version: 66.06
glider: 148
mission: 12
dive: 458
start: 8 31 113 9 49 30
data:
$ID,148
$MISSION,12
$DIVE,458
$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,-1025195.9
$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,24
$R_STBD_OVSHOOT,123
$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
$GPS1,094118,2309.248,-15751.452,41,1.9,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.3
$GPS2,094836,2309.259,-15751.468,11,1.9,11,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.095,0.242
$KALMAN_X,-90297.2,82.8,74.5,104809.0,-690.7
$KALMAN_Y,-20748.9,101.0,-147.4,65741.7,-401.0
$MHEAD_RNG_PITCHd_Wd,328.3,142221,-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,-67.12,0.000,2,0.000,0.000,414,1612,2924,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.4,-4.0,9,122,14.00,2.35,-8.43,0.000,4,0.143,0.035,3126,3072,3398,0,0,0,0,0,0
$GC,267,-1.10,-146.0,43.0,-17.0,31,277,0.15,2.50,0.00,0.000,6,0.081,0.031,3164,1558,3399,0,0,0,0,0,0
$GC,532,-0.97,-146.0,81.5,-13.6,56,541,0.15,0.00,0.00,0.000,6,0.103,0.000,3196,1558,3400,0,0,0,0,0,0
$GC,799,-0.97,-146.0,109.1,-9.8,81,803,0.00,2.38,0.00,0.000,4,0.000,0.021,3196,3073,3401,0,0,0,0,0,0
$GC,871,-1.04,-146.0,115.8,-8.9,87,875,0.00,2.42,0.00,0.000,6,0.000,0.028,3196,1578,3401,0,0,0,0,0,0
$GC,1137,-1.04,-146.0,143.0,-10.0,111,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1577,3402,0,0,0,0,0,0
$GC,1404,-1.04,-146.0,168.4,-9.4,136,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1577,3402,0,0,0,0,0,0
$GC,1665,-1.04,-146.0,192.7,-8.4,161,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1577,3402,0,0,0,0,0,0
$GC,1925,-1.04,-146.0,214.4,-8.5,174,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1577,3403,0,0,0,0,0,0
$GC,2167,-1.04,-146.0,235.0,-8.3,180,2171,0.00,2.35,0.00,0.000,4,0.000,0.022,3196,3074,3402,0,0,0,0,0,0
$GC,2214,-1.16,-146.0,238.5,-8.0,181,2219,0.17,2.42,0.00,0.000,6,0.047,0.030,3115,1582,3402,0,0,0,0,0,0
$GC,2504,-1.04,-146.0,274.8,-12.7,188,2509,0.28,2.35,0.00,0.000,4,0.081,0.044,3182,162,3402,0,0,0,0,0,0
$GC,2537,-1.04,-146.0,278.7,-9.1,188,2541,0.00,2.08,0.00,0.000,6,0.000,0.019,3181,1524,3402,0,0,0,0,0,0
$GC,2789,-1.04,-146.0,297.4,-7.2,194,2794,0.00,2.55,0.00,0.000,4,0.000,0.026,3181,3133,3402,0,0,0,0,0,0
$GC,2823,-1.14,-146.0,299.9,-6.3,194,2827,0.00,2.53,0.00,0.000,6,0.000,0.032,3181,1583,3402,0,0,0,0,0,0
$GC,3073,-1.14,-146.0,317.8,-7.2,200,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1583,3401,0,0,0,0,0,0
$GC,3319,-1.14,-146.0,334.7,-6.9,206,3323,0.00,2.38,0.00,0.000,4,0.000,0.053,3181,172,3400,0,0,0,0,0,0
