version: 66.06
glider: 148
mission: 12
dive: 462
start: 9 1 113 7 20 18
data:
$ID,148
$MISSION,12
$DIVE,462
$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,-1025257.4
$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,71
$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
$GPS1,071223,2317.319,-15756.448,41,1.2,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-75.7
$GPS2,071924,2317.349,-15756.473,9,1.4,14,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.096,0.241
$KALMAN_X,-90578.0,201.9,99.2,96401.4,-349.1
$KALMAN_Y,-22568.0,70.6,164.2,82269.7,-978.7
$MHEAD_RNG_PITCHd_Wd,328.2,125028,-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,-67.12,0.000,2,0.000,0.000,408,1552,2946,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.6,-5.5,9,122,14.23,2.55,-7.88,0.000,4,0.150,0.035,3127,3123,3398,0,0,0,0,0,0
$GC,170,-1.04,-146.0,26.7,-20.4,20,180,0.20,2.58,0.00,0.000,6,0.077,0.031,3177,1568,3399,0,0,0,0,0,0
$GC,450,-0.91,-146.0,71.9,-13.6,46,455,0.15,2.30,0.00,0.000,4,0.101,0.042,3212,169,3399,0,0,0,0,0,0
$GC,484,-0.91,-146.0,77.1,-13.4,48,488,0.00,2.10,0.00,0.000,6,0.000,0.016,3211,1576,3400,0,0,0,0,0,0
$GC,748,-0.91,-146.0,103.8,-9.9,72,753,0.00,2.42,0.00,0.000,4,0.000,0.021,3211,3120,3400,0,0,0,0,0,0
$GC,811,-1.03,-146.0,109.3,-8.7,77,816,0.10,2.50,0.00,0.000,6,0.073,0.028,3146,1563,3401,0,0,0,0,0,0
$GC,1079,-0.87,-146.0,143.1,-13.3,101,1084,0.30,2.28,0.00,0.000,4,0.081,0.040,3216,165,3401,0,0,0,0,0,0
$GC,1110,-0.87,-146.0,147.9,-10.8,103,1116,0.00,2.10,0.00,0.000,6,0.000,0.017,3216,1583,3402,0,0,0,0,0,0
$GC,1373,-0.87,-146.0,170.0,-8.3,128,1377,0.00,2.38,0.00,0.000,4,0.000,0.021,3217,3107,3402,0,0,0,0,0,0
$GC,1424,-1.00,-146.0,174.2,-7.7,132,1434,0.08,2.50,0.00,0.000,6,0.031,0.028,3146,1580,3402,0,0,0,0,0,0
$GC,1717,-0.89,-146.0,210.0,-12.0,154,1722,0.28,2.30,0.00,0.000,4,0.081,0.042,3213,173,3402,0,0,0,0,0,0
$GC,1743,-0.89,-146.0,213.3,-10.5,154,1747,0.00,2.08,0.00,0.000,6,0.000,0.018,3213,1562,3402,0,0,0,0,0,0
$GC,2005,-0.96,-146.0,234.2,-8.1,161,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1565,3402,0,0,0,0,0,0
$GC,2246,-1.05,-146.0,252.2,-7.2,167,2251,0.12,2.45,0.00,0.000,4,0.062,0.023,3144,3117,3402,0,0,0,0,0,0
$GC,2286,-1.05,-146.0,255.9,-9.9,167,2293,0.17,2.53,0.00,0.000,6,0.082,0.030,3186,1571,3402,0,0,0,0,0,0
$GC,2537,-1.05,-146.0,276.6,-8.3,174,2541,0.00,2.33,0.00,0.000,4,0.000,0.047,3185,170,3402,0,0,0,0,0,0
