version: 66.06
glider: 148
mission: 12
dive: 286
start: 7 23 113 22 10 49
data:
$ID,148
$MISSION,12
$DIVE,286
$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,-1021737.2
$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,26
$R_STBD_OVSHOOT,88
$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
$GPS1,215836,2314.260,-15757.852,29,1.1,29,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.4
$GPS2,220955,2314.216,-15757.825,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK
$TGT_LATLONG,2309.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,-0.251
$KALMAN_X,-192116.1,114.2,87.0,195721.8,1016.7
$KALMAN_Y,159865.3,-327.2,328.2,-105740.9,135.5
$MHEAD_RNG_PITCHd_Wd,155.3,10792,-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,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.05,0.000,2,0.000,0.000,413,1580,2908,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-4.4,9,123,13.80,2.38,-9.05,0.000,4,0.144,0.051,3101,165,3397,0,0,0,0,0,0
$GC,278,-0.92,-146.0,49.9,-23.1,31,284,0.38,2.10,0.00,0.000,6,0.091,0.018,3182,1552,3397,0,0,0,0,0,0
$GC,545,-0.86,-146.0,84.1,-11.7,55,549,0.00,2.47,0.00,0.000,4,0.000,0.021,3182,3142,3397,0,0,0,0,0,0
$GC,574,-0.86,-146.0,87.7,-11.6,57,579,0.00,2.55,0.00,0.000,6,0.000,0.027,3183,1563,3397,0,0,0,0,0,0
$GC,842,-0.86,-146.0,115.7,-10.3,81,846,0.00,2.28,0.00,0.000,4,0.000,0.042,3183,163,3398,0,0,0,0,0,0
$GC,858,-0.81,-146.0,118.1,-9.9,82,863,0.12,2.15,0.00,0.000,6,0.104,0.017,3211,1612,3398,0,0,0,0,0,0
$GC,1132,-0.86,-146.0,140.7,-7.8,107,1136,0.00,2.30,0.00,0.000,4,0.000,0.021,3211,3097,3398,0,0,0,0,0,0
$GC,1147,-0.91,-146.0,142.6,-7.9,108,1152,0.10,2.45,0.00,0.000,6,0.074,0.026,3140,1562,3398,0,0,0,0,0,0
$GC,1409,-0.78,-146.0,175.4,-13.0,132,1414,0.30,2.42,0.00,0.000,4,0.081,0.020,3210,3103,3398,0,0,0,0,0,0
$GC,1430,-0.72,-146.0,177.3,-12.0,133,1434,0.00,2.47,0.00,0.000,6,0.000,0.027,3210,1567,3398,0,0,0,0,0,0
$GC,1699,-0.79,-146.0,198.1,-7.3,157,1703,0.00,2.28,0.00,0.000,4,0.000,0.044,3210,168,3398,0,0,0,0,0,0
$GC,1727,-0.85,-146.0,200.9,-7.4,159,1731,0.00,2.08,0.00,0.000,6,0.000,0.017,3210,1569,3398,0,0,0,0,0,0
$GC,1986,-0.93,-146.0,220.1,-7.6,166,1991,0.12,2.40,0.00,0.000,4,0.062,0.022,3145,3099,3398,0,0,0,0,0,0
$GC,2012,-0.93,-146.0,222.8,-9.9,166,2017,0.17,2.45,0.00,0.000,6,0.084,0.028,3184,1581,3398,0,0,0,0,0,0
$GC,2272,-0.93,-146.0,243.2,-7.5,173,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1581,3398,0,0,0,0,0,0
$GC,2516,-0.93,-146.0,262.3,-8.2,179,2520,0.00,2.33,0.00,0.000,4,0.000,0.046,3185,166,3398,0,0,0,0,0,0
$GC,2536,-0.93,-146.0,264.0,-8.3,179,2540,0.00,2.10,0.00,0.000,6,0.000,0.018,3185,1564,3398,0,0,0,0,0,0
$GC,2803,-0.97,-146.0,286.6,-8.5,186,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1566,3397,0,0,0,0,0,0
$GC,3044,-1.03,-146.0,305.9,-7.7,192,3049,0.10,2.47,0.00,0.000,4,0.075,0.025,3126,3117,3396,0,0,0,0,0,0
$GC,3070,-1.03,-146.0,308.2,-10.1,192,3075,0.15,2.47,0.00,0.000,6,0.092,0.031,3160,1587,3396,0,0,0,0,0,0
$GC,3330,-1.03,-146.0,330.1,-8.2,199,3335,0.00,2.35,0.00,0.000,4,0.000,0.051,3160,167,3395,0,0,0,0,0,0
$GC,3375,-1.03,-146.0,333.8,-9.0,200,3379,0.00,2.15,0.00,0.000,6,0.000,0.020,3160,1570,3395,0,0,0,0,0,0
$GC,3664,-1.03,-146.0,357.9,-8.6,207,3668,0.00,2.53,0.00,0.000,4,0.000,0.030,3160,3136,3393,0,0,0,0,0,0
$GC,3703,-1.13,-146.0,361.4,-8.2,207,3709,0.00,2.55,0.00,0.000,6,0.000,0.038,3160,1581,3393,0,0,0,0,0,0
