version: 66.06
glider: 148
mission: 12
dive: 278
start: 7 22 113 2 45 37
data:
$ID,148
$MISSION,12
$DIVE,278
$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,-1021591.9
$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,23
$R_STBD_OVSHOOT,114
$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
$GPS1,023740,2320.265,-15802.596,36,1.6,52,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-76.7
$GPS2,024443,2320.287,-15802.609,13,1.4,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYT1
$TGT_LATLONG,2332.500,-15900.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.244,0.088
$KALMAN_X,-198946.3,109.2,76.8,194406.9,-535.7
$KALMAN_Y,157944.4,-70.3,-33.2,-92470.1,-446.5
$MHEAD_RNG_PITCHd_Wd,279.7,100032,-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,-67.18,0.000,2,0.000,0.000,413,1595,2940,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-5.6,9,122,13.80,2.40,-8.15,0.000,4,0.144,0.037,3103,3083,3399,0,0,0,0,0,0
$GC,234,-1.08,-146.0,37.2,-18.0,28,240,0.20,2.47,0.00,0.000,6,0.098,0.031,3147,1557,3399,0,0,0,0,0,0
$GC,504,-0.92,-146.0,81.2,-13.4,52,509,0.17,2.30,0.00,0.000,4,0.099,0.043,3185,170,3399,0,0,0,0,0,0
$GC,548,-0.88,-146.0,87.2,-12.6,55,552,0.00,2.05,0.00,0.000,6,0.000,0.016,3185,1541,3399,0,0,0,0,0,0
$GC,816,-0.83,-146.0,116.4,-11.6,79,820,0.00,2.45,0.00,0.000,4,0.000,0.022,3185,3113,3400,0,0,0,0,0,0
$GC,864,-0.90,-146.0,121.7,-9.4,83,869,0.00,2.50,0.00,0.000,6,0.000,0.028,3185,1568,3400,0,0,0,0,0,0
$GC,1132,-0.90,-146.0,148.2,-10.4,107,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1569,3401,0,0,0,0,0,0
$GC,1393,-0.90,-146.0,174.7,-10.1,132,1397,0.00,2.28,0.00,0.000,4,0.000,0.043,3185,167,3401,0,0,0,0,0,0
$GC,1414,-0.90,-146.0,177.1,-11.4,133,1420,0.00,2.12,0.00,0.000,6,0.000,0.017,3185,1590,3401,0,0,0,0,0,0
$GC,1697,-0.90,-146.0,204.8,-9.3,157,1701,0.00,2.38,0.00,0.000,4,0.000,0.021,3185,3108,3401,0,0,0,0,0,0
$GC,1739,-1.00,-146.0,208.6,-7.7,157,1745,0.00,2.45,0.00,0.000,6,0.000,0.028,3185,1588,3401,0,0,0,0,0,0
$GC,1991,-1.00,-146.0,230.6,-9.3,164,1995,0.00,2.30,0.00,0.000,4,0.000,0.044,3185,171,3402,0,0,0,0,0,0
$GC,2014,-1.00,-146.0,233.2,-10.5,164,2018,0.00,2.12,0.00,0.000,6,0.000,0.018,3185,1580,3401,0,0,0,0,0,0
$GC,2275,-1.00,-146.0,256.7,-8.8,171,2280,0.00,2.40,0.00,0.000,4,0.000,0.022,3185,3119,3401,0,0,0,0,0,0
$GC,2321,-1.11,-146.0,260.3,-8.1,172,2326,0.17,2.45,0.00,0.000,6,0.048,0.028,3106,1592,3401,0,0,0,0,0,0
$GC,2609,-0.98,-146.0,292.8,-11.3,179,2614,0.28,2.35,0.00,0.000,4,0.084,0.044,3171,170,3401,0,0,0,0,0,0
