version: 66.06
glider: 148
mission: 12
dive: 290
start: 7 24 113 19 18 47
data:
$ID,148
$MISSION,12
$DIVE,290
$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,-1021801.4
$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,83
$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
$GPS1,191036,2310.742,-15755.191,53,1.1,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.7
$GPS2,191755,2310.738,-15755.129,15,2.0,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.139,0.219
$KALMAN_X,-184803.4,-265.0,-503.0,193996.3,2258.6
$KALMAN_Y,159530.9,-179.9,-194.0,-111463.1,236.1
$MHEAD_RNG_PITCHd_Wd,317.5,39816,-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,-67.38,0.000,2,0.000,0.000,413,1560,2945,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.5,-5.3,9,123,13.82,2.50,-8.05,0.000,4,0.144,0.034,3103,3115,3397,0,0,0,0,0,0
$GC,257,-1.10,-146.0,40.8,-17.7,30,262,0.17,2.55,0.00,0.000,6,0.099,0.035,3142,1563,3398,0,0,0,0,0,0
$GC,522,-0.93,-146.0,83.0,-14.8,54,531,0.17,0.00,0.00,0.000,6,0.100,0.000,3180,1563,3399,0,0,0,0,0,0
$GC,790,-0.88,-146.0,112.8,-10.9,79,795,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1563,3400,0,0,0,0,0,0
$GC,1053,-0.88,-146.0,140.1,-11.3,104,1057,0.00,2.42,0.00,0.000,4,0.000,0.021,3180,3115,3400,0,0,0,0,0,0
$GC,1080,-0.88,-146.0,143.4,-11.5,106,1084,0.00,2.47,0.00,0.000,6,0.000,0.028,3180,1574,3400,0,0,0,0,0,0
$GC,1348,-0.88,-146.0,170.6,-10.2,130,1352,0.00,2.28,0.00,0.000,4,0.000,0.043,3180,173,3400,0,0,0,0,0,0
$GC,1386,-0.88,-146.0,175.5,-11.0,133,1392,0.00,2.10,0.00,0.000,6,0.000,0.017,3180,1576,3400,0,0,0,0,0,0
$GC,1679,-0.88,-146.0,204.1,-9.8,158,1684,0.00,2.40,0.00,0.000,4,0.000,0.021,3180,3115,3400,0,0,0,0,0,0
$GC,1725,-0.96,-146.0,208.6,-9.1,159,1729,0.00,2.50,0.00,0.000,6,0.000,0.028,3180,1570,3400,0,0,0,0,0,0
$GC,2017,-0.96,-146.0,235.1,-9.4,166,2021,0.00,2.33,0.00,0.000,4,0.000,0.045,3180,170,3400,0,0,0,0,0,0
$GC,2051,-0.96,-146.0,239.0,-10.3,166,2055,0.00,2.12,0.00,0.000,6,0.000,0.018,3180,1576,3400,0,0,0,0,0,0
$GC,2305,-0.96,-146.0,262.9,-9.2,173,2309,0.00,2.42,0.00,0.000,4,0.000,0.023,3180,3129,3400,0,0,0,0,0,0
$GC,2349,-1.09,-146.0,266.7,-8.4,174,2354,0.15,2.50,0.00,0.000,6,0.052,0.028,3107,1585,3400,0,0,0,0,0,0
$GC,2644,-0.97,-146.0,300.1,-11.6,181,2648,0.25,2.33,0.00,0.000,4,0.086,0.044,3169,167,3400,0,0,0,0,0,0
$GC,2732,-1.04,-146.0,309.1,-9.1,182,2737,0.00,2.15,0.00,0.000,6,0.000,0.020,3169,1559,3400,0,0,0,0,0,0
