.153,0.051,3101,162,3397,0,0,0,0,0,0
$GC,210,-1.03,-146.0,38.3,-19.5,24,220,0.20,2.12,0.00,0.000,6,0.083,0.017,3150,1541,3398,0,0,0,0,0,0
$GC,479,-0.95,-146.0,75.8,-12.0,49,484,0.12,2.53,0.00,0.000,4,0.110,0.022,3178,3150,3398,0,0,0,0,0,0
$GC,511,-0.95,-146.0,79.8,-10.4,51,516,0.00,2.60,0.00,0.000,6,0.000,0.027,3178,1545,3398,0,0,0,0,0,0
$GC,779,-0.95,-146.0,106.6,-10.6,75,783,0.00,2.53,0.00,0.000,4,0.000,0.022,3178,3142,3398,0,0,0,0,0,0
$GC,807,-0.95,-146.0,109.7,-10.5,77,812,0.00,2.55,0.00,0.000,6,0.000,0.027,3178,1563,3398,0,0,0,0,0,0
$GC,1072,-0.95,-146.0,136.6,-10.6,101,1076,0.00,2.28,0.00,0.000,4,0.000,0.043,3178,166,3398,0,0,0,0,0,0
$GC,1091,-0.95,-146.0,139.2,-11.4,102,1100,0.00,2.15,0.00,0.000,6,0.000,0.017,3178,1597,3398,0,0,0,0,0,0
$GC,1358,-0.95,-146.0,166.3,-10.0,127,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3398,0,0,0,0,0,0
$GC,1621,-0.95,-146.0,190.6,-8.4,152,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3398,0,0,0,0,0,0
$GC,1888,-0.95,-146.0,214.2,-8.6,166,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3398,0,0,0,0,0,0
$GC,2131,-0.95,-146.0,236.4,-9.4,172,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3398,0,0,0,0,0,0
$GC,2377,-0.95,-146.0,258.1,-8.7,178,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3397,0,0,0,0,0,0
$GC,2619,-1.00,-146.0,275.5,-7.1,184,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1600,3397,0,0,0,0,0,0
$GC,2863,-1.08,-146.0,292.8,-7.1,190,2868,0.12,2.38,0.00,0.000,4,0.063,0.048,3119,176,3397,0,0,0,0,0,0
$GC,2884,-1.08,-146.0,294.7,-9.0,190,2889,0.12,2.05,0.00,0.000,6,0.104,0.019,3148,1533,3397,0,0,0,0,0,0
$GC,3149,-1.08,-146.0,316.5,-7.7,197,3153,0.00,2.53,0.00,0.000,4,0.000,0.028,3149,3126,3396,0,0,0,0,0,0
$GC,3173,-1.14,-146.0,318.2,-7.2,197,3177,0.00,2.55,0.00,0.000,6,0.000,0.033,3148,1556,3396,0,0,0,0,0,0
$GC,3434,-1.14,-146.0,338.1,-7.8,204,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1556,3395,0,0,0,0,0,0
$GC,3676,-1.14,-146.0,358.5,-8.5,210,3681,0.00,2.53,0.00,0.000,4,0.000,0.032,3148,3120,3394,0,0,0,0,0,0
$GC,3710,-1.24,-146.0,361.4,-7.9,210,3715,0.15,2.58,0.00,0.000,6,0.054,0.038,3079,1569,3393,0,0,0,0,0,0
$GC,3961,-1.13,-146.0,390.0,-11.7,216,3963,0.25,0.00,0.00,0.000,6,0.088,0.000,3136,1569,3392,0,0,0,0,0,0
$GC,4203,-1.13,-146.0,411.8,-8.6,222,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1569,3390,0,0,0,0,0,0
$GC,4447,-1.13,-146.0,432.4,-8.6,228,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1569,3388,0,0,0,0,0,0
$GC,4691,-1.13,-146.0,452.9,-8.6,234,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1569,3386,0,0,0,0,0,0
$GC,4936,-1.13,-146.0,471.9,-7.5,240,4940,0.00,2.40,0.00,0.000,4,0.000,0.069,3136,174,3385,0,0,0,0,0,0
$GC,4955,-1.13,-146.0,473.6,-8.5,240,4959,0.00,2.17,0.00,0.000,6,0.000,0.026,3136,1554,3385,0,0,0,0,0,0
$GC,5219,-1.13,-146.0,493.1,-7.3,247,5223,0.00,2.65,0.00,0.000,4,0.000,0.042,3136,3152,3383,0,0,0,0,0,0
$GC,5253,-1.22,-146.0,495.3,-5.7,247,5258,0.00,2.62,0.00,0.000,6,0.000,0.040,3136,1583,3383,0,0,0,0,0,0
$GC,5504,-1.22,-146.0,512.4,-6.8,253,5508,0.00,2.45,0.00,0.000,4,0.000,0.073,3136,162,3381,0,0,0,0,0,0
