version: 66.06
glider: 148
mission: 12
dive: 312
start: 7 29 113 16 47 1
data:
$ID,148
$MISSION,12
$DIVE,312
$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,-1022274.5
$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,26
$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
$GPS1,163424,2305.258,-15746.477,37,1.8,37,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.7
$GPS2,164609,2305.196,-15746.446,11,2.6,30,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK4
$TGT_LATLONG,2306.000,-15746.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,0.173
$KALMAN_X,-165618.5,244.6,164.1,188454.7,726.8
$KALMAN_Y,156048.5,-357.3,-95.7,-118164.4,-565.9
$MHEAD_RNG_PITCHd_Wd,351.0,1672,-27.2,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.78,-63.0,0.0,0.0,0,87,0.00,0.00,-66.80,0.000,2,0.000,0.000,416,1564,2946,0,0,0,0,0,0
$GC,92,-1.83,-107.5,3.5,-5.3,9,116,13.23,2.42,-5.40,0.000,4,0.145,0.030,2982,3113,3240,0,0,0,0,0,0
$GC,199,-1.66,-107.5,36.1,-27.4,23,205,0.20,2.50,0.00,0.000,6,0.113,0.027,3022,1553,3242,0,0,0,0,0,0
$GC,468,-1.54,-107.5,96.1,-19.9,47,472,0.12,2.28,0.00,0.000,4,0.129,0.041,3047,172,3242,0,0,0,0,0,0
$GC,518,-1.45,-107.5,107.5,-21.1,51,523,0.10,2.05,0.00,0.000,6,0.136,0.017,3066,1537,3242,0,0,0,0,0,0
$GC,786,-1.45,-107.5,150.8,-15.2,75,790,0.00,2.22,0.00,0.000,4,0.000,0.048,3066,167,3242,0,0,0,0,0,0
$GC,828,-1.45,-107.5,158.7,-15.7,78,837,0.00,2.12,0.00,0.000,6,0.000,0.018,3066,1561,3242,0,0,0,0,0,0
$GC,1094,-1.45,-107.5,199.1,-16.1,103,1098,0.00,2.28,0.00,0.000,4,0.000,0.041,3066,171,3242,0,0,0,0,0,0
$GC,1119,-1.45,-107.5,204.1,-17.8,103,1123,0.00,2.08,0.00,0.000,6,0.000,0.017,3066,1558,3243,0,0,0,0,0,0
$GC,1382,-1.45,-107.5,245.4,-15.2,110,1386,0.00,2.47,0.00,0.000,4,0.000,0.022,3066,3133,3242,0,0,0,0,0,0
$GC,1401,-1.50,-107.5,248.4,-15.0,110,1406,0.00,2.53,0.00,0.000,6,0.000,0.028,3066,1555,3243,0,0,0,0,0,0
$GC,1669,-1.56,-107.5,284.6,-13.8,117,1673,0.00,2.25,0.00,0.000,4,0.000,0.044,3067,173,3242,0,0,0,0,0,0
$GC,1734,-1.61,-107.5,295.0,-14.7,118,1739,0.12,2.08,0.00,0.000,6,0.066,0.018,3014,1545,3242,0,0,0,0,0,0
$GC,2000,-1.61,-107.5,332.3,-14.1,125,2005,0.10,2.30,0.00,0.000,4,0.127,0.049,3034,170,3242,0,0,0,0,0,0
$GC,2123,-1.61,-107.5,351.2,-15.3,127,2127,0.00,2.10,0.00,0.000,6,0.000,0.020,3034,1534,3241,0,0,0,0,0,0
$GC,2387,-1.61,-107.5,385.7,-13.1,134,2391,0.00,2.33,0.00,0.000,4,0.000,0.058,3034,168,3240,0,0,0,0,0,0
$GC,2472,-1.61,-107.5,398.0,-15.4,135,2480,0.00,2.12,0.00,0.000,6,0.000,0.023,3034,1509,3239,0,0,0,0,0,0
