version: 66.06
glider: 148
mission: 12
dive: 282
start: 7 23 113 0 25 31
data:
$ID,148
$MISSION,12
$DIVE,282
$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,-1021674.2
$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,78
$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
$GPS1,001706,2320.522,-15806.907,37,1.6,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.0
$GPS2,002437,2320.523,-15806.958,10,1.2,10,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK
$TGT_LATLONG,2309.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.146
$KALMAN_X,-196696.3,147.7,560.5,184199.3,-777.5
$KALMAN_Y,157311.4,-249.1,279.6,-91533.1,-608.5
$MHEAD_RNG_PITCHd_Wd,114.0,29497,-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,-67.07,0.000,2,0.000,0.000,413,1559,2909,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.0,-3.0,9,122,13.85,2.35,-9.00,0.000,4,0.144,0.051,3102,161,3397,0,0,0,0,0,0
$GC,139,-0.61,-146.0,18.1,-28.0,15,149,0.62,2.15,0.00,0.000,6,0.084,0.016,3243,1556,3397,0,0,0,0,0,0
$GC,424,-0.61,-146.0,51.8,-10.0,46,428,0.00,2.30,0.00,0.000,4,0.000,0.044,3243,163,3397,0,0,0,0,0,0
$GC,455,-0.61,-146.0,55.0,-9.7,48,459,0.00,2.12,0.00,0.000,6,0.000,0.016,3243,1576,3397,0,0,0,0,0,0
$GC,725,-0.70,-146.0,76.4,-7.6,72,729,0.00,2.40,0.00,0.000,4,0.000,0.021,3242,3119,3398,0,0,0,0,0,0
$GC,757,-0.83,-146.0,79.1,-7.7,74,763,0.17,2.53,0.00,0.000,6,0.045,0.027,3152,1545,3398,0,0,0,0,0,0
$GC,1022,-0.69,-146.0,113.6,-14.4,98,1027,0.35,2.25,0.00,0.000,4,0.077,0.040,3233,171,3399,0,0,0,0,0,0
$GC,1049,-0.69,-146.0,117.5,-11.5,100,1053,0.00,2.05,0.00,0.000,6,0.000,0.016,3233,1563,3399,0,0,0,0,0,0
$GC,1312,-0.79,-146.0,138.5,-7.7,124,1316,0.00,2.40,0.00,0.000,4,0.000,0.021,3233,3108,3400,0,0,0,0,0,0
$GC,1356,-0.98,-146.0,141.4,-6.9,127,1361,0.25,2.47,0.00,0.000,6,0.035,0.027,3121,1559,3400,0,0,0,0,0,0
$GC,1621,-0.81,-146.0,179.5,-14.1,151,1626,0.35,2.25,0.00,0.000,4,0.082,0.041,3201,175,3400,0,0,0,0,0,0
$GC,1662,-0.81,-146.0,184.1,-10.5,154,1666,0.00,2.08,0.00,0.000,6,0.000,0.017,3201,1560,3400,0,0,0,0,0,0
$GC,1932,-0.81,-146.0,207.7,-8.6,173,1936,0.00,2.42,0.00,0.000,4,0.000,0.021,3201,3110,3400,0,0,0,0,0,0
$GC,1971,-0.95,-146.0,211.0,-7.6,173,1978,0.10,2.50,0.00,0.000,6,0.076,0.028,3128,1566,3400,0,0,0,0,0,0
$GC,2222,-0.83,-146.0,240.2,-12.2,180,2227,0.30,2.28,0.00,0.000,4,0.081,0.042,3199,167,3400,0,0,0,0,0,0
$GC,2271,-0.93,-146.0,245.2,-8.0,181,2275,0.00,2.10,0.00,0.000,6,0.000,0.018,3199,1553,3400,0,0,0,0,0,0
$GC,2556,-1.01,-146.0,264.1,-6.5,188,2561,0.15,2.50,0.00,0.000,4,0.054,0.023,3127,3129,3400,0,0,0,0,0,0
