version: 66.06
glider: 148
mission: 12
dive: 298
start: 7 26 113 14 44 26
data:
$ID,148
$MISSION,12
$DIVE,298
$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,-1021952.1
$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,28
$R_STBD_OVSHOOT,104
$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
$GPS1,143324,2330.214,-15757.299,56,1.6,56,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.5
$GPS2,144331,2330.225,-15757.359,12,1.3,12,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK2
$TGT_LATLONG,2332.200,-15756.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,0.244
$KALMAN_X,-182794.7,-113.4,109.1,187417.2,-153.4
$KALMAN_Y,159360.5,153.5,271.2,-76004.9,-794.8
$MHEAD_RNG_PITCHd_Wd,9.7,3938,-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,-67.28,0.000,2,0.000,0.000,416,1597,2917,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.3,9,123,13.77,2.40,-8.85,0.000,4,0.143,0.038,3104,3089,3398,0,0,0,0,0,0
$GC,190,-1.09,-146.0,29.6,-19.7,23,199,0.15,2.50,0.00,0.000,6,0.080,0.037,3141,1573,3398,0,0,0,0,0,0
$GC,459,-0.92,-146.0,73.7,-14.9,48,464,0.20,2.40,0.00,0.000,4,0.099,0.021,3185,3100,3399,0,0,0,0,0,0
$GC,492,-0.88,-146.0,78.5,-12.1,50,496,0.00,2.47,0.00,0.000,6,0.000,0.029,3185,1571,3398,0,0,0,0,0,0
$GC,756,-0.83,-146.0,107.6,-11.0,74,761,0.00,2.28,0.00,0.000,4,0.000,0.045,3185,167,3399,0,0,0,0,0,0
$GC,800,-0.77,-146.0,112.5,-12.5,77,804,0.12,2.10,0.00,0.000,6,0.104,0.017,3214,1572,3399,0,0,0,0,0,0
$GC,1066,-0.77,-146.0,136.3,-8.5,101,1070,0.00,2.42,0.00,0.000,4,0.000,0.022,3215,3119,3400,0,0,0,0,0,0
$GC,1097,-0.85,-146.0,138.9,-8.5,103,1102,0.00,2.45,0.00,0.000,6,0.000,0.028,3215,1583,3400,0,0,0,0,0,0
$GC,1364,-0.90,-146.0,161.8,-8.9,127,1369,0.12,2.30,0.00,0.000,4,0.061,0.044,3150,173,3400,0,0,0,0,0,0
$GC,1406,-0.80,-146.0,166.9,-12.1,130,1412,0.25,2.10,0.00,0.000,6,0.083,0.018,3208,1580,3400,0,0,0,0,0,0
$GC,1671,-0.85,-146.0,187.8,-8.1,155,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1583,3400,0,0,0,0,0,0
$GC,1950,-0.91,-146.0,210.7,-8.1,173,1954,0.00,2.42,0.00,0.000,4,0.000,0.022,3208,3126,3400,0,0,0,0,0,0
$GC,1988,-1.08,-146.0,213.8,-7.3,173,1994,0.25,2.47,0.00,0.000,6,0.036,0.028,3101,1580,3400,0,0,0,0,0,0
$GC,2240,-0.92,-146.0,246.0,-13.1,180,2245,0.32,2.30,0.00,0.000,4,0.083,0.042,3178,163,3400,0,0,0,0,0,0
$GC,2299,-0.92,-146.0,252.0,-8.2,181,2303,0.00,2.12,0.00,0.000,6,0.000,0.018,3178,1576,3400,0,0,0,0,0,0
$GC,2572,-0.92,-146.0,272.3,-7.4,188,2576,0.00,2.45,0.00,0.000,4,0.000,0.024,3178,3135,3400,0,0,0,0,0,0
