version: 66.06
glider: 148
mission: 12
dive: 306
start: 7 28 113 10 38 55
data:
$ID,148
$MISSION,12
$DIVE,306
$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,-1022125.6
$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,97
$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
$GPS1,102906,2315.597,-15747.009,41,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.5
$GPS2,103803,2315.625,-15746.915,14,2.9,33,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK3
$TGT_LATLONG,2312.000,-15747.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.053,-0.254
$KALMAN_X,-173894.0,401.8,-50.2,195984.2,869.0
$KALMAN_Y,160174.5,-141.7,-150.1,-103137.0,200.2
$MHEAD_RNG_PITCHd_Wd,181.8,6716,-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,-1.28,-145.5,0.0,0.0,0,86,0.00,0.00,-67.40,0.000,2,0.000,0.000,415,1586,2951,0,0,0,0,0,0
$GC,89,-1.28,-146.0,3.5,-4.9,9,121,13.82,2.40,-8.00,0.000,4,0.145,0.057,3100,167,3398,0,0,0,0,0,0
$GC,213,-0.97,-146.0,36.8,-21.7,25,217,0.32,2.08,0.00,0.000,6,0.094,0.017,3171,1544,3399,0,0,0,0,0,0
$GC,481,-0.86,-146.0,74.8,-12.2,49,486,0.12,2.47,0.00,0.000,4,0.107,0.021,3198,3132,3399,0,0,0,0,0,0
$GC,537,-0.96,-146.0,81.0,-9.0,53,543,0.10,2.53,0.00,0.000,6,0.073,0.028,3133,1559,3399,0,0,0,0,0,0
$GC,804,-0.79,-146.0,117.5,-13.5,77,809,0.32,2.25,0.00,0.000,4,0.082,0.041,3209,172,3400,0,0,0,0,0,0
$GC,855,-0.79,-146.0,123.6,-9.9,81,859,0.00,2.10,0.00,0.000,6,0.000,0.017,3209,1587,3400,0,0,0,0,0,0
$GC,1121,-0.79,-146.0,145.0,-7.0,105,1126,0.00,2.38,0.00,0.000,4,0.000,0.021,3209,3118,3400,0,0,0,0,0,0
$GC,1142,-0.84,-146.0,146.9,-7.1,106,1151,0.00,2.53,0.00,0.000,6,0.000,0.027,3209,1567,3400,0,0,0,0,0,0
$GC,1405,-0.84,-146.0,166.5,-8.1,131,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,1567,3400,0,0,0,0,0,0
$GC,1662,-0.89,-146.0,188.3,-8.2,155,1667,0.00,2.42,0.00,0.000,4,0.000,0.021,3209,3118,3400,0,0,0,0,0,0
$GC,1682,-0.95,-146.0,190.1,-8.9,156,1687,0.12,2.47,0.00,0.000,6,0.059,0.027,3131,1568,3400,0,0,0,0,0,0
$GC,1966,-0.81,-146.0,227.7,-13.7,168,1971,0.32,2.42,0.00,0.000,4,0.078,0.020,3204,3115,3400,0,0,0,0,0,0
$GC,1992,-0.81,-146.0,230.5,-10.5,168,1996,0.00,2.47,0.00,0.000,6,0.000,0.028,3204,1569,3400,0,0,0,0,0,0
$GC,2252,-0.90,-146.0,251.5,-8.0,175,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1569,3400,0,0,0,0,0,0
$GC,2499,-0.98,-146.0,267.5,-6.6,181,2503,0.15,2.30,0.00,0.000,4,0.054,0.048,3134,174,3400,0,0,0,0,0,0
$GC,2535,-0.88,-146.0,271.3,-11.6,181,2540,0.25,2.12,0.00,0.000,6,0.080,0.018,3192,1569,3400,0,0,0,0,0,0
$GC,2786,-0.95,-146.0,290.1,-7.2,187,2790,0.00,2.47,0.00,0.000,4,0.000,0.025,3192,3135,3399,0,0,0,0,0,0
$GC,2831,-1.11,-146.0,293.2,-7.1,188,2837,0.20,2.47,0.00,0.000,6,0.043,0.031,3106,1599,3399,0,0,0,0,0,0
$GC,3120,-0.99,-146.0,325.9,-11.7,195,3125,0.25,2.35,0.00,0.000,4,0.082,0.048,3166,168,3398,0,0,0,0,0,0
$GC,3176,-1.06,-146.0,331.1,-8.6,196,3180,0.00,2.15,0.00,0.000,6,0.000,0.020,3166,1578,3398,0,0,0,0,0,0
$GC,3454,-1.06,-146.0,350.8,-6.8,203,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1580,3397,0,0,0,0,0,0
$GC,3697,-1.06,-146.0,369.3,-8.0,209,3701,0.00,2.38,0.00,0.000,4,0.000,0.054,3166,167,3396,0,0,0,0,0,0
$GC,3718,-1.06,-146.0,371.1,-9.4,209,3722,0.00,2.20,0.00,0.000,6,0.000,0.021,3166,1579,3396,0,0,0,0,0,0
$GC,3985,-1.11,-146.0,393.9,-8.6,216,3990,0.10,2.53,0.00,0.000,4,0.076,0.031,3112,3136,3394,0,0,0,0,0,0
