version: 66.06
glider: 148
mission: 12
dive: 450
start: 8 29 113 14 27 40
data:
$ID,148
$MISSION,12
$DIVE,450
$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,-1025075.1
$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,24
$R_STBD_OVSHOOT,117
$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
$GPS1,141153,2253.502,-15741.875,38,1.8,38,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-77.5
$GPS2,142648,2253.489,-15741.942,15,1.9,32,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.067,0.251
$KALMAN_X,-84576.9,-35.6,-149.6,115707.2,-433.8
$KALMAN_Y,-14555.9,-284.4,447.8,30139.9,-1789.5
$MHEAD_RNG_PITCHd_Wd,335.0,175543,-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,-67.18,0.000,2,0.000,0.000,412,1623,2934,0,0,0,0,0,0
$GC,91,-1.27,-146.0,3.2,-4.1,9,123,14.10,2.35,-8.27,0.000,4,0.146,0.035,3129,3081,3398,0,0,0,0,0,0
$GC,184,-1.08,-146.0,27.6,-17.7,22,194,0.17,2.50,0.00,0.000,6,0.076,0.033,3172,1571,3399,0,0,0,0,0,0
$GC,464,-0.90,-146.0,77.2,-17.0,48,469,0.17,2.35,0.00,0.000,4,0.097,0.044,3213,159,3399,0,0,0,0,0,0
$GC,497,-0.85,-146.0,83.1,-12.9,50,506,0.00,2.08,0.00,0.000,6,0.000,0.016,3213,1524,3399,0,0,0,0,0,0
$GC,766,-0.85,-146.0,106.8,-9.2,75,770,0.00,2.50,0.00,0.000,4,0.000,0.021,3212,3124,3400,0,0,0,0,0,0
$GC,804,-0.92,-146.0,110.6,-8.7,78,808,0.00,2.53,0.00,0.000,6,0.000,0.035,3212,1553,3400,0,0,0,0,0,0
$GC,1068,-0.92,-146.0,137.0,-10.5,102,1072,0.00,2.25,0.00,0.000,4,0.000,0.043,3214,172,3400,0,0,0,0,0,0
$GC,1095,-0.92,-146.0,140.3,-11.1,104,1099,0.00,2.10,0.00,0.000,6,0.000,0.017,3213,1579,3400,0,0,0,0,0,0
$GC,1363,-0.92,-146.0,165.0,-8.5,129,1367,0.00,2.38,0.00,0.000,4,0.000,0.021,3212,3106,3401,0,0,0,0,0,0
$GC,1413,-1.05,-146.0,168.5,-6.9,133,1418,0.12,2.47,0.00,0.000,6,0.060,0.028,3139,1572,3400,0,0,0,0,0,0
$GC,1678,-0.91,-146.0,200.0,-13.5,157,1680,0.32,0.00,0.00,0.000,6,0.079,0.000,3211,1573,3400,0,0,0,0,0,0
$GC,1920,-0.97,-146.0,224.2,-9.5,163,1925,0.00,2.45,0.00,0.000,4,0.000,0.022,3211,3116,3400,0,0,0,0,0,0
$GC,1958,-1.12,-146.0,227.8,-8.7,163,1965,0.20,2.47,0.00,0.000,6,0.041,0.028,3117,1579,3400,0,0,0,0,0,0
$GC,2209,-0.97,-146.0,258.2,-12.3,170,2214,0.32,2.30,0.00,0.000,4,0.079,0.042,3196,171,3400,0,0,0,0,0,0
$GC,2244,-0.97,-146.0,261.5,-8.3,170,2248,0.00,2.12,0.00,0.000,6,0.000,0.018,3196,1560,3401,0,0,0,0,0,0
$GC,2497,-1.02,-146.0,278.0,-6.6,176,2501,0.00,2.47,0.00,0.000,4,0.000,0.025,3194,3130,3399,0,0,0,0,0,0
$GC,2537,-1.15,-146.0,280.6,-5.8,176,2544,0.15,2.50,0.00,0.000,6,0.053,0.032,3122,1587,3399,0,0,0,0,0,0
