version: 66.06
glider: 148
mission: 12
dive: 465
start: 9 1 113 23 32 22
data:
$ID,148
$MISSION,12
$DIVE,465
$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,-1025318.3
$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,25
$R_STBD_OVSHOOT,126
$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
$GPS1,232405,2324.056,-15759.833,38,1.5,50,10.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.4
$GPS2,233130,2324.097,-15759.859,12,1.6,29,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.127,0.227
$KALMAN_X,-89899.3,14.5,199.9,90023.4,-110.2
$KALMAN_Y,-22578.8,198.5,78.1,94726.6,-319.4
$MHEAD_RNG_PITCHd_Wd,320.6,111393,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.27,-146.0,0.0,0.0,0,86,0.00,0.00,-67.60,0.000,2,0.000,0.000,415,1608,2940,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.6,-5.0,9,123,14.07,2.35,-8.23,0.000,4,0.146,0.036,3129,3067,3397,0,0,0,0,0,0
$GC,214,-1.10,-146.0,32.4,-17.7,26,219,0.20,2.47,0.00,0.000,6,0.094,0.032,3172,1561,3398,0,0,0,0,0,0
$GC,484,-0.96,-146.0,77.6,-15.0,50,493,0.12,0.00,0.00,0.000,6,0.109,0.000,3200,1560,3399,0,0,0,0,0,0
$GC,749,-0.96,-146.0,109.4,-11.6,75,753,0.00,2.40,0.00,0.000,4,0.000,0.021,3200,3077,3400,0,0,0,0,0,0
$GC,791,-1.03,-146.0,114.0,-10.1,78,800,0.00,2.47,0.00,0.000,6,0.000,0.028,3200,1565,3400,0,0,0,0,0,0
$GC,1058,-1.03,-146.0,140.9,-9.2,103,1062,0.00,2.38,0.00,0.000,4,0.000,0.021,3200,3079,3400,0,0,0,0,0,0
$GC,1091,-1.03,-146.0,144.1,-7.7,105,1096,0.00,2.45,0.00,0.000,6,0.000,0.028,3200,1566,3400,0,0,0,0,0,0
$GC,1357,-1.03,-146.0,167.4,-9.7,130,1361,0.00,2.28,0.00,0.000,4,0.000,0.042,3201,164,3400,0,0,0,0,0,0
$GC,1401,-1.03,-146.0,172.6,-10.2,134,1405,0.00,2.05,0.00,0.000,6,0.000,0.016,3200,1522,3400,0,0,0,0,0,0
$GC,1670,-1.03,-146.0,199.2,-9.9,159,1675,0.00,2.50,0.00,0.000,4,0.000,0.021,3200,3130,3401,0,0,0,0,0,0
$GC,1727,-1.15,-146.0,204.9,-9.0,160,1732,0.17,2.53,0.00,0.000,6,0.047,0.028,3119,1564,3401,0,0,0,0,0,0
$GC,2003,-1.00,-146.0,240.5,-13.3,167,2008,0.30,2.28,0.00,0.000,4,0.084,0.042,3189,169,3401,0,0,0,0,0,0
$GC,2051,-1.06,-146.0,246.0,-9.7,168,2055,0.00,2.12,0.00,0.000,6,0.000,0.018,3190,1564,3401,0,0,0,0,0,0
$GC,2335,-1.06,-146.0,270.2,-8.6,175,2339,0.00,2.47,0.00,0.000,4,0.000,0.023,3190,3127,3401,0,0,0,0,0,0
$GC,2397,-1.17,-146.0,275.5,-8.0,176,2402,0.15,2.53,0.00,0.000,6,0.053,0.029,3118,1581,3401,0,0,0,0,0,0
$GC,2669,-1.05,-146.0,307.4,-12.1,183,2673,0.25,2.35,0.00,0.000,4,0.085,0.046,3177,166,3400,0,0,0,0,0,0
$GC,2707,-1.05,-146.0,311.7,-9.7,183,2712,0.00,2.17,0.00,0.000,6,0.000,0.019,3177,1578,3400,0,0,0,0,0,0
$GC,2957,-1.05,-146.0,329.6,-6.9,190,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1581,3399,0,0,0,0,0,0
$GC,3206,-1.05,-146.0,348.3,-7.9,196,3210,0.00,2.47,0.00,0.000,4,0.000,0.028,3177,3128,3397,0,0,0,0,0,0
$GC,3235,-1.13,-146.0,351.1,-8.4,196,3239,0.00,2.55,0.00,0.000,6,0.000,0.035,3178,1575,3397,0,0,0,0,0,0