$GC,2580,-1.01,-146.0,266.3,-8.6,188,2585,0.17,2.55,0.00,0.000,6,0.084,0.029,3168,1556,3400,0,0,0,0,0,0
$GC,2842,-1.01,-146.0,287.0,-7.9,195,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1556,3400,0,0,0,0,0,0
$GC,3086,-1.01,-146.0,307.4,-8.4,201,3090,0.00,2.28,0.00,0.000,4,0.000,0.049,3169,171,3399,0,0,0,0,0,0
$GC,3106,-1.01,-146.0,309.3,-8.7,201,3110,0.00,2.10,0.00,0.000,6,0.000,0.020,3169,1550,3399,0,0,0,0,0,0
$GC,3371,-1.01,-146.0,331.0,-8.3,208,3375,0.00,2.55,0.00,0.000,4,0.000,0.029,3168,3135,3398,0,0,0,0,0,0
$GC,3395,-1.07,-146.0,333.3,-9.5,208,3400,0.00,2.58,0.00,0.000,6,0.000,0.034,3169,1570,3398,0,0,0,0,0,0
$GC,3655,-1.07,-146.0,354.7,-8.4,215,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1570,3396,0,0,0,0,0,0
$GC,3903,-1.12,-146.0,373.4,-7.6,221,3908,0.12,2.58,0.00,0.000,4,0.063,0.033,3106,3130,3395,0,0,0,0,0,0
$GC,3919,-1.12,-146.0,375.2,-7.7,221,3924,0.15,2.58,0.00,0.000,6,0.091,0.035,3140,1572,3395,0,0,0,0,0,0
$GC,4188,-1.12,-146.0,399.1,-8.8,228,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1572,3393,0,0,0,0,0,0
$GC,4433,-1.12,-146.0,420.7,-8.9,234,4438,0.00,2.58,0.00,0.000,4,0.000,0.037,3140,3121,3391,0,0,0,0,0,0
$GC,4462,-1.12,-146.0,423.5,-8.8,234,4466,0.00,2.58,0.00,0.000,6,0.000,0.038,3140,1574,3391,0,0,0,0,0,0
$GC,4721,-1.12,-146.0,444.7,-8.2,241,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1574,3389,0,0,0,0,0,0
$GC,4960,-1.12,-146.0,463.1,-7.5,247,4965,0.00,2.42,0.00,0.000,4,0.000,0.069,3140,165,3388,0,0,0,0,0,0
$GC,4976,-1.12,-146.0,464.2,-7.2,247,4981,0.00,2.22,0.00,0.000,6,0.000,0.025,3140,1569,3388,0,0,0,0,0,0
$GC,5245,-1.12,-146.0,484.5,-7.6,254,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1570,3386,0,0,0,0,0,0
$GC,5489,-1.12,-146.0,504.9,-8.7,260,5493,0.00,2.62,0.00,0.000,4,0.000,0.041,3140,3143,3384,0,0,0,0,0,0
$GC,5509,-1.12,-146.0,506.6,-8.7,260,5514,0.00,2.60,0.00,0.000,6,0.000,0.041,3140,1578,3384,0,0,0,0,0,0
$GC,5774,-1.12,-146.0,529.0,-8.5,267,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1578,3382,0,0,0,0,0,0
$GC,6018,-1.12,-146.0,549.1,-8.2,273,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1578,3381,0,0,0,0,0,0
$GC,6263,-1.12,-146.0,568.6,-7.9,279,6267,0.00,2.62,0.00,0.000,4,0.000,0.043,3140,3139,3380,0,0,0,0,0,0
$GC,6282,-1.12,-146.0,570.4,-8.8,279,6286,0.00,2.65,0.00,0.000,6,0.000,0.044,3140,1570,3379,0,0,0,0,0,0
$GC,6550,-1.12,-146.0,590.2,-7.5,286,6555,0.00,2.50,0.00,0.000,4,0.000,0.079,3140,165,3378,0,0,0,0,0,0
