version: 66.06
glider: 148
mission: 12
dive: 456
start: 8 30 113 23 3 31
data:
$ID,148
$MISSION,12
$DIVE,456
$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,-1025167.9
$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,25
$R_STBD_OVSHOOT,97
$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
$GPS1,225526,2304.894,-15749.407,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.7
$GPS2,230237,2304.909,-15749.416,14,1.3,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.115,0.233
$KALMAN_X,-89776.7,40.1,-127.4,108042.1,-521.7
$KALMAN_Y,-19985.6,97.7,-239.4,57016.3,130.7
$MHEAD_RNG_PITCHd_Wd,323.6,150914,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-67.07,0.000,2,0.000,0.000,414,1579,2919,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.5,9,122,14.02,2.45,-8.73,0.000,4,0.143,0.031,3126,3104,3396,0,0,0,0,0,0
$GC,258,-1.10,-146.0,38.4,-16.7,31,263,0.20,2.53,0.00,0.000,6,0.094,0.031,3171,1567,3397,0,0,0,0,0,0
$GC,527,-0.97,-146.0,78.1,-13.6,55,532,0.12,2.42,0.00,0.000,4,0.108,0.021,3198,3100,3398,0,0,0,0,0,0
$GC,550,-0.90,-146.0,81.4,-13.0,56,554,0.00,2.50,0.00,0.000,6,0.000,0.028,3198,1557,3398,0,0,0,0,0,0
$GC,813,-0.90,-146.0,110.5,-11.2,80,817,0.00,2.25,0.00,0.000,4,0.000,0.044,3198,172,3398,0,0,0,0,0,0
$GC,854,-0.90,-146.0,114.8,-11.6,83,858,0.00,2.08,0.00,0.000,6,0.000,0.016,3198,1557,3398,0,0,0,0,0,0
$GC,1122,-0.90,-146.0,140.6,-9.4,107,1127,0.00,2.42,0.00,0.000,4,0.000,0.021,3198,3110,3399,0,0,0,0,0,0
$GC,1179,-0.99,-146.0,145.9,-7.7,112,1183,0.00,2.50,0.00,0.000,6,0.000,0.028,3198,1570,3399,0,0,0,0,0,0
$GC,1447,-0.99,-146.0,170.4,-9.2,136,1451,0.00,2.33,0.00,0.000,4,0.000,0.044,3198,172,3399,0,0,0,0,0,0
$GC,1472,-0.99,-146.0,173.7,-10.5,138,1476,0.00,2.10,0.00,0.000,6,0.000,0.017,3198,1571,3399,0,0,0,0,0,0
$GC,1735,-0.99,-146.0,196.6,-9.1,162,1739,0.00,2.40,0.00,0.000,4,0.000,0.021,3198,3114,3399,0,0,0,0,0,0
$GC,1758,-0.99,-146.0,198.7,-8.9,163,1763,0.00,2.50,0.00,0.000,6,0.000,0.027,3198,1569,3399,0,0,0,0,0,0
$GC,2021,-0.99,-146.0,222.8,-9.2,171,2025,0.00,2.28,0.00,0.000,4,0.000,0.044,3198,172,3399,0,0,0,0,0,0
$GC,2049,-0.99,-146.0,225.9,-9.8,171,2053,0.00,2.10,0.00,0.000,6,0.000,0.018,3198,1569,3400,0,0,0,0,0,0
$GC,2310,-0.99,-146.0,248.3,-8.5,178,2314,0.00,2.42,0.00,0.000,4,0.000,0.022,3198,3120,3399,0,0,0,0,0,0
$GC,2354,-1.12,-146.0,252.1,-8.9,179,2359,0.12,2.50,0.00,0.000,6,0.060,0.028,3128,1581,3399,0,0,0,0,0,0
$GC,2646,-1.00,-146.0,284.2,-10.9,186,2651,0.25,2.33,0.00,0.000,4,0.081,0.044,3189,171,3399,0,0,0,0,0,0
