version: 66.06
glider: 148
mission: 12
dive: 449
start: 8 29 113 8 58 0
data:
$ID,148
$MISSION,12
$DIVE,449
$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,660
$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,-1025040.4
$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,3410
$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,1355
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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
$GPS1,084205,2251.565,-15740.065,32,0.9,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.5
$GPS2,085706,2251.538,-15740.111,13,1.6,18,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.105,0.238
$KALMAN_X,-83315.4,-91.6,-127.0,117603.7,-672.4
$KALMAN_Y,-13330.9,48.2,-457.2,25873.8,-58.7
$MHEAD_RNG_PITCHd_Wd,326.1,180230,-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,-67.78,0.000,2,0.000,0.000,411,1677,2900,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.1,-3.7,9,123,14.15,2.40,-9.12,0.000,4,0.147,0.033,3128,3169,3397,0,0,0,0,0,0
$GC,217,-1.12,-146.0,32.3,-16.6,27,226,0.12,2.65,0.00,0.000,6,0.077,0.032,3161,1572,3397,0,0,0,0,0,0
$GC,486,-0.93,-146.0,78.4,-14.4,52,491,0.20,2.33,0.00,0.000,4,0.093,0.041,3207,165,3398,0,0,0,0,0,0
$GC,520,-0.88,-146.0,84.0,-11.3,54,529,0.00,2.22,0.00,0.000,6,0.000,0.017,3207,1613,3397,0,0,0,0,0,0
$GC,788,-0.88,-146.0,106.4,-8.3,79,792,0.00,2.35,0.00,0.000,4,0.000,0.021,3208,3127,3398,0,0,0,0,0,0
$GC,824,-0.97,-146.0,109.5,-6.6,82,829,0.00,2.55,0.00,0.000,6,0.000,0.028,3207,1554,3398,0,0,0,0,0,0
$GC,1087,-0.97,-146.0,132.7,-10.0,106,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1554,3399,0,0,0,0,0,0
$GC,1345,-0.97,-146.0,157.7,-8.4,130,1349,0.00,2.47,0.00,0.000,4,0.000,0.022,3207,3125,3399,0,0,0,0,0,0
$GC,1374,-1.02,-146.0,160.4,-7.5,132,1383,0.00,2.58,0.00,0.000,6,0.000,0.028,3207,1553,3398,0,0,0,0,0,0
$GC,1642,-1.02,-146.0,180.3,-7.9,157,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1553,3399,0,0,0,0,0,0
$GC,1912,-1.02,-146.0,203.9,-8.3,180,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1553,3398,0,0,0,0,0,0
$GC,2160,-1.02,-146.0,224.6,-8.5,186,2164,0.00,2.47,0.00,0.000,4,0.000,0.022,3207,3124,3398,0,0,0,0,0,0
$GC,2189,-1.13,-146.0,227.6,-8.2,186,2194,0.17,2.55,0.00,0.000,6,0.048,0.028,3121,1557,3398,0,0,0,0,0,0
$GC,2444,-0.98,-146.0,261.0,-13.5,193,2449,0.30,2.25,0.00,0.000,4,0.081,0.043,3191,172,3398,0,0,0,0,0,0
$GC,2503,-1.05,-146.0,266.7,-8.3,194,2507,0.00,2.10,0.00,0.000,6,0.000,0.018,3191,1561,3398,0,0,0,0,0,0
$GC,2779,-1.05,-146.0,288.5,-8.1,201,2783,0.00,2.47,0.00,0.000,4,0.000,0.025,3191,3131,3397,0,0,0,0,0,0
