version: 66.06
glider: 148
mission: 12
dive: 277
start: 7 21 113 21 15 7
data:
$ID,148
$MISSION,12
$DIVE,277
$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,-1021576.1
$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,26
$R_STBD_OVSHOOT,126
$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
$GPS1,210035,2319.586,-15800.175,39,1.2,39,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-77.3
$GPS2,211413,2319.544,-15800.160,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.231,0.120
$KALMAN_X,-198863.3,207.2,-85.4,198567.3,464.7
$KALMAN_Y,158374.9,7.6,245.5,-94634.6,-1287.8
$MHEAD_RNG_PITCHd_Wd,287.3,104394,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.38,0.000,2,0.000,0.000,411,1614,2951,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.1,-4.0,9,122,13.93,2.45,-8.20,0.000,4,0.146,0.055,3104,168,3398,0,0,0,0,0,0
$GC,242,-0.96,-146.0,42.0,-22.1,28,247,0.32,2.05,0.00,0.000,6,0.094,0.016,3174,1525,3399,0,0,0,0,0,0
$GC,511,-0.86,-146.0,80.1,-12.4,52,516,0.10,2.53,0.00,0.000,4,0.117,0.021,3196,3133,3399,0,0,0,0,0,0
$GC,574,-0.96,-146.0,87.1,-8.3,57,578,0.00,2.53,0.00,0.000,6,0.000,0.028,3196,1563,3399,0,0,0,0,0,0
$GC,841,-0.96,-146.0,113.3,-10.0,81,845,0.00,2.28,0.00,0.000,4,0.000,0.043,3196,171,3399,0,0,0,0,0,0
$GC,876,-0.96,-146.0,117.6,-10.7,84,880,0.00,2.10,0.00,0.000,6,0.000,0.017,3196,1581,3400,0,0,0,0,0,0
$GC,1139,-0.96,-146.0,142.2,-8.7,108,1144,0.00,2.40,0.00,0.000,4,0.000,0.021,3196,3125,3400,0,0,0,0,0,0
$GC,1173,-1.01,-146.0,145.2,-8.9,110,1182,0.10,2.55,0.00,0.000,6,0.027,0.028,3120,1568,3400,0,0,0,0,0,0
$GC,1435,-0.84,-146.0,183.8,-15.3,135,1440,0.32,2.28,0.00,0.000,4,0.084,0.041,3197,170,3399,0,0,0,0,0,0
$GC,1459,-0.74,-146.0,187.1,-14.0,136,1465,0.12,2.12,0.00,0.000,6,0.103,0.017,3227,1587,3400,0,0,0,0,0,0
$GC,1720,-0.85,-146.0,205.0,-6.0,155,1725,0.12,2.40,0.00,0.000,4,0.061,0.022,3152,3111,3400,0,0,0,0,0,0
$GC,1760,-0.85,-146.0,208.3,-8.1,155,1769,0.17,2.53,0.00,0.000,6,0.058,0.028,3198,1570,3400,0,0,0,0,0,0
$GC,2011,-0.90,-146.0,226.7,-7.3,162,2015,0.00,2.33,0.00,0.000,4,0.000,0.045,3199,167,3400,0,0,0,0,0,0
$GC,2048,-0.97,-146.0,229.6,-7.1,162,2055,0.12,2.12,0.00,0.000,6,0.061,0.018,3128,1575,3400,0,0,0,0,0,0
$GC,2300,-0.87,-146.0,256.4,-10.9,169,2305,0.25,2.42,0.00,0.000,4,0.081,0.022,3190,3120,3399,0,0,0,0,0,0
$GC,2339,-1.00,-146.0,260.0,-6.9,169,2345,0.10,2.50,0.00,0.000,6,0.073,0.028,3123,1578,3399,0,0,0,0,0,0
$GC,2593,-0.90,-146.0,286.0,-10.9,176,2598,0.25,2.33,0.00,0.000,4,0.082,0.052,3185,170,3399,0,0,0,0,0,0