$GC,6576,-1.12,-146.0,592.6,-9.1,286,6580,0.00,2.28,0.00,0.000,6,0.000,0.030,3140,1572,3377,0,0,0,0,0,0
$GC,6835,-1.12,-146.0,612.2,-7.5,293,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1572,3376,0,0,0,0,0,0
$GC,7079,-1.12,-146.0,630.1,-7.4,299,7083,0.00,2.65,0.00,0.000,4,0.000,0.045,3140,3156,3375,0,0,0,0,0,0
$GC,7100,-1.12,-146.0,631.6,-7.2,299,7104,0.00,2.67,0.00,0.000,6,0.000,0.046,3140,1577,3375,0,0,0,0,0,0
$GC,7368,-1.12,-146.0,650.4,-7.2,306,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1577,3374,0,0,0,0,0,0
$GC,7608,-1.12,-146.0,668.1,-7.3,312,7612,0.00,2.65,0.00,0.000,4,0.000,0.043,3140,3159,3372,0,0,0,0,0,0
$GC,7622,-1.12,-146.0,669.3,-7.3,312,7627,0.00,2.67,0.00,0.000,6,0.000,0.046,3140,1576,3372,0,0,0,0,0,0
$GC,7893,-1.12,-146.0,689.0,-7.4,319,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1576,3370,0,0,0,0,0,0
$GC,8135,-1.12,-146.0,706.8,-7.3,325,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1577,3369,0,0,0,0,0,0
$GC,8382,-1.12,-146.0,725.3,-7.5,331,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1576,3368,0,0,0,0,0,0
$GC,8624,-1.12,-146.0,743.6,-7.5,337,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1576,3367,0,0,0,0,0,0
$GC,8866,-1.12,-146.0,760.8,-7.0,343,8870,0.00,2.62,0.00,0.000,4,0.000,0.043,3140,3156,3366,0,0,0,0,0,0
$GC,8885,-1.17,-146.0,762.2,-7.0,343,8890,0.00,2.70,0.00,0.000,6,0.000,0.050,3140,1574,3367,0,0,0,0,0,0
$GC,9152,-1.22,-146.0,779.5,-6.4,350,9156,0.00,2.47,0.00,0.000,4,0.000,0.084,3140,169,3365,0,0,0,0,0,0
$GC,9171,-1.22,-146.0,781.0,-6.9,350,9175,0.00,2.30,0.00,0.000,6,0.000,0.033,3139,1579,3365,0,0,0,0,0,0
$GC,9437,-1.27,-146.0,797.1,-6.1,357,9439,0.12,0.00,0.00,0.000,6,0.065,0.000,3085,1579,3364,0,0,0,0,0,0
$GC,9680,-1.19,-146.0,817.9,-8.7,363,9682,0.17,0.00,0.00,0.000,6,0.094,0.000,3124,1579,3363,0,0,0,0,0,0
$GC,9922,-1.19,-146.0,834.7,-6.7,369,9926,0.00,2.47,0.00,0.000,4,0.000,0.076,3124,165,3363,0,0,0,0,0,0
$GC,9941,-1.19,-146.0,836.1,-7.5,369,9945,0.00,2.33,0.00,0.000,6,0.000,0.035,3124,1584,3363,0,0,0,0,0,0
$GC,10211,-1.19,-146.0,852.9,-6.2,376,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1584,3362,0,0,0,0,0,0
$GC,10448,-1.19,-146.0,868.5,-6.4,382,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,1584,3361,0,0,0,0,0,0
$GC,10692,-1.19,-146.0,885.2,-6.9,388,10696,0.00,2.50,0.00,0.000,4,0.000,0.076,3124,167,3360,0,0,0,0,0,0
$GC,10715,-1.19,-146.0,887.4,-10.0,388,10720,0.00,2.30,0.00,0.000,6,0.000,0.035,3124,1573,3360,0,0,0,0,0,0
$STATE,10895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10895,begin apogee
