version: 66.06
glider: 148
mission: 12
dive: 454
start: 8 30 113 12 8 49
data:
$ID,148
$MISSION,12
$DIVE,454
$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,-1025139.9
$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,32
$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
$GPS1,120005,2300.811,-15747.087,48,0.9,48,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-77.4
$GPS2,120755,2300.771,-15747.095,15,1.1,15,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.099,0.240
$KALMAN_X,-88496.5,-18.4,-159.8,110815.3,-517.7
$KALMAN_Y,-18722.6,-43.0,-121.5,48116.6,-442.6
$MHEAD_RNG_PITCHd_Wd,327.4,159505,-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,-67.05,0.000,2,0.000,0.000,410,1646,2948,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.7,-6.0,9,122,14.15,2.45,-7.85,0.000,4,0.146,0.035,3126,3169,3399,0,0,0,0,0,0
$GC,182,-1.09,-146.0,28.2,-16.9,22,192,0.17,2.67,0.00,0.000,6,0.076,0.032,3170,1565,3399,0,0,0,0,0,0
$GC,462,-0.98,-146.0,72.0,-12.4,48,467,0.12,2.55,0.00,0.000,4,0.109,0.022,3197,3169,3399,0,0,0,0,0,0
$GC,486,-0.93,-146.0,75.8,-11.2,49,495,0.00,2.62,0.00,0.000,6,0.000,0.028,3198,1572,3400,0,0,0,0,0,0
$GC,749,-0.93,-146.0,101.6,-10.1,74,754,0.00,2.53,0.00,0.000,4,0.000,0.022,3197,3175,3400,0,0,0,0,0,0
$GC,776,-0.93,-146.0,104.5,-10.0,76,781,0.00,2.58,0.00,0.000,6,0.000,0.035,3197,1587,3400,0,0,0,0,0,0
$GC,1039,-0.93,-146.0,130.7,-10.0,100,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1587,3401,0,0,0,0,0,0
$GC,1298,-0.93,-146.0,154.7,-9.0,124,1302,0.00,2.50,0.00,0.000,4,0.000,0.021,3197,3178,3401,0,0,0,0,0,0
$GC,1317,-0.93,-146.0,157.0,-8.8,125,1323,0.00,2.58,0.00,0.000,6,0.000,0.027,3197,1590,3402,0,0,0,0,0,0
$GC,1582,-0.93,-146.0,180.5,-9.5,150,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1591,3402,0,0,0,0,0,0
$GC,1852,-0.93,-146.0,204.1,-8.1,173,1856,0.00,2.47,0.00,0.000,4,0.000,0.022,3197,3168,3402,0,0,0,0,0,0
$GC,1878,-0.99,-146.0,206.1,-7.3,173,1882,0.00,2.55,0.00,0.000,6,0.000,0.028,3197,1598,3401,0,0,0,0,0,0
$GC,2137,-0.99,-146.0,227.1,-8.2,180,2141,0.00,2.38,0.00,0.000,4,0.000,0.046,3198,163,3402,0,0,0,0,0,0
$GC,2170,-0.99,-146.0,230.1,-8.6,180,2174,0.00,2.22,0.00,0.000,6,0.000,0.018,3198,1643,3402,0,0,0,0,0,0
$GC,2425,-1.03,-146.0,248.7,-7.4,186,2429,0.00,2.47,0.00,0.000,4,0.000,0.046,3198,162,3402,0,0,0,0,0,0
$GC,2453,-1.03,-146.0,251.6,-8.9,186,2457,0.00,2.22,0.00,0.000,6,0.000,0.018,3198,1628,3401,0,0,0,0,0,0
$GC,2708,-1.08,-146.0,273.1,-8.6,193,2710,0.10,0.00,0.00,0.000,6,0.075,0.000,3140,1630,3401,0,0,0,0,0,0