$GC,2565,-1.05,-146.0,279.2,-8.4,174,2569,0.00,2.12,0.00,0.000,6,0.000,0.019,3185,1564,3401,0,0,0,0,0,0
$GC,2825,-1.05,-146.0,300.9,-8.7,181,2829,0.00,2.50,0.00,0.000,4,0.000,0.026,3185,3138,3401,0,0,0,0,0,0
$GC,2858,-1.15,-146.0,304.2,-8.3,181,2864,0.12,2.53,0.00,0.000,6,0.062,0.032,3118,1587,3401,0,0,0,0,0,0
$GC,3110,-1.04,-146.0,334.6,-12.6,187,3115,0.25,2.35,0.00,0.000,4,0.084,0.049,3179,166,3400,0,0,0,0,0,0
$GC,3131,-0.99,-146.0,337.3,-11.5,187,3135,0.00,2.20,0.00,0.000,6,0.000,0.020,3180,1587,3400,0,0,0,0,0,0
$GC,3395,-0.99,-146.0,358.9,-8.0,194,3399,0.00,2.47,0.00,0.000,4,0.000,0.030,3179,3130,3398,0,0,0,0,0,0
$GC,3425,-1.07,-146.0,361.0,-7.0,194,3430,0.00,2.58,0.00,0.000,6,0.000,0.041,3180,1580,3398,0,0,0,0,0,0
$GC,3682,-1.07,-146.0,379.7,-7.3,201,3687,0.00,2.40,0.00,0.000,4,0.000,0.065,3180,168,3396,0,0,0,0,0,0
$GC,3720,-1.13,-146.0,383.0,-8.3,201,3726,0.00,2.22,0.00,0.000,6,0.000,0.022,3180,1587,3396,0,0,0,0,0,0
$GC,3973,-1.17,-146.0,402.4,-8.0,208,3978,0.12,2.53,0.00,0.000,4,0.062,0.034,3115,3136,3395,0,0,0,0,0,0
$GC,4011,-1.17,-146.0,406.6,-10.2,208,4017,0.17,2.60,0.00,0.000,6,0.085,0.038,3157,1579,3394,0,0,0,0,0,0
$GC,4261,-1.17,-146.0,428.7,-8.8,215,4265,0.00,2.40,0.00,0.000,4,0.000,0.063,3156,166,3393,0,0,0,0,0,0
$GC,4282,-1.17,-146.0,430.6,-9.2,215,4286,0.00,2.25,0.00,0.000,6,0.000,0.025,3156,1593,3392,0,0,0,0,0,0
$GC,4545,-1.17,-146.0,451.9,-8.0,222,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1595,3391,0,0,0,0,0,0
$GC,4789,-1.17,-146.0,470.3,-7.4,228,4794,0.00,2.47,0.00,0.000,4,0.000,0.065,3157,170,3390,0,0,0,0,0,0
$GC,4824,-1.17,-146.0,473.0,-8.5,228,4828,0.00,2.25,0.00,0.000,6,0.000,0.029,3157,1582,3389,0,0,0,0,0,0
$GC,5074,-1.17,-146.0,492.8,-7.9,234,5079,0.00,2.60,0.00,0.000,4,0.000,0.043,3156,3151,3388,0,0,0,0,0,0
$GC,5118,-1.26,-146.0,496.3,-7.6,235,5123,0.00,2.62,0.00,0.000,6,0.000,0.042,3155,1593,3387,0,0,0,0,0,0
$GC,5407,-1.26,-146.0,520.4,-8.6,242,5411,0.00,2.50,0.00,0.000,4,0.000,0.074,3158,167,3386,0,0,0,0,0,0
$GC,5440,-1.26,-146.0,523.8,-9.5,242,5444,0.00,2.28,0.00,0.000,6,0.000,0.031,3156,1589,3385,0,0,0,0,0,0
$GC,5690,-1.26,-146.0,547.0,-9.5,248,5695,0.00,2.58,0.00,0.000,4,0.000,0.044,3156,3147,3384,0,0,0,0,0,0
$GC,5725,-1.33,-146.0,550.4,-10.1,248,5730,0.15,2.62,0.00,0.000,6,0.056,0.044,3090,1591,3384,0,0,0,0,0,0
$GC,5975,-1.20,-146.0,581.3,-12.4,254,5980,0.25,2.47,0.00,0.000,4,0.087,0.075,3150,169,3382,0,0,0,0,0,0
$GC,6029,-1.20,-146.0,586.8,-10.1,255,6033,0.00,2.30,0.00,0.000,6,0.000,0.035,3148,1585,3382,0,0,0,0,0,0
