version: 66.06
glider: 148
mission: 12
dive: 457
start: 8 31 113 4 22 49
data:
$ID,148
$MISSION,12
$DIVE,457
$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,-1025182.3
$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,92
$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
$GPS1,041436,2307.223,-15750.596,31,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.4
$GPS2,042155,2307.242,-15750.599,12,1.1,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.066,0.251
$KALMAN_X,-90077.8,69.4,178.3,105983.7,-722.8
$KALMAN_Y,-20543.9,233.6,316.7,61207.5,-1367.8
$MHEAD_RNG_PITCHd_Wd,335.2,146180,-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,-67.20,0.000,2,0.000,0.000,411,1625,2933,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.5,-4.5,9,122,14.57,2.38,-8.20,0.000,4,0.160,0.034,3127,3097,3399,0,0,0,0,0,0
$GC,189,-1.10,-146.0,29.3,-18.3,23,198,0.17,2.55,0.00,0.000,6,0.078,0.032,3169,1564,3400,0,0,0,0,0,0
$GC,458,-0.97,-146.0,72.9,-13.2,48,463,0.12,2.33,0.00,0.000,4,0.110,0.043,3197,164,3400,0,0,0,0,0,0
$GC,480,-0.86,-146.0,76.3,-13.0,49,485,0.10,2.08,0.00,0.000,6,0.115,0.017,3221,1564,3400,0,0,0,0,0,0
$GC,749,-0.86,-146.0,100.8,-8.9,73,753,0.00,2.40,0.00,0.000,4,0.000,0.021,3221,3108,3401,0,0,0,0,0,0
$GC,785,-0.98,-146.0,104.6,-8.8,76,790,0.12,2.50,0.00,0.000,6,0.060,0.028,3144,1556,3401,0,0,0,0,0,0
$GC,1050,-0.83,-146.0,143.0,-15.1,100,1055,0.35,2.45,0.00,0.000,4,0.079,0.020,3224,3111,3402,0,0,0,0,0,0
$GC,1078,-0.83,-146.0,146.7,-10.3,102,1082,0.00,2.47,0.00,0.000,6,0.000,0.027,3224,1573,3402,0,0,0,0,0,0
$GC,1343,-0.91,-146.0,164.9,-6.0,126,1347,0.00,2.42,0.00,0.000,4,0.000,0.021,3224,3117,3402,0,0,0,0,0,0
$GC,1370,-1.01,-146.0,166.8,-6.5,128,1375,0.15,2.50,0.00,0.000,6,0.051,0.028,3141,1573,3403,0,0,0,0,0,0
$GC,1631,-0.89,-146.0,195.6,-11.6,152,1633,0.32,0.00,0.00,0.000,6,0.077,0.000,3213,1573,3402,0,0,0,0,0,0
$GC,1900,-0.97,-146.0,215.3,-7.4,163,1904,0.00,2.42,0.00,0.000,4,0.000,0.021,3213,3108,3402,0,0,0,0,0,0
$GC,1928,-1.09,-146.0,217.7,-7.7,163,1934,0.17,2.50,0.00,0.000,6,0.045,0.028,3122,1573,3402,0,0,0,0,0,0
$GC,2191,-0.96,-146.0,248.5,-12.3,170,2196,0.32,2.33,0.00,0.000,4,0.082,0.043,3198,168,3402,0,0,0,0,0,0
$GC,2211,-0.92,-146.0,251.1,-11.1,170,2215,0.00,2.12,0.00,0.000,6,0.000,0.018,3198,1572,3403,0,0,0,0,0,0
$GC,2475,-0.98,-146.0,269.6,-6.9,177,2479,0.00,2.45,0.00,0.000,4,0.000,0.024,3198,3117,3402,0,0,0,0,0,0
$GC,2505,-1.10,-146.0,271.8,-6.7,177,2510,0.12,2.53,0.00,0.000,6,0.060,0.030,3127,1572,3402,0,0,0,0,0,0
