version: 66.06
glider: 148
mission: 12
dive: 304
start: 7 27 113 23 33 1
data:
$ID,148
$MISSION,12
$DIVE,304
$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,-1022070.4
$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,95
$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
$GPS1,232436,2321.164,-15748.817,31,1.3,31,10.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-76.9
$GPS2,233207,2321.153,-15748.837,15,1.3,15,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK3
$TGT_LATLONG,2312.000,-15747.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,-0.259
$KALMAN_X,-177289.0,-49.9,80.8,196415.3,1203.1
$KALMAN_Y,160860.7,-44.5,-59.9,-93778.8,247.7
$MHEAD_RNG_PITCHd_Wd,174.5,17237,-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,-67.07,0.000,2,0.000,0.000,413,1582,2915,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-3.7,9,121,13.98,2.35,-8.82,0.000,4,0.149,0.050,3102,171,3396,0,0,0,0,0,0
$GC,231,-0.94,-146.0,39.3,-21.6,28,236,0.35,2.08,0.00,0.000,6,0.097,0.017,3176,1549,3397,0,0,0,0,0,0
$GC,500,-0.83,-146.0,79.0,-13.2,52,505,0.12,2.47,0.00,0.000,4,0.109,0.021,3204,3130,3398,0,0,0,0,0,0
$GC,522,-0.77,-146.0,82.5,-13.2,53,526,0.00,2.50,0.00,0.000,6,0.000,0.027,3204,1569,3398,0,0,0,0,0,0
$GC,790,-0.77,-146.0,110.1,-9.7,77,797,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1569,3398,0,0,0,0,0,0
$GC,1051,-0.77,-146.0,136.4,-9.5,102,1056,0.00,2.45,0.00,0.000,4,0.000,0.021,3204,3136,3399,0,0,0,0,0,0
$GC,1081,-0.81,-146.0,139.0,-9.5,104,1085,0.00,2.50,0.00,0.000,6,0.000,0.028,3204,1584,3399,0,0,0,0,0,0
$GC,1344,-0.81,-146.0,161.5,-8.2,128,1348,0.00,2.30,0.00,0.000,4,0.000,0.044,3204,167,3399,0,0,0,0,0,0
$GC,1363,-0.81,-146.0,163.4,-8.7,129,1372,0.00,2.17,0.00,0.000,6,0.000,0.018,3204,1609,3399,0,0,0,0,0,0
$GC,1632,-0.81,-146.0,185.8,-9.0,154,1636,0.00,2.35,0.00,0.000,4,0.000,0.021,3204,3115,3399,0,0,0,0,0,0
$GC,1650,-0.81,-146.0,188.2,-9.0,155,1658,0.00,2.45,0.00,0.000,6,0.000,0.026,3204,1573,3400,0,0,0,0,0,0
$GC,1918,-0.81,-146.0,210.5,-8.3,172,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1573,3399,0,0,0,0,0,0
$GC,2161,-0.86,-146.0,229.5,-7.6,178,2165,0.00,2.40,0.00,0.000,4,0.000,0.021,3204,3109,3400,0,0,0,0,0,0
$GC,2190,-0.97,-146.0,231.7,-7.0,178,2195,0.12,2.45,0.00,0.000,6,0.061,0.028,3128,1579,3400,0,0,0,0,0,0
$GC,2447,-0.85,-146.0,261.0,-11.9,185,2450,0.32,0.00,0.00,0.000,6,0.080,0.000,3199,1579,3400,0,0,0,0,0,0
$GC,2692,-0.93,-146.0,280.3,-7.5,191,2696,0.00,2.40,0.00,0.000,4,0.000,0.023,3199,3108,3400,0,0,0,0,0,0
