version: 66.06
glider: 148
mission: 12
dive: 463
start: 9 1 113 12 43 18
data:
$ID,148
$MISSION,12
$DIVE,463
$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,-1025272.1
$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,26
$R_STBD_OVSHOOT,114
$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
$GPS1,123454,2319.363,-15757.500,41,1.9,41,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.7
$GPS2,124224,2319.410,-15757.516,12,1.2,12,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.117,0.232
$KALMAN_X,-90428.2,33.5,55.3,94681.3,-340.3
$KALMAN_Y,-22767.1,-23.9,-85.1,86622.1,-221.9
$MHEAD_RNG_PITCHd_Wd,323.0,120854,-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,17,-1.27,-146.0,0.0,0.0,0,93,0.00,0.00,-73.70,0.000,2,0.000,0.000,414,1605,3138,0,0,0,0,0,0
$GC,96,-1.27,-146.0,4.0,-5.2,10,121,13.95,2.33,-4.35,0.000,4,0.143,0.031,3126,3090,3397,0,0,0,0,0,0
$GC,237,-1.10,-146.0,40.0,-17.6,27,242,0.20,2.53,0.00,0.000,6,0.098,0.033,3169,1561,3399,0,0,0,0,0,0
$GC,507,-0.97,-146.0,79.4,-13.4,51,512,0.12,2.42,0.00,0.000,4,0.113,0.023,3197,3083,3399,0,0,0,0,0,0
$GC,550,-0.97,-146.0,85.8,-10.3,54,559,0.00,2.45,0.00,0.000,6,0.000,0.028,3196,1587,3399,0,0,0,0,0,0
$GC,816,-0.97,-146.0,114.3,-10.5,79,821,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1587,3400,0,0,0,0,0,0
$GC,1078,-0.97,-146.0,140.6,-9.6,104,1082,0.00,2.38,0.00,0.000,4,0.000,0.021,3196,3087,3400,0,0,0,0,0,0
$GC,1099,-0.97,-146.0,142.2,-9.9,105,1104,0.00,2.45,0.00,0.000,6,0.000,0.027,3197,1574,3400,0,0,0,0,0,0
$GC,1362,-0.97,-146.0,167.6,-9.5,129,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1574,3401,0,0,0,0,0,0
$GC,1618,-0.97,-146.0,192.2,-9.9,153,1622,0.00,2.38,0.00,0.000,4,0.000,0.021,3197,3086,3401,0,0,0,0,0,0
$GC,1659,-1.06,-146.0,196.3,-8.7,156,1669,0.00,2.45,0.00,0.000,6,0.000,0.029,3197,1596,3401,0,0,0,0,0,0
$GC,1914,-1.06,-146.0,217.9,-8.7,166,1919,0.00,2.35,0.00,0.000,4,0.000,0.045,3197,162,3401,0,0,0,0,0,0
$GC,1935,-1.06,-146.0,219.7,-7.7,166,1939,0.00,2.10,0.00,0.000,6,0.000,0.018,3197,1577,3401,0,0,0,0,0,0
$GC,2200,-1.11,-146.0,240.7,-8.3,173,2204,0.12,2.42,0.00,0.000,4,0.063,0.023,3133,3106,3401,0,0,0,0,0,0
$GC,2247,-1.11,-146.0,246.0,-10.9,174,2252,0.15,2.45,0.00,0.000,6,0.094,0.029,3168,1602,3401,0,0,0,0,0,0
$GC,2537,-1.11,-146.0,274.2,-9.9,181,2541,0.00,2.38,0.00,0.000,4,0.000,0.048,3168,172,3400,0,0,0,0,0,0
$GC,2580,-1.11,-146.0,279.1,-9.7,182,2584,0.00,2.17,0.00,0.000,6,0.000,0.019,3168,1581,3400,0,0,0,0,0,0