$GC,2761,-1.02,-146.0,298.1,-10.7,184,2766,0.25,2.33,0.00,0.000,4,0.081,0.046,3187,174,3402,0,0,0,0,0,0
$GC,2795,-1.06,-146.0,301.1,-8.4,184,2799,0.00,2.12,0.00,0.000,6,0.000,0.020,3187,1558,3401,0,0,0,0,0,0
$GC,3048,-1.12,-146.0,318.4,-7.2,190,3052,0.00,2.50,0.00,0.000,4,0.000,0.028,3187,3139,3401,0,0,0,0,0,0
$GC,3105,-1.24,-146.0,322.9,-7.8,191,3110,0.20,2.55,0.00,0.000,6,0.044,0.035,3105,1592,3400,0,0,0,0,0,0
$GC,3381,-1.12,-146.0,354.9,-11.9,198,3383,0.28,0.00,0.00,0.000,6,0.082,0.000,3166,1592,3399,0,0,0,0,0,0
$GC,3623,-1.12,-146.0,374.7,-7.8,204,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1592,3398,0,0,0,0,0,0
$GC,3867,-1.12,-146.0,394.1,-8.0,210,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1592,3396,0,0,0,0,0,0
$GC,4115,-1.12,-146.0,412.0,-7.2,216,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1592,3394,0,0,0,0,0,0
$GC,4354,-1.12,-146.0,430.1,-7.4,222,4358,0.00,2.53,0.00,0.000,4,0.000,0.035,3166,3134,3393,0,0,0,0,0,0
$GC,4383,-1.19,-146.0,432.2,-6.8,222,4388,0.00,2.58,0.00,0.000,6,0.000,0.041,3166,1594,3393,0,0,0,0,0,0
$GC,4640,-1.19,-146.0,452.0,-7.9,229,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1594,3391,0,0,0,0,0,0
$GC,4882,-1.19,-146.0,471.2,-7.9,235,4886,0.00,2.55,0.00,0.000,4,0.000,0.039,3166,3134,3390,0,0,0,0,0,0
$GC,4911,-1.27,-146.0,473.4,-7.4,235,4916,0.15,2.58,0.00,0.000,6,0.054,0.045,3102,1596,3389,0,0,0,0,0,0
$GC,5168,-1.16,-146.0,498.5,-10.1,242,5173,0.25,2.50,0.00,0.000,4,0.084,0.069,3162,164,3388,0,0,0,0,0,0
$GC,5207,-1.16,-146.0,502.0,-7.7,242,5212,0.00,2.25,0.00,0.000,6,0.000,0.029,3161,1577,3388,0,0,0,0,0,0
$GC,5457,-1.16,-146.0,519.0,-6.8,249,5461,0.00,2.60,0.00,0.000,4,0.000,0.043,3161,3148,3386,0,0,0,0,0,0
$GC,5478,-1.22,-146.0,520.3,-6.6,249,5483,0.00,2.60,0.00,0.000,6,0.000,0.040,3161,1597,3386,0,0,0,0,0,0
$GC,5747,-1.22,-146.0,537.3,-6.3,256,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1597,3384,0,0,0,0,0,0
$GC,5986,-1.22,-146.0,552.1,-6.0,262,5991,0.00,2.60,0.00,0.000,4,0.000,0.043,3161,3147,3383,0,0,0,0,0,0
$GC,6017,-1.29,-146.0,554.1,-6.6,262,6022,0.15,2.62,0.00,0.000,6,0.054,0.044,3097,1593,3383,0,0,0,0,0,0
$GC,6273,-1.20,-146.0,578.7,-9.9,269,6275,0.22,0.00,0.00,0.000,6,0.085,0.000,3148,1594,3381,0,0,0,0,0,0
$GC,6518,-1.20,-146.0,596.0,-6.9,275,6523,0.00,2.60,0.00,0.000,4,0.000,0.044,3148,3155,3380,0,0,0,0,0,0
$GC,6549,-1.25,-146.0,598.1,-6.6,275,6553,0.00,2.62,0.00,0.000,6,0.000,0.046,3149,1607,3380,0,0,0,0,0,0