$GC,3490,-1.13,-146.0,372.0,-8.2,203,3491,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1575,3396,0,0,0,0,0,0
$GC,3733,-1.13,-146.0,392.5,-8.4,209,3738,0.00,2.55,0.00,0.000,4,0.000,0.033,3177,3126,3394,0,0,0,0,0,0
$GC,3759,-1.19,-146.0,394.5,-9.0,209,3764,0.12,2.58,0.00,0.000,6,0.061,0.038,3114,1578,3394,0,0,0,0,0,0
$GC,4022,-1.09,-146.0,423.4,-11.4,216,4027,0.25,2.42,0.00,0.000,4,0.084,0.061,3173,162,3393,0,0,0,0,0,0
$GC,4072,-1.15,-146.0,428.5,-9.4,217,4076,0.00,2.17,0.00,0.000,6,0.000,0.024,3174,1560,3392,0,0,0,0,0,0
$GC,4354,-1.15,-146.0,449.6,-7.4,224,4359,0.00,2.60,0.00,0.000,4,0.000,0.037,3173,3141,3391,0,0,0,0,0,0
$GC,4406,-1.28,-146.0,453.2,-7.0,225,4412,0.17,2.60,0.00,0.000,6,0.048,0.039,3101,1582,3390,0,0,0,0,0,0
$GC,4688,-1.16,-146.0,481.8,-10.5,232,4693,0.25,2.45,0.00,0.000,4,0.085,0.067,3160,162,3389,0,0,0,0,0,0
$GC,4732,-1.16,-146.0,486.4,-9.1,233,4736,0.00,2.28,0.00,0.000,6,0.000,0.030,3160,1575,3388,0,0,0,0,0,0
$GC,5021,-1.16,-146.0,510.7,-8.5,240,5025,0.00,2.62,0.00,0.000,4,0.000,0.044,3160,3155,3386,0,0,0,0,0,0
$GC,5045,-1.21,-146.0,513.1,-9.0,240,5050,0.00,2.65,0.00,0.000,6,0.000,0.041,3160,1575,3386,0,0,0,0,0,0
$GC,5305,-1.21,-146.0,533.5,-8.0,247,5309,0.00,2.62,0.00,0.000,4,0.000,0.042,3160,3149,3384,0,0,0,0,0,0
$GC,5340,-1.29,-146.0,536.2,-8.3,247,5345,0.12,2.60,0.00,0.000,6,0.062,0.042,3098,1590,3384,0,0,0,0,0,0
$GC,5591,-1.17,-146.0,563.8,-11.3,253,5596,0.25,2.50,0.00,0.000,4,0.085,0.074,3154,168,3383,0,0,0,0,0,0
$GC,5617,-1.17,-146.0,566.2,-9.1,253,5621,0.00,2.30,0.00,0.000,6,0.000,0.033,3154,1587,3382,0,0,0,0,0,0
$GC,5876,-1.17,-146.0,586.0,-7.4,260,5881,0.00,2.62,0.00,0.000,4,0.000,0.047,3154,3151,3381,0,0,0,0,0,0
$GC,5895,-1.17,-146.0,587.5,-7.6,260,5900,0.00,2.65,0.00,0.000,6,0.000,0.044,3154,1582,3381,0,0,0,0,0,0
$GC,6161,-1.17,-146.0,607.4,-7.8,267,6166,0.00,2.62,0.00,0.000,4,0.000,0.043,3153,3158,3379,0,0,0,0,0,0
$GC,6205,-1.27,-146.0,610.9,-7.6,268,6210,0.00,2.65,0.00,0.000,6,0.000,0.048,3153,1595,3379,0,0,0,0,0,0
$GC,6493,-1.27,-146.0,633.7,-7.9,275,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1595,3377,0,0,0,0,0,0
$GC,6741,-1.27,-146.0,653.2,-7.9,281,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1595,3376,0,0,0,0,0,0
$GC,6980,-1.27,-146.0,671.4,-7.3,287,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1595,3374,0,0,0,0,0,0
$GC,7224,-1.27,-146.0,688.9,-7.2,293,7228,0.00,2.65,0.00,0.000,4,0.000,0.048,3154,3155,3373,0,0,0,0,0,0
$GC,7255,-1.34,-146.0,691.1,-6.9,293,7260,0.15,2.65,0.00,0.000,6,0.054,0.049,3091,1607,3373,0,0,0,0,0,0
$GC,7512,-1.24,-146.0,716.7,-10.2,300,7518,0.22,2.58,0.00,0.000,4,0.088,0.084,3141,166,3371,0,0,0,0,0,0
$GC,7581,-1.24,-146.0,723.4,-9.0,301,7585,0.00,2.33,0.00,0.000,6,0.000,0.038,3141,1591,3370,0,0,0,0,0,0
$GC,7847,-1.24,-146.0,744.7,-8.1,308,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1591,3370,0,0,0,0,0,0
