version: 66.06
glider: 148
mission: 12
dive: 274
start: 7 21 113 4 38 13
data:
$ID,148
$MISSION,12
$DIVE,274
$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,-1021521.8
$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,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,125
$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
$GPS1,042955,2317.103,-15753.542,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.3
$GPS2,043721,2317.115,-15753.478,13,3.1,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.241,0.097
$KALMAN_X,-199000.7,-247.9,-392.8,210883.1,1535.8
$KALMAN_Y,160866.3,50.0,-107.1,-101310.5,-1038.0
$MHEAD_RNG_PITCHd_Wd,281.8,116484,-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,-67.45,0.000,2,0.000,0.000,414,1609,2919,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-3.5,9,122,14.23,2.35,-8.70,0.000,4,0.157,0.035,3102,3070,3396,0,0,0,0,0,0
$GC,236,-1.09,-146.0,37.5,-17.2,28,245,0.17,2.47,0.00,0.000,6,0.078,0.032,3145,1574,3396,0,0,0,0,0,0
$GC,505,-0.94,-146.0,77.8,-15.0,53,510,0.15,2.35,0.00,0.000,4,0.107,0.044,3179,160,3397,0,0,0,0,0,0
$GC,546,-0.86,-146.0,85.0,-14.2,56,550,0.00,2.05,0.00,0.000,6,0.000,0.017,3179,1534,3398,0,0,0,0,0,0
$GC,819,-0.80,-146.0,115.6,-11.2,81,824,0.15,2.47,0.00,0.000,4,0.100,0.021,3213,3110,3398,0,0,0,0,0,0
$GC,859,-0.93,-146.0,120.4,-9.2,84,869,0.10,2.53,0.00,0.000,6,0.031,0.028,3143,1568,3398,0,0,0,0,0,0
$GC,1128,-0.80,-146.0,154.8,-13.4,109,1133,0.25,2.30,0.00,0.000,4,0.087,0.042,3203,170,3398,0,0,0,0,0,0
$GC,1153,-0.75,-146.0,159.1,-12.5,111,1157,0.00,2.08,0.00,0.000,6,0.000,0.018,3203,1572,3399,0,0,0,0,0,0
$GC,1418,-0.75,-146.0,183.9,-9.2,135,1422,0.00,2.40,0.00,0.000,4,0.000,0.021,3203,3115,3398,0,0,0,0,0,0
$GC,1454,-0.88,-146.0,187.4,-8.3,138,1458,0.00,2.50,0.00,0.000,6,0.000,0.028,3203,1566,3398,0,0,0,0,0,0
$GC,1732,-0.88,-146.0,209.9,-7.9,155,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1566,3399,0,0,0,0,0,0
$GC,1977,-0.93,-146.0,230.0,-8.4,161,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1566,3398,0,0,0,0,0,0
$GC,2219,-1.00,-146.0,249.8,-8.1,167,2224,0.15,2.45,0.00,0.000,4,0.054,0.023,3135,3114,3399,0,0,0,0,0,0
$GC,2277,-1.00,-146.0,255.6,-10.2,168,2282,0.15,2.50,0.00,0.000,6,0.091,0.028,3170,1570,3398,0,0,0,0,0,0
$GC,2551,-1.00,-146.0,277.9,-7.9,175,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1570,3399,0,0,0,0,0,0
$GC,2799,-1.00,-146.0,296.6,-8.0,181,2803,0.00,2.42,0.00,0.000,4,0.000,0.025,3170,3105,3398,0,0,0,0,0,0