$GC,6804,-1.25,-146.0,615.6,-6.9,282,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1606,3378,0,0,0,0,0,0
$GC,7048,-1.25,-146.0,632.9,-7.1,288,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1607,3376,0,0,0,0,0,0
$GC,7291,-1.25,-146.0,651.6,-7.9,294,7296,0.00,2.60,0.00,0.000,4,0.000,0.046,3148,3157,3376,0,0,0,0,0,0
$GC,7314,-1.25,-146.0,653.4,-9.1,294,7319,0.00,2.65,0.00,0.000,6,0.000,0.048,3148,1606,3376,0,0,0,0,0,0
$GC,7583,-1.25,-146.0,675.6,-8.4,301,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1606,3374,0,0,0,0,0,0
$GC,7822,-1.25,-146.0,695.2,-8.0,307,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1606,3373,0,0,0,0,0,0
$GC,8068,-1.25,-146.0,713.2,-7.2,313,8072,0.00,2.62,0.00,0.000,4,0.000,0.048,3148,3154,3371,0,0,0,0,0,0
$GC,8087,-1.29,-146.0,714.8,-7.3,313,8092,0.00,2.65,0.00,0.000,6,0.000,0.050,3148,1607,3371,0,0,0,0,0,0
$GC,8351,-1.29,-146.0,731.0,-6.1,320,8356,0.00,2.58,0.00,0.000,4,0.000,0.086,3149,162,3370,0,0,0,0,0,0
$GC,8377,-1.29,-146.0,732.5,-6.8,320,8381,0.00,2.38,0.00,0.000,6,0.000,0.037,3149,1604,3370,0,0,0,0,0,0
$GC,8636,-1.29,-146.0,747.9,-5.8,327,8641,0.00,2.60,0.00,0.000,4,0.000,0.053,3148,3155,3369,0,0,0,0,0,0
$GC,8670,-1.38,-146.0,750.0,-6.1,327,8679,0.17,2.65,0.00,0.000,6,0.050,0.049,3083,1606,3369,0,0,0,0,0,0
$GC,8925,-1.28,-146.0,773.7,-9.8,334,8927,0.22,0.00,0.00,0.000,6,0.087,0.000,3134,1606,3368,0,0,0,0,0,0
$GC,9167,-1.28,-146.0,793.3,-8.0,340,9171,0.00,2.60,0.00,0.000,4,0.000,0.047,3134,3159,3368,0,0,0,0,0,0
$GC,9191,-1.28,-146.0,795.4,-9.6,340,9195,0.00,2.65,0.00,0.000,6,0.000,0.049,3134,1608,3368,0,0,0,0,0,0
$GC,9452,-1.28,-146.0,815.8,-7.8,347,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1608,3366,0,0,0,0,0,0
$GC,9694,-1.28,-146.0,834.4,-7.6,353,9698,0.00,2.60,0.00,0.000,4,0.000,0.046,3134,3158,3365,0,0,0,0,0,0
$GC,9715,-1.28,-146.0,835.9,-7.5,353,9719,0.00,2.65,0.00,0.000,6,0.000,0.051,3134,1613,3365,0,0,0,0,0,0
$GC,9981,-1.28,-146.0,855.9,-7.5,360,9985,0.00,2.58,0.00,0.000,4,0.000,0.084,3134,166,3364,0,0,0,0,0,0
$GC,10014,-1.28,-146.0,858.9,-9.0,360,10018,0.00,2.40,0.00,0.000,6,0.000,0.037,3134,1622,3364,0,0,0,0,0,0
$GC,10266,-1.28,-146.0,877.2,-7.3,366,10271,0.00,2.60,0.00,0.000,4,0.000,0.055,3134,3155,3363,0,0,0,0,0,0
$GC,10287,-1.28,-146.0,878.9,-7.8,366,10292,0.00,2.65,0.00,0.000,6,0.000,0.048,3134,1604,3364,0,0,0,0,0,0
$GC,10552,-1.28,-146.0,897.9,-7.2,373,10556,0.00,2.55,0.00,0.000,4,0.000,0.081,3134,163,3363,0,0,0,0,0,0
$STATE,10577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10577,begin apogee
