version: 66.06
glider: 148
mission: 12
dive: 315
start: 7 30 113 8 16 49
data:
$ID,148
$MISSION,12
$DIVE,315
$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,-1022364
$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,72
$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
$GPS1,075336,2309.289,-15749.460,111,1.4,111,10.1
$_CALLS,3
$_XMS_NAKs,27
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.8
$GPS2,081554,2309.225,-15749.468,30,1.2,35,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK5
$TGT_LATLONG,2313.000,-15752.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.178,0.189
$KALMAN_X,-162773.8,-287.4,-99.8,181257.8,1456.3
$KALMAN_Y,153823.1,490.4,-250.5,-109178.1,-566.7
$MHEAD_RNG_PITCHd_Wd,306.5,8214,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.32,0.000,2,0.000,0.000,413,1608,3018,0,0,0,0,0,0
$GC,90,-1.27,-146.0,4.1,-6.9,9,122,13.98,2.42,-6.68,0.000,4,0.148,0.034,3102,3119,3398,0,0,0,0,0,0
$GC,214,-1.06,-146.0,33.8,-17.6,25,219,0.22,2.55,0.00,0.000,6,0.093,0.032,3152,1566,3398,0,0,0,0,0,0
$GC,481,-0.90,-146.0,78.6,-14.1,49,486,0.17,2.33,0.00,0.000,4,0.097,0.050,3190,161,3398,0,0,0,0,0,0
$GC,513,-0.80,-146.0,82.6,-12.2,51,518,0.00,2.15,0.00,0.000,6,0.000,0.016,3190,1596,3398,0,0,0,0,0,0
$GC,780,-0.75,-146.0,111.4,-10.9,75,785,0.12,0.00,0.00,0.000,6,0.104,0.000,3220,1599,3399,0,0,0,0,0,0
$GC,1045,-0.81,-146.0,136.5,-9.1,100,1049,0.00,2.38,0.00,0.000,4,0.000,0.043,3220,164,3399,0,0,0,0,0,0
$GC,1076,-0.81,-146.0,139.7,-9.2,102,1086,0.00,2.12,0.00,0.000,6,0.000,0.017,3220,1577,3398,0,0,0,0,0,0
$GC,1345,-0.88,-146.0,161.9,-7.9,127,1350,0.12,2.38,0.00,0.000,4,0.063,0.021,3155,3100,3399,0,0,0,0,0,0
$GC,1400,-0.88,-146.0,168.1,-10.9,132,1405,0.17,2.47,0.00,0.000,6,0.084,0.028,3196,1568,3398,0,0,0,0,0,0
$GC,1661,-0.88,-146.0,193.7,-9.6,156,1665,0.00,2.28,0.00,0.000,4,0.000,0.044,3196,166,3398,0,0,0,0,0,0
$GC,1687,-0.88,-146.0,196.2,-10.1,158,1691,0.00,2.10,0.00,0.000,6,0.000,0.017,3196,1572,3398,0,0,0,0,0,0
$GC,1939,-0.88,-146.0,217.7,-8.3,167,1943,0.00,2.40,0.00,0.000,4,0.000,0.021,3196,3109,3398,0,0,0,0,0,0
$GC,1958,-0.88,-146.0,219.2,-8.0,167,1962,0.00,2.47,0.00,0.000,6,0.000,0.026,3196,1577,3398,0,0,0,0,0,0
$GC,2228,-0.88,-146.0,238.1,-7.1,174,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1576,3397,0,0,0,0,0,0
$GC,2470,-0.94,-146.0,255.3,-7.1,180,2474,0.00,2.33,0.00,0.000,4,0.000,0.046,3196,165,3397,0,0,0,0,0,0
$GC,2535,-1.01,-146.0,260.2,-8.2,181,2540,0.15,2.12,0.00,0.000,6,0.054,0.018,3123,1561,3397,0,0,0,0,0,0