$GC,2602,-1.01,-146.0,274.4,-7.0,188,2606,0.00,2.50,0.00,0.000,6,0.000,0.030,3178,1578,3400,0,0,0,0,0,0
$GC,2857,-1.06,-146.0,293.2,-7.4,195,2859,0.10,0.00,0.00,0.000,6,0.075,0.000,3122,1579,3399,0,0,0,0,0,0
$GC,3103,-0.98,-146.0,321.7,-12.1,201,3105,0.22,0.00,0.00,0.000,6,0.084,0.000,3173,1578,3398,0,0,0,0,0,0
$GC,3346,-0.98,-146.0,344.6,-9.0,207,3350,0.00,2.50,0.00,0.000,4,0.000,0.029,3173,3125,3397,0,0,0,0,0,0
$GC,3374,-1.08,-146.0,347.2,-8.6,207,3379,0.10,2.50,0.00,0.000,6,0.074,0.035,3110,1591,3397,0,0,0,0,0,0
$GC,3630,-0.99,-146.0,375.7,-11.3,214,3632,0.28,0.00,0.00,0.000,6,0.081,0.000,3171,1591,3395,0,0,0,0,0,0
$GC,3876,-1.04,-146.0,393.7,-7.0,220,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1591,3394,0,0,0,0,0,0
$GC,4122,-1.09,-146.0,410.9,-7.2,226,4127,0.10,2.50,0.00,0.000,4,0.076,0.037,3118,3117,3392,0,0,0,0,0,0
$GC,4147,-1.09,-146.0,413.7,-9.5,226,4152,0.12,2.53,0.00,0.000,6,0.097,0.038,3148,1591,3392,0,0,0,0,0,0
$GC,4409,-1.09,-146.0,437.0,-9.1,233,4413,0.00,2.50,0.00,0.000,4,0.000,0.040,3148,3110,3390,0,0,0,0,0,0
$GC,4428,-1.09,-146.0,439.1,-9.2,233,4432,0.00,2.50,0.00,0.000,6,0.000,0.037,3148,1593,3390,0,0,0,0,0,0
$GC,4692,-1.09,-146.0,461.5,-8.5,240,4696,0.00,2.42,0.00,0.000,4,0.000,0.068,3148,170,3389,0,0,0,0,0,0
$GC,4717,-1.09,-146.0,463.7,-9.4,240,4721,0.00,2.22,0.00,0.000,6,0.000,0.026,3148,1573,3388,0,0,0,0,0,0
$GC,4976,-1.09,-146.0,483.9,-7.7,247,4981,0.00,2.58,0.00,0.000,4,0.000,0.043,3148,3148,3387,0,0,0,0,0,0
$GC,4991,-1.09,-146.0,485.1,-7.5,247,4995,0.00,2.55,0.00,0.000,6,0.000,0.036,3148,1596,3387,0,0,0,0,0,0
$GC,5262,-1.09,-146.0,505.6,-7.7,254,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1595,3385,0,0,0,0,0,0
$GC,5503,-1.09,-146.0,524.3,-7.6,260,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1596,3384,0,0,0,0,0,0
$GC,5750,-1.09,-146.0,542.4,-7.3,266,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1596,3382,0,0,0,0,0,0
$GC,5993,-1.09,-146.0,559.6,-7.0,272,5997,0.00,2.50,0.00,0.000,4,0.000,0.076,3148,164,3381,0,0,0,0,0,0
$GC,6039,-1.09,-146.0,563.4,-8.6,273,6044,0.00,2.28,0.00,0.000,6,0.000,0.031,3148,1588,3380,0,0,0,0,0,0
$GC,6322,-1.09,-146.0,583.8,-7.3,280,6326,0.00,2.60,0.00,0.000,4,0.000,0.048,3148,3149,3379,0,0,0,0,0,0
$GC,6357,-1.19,-146.0,586.2,-6.9,280,6362,0.10,2.60,0.00,0.000,6,0.077,0.046,3096,1604,3378,0,0,0,0,0,0
$GC,6611,-1.12,-146.0,610.3,-9.8,286,6616,0.20,2.50,0.00,0.000,4,0.089,0.077,3141,168,3377,0,0,0,0,0,0
$GC,6645,-1.12,-146.0,613.8,-8.6,286,6649,0.00,2.30,0.00,0.000,6,0.000,0.033,3141,1597,3377,0,0,0,0,0,0
