version: 66.06
glider: 148
mission: 12
dive: 272
start: 7 20 113 17 48 24
data:
$ID,148
$MISSION,12
$DIVE,272
$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,-1021473.1
$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,123
$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
$GPS1,173953,2316.491,-15749.346,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.3
$GPS2,174730,2316.471,-15749.326,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.236,0.109
$KALMAN_X,-200864.1,284.5,-131.1,219033.9,798.6
$KALMAN_Y,164496.5,-202.1,-162.4,-105815.5,-1110.5
$MHEAD_RNG_PITCHd_Wd,284.7,123612,-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,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.22,0.000,2,0.000,0.000,412,1608,2920,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.8,9,120,14.20,2.35,-8.95,0.000,4,0.155,0.032,3104,3076,3397,0,0,0,0,0,0
$GC,245,-1.12,-146.0,36.2,-16.1,30,250,0.17,2.47,0.00,0.000,6,0.103,0.032,3141,1566,3398,0,0,0,0,0,0
$GC,515,-0.95,-146.0,80.9,-15.0,54,519,0.17,2.30,0.00,0.000,4,0.103,0.043,3179,168,3399,0,0,0,0,0,0
$GC,597,-0.95,-146.0,92.5,-11.0,61,600,0.00,2.03,0.00,0.000,6,0.000,0.017,3179,1510,3399,0,0,0,0,0,0
$GC,866,-0.90,-146.0,120.3,-10.8,86,874,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1524,3400,0,0,0,0,0,0
$GC,1130,-0.90,-146.0,148.5,-10.4,111,1134,0.00,2.45,0.00,0.000,4,0.000,0.021,3179,3086,3400,0,0,0,0,0,0
$GC,1170,-0.96,-146.0,152.7,-9.3,114,1179,0.00,2.53,0.00,0.000,6,0.000,0.029,3179,1547,3400,0,0,0,0,0,0
$GC,1436,-0.96,-146.0,180.0,-10.1,139,1440,0.00,2.28,0.00,0.000,4,0.000,0.044,3179,165,3400,0,0,0,0,0,0
$GC,1474,-0.96,-146.0,183.9,-11.0,142,1478,0.00,2.00,0.00,0.000,6,0.000,0.018,3179,1504,3400,0,0,0,0,0,0
$GC,1757,-0.96,-146.0,212.1,-9.9,160,1761,0.00,2.42,0.00,0.000,4,0.000,0.021,3180,3076,3400,0,0,0,0,0,0
$GC,1803,-1.05,-146.0,216.2,-8.7,161,1808,0.10,2.47,0.00,0.000,6,0.073,0.029,3109,1549,3400,0,0,0,0,0,0
$GC,2092,-0.90,-146.0,255.7,-14.1,168,2095,0.38,0.00,0.00,0.000,6,0.082,0.000,3189,1549,3400,0,0,0,0,0,0
$GC,2335,-0.97,-146.0,276.4,-8.3,174,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1549,3400,0,0,0,0,0,0
$GC,2578,-1.04,-146.0,294.4,-7.3,180,2583,0.12,2.45,0.00,0.000,4,0.063,0.025,3121,3071,3400,0,0,0,0,0,0
$GC,2600,-1.04,-146.0,296.3,-9.5,180,2605,0.15,2.45,0.00,0.000,6,0.096,0.031,3156,1555,3400,0,0,0,0,0,0
$GC,2865,-1.04,-146.0,321.9,-9.6,187,2869,0.00,2.45,0.00,0.000,4,0.000,0.028,3156,3072,3399,0,0,0,0,0,0
$GC,2910,-1.11,-146.0,325.6,-7.9,188,2914,0.00,2.45,0.00,0.000,6,0.000,0.035,3156,1570,3399,0,0,0,0,0,0