$GC,5551,-1.27,-146.0,516.1,-8.0,254,5556,0.12,2.25,0.00,0.000,6,0.064,0.031,3083,1572,3381,0,0,0,0,0,0
$GC,5836,-1.20,-146.0,545.4,-10.6,261,5841,0.17,2.47,0.00,0.000,4,0.097,0.070,3121,162,3379,0,0,0,0,0,0
$GC,5851,-1.14,-146.0,547.1,-10.4,261,5855,0.00,2.28,0.00,0.000,6,0.000,0.030,3121,1581,3379,0,0,0,0,0,0
$GC,6125,-1.14,-146.0,569.0,-7.8,268,6130,0.00,2.60,0.00,0.000,4,0.000,0.046,3121,3152,3377,0,0,0,0,0,0
$GC,6149,-1.14,-146.0,571.0,-8.1,268,6154,0.00,2.65,0.00,0.000,6,0.000,0.042,3121,1573,3377,0,0,0,0,0,0
$GC,6409,-1.14,-146.0,588.1,-6.5,275,6413,0.00,2.65,0.00,0.000,4,0.000,0.043,3121,3158,3375,0,0,0,0,0,0
$GC,6425,-1.14,-146.0,589.1,-6.1,275,6429,0.00,2.65,0.00,0.000,6,0.000,0.043,3120,1580,3375,0,0,0,0,0,0
$GC,6693,-1.14,-146.0,604.7,-5.9,282,6698,0.00,2.47,0.00,0.000,4,0.000,0.077,3121,165,3374,0,0,0,0,0,0
$GC,6745,-1.14,-146.0,608.4,-7.4,283,6749,0.00,2.30,0.00,0.000,6,0.000,0.031,3121,1586,3374,0,0,0,0,0,0
$GC,7024,-1.14,-146.0,627.3,-7.1,290,7028,0.00,2.45,0.00,0.000,4,0.000,0.071,3121,171,3372,0,0,0,0,0,0
$GC,7048,-1.14,-146.0,629.3,-8.6,290,7052,0.00,2.28,0.00,0.000,6,0.000,0.032,3121,1577,3372,0,0,0,0,0,0
$GC,7307,-1.14,-146.0,649.9,-8.0,297,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1577,3370,0,0,0,0,0,0
$GC,7552,-1.14,-146.0,669.7,-8.1,303,7557,0.00,2.65,0.00,0.000,4,0.000,0.051,3121,3158,3369,0,0,0,0,0,0
$GC,7574,-1.19,-146.0,671.6,-8.4,303,7578,0.00,2.67,0.00,0.000,6,0.000,0.046,3121,1573,3370,0,0,0,0,0,0
$GC,7838,-1.19,-146.0,692.3,-7.8,310,7842,0.00,2.45,0.00,0.000,4,0.000,0.080,3121,172,3368,0,0,0,0,0,0
$GC,7872,-1.19,-146.0,695.2,-8.9,310,7876,0.00,2.28,0.00,0.000,6,0.000,0.033,3121,1575,3368,0,0,0,0,0,0
$GC,8126,-1.19,-146.0,714.6,-7.6,317,8131,0.00,2.62,0.00,0.000,4,0.000,0.049,3121,3155,3367,0,0,0,0,0,0
$GC,8146,-1.23,-146.0,716.2,-7.8,317,8151,0.00,2.67,0.00,0.000,6,0.000,0.050,3121,1573,3367,0,0,0,0,0,0
$GC,8412,-1.23,-146.0,734.8,-6.9,324,8416,0.00,2.47,0.00,0.000,4,0.000,0.081,3121,165,3366,0,0,0,0,0,0
$GC,8449,-1.23,-146.0,737.9,-8.0,324,8455,0.00,2.30,0.00,0.000,6,0.000,0.034,3121,1577,3365,0,0,0,0,0,0
$GC,8699,-1.23,-146.0,755.1,-6.8,331,8704,0.00,2.47,0.00,0.000,4,0.000,0.074,3121,171,3364,0,0,0,0,0,0
$GC,8715,-1.23,-146.0,756.2,-6.8,331,8719,0.00,2.28,0.00,0.000,6,0.000,0.033,3121,1573,3364,0,0,0,0,0,0
$GC,8984,-1.23,-146.0,774.9,-6.9,338,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1573,3363,0,0,0,0,0,0
$GC,9227,-1.23,-146.0,791.1,-6.6,344,9232,0.00,2.65,0.00,0.000,4,0.000,0.051,3121,3154,3363,0,0,0,0,0,0
$GC,9248,-1.29,-146.0,792.5,-7.1,344,9253,0.00,2.67,0.00,0.000,6,0.000,0.048,3121,1565,3362,0,0,0,0,0,0
$GC,9513,-1.34,-146.0,809.5,-6.4,351,9518,0.12,2.47,0.00,0.000,4,0.065,0.082,3070,172,3361,0,0,0,0,0,0
$GC,9547,-1.24,-146.0,812.5,-9.3,351,9552,0.20,2.28,0.00,0.000,6,0.096,0.035,3114,1577,3361,0,0,0,0,0,0
$GC,9799,-1.24,-146.0,829.5,-6.6,357,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1577,3360,0,0,0,0,0,0
$GC,10041,-1.24,-146.0,844.2,-6.0,363,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1577,3360,0,0,0,0,0,0
