version: 66.06
glider: 148
mission: 12
dive: 327
start: 8 2 113 0 7 31
data:
$ID,148
$MISSION,12
$DIVE,327
$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,-1022580.8
$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,25
$R_STBD_OVSHOOT,90
$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
$GPS1,235915,2317.683,-15747.763,38,1.4,54,10.2
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.6
$GPS2,000637,2317.690,-15747.800,8,1.9,14,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EDDYCHK7
$TGT_LATLONG,2321.000,-15753.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,0.123
$KALMAN_X,-148472.8,237.1,29.0,169139.5,704.2
$KALMAN_Y,150583.4,65.1,-359.6,-89716.9,-65.5
$MHEAD_RNG_PITCHd_Wd,288.1,11468,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,77,0.00,0.00,-59.83,0.000,2,0.000,0.000,416,1574,2728,0,0,0,0,0,0
$GC,82,-1.27,-146.0,3.0,-4.1,8,115,13.75,2.50,-13.45,0.000,4,0.143,0.034,3101,3117,3399,0,0,0,0,0,0
$GC,231,-1.06,-146.0,34.7,-20.0,29,240,0.20,2.55,0.00,0.000,6,0.084,0.031,3150,1568,3399,0,0,0,0,0,0
$GC,500,-0.90,-146.0,80.3,-14.6,54,505,0.17,2.45,0.00,0.000,4,0.100,0.021,3188,3110,3399,0,0,0,0,0,0
$GC,522,-0.79,-146.0,84.0,-13.9,55,527,0.10,2.47,0.00,0.000,6,0.108,0.027,3212,1564,3399,0,0,0,0,0,0
$GC,790,-0.79,-146.0,109.6,-9.8,79,795,0.00,2.28,0.00,0.000,4,0.000,0.043,3213,175,3400,0,0,0,0,0,0
$GC,839,-0.86,-146.0,114.7,-9.3,83,843,0.00,2.10,0.00,0.000,6,0.000,0.017,3213,1584,3400,0,0,0,0,0,0
$GC,1107,-0.86,-146.0,138.6,-9.6,107,1111,0.00,2.38,0.00,0.000,4,0.000,0.021,3213,3101,3400,0,0,0,0,0,0
$GC,1135,-0.91,-146.0,141.4,-9.1,109,1140,0.12,2.45,0.00,0.000,6,0.062,0.028,3141,1574,3401,0,0,0,0,0,0
$GC,1401,-0.78,-146.0,175.8,-13.7,133,1406,0.30,2.28,0.00,0.000,4,0.082,0.041,3212,174,3401,0,0,0,0,0,0
$GC,1447,-0.86,-146.0,181.4,-9.6,137,1451,0.00,2.08,0.00,0.000,6,0.000,0.017,3212,1559,3401,0,0,0,0,0,0
$GC,1721,-0.91,-146.0,204.2,-8.5,159,1726,0.12,2.45,0.00,0.000,4,0.063,0.021,3144,3120,3401,0,0,0,0,0,0
$GC,1773,-0.91,-146.0,209.9,-10.9,160,1778,0.17,2.47,0.00,0.000,6,0.086,0.028,3186,1578,3401,0,0,0,0,0,0
$GC,2054,-0.91,-146.0,234.6,-8.5,167,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1578,3401,0,0,0,0,0,0
$GC,2295,-0.91,-146.0,253.5,-7.7,173,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1578,3401,0,0,0,0,0,0
$GC,2540,-0.96,-146.0,271.2,-7.2,179,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1578,3401,0,0,0,0,0,0
$GC,2783,-1.01,-146.0,288.7,-7.2,185,2788,0.00,2.45,0.00,0.000,4,0.000,0.025,3185,3111,3400,0,0,0,0,0,0