$GC,2983,-1.04,-146.0,330.3,-8.3,189,2988,0.00,2.50,0.00,0.000,4,0.000,0.028,3169,3136,3399,0,0,0,0,0,0
$GC,3027,-1.14,-146.0,333.9,-7.7,190,3032,0.15,2.55,0.00,0.000,6,0.053,0.033,3096,1580,3399,0,0,0,0,0,0
$GC,3317,-1.02,-146.0,366.0,-10.8,197,3322,0.25,2.38,0.00,0.000,4,0.085,0.054,3157,170,3398,0,0,0,0,0,0
$GC,3365,-1.07,-146.0,370.8,-8.9,198,3369,0.00,2.17,0.00,0.000,6,0.000,0.021,3157,1565,3397,0,0,0,0,0,0
$GC,3647,-1.07,-146.0,394.0,-8.4,205,3652,0.00,2.55,0.00,0.000,4,0.000,0.033,3157,3135,3396,0,0,0,0,0,0
$GC,3687,-1.17,-146.0,397.3,-8.5,205,3694,0.08,2.60,0.00,0.000,6,0.035,0.038,3102,1582,3395,0,0,0,0,0,0
$GC,3937,-1.07,-146.0,425.0,-11.2,212,3942,0.20,2.40,0.00,0.000,4,0.088,0.063,3149,170,3393,0,0,0,0,0,0
$GC,3987,-1.07,-146.0,429.8,-9.2,213,3991,0.00,2.20,0.00,0.000,6,0.000,0.025,3149,1565,3394,0,0,0,0,0,0
$GC,4269,-1.07,-146.0,451.9,-7.6,220,4273,0.00,2.60,0.00,0.000,4,0.000,0.038,3149,3143,3392,0,0,0,0,0,0
$GC,4298,-1.14,-146.0,454.1,-7.6,220,4302,0.00,2.62,0.00,0.000,6,0.000,0.038,3149,1569,3392,0,0,0,0,0,0
$GC,4554,-1.14,-146.0,473.4,-7.8,227,4558,0.00,2.40,0.00,0.000,4,0.000,0.068,3149,168,3390,0,0,0,0,0,0
$GC,4604,-1.14,-146.0,477.5,-7.8,228,4608,0.00,2.20,0.00,0.000,6,0.000,0.028,3149,1563,3389,0,0,0,0,0,0
$GC,4892,-1.14,-146.0,499.5,-7.5,235,4897,0.00,2.60,0.00,0.000,4,0.000,0.041,3149,3143,3387,0,0,0,0,0,0
$GC,4934,-1.23,-146.0,502.5,-7.7,235,4942,0.10,2.65,0.00,0.000,6,0.031,0.041,3090,1576,3387,0,0,0,0,0,0
$GC,5184,-1.13,-146.0,527.8,-10.2,242,5186,0.22,0.00,0.00,0.000,6,0.088,0.000,3140,1576,3385,0,0,0,0,0,0
$GC,5427,-1.13,-146.0,548.4,-8.5,248,5432,0.00,2.47,0.00,0.000,4,0.000,0.075,3140,164,3384,0,0,0,0,0,0
$GC,5462,-1.13,-146.0,551.6,-10.7,248,5466,0.00,2.25,0.00,0.000,6,0.000,0.031,3140,1570,3383,0,0,0,0,0,0
$GC,5712,-1.13,-146.0,574.3,-9.0,254,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1570,3382,0,0,0,0,0,0
$GC,5955,-1.13,-146.0,595.6,-8.6,260,5960,0.00,2.65,0.00,0.000,4,0.000,0.047,3140,3150,3380,0,0,0,0,0,0
$GC,5981,-1.17,-146.0,597.7,-8.5,260,5986,0.00,2.67,0.00,0.000,6,0.000,0.045,3140,1567,3380,0,0,0,0,0,0
$GC,6241,-1.17,-146.0,616.7,-7.1,267,6245,0.00,2.47,0.00,0.000,4,0.000,0.080,3140,163,3378,0,0,0,0,0,0
$GC,6260,-1.17,-146.0,618.0,-7.0,267,6264,0.00,2.30,0.00,0.000,6,0.000,0.031,3140,1583,3378,0,0,0,0,0,0
$GC,6526,-1.17,-146.0,636.1,-7.0,274,6530,0.00,2.60,0.00,0.000,4,0.000,0.048,3140,3150,3377,0,0,0,0,0,0
$GC,6545,-1.17,-146.0,637.7,-7.2,274,6549,0.00,2.67,0.00,0.000,6,0.000,0.046,3140,1567,3377,0,0,0,0,0,0
