version: 66.06
glider: 148
mission: 12
dive: 296
start: 7 26 113 3 53 27
data:
$ID,148
$MISSION,12
$DIVE,296
$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,-1021922.2
$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,25
$R_STBD_OVSHOOT,96
$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
$GPS1,033614,2324.767,-15756.999,35,99.0,54,10.2
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.9
$GPS2,035232,2324.770,-15757.107,9,99.0,28,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,0.254
$KALMAN_X,-182982.8,-47.7,398.6,187670.8,-583.6
$KALMAN_Y,158910.8,-112.4,-15.4,-85110.2,146.8
$MHEAD_RNG_PITCHd_Wd,1.4,13799,-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,-67.25,0.000,2,0.000,0.000,411,1554,2948,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.4,9,121,14.02,2.50,-8.27,0.000,4,0.150,0.035,3105,3102,3398,0,0,0,0,0,0
$GC,227,-1.11,-146.0,33.8,-17.3,28,232,0.17,2.53,0.00,0.000,6,0.100,0.031,3142,1566,3398,0,0,0,0,0,0
$GC,495,-0.95,-146.0,78.0,-14.1,52,499,0.15,2.33,0.00,0.000,4,0.107,0.044,3175,165,3399,0,0,0,0,0,0
$GC,530,-0.87,-146.0,83.6,-13.4,54,539,0.00,2.10,0.00,0.000,6,0.000,0.017,3175,1550,3399,0,0,0,0,0,0
$GC,796,-0.80,-146.0,112.7,-11.1,79,801,0.15,2.45,0.00,0.000,4,0.100,0.021,3210,3114,3399,0,0,0,0,0,0
$GC,856,-0.94,-146.0,118.1,-7.1,84,861,0.12,2.50,0.00,0.000,6,0.059,0.028,3134,1559,3399,0,0,0,0,0,0
$GC,1119,-0.77,-146.0,152.1,-13.9,108,1121,0.38,0.00,0.00,0.000,6,0.081,0.000,3214,1558,3399,0,0,0,0,0,0
$GC,1376,-0.83,-146.0,173.4,-8.3,132,1380,0.00,2.45,0.00,0.000,4,0.000,0.021,3214,3114,3399,0,0,0,0,0,0
$GC,1406,-0.96,-146.0,176.3,-7.8,134,1412,0.17,2.47,0.00,0.000,6,0.045,0.027,3125,1569,3400,0,0,0,0,0,0
$GC,1678,-0.83,-146.0,210.9,-13.2,154,1680,0.35,0.00,0.00,0.000,6,0.081,0.000,3204,1569,3399,0,0,0,0,0,0
$GC,1918,-0.90,-146.0,229.5,-7.0,160,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1568,3399,0,0,0,0,0,0
$GC,2166,-0.99,-146.0,245.5,-6.6,166,2171,0.15,2.45,0.00,0.000,4,0.054,0.022,3131,3114,3399,0,0,0,0,0,0
$GC,2197,-0.99,-146.0,248.7,-10.5,166,2202,0.17,2.47,0.00,0.000,6,0.085,0.029,3172,1574,3399,0,0,0,0,0,0
$GC,2452,-0.99,-146.0,272.7,-9.3,173,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1574,3398,0,0,0,0,0,0
$GC,2696,-0.99,-146.0,294.0,-8.4,179,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1574,3397,0,0,0,0,0,0
$GC,2941,-0.99,-146.0,314.0,-8.2,185,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1574,3396,0,0,0,0,0,0