$GC,2694,-1.07,-146.0,289.0,-7.9,187,2698,0.00,2.12,0.00,0.000,6,0.000,0.019,3189,1568,3399,0,0,0,0,0,0
$GC,2977,-1.12,-146.0,315.2,-10.4,194,2982,0.10,2.47,0.00,0.000,4,0.075,0.020,3133,3141,3398,0,0,0,0,0,0
$GC,3054,-1.12,-146.0,326.1,-13.7,195,3059,0.15,2.58,0.00,0.000,6,0.088,0.031,3169,1568,3398,0,0,0,0,0,0
$GC,3310,-1.12,-146.0,348.8,-8.3,202,3314,0.00,2.50,0.00,0.000,4,0.000,0.035,3168,3124,3396,0,0,0,0,0,0
$GC,3336,-1.12,-146.0,351.1,-9.3,202,3340,0.00,2.55,0.00,0.000,6,0.000,0.035,3168,1581,3397,0,0,0,0,0,0
$GC,3595,-1.12,-146.0,372.2,-7.9,209,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,1580,3395,0,0,0,0,0,0
$GC,3839,-1.12,-146.0,390.8,-7.6,215,3843,0.00,2.50,0.00,0.000,4,0.000,0.033,3168,3120,3394,0,0,0,0,0,0
$GC,3874,-1.21,-146.0,393.3,-7.3,215,3879,0.00,2.58,0.00,0.000,6,0.000,0.038,3168,1575,3394,0,0,0,0,0,0
$GC,4127,-1.21,-146.0,413.6,-8.3,221,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1575,3391,0,0,0,0,0,0
$GC,4368,-1.21,-146.0,435.4,-9.1,227,4372,0.00,2.55,0.00,0.000,4,0.000,0.038,3168,3122,3390,0,0,0,0,0,0
$GC,4408,-1.30,-146.0,438.7,-8.4,227,4414,0.17,2.55,0.00,0.000,6,0.050,0.038,3101,1582,3390,0,0,0,0,0,0
$GC,4658,-1.19,-146.0,465.8,-10.8,234,4660,0.22,0.00,0.00,0.000,6,0.086,0.000,3152,1582,3388,0,0,0,0,0,0
$GC,4902,-1.19,-146.0,484.4,-7.5,240,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1582,3387,0,0,0,0,0,0
$GC,5148,-1.19,-146.0,504.8,-8.6,246,5152,0.00,2.58,0.00,0.000,4,0.000,0.044,3152,3122,3386,0,0,0,0,0,0
$GC,5179,-1.24,-146.0,507.7,-8.9,246,5183,0.00,2.58,0.00,0.000,6,0.000,0.040,3151,1585,3386,0,0,0,0,0,0
$GC,5434,-1.24,-146.0,530.1,-8.6,253,5438,0.00,2.58,0.00,0.000,4,0.000,0.041,3151,3123,3384,0,0,0,0,0,0
$GC,5458,-1.24,-146.0,532.3,-9.1,253,5462,0.00,2.55,0.00,0.000,6,0.000,0.041,3152,1597,3384,0,0,0,0,0,0
$GC,5719,-1.24,-146.0,552.7,-7.7,260,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1597,3382,0,0,0,0,0,0
$GC,5964,-1.24,-146.0,570.5,-7.3,266,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1597,3380,0,0,0,0,0,0
$GC,6205,-1.24,-146.0,588.2,-7.2,272,6209,0.00,2.58,0.00,0.000,4,0.000,0.043,3151,3127,3379,0,0,0,0,0,0
$GC,6251,-1.33,-146.0,591.3,-6.5,273,6256,0.12,2.58,0.00,0.000,6,0.064,0.048,3096,1602,3379,0,0,0,0,0,0
$GC,6539,-1.23,-146.0,621.3,-10.9,280,6544,0.20,2.55,0.00,0.000,4,0.088,0.081,3141,166,3377,0,0,0,0,0,0
$GC,6588,-1.23,-146.0,625.9,-9.7,281,6592,0.00,2.25,0.00,0.000,6,0.000,0.035,3141,1560,3376,0,0,0,0,0,0
