version: 66.06
glider: 148
mission: 12
dive: 301
start: 7 27 113 7 12 54
data:
$ID,148
$MISSION,12
$DIVE,301
$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,-1022020.8
$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,24
$R_STBD_OVSHOOT,93
$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
$GPS1,070454,2328.360,-15753.442,37,1.4,37,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.6
$GPS2,071200,2328.351,-15753.449,10,1.5,15,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK3
$TGT_LATLONG,2312.000,-15747.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.099,-0.240
$KALMAN_X,-181480.9,491.8,152.5,192118.8,-437.4
$KALMAN_Y,160877.0,-70.4,-90.0,-80410.6,647.8
$MHEAD_RNG_PITCHd_Wd,147.5,32210,-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,-67.05,0.000,2,0.000,0.000,409,1582,2924,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.3,-4.4,9,122,13.98,2.38,-8.48,0.000,4,0.148,0.055,3101,170,3398,0,0,0,0,0,0
$GC,158,-0.88,-146.0,24.4,-26.3,18,167,0.38,2.12,0.00,0.000,6,0.086,0.018,3188,1545,3399,0,0,0,0,0,0
$GC,433,-0.80,-146.0,63.8,-12.2,44,438,0.10,2.53,0.00,0.000,4,0.119,0.021,3210,3143,3399,0,0,0,0,0,0
$GC,499,-0.94,-146.0,70.7,-8.0,49,504,0.12,2.53,0.00,0.000,6,0.059,0.028,3133,1569,3399,0,0,0,0,0,0
$GC,767,-0.75,-146.0,107.7,-14.6,73,772,0.40,2.28,0.00,0.000,4,0.081,0.048,3219,172,3400,0,0,0,0,0,0
$GC,807,-0.80,-146.0,113.1,-9.3,76,816,0.00,2.17,0.00,0.000,6,0.000,0.017,3219,1602,3400,0,0,0,0,0,0
$GC,1076,-0.86,-146.0,133.4,-7.8,101,1080,0.00,2.35,0.00,0.000,4,0.000,0.021,3219,3117,3401,0,0,0,0,0,0
$GC,1095,-0.93,-146.0,135.5,-7.6,102,1105,0.12,2.50,0.00,0.000,6,0.022,0.027,3130,1584,3401,0,0,0,0,0,0
$GC,1361,-0.79,-146.0,169.3,-13.3,127,1366,0.32,0.00,0.00,0.000,6,0.081,0.000,3207,1583,3401,0,0,0,0,0,0
$GC,1624,-0.86,-146.0,194.3,-9.1,152,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1584,3401,0,0,0,0,0,0
$GC,1891,-0.94,-146.0,217.2,-8.4,163,1893,0.12,0.00,0.00,0.000,6,0.062,0.000,3140,1584,3401,0,0,0,0,0,0
$GC,2132,-0.87,-146.0,243.4,-10.6,169,2134,0.25,0.00,0.00,0.000,6,0.080,0.000,3197,1584,3402,0,0,0,0,0,0
$GC,2376,-0.95,-146.0,261.9,-7.5,175,2381,0.00,2.33,0.00,0.000,4,0.000,0.048,3197,168,3401,0,0,0,0,0,0
$GC,2397,-1.02,-146.0,263.6,-8.3,175,2402,0.15,2.15,0.00,0.000,6,0.054,0.020,3123,1589,3401,0,0,0,0,0,0
$GC,2662,-0.93,-146.0,296.4,-12.4,182,2664,0.25,0.00,0.00,0.000,6,0.081,0.000,3180,1592,3401,0,0,0,0,0,0
$GC,2906,-0.99,-146.0,316.9,-8.1,188,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1592,3400,0,0,0,0,0,0