$GC,2809,-1.09,-146.0,290.5,-7.9,185,2814,0.17,2.50,0.00,0.000,6,0.049,0.030,3102,1578,3401,0,0,0,0,0,0
$GC,3070,-0.95,-146.0,322.4,-13.1,192,3075,0.32,2.35,0.00,0.000,4,0.083,0.047,3178,167,3399,0,0,0,0,0,0
$GC,3143,-1.02,-146.0,329.8,-9.4,193,3147,0.00,2.15,0.00,0.000,6,0.000,0.021,3178,1552,3399,0,0,0,0,0,0
$GC,3407,-1.07,-146.0,351.5,-8.2,200,3412,0.12,2.55,0.00,0.000,4,0.064,0.030,3115,3139,3397,0,0,0,0,0,0
$GC,3453,-1.07,-146.0,356.1,-10.9,201,3458,0.15,2.58,0.00,0.000,6,0.091,0.034,3151,1576,3397,0,0,0,0,0,0
$GC,3743,-1.07,-146.0,383.6,-9.5,208,3746,0.00,2.38,0.00,0.000,4,0.000,0.057,3152,169,3396,0,0,0,0,0,0
$GC,3761,-1.07,-146.0,385.8,-10.1,208,3765,0.00,2.20,0.00,0.000,6,0.000,0.021,3153,1576,3395,0,0,0,0,0,0
$GC,4031,-1.07,-146.0,412.1,-9.7,215,4035,0.00,2.55,0.00,0.000,4,0.000,0.037,3151,3135,3394,0,0,0,0,0,0
$GC,4064,-1.13,-146.0,415.3,-8.8,215,4069,0.00,2.60,0.00,0.000,6,0.000,0.038,3151,1577,3393,0,0,0,0,0,0
$GC,4317,-1.13,-146.0,436.3,-8.3,221,4321,0.00,2.40,0.00,0.000,4,0.000,0.063,3152,172,3391,0,0,0,0,0,0
$GC,4342,-1.13,-146.0,438.6,-9.7,221,4346,0.00,2.22,0.00,0.000,6,0.000,0.024,3152,1580,3391,0,0,0,0,0,0
$GC,4601,-1.13,-146.0,458.9,-7.6,228,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1582,3390,0,0,0,0,0,0
$GC,4845,-1.13,-146.0,476.9,-7.3,234,4849,0.00,2.58,0.00,0.000,4,0.000,0.038,3151,3146,3388,0,0,0,0,0,0
$GC,4868,-1.13,-146.0,478.7,-7.8,234,4873,0.00,2.62,0.00,0.000,6,0.000,0.037,3151,1569,3388,0,0,0,0,0,0
$GC,5134,-1.13,-146.0,497.7,-7.4,241,5138,0.00,2.40,0.00,0.000,4,0.000,0.071,3152,168,3387,0,0,0,0,0,0
$GC,5158,-1.13,-146.0,500.3,-8.9,241,5162,0.00,2.22,0.00,0.000,6,0.000,0.027,3153,1566,3387,0,0,0,0,0,0
$GC,5417,-1.13,-146.0,522.2,-8.5,248,5421,0.00,2.58,0.00,0.000,4,0.000,0.042,3151,3143,3385,0,0,0,0,0,0
$GC,5442,-1.13,-146.0,524.3,-9.0,248,5447,0.00,2.60,0.00,0.000,6,0.000,0.040,3151,1574,3385,0,0,0,0,0,0
$GC,5702,-1.13,-146.0,545.7,-8.2,255,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1574,3383,0,0,0,0,0,0
$GC,5948,-1.13,-146.0,563.7,-7.2,261,5952,0.00,2.62,0.00,0.000,4,0.000,0.042,3151,3148,3382,0,0,0,0,0,0
$GC,5978,-1.19,-146.0,565.9,-6.7,261,5984,0.10,2.65,0.00,0.000,6,0.076,0.044,3093,1573,3382,0,0,0,0,0,0
$GC,6235,-1.09,-146.0,591.2,-9.9,268,6240,0.22,2.47,0.00,0.000,4,0.090,0.077,3145,169,3380,0,0,0,0,0,0
$GC,6280,-1.09,-146.0,595.2,-9.2,269,6285,0.00,2.25,0.00,0.000,6,0.000,0.031,3145,1559,3379,0,0,0,0,0,0
$GC,6570,-1.09,-146.0,617.9,-7.9,276,6574,0.00,2.65,0.00,0.000,4,0.000,0.047,3144,3154,3378,0,0,0,0,0,0