$GC,2722,-1.65,-107.5,430.6,-12.8,142,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1509,3238,0,0,0,0,0,0
$GC,2965,-1.70,-107.5,461.2,-12.5,148,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1510,3236,0,0,0,0,0,0
$GC,3211,-1.75,-107.5,491.3,-12.4,154,3213,0.12,0.00,0.00,0.000,6,0.067,0.000,2984,1509,3234,0,0,0,0,0,0
$GC,3453,-1.75,-107.5,525.6,-14.1,160,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,1510,3232,0,0,0,0,0,0
$GC,3701,-1.75,-107.5,560.0,-14.0,166,3705,0.00,2.33,0.00,0.000,4,0.000,0.071,2984,181,3230,0,0,0,0,0,0
$GC,3777,-1.67,-107.5,572.7,-17.3,167,3781,0.17,2.10,0.00,0.000,6,0.112,0.031,3020,1497,3229,0,0,0,0,0,0
$GC,4031,-1.67,-107.5,604.7,-12.1,174,4036,0.00,2.70,0.00,0.000,4,0.000,0.048,3019,3126,3228,0,0,0,0,0,0
$GC,4046,-1.67,-107.5,606.7,-12.1,174,4051,0.00,2.65,0.00,0.000,6,0.000,0.045,3019,1541,3227,0,0,0,0,0,0
$GC,4320,-1.71,-107.5,639.2,-12.2,181,4324,0.00,2.40,0.00,0.000,4,0.000,0.081,3019,166,3225,0,0,0,0,0,0
$GC,4339,-1.71,-107.5,642.5,-13.0,181,4343,0.00,2.15,0.00,0.000,6,0.000,0.032,3019,1507,3225,0,0,0,0,0,0
$GC,4607,-1.76,-107.5,675.1,-12.0,188,4611,0.00,2.35,0.00,0.000,4,0.000,0.074,3020,167,3223,0,0,0,0,0,0
$GC,4655,-1.76,-107.5,681.5,-14.2,189,4659,0.00,2.17,0.00,0.000,6,0.000,0.035,3019,1501,3223,0,0,0,0,0,0
$GC,4941,-1.81,-107.5,715.2,-11.8,196,4943,0.12,0.00,0.00,0.000,6,0.069,0.000,2973,1502,3221,0,0,0,0,0,0
$GC,5181,-1.81,-107.5,748.5,-13.8,202,5185,0.00,2.35,0.00,0.000,4,0.000,0.074,2973,165,3219,0,0,0,0,0,0
$GC,5229,-1.72,-107.5,755.8,-15.0,203,5234,0.17,2.15,0.00,0.000,6,0.113,0.035,3008,1494,3219,0,0,0,0,0,0
$GC,5512,-1.72,-107.5,790.6,-12.1,210,5516,0.00,2.35,0.00,0.000,4,0.000,0.075,3008,160,3218,0,0,0,0,0,0
$GC,5535,-1.72,-107.5,793.8,-14.7,210,5539,0.00,2.17,0.00,0.000,6,0.000,0.035,3009,1492,3217,0,0,0,0,0,0
$GC,5795,-1.72,-107.5,824.7,-11.9,217,5799,0.00,2.33,0.00,0.000,4,0.000,0.074,3008,166,3216,0,0,0,0,0,0
$GC,5814,-1.72,-107.5,827.3,-12.0,217,5818,0.00,2.15,0.00,0.000,6,0.000,0.034,3008,1488,3216,0,0,0,0,0,0
$GC,6077,-1.72,-107.5,857.0,-11.2,224,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1489,3214,0,0,0,0,0,0
$GC,6323,-1.77,-107.5,882.8,-10.5,230,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,1488,3212,0,0,0,0,0,0
$STATE,6521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6521,begin apogee
$GC,6528,-0.31,0.0,903.3,10.1,235,6619,1.38,0.00,87.20,1.139,6,0.084,0.000,3315,1341,2800,0,0,0,0,0,0