$GC,2722,-1.06,-146.0,282.8,-7.7,191,2727,0.20,2.45,0.00,0.000,6,0.041,0.028,3108,1591,3399,0,0,0,0,0,0
$GC,2978,-0.94,-146.0,314.3,-12.6,198,2983,0.30,2.33,0.00,0.000,4,0.081,0.045,3178,168,3399,0,0,0,0,0,0
$GC,3026,-1.02,-146.0,319.0,-8.3,199,3030,0.00,2.12,0.00,0.000,6,0.000,0.020,3178,1557,3399,0,0,0,0,0,0
$GC,3313,-1.08,-146.0,339.6,-7.5,206,3314,0.12,0.00,0.00,0.000,6,0.064,0.000,3114,1559,3398,0,0,0,0,0,0
$GC,3552,-1.00,-146.0,365.4,-10.8,212,3557,0.22,2.33,0.00,0.000,4,0.082,0.052,3166,174,3397,0,0,0,0,0,0
$GC,3598,-1.05,-146.0,369.5,-8.8,213,3602,0.00,2.20,0.00,0.000,6,0.000,0.021,3166,1584,3397,0,0,0,0,0,0
$GC,3890,-1.10,-146.0,391.2,-7.3,220,3894,0.00,2.53,0.00,0.000,4,0.000,0.032,3166,3147,3395,0,0,0,0,0,0
$GC,3919,-1.19,-146.0,393.4,-7.6,220,3924,0.17,2.55,0.00,0.000,6,0.047,0.037,3090,1592,3395,0,0,0,0,0,0
$GC,4176,-1.07,-146.0,421.1,-11.1,227,4181,0.25,2.45,0.00,0.000,4,0.087,0.061,3149,163,3393,0,0,0,0,0,0
$GC,4249,-1.07,-146.0,427.9,-8.0,228,4253,0.00,2.22,0.00,0.000,6,0.000,0.025,3149,1581,3393,0,0,0,0,0,0
$GC,4508,-1.07,-146.0,447.6,-7.5,235,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1582,3390,0,0,0,0,0,0
$GC,4755,-1.07,-146.0,464.0,-6.6,241,4759,0.00,2.53,0.00,0.000,4,0.000,0.036,3149,3144,3389,0,0,0,0,0,0
$GC,4770,-1.07,-146.0,465.3,-6.8,241,4774,0.00,2.58,0.00,0.000,6,0.000,0.035,3149,1581,3389,0,0,0,0,0,0
$GC,5040,-1.07,-146.0,482.2,-6.3,248,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1581,3387,0,0,0,0,0,0
$GC,5282,-1.07,-146.0,498.7,-6.9,254,5286,0.00,2.58,0.00,0.000,4,0.000,0.040,3149,3147,3386,0,0,0,0,0,0
$GC,5301,-1.07,-146.0,500.3,-7.7,254,5306,0.00,2.58,0.00,0.000,6,0.000,0.037,3149,1586,3386,0,0,0,0,0,0
$GC,5567,-1.07,-146.0,519.2,-7.2,261,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1586,3384,0,0,0,0,0,0
$GC,5811,-1.07,-146.0,536.7,-7.1,267,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1586,3383,0,0,0,0,0,0
$GC,6053,-1.07,-146.0,552.8,-6.5,273,6057,0.00,2.58,0.00,0.000,4,0.000,0.044,3149,3141,3382,0,0,0,0,0,0
$GC,6077,-1.13,-146.0,554.5,-7.2,273,6081,0.00,2.58,0.00,0.000,6,0.000,0.042,3149,1591,3382,0,0,0,0,0,0
$GC,6338,-1.13,-146.0,572.2,-6.9,280,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1591,3381,0,0,0,0,0,0
$GC,6584,-1.13,-146.0,590.2,-7.4,286,6589,0.00,2.50,0.00,0.000,4,0.000,0.078,3149,164,3379,0,0,0,0,0,0
$GC,6632,-1.18,-146.0,594.3,-8.7,287,6636,0.00,2.28,0.00,0.000,6,0.000,0.031,3149,1584,3379,0,0,0,0,0,0
$GC,6916,-1.18,-146.0,614.2,-7.1,294,6920,0.00,2.62,0.00,0.000,4,0.000,0.048,3149,3158,3378,0,0,0,0,0,0