$GC,6897,-1.12,-146.0,633.7,-8.1,292,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1598,3376,0,0,0,0,0,0
$GC,7138,-1.12,-146.0,653.5,-8.2,298,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1598,3374,0,0,0,0,0,0
$GC,7382,-1.12,-146.0,673.5,-8.2,304,7387,0.00,2.50,0.00,0.000,4,0.000,0.076,3141,167,3373,0,0,0,0,0,0
$GC,7414,-1.12,-146.0,676.4,-9.5,304,7418,0.00,2.33,0.00,0.000,6,0.000,0.036,3141,1602,3373,0,0,0,0,0,0
$GC,7671,-1.12,-146.0,695.6,-7.4,311,7675,0.00,2.60,0.00,0.000,4,0.000,0.055,3141,3154,3371,0,0,0,0,0,0
$GC,7691,-1.16,-146.0,697.3,-7.7,311,7695,0.00,2.65,0.00,0.000,6,0.000,0.048,3141,1590,3371,0,0,0,0,0,0
$GC,7956,-1.16,-146.0,715.4,-6.8,318,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1590,3370,0,0,0,0,0,0
$GC,8198,-1.16,-146.0,731.5,-6.6,324,8203,0.00,2.60,0.00,0.000,4,0.000,0.046,3141,3156,3369,0,0,0,0,0,0
$GC,8218,-1.21,-146.0,732.8,-7.4,324,8222,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1593,3369,0,0,0,0,0,0
$GC,8489,-1.21,-146.0,749.8,-6.5,331,8493,0.00,2.50,0.00,0.000,4,0.000,0.084,3141,169,3368,0,0,0,0,0,0
$GC,8527,-1.26,-146.0,753.1,-7.7,331,8533,0.12,2.35,0.00,0.000,6,0.064,0.036,3086,1605,3367,0,0,0,0,0,0
$GC,8777,-1.19,-146.0,776.7,-9.7,338,8779,0.17,0.00,0.00,0.000,6,0.093,0.000,3126,1605,3367,0,0,0,0,0,0
$GC,9022,-1.19,-146.0,796.2,-7.9,344,9026,0.00,2.53,0.00,0.000,4,0.000,0.077,3126,163,3365,0,0,0,0,0,0
$GC,9055,-1.19,-146.0,799.3,-9.0,344,9059,0.00,2.33,0.00,0.000,6,0.000,0.037,3126,1594,3365,0,0,0,0,0,0
$GC,9305,-1.19,-146.0,819.2,-7.9,350,9310,0.00,2.65,0.00,0.000,4,0.000,0.055,3126,3162,3364,0,0,0,0,0,0
$GC,9331,-1.19,-146.0,821.2,-8.8,350,9335,0.00,2.65,0.00,0.000,6,0.000,0.049,3126,1590,3364,0,0,0,0,0,0
$GC,9590,-1.19,-146.0,841.3,-7.7,357,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1590,3363,0,0,0,0,0,0
$GC,9834,-1.19,-146.0,859.1,-7.3,363,9838,0.00,2.50,0.00,0.000,4,0.000,0.083,3126,165,3363,0,0,0,0,0,0
$GC,9864,-1.19,-146.0,861.4,-8.5,363,9868,0.00,2.33,0.00,0.000,6,0.000,0.036,3126,1602,3362,0,0,0,0,0,0
$GC,10118,-1.19,-146.0,879.5,-7.0,370,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1602,3362,0,0,0,0,0,0
$GC,10367,-1.19,-146.0,895.6,-6.7,376,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1602,3361,0,0,0,0,0,0
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10449,-0.31,0.0,900.8,6.5,378,10572,0.82,0.00,119.43,1.153,6,0.075,0.000,3314,1341,2800,0,0,0,0,0,0
$STATE,10572,end apogee,CONTROL_FINISHED_OK
$STATE,10573,begin climb
$GC,10575,1.27,146.0,903.7,0.0,381,10714,1.45,2.15,130.65,1.133,4,0.033,0.079,3672,167,2203,0,0,0,0,0,0