$GC,3197,-1.11,-146.0,347.9,-7.6,195,3201,0.00,2.38,0.00,0.000,4,0.000,0.058,3157,166,3397,0,0,0,0,0,0
$GC,3235,-1.11,-146.0,351.3,-9.2,195,3244,0.00,2.08,0.00,0.000,6,0.000,0.021,3157,1486,3397,0,0,0,0,0,0
$GC,3486,-1.11,-146.0,372.9,-8.7,202,3491,0.00,2.53,0.00,0.000,4,0.000,0.031,3156,3063,3396,0,0,0,0,0,0
$GC,3538,-1.21,-146.0,377.7,-8.4,203,3543,0.15,2.47,0.00,0.000,6,0.053,0.045,3093,1572,3396,0,0,0,0,0,0
$GC,3819,-1.09,-146.0,408.8,-11.4,210,3824,0.25,2.45,0.00,0.000,4,0.089,0.034,3152,3070,3394,0,0,0,0,0,0
$GC,3838,-1.09,-146.0,411.1,-10.3,210,3843,0.00,2.45,0.00,0.000,6,0.000,0.036,3152,1575,3394,0,0,0,0,0,0
$GC,4102,-1.09,-146.0,431.4,-7.5,217,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1575,3392,0,0,0,0,0,0
$GC,4346,-1.09,-146.0,450.3,-7.8,223,4350,0.00,2.42,0.00,0.000,4,0.000,0.067,3152,168,3390,0,0,0,0,0,0
$GC,4394,-1.09,-146.0,454.3,-8.4,224,4398,0.00,2.08,0.00,0.000,6,0.000,0.025,3152,1499,3390,0,0,0,0,0,0
$GC,4679,-1.09,-146.0,475.6,-7.5,231,4683,0.00,2.55,0.00,0.000,4,0.000,0.036,3152,3069,3388,0,0,0,0,0,0
$GC,4732,-1.19,-146.0,479.8,-7.2,232,4737,0.12,2.47,0.00,0.000,6,0.062,0.040,3093,1590,3388,0,0,0,0,0,0
$GC,5012,-1.10,-146.0,507.7,-10.0,239,5017,0.22,2.47,0.00,0.000,4,0.089,0.069,3144,168,3386,0,0,0,0,0,0
$GC,5065,-1.10,-146.0,512.3,-7.7,240,5069,0.00,2.12,0.00,0.000,6,0.000,0.028,3144,1499,3386,0,0,0,0,0,0
$GC,5343,-1.10,-146.0,532.0,-7.2,247,5347,0.00,2.58,0.00,0.000,4,0.000,0.041,3143,3059,3384,0,0,0,0,0,0
$GC,5395,-1.18,-146.0,535.8,-7.4,248,5399,0.00,2.47,0.00,0.000,6,0.000,0.049,3144,1582,3384,0,0,0,0,0,0
$GC,5675,-1.18,-146.0,558.4,-8.4,255,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1582,3382,0,0,0,0,0,0
$GC,5919,-1.18,-146.0,580.8,-9.4,261,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1581,3381,0,0,0,0,0,0
$GC,6160,-1.18,-146.0,602.6,-8.7,267,6164,0.00,2.47,0.00,0.000,4,0.000,0.044,3144,3059,3380,0,0,0,0,0,0
$GC,6181,-1.18,-146.0,604.3,-8.9,267,6185,0.00,2.47,0.00,0.000,6,0.000,0.045,3143,1589,3380,0,0,0,0,0,0
$GC,6447,-1.18,-146.0,624.3,-7.3,274,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1589,3378,0,0,0,0,0,0
$GC,6688,-1.18,-146.0,641.4,-6.9,280,6693,0.00,2.53,0.00,0.000,4,0.000,0.081,3144,163,3376,0,0,0,0,0,0
$GC,6717,-1.18,-146.0,643.5,-6.9,280,6721,0.00,2.17,0.00,0.000,6,0.000,0.031,3144,1511,3376,0,0,0,0,0,0
$GC,6973,-1.18,-146.0,659.4,-6.1,287,6977,0.00,2.55,0.00,0.000,4,0.000,0.047,3143,3056,3375,0,0,0,0,0,0