$GC,2627,-0.97,-146.0,289.3,-7.5,176,2632,0.00,2.15,0.00,0.000,6,0.000,0.020,3185,1565,3399,0,0,0,0,0,0
$GC,2878,-1.03,-146.0,305.8,-6.8,182,2883,0.10,2.53,0.00,0.000,4,0.075,0.027,3124,3139,3398,0,0,0,0,0,0
$GC,2904,-1.03,-146.0,308.0,-8.6,182,2909,0.15,2.55,0.00,0.000,6,0.091,0.032,3159,1580,3397,0,0,0,0,0,0
$GC,3164,-1.03,-146.0,328.1,-7.3,189,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1580,3397,0,0,0,0,0,0
$GC,3408,-1.03,-146.0,347.2,-7.9,195,3412,0.00,2.53,0.00,0.000,4,0.000,0.034,3159,3134,3396,0,0,0,0,0,0
$GC,3434,-1.09,-146.0,349.2,-9.0,195,3438,0.00,2.55,0.00,0.000,6,0.000,0.036,3159,1578,3395,0,0,0,0,0,0
$GC,3694,-1.09,-146.0,369.6,-7.7,202,3698,0.00,2.40,0.00,0.000,4,0.000,0.060,3159,161,3394,0,0,0,0,0,0
$GC,3712,-1.09,-146.0,371.4,-8.7,202,3717,0.00,2.20,0.00,0.000,6,0.000,0.021,3159,1569,3393,0,0,0,0,0,0
$GC,3978,-1.09,-146.0,390.4,-7.0,209,3982,0.00,2.58,0.00,0.000,4,0.000,0.034,3159,3141,3391,0,0,0,0,0,0
$GC,4007,-1.17,-146.0,392.4,-6.5,209,4012,0.12,2.58,0.00,0.000,6,0.062,0.038,3096,1587,3392,0,0,0,0,0,0
$GC,4265,-1.06,-146.0,418.8,-10.7,216,4270,0.25,2.40,0.00,0.000,4,0.084,0.061,3157,170,3389,0,0,0,0,0,0
$GC,4296,-1.06,-146.0,421.8,-7.9,216,4300,0.00,2.22,0.00,0.000,6,0.000,0.025,3157,1579,3389,0,0,0,0,0,0
$GC,4550,-1.06,-146.0,439.8,-6.9,223,4555,0.00,2.58,0.00,0.000,4,0.000,0.035,3157,3150,3388,0,0,0,0,0,0
$GC,4576,-1.13,-146.0,441.4,-7.5,223,4581,0.00,2.60,0.00,0.000,6,0.000,0.038,3157,1576,3387,0,0,0,0,0,0
$GC,4836,-1.13,-146.0,459.8,-7.2,230,4840,0.00,2.42,0.00,0.000,4,0.000,0.069,3158,169,3385,0,0,0,0,0,0
$GC,4868,-1.13,-146.0,462.7,-8.5,230,4873,0.00,2.25,0.00,0.000,6,0.000,0.026,3157,1583,3385,0,0,0,0,0,0
$GC,5125,-1.13,-146.0,481.0,-6.8,237,5129,0.00,2.58,0.00,0.000,4,0.000,0.038,3157,3151,3383,0,0,0,0,0,0
$GC,5163,-1.24,-146.0,483.7,-6.5,237,5169,0.17,2.62,0.00,0.000,6,0.049,0.040,3083,1581,3383,0,0,0,0,0,0
$GC,5413,-1.12,-146.0,508.6,-10.4,244,5418,0.25,2.45,0.00,0.000,4,0.087,0.070,3143,172,3382,0,0,0,0,0,0
$GC,5453,-1.12,-146.0,512.1,-8.5,244,5459,0.00,2.25,0.00,0.000,6,0.000,0.028,3143,1578,3381,0,0,0,0,0,0
$GC,5706,-1.12,-146.0,531.2,-7.7,251,5710,0.00,2.60,0.00,0.000,4,0.000,0.041,3143,3147,3380,0,0,0,0,0,0
$GC,5730,-1.16,-146.0,533.5,-8.9,251,5734,0.00,2.62,0.00,0.000,6,0.000,0.041,3144,1583,3380,0,0,0,0,0,0
$GC,5991,-1.16,-146.0,554.3,-7.9,258,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1584,3378,0,0,0,0,0,0
$GC,6233,-1.16,-146.0,573.8,-8.1,264,6237,0.00,2.62,0.00,0.000,4,0.000,0.041,3144,3153,3377,0,0,0,0,0,0
