version: 66.06
glider: 148
mission: 12
dive: 320
start: 7 31 113 10 48 37
data:
$ID,148
$MISSION,12
$DIVE,320
$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,-1022446.2
$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,24
$R_STBD_OVSHOOT,77
$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
$GPS1,102435,2314.060,-15748.926,41,1.7,46,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-76.3
$GPS2,104742,2313.893,-15748.815,11,1.3,16,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK6
$TGT_LATLONG,2317.500,-15740.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.208,0.155
$KALMAN_X,-155878.1,-203.5,-179.5,175465.0,1855.0
$KALMAN_Y,152910.8,174.5,21.4,-99579.0,-305.6
$MHEAD_RNG_PITCHd_Wd,43.2,16415,-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,-67.38,0.000,2,0.000,0.000,409,1646,2982,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.5,-5.4,9,123,13.88,2.35,-7.20,0.000,4,0.145,0.032,3101,3124,3398,0,0,0,0,0,0
$GC,141,-0.61,-146.0,21.1,-32.5,15,150,0.62,2.58,0.00,0.000,6,0.077,0.031,3245,1563,3398,0,0,0,0,0,0
$GC,423,-0.61,-146.0,54.9,-10.6,44,427,0.00,2.30,0.00,0.000,4,0.000,0.044,3245,167,3399,0,0,0,0,0,0
$GC,457,-0.61,-146.0,59.6,-11.1,46,466,0.00,2.12,0.00,0.000,6,0.000,0.017,3245,1572,3399,0,0,0,0,0,0
$GC,724,-0.67,-146.0,82.6,-8.1,71,728,0.00,2.30,0.00,0.000,4,0.000,0.050,3245,167,3399,0,0,0,0,0,0
$GC,762,-0.77,-146.0,86.1,-8.9,74,767,0.12,2.08,0.00,0.000,6,0.061,0.017,3172,1576,3399,0,0,0,0,0,0
$GC,1034,-0.68,-146.0,117.9,-12.5,99,1039,0.28,2.35,0.00,0.000,4,0.080,0.019,3234,3097,3399,0,0,0,0,0,0
$GC,1055,-0.68,-146.0,120.9,-11.2,100,1064,0.00,2.53,0.00,0.000,6,0.000,0.027,3234,1543,3399,0,0,0,0,0,0
$GC,1322,-0.78,-146.0,141.1,-7.0,125,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1543,3399,0,0,0,0,0,0
$GC,1587,-0.88,-146.0,160.4,-7.4,150,1597,0.17,0.00,0.00,0.000,6,0.048,0.000,3152,1543,3400,0,0,0,0,0,0
$GC,1853,-0.78,-146.0,192.4,-11.9,175,1858,0.25,2.45,0.00,0.000,4,0.080,0.020,3213,3103,3399,0,0,0,0,0,0
$GC,1884,-0.88,-146.0,196.0,-8.4,177,1894,0.00,2.53,0.00,0.000,6,0.000,0.028,3213,1558,3399,0,0,0,0,0,0
$GC,2147,-0.96,-146.0,215.3,-7.1,188,2149,0.15,0.00,0.00,0.000,6,0.054,0.000,3139,1558,3399,0,0,0,0,0,0
$GC,2391,-0.87,-146.0,241.4,-11.0,194,2396,0.25,2.42,0.00,0.000,4,0.080,0.021,3201,3098,3399,0,0,0,0,0,0
$GC,2427,-0.98,-146.0,244.5,-7.8,194,2432,0.12,2.47,0.00,0.000,6,0.060,0.028,3129,1558,3399,0,0,0,0,0,0
$GC,2677,-0.89,-146.0,273.8,-12.3,200,2679,0.28,0.00,0.00,0.000,6,0.080,0.000,3190,1558,3398,0,0,0,0,0,0
$GC,2923,-0.96,-146.0,293.3,-7.8,206,2928,0.00,2.42,0.00,0.000,4,0.000,0.025,3190,3090,3397,0,0,0,0,0,0
$GC,2954,-1.07,-146.0,295.8,-7.4,206,2959,0.15,2.50,0.00,0.000,6,0.058,0.031,3126,1561,3397,0,0,0,0,0,0
$GC,3210,-0.99,-146.0,320.6,-9.9,213,3215,0.20,2.33,0.00,0.000,4,0.086,0.049,3172,166,3396,0,0,0,0,0,0
$GC,3256,-1.04,-146.0,324.7,-8.3,214,3260,0.00,2.08,0.00,0.000,6,0.000,0.021,3172,1527,3395,0,0,0,0,0,0
$GC,3545,-1.04,-146.0,348.1,-8.1,221,3550,0.00,2.55,0.00,0.000,4,0.000,0.029,3172,3132,3394,0,0,0,0,0,0
$GC,3579,-1.14,-146.0,350.9,-7.9,221,3584,0.15,2.58,0.00,0.000,6,0.053,0.035,3095,1561,3394,0,0,0,0,0,0
$GC,3831,-1.02,-146.0,379.2,-11.4,227,3833,0.30,0.00,0.00,0.000,6,0.084,0.000,3162,1561,3391,0,0,0,0,0,0
$GC,4073,-1.02,-146.0,398.7,-7.8,233,4077,0.00,2.35,0.00,0.000,4,0.000,0.062,3162,166,3389,0,0,0,0,0,0
