version: 66.06
glider: 148
mission: 12
dive: 451
start: 8 29 113 19 46 31
data:
$ID,148
$MISSION,12
$DIVE,451
$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,-1025091.2
$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,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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,193853,2255.031,-15743.128,30,1.3,47,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-78.9
$GPS2,194537,2254.999,-15743.159,13,1.0,13,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.075,0.249
$KALMAN_X,-85804.8,-26.7,202.1,114495.6,-1551.7
$KALMAN_Y,-15457.7,-191.0,-468.9,34658.0,363.5
$MHEAD_RNG_PITCHd_Wd,333.2,172089,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-67.18,0.000,2,0.000,0.000,412,1671,2920,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.6,9,122,13.98,2.42,-8.68,0.000,4,0.143,0.033,3127,3177,3396,0,0,0,0,0,0
$GC,196,-1.10,-146.0,29.2,-18.8,24,205,0.15,2.67,0.00,0.000,6,0.079,0.032,3165,1575,3397,0,0,0,0,0,0
$GC,465,-0.93,-146.0,75.7,-12.7,49,470,0.20,2.30,0.00,0.000,4,0.094,0.048,3212,168,3397,0,0,0,0,0,0
$GC,507,-0.93,-146.0,81.4,-11.1,52,511,0.00,2.20,0.00,0.000,6,0.000,0.017,3212,1619,3397,0,0,0,0,0,0
$GC,780,-0.93,-146.0,104.1,-8.5,77,784,0.00,2.35,0.00,0.000,4,0.000,0.021,3212,3128,3398,0,0,0,0,0,0
$GC,829,-1.05,-146.0,108.4,-7.3,81,834,0.12,2.55,0.00,0.000,6,0.060,0.028,3141,1558,3398,0,0,0,0,0,0
$GC,1097,-0.88,-146.0,143.4,-14.4,105,1103,0.30,0.00,0.00,0.000,6,0.083,0.000,3213,1558,3399,0,0,0,0,0,0
$GC,1364,-0.88,-146.0,169.6,-9.2,130,1368,0.00,2.45,0.00,0.000,4,0.000,0.021,3213,3120,3399,0,0,0,0,0,0
$GC,1391,-0.95,-146.0,172.1,-8.8,132,1395,0.00,2.50,0.00,0.000,6,0.000,0.028,3213,1575,3399,0,0,0,0,0,0
$GC,1654,-0.95,-146.0,193.2,-7.8,156,1658,0.00,2.30,0.00,0.000,4,0.000,0.044,3213,165,3399,0,0,0,0,0,0
$GC,1680,-0.95,-146.0,195.6,-8.9,158,1684,0.00,2.12,0.00,0.000,6,0.000,0.018,3213,1597,3399,0,0,0,0,0,0
$GC,1945,-0.95,-146.0,215.5,-7.4,168,1949,0.00,2.35,0.00,0.000,4,0.000,0.021,3213,3110,3399,0,0,0,0,0,0
$GC,1978,-1.08,-146.0,217.9,-5.8,168,1983,0.17,2.47,0.00,0.000,6,0.045,0.028,3126,1578,3399,0,0,0,0,0,0
$GC,2228,-0.93,-146.0,248.5,-12.9,174,2233,0.32,2.30,0.00,0.000,4,0.080,0.042,3203,165,3399,0,0,0,0,0,0
$GC,2269,-0.99,-146.0,252.8,-10.3,174,2274,0.00,2.12,0.00,0.000,6,0.000,0.018,3202,1580,3399,0,0,0,0,0,0
$GC,2524,-1.04,-146.0,277.0,-9.7,181,2528,0.00,2.42,0.00,0.000,4,0.000,0.023,3202,3127,3399,0,0,0,0,0,0