$GC,6811,-1.17,-146.0,657.3,-7.4,281,6816,0.00,2.47,0.00,0.000,4,0.000,0.081,3140,166,3375,0,0,0,0,0,0
$GC,6841,-1.17,-146.0,659.7,-8.1,281,6845,0.00,2.30,0.00,0.000,6,0.000,0.033,3140,1580,3375,0,0,0,0,0,0
$GC,7096,-1.17,-146.0,678.6,-7.4,288,7100,0.00,2.65,0.00,0.000,4,0.000,0.050,3140,3158,3374,0,0,0,0,0,0
$GC,7142,-1.27,-146.0,682.1,-8.1,289,7149,0.15,2.67,0.00,0.000,6,0.056,0.049,3079,1579,3374,0,0,0,0,0,0
$GC,7436,-1.17,-146.0,711.8,-10.4,296,7441,0.22,2.50,0.00,0.000,4,0.090,0.081,3129,170,3372,0,0,0,0,0,0
$GC,7488,-1.17,-146.0,717.4,-9.5,297,7493,0.00,2.30,0.00,0.000,6,0.000,0.034,3128,1580,3371,0,0,0,0,0,0
$GC,7768,-1.17,-146.0,738.8,-7.9,304,7772,0.00,2.65,0.00,0.000,4,0.000,0.053,3129,3162,3370,0,0,0,0,0,0
$GC,7787,-1.17,-146.0,740.6,-8.4,304,7791,0.00,2.70,0.00,0.000,6,0.000,0.048,3128,1574,3370,0,0,0,0,0,0
$GC,8054,-1.17,-146.0,763.3,-8.7,311,8058,0.00,2.50,0.00,0.000,4,0.000,0.084,3128,164,3369,0,0,0,0,0,0
$GC,8107,-1.17,-146.0,768.3,-9.7,312,8111,0.00,2.30,0.00,0.000,6,0.000,0.035,3129,1569,3369,0,0,0,0,0,0
$GC,8385,-1.17,-146.0,792.1,-8.4,319,8389,0.00,2.70,0.00,0.000,4,0.000,0.054,3129,3154,3368,0,0,0,0,0,0
$GC,8413,-1.22,-146.0,794.8,-8.6,319,8418,0.00,2.70,0.00,0.000,6,0.000,0.050,3129,1569,3368,0,0,0,0,0,0
$GC,8672,-1.22,-146.0,815.6,-8.2,326,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1569,3367,0,0,0,0,0,0
$GC,8912,-1.22,-146.0,835.4,-8.0,332,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3365,0,0,0,0,0,0
$GC,9156,-1.22,-146.0,854.6,-7.9,338,9160,0.00,2.67,0.00,0.000,4,0.000,0.045,3128,3164,3364,0,0,0,0,0,0
$GC,9186,-1.28,-146.0,856.9,-9.1,338,9191,0.00,2.70,0.00,0.000,6,0.000,0.050,3129,1578,3365,0,0,0,0,0,0
$GC,9441,-1.28,-146.0,874.8,-6.8,345,9446,0.00,2.50,0.00,0.000,4,0.000,0.084,3128,167,3364,0,0,0,0,0,0
$GC,9474,-1.28,-146.0,877.3,-7.8,345,9478,0.00,2.28,0.00,0.000,6,0.000,0.035,3129,1575,3363,0,0,0,0,0,0
$GC,9729,-1.28,-146.0,892.8,-6.2,351,9733,0.00,2.65,0.00,0.000,4,0.000,0.054,3128,3154,3363,0,0,0,0,0,0
$GC,9753,-1.33,-146.0,894.7,-6.7,351,9760,0.15,2.70,0.00,0.000,6,0.057,0.049,3066,1570,3363,0,0,0,0,0,0
$STATE,9850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9850,begin apogee
$GC,9858,-0.31,0.0,902.9,8.8,354,9981,1.10,0.00,119.25,1.151,6,0.076,0.000,3315,1347,2800,0,0,0,0,0,0
$STATE,9982,end apogee,CONTROL_FINISHED_OK
$STATE,9982,begin climb
$GC,9984,1.27,146.0,905.6,0.0,357,10123,1.42,2.17,130.43,1.129,4,0.035,0.086,3665,169,2204,0,0,0,0,0,0