$GC,2804,-0.92,-146.0,288.3,-10.3,188,2809,0.25,2.47,0.00,0.000,4,0.081,0.023,3184,3123,3396,0,0,0,0,0,0
$GC,2843,-1.05,-146.0,291.3,-6.9,188,2849,0.12,2.53,0.00,0.000,6,0.063,0.031,3122,1574,3396,0,0,0,0,0,0
$GC,3095,-0.97,-146.0,316.7,-10.5,195,3100,0.22,2.35,0.00,0.000,4,0.083,0.048,3174,164,3395,0,0,0,0,0,0
$GC,3159,-1.05,-146.0,322.7,-8.8,196,3163,0.00,2.12,0.00,0.000,6,0.000,0.020,3174,1555,3394,0,0,0,0,0,0
$GC,3429,-1.09,-146.0,343.7,-8.0,203,3434,0.12,2.55,0.00,0.000,4,0.064,0.030,3112,3143,3393,0,0,0,0,0,0
$GC,3468,-1.09,-146.0,347.6,-9.6,203,3474,0.15,2.58,0.00,0.000,6,0.091,0.033,3146,1576,3393,0,0,0,0,0,0
$GC,3718,-1.09,-146.0,369.9,-9.0,210,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1576,3391,0,0,0,0,0,0
$GC,3966,-1.09,-146.0,392.4,-9.3,216,3970,0.00,2.53,0.00,0.000,4,0.000,0.034,3146,3133,3390,0,0,0,0,0,0
$GC,3994,-1.09,-146.0,395.4,-9.1,216,3998,0.00,2.58,0.00,0.000,6,0.000,0.037,3146,1577,3389,0,0,0,0,0,0
$GC,4249,-1.09,-146.0,419.4,-9.6,223,4253,0.00,2.38,0.00,0.000,4,0.000,0.063,3146,174,3387,0,0,0,0,0,0
$GC,4302,-1.09,-146.0,424.6,-10.1,224,4306,0.00,2.20,0.00,0.000,6,0.000,0.024,3146,1568,3387,0,0,0,0,0,0
$GC,4582,-1.09,-146.0,449.1,-8.8,231,4586,0.00,2.55,0.00,0.000,4,0.000,0.038,3146,3140,3384,0,0,0,0,0,0
$GC,4605,-1.09,-146.0,451.5,-9.2,231,4610,0.00,2.60,0.00,0.000,6,0.000,0.037,3146,1569,3384,0,0,0,0,0,0
$GC,4867,-1.09,-146.0,474.3,-8.8,238,4871,0.00,2.58,0.00,0.000,4,0.000,0.040,3146,3138,3382,0,0,0,0,0,0
$GC,4886,-1.09,-146.0,476.2,-8.4,238,4890,0.00,2.58,0.00,0.000,6,0.000,0.037,3146,1579,3383,0,0,0,0,0,0
$GC,5150,-1.09,-146.0,497.5,-8.1,245,5154,0.00,2.42,0.00,0.000,4,0.000,0.070,3146,173,3380,0,0,0,0,0,0
$GC,5208,-1.09,-146.0,503.0,-9.5,246,5213,0.00,2.20,0.00,0.000,6,0.000,0.028,3146,1564,3380,0,0,0,0,0,0
$GC,5482,-1.09,-146.0,526.9,-8.9,253,5486,0.00,2.60,0.00,0.000,4,0.000,0.043,3146,3146,3378,0,0,0,0,0,0
$GC,5527,-1.19,-146.0,530.7,-8.0,254,5532,0.00,2.62,0.00,0.000,6,0.000,0.042,3146,1575,3377,0,0,0,0,0,0
$GC,5817,-1.19,-146.0,555.6,-8.6,261,5821,0.00,2.45,0.00,0.000,4,0.000,0.075,3146,170,3376,0,0,0,0,0,0
$GC,5855,-1.19,-146.0,559.3,-9.5,261,5860,0.00,2.28,0.00,0.000,6,0.000,0.031,3146,1579,3375,0,0,0,0,0,0
$GC,6107,-1.19,-146.0,578.1,-7.3,268,6111,0.00,2.60,0.00,0.000,4,0.000,0.044,3145,3150,3374,0,0,0,0,0,0
$GC,6140,-1.27,-146.0,580.5,-7.4,268,6145,0.15,2.65,0.00,0.000,6,0.054,0.044,3081,1576,3374,0,0,0,0,0,0
$GC,6391,-1.16,-146.0,603.8,-9.6,274,6396,0.22,2.47,0.00,0.000,4,0.088,0.077,3131,166,3372,0,0,0,0,0,0