$GC,6875,-1.23,-146.0,649.5,-7.7,288,6879,0.00,2.67,0.00,0.000,4,0.000,0.051,3141,3156,3374,0,0,0,0,0,0
$GC,6919,-1.31,-146.0,652.8,-6.9,289,6923,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1599,3374,0,0,0,0,0,0
$GC,7211,-1.31,-146.0,674.1,-7.3,296,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1599,3372,0,0,0,0,0,0
$GC,7450,-1.31,-146.0,693.4,-8.1,302,7454,0.00,2.62,0.00,0.000,4,0.000,0.048,3141,3162,3371,0,0,0,0,0,0
$GC,7469,-1.31,-146.0,695.0,-8.3,302,7473,0.00,2.67,0.00,0.000,6,0.000,0.048,3141,1592,3371,0,0,0,0,0,0
$GC,7735,-1.31,-146.0,716.9,-8.4,309,7740,0.00,2.62,0.00,0.000,4,0.000,0.046,3141,3153,3369,0,0,0,0,0,0
$GC,7754,-1.31,-146.0,718.8,-8.8,309,7759,0.00,2.65,0.00,0.000,6,0.000,0.050,3141,1603,3369,0,0,0,0,0,0
$GC,8023,-1.31,-146.0,740.5,-8.5,316,8027,0.00,2.55,0.00,0.000,4,0.000,0.084,3141,168,3368,0,0,0,0,0,0
$GC,8062,-1.31,-146.0,744.4,-9.5,316,8068,0.00,2.38,0.00,0.000,6,0.000,0.037,3141,1610,3367,0,0,0,0,0,0
$GC,8313,-1.31,-146.0,765.1,-8.1,323,8317,0.00,2.60,0.00,0.000,4,0.000,0.054,3141,3160,3367,0,0,0,0,0,0
$GC,8332,-1.31,-146.0,766.7,-8.1,323,8336,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1606,3367,0,0,0,0,0,0
$GC,8598,-1.31,-146.0,787.8,-8.2,330,8602,0.00,2.53,0.00,0.000,4,0.000,0.082,3141,167,3365,0,0,0,0,0,0
$GC,8617,-1.31,-146.0,789.9,-9.5,330,8621,0.00,2.38,0.00,0.000,6,0.000,0.035,3141,1613,3365,0,0,0,0,0,0
$GC,8881,-1.31,-146.0,810.6,-7.9,337,8885,0.00,2.62,0.00,0.000,4,0.000,0.054,3141,3164,3365,0,0,0,0,0,0
$GC,8908,-1.36,-146.0,812.6,-8.2,337,8913,0.12,2.65,0.00,0.000,6,0.064,0.050,3088,1611,3364,0,0,0,0,0,0
$GC,9168,-1.27,-146.0,840.1,-10.8,344,9173,0.20,2.55,0.00,0.000,4,0.089,0.081,3133,164,3364,0,0,0,0,0,0
$GC,9212,-1.27,-146.0,844.6,-9.0,345,9216,0.00,2.40,0.00,0.000,6,0.000,0.037,3133,1621,3363,0,0,0,0,0,0
$GC,9501,-1.27,-146.0,868.5,-8.2,352,9506,0.00,2.60,0.00,0.000,4,0.000,0.056,3132,3165,3362,0,0,0,0,0,0
$GC,9525,-1.27,-146.0,870.9,-9.2,352,9530,0.00,2.65,0.00,0.000,6,0.000,0.049,3133,1612,3362,0,0,0,0,0,0
$GC,9787,-1.27,-146.0,891.6,-8.0,359,9791,0.00,2.58,0.00,0.000,4,0.000,0.082,3133,164,3361,0,0,0,0,0,0
$GC,9810,-1.27,-146.0,893.8,-8.4,359,9814,0.00,2.40,0.00,0.000,6,0.000,0.036,3133,1620,3361,0,0,0,0,0,0
$STATE,9904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9904,begin apogee
$GC,9911,-0.31,0.0,901.3,7.8,362,10035,0.90,0.00,120.70,1.150,6,0.067,0.000,3340,1346,2800,0,0,0,0,0,0
$STATE,10036,end apogee,CONTROL_FINISHED_OK
$STATE,10036,begin climb
$GC,10040,1.27,146.0,905.4,0.0,365,10181,1.42,2.20,131.32,1.128,4,0.030,0.081,3693,174,2203,0,0,0,0,0,0