$GC,2825,-1.07,-146.0,299.1,-9.0,181,2829,0.00,2.47,0.00,0.000,6,0.000,0.031,3170,1570,3398,0,0,0,0,0,0
$GC,3084,-1.07,-146.0,321.7,-8.6,188,3088,0.00,2.35,0.00,0.000,4,0.000,0.051,3170,168,3397,0,0,0,0,0,0
$GC,3117,-1.13,-146.0,324.9,-9.9,188,3122,0.12,2.10,0.00,0.000,6,0.061,0.021,3100,1535,3397,0,0,0,0,0,0
$GC,3374,-1.01,-146.0,356.5,-12.8,195,3380,0.25,2.60,0.00,0.000,4,0.084,0.031,3159,3142,3396,0,0,0,0,0,0
$GC,3404,-1.01,-146.0,359.8,-9.1,195,3408,0.00,2.58,0.00,0.000,6,0.000,0.041,3159,1571,3396,0,0,0,0,0,0
$GC,3658,-1.01,-146.0,378.9,-7.4,202,3663,0.00,2.35,0.00,0.000,4,0.000,0.060,3159,172,3395,0,0,0,0,0,0
$GC,3688,-1.01,-146.0,381.4,-8.2,202,3692,0.00,2.20,0.00,0.000,6,0.000,0.022,3159,1570,3394,0,0,0,0,0,0
$GC,3943,-1.01,-146.0,401.0,-7.7,209,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1571,3393,0,0,0,0,0,0
$GC,4186,-1.01,-146.0,421.2,-8.5,215,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1571,3391,0,0,0,0,0,0
$GC,4434,-1.01,-146.0,441.6,-8.4,221,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1571,3389,0,0,0,0,0,0
$GC,4674,-1.01,-146.0,461.8,-8.2,227,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1571,3388,0,0,0,0,0,0
$GC,4918,-1.06,-146.0,480.7,-7.6,233,4922,0.00,2.58,0.00,0.000,4,0.000,0.039,3159,3139,3386,0,0,0,0,0,0
$GC,4951,-1.15,-146.0,483.3,-7.6,233,4957,0.10,2.62,0.00,0.000,6,0.077,0.038,3106,1565,3386,0,0,0,0,0,0
$GC,5204,-1.09,-146.0,507.5,-9.8,239,5209,0.17,2.42,0.00,0.000,4,0.091,0.071,3148,170,3384,0,0,0,0,0,0
$GC,5248,-1.09,-146.0,511.6,-8.7,240,5252,0.00,2.17,0.00,0.000,6,0.000,0.027,3148,1550,3384,0,0,0,0,0,0
$GC,5537,-1.09,-146.0,532.0,-6.9,247,5541,0.00,2.62,0.00,0.000,4,0.000,0.042,3148,3154,3383,0,0,0,0,0,0
$GC,5580,-1.19,-146.0,535.0,-6.5,248,5585,0.00,2.67,0.00,0.000,6,0.000,0.042,3148,1560,3383,0,0,0,0,0,0
$GC,5869,-1.19,-146.0,555.1,-7.1,255,5874,0.00,2.65,0.00,0.000,4,0.000,0.042,3148,3143,3381,0,0,0,0,0,0
$GC,5890,-1.19,-146.0,556.8,-8.1,255,5895,0.00,2.65,0.00,0.000,6,0.000,0.042,3148,1565,3381,0,0,0,0,0,0
$GC,6154,-1.19,-146.0,577.1,-7.9,262,6158,0.00,2.42,0.00,0.000,4,0.000,0.076,3148,166,3380,0,0,0,0,0,0
$GC,6182,-1.19,-146.0,579.6,-9.1,262,6187,0.00,2.22,0.00,0.000,6,0.000,0.029,3148,1565,3380,0,0,0,0,0,0
$GC,6439,-1.19,-146.0,599.6,-7.8,269,6443,0.00,2.65,0.00,0.000,4,0.000,0.046,3148,3154,3378,0,0,0,0,0,0
$GC,6463,-1.25,-146.0,601.7,-8.3,269,6470,0.15,2.67,0.00,0.000,6,0.054,0.044,3084,1569,3378,0,0,0,0,0,0
$GC,6729,-1.16,-146.0,627.9,-10.0,276,6734,0.20,2.50,0.00,0.000,4,0.090,0.079,3130,165,3377,0,0,0,0,0,0
