version: 66.06
glider: 148
mission: 12
dive: 459
start: 8 31 113 15 14 25
data:
$ID,148
$MISSION,12
$DIVE,459
$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,-1025207.9
$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,20
$R_STBD_OVSHOOT,131
$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
$GPS1,150606,2311.344,-15752.841,33,1.4,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-79.2
$GPS2,151331,2311.370,-15752.849,9,2.0,9,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.133,0.223
$KALMAN_X,-90595.4,13.4,-195.8,103091.2,146.3
$KALMAN_Y,-21128.8,-171.3,71.9,70088.2,-335.7
$MHEAD_RNG_PITCHd_Wd,319.1,137669,-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,-67.20,0.000,2,0.000,0.000,410,1604,2925,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.2,-3.9,9,121,14.18,2.35,-8.60,0.000,4,0.148,0.031,3129,3070,3397,0,0,0,0,0,0
$GC,278,-1.10,-146.0,44.5,-16.7,33,288,0.15,2.47,0.00,0.000,6,0.081,0.029,3166,1562,3397,0,0,0,0,0,0
$GC,548,-0.99,-146.0,80.0,-13.1,58,553,0.12,2.40,0.00,0.000,4,0.108,0.024,3194,3074,3398,0,0,0,0,0,0
$GC,593,-0.99,-146.0,86.2,-9.4,61,599,0.00,2.45,0.00,0.000,6,0.000,0.028,3194,1563,3398,0,0,0,0,0,0
$GC,856,-0.99,-146.0,114.8,-10.9,86,860,0.00,2.38,0.00,0.000,4,0.000,0.023,3194,3071,3400,0,0,0,0,0,0
$GC,883,-0.99,-146.0,118.0,-11.5,88,887,0.00,2.40,0.00,0.000,6,0.000,0.028,3194,1580,3399,0,0,0,0,0,0
$GC,1156,-0.99,-146.0,146.2,-10.8,113,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1580,3399,0,0,0,0,0,0
$GC,1417,-0.99,-146.0,170.7,-9.5,138,1421,0.00,2.35,0.00,0.000,4,0.000,0.022,3194,3073,3400,0,0,0,0,0,0
$GC,1448,-0.99,-146.0,173.7,-9.2,140,1454,0.00,2.42,0.00,0.000,6,0.000,0.028,3194,1581,3400,0,0,0,0,0,0
$GC,1713,-0.99,-146.0,197.2,-9.0,165,1717,0.00,2.33,0.00,0.000,4,0.000,0.044,3195,171,3400,0,0,0,0,0,0
$GC,1733,-0.99,-146.0,199.2,-9.9,166,1737,0.00,2.08,0.00,0.000,6,0.000,0.018,3195,1552,3400,0,0,0,0,0,0
$GC,1985,-0.99,-146.0,223.5,-9.4,172,1990,0.00,2.45,0.00,0.000,4,0.000,0.022,3195,3115,3400,0,0,0,0,0,0
$GC,2029,-1.10,-146.0,227.6,-8.8,173,2034,0.10,2.47,0.00,0.000,6,0.074,0.028,3129,1594,3400,0,0,0,0,0,0
$GC,2317,-0.99,-146.0,260.9,-11.7,180,2322,0.25,2.33,0.00,0.000,4,0.084,0.043,3189,172,3400,0,0,0,0,0,0
$GC,2373,-1.05,-146.0,265.5,-7.6,181,2378,0.00,2.15,0.00,0.000,6,0.000,0.018,3189,1579,3400,0,0,0,0,0,0
$GC,2652,-1.10,-146.0,288.6,-8.6,188,2656,0.00,2.45,0.00,0.000,4,0.000,0.025,3189,3126,3400,0,0,0,0,0,0
$GC,2719,-1.22,-146.0,294.3,-8.0,189,2725,0.20,2.50,0.00,0.000,6,0.042,0.031,3106,1602,3399,0,0,0,0,0,0