$GC,3186,-1.04,-146.0,333.6,-7.9,191,3190,0.00,2.45,0.00,0.000,4,0.000,0.027,3172,3106,3395,0,0,0,0,0,0
$GC,3210,-1.11,-146.0,335.8,-8.9,191,3216,0.12,2.53,0.00,0.000,6,0.062,0.032,3106,1570,3395,0,0,0,0,0,0
$GC,3472,-1.01,-146.0,363.2,-10.7,198,3477,0.25,2.35,0.00,0.000,4,0.084,0.053,3167,170,3393,0,0,0,0,0,0
$GC,3534,-1.01,-146.0,368.9,-7.7,199,3538,0.00,2.12,0.00,0.000,6,0.000,0.021,3167,1534,3393,0,0,0,0,0,0
$GC,3806,-1.05,-146.0,387.7,-6.8,206,3810,0.00,2.60,0.00,0.000,4,0.000,0.032,3167,3149,3391,0,0,0,0,0,0
$GC,3851,-1.18,-146.0,390.9,-6.7,207,3856,0.15,2.58,0.00,0.000,6,0.054,0.036,3099,1577,3390,0,0,0,0,0,0
$GC,4139,-1.07,-146.0,424.4,-12.2,214,4144,0.22,2.40,0.00,0.000,4,0.087,0.060,3150,173,3389,0,0,0,0,0,0
$GC,4169,-1.07,-146.0,427.8,-10.7,214,4174,0.00,2.20,0.00,0.000,6,0.000,0.024,3150,1582,3388,0,0,0,0,0,0
$GC,4426,-1.07,-146.0,450.0,-8.3,221,4431,0.00,2.53,0.00,0.000,4,0.000,0.037,3150,3141,3386,0,0,0,0,0,0
$GC,4441,-1.07,-146.0,451.3,-7.4,221,4445,0.00,2.58,0.00,0.000,6,0.000,0.035,3150,1583,3387,0,0,0,0,0,0
$GC,4711,-1.07,-146.0,470.9,-7.2,228,4716,0.00,2.42,0.00,0.000,4,0.000,0.067,3150,172,3385,0,0,0,0,0,0
$GC,4758,-1.07,-146.0,474.9,-8.4,229,4762,0.00,2.22,0.00,0.000,6,0.000,0.026,3150,1585,3384,0,0,0,0,0,0
$GC,5043,-1.07,-146.0,496.5,-7.9,236,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1585,3382,0,0,0,0,0,0
$GC,5286,-1.07,-146.0,516.3,-8.2,242,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1585,3381,0,0,0,0,0,0
$GC,5528,-1.07,-146.0,535.2,-7.5,248,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1585,3379,0,0,0,0,0,0
$GC,5772,-1.07,-146.0,553.2,-7.3,254,5776,0.00,2.58,0.00,0.000,4,0.000,0.044,3150,3140,3377,0,0,0,0,0,0
$GC,5793,-1.13,-146.0,554.8,-7.8,254,5797,0.00,2.62,0.00,0.000,6,0.000,0.042,3150,1579,3377,0,0,0,0,0,0
$GC,6059,-1.13,-146.0,574.5,-7.5,261,6064,0.00,2.47,0.00,0.000,4,0.000,0.076,3150,166,3376,0,0,0,0,0,0
$GC,6097,-1.13,-146.0,577.7,-8.1,261,6102,0.00,2.25,0.00,0.000,6,0.000,0.036,3150,1575,3376,0,0,0,0,0,0
$GC,6349,-1.13,-146.0,594.6,-6.6,268,6350,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1575,3375,0,0,0,0,0,0
$GC,6591,-1.17,-146.0,610.7,-6.5,274,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1575,3373,0,0,0,0,0,0
$GC,6835,-1.22,-146.0,627.2,-6.8,280,6840,0.12,2.47,0.00,0.000,4,0.065,0.075,3093,162,3371,0,0,0,0,0,0
$GC,6868,-1.12,-146.0,630.5,-10.9,280,6873,0.20,2.28,0.00,0.000,6,0.091,0.035,3138,1568,3371,0,0,0,0,0,0
$GC,7124,-1.12,-146.0,649.9,-7.7,286,7128,0.00,2.65,0.00,0.000,4,0.000,0.051,3138,3161,3370,0,0,0,0,0,0