$GC,3349,-1.14,-146.0,337.3,-8.4,206,3353,0.00,2.17,0.00,0.000,6,0.000,0.021,3182,1576,3400,0,0,0,0,0,0
$GC,3609,-1.20,-146.0,358.3,-8.1,213,3614,0.15,2.55,0.00,0.000,4,0.054,0.031,3113,3145,3398,0,0,0,0,0,0
$GC,3662,-1.20,-146.0,363.9,-10.5,214,3668,0.15,2.58,0.00,0.000,6,0.090,0.037,3149,1596,3398,0,0,0,0,0,0
$GC,3943,-1.20,-146.0,390.3,-9.3,221,3948,0.00,2.42,0.00,0.000,4,0.000,0.059,3149,165,3397,0,0,0,0,0,0
$GC,3995,-1.20,-146.0,395.5,-10.0,222,3999,0.00,2.22,0.00,0.000,6,0.000,0.024,3149,1587,3396,0,0,0,0,0,0
$GC,4275,-1.20,-146.0,418.3,-8.1,229,4279,0.00,2.55,0.00,0.000,4,0.000,0.037,3149,3145,3394,0,0,0,0,0,0
$GC,4322,-1.26,-146.0,422.0,-7.4,230,4327,0.00,2.60,0.00,0.000,6,0.000,0.039,3149,1591,3394,0,0,0,0,0,0
$GC,4608,-1.26,-146.0,445.1,-8.3,237,4613,0.00,2.58,0.00,0.000,4,0.000,0.040,3149,3148,3393,0,0,0,0,0,0
$GC,4627,-1.26,-146.0,447.2,-8.8,237,4632,0.00,2.55,0.00,0.000,6,0.000,0.036,3149,1598,3393,0,0,0,0,0,0
$GC,4892,-1.26,-146.0,470.3,-8.7,244,4893,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1597,3390,0,0,0,0,0,0
$GC,5137,-1.26,-146.0,490.1,-8.0,250,5141,0.00,2.60,0.00,0.000,4,0.000,0.044,3149,3145,3389,0,0,0,0,0,0
$GC,5165,-1.26,-146.0,492.5,-7.5,250,5170,0.00,2.55,0.00,0.000,6,0.000,0.039,3149,1606,3389,0,0,0,0,0,0
$GC,5420,-1.26,-146.0,511.9,-7.6,257,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1606,3387,0,0,0,0,0,0
$GC,5664,-1.26,-146.0,533.4,-8.9,263,5668,0.00,2.58,0.00,0.000,4,0.000,0.046,3149,3140,3385,0,0,0,0,0,0
$GC,5704,-1.33,-146.0,536.9,-9.1,263,5710,0.12,2.60,0.00,0.000,6,0.064,0.044,3093,1600,3385,0,0,0,0,0,0
$GC,5954,-1.21,-146.0,565.7,-11.7,270,5956,0.22,0.00,0.00,0.000,6,0.086,0.000,3143,1600,3384,0,0,0,0,0,0
$GC,6201,-1.21,-146.0,588.3,-9.1,276,6206,0.00,2.58,0.00,0.000,4,0.000,0.048,3142,3140,3382,0,0,0,0,0,0
$GC,6221,-1.21,-146.0,590.4,-8.9,276,6225,0.00,2.58,0.00,0.000,6,0.000,0.045,3143,1607,3382,0,0,0,0,0,0
$GC,6485,-1.21,-146.0,613.6,-8.7,283,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1607,3381,0,0,0,0,0,0
$GC,6728,-1.21,-146.0,634.0,-8.2,289,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1607,3379,0,0,0,0,0,0
$GC,6974,-1.21,-146.0,653.9,-8.0,295,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1607,3378,0,0,0,0,0,0
$GC,7220,-1.21,-146.0,672.3,-7.5,301,7224,0.00,2.60,0.00,0.000,4,0.000,0.051,3142,3144,3376,0,0,0,0,0,0
$GC,7249,-1.21,-146.0,674.7,-7.0,301,7253,0.00,2.60,0.00,0.000,6,0.000,0.048,3143,1617,3376,0,0,0,0,0,0
