version: 66.06
glider: 148
mission: 12
dive: 309
start: 7 29 113 1 4 39
data:
$ID,148
$MISSION,12
$DIVE,309
$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,-1022213.8
$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,36
$R_STBD_OVSHOOT,81
$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
$GPS1,005556,2312.598,-15747.617,29,3.5,48,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.3
$GPS2,010347,2312.605,-15747.624,11,99.0,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK4
$TGT_LATLONG,2306.000,-15746.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,-0.256
$KALMAN_X,-169925.5,-281.6,-104.5,191554.0,2047.6
$KALMAN_Y,158033.6,121.1,245.5,-107257.6,-826.5
$MHEAD_RNG_PITCHd_Wd,180.0,12541,-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,-67.68,0.000,2,0.000,0.000,412,1556,2952,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.4,-5.3,9,123,14.65,2.33,-7.88,0.000,4,0.169,0.054,3101,170,3399,0,0,0,0,0,0
$GC,213,-0.97,-146.0,36.9,-22.2,25,221,0.28,2.12,0.00,0.000,6,0.086,0.017,3166,1554,3399,0,0,0,0,0,0
$GC,483,-0.84,-146.0,76.5,-13.8,50,487,0.15,2.30,0.00,0.000,4,0.100,0.043,3200,170,3400,0,0,0,0,0,0
$GC,512,-0.76,-146.0,82.0,-14.1,52,516,0.00,2.12,0.00,0.000,6,0.000,0.017,3199,1591,3400,0,0,0,0,0,0
$GC,785,-0.76,-146.0,110.9,-10.1,77,789,0.00,2.38,0.00,0.000,4,0.000,0.021,3200,3129,3400,0,0,0,0,0,0
$GC,815,-0.82,-146.0,114.5,-8.9,79,821,0.00,2.47,0.00,0.000,6,0.000,0.035,3199,1573,3401,0,0,0,0,0,0
$GC,1080,-0.82,-146.0,138.7,-9.2,104,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1573,3401,0,0,0,0,0,0
$GC,1341,-0.82,-146.0,165.1,-10.2,129,1345,0.00,2.42,0.00,0.000,4,0.000,0.021,3200,3126,3401,0,0,0,0,0,0
$GC,1360,-0.82,-146.0,166.7,-10.4,130,1365,0.00,2.47,0.00,0.000,6,0.000,0.026,3200,1571,3402,0,0,0,0,0,0
$GC,1629,-0.82,-146.0,190.0,-9.0,154,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1571,3401,0,0,0,0,0,0
$GC,1894,-0.82,-146.0,215.6,-9.4,168,1898,0.00,2.42,0.00,0.000,4,0.000,0.021,3200,3125,3402,0,0,0,0,0,0
$GC,1915,-0.87,-146.0,217.5,-9.5,168,1919,0.00,2.47,0.00,0.000,6,0.000,0.028,3200,1576,3402,0,0,0,0,0,0
$GC,2179,-0.92,-146.0,237.8,-7.7,175,2181,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1576,3402,0,0,0,0,0,0
$GC,2427,-0.98,-146.0,258.4,-8.4,181,2431,0.12,2.45,0.00,0.000,4,0.062,0.022,3133,3126,3401,0,0,0,0,0,0
$GC,2448,-0.98,-146.0,260.6,-9.0,181,2453,0.17,2.47,0.00,0.000,6,0.086,0.028,3175,1583,3401,0,0,0,0,0,0
$GC,2713,-0.98,-146.0,285.1,-9.2,188,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1583,3401,0,0,0,0,0,0
$GC,2957,-0.98,-146.0,307.6,-9.0,194,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1583,3400,0,0,0,0,0,0
$GC,3202,-1.03,-146.0,325.8,-7.4,200,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,1583,3399,0,0,0,0,0,0
$GC,3447,-1.08,-146.0,345.6,-7.8,206,3449,0.12,0.00,0.00,0.000,6,0.063,0.000,3112,1583,3398,0,0,0,0,0,0
$GC,3688,-1.00,-146.0,370.1,-10.3,212,3693,0.25,2.45,0.00,0.000,4,0.082,0.028,3174,3107,3397,0,0,0,0,0,0
$GC,3716,-1.04,-146.0,372.7,-9.4,212,3721,0.00,2.50,0.00,0.000,6,0.000,0.035,3174,1578,3397,0,0,0,0,0,0
$GC,3976,-1.11,-146.0,395.0,-8.6,219,3978,0.12,0.00,0.00,0.000,6,0.064,0.000,3112,1578,3395,0,0,0,0,0,0
$GC,4219,-1.04,-146.0,419.9,-10.0,225,4225,0.20,2.53,0.00,0.000,4,0.086,0.036,3158,3102,3394,0,0,0,0,0,0
$GC,4269,-1.14,-146.0,423.4,-6.5,226,4274,0.00,2.53,0.00,0.000,6,0.000,0.038,3158,1578,3393,0,0,0,0,0,0