$GC,2818,-1.18,-146.0,291.9,-8.4,201,2825,0.15,2.58,0.00,0.000,6,0.052,0.031,3114,1558,3397,0,0,0,0,0,0
$GC,3069,-1.04,-146.0,321.7,-12.1,208,3074,0.28,2.33,0.00,0.000,4,0.082,0.048,3180,168,3396,0,0,0,0,0,0
$GC,3093,-1.04,-146.0,324.2,-9.7,208,3097,0.00,2.15,0.00,0.000,6,0.000,0.020,3181,1560,3396,0,0,0,0,0,0
$GC,3359,-1.04,-146.0,343.2,-7.2,215,3363,0.00,2.53,0.00,0.000,4,0.000,0.030,3180,3138,3394,0,0,0,0,0,0
$GC,3405,-1.15,-146.0,346.5,-7.4,216,3409,0.00,2.60,0.00,0.000,6,0.000,0.036,3180,1566,3394,0,0,0,0,0,0
$GC,3692,-1.15,-146.0,369.5,-8.2,223,3697,0.00,2.55,0.00,0.000,4,0.000,0.034,3180,3134,3391,0,0,0,0,0,0
$GC,3728,-1.25,-146.0,372.6,-8.7,223,3733,0.17,2.60,0.00,0.000,6,0.047,0.044,3106,1574,3391,0,0,0,0,0,0
$GC,3978,-1.12,-146.0,405.2,-13.4,229,3983,0.25,2.38,0.00,0.000,4,0.086,0.059,3166,168,3390,0,0,0,0,0,0
$GC,4013,-1.12,-146.0,409.2,-10.3,229,4017,0.00,2.17,0.00,0.000,6,0.000,0.024,3166,1563,3390,0,0,0,0,0,0
$GC,4263,-1.12,-146.0,431.6,-8.6,235,4268,0.00,2.58,0.00,0.000,4,0.000,0.037,3166,3137,3388,0,0,0,0,0,0
$GC,4287,-1.17,-146.0,433.6,-8.8,235,4292,0.00,2.58,0.00,0.000,6,0.000,0.043,3168,1570,3388,0,0,0,0,0,0
$GC,4549,-1.17,-146.0,451.5,-6.6,242,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1570,3386,0,0,0,0,0,0
$GC,4790,-1.17,-146.0,465.9,-6.0,248,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1570,3385,0,0,0,0,0,0
$GC,5034,-1.17,-146.0,484.3,-7.9,254,5039,0.00,2.60,0.00,0.000,4,0.000,0.043,3166,3135,3383,0,0,0,0,0,0
$GC,5063,-1.26,-146.0,486.8,-8.2,254,5068,0.12,2.58,0.00,0.000,6,0.062,0.039,3107,1576,3383,0,0,0,0,0,0
$GC,5323,-1.16,-146.0,516.7,-12.1,261,5328,0.22,2.45,0.00,0.000,4,0.088,0.071,3158,170,3381,0,0,0,0,0,0
$GC,5356,-1.16,-146.0,521.3,-11.5,261,5361,0.00,2.25,0.00,0.000,6,0.000,0.031,3158,1560,3381,0,0,0,0,0,0
$GC,5608,-1.16,-146.0,544.9,-9.3,267,5613,0.00,2.65,0.00,0.000,4,0.000,0.047,3158,3158,3379,0,0,0,0,0,0
$GC,5647,-1.26,-146.0,548.5,-8.9,267,5652,0.00,2.65,0.00,0.000,6,0.000,0.043,3158,1581,3379,0,0,0,0,0,0
$GC,5899,-1.26,-146.0,569.2,-8.0,274,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1581,3377,0,0,0,0,0,0
$GC,6140,-1.26,-146.0,587.1,-7.3,280,6145,0.00,2.65,0.00,0.000,4,0.000,0.045,3157,3150,3376,0,0,0,0,0,0
$GC,6176,-1.35,-146.0,589.7,-7.2,280,6187,0.17,2.67,0.00,0.000,6,0.051,0.046,3088,1574,3376,0,0,0,0,0,0
$GC,6429,-1.23,-146.0,615.4,-10.5,287,6431,0.25,0.00,0.00,0.000,6,0.087,0.000,3143,1574,3373,0,0,0,0,0,0
$GC,6674,-1.23,-146.0,635.4,-7.9,293,6679,0.00,2.65,0.00,0.000,4,0.000,0.048,3144,3151,3372,0,0,0,0,0,0