$GC,3152,-1.06,-146.0,333.9,-6.8,194,3157,0.12,2.47,0.00,0.000,4,0.063,0.028,3118,3122,3399,0,0,0,0,0,0
$GC,3172,-1.06,-146.0,335.8,-8.3,194,3177,0.15,2.47,0.00,0.000,6,0.091,0.032,3153,1595,3399,0,0,0,0,0,0
$GC,3439,-1.06,-146.0,357.8,-8.6,201,3443,0.00,2.38,0.00,0.000,4,0.000,0.055,3153,168,3397,0,0,0,0,0,0
$GC,3464,-1.06,-146.0,360.3,-9.4,201,3468,0.00,2.17,0.00,0.000,6,0.000,0.021,3153,1574,3397,0,0,0,0,0,0
$GC,3728,-1.06,-146.0,382.7,-8.4,208,3732,0.00,2.53,0.00,0.000,4,0.000,0.032,3153,3151,3396,0,0,0,0,0,0
$GC,3761,-1.13,-146.0,385.7,-7.8,208,3766,0.00,2.55,0.00,0.000,6,0.000,0.037,3153,1606,3395,0,0,0,0,0,0
$GC,4013,-1.13,-146.0,405.6,-7.9,214,4017,0.00,2.45,0.00,0.000,4,0.000,0.062,3153,164,3393,0,0,0,0,0,0
$GC,4051,-1.13,-146.0,409.1,-8.5,214,4056,0.00,2.25,0.00,0.000,6,0.000,0.023,3153,1590,3394,0,0,0,0,0,0
$GC,4303,-1.13,-146.0,431.4,-9.0,221,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1591,3392,0,0,0,0,0,0
$GC,4546,-1.13,-146.0,453.8,-9.0,227,4550,0.00,2.50,0.00,0.000,4,0.000,0.037,3153,3142,3391,0,0,0,0,0,0
$GC,4575,-1.19,-146.0,456.4,-8.4,227,4580,0.12,2.55,0.00,0.000,6,0.063,0.038,3094,1591,3390,0,0,0,0,0,0
$GC,4831,-1.10,-146.0,482.9,-10.5,234,4836,0.22,2.47,0.00,0.000,4,0.087,0.069,3144,161,3389,0,0,0,0,0,0
$GC,4852,-1.04,-146.0,484.9,-9.8,234,4857,0.00,2.25,0.00,0.000,6,0.000,0.027,3144,1587,3388,0,0,0,0,0,0
$GC,5121,-1.04,-146.0,505.2,-7.6,241,5125,0.00,2.58,0.00,0.000,4,0.000,0.042,3144,3147,3387,0,0,0,0,0,0
$GC,5140,-1.04,-146.0,507.3,-8.3,241,5144,0.00,2.58,0.00,0.000,6,0.000,0.039,3144,1585,3387,0,0,0,0,0,0
$GC,5405,-1.04,-146.0,526.2,-7.0,248,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1585,3385,0,0,0,0,0,0
$GC,5648,-1.04,-146.0,542.4,-6.7,254,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1585,3384,0,0,0,0,0,0
$GC,5891,-1.04,-146.0,558.6,-6.7,260,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1585,3382,0,0,0,0,0,0
$GC,6139,-1.04,-146.0,576.4,-7.5,266,6143,0.00,2.62,0.00,0.000,4,0.000,0.043,3144,3152,3381,0,0,0,0,0,0
$GC,6154,-1.04,-146.0,578.1,-7.9,266,6158,0.00,2.62,0.00,0.000,6,0.000,0.044,3144,1592,3381,0,0,0,0,0,0
$GC,6422,-1.04,-146.0,599.6,-8.0,273,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1592,3379,0,0,0,0,0,0
$GC,6666,-1.04,-146.0,618.2,-7.5,279,6670,0.00,2.58,0.00,0.000,4,0.000,0.041,3144,3150,3378,0,0,0,0,0,0
$GC,6687,-1.08,-146.0,619.6,-7.8,279,6692,0.00,2.62,0.00,0.000,6,0.000,0.047,3144,1597,3378,0,0,0,0,0,0
$GC,6956,-1.08,-146.0,637.5,-6.7,286,6961,0.00,2.53,0.00,0.000,4,0.000,0.082,3143,168,3377,0,0,0,0,0,0