$GC,6589,-1.09,-146.0,619.8,-8.4,276,6594,0.00,2.70,0.00,0.000,6,0.000,0.046,3144,1556,3378,0,0,0,0,0,0
$GC,6855,-1.09,-146.0,641.3,-8.2,283,6859,0.00,2.45,0.00,0.000,4,0.000,0.081,3145,167,3376,0,0,0,0,0,0
$GC,6888,-1.09,-146.0,644.2,-8.7,283,6892,0.00,2.28,0.00,0.000,6,0.000,0.032,3144,1570,3376,0,0,0,0,0,0
$GC,7138,-1.09,-146.0,663.6,-7.7,289,7142,0.00,2.65,0.00,0.000,4,0.000,0.050,3144,3151,3375,0,0,0,0,0,0
$GC,7164,-1.14,-146.0,665.6,-8.3,289,7168,0.00,2.70,0.00,0.000,6,0.000,0.048,3144,1558,3375,0,0,0,0,0,0
$GC,7426,-1.14,-146.0,685.2,-7.7,296,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1558,3373,0,0,0,0,0,0
$GC,7667,-1.14,-146.0,702.8,-7.2,302,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1558,3372,0,0,0,0,0,0
$GC,7913,-1.14,-146.0,720.5,-7.3,308,7917,0.00,2.67,0.00,0.000,4,0.000,0.045,3144,3155,3371,0,0,0,0,0,0
$GC,7942,-1.21,-146.0,722.9,-8.0,308,7947,0.10,2.70,0.00,0.000,6,0.075,0.049,3090,1568,3371,0,0,0,0,0,0
$GC,8198,-1.13,-146.0,747.8,-10.0,315,8203,0.22,2.50,0.00,0.000,4,0.091,0.082,3139,164,3369,0,0,0,0,0,0
$GC,8238,-1.13,-146.0,751.5,-9.1,315,8248,0.00,2.30,0.00,0.000,6,0.000,0.035,3139,1555,3369,0,0,0,0,0,0
$GC,8488,-1.13,-146.0,771.2,-7.8,322,8492,0.00,2.67,0.00,0.000,4,0.000,0.052,3139,3159,3368,0,0,0,0,0,0
$GC,8535,-1.21,-146.0,774.9,-8.1,323,8540,0.00,2.70,0.00,0.000,6,0.000,0.050,3139,1563,3368,0,0,0,0,0,0
$GC,8820,-1.21,-146.0,796.6,-7.7,330,8824,0.00,2.47,0.00,0.000,4,0.000,0.083,3139,167,3367,0,0,0,0,0,0
$GC,8853,-1.21,-146.0,799.7,-8.7,330,8857,0.00,2.30,0.00,0.000,6,0.000,0.034,3138,1579,3367,0,0,0,0,0,0
$GC,9105,-1.21,-146.0,818.7,-7.6,336,9110,0.00,2.65,0.00,0.000,4,0.000,0.052,3139,3153,3366,0,0,0,0,0,0
$GC,9131,-1.27,-146.0,820.7,-8.4,336,9137,0.12,2.67,0.00,0.000,6,0.064,0.049,3082,1569,3366,0,0,0,0,0,0
$GC,9392,-1.18,-146.0,845.7,-9.7,343,9397,0.20,2.50,0.00,0.000,4,0.095,0.081,3126,163,3365,0,0,0,0,0,0
$GC,9442,-1.18,-146.0,850.3,-8.2,344,9446,0.00,2.30,0.00,0.000,6,0.000,0.035,3126,1568,3364,0,0,0,0,0,0
$GC,9727,-1.18,-146.0,873.1,-8.0,351,9731,0.00,2.70,0.00,0.000,4,0.000,0.054,3125,3163,3364,0,0,0,0,0,0
$GC,9762,-1.24,-146.0,876.2,-8.1,351,9766,0.00,2.72,0.00,0.000,6,0.000,0.049,3126,1565,3364,0,0,0,0,0,0
$GC,10014,-1.24,-146.0,895.3,-7.6,357,10018,0.00,2.47,0.00,0.000,4,0.000,0.081,3126,167,3363,0,0,0,0,0,0
$GC,10047,-1.24,-146.0,898.3,-8.4,357,10051,0.00,2.30,0.00,0.000,6,0.000,0.035,3125,1570,3363,0,0,0,0,0,0
$STATE,10091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10091,begin apogee