$GC,10313,0.99,146.0,882.6,14.3,371,10318,0.32,1.95,0.00,0.000,6,0.110,0.031,3629,1360,2198,0,0,0,0,0,0
$GC,10592,0.91,151.5,854.9,9.7,378,10601,0.00,2.15,4.65,0.731,4,0.000,0.074,3628,172,2181,0,0,0,0,0,0
$GC,10632,0.76,151.5,850.5,10.7,378,10638,0.25,1.95,0.00,0.000,6,0.100,0.033,3576,1353,2181,0,0,0,0,0,0
$GC,10882,0.80,183.4,828.7,8.5,385,10915,0.00,0.00,31.17,1.056,6,0.000,0.000,3576,1354,2052,0,0,0,0,0,0
$GC,11132,0.86,189.7,805.5,9.7,391,11144,0.00,2.78,6.68,0.844,4,0.000,0.054,3576,2929,2026,0,0,0,0,0,0
$GC,11155,0.95,212.3,802.5,9.0,391,11184,0.17,2.72,23.12,1.022,6,0.052,0.049,3634,1363,1934,0,0,0,0,0,0
$GC,11465,0.89,212.3,762.0,13.3,399,11469,0.15,2.15,0.00,0.000,4,0.109,0.085,3603,165,1928,0,0,0,0,0,0
$GC,11511,0.89,212.3,755.4,12.8,400,11515,0.00,1.95,0.00,0.000,6,0.000,0.031,3602,1368,1928,0,0,0,0,0,0
$GC,11798,0.89,212.3,722.2,11.6,407,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1369,1926,0,0,0,0,0,0
$GC,12043,0.89,212.3,695.4,10.9,413,12044,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,1369,1926,0,0,0,0,0,0
$GC,12285,0.89,212.3,670.4,10.0,419,12289,0.00,2.15,0.00,0.000,4,0.000,0.074,3603,165,1925,0,0,0,0,0,0
$GC,12303,0.89,212.3,668.4,10.4,419,12307,0.00,1.95,0.00,0.000,6,0.000,0.031,3602,1358,1925,0,0,0,0,0,0
$GC,12574,0.89,212.3,640.4,10.4,426,12578,0.00,2.10,0.00,0.000,4,0.000,0.074,3603,165,1924,0,0,0,0,0,0
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$STATE,18498,end climb,SURFACE_DEPTH_REACHED
$STATE,18498,begin surface coast
$FINISH,0.9,1.011230
$STATE,18534,end surface coast,CONTROL_FINISHED_OK
$STATE,18535,begin surface
$SM_CCo,18560,29.70,0.429,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,29.70,0.000,0.000,0.429,412,1625,1209,-13.79,1.55,390.03
$IRIDIUM_FIX,2253.38,-15744.96,241102,171728
$TT8_MAMPS,0.027612
$HUMID,69.88
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.00
$XPDR_PINGS,10
$24V_AH,23.0,67.265
$10V_AH,9.7,65.106
$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
$DEVICE_SECS,33.575,212.950,446.925,29.700,0.000,25.030,34.591,209.138,2.500,0.000,15.651,1562.867,13488.473,561.541,2605.813,792.481,33.375,1661.599,0.000,2622.664,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,478.625,379.464,478.797,984.813,1298.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,57373,703
$CAP_FILE_SIZE,182227,0
$CFSIZE,260165632,137568256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310813,041436,2307.223,-15750.596,31,1.0,31,10.1