$GC,6698,-1.23,-146.0,637.5,-9.2,293,6703,0.00,2.65,0.00,0.000,6,0.000,0.048,3143,1589,3372,0,0,0,0,0,0
$GC,6958,-1.23,-146.0,657.3,-7.5,300,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1590,3370,0,0,0,0,0,0
$GC,7204,-1.23,-146.0,673.6,-6.7,306,7208,0.00,2.65,0.00,0.000,4,0.000,0.048,3144,3150,3369,0,0,0,0,0,0
$GC,7231,-1.23,-146.0,675.3,-6.7,306,7236,0.00,2.65,0.00,0.000,6,0.000,0.048,3143,1587,3369,0,0,0,0,0,0
$GC,7491,-1.23,-146.0,693.0,-6.9,313,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1587,3367,0,0,0,0,0,0
$GC,7735,-1.23,-146.0,711.6,-7.8,319,7739,0.00,2.53,0.00,0.000,4,0.000,0.084,3144,168,3366,0,0,0,0,0,0
$GC,7760,-1.23,-146.0,713.7,-9.1,319,7765,0.00,2.35,0.00,0.000,6,0.000,0.036,3143,1600,3366,0,0,0,0,0,0
$GC,8022,-1.23,-146.0,735.5,-8.4,326,8027,0.00,2.62,0.00,0.000,4,0.000,0.054,3144,3163,3364,0,0,0,0,0,0
$GC,8046,-1.27,-146.0,737.8,-9.1,326,8051,0.00,2.67,0.00,0.000,6,0.000,0.048,3144,1595,3365,0,0,0,0,0,0
$GC,8308,-1.27,-146.0,758.1,-7.8,333,8312,0.00,2.53,0.00,0.000,4,0.000,0.082,3144,168,3363,0,0,0,0,0,0
$GC,8336,-1.27,-146.0,760.6,-7.9,333,8340,0.00,2.35,0.00,0.000,6,0.000,0.038,3143,1599,3363,0,0,0,0,0,0
$GC,8591,-1.27,-146.0,779.4,-7.2,340,8595,0.00,2.62,0.00,0.000,4,0.000,0.054,3144,3155,3362,0,0,0,0,0,0
$GC,8631,-1.36,-146.0,782.1,-6.6,340,8639,0.10,2.67,0.00,0.000,6,0.032,0.050,3092,1609,3362,0,0,0,0,0,0
$GC,8882,-1.27,-146.0,804.6,-9.0,347,8887,0.17,2.55,0.00,0.000,4,0.097,0.081,3131,166,3361,0,0,0,0,0,0
$GC,8945,-1.27,-146.0,809.8,-8.4,348,8949,0.00,2.33,0.00,0.000,6,0.000,0.037,3131,1595,3360,0,0,0,0,0,0
$GC,9218,-1.27,-146.0,828.8,-6.9,355,9222,0.00,2.62,0.00,0.000,4,0.000,0.054,3131,3153,3359,0,0,0,0,0,0
$GC,9246,-1.27,-146.0,831.0,-7.3,355,9251,0.00,2.67,0.00,0.000,6,0.000,0.048,3131,1590,3359,0,0,0,0,0,0
$GC,9503,-1.27,-146.0,850.1,-7.7,362,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3359,0,0,0,0,0,0
$GC,9745,-1.27,-146.0,868.8,-7.6,368,9746,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3357,0,0,0,0,0,0
$GC,9989,-1.27,-146.0,887.3,-7.5,374,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1589,3357,0,0,0,0,0,0
$STATE,10189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10189,begin apogee
$GC,10198,-0.31,0.0,902.1,7.4,379,10321,0.93,0.00,119.97,1.149,6,0.069,0.000,3343,1353,2800,0,0,0,0,0,0
$STATE,10322,end apogee,CONTROL_FINISHED_OK
$STATE,10322,begin climb
$GC,10325,1.27,146.0,906.2,0.0,382,10466,1.42,2.20,131.40,1.130,4,0.032,0.084,3691,168,2202,0,0,0,0,0,0