$GC,10097,-0.31,0.0,901.8,8.0,358,10221,0.85,0.00,120.25,1.153,6,0.079,0.000,3317,1339,2800,0,0,0,0,0,0
$STATE,10222,end apogee,CONTROL_FINISHED_OK
$STATE,10222,begin climb
$GC,10226,1.27,146.0,905.4,0.0,361,10366,1.42,2.12,130.85,1.133,4,0.034,0.078,3665,170,2203,0,0,0,0,0,0
$GC,10553,1.03,146.0,874.9,14.0,368,10558,0.28,1.92,0.00,0.000,6,0.108,0.030,3610,1352,2196,0,0,0,0,0,0
$GC,10820,0.99,162.5,849.9,9.2,375,10840,0.00,2.17,14.70,1.009,4,0.000,0.074,3609,179,2137,0,0,0,0,0,0
$GC,10875,0.89,162.5,843.9,11.5,376,10880,0.15,1.92,0.00,0.000,6,0.112,0.031,3579,1360,2136,0,0,0,0,0,0
$GC,11155,0.94,203.1,820.8,8.1,383,11200,0.00,2.20,38.62,1.066,4,0.000,0.074,3578,178,1971,0,0,0,0,0,0
$GC,11210,0.97,229.9,815.9,8.8,384,11243,0.00,1.95,27.08,1.038,6,0.000,0.031,3578,1351,1862,0,0,0,0,0,0
$GC,11528,1.02,232.8,785.0,9.9,392,11533,0.12,2.72,0.00,0.000,4,0.067,0.052,3623,2937,1855,0,0,0,0,0,0
$GC,11557,1.02,232.8,781.3,11.6,392,11562,0.00,2.72,0.00,0.000,6,0.000,0.049,3623,1358,1852,0,0,0,0,0,0
$GC,11812,0.97,232.8,749.5,12.6,399,11814,0.12,0.00,0.00,0.000,6,0.114,0.000,3598,1359,1851,0,0,0,0,0,0
$GC,12057,0.97,232.8,721.7,11.3,405,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,1359,1851,0,0,0,0,0,0
$GC,12302,0.97,232.8,694.7,11.1,411,12306,0.00,2.65,0.00,0.000,4,0.000,0.042,3598,2929,1850,0,0,0,0,0,0
$GC,12325,0.98,239.2,691.8,9.7,411,12338,0.00,2.72,7.50,0.840,6,0.000,0.057,3598,1352,1824,0,0,0,0,0,0
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$STATE,18746,end climb,SURFACE_DEPTH_REACHED
$STATE,18747,begin surface coast
$FINISH,1.0,1.009883
$STATE,18799,end surface coast,CONTROL_FINISHED_OK
$STATE,18799,begin surface
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$SM_GC,1.73,0.00,0.00,39.78,0.000,0.000,0.424,417,1627,1210,-13.66,1.61,390.03
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$TT8_MAMPS,0.027612
$HUMID,65.90
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.60
$XPDR_PINGS,14
$24V_AH,23.2,48.228
$10V_AH,9.9,45.794
$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
$DEVICE_SECS,34.025,222.300,418.850,39.775,0.000,23.734,35.964,217.998,3.500,0.000,16.097,1593.948,13711.994,552.334,2647.560,791.271,33.378,1662.492,0.000,2660.104,0.000,0.537,0.000
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$SENSOR_SECS,484.282,382.625,485.803,984.817,1302.074,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355900
$DATA_FILE_SIZE,57423,711
$CAP_FILE_SIZE,189237,0
$CFSIZE,260165632,147427328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020813,052305,2318.257,-15749.576,27,2.0,27,10.2