$GC,4558,-1.14,-146.0,444.1,-7.0,233,4562,0.00,2.40,0.00,0.000,4,0.000,0.066,3158,165,3391,0,0,0,0,0,0
$GC,4586,-1.14,-146.0,446.3,-7.5,233,4591,0.00,2.17,0.00,0.000,6,0.000,0.024,3157,1554,3391,0,0,0,0,0,0
$GC,4843,-1.18,-146.0,463.5,-6.9,240,4848,0.12,2.60,0.00,0.000,4,0.065,0.037,3098,3143,3389,0,0,0,0,0,0
$GC,4877,-1.18,-146.0,466.7,-9.4,240,4882,0.12,2.55,0.00,0.000,6,0.097,0.038,3128,1589,3389,0,0,0,0,0,0
$GC,5131,-1.18,-146.0,487.3,-8.2,246,5135,0.00,2.42,0.00,0.000,4,0.000,0.067,3127,166,3388,0,0,0,0,0,0
$GC,5150,-1.18,-146.0,489.4,-8.8,246,5154,0.00,2.25,0.00,0.000,6,0.000,0.026,3128,1587,3387,0,0,0,0,0,0
$GC,5414,-1.18,-146.0,510.0,-7.8,253,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1587,3386,0,0,0,0,0,0
$GC,5658,-1.18,-146.0,530.5,-8.4,259,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1586,3385,0,0,0,0,0,0
$GC,5903,-1.18,-146.0,550.4,-8.2,265,5907,0.00,2.45,0.00,0.000,4,0.000,0.071,3128,168,3384,0,0,0,0,0,0
$GC,5941,-1.18,-146.0,554.0,-8.9,265,5948,0.00,2.33,0.00,0.000,6,0.000,0.032,3127,1589,3384,0,0,0,0,0,0
$GC,6191,-1.18,-146.0,574.7,-8.3,272,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1590,3382,0,0,0,0,0,0
$GC,6436,-1.18,-146.0,595.5,-8.7,278,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1590,3380,0,0,0,0,0,0
$GC,6678,-1.18,-146.0,616.7,-8.7,284,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1590,3379,0,0,0,0,0,0
$GC,6922,-1.18,-146.0,637.4,-8.4,290,6926,0.00,2.62,0.00,0.000,4,0.000,0.051,3127,3159,3378,0,0,0,0,0,0
$GC,6937,-1.18,-146.0,638.8,-8.2,290,6941,0.00,2.62,0.00,0.000,6,0.000,0.045,3127,1600,3378,0,0,0,0,0,0
$GC,7207,-1.18,-146.0,661.3,-8.5,297,7211,0.00,2.55,0.00,0.000,4,0.000,0.084,3127,165,3376,0,0,0,0,0,0
$GC,7245,-1.18,-146.0,665.0,-9.2,297,7250,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1591,3376,0,0,0,0,0,0
$GC,7495,-1.18,-146.0,684.1,-7.5,304,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3375,0,0,0,0,0,0
$GC,7740,-1.18,-146.0,702.5,-7.7,310,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3374,0,0,0,0,0,0
$GC,7987,-1.18,-146.0,720.9,-7.5,316,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1591,3372,0,0,0,0,0,0
$GC,8226,-1.18,-146.0,738.6,-7.2,322,8230,0.00,2.50,0.00,0.000,4,0.000,0.076,3127,164,3371,0,0,0,0,0,0
$GC,8256,-1.18,-146.0,741.0,-7.5,322,8260,0.00,2.35,0.00,0.000,6,0.000,0.035,3128,1596,3371,0,0,0,0,0,0
$GC,8511,-1.18,-146.0,759.3,-7.1,329,8515,0.00,2.60,0.00,0.000,4,0.000,0.052,3127,3157,3369,0,0,0,0,0,0
$GC,8530,-1.18,-146.0,760.8,-7.9,329,8534,0.00,2.62,0.00,0.000,6,0.000,0.049,3127,1596,3369,0,0,0,0,0,0
$GC,8798,-1.18,-146.0,778.7,-6.7,336,8802,0.00,2.53,0.00,0.000,4,0.000,0.084,3128,168,3368,0,0,0,0,0,0
$GC,8822,-1.18,-146.0,780.9,-8.0,336,8826,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1602,3368,0,0,0,0,0,0
$GC,9081,-1.18,-146.0,798.5,-6.7,343,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1602,3367,0,0,0,0,0,0
$GC,9327,-1.18,-146.0,815.3,-6.9,349,9331,0.00,2.50,0.00,0.000,4,0.000,0.075,3127,168,3366,0,0,0,0,0,0
$GC,9360,-1.18,-146.0,818.0,-8.5,349,9364,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1597,3366,0,0,0,0,0,0
$GC,9610,-1.18,-146.0,836.5,-7.4,355,9614,0.00,2.60,0.00,0.000,4,0.000,0.053,3127,3156,3365,0,0,0,0,0,0
$GC,9624,-1.18,-146.0,837.7,-7.4,355,9629,0.00,2.65,0.00,0.000,6,0.000,0.048,3127,1592,3365,0,0,0,0,0,0