$GC,4098,-1.02,-146.0,400.8,-8.4,233,4102,0.00,2.17,0.00,0.000,6,0.000,0.022,3162,1556,3390,0,0,0,0,0,0
$GC,4359,-1.02,-146.0,422.2,-8.4,240,4363,0.00,2.58,0.00,0.000,4,0.000,0.034,3162,3142,3387,0,0,0,0,0,0
$GC,4383,-1.09,-146.0,424.6,-9.0,240,4388,0.00,2.60,0.00,0.000,6,0.000,0.038,3162,1562,3387,0,0,0,0,0,0
$GC,4644,-1.09,-146.0,445.6,-8.0,247,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1562,3385,0,0,0,0,0,0
$GC,4886,-1.09,-146.0,463.9,-7.5,253,4891,0.00,2.60,0.00,0.000,4,0.000,0.039,3161,3132,3383,0,0,0,0,0,0
$GC,4906,-1.15,-146.0,465.4,-8.2,253,4911,0.12,2.58,0.00,0.000,6,0.063,0.038,3100,1569,3383,0,0,0,0,0,0
$GC,5172,-1.04,-146.0,492.8,-10.7,260,5177,0.25,2.40,0.00,0.000,4,0.085,0.067,3161,168,3381,0,0,0,0,0,0
$GC,5196,-1.04,-146.0,495.7,-10.1,260,5201,0.00,2.22,0.00,0.000,6,0.000,0.028,3161,1561,3381,0,0,0,0,0,0
$GC,5456,-1.04,-146.0,515.4,-7.4,267,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1562,3379,0,0,0,0,0,0
$GC,5701,-1.09,-146.0,531.5,-6.4,273,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1562,3377,0,0,0,0,0,0
$GC,5944,-1.14,-146.0,545.9,-5.8,279,5949,0.10,2.65,0.00,0.000,4,0.077,0.044,3107,3146,3376,0,0,0,0,0,0
$GC,5991,-1.14,-146.0,549.3,-7.6,280,5997,0.12,2.65,0.00,0.000,6,0.097,0.044,3137,1573,3375,0,0,0,0,0,0
$GC,6276,-1.14,-146.0,567.4,-6.3,287,6281,0.00,2.42,0.00,0.000,4,0.000,0.076,3138,169,3374,0,0,0,0,0,0
$GC,6300,-1.14,-146.0,569.2,-7.3,287,6304,0.00,2.28,0.00,0.000,6,0.000,0.030,3137,1582,3373,0,0,0,0,0,0
$GC,6564,-1.14,-146.0,587.3,-7.1,294,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3372,0,0,0,0,0,0
$GC,6809,-1.14,-146.0,606.8,-8.2,300,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1582,3370,0,0,0,0,0,0
$GC,7054,-1.14,-146.0,628.2,-8.9,306,7058,0.00,2.60,0.00,0.000,4,0.000,0.047,3137,3156,3369,0,0,0,0,0,0
$GC,7077,-1.14,-146.0,630.6,-9.3,306,7082,0.00,2.65,0.00,0.000,6,0.000,0.052,3137,1573,3369,0,0,0,0,0,0
$GC,7337,-1.14,-146.0,652.8,-8.5,313,7338,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1573,3368,0,0,0,0,0,0
$GC,7582,-1.14,-146.0,673.3,-8.4,319,7587,0.00,2.62,0.00,0.000,4,0.000,0.045,3137,3150,3366,0,0,0,0,0,0
$GC,7616,-1.21,-146.0,676.2,-8.1,319,7620,0.00,2.67,0.00,0.000,6,0.000,0.048,3138,1575,3366,0,0,0,0,0,0
$GC,7866,-1.21,-146.0,696.3,-7.9,325,7867,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1575,3364,0,0,0,0,0,0
$GC,8115,-1.21,-146.0,715.3,-7.8,331,8120,0.00,2.47,0.00,0.000,4,0.000,0.084,3137,167,3363,0,0,0,0,0,0
$GC,8130,-1.21,-146.0,717.1,-7.9,331,8134,0.00,2.30,0.00,0.000,6,0.000,0.032,3137,1581,3363,0,0,0,0,0,0
$GC,8398,-1.21,-146.0,738.5,-8.1,338,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3363,0,0,0,0,0,0
$GC,8644,-1.21,-146.0,757.0,-7.6,344,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3361,0,0,0,0,0,0
$GC,8886,-1.21,-146.0,774.6,-7.2,350,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1580,3360,0,0,0,0,0,0
$GC,9132,-1.21,-146.0,791.5,-6.9,356,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1581,3359,0,0,0,0,0,0
$GC,9373,-1.21,-146.0,807.0,-6.3,362,9378,0.00,2.65,0.00,0.000,4,0.000,0.053,3137,3152,3358,0,0,0,0,0,0
$GC,9394,-1.21,-146.0,808.2,-6.2,362,9399,0.00,2.67,0.00,0.000,6,0.000,0.050,3137,1570,3358,0,0,0,0,0,0
$GC,9658,-1.21,-146.0,824.9,-6.4,369,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3357,0,0,0,0,0,0
$GC,9902,-1.21,-146.0,841.6,-7.0,375,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3357,0,0,0,0,0,0