$GC,2869,-1.11,-146.0,305.3,-8.9,189,2873,0.00,2.47,0.00,0.000,4,0.000,0.026,3168,3140,3399,0,0,0,0,0,0
$GC,2904,-1.17,-146.0,308.2,-7.6,189,2909,0.00,2.53,0.00,0.000,6,0.000,0.032,3169,1604,3399,0,0,0,0,0,0
$GC,3154,-1.17,-146.0,328.6,-8.1,195,3158,0.00,2.40,0.00,0.000,4,0.000,0.052,3169,168,3398,0,0,0,0,0,0
$GC,3181,-1.17,-146.0,330.8,-9.5,195,3186,0.00,2.22,0.00,0.000,6,0.000,0.021,3169,1601,3398,0,0,0,0,0,0
$GC,3441,-1.17,-146.0,350.4,-7.3,202,3445,0.00,2.47,0.00,0.000,4,0.000,0.030,3168,3142,3396,0,0,0,0,0,0
$GC,3474,-1.24,-146.0,353.0,-7.5,202,3479,0.12,2.55,0.00,0.000,6,0.062,0.036,3104,1599,3396,0,0,0,0,0,0
$GC,3726,-1.11,-146.0,380.1,-11.3,208,3728,0.28,0.00,0.00,0.000,6,0.084,0.000,3165,1599,3394,0,0,0,0,0,0
$GC,3968,-1.11,-146.0,400.9,-8.3,214,3972,0.00,2.53,0.00,0.000,4,0.000,0.035,3164,3129,3393,0,0,0,0,0,0
$GC,3987,-1.11,-146.0,402.7,-9.2,214,3992,0.00,2.55,0.00,0.000,6,0.000,0.037,3165,1600,3393,0,0,0,0,0,0
$GC,4256,-1.11,-146.0,425.8,-9.0,221,4260,0.00,2.45,0.00,0.000,4,0.000,0.064,3164,169,3391,0,0,0,0,0,0
$GC,4275,-1.11,-146.0,428.2,-9.9,221,4279,0.00,2.25,0.00,0.000,6,0.000,0.024,3164,1598,3391,0,0,0,0,0,0
$GC,4539,-1.11,-146.0,451.8,-8.8,228,4543,0.00,2.53,0.00,0.000,4,0.000,0.038,3164,3138,3389,0,0,0,0,0,0
$GC,4569,-1.17,-146.0,454.3,-8.3,228,4574,0.00,2.58,0.00,0.000,6,0.000,0.044,3164,1600,3389,0,0,0,0,0,0
$GC,4824,-1.17,-146.0,475.3,-8.2,235,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1600,3387,0,0,0,0,0,0
$GC,5072,-1.17,-146.0,494.6,-7.8,241,5076,0.00,2.50,0.00,0.000,4,0.000,0.071,3164,168,3386,0,0,0,0,0,0
$GC,5098,-1.17,-146.0,497.0,-9.4,241,5102,0.00,2.30,0.00,0.000,6,0.000,0.031,3164,1602,3386,0,0,0,0,0,0
$GC,5357,-1.17,-146.0,518.7,-8.4,248,5361,0.00,2.58,0.00,0.000,4,0.000,0.044,3163,3150,3384,0,0,0,0,0,0
$GC,5381,-1.23,-146.0,521.0,-9.5,248,5386,0.00,2.55,0.00,0.000,6,0.000,0.047,3163,1616,3384,0,0,0,0,0,0
$GC,5643,-1.23,-146.0,542.7,-8.4,255,5647,0.00,2.53,0.00,0.000,4,0.000,0.074,3164,169,3382,0,0,0,0,0,0
$GC,5671,-1.23,-146.0,545.4,-8.3,255,5675,0.00,2.35,0.00,0.000,6,0.000,0.032,3163,1618,3382,0,0,0,0,0,0
$GC,5926,-1.23,-146.0,564.6,-7.5,262,5930,0.00,2.55,0.00,0.000,4,0.000,0.046,3164,3158,3381,0,0,0,0,0,0
$GC,5975,-1.34,-146.0,568.0,-7.2,263,5980,0.20,2.60,0.00,0.000,6,0.044,0.044,3088,1622,3381,0,0,0,0,0,0
$GC,6259,-1.20,-146.0,598.1,-10.9,270,6264,0.25,2.53,0.00,0.000,4,0.088,0.074,3146,169,3379,0,0,0,0,0,0
$GC,6310,-1.20,-146.0,603.2,-9.0,271,6314,0.00,2.38,0.00,0.000,6,0.000,0.036,3147,1622,3379,0,0,0,0,0,0