$GC,2787,-1.03,-146.0,306.6,-10.9,183,2792,0.25,2.35,0.00,0.000,4,0.081,0.048,3184,161,3398,0,0,0,0,0,0
$GC,2821,-1.03,-146.0,310.2,-9.3,183,2825,0.00,2.20,0.00,0.000,6,0.000,0.020,3184,1576,3398,0,0,0,0,0,0
$GC,3073,-1.03,-146.0,331.4,-8.7,189,3077,0.00,2.47,0.00,0.000,4,0.000,0.028,3183,3134,3397,0,0,0,0,0,0
$GC,3120,-1.15,-146.0,335.7,-8.4,190,3125,0.10,2.53,0.00,0.000,6,0.072,0.035,3122,1591,3397,0,0,0,0,0,0
$GC,3404,-1.05,-146.0,370.8,-12.8,197,3406,0.25,0.00,0.00,0.000,6,0.081,0.000,3180,1592,3395,0,0,0,0,0,0
$GC,3649,-1.05,-146.0,394.8,-9.4,203,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1591,3393,0,0,0,0,0,0
$GC,3891,-1.10,-146.0,413.0,-7.1,209,3896,0.00,2.53,0.00,0.000,4,0.000,0.035,3179,3134,3391,0,0,0,0,0,0
$GC,3935,-1.23,-146.0,415.7,-6.5,210,3940,0.17,2.58,0.00,0.000,6,0.047,0.038,3106,1590,3392,0,0,0,0,0,0
$GC,4227,-1.12,-146.0,442.3,-9.5,217,4229,0.25,0.00,0.00,0.000,6,0.082,0.000,3163,1590,3389,0,0,0,0,0,0
$GC,4467,-1.12,-146.0,460.3,-7.3,223,4471,0.00,2.58,0.00,0.000,4,0.000,0.041,3162,3130,3388,0,0,0,0,0,0
$GC,4498,-1.19,-146.0,462.6,-7.7,223,4502,0.00,2.55,0.00,0.000,6,0.000,0.038,3162,1596,3388,0,0,0,0,0,0
$GC,4752,-1.19,-146.0,482.8,-8.1,230,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1596,3386,0,0,0,0,0,0
$GC,4998,-1.19,-146.0,502.0,-7.7,236,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1596,3384,0,0,0,0,0,0
$GC,5240,-1.19,-146.0,519.2,-6.9,242,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1596,3382,0,0,0,0,0,0
$GC,5485,-1.19,-146.0,535.5,-6.8,248,5490,0.00,2.60,0.00,0.000,4,0.000,0.047,3162,3129,3380,0,0,0,0,0,0
$GC,5523,-1.30,-146.0,538.2,-6.3,248,5530,0.15,2.58,0.00,0.000,6,0.054,0.049,3098,1602,3380,0,0,0,0,0,0
$GC,5773,-1.18,-146.0,564.1,-10.8,255,5775,0.22,0.00,0.00,0.000,6,0.087,0.000,3150,1602,3378,0,0,0,0,0,0
$GC,6021,-1.18,-146.0,583.9,-7.8,261,6026,0.00,2.55,0.00,0.000,4,0.000,0.045,3150,3128,3377,0,0,0,0,0,0
$GC,6040,-1.18,-146.0,585.8,-8.2,261,6045,0.00,2.58,0.00,0.000,6,0.000,0.044,3150,1603,3377,0,0,0,0,0,0
$GC,6305,-1.18,-146.0,603.3,-6.5,268,6309,0.00,2.53,0.00,0.000,4,0.000,0.078,3151,168,3375,0,0,0,0,0,0
$GC,6350,-1.18,-146.0,606.5,-7.2,269,6354,0.00,2.28,0.00,0.000,6,0.000,0.034,3150,1579,3374,0,0,0,0,0,0
$GC,6639,-1.18,-146.0,625.2,-6.8,276,6644,0.00,2.62,0.00,0.000,4,0.000,0.049,3151,3156,3373,0,0,0,0,0,0
$GC,6685,-1.26,-146.0,628.2,-6.6,277,6689,0.00,2.62,0.00,0.000,6,0.000,0.053,3150,1608,3373,0,0,0,0,0,0