$GC,10635,0.99,146.0,877.5,15.2,389,10640,0.30,2.00,0.00,0.000,6,0.113,0.031,3628,1379,2196,0,0,0,0,0,0
$GC,10927,0.90,146.0,847.4,10.2,396,10931,0.00,2.17,0.00,0.000,4,0.000,0.074,3629,167,2191,0,0,0,0,0,0
$GC,10970,0.75,146.0,841.8,12.3,397,10975,0.25,1.98,0.00,0.000,6,0.104,0.032,3576,1366,2191,0,0,0,0,0,0
$GC,11259,0.80,180.9,817.6,8.4,404,11296,0.00,0.00,31.40,1.056,6,0.000,0.000,3576,1366,2061,0,0,0,0,0,0
$GC,11543,0.81,190.4,791.0,9.6,411,11560,0.00,2.25,9.57,0.927,4,0.000,0.075,3575,162,2023,0,0,0,0,0,0
$GC,11583,0.81,190.4,786.3,11.7,411,11589,0.00,1.98,0.00,0.000,6,0.000,0.033,3575,1352,2023,0,0,0,0,0,0
$GC,11836,0.86,197.4,762.0,9.7,418,11850,0.10,2.72,7.68,0.871,4,0.079,0.053,3617,2935,1995,0,0,0,0,0,0
$GC,11864,0.87,200.0,758.6,9.9,418,11878,0.00,2.75,4.10,0.657,6,0.000,0.050,3617,1356,1984,0,0,0,0,0,0
$GC,12121,0.87,200.0,728.2,11.8,425,12125,0.00,2.15,0.00,0.000,4,0.000,0.087,3617,160,1982,0,0,0,0,0,0
$GC,12138,0.81,200.0,726.4,11.9,425,12142,0.15,1.98,0.00,0.000,6,0.110,0.031,3586,1363,1982,0,0,0,0,0,0
$GC,12411,0.81,200.0,697.4,10.3,432,12412,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,1364,1981,0,0,0,0,0,0
$GC,12655,0.82,210.4,673.8,9.5,438,12671,0.00,2.20,11.10,0.902,4,0.000,0.074,3586,167,1942,0,0,0,0,0,0
$GC,12697,0.82,210.4,669.6,10.5,438,12702,0.00,1.98,0.00,0.000,6,0.000,0.033,3586,1360,1942,0,0,0,0,0,0
$GC,12947,0.91,244.1,647.9,8.4,445,12992,0.10,2.72,33.17,0.969,4,0.080,0.051,3626,2932,1802,0,0,0,0,0,0
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$STATE,18654,end climb,SURFACE_DEPTH_REACHED
$STATE,18655,begin surface coast
$FINISH,0.9,1.022481
$STATE,18698,end surface coast,CONTROL_FINISHED_OK
$STATE,18699,begin surface
$SM_CCo,18722,29.20,0.416,0,0,1209,390.03
$SM_GC,1.98,0.00,0.00,29.20,0.000,0.000,0.416,413,1623,1209,-13.79,1.50,390.03
$IRIDIUM_FIX,2244.02,-15738.46,231102,080824
$TT8_MAMPS,0.027612
$HUMID,68.15
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,16
$24V_AH,23.0,66.231
$10V_AH,9.7,64.055
$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,34.150,222.200,430.850,29.200,0.000,84.784,124.941,381.213,4.000,0.000,19.862,1569.206,13745.524,573.230,2637.984,1116.363,33.373,1696.974,0.000,2636.419,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,86.671,1148.966,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.732,392.173,501.155,1003.820,1325.305,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,57408,726
$CAP_FILE_SIZE,191677,0
$CFSIZE,260165632,138108928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290813,141153,2253.502,-15741.875,38,1.8,38,10.1