$GC,2989,-1.09,-146.0,326.9,-12.3,196,2994,0.25,2.38,0.00,0.000,4,0.084,0.048,3167,165,3398,0,0,0,0,0,0
$GC,3020,-1.09,-146.0,330.3,-9.4,196,3024,0.00,2.20,0.00,0.000,6,0.000,0.021,3167,1587,3398,0,0,0,0,0,0
$GC,3274,-1.09,-146.0,352.8,-9.2,203,3279,0.00,2.50,0.00,0.000,4,0.000,0.031,3166,3148,3397,0,0,0,0,0,0
$GC,3308,-1.15,-146.0,356.0,-9.2,203,3312,0.00,2.58,0.00,0.000,6,0.000,0.036,3167,1593,3397,0,0,0,0,0,0
$GC,3560,-1.15,-146.0,379.2,-9.3,209,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1593,3395,0,0,0,0,0,0
$GC,3802,-1.15,-146.0,397.7,-7.5,215,3806,0.00,2.55,0.00,0.000,4,0.000,0.035,3167,3137,3393,0,0,0,0,0,0
$GC,3821,-1.15,-146.0,399.3,-7.6,215,3825,0.00,2.53,0.00,0.000,6,0.000,0.037,3167,1604,3393,0,0,0,0,0,0
$GC,4087,-1.15,-146.0,418.5,-7.3,222,4091,0.00,2.50,0.00,0.000,4,0.000,0.036,3167,3134,3392,0,0,0,0,0,0
$GC,4111,-1.20,-146.0,420.5,-7.4,222,4116,0.00,2.55,0.00,0.000,6,0.000,0.039,3167,1607,3392,0,0,0,0,0,0
$GC,4371,-1.20,-146.0,439.9,-7.4,229,4375,0.00,2.45,0.00,0.000,4,0.000,0.065,3167,170,3390,0,0,0,0,0,0
$GC,4405,-1.20,-146.0,442.5,-7.1,229,4410,0.00,2.25,0.00,0.000,6,0.000,0.026,3167,1596,3390,0,0,0,0,0,0
$GC,4656,-1.20,-146.0,461.3,-7.6,235,4660,0.00,2.53,0.00,0.000,4,0.000,0.039,3166,3144,3388,0,0,0,0,0,0
$GC,4694,-1.30,-146.0,464.4,-7.8,235,4702,0.12,2.60,0.00,0.000,6,0.027,0.040,3101,1605,3388,0,0,0,0,0,0
$GC,4946,-1.18,-146.0,491.5,-11.2,242,4948,0.22,0.00,0.00,0.000,6,0.087,0.000,3152,1606,3387,0,0,0,0,0,0
$GC,5187,-1.18,-146.0,512.0,-8.2,248,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1606,3385,0,0,0,0,0,0
$GC,5431,-1.18,-146.0,531.9,-8.1,254,5435,0.00,2.60,0.00,0.000,4,0.000,0.047,3152,3141,3383,0,0,0,0,0,0
$GC,5457,-1.18,-146.0,534.0,-9.1,254,5461,0.00,2.60,0.00,0.000,6,0.000,0.042,3151,1600,3383,0,0,0,0,0,0
$GC,5719,-1.18,-146.0,554.5,-7.9,261,5723,0.00,2.60,0.00,0.000,4,0.000,0.044,3151,3144,3382,0,0,0,0,0,0
$GC,5738,-1.18,-146.0,556.2,-7.6,261,5743,0.00,2.58,0.00,0.000,6,0.000,0.043,3151,1605,3381,0,0,0,0,0,0
$GC,6004,-1.18,-146.0,575.5,-7.2,268,6009,0.00,2.53,0.00,0.000,4,0.000,0.077,3152,169,3380,0,0,0,0,0,0
$GC,6033,-1.18,-146.0,578.0,-8.1,268,6037,0.00,2.35,0.00,0.000,6,0.000,0.034,3151,1609,3380,0,0,0,0,0,0
$GC,6288,-1.18,-146.0,596.6,-7.3,275,6292,0.00,2.58,0.00,0.000,4,0.000,0.048,3151,3154,3378,0,0,0,0,0,0
$GC,6318,-1.24,-146.0,598.9,-7.5,275,6323,0.00,2.62,0.00,0.000,6,0.000,0.046,3151,1609,3378,0,0,0,0,0,0