$GC,10903,-0.31,0.0,901.1,7.6,393,11026,0.82,0.00,118.95,1.161,6,0.072,0.000,3314,1342,2800,0,0,0,0,0,0
$STATE,11026,end apogee,CONTROL_FINISHED_OK
$STATE,11027,begin climb
$GC,11029,1.27,146.0,905.9,0.0,396,11169,1.45,2.12,129.25,1.137,4,0.035,0.077,3669,175,2204,0,0,0,0,0,0
$GC,11282,1.00,146.0,887.3,14.0,401,11286,0.30,1.95,0.00,0.000,6,0.108,0.031,3607,1353,2199,0,0,0,0,0,0
$GC,11534,0.94,153.0,862.9,9.7,407,11546,0.00,2.15,5.93,0.829,4,0.000,0.072,3607,181,2176,0,0,0,0,0,0
$GC,11589,0.82,153.0,856.6,11.0,408,11593,0.20,1.92,0.00,0.000,6,0.105,0.031,3565,1346,2176,0,0,0,0,0,0
$GC,11868,0.85,179.4,832.2,8.8,415,11896,0.00,0.00,25.60,1.056,6,0.000,0.000,3565,1348,2069,0,0,0,0,0,0
$GC,12156,0.85,179.4,803.5,10.1,422,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,1348,2063,0,0,0,0,0,0
$GC,12400,0.86,183.8,779.4,9.8,428,12411,0.00,2.70,4.62,0.726,4,0.000,0.046,3565,2929,2049,0,0,0,0,0,0
$GC,12428,0.93,202.1,776.8,9.2,428,12453,0.10,2.72,18.65,1.009,6,0.077,0.048,3605,1352,1975,0,0,0,0,0,0
$GC,12741,0.93,202.1,741.2,11.4,436,12745,0.00,2.15,0.00,0.000,4,0.000,0.086,3605,160,1971,0,0,0,0,0,0
$GC,12771,0.85,202.1,737.0,12.7,436,12776,0.15,1.95,0.00,0.000,6,0.108,0.031,3572,1349,1971,0,0,0,0,0,0
$GC,13026,0.88,220.4,712.5,9.2,443,13050,0.00,2.78,17.88,0.976,4,0.000,0.048,3572,2932,1900,0,0,0,0,0,0
$GC,13076,1.00,252.8,708.2,8.5,444,13115,0.12,2.78,31.23,1.001,6,0.066,0.048,3618,1335,1769,0,0,0,0,0,0
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$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19115,begin surface coast
$FINISH,1.0,1.023250
$STATE,19149,end surface coast,CONTROL_FINISHED_OK
$STATE,19149,begin surface
$SM_CCo,19174,50.35,0.430,0,0,1209,390.03
$SM_GC,1.64,0.00,0.00,50.35,0.000,0.000,0.430,416,1621,1209,-13.66,1.41,390.03
$IRIDIUM_FIX,2314.48,-15808.86,161002,191937
$TT8_MAMPS,0.027612
$HUMID,65.47
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,12
$24V_AH,23.2,41.629
$10V_AH,9.9,39.111
$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,34.125,197.000,388.950,50.350,0.000,28.451,36.957,225.614,3.000,0.000,12.378,1561.351,14251.165,517.660,2557.166,779.987,33.372,1567.316,0.000,2568.399,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,85.904,1161.238,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,488.041,380.203,476.036,1010.356,1337.697,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355988
$DATA_FILE_SIZE,57307,715
$CAP_FILE_SIZE,178754,0
$CFSIZE,260165632,150855680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230713,054726,2319.520,-15804.623,27,2.3,46,10.1