$GC,3955,-1.13,-146.0,381.2,-7.6,214,3959,0.00,2.40,0.00,0.000,4,0.000,0.059,3160,163,3391,0,0,0,0,0,0
$GC,3993,-1.13,-146.0,384.3,-8.3,214,3998,0.00,2.20,0.00,0.000,6,0.000,0.022,3160,1579,3391,0,0,0,0,0,0
$GC,4245,-1.13,-146.0,402.5,-7.2,221,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1582,3390,0,0,0,0,0,0
$GC,4488,-1.13,-146.0,419.8,-7.1,227,4493,0.00,2.53,0.00,0.000,4,0.000,0.034,3160,3140,3388,0,0,0,0,0,0
$GC,4522,-1.22,-146.0,422.4,-7.4,227,4527,0.17,2.60,0.00,0.000,6,0.048,0.038,3088,1577,3388,0,0,0,0,0,0
$GC,4774,-1.10,-146.0,449.3,-11.1,233,4776,0.25,0.00,0.00,0.000,6,0.086,0.000,3143,1577,3386,0,0,0,0,0,0
$GC,5017,-1.10,-146.0,469.9,-8.2,239,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1577,3385,0,0,0,0,0,0
$GC,5259,-1.10,-146.0,489.7,-8.2,245,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1577,3383,0,0,0,0,0,0
$GC,5505,-1.10,-146.0,508.9,-7.9,251,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1577,3381,0,0,0,0,0,0
$GC,5747,-1.10,-146.0,527.0,-7.3,257,5751,0.00,2.42,0.00,0.000,4,0.000,0.074,3143,174,3380,0,0,0,0,0,0
$GC,5772,-1.10,-146.0,528.7,-7.5,257,5776,0.00,2.25,0.00,0.000,6,0.000,0.030,3143,1573,3380,0,0,0,0,0,0
$GC,6032,-1.10,-146.0,545.6,-6.4,264,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1574,3378,0,0,0,0,0,0
$GC,6275,-1.10,-146.0,561.1,-6.3,270,6280,0.00,2.60,0.00,0.000,4,0.000,0.042,3144,3156,3377,0,0,0,0,0,0
$GC,6301,-1.15,-146.0,562.5,-6.5,270,6306,0.00,2.65,0.00,0.000,6,0.000,0.043,3143,1580,3377,0,0,0,0,0,0
$GC,6561,-1.15,-146.0,578.1,-6.0,277,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1580,3376,0,0,0,0,0,0
$GC,6805,-1.15,-146.0,593.3,-6.4,283,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1580,3375,0,0,0,0,0,0
$GC,7050,-1.15,-146.0,610.5,-7.2,289,7054,0.00,2.50,0.00,0.000,4,0.000,0.080,3143,163,3373,0,0,0,0,0,0
$GC,7069,-1.15,-146.0,612.1,-7.4,289,7073,0.00,2.30,0.00,0.000,6,0.000,0.031,3144,1585,3372,0,0,0,0,0,0
$GC,7335,-1.15,-146.0,630.8,-7.1,296,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1585,3371,0,0,0,0,0,0
$GC,7576,-1.15,-146.0,647.7,-6.9,302,7581,0.00,2.60,0.00,0.000,4,0.000,0.048,3143,3150,3369,0,0,0,0,0,0
$GC,7598,-1.20,-146.0,649.1,-7.3,302,7602,0.00,2.65,0.00,0.000,6,0.000,0.046,3143,1578,3369,0,0,0,0,0,0
$GC,7862,-1.20,-146.0,667.3,-6.8,309,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1578,3368,0,0,0,0,0,0
$GC,8105,-1.20,-146.0,683.8,-6.7,315,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1578,3367,0,0,0,0,0,0
$GC,8353,-1.20,-146.0,699.7,-6.4,321,8354,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1578,3366,0,0,0,0,0,0
$GC,8593,-1.24,-146.0,715.5,-6.4,327,8595,0.12,0.00,0.00,0.000,6,0.065,0.000,3092,1577,3365,0,0,0,0,0,0
$GC,8837,-1.18,-146.0,738.3,-9.6,333,8839,0.17,0.00,0.00,0.000,6,0.094,0.000,3131,1577,3364,0,0,0,0,0,0
$GC,9082,-1.18,-146.0,757.9,-8.1,339,9086,0.00,2.50,0.00,0.000,4,0.000,0.083,3131,166,3363,0,0,0,0,0,0
$GC,9101,-1.18,-146.0,759.7,-8.7,339,9105,0.00,2.30,0.00,0.000,6,0.000,0.033,3131,1576,3363,0,0,0,0,0,0
$GC,9369,-1.18,-146.0,780.9,-8.0,346,9371,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3362,0,0,0,0,0,0
$GC,9611,-1.18,-146.0,799.9,-7.6,352,9612,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3361,0,0,0,0,0,0
$GC,9852,-1.18,-146.0,818.2,-7.4,358,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3360,0,0,0,0,0,0
$GC,10096,-1.18,-146.0,835.5,-7.1,364,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3360,0,0,0,0,0,0