$GC,6940,-1.24,-146.0,616.2,-8.0,294,6945,0.15,2.65,0.00,0.000,6,0.054,0.045,3083,1585,3377,0,0,0,0,0,0
$GC,7205,-1.14,-146.0,643.0,-10.7,301,7210,0.25,2.47,0.00,0.000,4,0.089,0.080,3143,170,3377,0,0,0,0,0,0
$GC,7245,-1.14,-146.0,647.3,-9.2,301,7250,0.00,2.30,0.00,0.000,6,0.000,0.033,3143,1587,3376,0,0,0,0,0,0
$GC,7495,-1.14,-146.0,666.7,-7.7,308,7499,0.00,2.60,0.00,0.000,4,0.000,0.051,3143,3153,3375,0,0,0,0,0,0
$GC,7510,-1.14,-146.0,667.8,-7.6,308,7514,0.00,2.62,0.00,0.000,6,0.000,0.046,3143,1583,3375,0,0,0,0,0,0
$GC,7778,-1.14,-146.0,687.1,-7.1,315,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1583,3374,0,0,0,0,0,0
$GC,8024,-1.14,-146.0,704.1,-6.9,321,8029,0.00,2.50,0.00,0.000,4,0.000,0.083,3142,161,3373,0,0,0,0,0,0
$GC,8048,-1.14,-146.0,706.1,-7.8,321,8052,0.00,2.30,0.00,0.000,6,0.000,0.035,3143,1586,3372,0,0,0,0,0,0
$GC,8314,-1.14,-146.0,724.4,-7.0,328,8318,0.00,2.65,0.00,0.000,4,0.000,0.054,3142,3157,3371,0,0,0,0,0,0
$GC,8338,-1.20,-146.0,726.3,-7.9,328,8342,0.00,2.65,0.00,0.000,6,0.000,0.048,3143,1583,3371,0,0,0,0,0,0
$GC,8598,-1.25,-146.0,745.2,-7.4,335,8600,0.12,0.00,0.00,0.000,6,0.064,0.000,3088,1583,3370,0,0,0,0,0,0
$GC,8846,-1.17,-146.0,768.4,-9.5,341,8851,0.17,2.53,0.00,0.000,4,0.094,0.083,3127,167,3369,0,0,0,0,0,0
$GC,8870,-1.17,-146.0,771.2,-8.6,341,8874,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1588,3368,0,0,0,0,0,0
$GC,9131,-1.17,-146.0,789.9,-7.2,348,9132,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1589,3368,0,0,0,0,0,0
$GC,9375,-1.17,-146.0,807.7,-7.3,354,9380,0.00,2.53,0.00,0.000,4,0.000,0.076,3127,161,3366,0,0,0,0,0,0
$GC,9404,-1.17,-146.0,810.1,-8.7,354,9408,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1588,3366,0,0,0,0,0,0
$GC,9663,-1.17,-146.0,829.0,-7.5,361,9667,0.00,2.65,0.00,0.000,4,0.000,0.054,3127,3156,3365,0,0,0,0,0,0
$GC,9679,-1.17,-146.0,830.5,-7.4,361,9683,0.00,2.67,0.00,0.000,6,0.000,0.048,3127,1586,3365,0,0,0,0,0,0
$GC,9947,-1.17,-146.0,850.4,-7.4,368,9952,0.00,2.50,0.00,0.000,4,0.000,0.084,3127,165,3364,0,0,0,0,0,0
$GC,9962,-1.17,-146.0,851.7,-7.3,368,9966,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1587,3364,0,0,0,0,0,0
$GC,10232,-1.17,-146.0,869.4,-6.4,375,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1588,3363,0,0,0,0,0,0
$GC,10477,-1.17,-146.0,884.2,-6.0,381,10481,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,161,3363,0,0,0,0,0,0
$GC,10500,-1.17,-146.0,886.0,-7.2,381,10504,0.00,2.35,0.00,0.000,6,0.000,0.035,3127,1591,3362,0,0,0,0,0,0
$STATE,10757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10757,begin apogee