$GC,6252,-1.16,-146.0,575.4,-8.6,264,6257,0.00,2.65,0.00,0.000,6,0.000,0.044,3143,1580,3377,0,0,0,0,0,0
$GC,6522,-1.16,-146.0,596.4,-7.9,271,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1580,3376,0,0,0,0,0,0
$GC,6760,-1.16,-146.0,614.1,-7.3,277,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1580,3374,0,0,0,0,0,0
$GC,7004,-1.16,-146.0,631.0,-7.0,283,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1580,3372,0,0,0,0,0,0
$GC,7248,-1.16,-146.0,648.4,-7.1,289,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1580,3372,0,0,0,0,0,0
$GC,7493,-1.16,-146.0,666.6,-7.6,295,7497,0.00,2.65,0.00,0.000,4,0.000,0.047,3143,3151,3370,0,0,0,0,0,0
$GC,7513,-1.21,-146.0,668.3,-8.3,295,7518,0.10,2.65,0.00,0.000,6,0.076,0.048,3094,1590,3370,0,0,0,0,0,0
$GC,7778,-1.15,-146.0,693.3,-9.6,302,7784,0.17,2.55,0.00,0.000,4,0.095,0.084,3134,163,3369,0,0,0,0,0,0
$GC,7819,-1.15,-146.0,696.8,-8.0,302,7824,0.00,2.33,0.00,0.000,6,0.000,0.034,3134,1588,3369,0,0,0,0,0,0
$GC,8069,-1.15,-146.0,714.6,-7.1,309,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1589,3367,0,0,0,0,0,0
$GC,8312,-1.15,-146.0,732.7,-7.4,315,8317,0.00,2.60,0.00,0.000,4,0.000,0.051,3134,3154,3366,0,0,0,0,0,0
$GC,8338,-1.20,-146.0,734.6,-8.1,315,8343,0.00,2.67,0.00,0.000,6,0.000,0.049,3134,1582,3367,0,0,0,0,0,0
$GC,8598,-1.20,-146.0,753.3,-7.2,322,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1582,3365,0,0,0,0,0,0
$GC,8841,-1.20,-146.0,769.9,-6.8,328,8846,0.00,2.53,0.00,0.000,4,0.000,0.084,3134,161,3364,0,0,0,0,0,0
$GC,8867,-1.20,-146.0,771.8,-8.3,328,8871,0.00,2.35,0.00,0.000,6,0.000,0.035,3134,1597,3364,0,0,0,0,0,0
$GC,9126,-1.20,-146.0,789.1,-6.6,335,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3363,0,0,0,0,0,0
$GC,9372,-1.20,-146.0,806.1,-6.9,341,9373,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1597,3362,0,0,0,0,0,0
$GC,9613,-1.20,-146.0,822.2,-6.6,347,9618,0.00,2.53,0.00,0.000,4,0.000,0.077,3134,168,3362,0,0,0,0,0,0
$GC,9644,-1.20,-146.0,824.5,-8.1,347,9648,0.00,2.33,0.00,0.000,6,0.000,0.035,3134,1589,3361,0,0,0,0,0,0
$GC,9900,-1.20,-146.0,842.8,-7.2,354,9905,0.00,2.62,0.00,0.000,4,0.000,0.051,3134,3154,3361,0,0,0,0,0,0
$GC,9940,-1.29,-146.0,845.7,-7.2,354,9946,0.12,2.65,0.00,0.000,6,0.064,0.050,3079,1587,3361,0,0,0,0,0,0
$GC,10195,-1.21,-146.0,868.4,-9.2,361,10200,0.17,2.55,0.00,0.000,4,0.096,0.083,3119,161,3360,0,0,0,0,0,0
$GC,10261,-1.21,-146.0,874.4,-7.3,362,10266,0.00,2.35,0.00,0.000,6,0.000,0.035,3119,1594,3360,0,0,0,0,0,0