$GC,6593,-1.20,-146.0,626.4,-8.2,278,6597,0.00,2.58,0.00,0.000,4,0.000,0.058,3146,3161,3377,0,0,0,0,0,0
$GC,6644,-1.28,-146.0,630.6,-8.1,279,6649,0.00,2.60,0.00,0.000,6,0.000,0.047,3146,1626,3377,0,0,0,0,0,0
$GC,6928,-1.28,-146.0,651.9,-7.6,286,6932,0.00,2.58,0.00,0.000,4,0.000,0.081,3147,170,3376,0,0,0,0,0,0
$GC,6951,-1.28,-146.0,654.1,-8.0,286,6955,0.00,2.40,0.00,0.000,6,0.000,0.037,3146,1629,3375,0,0,0,0,0,0
$GC,7215,-1.28,-146.0,673.8,-7.6,293,7219,0.00,2.58,0.00,0.000,4,0.000,0.055,3146,3149,3374,0,0,0,0,0,0
$GC,7250,-1.35,-146.0,676.5,-7.9,293,7255,0.12,2.60,0.00,0.000,6,0.062,0.048,3090,1622,3374,0,0,0,0,0,0
$GC,7500,-1.24,-146.0,702.8,-10.6,299,7506,0.22,2.58,0.00,0.000,4,0.091,0.080,3140,170,3373,0,0,0,0,0,0
$GC,7559,-1.24,-146.0,708.3,-9.6,300,7564,0.00,2.38,0.00,0.000,6,0.000,0.038,3140,1611,3373,0,0,0,0,0,0
$GC,7837,-1.24,-146.0,731.2,-8.1,307,7842,0.00,2.65,0.00,0.000,4,0.000,0.055,3140,3166,3370,0,0,0,0,0,0
$GC,7885,-1.32,-146.0,734.9,-7.5,308,7889,0.00,2.65,0.00,0.000,6,0.000,0.049,3140,1618,3370,0,0,0,0,0,0
$GC,8169,-1.32,-146.0,755.3,-7.3,315,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1617,3369,0,0,0,0,0,0
$GC,8414,-1.32,-146.0,774.0,-7.7,321,8418,0.00,2.60,0.00,0.000,4,0.000,0.049,3140,3163,3367,0,0,0,0,0,0
$GC,8433,-1.32,-146.0,775.8,-8.5,321,8437,0.00,2.62,0.00,0.000,6,0.000,0.049,3140,1625,3368,0,0,0,0,0,0
$GC,8699,-1.32,-146.0,796.2,-7.8,328,8703,0.00,2.60,0.00,0.000,4,0.000,0.084,3140,165,3367,0,0,0,0,0,0
$GC,8732,-1.32,-146.0,799.2,-9.9,328,8736,0.00,2.42,0.00,0.000,6,0.000,0.038,3140,1633,3366,0,0,0,0,0,0
$GC,8982,-1.32,-146.0,817.6,-7.4,334,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1633,3366,0,0,0,0,0,0
$GC,9228,-1.32,-146.0,835.5,-7.4,340,9229,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1633,3365,0,0,0,0,0,0
$GC,9473,-1.32,-146.0,854.1,-7.6,346,9477,0.00,2.60,0.00,0.000,4,0.000,0.077,3140,168,3364,0,0,0,0,0,0
$GC,9497,-1.32,-146.0,856.4,-9.4,346,9501,0.00,2.40,0.00,0.000,6,0.000,0.038,3140,1623,3364,0,0,0,0,0,0
$GC,9763,-1.32,-146.0,876.0,-7.4,353,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1623,3363,0,0,0,0,0,0
$GC,10004,-1.32,-146.0,894.6,-7.7,359,10009,0.00,2.58,0.00,0.000,4,0.000,0.077,3140,167,3362,0,0,0,0,0,0
$GC,10028,-1.32,-146.0,896.7,-8.5,359,10032,0.00,2.40,0.00,0.000,6,0.000,0.038,3140,1621,3362,0,0,0,0,0,0
$STATE,10086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10086,begin apogee
$GC,10095,-0.31,0.0,901.2,8.2,361,10219,0.88,0.00,121.28,1.154,6,0.066,0.000,3343,1348,2801,0,0,0,0,0,0