$GC,6985,-1.08,-146.0,639.8,-7.7,286,6989,0.00,2.33,0.00,0.000,6,0.000,0.033,3144,1600,3377,0,0,0,0,0,0
$GC,7246,-1.08,-146.0,656.9,-6.9,293,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3376,0,0,0,0,0,0
$GC,7488,-1.08,-146.0,675.7,-7.9,299,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1599,3374,0,0,0,0,0,0
$GC,7731,-1.08,-146.0,695.8,-8.4,305,7736,0.00,2.53,0.00,0.000,4,0.000,0.076,3144,168,3373,0,0,0,0,0,0
$GC,7761,-1.08,-146.0,698.5,-9.7,305,7766,0.00,2.30,0.00,0.000,6,0.000,0.034,3144,1593,3372,0,0,0,0,0,0
$GC,8016,-1.08,-146.0,718.8,-7.8,312,8020,0.00,2.62,0.00,0.000,4,0.000,0.050,3144,3160,3372,0,0,0,0,0,0
$GC,8042,-1.15,-146.0,720.7,-9.0,312,8046,0.00,2.65,0.00,0.000,6,0.000,0.048,3144,1597,3372,0,0,0,0,0,0
$GC,8302,-1.15,-146.0,739.4,-7.0,319,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1596,3370,0,0,0,0,0,0
$GC,8546,-1.20,-146.0,755.7,-6.5,325,8550,0.00,2.55,0.00,0.000,4,0.000,0.084,3144,161,3370,0,0,0,0,0,0
$GC,8565,-1.20,-146.0,757.1,-7.4,325,8569,0.00,2.35,0.00,0.000,6,0.000,0.034,3144,1597,3369,0,0,0,0,0,0
$GC,8831,-1.25,-146.0,773.8,-6.2,332,8836,0.12,2.60,0.00,0.000,4,0.065,0.050,3089,3156,3368,0,0,0,0,0,0
$GC,8848,-1.25,-146.0,775.1,-6.4,332,8853,0.10,2.62,0.00,0.000,6,0.113,0.048,3111,1594,3368,0,0,0,0,0,0
$GC,9117,-1.25,-146.0,794.4,-6.9,339,9121,0.00,2.53,0.00,0.000,4,0.000,0.083,3112,167,3367,0,0,0,0,0,0
$GC,9152,-1.25,-146.0,797.1,-8.4,339,9156,0.00,2.33,0.00,0.000,6,0.000,0.035,3112,1597,3367,0,0,0,0,0,0
$GC,9402,-1.25,-146.0,815.8,-7.5,345,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1598,3366,0,0,0,0,0,0
$GC,9648,-1.25,-146.0,835.6,-8.3,351,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1598,3366,0,0,0,0,0,0
$GC,9892,-1.25,-146.0,857.0,-8.8,357,9896,0.00,2.55,0.00,0.000,4,0.000,0.077,3112,160,3365,0,0,0,0,0,0
$GC,9924,-1.25,-146.0,860.4,-10.0,357,9928,0.00,2.35,0.00,0.000,6,0.000,0.036,3112,1591,3364,0,0,0,0,0,0
$GC,10174,-1.25,-146.0,882.4,-8.7,363,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1591,3364,0,0,0,0,0,0
$STATE,10415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10415,begin apogee
$GC,10423,-0.31,0.0,903.2,8.6,369,10547,0.90,0.00,120.10,1.154,6,0.077,0.000,3317,1342,2800,0,0,0,0,0,0
$STATE,10548,end apogee,CONTROL_FINISHED_OK
$STATE,10548,begin climb
$GC,10550,1.27,146.0,907.3,0.0,372,10689,1.45,2.15,130.25,1.131,4,0.036,0.081,3666,177,2204,0,0,0,0,0,0
$GC,10723,1.01,146.0,899.5,14.1,376,10728,0.30,1.95,0.00,0.000,6,0.108,0.032,3606,1355,2201,0,0,0,0,0,0