$GC,6573,-1.24,-146.0,618.4,-7.6,282,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1609,3376,0,0,0,0,0,0
$GC,6817,-1.24,-146.0,635.9,-7.1,288,6821,0.00,2.55,0.00,0.000,4,0.000,0.081,3152,169,3375,0,0,0,0,0,0
$GC,6850,-1.24,-146.0,638.5,-7.8,288,6854,0.00,2.38,0.00,0.000,6,0.000,0.037,3151,1613,3375,0,0,0,0,0,0
$GC,7102,-1.24,-146.0,656.9,-7.4,294,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1613,3373,0,0,0,0,0,0
$GC,7344,-1.24,-146.0,676.0,-7.8,300,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,1613,3372,0,0,0,0,0,0
$GC,7590,-1.24,-146.0,694.7,-7.6,306,7594,0.00,2.62,0.00,0.000,4,0.000,0.057,3151,3157,3370,0,0,0,0,0,0
$GC,7626,-1.32,-146.0,697.4,-7.7,306,7631,0.12,2.62,0.00,0.000,6,0.065,0.049,3098,1620,3370,0,0,0,0,0,0
$GC,7876,-1.25,-146.0,722.0,-10.0,312,7881,0.17,2.62,0.00,0.000,4,0.092,0.083,3138,161,3369,0,0,0,0,0,0
$GC,7896,-1.20,-146.0,724.1,-9.7,312,7901,0.00,2.40,0.00,0.000,6,0.000,0.036,3138,1622,3369,0,0,0,0,0,0
$GC,8162,-1.20,-146.0,745.4,-8.0,319,8167,0.00,2.60,0.00,0.000,4,0.000,0.058,3138,3157,3369,0,0,0,0,0,0
$GC,8206,-1.28,-146.0,748.9,-7.4,320,8211,0.00,2.62,0.00,0.000,6,0.000,0.050,3137,1622,3368,0,0,0,0,0,0
$GC,8497,-1.28,-146.0,770.9,-7.5,327,8501,0.00,2.60,0.00,0.000,4,0.000,0.083,3138,163,3367,0,0,0,0,0,0
$GC,8530,-1.28,-146.0,773.8,-8.2,327,8534,0.00,2.42,0.00,0.000,6,0.000,0.037,3138,1632,3366,0,0,0,0,0,0
$GC,8780,-1.28,-146.0,791.2,-6.8,333,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1632,3365,0,0,0,0,0,0
$GC,9026,-1.28,-146.0,808.2,-7.0,339,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1632,3364,0,0,0,0,0,0
$GC,9267,-1.28,-146.0,825.8,-7.2,345,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1632,3364,0,0,0,0,0,0
$GC,9514,-1.28,-146.0,844.2,-7.6,351,9515,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1632,3363,0,0,0,0,0,0
$GC,9755,-1.28,-146.0,862.7,-7.6,357,9759,0.00,2.60,0.00,0.000,4,0.000,0.077,3138,166,3362,0,0,0,0,0,0
$GC,9790,-1.28,-146.0,865.6,-9.0,357,9795,0.00,2.42,0.00,0.000,6,0.000,0.039,3138,1628,3361,0,0,0,0,0,0
$GC,10040,-1.28,-146.0,884.6,-7.4,363,10045,0.00,2.60,0.00,0.000,4,0.000,0.058,3137,3157,3361,0,0,0,0,0,0
$GC,10069,-1.34,-146.0,886.7,-7.0,363,10074,0.00,2.62,0.00,0.000,6,0.000,0.050,3138,1618,3361,0,0,0,0,0,0
$STATE,10281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10281,begin apogee
$GC,10289,-0.31,0.0,901.2,6.7,369,10413,0.88,0.00,120.62,1.155,6,0.067,0.000,3340,1353,2800,0,0,0,0,0,0
$STATE,10414,end apogee,CONTROL_FINISHED_OK
$STATE,10414,begin climb