$GC,10586,-0.31,0.0,900.2,7.5,373,10711,0.88,0.00,121.40,1.155,6,0.068,0.000,3340,1366,2800,0,0,0,0,0,0
$STATE,10711,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10716,1.27,146.0,903.5,0.0,376,10859,1.42,2.25,132.60,1.133,4,0.030,0.076,3693,167,2203,0,0,0,0,0,0
$GC,10879,0.98,146.0,898.0,12.0,379,10885,0.32,2.00,0.00,0.000,6,0.110,0.034,3625,1363,2201,0,0,0,0,0,0
$GC,11133,0.91,155.1,873.5,9.6,386,11146,0.00,2.15,8.30,0.917,4,0.000,0.074,3625,169,2166,0,0,0,0,0,0
$GC,11208,0.77,155.1,864.5,12.6,387,11212,0.22,1.95,0.00,0.000,6,0.102,0.033,3579,1345,2165,0,0,0,0,0,0
$GC,11465,0.81,186.2,842.5,8.6,394,11501,0.00,2.22,29.60,1.062,4,0.000,0.075,3579,165,2039,0,0,0,0,0,0
$GC,11516,0.82,198.9,837.5,9.4,395,11536,0.00,1.98,13.62,0.984,6,0.000,0.033,3579,1347,1988,0,0,0,0,0,0
$GC,11798,0.87,198.9,808.8,10.3,402,11803,0.00,2.72,0.00,0.000,4,0.000,0.054,3578,2936,1983,0,0,0,0,0,0
$GC,11827,0.95,198.9,805.5,10.6,402,11834,0.17,2.75,0.00,0.000,6,0.052,0.050,3635,1348,1980,0,0,0,0,0,0
$GC,12087,0.88,198.9,772.9,13.0,409,12089,0.15,0.00,0.00,0.000,6,0.110,0.000,3603,1348,1980,0,0,0,0,0,0
$GC,12328,0.88,198.9,747.2,10.0,415,12333,0.00,2.70,0.00,0.000,4,0.000,0.045,3603,2936,1979,0,0,0,0,0,0
$GC,12357,0.91,224.1,744.5,8.8,415,12388,0.00,2.75,24.12,1.005,6,0.000,0.051,3603,1347,1884,0,0,0,0,0,0
$GC,12665,0.91,224.1,713.7,10.4,423,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1347,1881,0,0,0,0,0,0
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$STATE,18918,end climb,SURFACE_DEPTH_REACHED
$STATE,18918,begin surface coast
$FINISH,1.0,1.001682
$STATE,18958,end surface coast,CONTROL_FINISHED_OK
$STATE,18959,begin surface
$SM_CCo,18984,27.80,0.430,0,0,1210,390.03
$SM_GC,1.86,0.00,0.00,27.80,0.000,0.000,0.430,415,1612,1210,-13.78,1.19,390.03
$IRIDIUM_FIX,2255.72,-15747.13,241102,232343
$TT8_MAMPS,0.027612
$HUMID,69.92
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,21.50
$XPDR_PINGS,7
$24V_AH,22.9,67.411
$10V_AH,9.7,65.249
$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
$DEVICE_SECS,36.275,223.300,443.700,27.800,0.000,28.028,43.588,203.495,1.750,0.000,13.729,1553.291,14050.452,584.676,2474.089,778.404,33.369,1645.439,0.000,2480.045,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,472.002,357.794,450.966,922.284,1213.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,54111,692
$CAP_FILE_SIZE,186808,0
$CFSIZE,260165632,137490432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310813,094118,2309.248,-15751.452,41,1.9,53,10.1