$GC,2953,-1.00,-146.0,301.7,-11.9,199,2955,0.22,0.00,0.00,0.000,6,0.080,0.000,3192,1630,3400,0,0,0,0,0,0
$GC,3195,-1.05,-146.0,321.2,-7.7,205,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1630,3399,0,0,0,0,0,0
$GC,3443,-1.11,-146.0,338.5,-7.1,211,3448,0.10,2.47,0.00,0.000,4,0.076,0.051,3136,165,3398,0,0,0,0,0,0
$GC,3474,-1.02,-146.0,341.8,-10.9,211,3479,0.22,2.25,0.00,0.000,6,0.084,0.021,3187,1604,3398,0,0,0,0,0,0
$GC,3730,-1.07,-146.0,359.6,-6.7,218,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,1606,3396,0,0,0,0,0,0
$GC,3974,-1.13,-146.0,374.9,-6.2,224,3979,0.10,2.50,0.00,0.000,4,0.074,0.031,3128,3148,3395,0,0,0,0,0,0
$GC,4000,-1.13,-146.0,376.8,-8.7,224,4006,0.15,2.60,0.00,0.000,6,0.087,0.036,3165,1588,3395,0,0,0,0,0,0
$GC,4263,-1.13,-146.0,398.6,-8.6,231,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1588,3393,0,0,0,0,0,0
$GC,4504,-1.13,-146.0,419.1,-8.2,237,4509,0.00,2.55,0.00,0.000,4,0.000,0.036,3164,3140,3392,0,0,0,0,0,0
$GC,4544,-1.21,-146.0,422.3,-7.7,237,4550,0.00,2.58,0.00,0.000,6,0.000,0.038,3165,1598,3392,0,0,0,0,0,0
$GC,4795,-1.21,-146.0,442.4,-8.0,244,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1598,3391,0,0,0,0,0,0
$GC,5038,-1.21,-146.0,462.1,-8.0,250,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1598,3389,0,0,0,0,0,0
$GC,5288,-1.21,-146.0,481.3,-7.9,256,5292,0.00,2.47,0.00,0.000,4,0.000,0.069,3165,165,3387,0,0,0,0,0,0
$GC,5316,-1.21,-146.0,484.3,-7.5,256,5320,0.00,2.28,0.00,0.000,6,0.000,0.028,3165,1596,3387,0,0,0,0,0,0
$GC,5571,-1.21,-146.0,501.6,-6.6,263,5575,0.00,2.58,0.00,0.000,4,0.000,0.042,3164,3146,3386,0,0,0,0,0,0
$GC,5597,-1.26,-146.0,503.3,-7.2,263,5602,0.12,2.58,0.00,0.000,6,0.061,0.039,3104,1606,3386,0,0,0,0,0,0
$GC,5858,-1.16,-146.0,528.1,-9.8,270,5863,0.22,2.50,0.00,0.000,4,0.086,0.071,3156,168,3383,0,0,0,0,0,0
$GC,5882,-1.16,-146.0,530.6,-9.4,270,5887,0.00,2.33,0.00,0.000,6,0.000,0.035,3156,1606,3384,0,0,0,0,0,0
$GC,6144,-1.16,-146.0,551.7,-8.2,277,6148,0.00,2.60,0.00,0.000,4,0.000,0.047,3155,3156,3382,0,0,0,0,0,0
$GC,6168,-1.21,-146.0,554.0,-9.0,277,6172,0.00,2.60,0.00,0.000,6,0.000,0.043,3155,1597,3382,0,0,0,0,0,0
$GC,6427,-1.21,-146.0,574.6,-8.1,284,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1597,3380,0,0,0,0,0,0
$GC,6673,-1.21,-146.0,593.2,-7.5,290,6677,0.00,2.62,0.00,0.000,4,0.000,0.046,3155,3154,3379,0,0,0,0,0,0
$GC,6706,-1.28,-146.0,595.7,-6.9,290,6711,0.10,2.62,0.00,0.000,6,0.076,0.046,3102,1607,3379,0,0,0,0,0,0