$GC,6436,-1.16,-146.0,607.8,-8.4,275,6441,0.00,2.30,0.00,0.000,6,0.000,0.032,3131,1588,3372,0,0,0,0,0,0
$GC,6725,-1.16,-146.0,630.0,-7.8,282,6729,0.00,2.60,0.00,0.000,4,0.000,0.048,3131,3150,3370,0,0,0,0,0,0
$GC,6746,-1.16,-146.0,631.7,-8.3,282,6750,0.00,2.62,0.00,0.000,6,0.000,0.045,3131,1580,3370,0,0,0,0,0,0
$GC,7012,-1.16,-146.0,653.8,-8.4,289,7016,0.00,2.50,0.00,0.000,4,0.000,0.082,3131,165,3368,0,0,0,0,0,0
$GC,7040,-1.16,-146.0,656.6,-9.8,289,7044,0.00,2.30,0.00,0.000,6,0.000,0.033,3131,1578,3368,0,0,0,0,0,0
$GC,7299,-1.16,-146.0,678.1,-8.4,296,7303,0.00,2.65,0.00,0.000,4,0.000,0.051,3131,3154,3367,0,0,0,0,0,0
$GC,7323,-1.16,-146.0,680.5,-9.3,296,7327,0.00,2.67,0.00,0.000,6,0.000,0.053,3131,1576,3367,0,0,0,0,0,0
$GC,7582,-1.16,-146.0,701.2,-7.8,303,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1576,3365,0,0,0,0,0,0
$GC,7828,-1.16,-146.0,719.2,-7.3,309,7832,0.00,2.65,0.00,0.000,4,0.000,0.046,3131,3156,3364,0,0,0,0,0,0
$GC,7847,-1.16,-146.0,720.8,-7.7,309,7852,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1590,3364,0,0,0,0,0,0
$GC,8116,-1.16,-146.0,740.4,-7.4,316,8120,0.00,2.53,0.00,0.000,4,0.000,0.084,3131,169,3362,0,0,0,0,0,0
$GC,8155,-1.16,-146.0,743.8,-8.2,316,8161,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1588,3362,0,0,0,0,0,0
$GC,8405,-1.16,-146.0,762.4,-7.4,323,8409,0.00,2.65,0.00,0.000,4,0.000,0.052,3131,3160,3361,0,0,0,0,0,0
$GC,8434,-1.21,-146.0,764.7,-8.3,323,8438,0.00,2.67,0.00,0.000,6,0.000,0.049,3131,1586,3361,0,0,0,0,0,0
$GC,8691,-1.21,-146.0,785.5,-8.5,330,8695,0.00,2.53,0.00,0.000,4,0.000,0.084,3130,162,3360,0,0,0,0,0,0
$GC,8723,-1.21,-146.0,788.9,-10.8,330,8727,0.00,2.35,0.00,0.000,6,0.000,0.035,3131,1596,3360,0,0,0,0,0,0
$GC,8976,-1.21,-146.0,810.6,-8.7,336,8980,0.00,2.53,0.00,0.000,4,0.000,0.075,3131,166,3360,0,0,0,0,0,0
$GC,8999,-1.21,-146.0,813.1,-10.2,336,9003,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1584,3359,0,0,0,0,0,0
$GC,9265,-1.21,-146.0,834.7,-8.1,343,9269,0.00,2.50,0.00,0.000,4,0.000,0.076,3131,167,3358,0,0,0,0,0,0
$GC,9289,-1.21,-146.0,836.9,-9.1,343,9293,0.00,2.33,0.00,0.000,6,0.000,0.035,3131,1583,3357,0,0,0,0,0,0
$GC,9548,-1.21,-146.0,856.4,-7.2,350,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1583,3357,0,0,0,0,0,0
$GC,9796,-1.21,-146.0,873.5,-7.0,356,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1583,3356,0,0,0,0,0,0
$GC,10035,-1.21,-146.0,890.5,-7.0,362,10039,0.00,2.50,0.00,0.000,4,0.000,0.076,3131,167,3355,0,0,0,0,0,0
$GC,10059,-1.21,-146.0,892.4,-8.5,362,10063,0.00,2.33,0.00,0.000,6,0.000,0.036,3131,1585,3355,0,0,0,0,0,0