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6622,1.83,107.5,904.5,0.0,237,6728,1.67,2.72,97.97,1.118,4,0.041,0.048,3712,2904,2360,0,0,0,0,0,0
$GC,6735,1.88,147.2,899.0,5.8,240,6779,0.00,2.67,36.47,1.076,6,0.000,0.048,3711,1359,2198,0,0,0,0,0,0
$GC,7057,1.88,147.2,851.0,15.1,248,7061,0.00,2.12,0.00,0.000,4,0.000,0.083,3711,166,2188,0,0,0,0,0,0
$GC,7150,1.83,147.2,836.3,16.3,250,7154,0.00,1.90,0.00,0.000,6,0.000,0.031,3711,1328,2188,0,0,0,0,0,0
$GC,7441,1.83,147.2,795.1,13.7,257,7444,0.00,2.08,0.00,0.000,4,0.000,0.072,3711,164,2185,0,0,0,0,0,0
$GC,7498,1.77,147.2,786.7,15.6,258,7502,0.00,1.95,0.00,0.000,6,0.000,0.031,3711,1352,2185,0,0,0,0,0,0
$GC,7779,1.77,147.2,748.6,13.4,265,7783,0.00,2.10,0.00,0.000,4,0.000,0.070,3712,165,2184,0,0,0,0,0,0
$GC,7840,1.71,147.2,739.6,14.4,266,7844,0.00,1.92,0.00,0.000,6,0.000,0.030,3711,1345,2184,0,0,0,0,0,0
$GC,8114,1.71,147.2,704.1,13.1,273,8118,0.00,2.08,0.00,0.000,4,0.000,0.069,3712,165,2182,0,0,0,0,0,0
$GC,8184,1.66,147.2,693.9,15.4,274,8187,0.00,1.90,0.00,0.000,6,0.000,0.031,3711,1344,2182,0,0,0,0,0,0
$GC,8454,1.66,147.2,659.9,12.5,281,8457,0.00,2.08,0.00,0.000,4,0.000,0.069,3711,165,2181,0,0,0,0,0,0
$GC,8543,1.66,147.2,647.2,14.4,282,8548,0.00,1.90,0.00,0.000,6,0.000,0.029,3711,1337,2181,0,0,0,0,0,0
$GC,8792,1.66,147.2,616.4,12.1,289,8796,0.00,2.05,0.00,0.000,4,0.000,0.067,3711,158,2180,0,0,0,0,0,0
$GC,8854,1.61,147.2,608.0,14.5,290,8858,0.00,1.90,0.00,0.000,6,0.000,0.028,3711,1333,2180,0,0,0,0,0,0
$GC,9133,1.61,147.2,574.3,12.0,297,9136,0.00,2.05,0.00,0.000,4,0.000,0.067,3711,160,2179,0,0,0,0,0,0
$GC,9277,1.61,147.2,554.2,15.1,300,9281,0.00,1.88,0.00,0.000,6,0.000,0.026,3711,1338,2179,0,0,0,0,0,0
$GC,9565,1.61,147.2,520.1,11.6,307,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,3711,1340,2179,0,0,0,0,0,0
$GC,9807,1.61,147.2,491.9,11.5,313,9811,0.00,2.03,0.00,0.000,4,0.000,0.063,3711,164,2178,0,0,0,0,0,0
$GC,9854,1.61,147.2,485.7,13.7,314,9858,0.00,1.83,0.00,0.000,6,0.000,0.025,3711,1334,2178,0,0,0,0,0,0
$GC,10149,1.66,147.2,453.0,10.9,321,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,3711,1336,2178,0,0,0,0,0,0
$GC,10389,1.71,147.2,425.1,11.7,327,10393,0.00,2.03,0.00,0.000,4,0.000,0.063,3711,162,2177,0,0,0,0,0,0
$GC,10490,1.71,147.2,411.8,12.7,329,10494,0.00,1.83,0.00,0.000,6,0.000,0.023,3711,1326,2177,0,0,0,0,0,0
$GC,10776,1.78,147.2,381.3,10.7,336,10780,0.00,2.00,0.00,0.000,4,0.000,0.061,3711,164,2177,0,0,0,0,0,0