$GC,6786,-1.16,-146.0,633.3,-9.4,277,6790,0.00,2.25,0.00,0.000,6,0.000,0.031,3130,1557,3376,0,0,0,0,0,0
$GC,7064,-1.16,-146.0,657.4,-8.9,284,7068,0.00,2.67,0.00,0.000,4,0.000,0.054,3130,3152,3375,0,0,0,0,0,0
$GC,7109,-1.24,-146.0,661.4,-9.4,285,7114,0.00,2.70,0.00,0.000,6,0.000,0.049,3130,1563,3374,0,0,0,0,0,0
$GC,7399,-1.24,-146.0,686.3,-8.5,292,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1563,3373,0,0,0,0,0,0
$GC,7642,-1.24,-146.0,704.8,-7.5,298,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1563,3372,0,0,0,0,0,0
$GC,7887,-1.24,-146.0,721.9,-6.9,304,7892,0.00,2.67,0.00,0.000,4,0.000,0.047,3130,3154,3371,0,0,0,0,0,0
$GC,7907,-1.24,-146.0,723.5,-7.7,304,7911,0.00,2.70,0.00,0.000,6,0.000,0.050,3130,1569,3371,0,0,0,0,0,0
$GC,8174,-1.34,-146.0,741.0,-6.5,311,8176,0.15,0.00,0.00,0.000,6,0.056,0.000,3067,1569,3369,0,0,0,0,0,0
$GC,8417,-1.23,-146.0,761.6,-8.8,317,8424,0.22,2.67,0.00,0.000,4,0.090,0.044,3117,3161,3368,0,0,0,0,0,0
$GC,8466,-1.23,-146.0,765.6,-7.7,318,8471,0.00,2.72,0.00,0.000,6,0.000,0.051,3117,1568,3368,0,0,0,0,0,0
$GC,8751,-1.23,-146.0,784.7,-6.7,325,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1568,3367,0,0,0,0,0,0
$GC,8997,-1.23,-146.0,801.7,-7.1,331,9001,0.00,2.67,0.00,0.000,4,0.000,0.046,3117,3153,3366,0,0,0,0,0,0
$GC,9035,-1.28,-146.0,804.8,-6.6,331,9040,0.00,2.70,0.00,0.000,6,0.000,0.051,3117,1576,3366,0,0,0,0,0,0
$GC,9287,-1.28,-146.0,822.9,-7.2,338,9291,0.00,2.50,0.00,0.000,4,0.000,0.084,3117,167,3364,0,0,0,0,0,0
$GC,9306,-1.28,-146.0,824.5,-7.5,338,9310,0.00,2.30,0.00,0.000,6,0.000,0.033,3117,1581,3364,0,0,0,0,0,0
$GC,9569,-1.28,-146.0,842.5,-6.8,345,9574,0.00,2.62,0.00,0.000,4,0.000,0.052,3117,3150,3363,0,0,0,0,0,0
$GC,9593,-1.28,-146.0,844.2,-7.9,345,9598,0.00,2.67,0.00,0.000,6,0.000,0.049,3117,1580,3363,0,0,0,0,0,0
$GC,9854,-1.28,-146.0,863.0,-7.4,352,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1580,3362,0,0,0,0,0,0
$GC,10097,-1.28,-146.0,882.4,-8.1,358,10101,0.00,2.65,0.00,0.000,4,0.000,0.045,3117,3157,3362,0,0,0,0,0,0
$GC,10116,-1.28,-146.0,884.4,-9.2,358,10120,0.00,2.67,0.00,0.000,6,0.000,0.049,3117,1585,3362,0,0,0,0,0,0
$STATE,10336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10336,begin apogee
$GC,10344,-0.31,0.0,903.1,8.4,364,10467,0.88,0.00,119.15,1.155,6,0.075,0.000,3316,1349,2800,0,0,0,0,0,0
$STATE,10468,end apogee,CONTROL_FINISHED_OK
$STATE,10468,begin climb
$GC,10471,1.27,146.0,907.9,0.0,367,10610,1.42,2.20,129.50,1.134,4,0.035,0.086,3666,167,2203,0,0,0,0,0,0