$GC,4018,-1.11,-146.0,397.4,-10.2,216,4023,0.12,2.55,0.00,0.000,6,0.094,0.037,3142,1580,3394,0,0,0,0,0,0
$GC,4270,-1.11,-146.0,418.1,-8.1,222,4274,0.00,2.38,0.00,0.000,4,0.000,0.062,3142,172,3392,0,0,0,0,0,0
$GC,4293,-1.11,-146.0,420.4,-9.5,222,4298,0.00,2.17,0.00,0.000,6,0.000,0.023,3142,1575,3392,0,0,0,0,0,0
$GC,4553,-1.11,-146.0,441.0,-8.0,229,4557,0.00,2.53,0.00,0.000,4,0.000,0.035,3142,3139,3390,0,0,0,0,0,0
$GC,4573,-1.11,-146.0,442.6,-8.6,229,4578,0.00,2.58,0.00,0.000,6,0.000,0.036,3142,1572,3390,0,0,0,0,0,0
$GC,4840,-1.11,-146.0,463.1,-7.6,236,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1572,3388,0,0,0,0,0,0
$GC,5081,-1.11,-146.0,482.5,-8.2,242,5082,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1571,3386,0,0,0,0,0,0
$GC,5325,-1.11,-146.0,502.7,-8.2,248,5329,0.00,2.58,0.00,0.000,4,0.000,0.041,3142,3132,3386,0,0,0,0,0,0
$GC,5346,-1.11,-146.0,504.4,-8.7,248,5350,0.00,2.58,0.00,0.000,6,0.000,0.038,3142,1577,3385,0,0,0,0,0,0
$GC,5610,-1.11,-146.0,525.8,-7.9,255,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1576,3384,0,0,0,0,0,0
$GC,5856,-1.11,-146.0,544.6,-7.7,261,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3382,0,0,0,0,0,0
$GC,6099,-1.11,-146.0,563.4,-7.7,267,6100,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3382,0,0,0,0,0,0
$GC,6341,-1.11,-146.0,582.1,-7.5,273,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3381,0,0,0,0,0,0
$GC,6585,-1.11,-146.0,598.9,-6.8,279,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3380,0,0,0,0,0,0
$GC,6828,-1.11,-146.0,614.2,-6.2,285,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3378,0,0,0,0,0,0
$GC,7076,-1.11,-146.0,630.2,-6.7,291,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3377,0,0,0,0,0,0
$GC,7316,-1.11,-146.0,648.9,-7.8,297,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1577,3376,0,0,0,0,0,0
$GC,7560,-1.11,-146.0,670.2,-8.8,303,7564,0.00,2.62,0.00,0.000,4,0.000,0.050,3142,3138,3375,0,0,0,0,0,0
$GC,7581,-1.16,-146.0,672.0,-9.7,303,7586,0.00,2.62,0.00,0.000,6,0.000,0.053,3142,1584,3375,0,0,0,0,0,0
$GC,7847,-1.16,-146.0,695.4,-8.6,310,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1584,3374,0,0,0,0,0,0
$GC,8095,-1.16,-146.0,714.4,-7.6,316,8099,0.00,2.53,0.00,0.000,4,0.000,0.086,3142,167,3372,0,0,0,0,0,0
$GC,8123,-1.16,-146.0,717.0,-8.5,316,8127,0.00,2.25,0.00,0.000,6,0.000,0.033,3142,1562,3372,0,0,0,0,0,0
$GC,8380,-1.16,-146.0,734.0,-6.5,323,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1562,3370,0,0,0,0,0,0
$GC,8622,-1.21,-146.0,749.9,-6.6,329,8626,0.00,2.65,0.00,0.000,4,0.000,0.051,3142,3154,3370,0,0,0,0,0,0
$GC,8646,-1.27,-146.0,751.6,-8.1,329,8653,0.15,2.65,0.00,0.000,6,0.057,0.049,3081,1583,3370,0,0,0,0,0,0
$GC,8913,-1.18,-146.0,776.0,-9.4,336,8918,0.20,2.53,0.00,0.000,4,0.091,0.082,3126,164,3368,0,0,0,0,0,0
$GC,8929,-1.12,-146.0,778.0,-9.7,336,8933,0.00,2.33,0.00,0.000,6,0.000,0.034,3126,1589,3368,0,0,0,0,0,0
$GC,9199,-1.12,-146.0,796.9,-6.9,343,9203,0.00,2.65,0.00,0.000,4,0.000,0.051,3126,3163,3367,0,0,0,0,0,0
$GC,9228,-1.17,-146.0,799.1,-6.6,343,9232,0.00,2.67,0.00,0.000,6,0.000,0.050,3126,1582,3367,0,0,0,0,0,0
$GC,9483,-1.17,-146.0,816.1,-6.7,350,9487,0.00,2.50,0.00,0.000,4,0.000,0.084,3126,168,3366,0,0,0,0,0,0
$GC,9522,-1.17,-146.0,819.1,-7.5,350,9530,0.00,2.35,0.00,0.000,6,0.000,0.035,3126,1588,3365,0,0,0,0,0,0
$GC,9772,-1.17,-146.0,836.5,-6.9,357,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1588,3365,0,0,0,0,0,0