$GC,2644,-0.98,-146.0,296.3,-9.3,179,2648,0.00,2.15,0.00,0.000,6,0.000,0.020,3171,1577,3401,0,0,0,0,0,0
$GC,2896,-0.98,-146.0,316.7,-8.0,185,2900,0.00,2.47,0.00,0.000,4,0.000,0.028,3171,3140,3400,0,0,0,0,0,0
$GC,2942,-1.10,-146.0,320.2,-7.9,186,2947,0.12,2.53,0.00,0.000,6,0.064,0.033,3115,1599,3400,0,0,0,0,0,0
$GC,3232,-1.02,-146.0,351.1,-10.5,193,3234,0.20,0.00,0.00,0.000,6,0.087,0.000,3159,1599,3398,0,0,0,0,0,0
$GC,3473,-1.02,-146.0,369.6,-7.6,199,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1599,3398,0,0,0,0,0,0
$GC,3717,-1.02,-146.0,389.1,-8.1,205,3721,0.00,2.42,0.00,0.000,4,0.000,0.060,3160,172,3396,0,0,0,0,0,0
$GC,3752,-1.02,-146.0,391.9,-8.2,205,3756,0.00,2.25,0.00,0.000,6,0.000,0.023,3160,1599,3396,0,0,0,0,0,0
$GC,4005,-1.02,-146.0,411.9,-8.0,211,4009,0.00,2.53,0.00,0.000,4,0.000,0.035,3160,3146,3394,0,0,0,0,0,0
$GC,4034,-1.11,-146.0,414.5,-7.4,211,4038,0.00,2.55,0.00,0.000,6,0.000,0.038,3160,1608,3394,0,0,0,0,0,0
$GC,4290,-1.11,-146.0,434.4,-7.9,218,4295,0.00,2.47,0.00,0.000,4,0.000,0.065,3160,166,3392,0,0,0,0,0,0
$GC,4323,-1.11,-146.0,437.5,-9.3,218,4327,0.00,2.28,0.00,0.000,6,0.000,0.025,3160,1615,3392,0,0,0,0,0,0
$GC,4573,-1.11,-146.0,457.7,-8.1,224,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1616,3391,0,0,0,0,0,0
$GC,4819,-1.16,-146.0,476.3,-7.5,230,4821,0.12,0.00,0.00,0.000,6,0.064,0.000,3102,1616,3389,0,0,0,0,0,0
$GC,5063,-1.08,-146.0,500.7,-10.0,236,5068,0.22,2.53,0.00,0.000,4,0.086,0.066,3153,168,3387,0,0,0,0,0,0
$GC,5111,-1.13,-146.0,505.4,-8.4,237,5116,0.00,2.30,0.00,0.000,6,0.000,0.029,3153,1598,3387,0,0,0,0,0,0
$GC,5396,-1.13,-146.0,526.8,-7.7,244,5400,0.00,2.58,0.00,0.000,4,0.000,0.044,3153,3146,3385,0,0,0,0,0,0
$GC,5429,-1.22,-146.0,529.6,-8.1,244,5434,0.15,2.60,0.00,0.000,6,0.054,0.041,3086,1598,3385,0,0,0,0,0,0
$GC,5681,-1.12,-146.0,557.2,-11.3,250,5686,0.25,2.53,0.00,0.000,4,0.085,0.074,3147,162,3384,0,0,0,0,0,0
$GC,5728,-1.17,-146.0,561.7,-8.3,251,5732,0.00,2.33,0.00,0.000,6,0.000,0.030,3147,1603,3383,0,0,0,0,0,0
$GC,6015,-1.17,-146.0,583.0,-7.3,258,6019,0.00,2.55,0.00,0.000,4,0.000,0.045,3147,3150,3381,0,0,0,0,0,0
$GC,6052,-1.25,-146.0,585.4,-6.5,258,6057,0.15,2.62,0.00,0.000,6,0.055,0.044,3082,1596,3381,0,0,0,0,0,0
$GC,6302,-1.15,-146.0,610.7,-10.3,264,6307,0.22,2.53,0.00,0.000,4,0.089,0.077,3133,164,3380,0,0,0,0,0,0
$GC,6351,-1.15,-146.0,615.2,-9.4,265,6355,0.00,2.30,0.00,0.000,6,0.000,0.031,3134,1600,3379,0,0,0,0,0,0
$GC,6640,-1.15,-146.0,639.3,-8.6,272,6644,0.00,2.60,0.00,0.000,4,0.000,0.049,3133,3148,3377,0,0,0,0,0,0