$GC,10765,-0.31,0.0,902.0,6.1,388,10888,0.82,0.00,119.60,1.149,6,0.074,0.000,3316,1344,2800,0,0,0,0,0,0
$STATE,10889,end apogee,CONTROL_FINISHED_OK
$STATE,10889,begin climb
$GC,10892,1.27,146.0,904.6,0.0,391,11032,1.42,2.20,130.38,1.127,4,0.035,0.080,3664,177,2202,0,0,0,0,0,0
$GC,11159,1.03,146.0,880.4,14.6,397,11163,0.25,1.95,0.00,0.000,6,0.111,0.031,3612,1354,2198,0,0,0,0,0,0
$GC,11443,0.96,146.0,850.3,10.3,404,11447,0.00,2.12,0.00,0.000,4,0.000,0.074,3612,167,2193,0,0,0,0,0,0
$GC,11518,0.83,146.0,841.5,11.1,405,11522,0.22,1.95,0.00,0.000,6,0.106,0.031,3565,1349,2193,0,0,0,0,0,0
$GC,11774,0.88,190.3,820.8,8.0,412,11816,0.00,0.00,39.97,1.065,6,0.000,0.000,3565,1351,2025,0,0,0,0,0,0
$GC,12056,0.90,205.3,795.4,9.3,419,12077,0.00,2.78,14.52,0.982,4,0.000,0.050,3565,2925,1962,0,0,0,0,0,0
$GC,12117,1.04,229.5,790.1,8.9,420,12152,0.20,2.72,24.33,1.019,6,0.050,0.049,3629,1355,1864,0,0,0,0,0,0
$GC,12393,0.97,229.5,755.8,12.6,427,12395,0.15,0.00,0.00,0.000,6,0.110,0.000,3598,1355,1860,0,0,0,0,0,0
$GC,12636,0.97,229.5,729.8,10.5,433,12640,0.00,2.12,0.00,0.000,4,0.000,0.086,3597,163,1858,0,0,0,0,0,0
$GC,12657,0.97,229.5,727.3,11.1,433,12660,0.00,1.92,0.00,0.000,6,0.000,0.031,3597,1348,1858,0,0,0,0,0,0
$GC,12924,0.97,229.5,697.2,11.4,440,12929,0.00,2.67,0.00,0.000,4,0.000,0.051,3597,2930,1858,0,0,0,0,0,0
$GC,12977,1.02,229.5,691.2,11.9,441,12981,0.00,2.72,0.00,0.000,6,0.000,0.048,3597,1342,1854,0,0,0,0,0,0
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$STATE,19192,end climb,SURFACE_DEPTH_REACHED
$STATE,19192,begin surface coast
$FINISH,0.9,1.023256
$STATE,19213,end surface coast,CONTROL_FINISHED_OK
$STATE,19213,begin surface
$SM_CCo,19239,37.75,0.429,0,0,1209,390.03
$SM_GC,1.89,0.00,0.00,37.75,0.000,0.000,0.429,414,1603,1209,-13.67,0.93,390.03
$IRIDIUM_FIX,2314.48,-15748.81,211002,181851
$TT8_MAMPS,0.027612
$HUMID,65.08
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,11
$24V_AH,23.2,44.825
$10V_AH,9.9,42.382
$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,34.550,218.425,420.650,37.750,0.000,29.322,34.978,227.312,2.750,0.000,16.695,1607.709,14100.273,551.267,2685.901,773.689,33.374,1692.813,0.000,2686.533,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,85.904,1148.966,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,498.386,387.516,492.572,1017.718,1340.279,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,57457,732
$CAP_FILE_SIZE,189116,0
$CFSIZE,260165632,149164032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280713,045556,2318.517,-15747.664,34,2.1,53,10.2