$GC,7506,-1.21,-146.0,691.4,-6.5,308,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1617,3375,0,0,0,0,0,0
$GC,7747,-1.21,-146.0,708.1,-7.0,314,7752,0.00,2.60,0.00,0.000,4,0.000,0.086,3143,160,3373,0,0,0,0,0,0
$GC,7780,-1.21,-146.0,710.7,-8.0,314,7784,0.00,2.38,0.00,0.000,6,0.000,0.037,3143,1605,3373,0,0,0,0,0,0
$GC,8032,-1.21,-146.0,729.5,-7.6,320,8033,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1605,3372,0,0,0,0,0,0
$GC,8276,-1.21,-146.0,747.8,-7.6,326,8281,0.00,2.65,0.00,0.000,4,0.000,0.058,3142,3164,3371,0,0,0,0,0,0
$GC,8310,-1.28,-146.0,750.7,-8.1,326,8314,0.00,2.62,0.00,0.000,6,0.000,0.049,3143,1616,3371,0,0,0,0,0,0
$GC,8560,-1.28,-146.0,770.3,-8.0,332,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1616,3370,0,0,0,0,0,0
$GC,8806,-1.28,-146.0,790.2,-8.1,338,8807,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1616,3369,0,0,0,0,0,0
$GC,9047,-1.28,-146.0,808.8,-7.5,344,9052,0.00,2.58,0.00,0.000,4,0.000,0.083,3143,167,3369,0,0,0,0,0,0
$GC,9080,-1.28,-146.0,811.4,-8.5,344,9085,0.00,2.35,0.00,0.000,6,0.000,0.036,3143,1613,3368,0,0,0,0,0,0
$GC,9332,-1.28,-146.0,829.0,-7.0,350,9337,0.00,2.62,0.00,0.000,4,0.000,0.056,3143,3157,3368,0,0,0,0,0,0
$GC,9357,-1.33,-146.0,830.8,-7.3,350,9362,0.10,2.62,0.00,0.000,6,0.076,0.049,3096,1607,3368,0,0,0,0,0,0
$GC,9617,-1.26,-146.0,854.3,-9.3,357,9622,0.17,2.58,0.00,0.000,4,0.093,0.082,3135,163,3366,0,0,0,0,0,0
$GC,9658,-1.26,-146.0,857.7,-8.1,357,9663,0.00,2.40,0.00,0.000,6,0.000,0.038,3136,1617,3366,0,0,0,0,0,0
$GC,9908,-1.26,-146.0,874.4,-6.6,364,9912,0.00,2.60,0.00,0.000,4,0.000,0.058,3136,3155,3365,0,0,0,0,0,0
$GC,9927,-1.26,-146.0,875.7,-6.3,364,9931,0.00,2.62,0.00,0.000,6,0.000,0.048,3135,1613,3365,0,0,0,0,0,0
$GC,10195,-1.26,-146.0,892.2,-6.3,371,10200,0.00,2.58,0.00,0.000,4,0.000,0.082,3135,163,3364,0,0,0,0,0,0
$GC,10239,-1.26,-146.0,895.4,-7.5,372,10243,0.00,2.38,0.00,0.000,6,0.000,0.038,3136,1613,3364,0,0,0,0,0,0
$STATE,10320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10320,begin apogee
$GC,10328,-0.31,0.0,900.6,6.0,374,10453,0.90,0.00,121.57,1.153,6,0.069,0.000,3342,1340,2800,0,0,0,0,0,0
$STATE,10454,end apogee,CONTROL_FINISHED_OK
$STATE,10454,begin climb
$GC,10457,1.27,146.0,903.2,0.0,377,10599,1.42,2.15,131.23,1.131,4,0.032,0.078,3687,170,2202,0,0,0,0,0,0
$GC,10730,0.99,146.0,878.3,15.0,383,10735,0.30,1.98,0.00,0.000,6,0.111,0.032,3627,1366,2196,0,0,0,0,0,0
$GC,11006,0.92,146.0,849.7,10.0,390,11010,0.00,2.15,0.00,0.000,4,0.000,0.074,3627,166,2191,0,0,0,0,0,0
$GC,11043,0.77,146.0,845.3,11.4,390,11052,0.20,1.98,0.00,0.000,6,0.091,0.033,3580,1346,2191,0,0,0,0,0,0