$GC,6664,-1.15,-146.0,641.5,-9.2,272,6668,0.00,2.62,0.00,0.000,6,0.000,0.046,3133,1601,3377,0,0,0,0,0,0
$GC,6925,-1.15,-146.0,664.2,-8.8,279,6930,0.00,2.53,0.00,0.000,4,0.000,0.080,3133,170,3377,0,0,0,0,0,0
$GC,6944,-1.15,-146.0,666.3,-9.7,279,6949,0.00,2.33,0.00,0.000,6,0.000,0.033,3133,1609,3377,0,0,0,0,0,0
$GC,7214,-1.15,-146.0,688.0,-8.1,286,7219,0.00,2.60,0.00,0.000,4,0.000,0.053,3133,3150,3375,0,0,0,0,0,0
$GC,7245,-1.20,-146.0,690.8,-8.1,286,7249,0.00,2.60,0.00,0.000,6,0.000,0.048,3133,1608,3375,0,0,0,0,0,0
$GC,7500,-1.20,-146.0,709.7,-7.3,293,7504,0.00,2.55,0.00,0.000,4,0.000,0.081,3133,167,3373,0,0,0,0,0,0
$GC,7551,-1.20,-146.0,713.8,-8.3,294,7556,0.00,2.35,0.00,0.000,6,0.000,0.041,3133,1603,3373,0,0,0,0,0,0
$GC,7835,-1.20,-146.0,732.5,-6.7,301,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1603,3372,0,0,0,0,0,0
$GC,8073,-1.20,-146.0,748.9,-6.8,307,8077,0.00,2.55,0.00,0.000,4,0.000,0.076,3133,163,3371,0,0,0,0,0,0
$GC,8106,-1.20,-146.0,751.5,-7.5,307,8111,0.00,2.35,0.00,0.000,6,0.000,0.036,3133,1605,3371,0,0,0,0,0,0
$GC,8358,-1.20,-146.0,769.9,-7.5,313,8363,0.00,2.62,0.00,0.000,4,0.000,0.055,3133,3153,3369,0,0,0,0,0,0
$GC,8396,-1.28,-146.0,772.7,-6.4,313,8402,0.12,2.65,0.00,0.000,6,0.064,0.049,3079,1601,3369,0,0,0,0,0,0
$GC,8646,-1.20,-146.0,797.9,-10.3,320,8652,0.20,2.55,0.00,0.000,4,0.094,0.081,3124,167,3368,0,0,0,0,0,0
$GC,8673,-1.20,-146.0,800.4,-9.8,320,8677,0.00,2.35,0.00,0.000,6,0.000,0.035,3124,1602,3367,0,0,0,0,0,0
$GC,8932,-1.20,-146.0,821.3,-7.9,327,8936,0.00,2.60,0.00,0.000,4,0.000,0.055,3123,3154,3367,0,0,0,0,0,0
$GC,8965,-1.27,-146.0,824.0,-7.6,327,8970,0.00,2.65,0.00,0.000,6,0.000,0.050,3124,1600,3367,0,0,0,0,0,0
$GC,9217,-1.27,-146.0,843.4,-7.8,333,9222,0.00,2.55,0.00,0.000,4,0.000,0.083,3124,163,3366,0,0,0,0,0,0
$GC,9264,-1.27,-146.0,847.6,-8.6,334,9268,0.00,2.38,0.00,0.000,6,0.000,0.036,3124,1609,3366,0,0,0,0,0,0
$GC,9551,-1.27,-146.0,867.9,-7.1,341,9555,0.00,2.55,0.00,0.000,4,0.000,0.076,3124,167,3365,0,0,0,0,0,0
$GC,9594,-1.27,-146.0,871.6,-8.5,342,9598,0.00,2.35,0.00,0.000,6,0.000,0.038,3124,1597,3364,0,0,0,0,0,0
$GC,9881,-1.27,-146.0,892.1,-7.1,349,9885,0.00,2.65,0.00,0.000,4,0.000,0.056,3124,3161,3364,0,0,0,0,0,0
$GC,9897,-1.27,-146.0,893.4,-7.6,349,9902,0.00,2.67,0.00,0.000,6,0.000,0.048,3124,1591,3364,0,0,0,0,0,0
$STATE,10003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10003,begin apogee
$GC,10009,-0.31,0.0,901.4,7.6,352,10132,0.85,0.00,119.70,1.151,6,0.073,0.000,3318,1342,2800,0,0,0,0,0,0
$STATE,10133,end apogee,CONTROL_FINISHED_OK