$GC,7017,-1.28,-146.0,662.1,-5.7,288,7022,0.15,2.47,0.00,0.000,6,0.056,0.048,3082,1597,3375,0,0,0,0,0,0
$GC,7308,-1.19,-146.0,688.8,-9.7,295,7314,0.20,2.55,0.00,0.000,4,0.097,0.079,3126,163,3373,0,0,0,0,0,0
$GC,7384,-1.19,-146.0,696.1,-8.4,296,7388,0.00,2.17,0.00,0.000,6,0.000,0.033,3125,1505,3373,0,0,0,0,0,0
$GC,7642,-1.19,-146.0,716.2,-7.9,303,7647,0.00,2.60,0.00,0.000,4,0.000,0.050,3125,3055,3372,0,0,0,0,0,0
$GC,7680,-1.26,-146.0,719.2,-7.7,303,7686,0.00,2.47,0.00,0.000,6,0.000,0.049,3125,1602,3372,0,0,0,0,0,0
$GC,7930,-1.26,-146.0,737.6,-7.4,310,7935,0.00,2.55,0.00,0.000,4,0.000,0.081,3125,164,3371,0,0,0,0,0,0
$GC,7998,-1.26,-146.0,742.9,-7.4,311,8002,0.00,2.17,0.00,0.000,6,0.000,0.033,3125,1502,3370,0,0,0,0,0,0
$GC,8262,-1.26,-146.0,761.4,-6.9,318,8266,0.00,2.60,0.00,0.000,4,0.000,0.051,3125,3055,3369,0,0,0,0,0,0
$GC,8306,-1.34,-146.0,764.5,-7.0,319,8311,0.12,2.50,0.00,0.000,6,0.064,0.050,3072,1586,3369,0,0,0,0,0,0
$GC,8599,-1.24,-146.0,790.8,-9.3,326,8604,0.20,2.50,0.00,0.000,4,0.099,0.080,3114,165,3368,0,0,0,0,0,0
$GC,8624,-1.19,-146.0,793.6,-8.7,326,8628,0.00,2.15,0.00,0.000,6,0.000,0.032,3114,1506,3367,0,0,0,0,0,0
$GC,8885,-1.19,-146.0,812.7,-7.3,333,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1505,3366,0,0,0,0,0,0
$GC,9127,-1.19,-146.0,831.3,-7.8,339,9132,0.00,2.62,0.00,0.000,4,0.000,0.051,3115,3059,3365,0,0,0,0,0,0
$GC,9155,-1.19,-146.0,833.6,-7.9,339,9160,0.00,2.47,0.00,0.000,6,0.000,0.050,3114,1601,3366,0,0,0,0,0,0
$GC,9417,-1.19,-146.0,854.3,-8.3,346,9421,0.00,2.55,0.00,0.000,4,0.000,0.081,3115,163,3365,0,0,0,0,0,0
$GC,9464,-1.19,-146.0,859.4,-9.3,347,9468,0.00,2.20,0.00,0.000,6,0.000,0.032,3114,1515,3364,0,0,0,0,0,0
$GC,9748,-1.19,-146.0,884.1,-8.7,354,9752,0.00,2.60,0.00,0.000,4,0.000,0.053,3114,3055,3364,0,0,0,0,0,0
$GC,9787,-1.25,-146.0,887.6,-9.0,354,9793,0.00,2.47,0.00,0.000,6,0.000,0.049,3114,1603,3364,0,0,0,0,0,0
$STATE,9953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9953,begin apogee
$GC,9960,-0.31,0.0,901.1,8.1,359,10083,0.88,0.00,119.72,1.151,6,0.075,0.000,3314,1340,2800,0,0,0,0,0,0
$STATE,10084,end apogee,CONTROL_FINISHED_OK
$STATE,10084,begin climb
$GC,10087,1.27,146.0,905.2,0.0,362,10227,1.48,2.22,129.75,1.131,4,0.043,0.084,3664,167,2203,0,0,0,0,0,0
$GC,10359,1.03,146.0,881.8,15.8,368,10364,0.28,1.77,0.00,0.000,6,0.112,0.029,3609,1266,2198,0,0,0,0,0,0
$GC,10637,0.95,146.0,851.3,10.7,375,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,3609,1268,2193,0,0,0,0,0,0
$GC,10883,0.88,146.0,825.3,10.6,381,10887,0.15,1.95,0.00,0.000,4,0.115,0.072,3578,169,2192,0,0,0,0,0,0