$GC,10168,1.02,146.0,893.1,15.6,361,10173,0.28,1.98,0.00,0.000,6,0.109,0.031,3610,1361,2201,0,0,0,0,0,0
$GC,10437,0.94,146.0,865.1,10.0,368,10441,0.00,2.10,0.00,0.000,4,0.000,0.073,3609,172,2194,0,0,0,0,0,0
$GC,10513,0.81,146.0,856.7,11.1,369,10518,0.17,1.95,0.00,0.000,6,0.079,0.031,3562,1341,2194,0,0,0,0,0,0
$GC,10778,0.87,196.9,835.8,7.7,376,10830,0.00,2.12,46.28,1.075,4,0.000,0.073,3561,169,1996,0,0,0,0,0,0
$GC,10842,0.91,231.4,830.2,8.4,377,10883,0.10,1.95,33.80,1.050,6,0.080,0.031,3601,1342,1856,0,0,0,0,0,0
$GC,11144,0.91,231.4,793.6,12.4,385,11149,0.00,2.75,0.00,0.000,4,0.000,0.055,3601,2938,1848,0,0,0,0,0,0
$GC,11195,0.97,231.4,787.5,11.8,386,11200,0.00,2.75,0.00,0.000,6,0.000,0.050,3601,1349,1845,0,0,0,0,0,0
$GC,11478,0.97,231.4,752.7,12.1,393,11482,0.00,2.12,0.00,0.000,4,0.000,0.087,3601,166,1844,0,0,0,0,0,0
$GC,11520,0.97,231.4,747.1,13.4,394,11524,0.00,1.92,0.00,0.000,6,0.000,0.032,3600,1351,1845,0,0,0,0,0,0
$GC,11815,0.97,231.4,712.8,11.8,401,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1352,1844,0,0,0,0,0,0
$GC,12055,0.97,231.4,683.8,12.0,407,12059,0.00,2.70,0.00,0.000,4,0.000,0.054,3601,2930,1843,0,0,0,0,0,0
$GC,12083,0.97,231.4,680.3,12.0,407,12087,0.00,2.72,0.00,0.000,6,0.000,0.049,3601,1333,1840,0,0,0,0,0,0
$GC,12339,0.97,231.4,649.0,12.4,414,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,1333,1840,0,0,0,0,0,0
$GC,12581,0.97,231.4,620.6,11.5,420,12585,0.00,2.08,0.00,0.000,4,0.000,0.082,3601,165,1840,0,0,0,0,0,0
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$STATE,18010,end climb,SURFACE_DEPTH_REACHED
$STATE,18010,begin surface coast
$FINISH,0.9,1.021704
$STATE,18051,end surface coast,CONTROL_FINISHED_OK
$STATE,18051,begin surface
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$IRIDIUM_FIX,2300.41,-15753.64,181002,141429
$TT8_MAMPS,0.027612
$HUMID,66.89
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,21.80
$XPDR_PINGS,14
$24V_AH,23.2,42.795
$10V_AH,9.9,40.289
$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
$DEVICE_SECS,33.425,225.375,425.850,33.875,0.000,23.693,43.047,203.809,3.500,0.000,17.376,1547.289,13050.913,545.255,2648.381,741.928,33.375,1686.339,0.000,2635.210,0.000,0.536,0.000
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$SENSOR_SECS,462.678,356.521,454.671,937.828,1234.902,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,54256,680
$CAP_FILE_SIZE,183673,0
$CFSIZE,260165632,150249472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250713,002215,2312.700,-15755.777,37,3.1,56,10.1