$GC,10527,-1.21,-146.0,892.4,-6.7,369,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1594,3359,0,0,0,0,0,0
$STATE,10646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10646,begin apogee
$GC,10652,-0.31,0.0,900.9,6.9,372,10775,0.85,0.00,118.82,1.157,6,0.071,0.000,3315,1336,2799,0,0,0,0,0,0
$STATE,10775,end apogee,CONTROL_FINISHED_OK
$STATE,10776,begin climb
$GC,10778,1.27,146.0,904.4,0.0,375,10918,1.42,2.20,129.62,1.135,4,0.033,0.081,3665,170,2202,0,0,0,0,0,0
$GC,10948,1.01,146.0,896.1,13.3,378,10955,0.28,1.98,0.00,0.000,6,0.108,0.032,3608,1359,2200,0,0,0,0,0,0
$GC,11201,0.96,155.0,871.1,9.6,385,11213,0.00,2.17,7.47,0.892,4,0.000,0.075,3608,166,2168,0,0,0,0,0,0
$GC,11261,0.83,155.0,864.4,11.9,386,11266,0.20,1.95,0.00,0.000,6,0.104,0.031,3566,1350,2168,0,0,0,0,0,0
$GC,11536,0.89,204.6,843.2,7.7,393,11585,0.00,0.00,47.22,1.085,6,0.000,0.000,3566,1350,1965,0,0,0,0,0,0
$GC,11818,0.94,204.6,814.8,10.6,400,11820,0.10,0.00,0.00,0.000,6,0.080,0.000,3605,1351,1959,0,0,0,0,0,0
$GC,12066,0.94,204.6,783.5,13.0,406,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,3605,1351,1958,0,0,0,0,0,0
$GC,12307,0.94,204.6,752.0,12.9,412,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1353,1957,0,0,0,0,0,0
$GC,12549,0.94,204.6,723.6,11.5,418,12553,0.00,2.70,0.00,0.000,4,0.000,0.051,3605,2932,1956,0,0,0,0,0,0
$GC,12568,0.94,204.6,721.3,11.1,418,12573,0.00,2.70,0.00,0.000,6,0.000,0.048,3605,1359,1953,0,0,0,0,0,0
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$STATE,19136,end climb,SURFACE_DEPTH_REACHED
$STATE,19136,begin surface coast
$FINISH,0.9,1.007542
$STATE,19182,end surface coast,CONTROL_FINISHED_OK
$STATE,19182,begin surface
$SM_CCo,19208,49.67,0.428,0,0,1209,390.03
$SM_GC,1.75,0.00,0.00,49.67,0.000,0.000,0.428,414,1594,1209,-13.67,0.71,390.03
$IRIDIUM_FIX,2312.13,-15801.45,151002,212154
$TT8_MAMPS,0.027612
$HUMID,64.68
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.70
$XPDR_PINGS,8
$24V_AH,23.2,40.927
$10V_AH,9.9,38.366
$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,35.100,205.675,390.500,49.675,0.000,77.456,113.608,334.581,2.000,0.000,13.632,1576.637,14340.488,561.551,2558.366,1029.181,33.367,1617.222,0.000,2565.668,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,85.904,1156.636,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.464,384.181,485.149,1013.538,1337.091,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,57369,725
$CAP_FILE_SIZE,191032,0
$CFSIZE,260165632,151224320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220713,023740,2320.265,-15802.596,36,1.6,52,10.1