$STATE,10196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10196,begin apogee
$GC,10204,-0.31,0.0,902.2,7.1,366,10325,0.80,0.00,118.00,1.152,6,0.071,0.000,3316,1340,2799,0,0,0,0,0,0
$STATE,10326,end apogee,CONTROL_FINISHED_OK
$STATE,10326,begin climb
$GC,10329,1.27,146.0,906.2,0.0,369,10468,1.42,2.17,129.40,1.131,4,0.033,0.079,3668,172,2204,0,0,0,0,0,0
$GC,10584,1.02,146.0,886.3,14.4,374,10588,0.30,1.95,0.00,0.000,6,0.107,0.031,3607,1353,2198,0,0,0,0,0,0
$GC,10836,0.97,160.8,862.5,9.3,380,10856,0.00,2.15,13.45,0.999,4,0.000,0.072,3606,172,2143,0,0,0,0,0,0
$GC,10883,0.85,160.8,857.4,11.4,381,10888,0.17,1.95,0.00,0.000,6,0.106,0.031,3571,1352,2143,0,0,0,0,0,0
$GC,11172,0.89,190.6,832.2,8.6,388,11206,0.00,2.15,28.17,1.055,4,0.000,0.073,3571,177,2021,0,0,0,0,0,0
$GC,11249,0.89,190.6,824.7,11.3,389,11253,0.00,1.95,0.00,0.000,6,0.000,0.031,3570,1354,2020,0,0,0,0,0,0
$GC,11506,0.92,215.5,801.9,8.8,396,11533,0.00,0.00,23.73,1.030,6,0.000,0.000,3570,1355,1920,0,0,0,0,0,0
$GC,11795,0.98,221.2,773.7,9.7,403,11804,0.12,0.00,6.10,0.811,6,0.067,0.000,3616,1355,1898,0,0,0,0,0,0
$GC,12037,0.94,221.2,745.1,11.9,409,12042,0.12,2.70,0.00,0.000,4,0.109,0.052,3590,2930,1897,0,0,0,0,0,0
$GC,12068,0.98,221.2,741.7,10.2,409,12073,0.00,2.72,0.00,0.000,6,0.000,0.048,3590,1347,1894,0,0,0,0,0,0
$GC,12325,0.98,221.2,714.1,10.8,416,12326,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,1347,1894,0,0,0,0,0,0
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$STATE,18873,end climb,SURFACE_DEPTH_REACHED
$STATE,18873,begin surface coast
$FINISH,0.8,1.011267
$STATE,18908,end surface coast,CONTROL_FINISHED_OK
$STATE,18908,begin surface
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$SM_GC,1.86,0.00,0.00,45.58,0.000,0.000,0.428,414,1584,1208,-13.67,0.40,390.03
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$TT8_MAMPS,0.027612
$HUMID,65.35
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.60
$XPDR_PINGS,67
$24V_AH,23.2,46.374
$10V_AH,9.9,43.998
$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
$DEVICE_SECS,33.225,226.950,399.850,45.575,0.000,87.352,121.325,797.655,16.750,0.000,37.235,1588.914,13935.199,543.720,2698.399,1541.122,33.380,1667.716,0.000,2682.806,0.000,0.538,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.665,372.877,482.507,974.919,1314.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,57199,715
$CAP_FILE_SIZE,201921,0
$CFSIZE,260165632,148336640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300713,133505,2311.030,-15750.490,68,1.6,73,10.1