$GC,11047,1.78,147.2,349.0,10.5,341,11050,0.00,1.80,0.00,0.000,6,0.000,0.022,3711,1322,2177,0,0,0,0,0,0
$GC,11301,1.87,161.2,326.4,8.5,348,11313,0.00,0.00,9.60,0.666,6,0.000,0.000,3711,1324,2142,0,0,0,0,0,0
$GC,11545,1.97,174.1,305.8,8.6,354,11564,0.00,2.00,13.00,0.677,4,0.000,0.058,3712,162,2089,0,0,0,0,0,0
$GC,11833,1.97,174.1,274.4,12.0,360,11837,0.00,1.80,0.00,0.000,6,0.000,0.022,3711,1309,2088,0,0,0,0,0,0
$GC,12116,2.08,176.2,246.9,9.8,367,12119,0.00,1.95,0.00,0.000,4,0.000,0.056,3711,160,2086,0,0,0,0,0,0
$GC,12385,2.14,189.0,217.5,8.6,372,12406,0.00,1.75,13.85,0.603,6,0.000,0.021,3711,1319,2028,0,0,0,0,0,0
$GC,12671,2.30,199.7,193.7,8.9,384,12687,0.00,2.03,10.60,0.560,4,0.000,0.052,3711,160,1984,0,0,0,0,0,0
$GC,12843,2.36,199.7,173.2,12.0,401,12847,0.00,1.67,0.00,0.000,6,0.000,0.020,3711,1290,1984,0,0,0,0,0,0
$GC,13112,2.51,199.7,144.5,10.7,426,13116,0.00,1.88,0.00,0.000,4,0.000,0.051,3711,159,1983,0,0,0,0,0,0
$GC,13188,2.59,199.7,135.6,12.6,433,13191,0.00,1.67,0.00,0.000,6,0.000,0.020,3711,1294,1983,0,0,0,0,0,0
$GC,13457,2.75,205.4,107.4,9.4,458,13466,0.00,0.00,6.43,0.439,6,0.000,0.000,3711,1297,1962,0,0,0,0,0,0
$GC,13723,2.94,214.6,82.1,9.0,483,13743,0.00,0.00,9.77,0.456,6,0.000,0.000,3711,1297,1924,0,0,0,0,0,0
$GC,14003,3.15,224.0,56.6,9.0,509,14022,0.00,0.00,9.98,0.434,6,0.000,0.000,3711,1297,1885,0,0,0,0,0,0
$GC,14283,3.38,243.9,32.7,7.9,535,14304,0.00,0.00,18.23,0.441,6,0.000,0.000,3712,1297,1804,0,0,0,0,0,0
$STATE,14568,end climb,SURFACE_DEPTH_REACHED
$STATE,14568,begin surface coast
$FINISH,0.9,1.009401
$STATE,14614,end surface coast,CONTROL_FINISHED_OK
$STATE,14614,begin surface
$SM_CCo,14640,79.70,0.428,0,0,1209,390.03
$SM_GC,1.80,0.00,0.00,79.70,0.000,0.000,0.428,413,1612,1209,-13.67,1.19,390.03
$IRIDIUM_FIX,2258.07,-15747.13,231002,121207
$TT8_MAMPS,0.026845
$HUMID,63.58
$INTERNAL_PRESSURE,9.41829
$TCM_TEMP,23.00
$XPDR_PINGS,21
$24V_AH,23.3,45.883
$10V_AH,9.9,43.536
$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,30.800,128.600,313.100,79.700,0.000,29.869,40.108,453.220,5.250,0.000,32.585,1322.295,10134.535,468.286,2553.897,933.505,33.371,1467.016,0.000,2541.189,0.000,0.537,0.000
$DEVICE_MAMPS,144.963,82.836,1138.995,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,398.328,335.139,416.440,889.294,1181.471,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,47810,586
$CAP_FILE_SIZE,145294,0
$CFSIZE,260165632,148627456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290713,205347,2306.365,-15746.186,32,2.0,43,10.1