$GC,6312,-1.20,-146.0,608.5,-7.3,262,6316,0.00,2.65,0.00,0.000,4,0.000,0.049,3150,3155,3380,0,0,0,0,0,0
$GC,6355,-1.28,-146.0,611.5,-6.8,263,6360,0.00,2.65,0.00,0.000,6,0.000,0.046,3150,1593,3379,0,0,0,0,0,0
$GC,6645,-1.28,-146.0,631.1,-6.9,270,6649,0.00,2.62,0.00,0.000,4,0.000,0.044,3149,3152,3378,0,0,0,0,0,0
$GC,6666,-1.28,-146.0,632.8,-6.9,270,6671,0.00,2.65,0.00,0.000,6,0.000,0.047,3149,1595,3378,0,0,0,0,0,0
$GC,6930,-1.28,-146.0,650.8,-6.9,277,6935,0.00,2.55,0.00,0.000,4,0.000,0.084,3150,164,3377,0,0,0,0,0,0
$GC,6965,-1.28,-146.0,653.3,-7.4,277,6970,0.00,2.35,0.00,0.000,6,0.000,0.037,3149,1594,3376,0,0,0,0,0,0
$GC,7215,-1.28,-146.0,671.9,-7.5,283,7220,0.00,2.62,0.00,0.000,4,0.000,0.053,3148,3161,3375,0,0,0,0,0,0
$GC,7244,-1.34,-146.0,674.0,-6.8,283,7249,0.12,2.67,0.00,0.000,6,0.064,0.048,3095,1588,3375,0,0,0,0,0,0
$GC,7502,-1.24,-146.0,697.5,-9.3,290,7507,0.20,2.53,0.00,0.000,4,0.091,0.081,3140,169,3373,0,0,0,0,0,0
$GC,7536,-1.24,-146.0,700.6,-8.3,290,7540,0.00,2.35,0.00,0.000,6,0.000,0.038,3139,1600,3373,0,0,0,0,0,0
$GC,7791,-1.24,-146.0,718.2,-7.0,296,7795,0.00,2.65,0.00,0.000,4,0.000,0.054,3139,3163,3372,0,0,0,0,0,0
$GC,7810,-1.24,-146.0,719.9,-7.1,296,7814,0.00,2.67,0.00,0.000,6,0.000,0.048,3139,1593,3372,0,0,0,0,0,0
$GC,8074,-1.24,-146.0,739.0,-7.4,303,8078,0.00,2.53,0.00,0.000,4,0.000,0.084,3140,169,3371,0,0,0,0,0,0
$GC,8109,-1.24,-146.0,741.9,-8.4,303,8113,0.00,2.35,0.00,0.000,6,0.000,0.038,3139,1595,3371,0,0,0,0,0,0
$GC,8359,-1.24,-146.0,760.8,-7.5,309,8363,0.00,2.62,0.00,0.000,4,0.000,0.054,3139,3159,3370,0,0,0,0,0,0
$GC,8406,-1.33,-146.0,764.4,-7.0,310,8411,0.00,2.67,0.00,0.000,6,0.000,0.050,3139,1593,3370,0,0,0,0,0,0
$GC,8691,-1.33,-146.0,785.3,-7.6,317,8695,0.00,2.55,0.00,0.000,4,0.000,0.084,3139,163,3368,0,0,0,0,0,0
$GC,8743,-1.33,-146.0,789.8,-8.7,318,8747,0.00,2.35,0.00,0.000,6,0.000,0.037,3139,1601,3368,0,0,0,0,0,0
$GC,9020,-1.33,-146.0,811.8,-8.0,325,9025,0.00,2.65,0.00,0.000,4,0.000,0.054,3139,3162,3367,0,0,0,0,0,0
$GC,9047,-1.37,-146.0,813.9,-8.7,325,9052,0.12,2.67,0.00,0.000,6,0.064,0.049,3084,1598,3367,0,0,0,0,0,0
$GC,9307,-1.27,-146.0,840.4,-10.3,332,9312,0.22,2.55,0.00,0.000,4,0.090,0.081,3134,167,3366,0,0,0,0,0,0
$GC,9353,-1.27,-146.0,844.5,-9.7,333,9358,0.00,2.35,0.00,0.000,6,0.000,0.037,3134,1597,3366,0,0,0,0,0,0
$GC,9640,-1.27,-146.0,866.1,-7.2,340,9645,0.00,2.65,0.00,0.000,4,0.000,0.054,3134,3164,3365,0,0,0,0,0,0