$STATE,10220,end apogee,CONTROL_FINISHED_OK
$STATE,10220,begin climb
$GC,10223,1.27,146.0,905.7,0.0,364,10364,1.42,2.20,131.12,1.134,4,0.031,0.080,3692,172,2204,0,0,0,0,0,0
$GC,10430,0.99,146.0,893.7,13.7,368,10435,0.32,1.98,0.00,0.000,6,0.108,0.034,3625,1359,2200,0,0,0,0,0,0
$GC,10681,0.92,152.8,869.0,9.7,374,10693,0.00,2.20,5.75,0.814,4,0.000,0.074,3625,173,2177,0,0,0,0,0,0
$GC,10747,0.79,152.8,861.9,12.1,375,10752,0.20,1.98,0.00,0.000,6,0.107,0.033,3584,1351,2177,0,0,0,0,0,0
$GC,11021,0.81,174.3,837.4,9.0,382,11044,0.00,0.00,21.85,1.040,6,0.000,0.000,3584,1352,2089,0,0,0,0,0,0
$GC,11266,0.81,175.2,813.4,10.0,388,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,1352,2084,0,0,0,0,0,0
$GC,11508,0.82,183.3,789.7,9.6,394,11519,0.00,0.00,8.93,0.912,6,0.000,0.000,3584,1353,2052,0,0,0,0,0,0
$GC,11752,0.85,206.9,767.5,8.9,400,11777,0.00,0.00,23.73,1.018,6,0.000,0.000,3584,1354,1956,0,0,0,0,0,0
$GC,12002,0.93,225.8,745.4,9.1,406,12027,0.12,2.78,19.05,0.987,4,0.068,0.052,3628,2941,1879,0,0,0,0,0,0
$GC,12062,0.93,225.8,738.2,11.7,407,12067,0.00,2.78,0.00,0.000,6,0.000,0.050,3628,1355,1875,0,0,0,0,0,0
$GC,12331,0.93,225.8,706.0,12.0,414,12335,0.00,2.72,0.00,0.000,4,0.000,0.046,3628,2935,1875,0,0,0,0,0,0
$GC,12351,0.93,225.8,703.6,10.9,414,12356,0.00,2.75,0.00,0.000,6,0.000,0.055,3628,1350,1873,0,0,0,0,0,0
$GC,12620,0.93,225.8,670.0,12.8,421,12624,0.00,2.10,0.00,0.000,4,0.000,0.084,3628,166,1872,0,0,0,0,0,0
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$STATE,18550,end climb,SURFACE_DEPTH_REACHED
$STATE,18550,begin surface coast
$FINISH,1.0,1.001337
$STATE,18585,end surface coast,CONTROL_FINISHED_OK
$STATE,18585,begin surface
$SM_CCo,18608,41.30,0.433,0,0,1209,390.03
$SM_GC,2.00,0.00,0.00,41.30,0.000,0.000,0.433,416,1599,1209,-13.78,0.85,390.03
$IRIDIUM_FIX,2307.44,-15800.16,261102,070743
$TT8_MAMPS,0.027612
$HUMID,69.29
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.90
$XPDR_PINGS,12
$24V_AH,22.9,68.270
$10V_AH,9.8,66.143
$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
$DEVICE_SECS,32.900,211.625,422.425,41.300,0.000,23.082,40.082,223.115,3.000,0.000,13.983,1553.573,13592.480,567.402,2580.626,794.519,33.376,1653.167,0.000,2592.132,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,475.950,367.737,471.398,960.730,1269.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,57316,699
$CAP_FILE_SIZE,180970,0
$CFSIZE,260165632,137031680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010913,175535,2321.752,-15758.752,36,1.5,42,10.1