$GC,10016,-1.17,-146.0,854.0,-7.3,363,10020,0.00,2.50,0.00,0.000,4,0.000,0.076,3126,161,3365,0,0,0,0,0,0
$GC,10041,-1.17,-146.0,856.1,-9.4,363,10045,0.00,2.35,0.00,0.000,6,0.000,0.035,3126,1593,3364,0,0,0,0,0,0
$GC,10301,-1.17,-146.0,875.2,-7.4,370,10305,0.00,2.65,0.00,0.000,4,0.000,0.052,3126,3160,3363,0,0,0,0,0,0
$GC,10324,-1.17,-146.0,877.1,-8.2,370,10329,0.00,2.67,0.00,0.000,6,0.000,0.049,3126,1580,3363,0,0,0,0,0,0
$GC,10586,-1.17,-146.0,896.0,-7.4,377,10590,0.00,2.50,0.00,0.000,4,0.000,0.083,3126,168,3362,0,0,0,0,0,0
$GC,10609,-1.17,-146.0,898.1,-8.5,377,10614,0.00,2.33,0.00,0.000,6,0.000,0.035,3126,1589,3362,0,0,0,0,0,0
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10669,-0.31,0.0,902.3,7.6,379,10792,0.82,0.00,119.47,1.151,6,0.073,0.000,3315,1342,2800,0,0,0,0,0,0
$STATE,10793,end apogee,CONTROL_FINISHED_OK
$STATE,10793,begin climb
$GC,10797,1.28,146.0,906.1,0.0,382,10936,1.45,2.15,130.05,1.133,4,0.032,0.079,3668,176,2203,0,0,0,0,0,0
$GC,11044,1.02,146.0,887.2,13.7,387,11049,0.30,1.95,0.00,0.000,6,0.108,0.031,3607,1356,2199,0,0,0,0,0,0
$GC,11300,0.96,150.2,861.6,9.8,394,11305,0.00,2.67,0.00,0.000,4,0.000,0.051,3607,2941,2194,0,0,0,0,0,0
$GC,11323,0.93,160.7,859.6,9.5,394,11345,0.00,2.72,12.90,0.993,6,0.000,0.048,3607,1360,2144,0,0,0,0,0,0
$GC,11592,0.88,160.7,832.2,10.2,401,11596,0.15,2.17,0.00,0.000,4,0.110,0.086,3575,167,2141,0,0,0,0,0,0
$GC,11661,0.88,162.7,824.8,9.9,402,11664,0.00,1.92,0.00,0.000,6,0.000,0.031,3576,1353,2141,0,0,0,0,0,0
$GC,11929,0.91,186.0,800.3,8.9,409,11958,0.00,2.17,24.23,1.036,4,0.000,0.073,3576,166,2039,0,0,0,0,0,0
$GC,12000,0.91,186.0,793.0,11.6,410,12004,0.00,1.95,0.00,0.000,6,0.000,0.031,3576,1344,2039,0,0,0,0,0,0
$GC,12261,0.92,196.0,768.1,9.5,417,12277,0.00,2.78,9.95,0.925,4,0.000,0.051,3576,2925,2000,0,0,0,0,0,0
$GC,12310,1.00,196.0,762.8,10.4,418,12317,0.12,2.75,0.00,0.000,6,0.067,0.049,3621,1339,1997,0,0,0,0,0,0
$GC,12597,0.94,196.0,728.0,12.4,425,12599,0.15,0.00,0.00,0.000,6,0.107,0.000,3590,1339,1997,0,0,0,0,0,0
$GC,12841,0.94,196.0,700.2,11.3,431,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1339,1996,0,0,0,0,0,0
$GC,13083,0.94,196.0,671.2,12.1,437,13087,0.00,2.67,0.00,0.000,4,0.000,0.044,3590,2934,1995,0,0,0,0,0,0
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$STATE,18951,end climb,SURFACE_DEPTH_REACHED
$STATE,18951,begin surface coast
$FINISH,0.9,1.000025
$STATE,18992,end surface coast,CONTROL_FINISHED_OK
$STATE,18992,begin surface
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$SM_GC,2.00,0.00,0.00,34.38,0.000,0.000,0.426,414,1599,1209,-13.67,0.82,390.03
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$TT8_MAMPS,0.027612
$HUMID,66.61
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.20
$XPDR_PINGS,14
$24V_AH,23.2,45.110
$10V_AH,9.9,42.677
$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
$DEVICE_SECS,33.900,202.375,421.425,34.375,0.000,23.648,57.565,271.000,3.500,0.000,35.453,1556.541,14060.180,533.179,2580.288,844.806,33.370,1629.547,0.000,2570.517,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.853,373.561,471.320,964.116,1269.397,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355940
$DATA_FILE_SIZE,57268,706
$CAP_FILE_SIZE,184853,0
$CFSIZE,260165632,149016576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280713,155804,2312.790,-15746.545,44,1.6,54,10.1