$GC,11006,0.94,146.0,869.4,10.5,383,11010,0.00,2.12,0.00,0.000,4,0.000,0.074,3606,172,2193,0,0,0,0,0,0
$GC,11051,0.82,146.0,864.4,11.2,384,11055,0.20,1.95,0.00,0.000,6,0.105,0.031,3564,1359,2193,0,0,0,0,0,0
$GC,11343,0.85,170.4,838.0,8.9,391,11371,0.00,2.15,21.75,1.043,4,0.000,0.074,3564,177,2104,0,0,0,0,0,0
$GC,11397,0.85,170.4,832.3,10.7,392,11400,0.00,1.95,0.00,0.000,6,0.000,0.031,3564,1354,2104,0,0,0,0,0,0
$GC,11679,0.85,170.4,804.3,10.0,399,11683,0.00,2.67,0.00,0.000,4,0.000,0.049,3564,2930,2100,0,0,0,0,0,0
$GC,11715,0.93,170.8,801.0,10.0,399,11724,0.10,2.72,0.00,0.000,6,0.079,0.050,3604,1349,2098,0,0,0,0,0,0
$GC,11972,0.89,170.8,773.2,10.9,406,11974,0.12,0.00,0.00,0.000,6,0.111,0.000,3578,1349,2098,0,0,0,0,0,0
$GC,12212,0.92,197.0,751.0,8.8,412,12243,0.00,2.17,24.65,1.016,4,0.000,0.087,3578,165,1996,0,0,0,0,0,0
$GC,12283,0.92,197.0,744.0,10.5,413,12286,0.00,1.95,0.00,0.000,6,0.000,0.031,3578,1349,1995,0,0,0,0,0,0
$GC,12546,0.93,209.0,718.7,9.4,420,12560,0.00,0.00,12.20,0.936,6,0.000,0.000,3578,1350,1949,0,0,0,0,0,0
$GC,12792,0.94,212.6,694.8,9.8,426,12804,0.00,2.67,4.90,0.716,4,0.000,0.047,3578,2932,1932,0,0,0,0,0,0
$GC,12825,1.05,248.8,691.5,8.3,426,12867,0.15,2.72,35.38,0.993,6,0.059,0.048,3631,1348,1785,0,0,0,0,0,0
$GC,13122,0.99,248.8,653.9,12.5,434,13127,0.15,2.12,0.00,0.000,4,0.111,0.084,3600,163,1780,0,0,0,0,0,0
$GC,13174,0.99,248.8,647.4,13.2,435,13178,0.00,1.95,0.00,0.000,6,0.000,0.028,3600,1362,1780,0,0,0,0,0,0
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$STATE,19022,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,1.0,1.010176
$STATE,19095,end surface coast,CONTROL_FINISHED_OK
$STATE,19095,begin surface
$SM_CCo,19121,51.90,0.423,0,0,1209,390.03
$SM_GC,2.02,0.00,0.00,51.90,0.000,0.000,0.423,415,1585,1209,-13.67,0.42,390.03
$IRIDIUM_FIX,2323.87,-15754.45,211002,010112
$TT8_MAMPS,0.027612
$HUMID,64.05
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,23.10
$XPDR_PINGS,16
$24V_AH,23.2,44.397
$10V_AH,9.9,41.937
$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,34.600,185.200,385.950,51.900,0.000,27.190,36.055,202.411,4.000,0.000,16.630,1570.187,14168.428,541.006,2564.494,745.585,33.372,1592.997,0.000,2578.465,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,86.671,1154.335,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.752,388.668,491.778,1033.222,1356.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355896
$DATA_FILE_SIZE,57476,726
$CAP_FILE_SIZE,177997,0
$CFSIZE,260165632,149401600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270713,123356,2326.032,-15751.757,26,3.5,45,10.2