$GC,6959,-1.20,-146.0,618.3,-9.2,296,6964,0.20,2.55,0.00,0.000,4,0.089,0.077,3148,165,3378,0,0,0,0,0,0
$GC,6990,-1.20,-146.0,621.2,-8.2,296,6995,0.00,2.35,0.00,0.000,6,0.000,0.035,3147,1605,3377,0,0,0,0,0,0
$GC,7245,-1.20,-146.0,640.6,-7.6,303,7249,0.00,2.60,0.00,0.000,4,0.000,0.052,3148,3155,3376,0,0,0,0,0,0
$GC,7279,-1.25,-146.0,643.2,-7.7,303,7284,0.00,2.62,0.00,0.000,6,0.000,0.048,3147,1610,3376,0,0,0,0,0,0
$GC,7534,-1.25,-146.0,664.5,-8.2,310,7539,0.00,2.55,0.00,0.000,4,0.000,0.081,3149,166,3374,0,0,0,0,0,0
$GC,7558,-1.25,-146.0,666.8,-9.3,310,7562,0.00,2.38,0.00,0.000,6,0.000,0.037,3147,1616,3374,0,0,0,0,0,0
$GC,7819,-1.25,-146.0,687.9,-8.0,317,7824,0.00,2.60,0.00,0.000,4,0.000,0.054,3148,3154,3372,0,0,0,0,0,0
$GC,7848,-1.30,-146.0,690.3,-7.5,317,7852,0.00,2.62,0.00,0.000,6,0.000,0.048,3147,1607,3372,0,0,0,0,0,0
$GC,8103,-1.30,-146.0,709.0,-7.3,324,8107,0.00,2.55,0.00,0.000,4,0.000,0.081,3149,166,3371,0,0,0,0,0,0
$GC,8138,-1.30,-146.0,711.7,-7.8,324,8142,0.00,2.38,0.00,0.000,6,0.000,0.038,3148,1608,3371,0,0,0,0,0,0
$GC,8388,-1.30,-146.0,728.7,-6.8,330,8392,0.00,2.60,0.00,0.000,4,0.000,0.055,3147,3154,3370,0,0,0,0,0,0
$GC,8435,-1.40,-146.0,731.7,-6.6,331,8440,0.17,2.65,0.00,0.000,6,0.051,0.050,3080,1601,3370,0,0,0,0,0,0
$GC,8725,-1.27,-146.0,760.4,-10.0,338,8730,0.22,2.55,0.00,0.000,4,0.089,0.081,3132,164,3368,0,0,0,0,0,0
$GC,8787,-1.27,-146.0,766.3,-8.2,339,8791,0.00,2.38,0.00,0.000,6,0.000,0.038,3131,1612,3367,0,0,0,0,0,0
$GC,9065,-1.27,-146.0,785.7,-7.0,346,9070,0.00,2.60,0.00,0.000,4,0.000,0.054,3131,3158,3367,0,0,0,0,0,0
$GC,9089,-1.27,-146.0,787.7,-7.4,346,9093,0.00,2.65,0.00,0.000,6,0.000,0.049,3131,1598,3367,0,0,0,0,0,0
$GC,9348,-1.27,-146.0,804.4,-6.4,353,9353,0.00,2.55,0.00,0.000,4,0.000,0.082,3132,161,3366,0,0,0,0,0,0
$GC,9372,-1.27,-146.0,806.0,-7.7,353,9376,0.00,2.40,0.00,0.000,6,0.000,0.037,3131,1617,3365,0,0,0,0,0,0
$GC,9633,-1.27,-146.0,821.4,-6.1,360,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1617,3365,0,0,0,0,0,0
$GC,9877,-1.27,-146.0,836.4,-6.3,366,9882,0.00,2.60,0.00,0.000,4,0.000,0.055,3131,3160,3364,0,0,0,0,0,0
$GC,9897,-1.27,-146.0,837.8,-6.6,366,9901,0.00,2.65,0.00,0.000,6,0.000,0.048,3131,1606,3364,0,0,0,0,0,0
$GC,10163,-1.27,-146.0,854.8,-6.5,373,10164,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1607,3363,0,0,0,0,0,0
$GC,10405,-1.27,-146.0,870.6,-6.5,379,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1606,3362,0,0,0,0,0,0
$GC,10648,-1.27,-146.0,886.6,-6.7,385,10649,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1606,3361,0,0,0,0,0,0