$GC,2559,-1.16,-146.0,280.3,-8.7,181,2564,0.17,2.50,0.00,0.000,6,0.046,0.028,3117,1590,3399,0,0,0,0,0,0
$GC,2809,-1.01,-146.0,309.3,-11.5,187,2814,0.30,2.35,0.00,0.000,4,0.080,0.045,3188,172,3398,0,0,0,0,0,0
$GC,2833,-1.01,-146.0,311.9,-9.2,187,2837,0.00,2.15,0.00,0.000,6,0.000,0.019,3188,1582,3398,0,0,0,0,0,0
$GC,3095,-1.06,-146.0,329.1,-6.6,194,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1585,3397,0,0,0,0,0,0
$GC,3337,-1.10,-146.0,345.6,-6.9,200,3341,0.00,2.38,0.00,0.000,4,0.000,0.051,3188,172,3396,0,0,0,0,0,0
$GC,3361,-1.15,-146.0,347.5,-8.0,200,3366,0.12,2.20,0.00,0.000,6,0.061,0.024,3121,1583,3396,0,0,0,0,0,0
$GC,3623,-1.05,-146.0,376.7,-11.4,207,3628,0.25,2.50,0.00,0.000,4,0.081,0.030,3180,3140,3395,0,0,0,0,0,0
$GC,3652,-1.12,-146.0,379.6,-7.7,207,3657,0.00,2.58,0.00,0.000,6,0.000,0.037,3180,1576,3395,0,0,0,0,0,0
$GC,3910,-1.17,-146.0,397.1,-6.7,214,3914,0.12,2.42,0.00,0.000,4,0.063,0.061,3119,164,3393,0,0,0,0,0,0
$GC,3934,-1.08,-146.0,399.5,-9.4,214,3939,0.25,2.20,0.00,0.000,6,0.082,0.024,3175,1571,3393,0,0,0,0,0,0
$GC,4197,-1.08,-146.0,418.0,-7.0,221,4201,0.00,2.55,0.00,0.000,4,0.000,0.035,3175,3146,3391,0,0,0,0,0,0
$GC,4232,-1.19,-146.0,420.6,-6.5,221,4238,0.12,2.60,0.00,0.000,6,0.061,0.038,3114,1581,3391,0,0,0,0,0,0
$GC,4483,-1.10,-146.0,447.4,-11.3,227,4488,0.25,2.42,0.00,0.000,4,0.081,0.071,3175,165,3390,0,0,0,0,0,0
$GC,4512,-1.10,-146.0,450.5,-9.6,227,4516,0.00,2.22,0.00,0.000,6,0.000,0.026,3175,1578,3389,0,0,0,0,0,0
$GC,4767,-1.15,-146.0,471.4,-8.2,234,4771,0.00,2.55,0.00,0.000,4,0.000,0.039,3174,3144,3388,0,0,0,0,0,0
$GC,4800,-1.25,-146.0,474.3,-8.2,234,4805,0.15,2.60,0.00,0.000,6,0.054,0.038,3109,1582,3388,0,0,0,0,0,0
$GC,5052,-1.15,-146.0,502.3,-11.4,240,5054,0.22,0.00,0.00,0.000,6,0.085,0.000,3158,1582,3386,0,0,0,0,0,0
$GC,5297,-1.15,-146.0,523.2,-8.5,246,5301,0.00,2.47,0.00,0.000,4,0.000,0.074,3159,165,3384,0,0,0,0,0,0
$GC,5320,-1.15,-146.0,525.7,-9.6,246,5325,0.00,2.28,0.00,0.000,6,0.000,0.031,3159,1585,3384,0,0,0,0,0,0
$GC,5582,-1.15,-146.0,545.1,-7.4,253,5586,0.00,2.58,0.00,0.000,4,0.000,0.044,3159,3151,3382,0,0,0,0,0,0
$GC,5610,-1.22,-146.0,547.4,-7.1,253,5615,0.00,2.62,0.00,0.000,6,0.000,0.043,3158,1591,3382,0,0,0,0,0,0
$GC,5866,-1.22,-146.0,566.6,-7.8,260,5870,0.00,2.47,0.00,0.000,4,0.000,0.076,3159,168,3381,0,0,0,0,0,0
$GC,5917,-1.22,-146.0,570.9,-9.0,261,5921,0.00,2.28,0.00,0.000,6,0.000,0.031,3158,1587,3380,0,0,0,0,0,0