$GC,6972,-1.26,-146.0,648.6,-7.2,284,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1607,3370,0,0,0,0,0,0
$GC,7216,-1.26,-146.0,667.4,-7.8,290,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1607,3369,0,0,0,0,0,0
$GC,7464,-1.26,-146.0,686.5,-7.9,296,7468,0.00,2.55,0.00,0.000,4,0.000,0.081,3150,167,3368,0,0,0,0,0,0
$GC,7480,-1.26,-146.0,688.2,-7.9,296,7484,0.00,2.38,0.00,0.000,6,0.000,0.035,3150,1615,3369,0,0,0,0,0,0
$GC,7749,-1.26,-146.0,707.9,-7.2,303,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1615,3367,0,0,0,0,0,0
$GC,7992,-1.26,-146.0,725.3,-7.1,309,7993,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1615,3366,0,0,0,0,0,0
$GC,8240,-1.26,-146.0,743.6,-7.7,315,8244,0.00,2.58,0.00,0.000,4,0.000,0.077,3150,162,3365,0,0,0,0,0,0
$GC,8273,-1.26,-146.0,746.6,-8.3,315,8277,0.00,2.38,0.00,0.000,6,0.000,0.037,3150,1614,3365,0,0,0,0,0,0
$GC,8525,-1.26,-146.0,765.8,-7.6,321,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1615,3363,0,0,0,0,0,0
$GC,8769,-1.26,-146.0,783.5,-7.1,327,8773,0.00,2.62,0.00,0.000,4,0.000,0.053,3150,3163,3363,0,0,0,0,0,0
$GC,8788,-1.31,-146.0,785.0,-7.2,327,8794,0.12,2.65,0.00,0.000,6,0.065,0.049,3096,1613,3362,0,0,0,0,0,0
$GC,9054,-1.23,-146.0,808.1,-8.7,334,9059,0.20,2.58,0.00,0.000,4,0.090,0.081,3141,165,3361,0,0,0,0,0,0
$GC,9103,-1.23,-146.0,811.7,-6.8,335,9108,0.00,2.38,0.00,0.000,6,0.000,0.036,3140,1611,3361,0,0,0,0,0,0
$GC,9388,-1.23,-146.0,827.7,-5.6,342,9392,0.00,2.60,0.00,0.000,4,0.000,0.053,3141,3160,3360,0,0,0,0,0,0
$GC,9414,-1.28,-146.0,829.2,-6.9,342,9418,0.00,2.62,0.00,0.000,6,0.000,0.049,3140,1607,3360,0,0,0,0,0,0
$GC,9673,-1.28,-146.0,845.3,-6.5,349,9678,0.00,2.55,0.00,0.000,4,0.000,0.082,3141,166,3359,0,0,0,0,0,0
$GC,9711,-1.28,-146.0,848.3,-8.2,349,9716,0.00,2.38,0.00,0.000,6,0.000,0.037,3141,1608,3359,0,0,0,0,0,0
$GC,9966,-1.28,-146.0,866.4,-7.3,356,9970,0.00,2.60,0.00,0.000,4,0.000,0.054,3141,3155,3359,0,0,0,0,0,0
$GC,9994,-1.34,-146.0,868.9,-7.6,356,10000,0.10,2.65,0.00,0.000,6,0.077,0.050,3094,1604,3359,0,0,0,0,0,0
$GC,10250,-1.27,-146.0,891.4,-8.7,363,10256,0.17,2.58,0.00,0.000,4,0.093,0.083,3134,162,3358,0,0,0,0,0,0
$GC,10297,-1.27,-146.0,895.1,-8.4,364,10301,0.00,2.40,0.00,0.000,6,0.000,0.038,3133,1616,3357,0,0,0,0,0,0
$STATE,10380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10380,begin apogee
$GC,10387,-0.31,0.0,901.0,6.7,366,10510,0.90,0.00,120.25,1.149,6,0.068,0.000,3341,1342,2800,0,0,0,0,0,0
$STATE,10511,end apogee,CONTROL_FINISHED_OK