$GC,10644,1.00,146.0,900.3,13.8,371,10649,0.30,1.95,0.00,0.000,6,0.107,0.031,3606,1349,2200,0,0,0,0,0,0
$GC,10934,0.94,146.0,870.5,10.1,378,10937,0.00,2.12,0.00,0.000,4,0.000,0.074,3605,164,2194,0,0,0,0,0,0
$GC,10954,0.83,146.0,868.2,11.1,378,10959,0.20,1.92,0.00,0.000,6,0.107,0.031,3564,1350,2193,0,0,0,0,0,0
$GC,11218,0.86,173.3,844.9,8.7,385,11245,0.00,0.00,24.58,1.051,6,0.000,0.000,3564,1351,2093,0,0,0,0,0,0
$GC,11468,0.88,185.8,822.1,9.4,391,11482,0.00,0.00,12.20,0.974,6,0.000,0.000,3565,1351,2042,0,0,0,0,0,0
$GC,11706,0.89,197.2,799.1,9.5,397,11719,0.00,0.00,12.02,0.964,6,0.000,0.000,3564,1352,1995,0,0,0,0,0,0
$GC,11950,0.95,206.4,775.6,9.6,403,11962,0.12,0.00,9.75,0.920,6,0.068,0.000,3613,1352,1958,0,0,0,0,0,0
$GC,12195,0.91,206.4,747.7,11.6,409,12202,0.15,2.72,0.00,0.000,4,0.105,0.054,3581,2932,1955,0,0,0,0,0,0
$GC,12212,0.92,215.9,745.5,9.6,409,12229,0.00,2.72,10.40,0.918,6,0.000,0.047,3580,1346,1919,0,0,0,0,0,0
$GC,12488,0.92,215.9,718.3,10.0,416,12492,0.00,2.12,0.00,0.000,4,0.000,0.085,3581,167,1916,0,0,0,0,0,0
$GC,12515,0.92,215.9,714.8,11.5,416,12519,0.00,1.92,0.00,0.000,6,0.000,0.029,3580,1347,1916,0,0,0,0,0,0
$GC,12774,0.92,215.9,688.7,10.2,423,12778,0.00,2.70,0.00,0.000,4,0.000,0.051,3580,2937,1916,0,0,0,0,0,0
$GC,12802,0.98,215.9,685.7,10.1,423,12807,0.00,2.72,0.00,0.000,6,0.000,0.049,3580,1348,1914,0,0,0,0,0,0
$GC,13059,0.98,215.9,659.1,10.5,430,13060,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1348,1913,0,0,0,0,0,0
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$STATE,19064,end climb,SURFACE_DEPTH_REACHED
$STATE,19064,begin surface coast
$FINISH,1.0,1.023273
$STATE,19108,end surface coast,CONTROL_FINISHED_OK
$STATE,19108,begin surface
$SM_CCo,19132,53.67,0.429,0,0,1209,390.03
$SM_GC,1.87,0.00,0.00,53.67,0.000,0.000,0.429,413,1593,1209,-13.67,0.65,390.03
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$TT8_MAMPS,0.026845
$HUMID,64.17
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,16
$24V_AH,23.2,40.462
$10V_AH,9.9,37.909
$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
$DEVICE_SECS,33.575,217.575,392.450,53.675,0.000,25.409,35.674,210.437,4.000,0.000,35.018,1589.766,14076.055,560.200,2637.604,759.131,33.380,1659.504,0.000,2620.471,0.000,0.539,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.797,385.575,486.277,1000.017,1318.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,57261,724
$CAP_FILE_SIZE,184336,0
$CFSIZE,260165632,151465984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210713,095924,2317.785,-15755.838,41,1.5,41,10.1