$GC,7176,-1.21,-146.0,654.4,-8.3,287,7180,0.00,2.67,0.00,0.000,6,0.000,0.049,3138,1571,3370,0,0,0,0,0,0
$GC,7456,-1.21,-146.0,674.4,-7.0,294,7460,0.00,2.47,0.00,0.000,4,0.000,0.082,3138,163,3368,0,0,0,0,0,0
$GC,7499,-1.21,-146.0,677.6,-7.8,295,7503,0.00,2.30,0.00,0.000,6,0.000,0.035,3139,1584,3368,0,0,0,0,0,0
$GC,7787,-1.21,-146.0,697.0,-6.7,302,7792,0.00,2.60,0.00,0.000,4,0.000,0.052,3138,3154,3366,0,0,0,0,0,0
$GC,7813,-1.26,-146.0,698.6,-7.1,302,7818,0.12,2.62,0.00,0.000,6,0.064,0.048,3083,1577,3366,0,0,0,0,0,0
$GC,8074,-1.17,-146.0,722.7,-9.4,309,8079,0.20,2.47,0.00,0.000,4,0.091,0.081,3128,170,3365,0,0,0,0,0,0
$GC,8138,-1.17,-146.0,728.0,-8.2,310,8142,0.00,2.25,0.00,0.000,6,0.000,0.035,3128,1574,3365,0,0,0,0,0,0
$GC,8406,-1.17,-146.0,747.4,-7.2,317,8411,0.00,2.62,0.00,0.000,4,0.000,0.053,3128,3158,3363,0,0,0,0,0,0
$GC,8430,-1.17,-146.0,749.2,-7.7,317,8435,0.00,2.67,0.00,0.000,6,0.000,0.049,3128,1570,3363,0,0,0,0,0,0
$GC,8691,-1.17,-146.0,767.8,-7.2,324,8696,0.00,2.47,0.00,0.000,4,0.000,0.083,3128,164,3362,0,0,0,0,0,0
$GC,8724,-1.17,-146.0,770.7,-9.1,324,8728,0.00,2.28,0.00,0.000,6,0.000,0.035,3128,1582,3362,0,0,0,0,0,0
$GC,8975,-1.17,-146.0,789.8,-7.7,330,8979,0.00,2.60,0.00,0.000,4,0.000,0.054,3128,3153,3361,0,0,0,0,0,0
$GC,8995,-1.17,-146.0,791.2,-7.2,330,9000,0.00,2.62,0.00,0.000,6,0.000,0.048,3128,1575,3361,0,0,0,0,0,0
$GC,9260,-1.17,-146.0,810.1,-7.0,337,9264,0.00,2.47,0.00,0.000,4,0.000,0.084,3128,167,3361,0,0,0,0,0,0
$GC,9283,-1.17,-146.0,812.1,-8.5,337,9287,0.00,2.30,0.00,0.000,6,0.000,0.035,3128,1587,3360,0,0,0,0,0,0
$GC,9544,-1.17,-146.0,829.6,-6.8,344,9549,0.00,2.60,0.00,0.000,4,0.000,0.054,3128,3156,3360,0,0,0,0,0,0
$GC,9573,-1.23,-146.0,831.6,-6.6,344,9577,0.00,2.67,0.00,0.000,6,0.000,0.050,3128,1569,3359,0,0,0,0,0,0
$GC,9830,-1.23,-146.0,848.8,-6.7,351,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3359,0,0,0,0,0,0
$GC,10073,-1.23,-146.0,866.2,-7.2,357,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1569,3358,0,0,0,0,0,0
$GC,10315,-1.23,-146.0,884.5,-7.5,363,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1569,3357,0,0,0,0,0,0
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10563,-0.31,0.0,902.3,7.2,369,10685,0.82,0.00,118.65,1.157,6,0.074,0.000,3316,1345,2800,0,0,0,0,0,0
$STATE,10686,end apogee,CONTROL_FINISHED_OK
$STATE,10686,begin climb
$GC,10690,1.27,146.0,905.9,0.0,372,10828,1.42,2.17,130.23,1.135,4,0.035,0.086,3668,165,2204,0,0,0,0,0,0
$GC,10883,1.01,146.0,893.7,13.6,376,10887,0.30,1.95,0.00,0.000,6,0.109,0.031,3607,1360,2200,0,0,0,0,0,0