$STATE,10133,begin climb
$GC,10136,1.27,146.0,905.6,0.0,355,10274,1.42,2.17,129.65,1.132,4,0.035,0.085,3666,170,2203,0,0,0,0,0,0
$GC,10300,1.01,146.0,898.8,13.3,358,10304,0.30,1.98,0.00,0.000,6,0.110,0.033,3606,1359,2201,0,0,0,0,0,0
$GC,10552,0.95,154.2,874.3,9.6,364,10564,0.00,2.20,7.00,0.877,4,0.000,0.075,3606,169,2171,0,0,0,0,0,0
$GC,10602,0.84,154.2,868.5,11.9,365,10606,0.17,1.95,0.00,0.000,6,0.110,0.031,3570,1352,2171,0,0,0,0,0,0
$GC,10888,0.87,183.3,843.8,8.7,372,10921,0.00,2.17,27.85,1.062,4,0.000,0.074,3569,169,2052,0,0,0,0,0,0
$GC,10977,0.87,183.3,834.4,10.3,374,10981,0.00,1.95,0.00,0.000,6,0.000,0.031,3569,1348,2050,0,0,0,0,0,0
$GC,11267,0.88,190.8,806.9,9.7,381,11280,0.00,2.75,7.53,0.877,4,0.000,0.056,3569,2930,2021,0,0,0,0,0,0
$GC,11318,0.97,192.2,801.6,9.9,382,11326,0.10,2.75,0.00,0.000,6,0.080,0.049,3610,1342,2019,0,0,0,0,0,0
$GC,11601,0.97,192.2,769.2,11.7,389,11605,0.00,2.70,0.00,0.000,4,0.000,0.048,3610,2930,2018,0,0,0,0,0,0
$GC,11619,0.97,192.2,766.8,10.4,389,11624,0.00,2.70,0.00,0.000,6,0.000,0.048,3610,1351,2017,0,0,0,0,0,0
$GC,11886,0.97,192.2,738.6,10.7,396,11890,0.00,2.17,0.00,0.000,4,0.000,0.089,3610,159,2017,0,0,0,0,0,0
$GC,11915,0.88,192.2,735.0,11.4,396,11920,0.15,1.95,0.00,0.000,6,0.110,0.030,3579,1354,2017,0,0,0,0,0,0
$GC,12171,0.90,211.5,711.3,9.1,403,12196,0.00,2.15,20.38,0.983,4,0.000,0.071,3578,161,1936,0,0,0,0,0,0
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$STATE,18645,end climb,SURFACE_DEPTH_REACHED
$STATE,18645,begin surface coast
$FINISH,1.0,1.005452
$STATE,18685,end surface coast,CONTROL_FINISHED_OK
$STATE,18686,begin surface
$SM_CCo,18711,43.12,0.428,0,0,1209,390.03
$SM_GC,1.66,0.00,0.00,43.12,0.000,0.000,0.428,409,1606,1209,-13.69,1.02,390.03
$IRIDIUM_FIX,2312.13,-15804.51,151002,212101
$TT8_MAMPS,0.027612
$HUMID,65.35
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.20
$XPDR_PINGS,15
$24V_AH,23.2,41.065
$10V_AH,9.9,38.513
$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,33.700,245.475,412.600,43.125,0.000,24.143,35.850,201.563,3.750,0.000,15.245,1596.179,13564.049,548.615,2703.472,755.503,33.372,1720.683,0.000,2695.977,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,88.972,1150.500,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,470.673,358.596,461.093,942.002,1241.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,54181,691
$CAP_FILE_SIZE,194445,0
$CFSIZE,260165632,151146496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220713,075956,2321.508,-15804.920,41,3.0,60,10.1