$GC,9895,-1.18,-146.0,857.4,-7.4,362,9899,0.00,2.53,0.00,0.000,4,0.000,0.084,3127,167,3364,0,0,0,0,0,0
$GC,9928,-1.18,-146.0,860.3,-8.3,362,9932,0.00,2.33,0.00,0.000,6,0.000,0.035,3127,1586,3364,0,0,0,0,0,0
$GC,10178,-1.18,-146.0,878.3,-7.1,368,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,1587,3363,0,0,0,0,0,0
$GC,10423,-1.18,-146.0,895.0,-6.8,374,10428,0.00,2.65,0.00,0.000,4,0.000,0.054,3127,3155,3362,0,0,0,0,0,0
$GC,10443,-1.18,-146.0,896.6,-7.4,374,10447,0.00,2.67,0.00,0.000,6,0.000,0.049,3127,1582,3362,0,0,0,0,0,0
$STATE,10506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10506,begin apogee
$GC,10512,-0.31,0.0,900.9,7.4,376,10635,0.82,0.00,119.43,1.154,6,0.072,0.000,3317,1347,2800,0,0,0,0,0,0
$STATE,10636,end apogee,CONTROL_FINISHED_OK
$STATE,10636,begin climb
$GC,10640,1.27,146.0,905.3,0.0,379,10781,1.42,2.17,130.15,1.131,4,0.033,0.084,3666,170,2202,0,0,0,0,0,0
$GC,10852,1.02,146.0,892.4,12.5,383,10858,0.28,1.95,0.00,0.000,6,0.109,0.031,3609,1351,2199,0,0,0,0,0,0
$GC,11102,0.96,157.5,868.1,9.5,390,11114,0.00,0.00,9.98,0.953,6,0.000,0.000,3609,1352,2158,0,0,0,0,0,0
$GC,11350,0.90,157.5,842.8,10.6,396,11352,0.15,0.00,0.00,0.000,6,0.114,0.000,3578,1352,2155,0,0,0,0,0,0
$GC,11589,0.90,157.5,817.4,10.5,402,11593,0.00,2.08,0.00,0.000,4,0.000,0.073,3578,170,2153,0,0,0,0,0,0
$GC,11613,0.90,157.5,814.5,11.4,402,11617,0.00,1.92,0.00,0.000,6,0.000,0.031,3578,1357,2154,0,0,0,0,0,0
$GC,11878,0.90,157.5,787.1,10.1,409,11882,0.00,2.08,0.00,0.000,4,0.000,0.073,3578,170,2153,0,0,0,0,0,0
$GC,11906,0.85,157.5,783.9,11.3,409,11910,0.00,1.92,0.00,0.000,6,0.000,0.031,3578,1346,2152,0,0,0,0,0,0
$GC,12168,0.87,176.1,759.8,9.1,416,12187,0.00,0.00,17.88,0.997,6,0.000,0.000,3578,1346,2082,0,0,0,0,0,0
$GC,12410,0.90,202.8,738.2,8.8,422,12438,0.00,0.00,26.08,1.007,6,0.000,0.000,3578,1347,1973,0,0,0,0,0,0
$GC,12652,0.92,214.6,715.6,9.5,428,12672,0.00,2.72,12.07,0.927,4,0.000,0.048,3578,2941,1924,0,0,0,0,0,0
$GC,12697,1.02,230.8,711.4,9.3,429,12722,0.12,2.78,16.80,0.955,6,0.067,0.049,3622,1338,1859,0,0,0,0,0,0
$GC,12995,0.96,230.8,674.9,12.7,436,13000,0.12,2.12,0.00,0.000,4,0.110,0.084,3596,163,1856,0,0,0,0,0,0
$GC,13023,0.96,230.8,670.1,12.7,436,13028,0.00,1.95,0.00,0.000,6,0.000,0.031,3596,1339,1855,0,0,0,0,0,0
$GC,13284,0.96,230.8,641.0,11.1,443,13288,0.00,2.65,0.00,0.000,4,0.000,0.047,3596,2931,1854,0,0,0,0,0,0
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$STATE,18979,end climb,SURFACE_DEPTH_REACHED
$STATE,18979,begin surface coast
$FINISH,1.0,1.016344
$STATE,19025,end surface coast,CONTROL_FINISHED_OK
$STATE,19025,begin surface
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$IRIDIUM_FIX,2302.75,-15732.73,221002,202006
$TT8_MAMPS,0.027612
$HUMID,65.71
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.30
$XPDR_PINGS,16
$24V_AH,23.2,45.475
$10V_AH,9.9,43.101
$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
$DEVICE_SECS,33.450,189.875,393.800,50.400,0.000,30.633,46.856,219.506,4.000,0.000,32.959,1545.709,14167.979,551.075,2516.355,781.335,33.374,1592.531,0.000,2514.382,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,487.946,380.081,483.635,970.307,1275.634,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,57320,717
$CAP_FILE_SIZE,176630,0
$CFSIZE,260165632,148803584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290713,062429,2309.615,-15747.113,40,1.2,45,10.1