$GC,10149,-1.21,-146.0,859.5,-7.3,381,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3356,0,0,0,0,0,0
$GC,10389,-1.21,-146.0,877.8,-7.6,387,10391,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3355,0,0,0,0,0,0
$GC,10633,-1.21,-146.0,895.5,-7.2,393,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,1570,3354,0,0,0,0,0,0
$STATE,10712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10712,begin apogee
$GC,10718,-0.31,0.0,901.1,7.0,395,10840,0.77,0.00,118.40,1.154,6,0.074,0.000,3315,1349,2800,0,0,0,0,0,0
$STATE,10841,end apogee,CONTROL_FINISHED_OK
$STATE,10841,begin climb
$GC,10845,1.27,146.0,904.6,0.0,398,10986,1.45,2.22,131.05,1.132,4,0.036,0.085,3669,167,2203,0,0,0,0,0,0
$GC,11103,1.02,146.0,882.2,15.2,403,11109,0.30,1.92,0.00,0.000,6,0.109,0.030,3609,1352,2198,0,0,0,0,0,0
$GC,11353,0.95,146.0,855.2,10.6,410,11357,0.00,2.10,0.00,0.000,4,0.000,0.072,3608,168,2193,0,0,0,0,0,0
$GC,11383,0.83,146.0,851.7,12.7,410,11387,0.20,1.95,0.00,0.000,6,0.104,0.030,3567,1356,2193,0,0,0,0,0,0
$GC,11638,0.88,187.5,830.1,8.1,417,11681,0.00,2.17,37.25,1.068,4,0.000,0.072,3567,166,2035,0,0,0,0,0,0
$GC,11692,0.92,219.9,825.3,8.5,418,11730,0.00,1.95,32.20,1.050,6,0.000,0.031,3566,1345,1903,0,0,0,0,0,0
$GC,12015,0.98,224.2,793.8,9.8,426,12027,0.12,2.70,4.22,0.676,4,0.067,0.051,3613,2931,1885,0,0,0,0,0,0
$GC,12067,0.98,224.2,787.5,12.7,427,12071,0.00,2.70,0.00,0.000,6,0.000,0.049,3613,1355,1881,0,0,0,0,0,0
$GC,12349,0.98,224.2,750.9,13.0,434,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1355,1881,0,0,0,0,0,0
$GC,12593,0.98,224.2,719.3,12.9,440,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1355,1881,0,0,0,0,0,0
$GC,12840,0.98,224.2,689.2,12.1,446,12844,0.00,2.12,0.00,0.000,4,0.000,0.083,3613,167,1880,0,0,0,0,0,0
$GC,12859,0.93,224.2,686.3,12.5,446,12864,0.08,1.98,0.00,0.000,6,0.091,0.031,3586,1359,1880,0,0,0,0,0,0
$GC,13128,0.93,225.1,658.8,10.0,453,13133,0.00,2.62,0.00,0.000,4,0.000,0.049,3586,2929,1880,0,0,0,0,0,0
$GC,13159,1.05,267.6,656.0,8.0,453,13205,0.12,2.70,39.97,0.979,6,0.067,0.049,3632,1355,1709,0,0,0,0,0,0
$GC,13458,1.05,267.6,616.0,13.9,461,13462,0.00,2.65,0.00,0.000,4,0.000,0.044,3632,2931,1704,0,0,0,0,0,0
$GC,13483,1.05,267.6,612.3,13.0,461,13488,0.00,2.70,0.00,0.000,6,0.000,0.050,3632,1365,1701,0,0,0,0,0,0
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$STATE,18755,end climb,SURFACE_DEPTH_REACHED
$STATE,18755,begin surface coast
$FINISH,1.2,1.023233
$STATE,18795,end surface coast,CONTROL_FINISHED_OK
$STATE,18795,begin surface
$SM_CCo,18821,45.20,0.425,0,0,1209,390.03
$SM_GC,1.85,0.00,0.00,45.20,0.000,0.000,0.425,415,1618,1209,-13.66,1.36,390.03
$IRIDIUM_FIX,2305.10,-15747.53,251002,101050
$TT8_MAMPS,0.027612
$HUMID,65.83
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.60
$XPDR_PINGS,59
$24V_AH,23.2,47.214
$10V_AH,9.9,44.770
$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,34.625,179.050,391.800,45.200,0.000,134.471,182.399,630.401,14.750,0.000,17.460,1540.599,14150.118,518.830,2577.409,1457.327,33.410,1580.077,0.000,2579.659,0.000,0.537,0.000
$DEVICE_MAMPS,144.963,85.137,1153.568,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.385,391.170,495.193,1036.634,1367.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,57373,724
$CAP_FILE_SIZE,190005,0
$CFSIZE,260165632,147959808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310713,160434,2315.785,-15745.742,38,1.8,48,10.2