$GC,10795,1.00,146.0,886.4,14.5,386,10800,0.32,1.95,0.00,0.000,6,0.107,0.031,3606,1354,2198,0,0,0,0,0,0
$GC,11075,0.94,146.0,857.0,10.2,393,11079,0.00,2.12,0.00,0.000,4,0.000,0.074,3606,165,2193,0,0,0,0,0,0
$GC,11140,0.81,146.0,849.2,12.4,394,11145,0.20,1.92,0.00,0.000,6,0.105,0.031,3564,1345,2193,0,0,0,0,0,0
$GC,11406,0.86,184.3,826.9,8.2,401,11448,0.00,2.17,33.97,1.063,4,0.000,0.074,3564,178,2047,0,0,0,0,0,0
$GC,11460,0.91,219.4,822.1,8.4,402,11501,0.00,1.92,34.47,1.054,6,0.000,0.031,3564,1355,1904,0,0,0,0,0,0
$GC,11784,0.96,219.4,788.3,10.7,410,11789,0.12,2.70,0.00,0.000,4,0.068,0.053,3611,2928,1897,0,0,0,0,0,0
$GC,11800,0.96,219.4,786.4,11.0,410,11805,0.00,2.67,0.00,0.000,6,0.000,0.048,3610,1355,1896,0,0,0,0,0,0
$GC,12069,0.96,219.4,750.7,13.4,417,12073,0.00,2.12,0.00,0.000,4,0.000,0.086,3611,166,1895,0,0,0,0,0,0
$GC,12088,0.90,219.4,747.9,13.1,417,12092,0.08,1.95,0.00,0.000,6,0.093,0.031,3582,1348,1895,0,0,0,0,0,0
$GC,12358,0.90,219.4,717.4,11.2,424,12362,0.00,2.10,0.00,0.000,4,0.000,0.073,3582,165,1894,0,0,0,0,0,0
$GC,12381,0.90,219.4,714.5,11.7,424,12385,0.00,1.90,0.00,0.000,6,0.000,0.030,3582,1349,1894,0,0,0,0,0,0
$GC,12647,0.90,219.4,687.0,10.3,431,12651,0.00,2.67,0.00,0.000,4,0.000,0.051,3582,2931,1893,0,0,0,0,0,0
$GC,12696,1.01,241.0,682.2,9.0,432,12721,0.10,2.67,19.10,0.963,6,0.081,0.048,3623,1354,1817,0,0,0,0,0,0
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$STATE,18805,end climb,SURFACE_DEPTH_REACHED
$STATE,18805,begin surface coast
$FINISH,0.9,1.023281
$STATE,18845,end surface coast,CONTROL_FINISHED_OK
$STATE,18846,begin surface
$SM_CCo,18869,29.12,0.425,0,0,1209,390.03
$SM_GC,2.10,0.00,0.00,29.12,0.000,0.000,0.425,412,1598,1209,-13.68,0.79,390.03
$IRIDIUM_FIX,2323.87,-15757.52,201002,141439
$TT8_MAMPS,0.027612
$HUMID,66.14
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.10
$XPDR_PINGS,13
$24V_AH,23.2,43.968
$10V_AH,9.9,41.486
$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,34.375,208.675,431.900,29.125,0.000,53.895,73.723,256.887,3.250,0.000,14.101,1560.125,13970.019,530.237,2549.306,887.697,33.371,1627.606,0.000,2560.513,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,85.904,1152.801,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,484.267,376.826,482.020,963.190,1271.861,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,57304,711
$CAP_FILE_SIZE,188082,0
$CFSIZE,260165632,149626880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260713,200059,2332.774,-15756.499,51,1.1,51,10.2