$STATE,10511,begin climb
$GC,10516,1.27,146.0,903.7,0.0,369,10657,1.42,2.17,131.68,1.129,4,0.029,0.080,3694,180,2203,0,0,0,0,0,0
$GC,10807,0.98,146.0,875.6,15.8,375,10812,0.35,1.95,0.00,0.000,6,0.108,0.032,3623,1362,2196,0,0,0,0,0,0
$GC,11067,0.90,148.5,848.8,9.9,382,11071,0.00,2.12,0.00,0.000,4,0.000,0.074,3623,172,2192,0,0,0,0,0,0
$GC,11092,0.78,148.5,846.2,10.5,382,11097,0.20,1.95,0.00,0.000,6,0.106,0.033,3581,1355,2192,0,0,0,0,0,0
$GC,11352,0.85,205.6,826.1,7.4,389,11413,0.00,2.20,53.83,1.074,4,0.000,0.074,3581,176,1962,0,0,0,0,0,0
$GC,11424,0.88,235.7,820.3,8.6,390,11461,0.00,1.98,30.15,1.039,6,0.000,0.032,3580,1360,1839,0,0,0,0,0,0
$GC,11732,0.95,249.8,792.2,9.3,398,11753,0.15,2.78,13.52,0.965,4,0.059,0.053,3633,2931,1780,0,0,0,0,0,0
$GC,11783,0.95,249.8,785.8,12.3,399,11788,0.00,2.72,0.00,0.000,6,0.000,0.050,3633,1365,1776,0,0,0,0,0,0
$GC,12069,0.95,249.8,747.0,13.9,406,12070,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1365,1775,0,0,0,0,0,0
$GC,12309,0.95,249.8,713.7,13.5,412,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1365,1773,0,0,0,0,0,0
$GC,12555,0.95,249.8,680.7,13.7,418,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1365,1773,0,0,0,0,0,0
$GC,12797,0.95,249.8,648.3,13.2,424,12801,0.00,2.67,0.00,0.000,4,0.000,0.046,3633,2936,1772,0,0,0,0,0,0
$GC,12834,0.95,249.8,643.4,12.0,424,12840,0.00,2.72,0.00,0.000,6,0.000,0.051,3633,1357,1770,0,0,0,0,0,0
$GC,13087,0.95,249.8,611.6,12.7,431,13091,0.00,2.70,0.00,0.000,4,0.000,0.049,3633,2940,1770,0,0,0,0,0,0
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$STATE,18475,end climb,SURFACE_DEPTH_REACHED
$STATE,18475,begin surface coast
$FINISH,1.0,1.023296
$STATE,18517,end surface coast,CONTROL_FINISHED_OK
$STATE,18517,begin surface
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$TT8_MAMPS,0.027612
$HUMID,68.27
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,15
$24V_AH,23.0,66.390
$10V_AH,9.7,64.205
$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
$DEVICE_SECS,34.625,199.450,422.525,39.000,0.000,83.861,114.025,371.230,3.750,0.000,33.999,1530.071,13751.731,552.395,2548.514,1081.221,33.373,1617.993,0.000,2523.778,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,474.886,364.531,467.247,958.592,1261.575,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,57409,698
$CAP_FILE_SIZE,186448,0
$CFSIZE,260165632,138031104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290813,193853,2255.031,-15743.128,30,1.3,47,10.1