$GC,6209,-1.22,-146.0,594.6,-7.9,268,6213,0.00,2.60,0.00,0.000,4,0.000,0.044,3158,3150,3378,0,0,0,0,0,0
$GC,6247,-1.32,-146.0,597.7,-7.2,268,6253,0.15,2.65,0.00,0.000,6,0.056,0.046,3095,1585,3378,0,0,0,0,0,0
$GC,6501,-1.21,-146.0,623.1,-10.3,275,6503,0.22,0.00,0.00,0.000,6,0.086,0.000,3146,1585,3377,0,0,0,0,0,0
$GC,6742,-1.21,-146.0,641.4,-7.4,281,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1585,3375,0,0,0,0,0,0
$GC,6984,-1.21,-146.0,658.3,-6.8,287,6989,0.00,2.62,0.00,0.000,4,0.000,0.047,3146,3149,3373,0,0,0,0,0,0
$GC,7010,-1.21,-146.0,660.1,-7.9,287,7014,0.00,2.65,0.00,0.000,6,0.000,0.047,3146,1592,3373,0,0,0,0,0,0
$GC,7270,-1.21,-146.0,677.6,-7.0,294,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1592,3372,0,0,0,0,0,0
$GC,7513,-1.21,-146.0,694.5,-7.1,300,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1592,3371,0,0,0,0,0,0
$GC,7759,-1.21,-146.0,713.4,-7.9,306,7764,0.00,2.53,0.00,0.000,4,0.000,0.084,3146,169,3370,0,0,0,0,0,0
$GC,7785,-1.21,-146.0,715.9,-9.5,306,7789,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1600,3368,0,0,0,0,0,0
$GC,8047,-1.21,-146.0,737.2,-8.2,313,8051,0.00,2.62,0.00,0.000,4,0.000,0.051,3146,3154,3368,0,0,0,0,0,0
$GC,8076,-1.27,-146.0,739.9,-8.7,313,8080,0.00,2.65,0.00,0.000,6,0.000,0.048,3146,1598,3368,0,0,0,0,0,0
$GC,8333,-1.27,-146.0,760.9,-8.2,320,8337,0.00,2.55,0.00,0.000,4,0.000,0.083,3146,162,3367,0,0,0,0,0,0
$GC,8356,-1.27,-146.0,763.4,-9.7,320,8361,0.00,2.35,0.00,0.000,6,0.000,0.035,3146,1605,3366,0,0,0,0,0,0
$GC,8616,-1.27,-146.0,784.4,-8.2,327,8620,0.00,2.62,0.00,0.000,4,0.000,0.052,3146,3159,3366,0,0,0,0,0,0
$GC,8637,-1.27,-146.0,786.0,-8.1,327,8641,0.00,2.67,0.00,0.000,6,0.000,0.048,3146,1590,3365,0,0,0,0,0,0
$GC,8901,-1.27,-146.0,806.2,-7.5,334,8905,0.00,2.53,0.00,0.000,4,0.000,0.082,3146,168,3364,0,0,0,0,0,0
$GC,8929,-1.27,-146.0,808.6,-8.8,334,8934,0.00,2.35,0.00,0.000,6,0.000,0.036,3146,1608,3364,0,0,0,0,0,0
$GC,9189,-1.27,-146.0,826.7,-6.9,341,9193,0.00,2.60,0.00,0.000,4,0.000,0.052,3146,3161,3363,0,0,0,0,0,0
$GC,9219,-1.34,-146.0,829.0,-7.8,341,9224,0.12,2.67,0.00,0.000,6,0.064,0.050,3093,1596,3363,0,0,0,0,0,0
$GC,9477,-1.26,-146.0,852.9,-9.7,348,9482,0.20,2.55,0.00,0.000,4,0.090,0.081,3138,164,3362,0,0,0,0,0,0
$GC,9534,-1.26,-146.0,858.7,-9.7,349,9538,0.00,2.35,0.00,0.000,6,0.000,0.037,3139,1595,3362,0,0,0,0,0,0
$GC,9815,-1.26,-146.0,881.0,-8.1,356,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1595,3361,0,0,0,0,0,0