$STATE,10848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10848,begin apogee
$GC,10857,-0.31,0.0,900.1,6.7,390,10981,0.93,0.00,120.57,1.153,6,0.069,0.000,3344,1343,2800,0,0,0,0,0,0
$STATE,10982,end apogee,CONTROL_FINISHED_OK
$STATE,10982,begin climb
$GC,10984,1.27,146.0,903.5,0.0,393,11125,1.42,2.20,130.85,1.132,4,0.030,0.084,3693,177,2203,0,0,0,0,0,0
$GC,11343,0.99,146.0,867.2,15.0,401,11347,0.28,1.98,0.00,0.000,6,0.097,0.032,3627,1358,2196,0,0,0,0,0,0
$GC,11637,0.90,146.0,836.8,10.1,408,11640,0.00,2.12,0.00,0.000,4,0.000,0.074,3626,170,2192,0,0,0,0,0,0
$GC,11655,0.77,146.0,834.4,10.3,408,11660,0.17,1.98,0.00,0.000,6,0.091,0.033,3580,1354,2191,0,0,0,0,0,0
$GC,11926,0.83,194.4,812.8,7.8,415,11972,0.00,0.00,44.05,1.066,6,0.000,0.000,3579,1355,2007,0,0,0,0,0,0
$GC,12208,0.87,222.8,788.4,8.7,422,12238,0.00,0.00,27.80,1.029,6,0.000,0.000,3580,1355,1891,0,0,0,0,0,0
$GC,12452,0.94,242.5,766.6,9.1,428,12474,0.15,0.00,19.62,0.995,6,0.059,0.000,3630,1356,1811,0,0,0,0,0,0
$GC,12696,0.94,242.5,737.3,12.2,434,12700,0.00,2.72,0.00,0.000,4,0.000,0.057,3630,2935,1806,0,0,0,0,0,0
$GC,12714,0.94,242.5,734.8,11.7,434,12719,0.00,2.72,0.00,0.000,6,0.000,0.048,3630,1360,1804,0,0,0,0,0,0
$GC,12981,0.94,242.5,702.9,12.2,441,12985,0.00,2.70,0.00,0.000,4,0.000,0.048,3630,2939,1804,0,0,0,0,0,0
$GC,13002,0.94,242.5,700.0,12.3,441,13006,0.00,2.72,0.00,0.000,6,0.000,0.051,3630,1361,1802,0,0,0,0,0,0
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$STATE,18991,end climb,SURFACE_DEPTH_REACHED
$STATE,18992,begin surface coast
$FINISH,1.0,1.021903
$STATE,19032,end surface coast,CONTROL_FINISHED_OK
$STATE,19032,begin surface
$SM_CCo,19058,20.10,0.416,0,0,1210,390.03
$SM_GC,2.00,0.00,0.00,20.10,0.000,0.000,0.416,417,1580,1210,-13.77,0.31,390.03
$IRIDIUM_FIX,2251.04,-15748.01,241102,060631
$TT8_MAMPS,0.027612
$HUMID,69.01
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,8
$24V_AH,23.0,66.976
$10V_AH,9.7,64.811
$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
$DEVICE_SECS,33.025,210.325,450.950,20.100,0.000,29.154,37.651,230.609,2.000,0.000,17.081,1545.692,14098.823,575.846,2532.795,783.966,33.377,1644.953,0.000,2528.316,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.403,370.980,473.953,991.393,1304.126,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,57286,713
$CAP_FILE_SIZE,178512,0
$CFSIZE,260165632,137723904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300813,172806,2302.765,-15748.239,36,1.4,36,10.1