$GC,10909,0.81,146.0,822.5,10.4,381,10912,0.00,1.77,0.00,0.000,6,0.000,0.029,3578,1258,2192,0,0,0,0,0,0
$GC,11177,0.83,157.2,797.0,9.5,388,11193,0.00,2.70,9.18,0.924,4,0.000,0.049,3578,2835,2158,0,0,0,0,0,0
$GC,11205,0.84,168.8,794.2,9.5,388,11223,0.00,2.58,12.57,0.968,6,0.000,0.048,3578,1349,2111,0,0,0,0,0,0
$GC,11466,0.84,168.8,766.7,10.6,395,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,1349,2107,0,0,0,0,0,0
$GC,11712,0.84,168.8,741.0,10.4,401,11717,0.00,2.50,0.00,0.000,4,0.000,0.040,3578,2836,2106,0,0,0,0,0,0
$GC,11728,0.84,168.8,739.2,10.3,401,11732,0.00,2.55,0.00,0.000,6,0.000,0.049,3578,1354,2105,0,0,0,0,0,0
$GC,11999,0.86,179.8,713.3,9.5,408,12011,0.00,0.00,10.85,0.919,6,0.000,0.000,3578,1354,2066,0,0,0,0,0,0
$GC,12240,0.87,195.1,690.9,9.3,414,12261,0.00,2.17,15.32,0.946,4,0.000,0.087,3578,166,2003,0,0,0,0,0,0
$GC,12295,0.87,195.1,685.4,10.6,415,12299,0.00,1.80,0.00,0.000,6,0.000,0.028,3578,1270,2004,0,0,0,0,0,0
$GC,12577,0.90,216.9,659.1,9.0,422,12605,0.00,2.67,21.67,0.953,4,0.000,0.047,3578,2829,1914,0,0,0,0,0,0
$GC,12625,1.00,246.9,654.7,8.6,423,12664,0.10,2.55,28.83,0.959,6,0.077,0.048,3619,1359,1793,0,0,0,0,0,0
$GC,12910,1.00,246.9,622.2,11.7,430,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,3618,1359,1787,0,0,0,0,0,0
$GC,13155,1.00,246.9,592.7,12.3,436,13156,0.00,0.00,0.00,0.000,6,0.000,0.000,3619,1358,1787,0,0,0,0,0,0
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$STATE,18201,end climb,SURFACE_DEPTH_REACHED
$STATE,18201,begin surface coast
$FINISH,1.0,0.999183
$STATE,18248,end surface coast,CONTROL_FINISHED_OK
$STATE,18248,begin surface
$SM_CCo,18271,31.85,0.431,0,0,1209,390.03
$SM_GC,2.16,0.00,0.00,31.85,0.000,0.000,0.431,417,1626,1209,-13.65,1.58,390.03
$IRIDIUM_FIX,2307.44,-15744.47,141002,121201
$TT8_MAMPS,0.027612
$HUMID,65.98
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.90
$XPDR_PINGS,15
$24V_AH,23.2,40.181
$10V_AH,9.9,37.608
$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,33.625,207.100,430.150,31.850,0.000,27.622,41.795,225.480,3.750,0.000,13.953,1540.582,13233.310,537.970,2663.287,777.165,33.372,1675.401,0.000,2666.374,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,86.671,1150.500,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,468.837,362.127,459.880,950.278,1251.894,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,54092,687
$CAP_FILE_SIZE,180989,0
$CFSIZE,260165632,151629824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200713,225436,2316.529,-15750.974,25,1.4,25,10.1