$STATE,10053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10053,begin apogee
$GC,10062,-0.31,0.0,900.6,8.0,362,10186,0.88,0.00,120.95,1.149,6,0.068,0.000,3342,1348,2800,0,0,0,0,0,0
$STATE,10187,end apogee,CONTROL_FINISHED_OK
$STATE,10187,begin climb
$GC,10189,1.27,146.0,905.0,0.0,365,10331,1.45,2.15,131.68,1.132,4,0.028,0.080,3694,170,2202,0,0,0,0,0,0
$GC,10415,0.98,146.0,889.0,14.3,370,10420,0.32,1.98,0.00,0.000,6,0.108,0.032,3627,1361,2198,0,0,0,0,0,0
$GC,10677,0.89,146.0,860.9,10.7,377,10681,0.00,2.12,0.00,0.000,4,0.000,0.074,3627,168,2192,0,0,0,0,0,0
$GC,10761,0.75,146.0,850.8,12.7,378,10765,0.25,1.95,0.00,0.000,6,0.100,0.031,3574,1350,2193,0,0,0,0,0,0
$GC,11010,0.79,177.9,829.0,8.5,384,11044,0.00,2.15,28.38,1.052,4,0.000,0.073,3574,170,2075,0,0,0,0,0,0
$GC,11056,0.84,217.7,825.1,8.2,385,11100,0.00,1.98,38.92,1.055,6,0.000,0.031,3574,1356,1912,0,0,0,0,0,0
$GC,11385,0.91,229.1,793.0,9.5,393,11402,0.15,2.75,11.18,0.940,4,0.059,0.051,3627,2933,1866,0,0,0,0,0,0
$GC,11421,0.91,229.1,788.5,10.6,393,11427,0.00,2.75,0.00,0.000,6,0.000,0.050,3627,1361,1863,0,0,0,0,0,0
$GC,11671,0.86,229.1,759.5,11.5,400,11673,0.15,0.00,0.00,0.000,6,0.109,0.000,3596,1361,1861,0,0,0,0,0,0
$GC,11921,0.86,229.1,734.9,10.0,406,11925,0.00,2.67,0.00,0.000,4,0.000,0.047,3596,2938,1860,0,0,0,0,0,0
$GC,11949,0.94,243.6,731.5,9.3,406,11970,0.00,2.72,14.43,0.955,6,0.000,0.051,3596,1354,1806,0,0,0,0,0,0
$GC,12256,0.94,243.6,700.3,10.4,414,12257,0.00,0.00,0.00,0.000,6,0.000,0.000,3596,1354,1802,0,0,0,0,0,0
$GC,12496,0.94,243.6,675.3,10.3,420,12501,0.00,2.70,0.00,0.000,4,0.000,0.046,3596,2933,1802,0,0,0,0,0,0
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$STATE,18249,end climb,SURFACE_DEPTH_REACHED
$STATE,18249,begin surface coast
$FINISH,0.9,1.009113
$STATE,18289,end surface coast,CONTROL_FINISHED_OK
$STATE,18289,begin surface
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$TT8_MAMPS,0.027612
$HUMID,69.33
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.10
$XPDR_PINGS,7
$24V_AH,23.0,66.535
$10V_AH,9.8,64.350
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,35.350,206.675,438.050,29.825,0.000,23.060,33.881,184.740,1.750,0.000,15.469,1516.387,13455.914,544.079,2487.975,734.379,33.373,1597.744,0.000,2493.845,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,54113,694
$CAP_FILE_SIZE,177780,0
$CFSIZE,260165632,137969664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300813,005335,2257.164,-15744.614,36,1.8,36,10.1