$GC,10285,-1.24,-146.0,858.3,-5.8,369,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1577,3359,0,0,0,0,0,0
$GC,10530,-1.24,-146.0,873.5,-6.4,375,10531,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1577,3358,0,0,0,0,0,0
$GC,10772,-1.24,-146.0,889.8,-6.8,381,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1577,3358,0,0,0,0,0,0
$STATE,10932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10932,begin apogee
$GC,10939,-0.31,0.0,901.2,7.0,385,11060,0.88,0.00,117.80,1.167,6,0.077,0.000,3314,1344,2800,0,0,0,0,0,0
$STATE,11061,end apogee,CONTROL_FINISHED_OK
$STATE,11061,begin climb
$GC,11065,1.27,146.0,904.4,0.0,388,11203,1.45,2.17,128.98,1.141,4,0.035,0.079,3665,180,2203,0,0,0,0,0,0
$GC,11251,0.98,146.0,891.8,15.0,392,11255,0.28,1.98,0.00,0.000,6,0.101,0.032,3600,1353,2201,0,0,0,0,0,0
$GC,11524,0.89,146.0,860.0,11.5,399,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,1354,2194,0,0,0,0,0,0
$GC,11768,0.82,146.0,831.6,11.7,405,11770,0.17,0.00,0.00,0.000,6,0.109,0.000,3563,1355,2192,0,0,0,0,0,0
$GC,12013,0.82,146.0,807.0,10.0,411,12017,0.00,2.10,0.00,0.000,4,0.000,0.073,3563,177,2191,0,0,0,0,0,0
$GC,12031,0.82,146.0,804.8,10.2,411,12035,0.00,1.92,0.00,0.000,6,0.000,0.030,3563,1353,2191,0,0,0,0,0,0
$GC,12299,0.82,146.0,777.9,10.1,418,12303,0.00,2.10,0.00,0.000,4,0.000,0.072,3563,169,2190,0,0,0,0,0,0
$GC,12324,0.77,146.0,775.2,11.3,418,12328,0.00,1.95,0.00,0.000,6,0.000,0.030,3563,1343,2190,0,0,0,0,0,0
$GC,12587,0.77,146.2,748.5,10.0,425,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,1344,2189,0,0,0,0,0,0
$GC,12831,0.79,160.2,725.4,9.4,431,12847,0.00,2.12,11.40,0.941,4,0.000,0.072,3563,174,2146,0,0,0,0,0,0
$GC,12914,0.79,160.2,716.2,10.5,432,12918,0.00,1.92,0.00,0.000,6,0.000,0.030,3563,1348,2146,0,0,0,0,0,0
$GC,13168,0.80,170.1,691.3,9.5,439,13184,0.00,2.75,10.52,0.910,4,0.000,0.050,3563,2924,2105,0,0,0,0,0,0
$GC,13199,0.83,198.1,688.3,8.7,439,13232,0.00,2.72,26.90,0.988,6,0.000,0.046,3563,1342,1991,0,0,0,0,0,0
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$STATE,19091,end climb,SURFACE_DEPTH_REACHED
$STATE,19091,begin surface coast
$FINISH,0.8,1.016759
$STATE,19122,end surface coast,CONTROL_FINISHED_OK
$STATE,19122,begin surface
$SM_CCo,19206,0.00,0.000,0,0,1130,409.65
$SM_GC,1.77,13.30,0.00,0.00,0.019,0.000,0.000,409,1572,1130,-13.61,0.08,409.65
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$TT8_MAMPS,0.026845
$HUMID,64.13
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.80
$XPDR_PINGS,12
$24V_AH,23.3,15.209
$10V_AH,9.9,13.362
$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,32.950,182.750,484.825,0.000,0.000,108.591,174.039,510.114,3.000,0.000,32.490,1513.866,14754.896,518.860,2322.413,1254.499,33.370,1591.770,0.000,2295.101,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,82.069,1167.374,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,482.955,324.068,415.823,694.922,949.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,54149,710
$CAP_FILE_SIZE,186038,0
$CFSIZE,260165632,164438016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,110926,2240.130,-15738.026,38,2.7,57,10.1