$GC,9679,-1.34,-146.0,869.0,-8.0,340,9687,0.00,2.70,0.00,0.000,6,0.000,0.050,3134,1605,3365,0,0,0,0,0,0
$GC,9931,-1.34,-146.0,886.9,-7.1,347,9935,0.00,2.58,0.00,0.000,4,0.000,0.083,3134,159,3364,0,0,0,0,0,0
$GC,9964,-1.34,-146.0,889.6,-8.7,347,9968,0.00,2.38,0.00,0.000,6,0.000,0.038,3134,1598,3364,0,0,0,0,0,0
$STATE,10134,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10134,begin apogee
$GC,10141,-0.31,0.0,901.5,7.1,351,10266,0.90,0.00,121.47,1.154,6,0.072,0.000,3338,1339,2800,0,0,0,0,0,0
$STATE,10266,end apogee,CONTROL_FINISHED_OK
$STATE,10267,begin climb
$GC,10271,1.27,146.0,905.0,0.0,354,10412,1.45,2.17,131.62,1.131,4,0.037,0.078,3688,174,2203,0,0,0,0,0,0
$GC,10520,0.99,146.0,884.6,14.2,359,10525,0.30,1.98,0.00,0.000,6,0.109,0.032,3628,1368,2198,0,0,0,0,0,0
$GC,10778,0.91,146.0,857.3,10.3,366,10782,0.00,2.12,0.00,0.000,4,0.000,0.074,3627,169,2193,0,0,0,0,0,0
$GC,10808,0.77,146.0,853.8,11.1,366,10813,0.17,1.98,0.00,0.000,6,0.083,0.032,3579,1351,2193,0,0,0,0,0,0
$GC,11068,0.82,190.5,832.5,7.9,373,11110,0.00,0.00,40.60,1.070,6,0.000,0.000,3579,1351,2023,0,0,0,0,0,0
$GC,11352,0.83,200.5,806.0,9.5,380,11363,0.00,0.00,10.10,0.933,6,0.000,0.000,3579,1351,1982,0,0,0,0,0,0
$GC,11600,0.89,208.2,782.3,9.6,386,11611,0.10,0.00,8.62,0.897,6,0.077,0.000,3620,1352,1951,0,0,0,0,0,0
$GC,11839,0.89,208.2,755.2,11.2,392,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1352,1948,0,0,0,0,0,0
$GC,12082,0.89,208.2,729.3,10.4,398,12087,0.00,2.70,0.00,0.000,4,0.000,0.049,3620,2940,1947,0,0,0,0,0,0
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$STATE,18663,end climb,SURFACE_DEPTH_REACHED
$STATE,18663,begin surface coast
$FINISH,1.1,1.011997
$STATE,18726,end surface coast,CONTROL_FINISHED_OK
$STATE,18726,begin surface
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$TT8_MAMPS,0.027612
$HUMID,67.36
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.50
$XPDR_PINGS,12
$24V_AH,22.9,68.125
$10V_AH,9.8,65.996
$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
$DEVICE_SECS,33.950,246.950,412.200,42.375,0.000,23.820,41.602,190.117,3.000,0.000,16.233,1595.176,13561.590,583.914,2686.480,776.249,33.374,1718.788,0.000,2692.419,0.000,0.536,0.000
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$MEM,355944
$DATA_FILE_SIZE,57284,710
$CAP_FILE_SIZE,191574,0
$CFSIZE,260165632,137101312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010913,123454,2319.363,-15757.500,41,1.9,41,10.1