$GC,11147,0.94,146.0,865.7,10.3,383,11151,0.00,2.10,0.00,0.000,4,0.000,0.074,3606,167,2194,0,0,0,0,0,0
$GC,11223,0.82,146.0,857.1,11.6,384,11228,0.12,1.95,0.00,0.000,6,0.079,0.031,3565,1352,2194,0,0,0,0,0,0
$GC,11487,0.86,184.4,835.0,8.2,391,11530,0.00,2.75,34.25,1.070,4,0.000,0.051,3565,2926,2047,0,0,0,0,0,0
$GC,11536,0.91,221.1,830.5,8.3,392,11577,0.00,2.67,35.78,1.062,6,0.000,0.047,3565,1357,1898,0,0,0,0,0,0
$GC,11860,0.96,221.1,796.3,11.0,400,11865,0.12,2.65,0.00,0.000,4,0.068,0.044,3611,2926,1891,0,0,0,0,0,0
$GC,11889,0.96,221.1,792.6,13.7,400,11893,0.00,2.70,0.00,0.000,6,0.000,0.051,3611,1349,1888,0,0,0,0,0,0
$GC,12145,0.96,221.1,758.0,13.7,407,12149,0.00,2.12,0.00,0.000,4,0.000,0.088,3611,163,1888,0,0,0,0,0,0
$GC,12164,0.90,221.1,755.0,14.6,407,12169,0.15,1.90,0.00,0.000,6,0.110,0.030,3580,1355,1888,0,0,0,0,0,0
$GC,12429,0.90,221.1,724.2,11.4,414,12433,0.00,2.62,0.00,0.000,4,0.000,0.050,3580,2928,1887,0,0,0,0,0,0
$GC,12454,0.95,224.1,721.6,9.9,414,12459,0.00,2.65,0.00,0.000,6,0.000,0.050,3580,1356,1884,0,0,0,0,0,0
$GC,12718,0.95,224.1,694.9,10.1,421,12722,0.00,2.12,0.00,0.000,4,0.000,0.085,3580,161,1884,0,0,0,0,0,0
$GC,12750,0.95,224.1,690.7,11.1,421,12754,0.00,1.90,0.00,0.000,6,0.000,0.030,3580,1355,1885,0,0,0,0,0,0
$GC,13006,0.97,240.0,666.7,9.3,428,13030,0.00,2.67,16.77,0.944,4,0.000,0.050,3580,2927,1819,0,0,0,0,0,0
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$STATE,18970,end climb,SURFACE_DEPTH_REACHED
$STATE,18970,begin surface coast
$FINISH,1.0,1.023290
$STATE,19011,end surface coast,CONTROL_FINISHED_OK
$STATE,19011,begin surface
$SM_CCo,19036,45.53,0.427,0,0,1209,390.03
$SM_GC,1.69,0.00,0.00,45.53,0.000,0.000,0.427,415,1600,1209,-13.66,0.85,390.03
$IRIDIUM_FIX,2314.48,-15758.40,201002,030342
$TT8_MAMPS,0.026845
$HUMID,64.21
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.80
$XPDR_PINGS,19
$24V_AH,23.2,43.671
$10V_AH,9.9,41.192
$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
$DEVICE_SECS,34.175,214.575,403.275,45.525,0.000,124.137,129.279,347.696,4.750,0.000,30.836,1573.543,14189.341,533.038,2640.737,1111.833,33.370,1640.304,0.000,2622.065,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.833,374.837,475.507,991.362,1301.107,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355880
$DATA_FILE_SIZE,57359,714
$CAP_FILE_SIZE,190654,0
$CFSIZE,260165632,149774336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260713,091255,2327.446,-15756.614,23,2.1,42,10.2