$GC,10340,-1.18,-146.0,853.0,-7.1,370,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3359,0,0,0,0,0,0
$GC,10590,-1.18,-146.0,870.3,-7.1,376,10594,0.00,2.65,0.00,0.000,4,0.000,0.051,3131,3154,3358,0,0,0,0,0,0
$GC,10614,-1.23,-146.0,872.6,-8.5,376,10619,0.00,2.67,0.00,0.000,6,0.000,0.049,3131,1582,3358,0,0,0,0,0,0
$GC,10874,-1.23,-146.0,890.5,-7.0,383,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1582,3357,0,0,0,0,0,0
$STATE,11033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11033,begin apogee
$GC,11042,-0.31,0.0,902.0,7.0,387,11163,0.80,0.00,118.30,1.156,6,0.072,0.000,3316,1347,2800,0,0,0,0,0,0
$STATE,11164,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11167,1.27,146.0,905.9,0.0,390,11305,1.42,2.20,129.80,1.134,4,0.030,0.086,3670,163,2204,0,0,0,0,0,0
$GC,11346,1.00,146.0,896.8,13.2,394,11351,0.25,2.00,0.00,0.000,6,0.094,0.032,3606,1352,2200,0,0,0,0,0,0
$GC,11634,0.94,154.2,868.5,9.6,401,11646,0.00,2.17,6.95,0.876,4,0.000,0.073,3605,167,2171,0,0,0,0,0,0
$GC,11680,0.82,154.2,862.9,10.8,402,11685,0.20,1.95,0.00,0.000,6,0.104,0.031,3564,1353,2171,0,0,0,0,0,0
$GC,11968,0.87,196.3,839.3,8.1,409,12010,0.00,0.00,40.28,1.077,6,0.000,0.000,3564,1354,1999,0,0,0,0,0,0
$GC,12255,0.88,200.3,812.1,9.8,416,12267,0.00,2.70,4.30,0.694,4,0.000,0.051,3564,2928,1981,0,0,0,0,0,0
$GC,12282,0.95,211.8,808.9,9.5,416,12301,0.12,2.75,12.38,0.969,6,0.066,0.048,3611,1343,1936,0,0,0,0,0,0
$GC,12546,0.90,211.8,776.0,12.8,423,12550,0.15,2.12,0.00,0.000,4,0.106,0.087,3580,163,1933,0,0,0,0,0,0
$GC,12589,0.90,211.8,770.2,14.1,424,12593,0.00,1.95,0.00,0.000,6,0.000,0.032,3580,1349,1933,0,0,0,0,0,0
$GC,12882,0.90,211.8,738.6,10.8,431,12886,0.00,2.67,0.00,0.000,4,0.000,0.051,3580,2930,1931,0,0,0,0,0,0
$GC,12902,0.90,211.8,736.3,10.3,431,12907,0.00,2.75,0.00,0.000,6,0.000,0.048,3580,1332,1929,0,0,0,0,0,0
$GC,13166,0.90,211.8,708.0,10.6,438,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1332,1929,0,0,0,0,0,0
$GC,13410,0.90,211.8,682.1,10.5,444,13415,0.00,2.70,0.00,0.000,4,0.000,0.044,3580,2930,1929,0,0,0,0,0,0
$GC,13436,0.98,231.9,679.5,9.1,444,13461,0.00,2.72,19.23,0.959,6,0.000,0.050,3580,1345,1854,0,0,0,0,0,0
$GC,13745,0.98,231.9,646.9,10.5,452,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,1345,1851,0,0,0,0,0,0
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$STATE,19613,end climb,SURFACE_DEPTH_REACHED
$STATE,19613,begin surface coast
$FINISH,1.0,1.023233
$STATE,19655,end surface coast,CONTROL_FINISHED_OK
$STATE,19655,begin surface
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$SM_GC,1.90,0.00,0.00,47.28,0.000,0.000,0.429,409,1574,1210,-13.69,0.11,390.03
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$TT8_MAMPS,0.027612
$HUMID,64.92
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.70
$XPDR_PINGS,18
$24V_AH,23.2,42.216
$10V_AH,9.9,39.699
$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
$DEVICE_SECS,33.425,178.400,404.450,47.275,0.000,53.960,76.780,323.932,4.500,0.000,14.900,1562.519,14827.318,542.679,2519.625,945.661,33.367,1580.124,0.000,2528.366,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.531,380.792,483.084,997.950,1308.486,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,57418,732
$CAP_FILE_SIZE,181727,0
$CFSIZE,260165632,150548480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240713,034109,2311.396,-15756.150,42,1.6,49,10.1