$GC,11294,0.83,196.4,825.7,7.7,397,11347,0.00,2.85,45.55,1.072,4,0.000,0.058,3580,2939,1998,0,0,0,0,0,0
$GC,11361,0.93,241.2,820.5,7.9,398,11411,0.15,2.75,43.78,1.058,6,0.058,0.050,3632,1364,1816,0,0,0,0,0,0
$GC,11674,0.93,241.2,781.6,12.8,406,11678,0.00,2.15,0.00,0.000,4,0.000,0.084,3632,166,1808,0,0,0,0,0,0
$GC,11693,0.87,241.2,778.3,12.7,406,11698,0.15,1.98,0.00,0.000,6,0.111,0.031,3601,1367,1808,0,0,0,0,0,0
$GC,11958,0.87,241.2,749.6,10.7,413,11962,0.00,2.70,0.00,0.000,4,0.000,0.054,3601,2937,1805,0,0,0,0,0,0
$GC,11993,0.93,241.2,746.1,10.9,413,11997,0.00,2.70,0.00,0.000,6,0.000,0.050,3600,1364,1803,0,0,0,0,0,0
$GC,12242,0.93,241.2,718.9,10.9,419,12246,0.00,2.15,0.00,0.000,4,0.000,0.084,3600,166,1803,0,0,0,0,0,0
$GC,12261,0.93,241.2,716.6,10.9,419,12264,0.00,1.95,0.00,0.000,6,0.000,0.030,3600,1363,1803,0,0,0,0,0,0
$GC,12533,0.93,241.2,688.4,10.5,426,12537,0.00,2.67,0.00,0.000,4,0.000,0.054,3600,2933,1803,0,0,0,0,0,0
$GC,12552,0.98,241.2,685.7,10.5,426,12557,0.10,2.67,0.00,0.000,6,0.079,0.048,3642,1363,1800,0,0,0,0,0,0
$GC,12817,0.98,241.2,652.2,13.0,433,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,1363,1800,0,0,0,0,0,0
$GC,13063,0.93,241.2,620.3,13.1,439,13064,0.15,0.00,0.00,0.000,6,0.108,0.000,3611,1363,1800,0,0,0,0,0,0
$GC,13304,0.93,241.2,593.2,10.9,445,13308,0.00,2.12,0.00,0.000,4,0.000,0.077,3611,165,1800,0,0,0,0,0,0
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$STATE,18812,end climb,SURFACE_DEPTH_REACHED
$STATE,18816,begin surface coast
$FINISH,1.0,1.010039
$STATE,18857,end surface coast,CONTROL_FINISHED_OK
$STATE,18857,begin surface
$SM_CCo,18881,38.58,0.428,0,0,1209,390.03
$SM_GC,1.94,0.00,0.00,38.58,0.000,0.000,0.428,411,1604,1209,-13.80,0.96,390.03
$IRIDIUM_FIX,2258.07,-15756.69,251102,040402
$TT8_MAMPS,0.027612
$HUMID,66.93
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,22.9,67.552
$10V_AH,9.7,65.399
$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,32.875,176.700,425.375,38.575,0.000,33.340,44.988,199.371,0.750,0.000,12.936,1529.546,13975.480,534.013,2550.543,759.169,33.380,1597.956,0.000,2558.318,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,85.904,1152.801,427.986,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.746,389.221,495.008,1008.834,1333.695,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,57350,725
$CAP_FILE_SIZE,172083,0
$CFSIZE,260165632,137424896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310813,150606,2311.344,-15752.841,33,1.4,33,10.1