$GC,10417,1.27,146.0,904.5,0.0,372,10562,1.48,2.17,132.27,1.132,4,0.032,0.084,3694,167,2201,0,0,0,0,0,0
$GC,10579,0.99,146.0,896.5,13.7,376,10584,0.32,2.00,0.00,0.000,6,0.110,0.032,3629,1369,2201,0,0,0,0,0,0
$GC,10857,0.90,146.0,865.1,11.0,383,10862,0.10,2.15,0.00,0.000,4,0.137,0.074,3607,169,2193,0,0,0,0,0,0
$GC,10916,0.80,146.0,858.5,12.1,384,10920,0.10,1.95,0.00,0.000,6,0.130,0.031,3587,1355,2193,0,0,0,0,0,0
$GC,11203,0.81,155.0,830.8,9.6,391,11215,0.00,2.17,7.00,0.869,4,0.000,0.074,3586,175,2168,0,0,0,0,0,0
$GC,11260,0.76,155.0,824.5,12.1,392,11263,0.00,1.95,0.00,0.000,6,0.000,0.031,3586,1357,2168,0,0,0,0,0,0
$GC,11541,0.79,173.6,798.2,9.1,399,11566,0.00,2.20,18.95,1.019,4,0.000,0.074,3586,177,2091,0,0,0,0,0,0
$GC,11621,0.79,177.4,790.4,9.8,400,11636,0.00,1.95,5.07,0.756,6,0.000,0.031,3586,1340,2076,0,0,0,0,0,0
$GC,11878,0.81,190.4,765.8,9.4,407,11894,0.00,0.00,13.38,0.968,6,0.000,0.000,3587,1340,2023,0,0,0,0,0,0
$GC,12122,0.83,208.2,743.3,9.2,413,12142,0.00,0.00,17.80,0.985,6,0.000,0.000,3586,1341,1951,0,0,0,0,0,0
$GC,12413,0.89,220.1,716.2,9.4,420,12433,0.00,2.78,12.75,0.934,4,0.000,0.051,3586,2943,1900,0,0,0,0,0,0
$GC,12453,1.00,245.0,712.1,8.8,420,12486,0.12,2.80,24.80,0.984,6,0.031,0.051,3638,1353,1801,0,0,0,0,0,0
$GC,12750,1.00,245.0,673.1,13.3,428,12755,0.00,2.72,0.00,0.000,4,0.000,0.048,3638,2942,1796,0,0,0,0,0,0
$GC,12769,1.00,245.0,670.5,12.4,428,12774,0.00,2.78,0.00,0.000,6,0.000,0.049,3638,1338,1794,0,0,0,0,0,0
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$STATE,18826,end climb,SURFACE_DEPTH_REACHED
$STATE,18826,begin surface coast
$FINISH,1.0,1.011813
$STATE,18867,end surface coast,CONTROL_FINISHED_OK
$STATE,18867,begin surface
$SM_CCo,18892,39.28,0.428,0,0,1209,390.03
$SM_GC,2.06,0.00,0.00,39.28,0.000,0.000,0.428,418,1607,1209,-13.76,1.05,390.03
$IRIDIUM_FIX,2300.41,-15749.30,251102,090954
$TT8_MAMPS,0.027612
$HUMID,67.95
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,22.9,67.694
$10V_AH,9.7,65.550
$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
$DEVICE_SECS,33.125,210.350,425.550,39.275,0.000,30.760,37.924,208.796,1.250,0.000,11.382,1574.414,13793.656,568.550,2637.917,792.053,33.374,1665.562,0.000,2646.824,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,485.631,379.628,482.869,1006.069,1330.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,57364,713
$CAP_FILE_SIZE,182163,0
$CFSIZE,260165632,137334784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310813,203123,2313.339,-15754.166,26,1.6,43,10.1