$GC,8088,-1.24,-146.0,764.1,-8.0,314,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1591,3369,0,0,0,0,0,0
$GC,8332,-1.24,-146.0,782.5,-7.5,320,8333,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1591,3368,0,0,0,0,0,0
$GC,8580,-1.24,-146.0,800.1,-7.1,326,8584,0.00,2.53,0.00,0.000,4,0.000,0.077,3141,166,3367,0,0,0,0,0,0
$GC,8608,-1.24,-146.0,802.7,-8.6,326,8612,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,1605,3366,0,0,0,0,0,0
$GC,8863,-1.24,-146.0,820.5,-7.0,333,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1605,3366,0,0,0,0,0,0
$GC,9107,-1.24,-146.0,838.1,-7.3,339,9111,0.00,2.62,0.00,0.000,4,0.000,0.054,3141,3164,3365,0,0,0,0,0,0
$GC,9133,-1.28,-146.0,840.0,-8.5,339,9137,0.00,2.67,0.00,0.000,6,0.000,0.049,3141,1592,3365,0,0,0,0,0,0
$GC,9397,-1.28,-146.0,858.1,-6.9,346,9401,0.00,2.53,0.00,0.000,4,0.000,0.083,3141,167,3364,0,0,0,0,0,0
$GC,9426,-1.28,-146.0,860.6,-7.5,346,9430,0.00,2.33,0.00,0.000,6,0.000,0.037,3141,1592,3363,0,0,0,0,0,0
$GC,9685,-1.28,-146.0,877.7,-6.6,353,9689,0.00,2.62,0.00,0.000,4,0.000,0.054,3141,3156,3363,0,0,0,0,0,0
$GC,9704,-1.28,-146.0,879.0,-6.2,353,9709,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1590,3362,0,0,0,0,0,0
$GC,9969,-1.28,-146.0,895.8,-6.4,360,9970,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1590,3361,0,0,0,0,0,0
$STATE,10047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10047,begin apogee
$GC,10055,-0.31,0.0,901.1,6.4,362,10180,0.88,0.00,121.50,1.151,6,0.067,0.000,3344,1342,2800,0,0,0,0,0,0
$STATE,10181,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin climb
$GC,10184,1.27,146.0,904.3,0.0,365,10329,1.45,2.20,132.30,1.130,4,0.031,0.084,3694,173,2204,0,0,0,0,0,0
$GC,10367,0.98,146.0,893.8,15.5,369,10372,0.32,1.98,0.00,0.000,6,0.108,0.032,3627,1362,2201,0,0,0,0,0,0
$GC,10627,0.90,146.0,866.3,10.5,376,10631,0.00,2.12,0.00,0.000,4,0.000,0.074,3626,167,2194,0,0,0,0,0,0
$GC,10657,0.75,146.0,862.5,12.0,376,10662,0.25,1.98,0.00,0.000,6,0.100,0.032,3574,1365,2194,0,0,0,0,0,0
$GC,10912,0.80,182.6,840.6,8.3,383,10954,0.00,2.17,33.28,1.065,4,0.000,0.074,3574,168,2054,0,0,0,0,0,0
$GC,10971,0.80,185.6,835.2,9.9,384,10979,0.00,1.98,4.25,0.683,6,0.000,0.032,3574,1355,2043,0,0,0,0,0,0
$GC,11249,0.87,197.0,809.2,9.5,391,11267,0.10,2.78,11.73,0.960,4,0.079,0.051,3614,2943,1995,0,0,0,0,0,0
$GC,11282,0.87,197.0,805.2,10.0,391,11286,0.00,2.78,0.00,0.000,6,0.000,0.048,3615,1355,1994,0,0,0,0,0,0
$GC,11533,0.87,197.0,777.4,11.1,397,11534,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1355,1993,0,0,0,0,0,0
$GC,11775,0.87,197.0,750.7,11.0,403,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1355,1991,0,0,0,0,0,0
$GC,12019,0.87,197.0,723.4,11.2,409,12023,0.00,2.17,0.00,0.000,4,0.000,0.085,3614,159,1991,0,0,0,0,0,0
$GC,12044,0.81,197.0,720.3,10.9,409,12049,0.12,1.98,0.00,0.000,6,0.112,0.031,3589,1363,1991,0,0,0,0,0,0
$GC,12306,0.82,201.1,693.9,9.8,416,12315,0.00,2.15,4.07,0.646,4,0.000,0.073,3589,165,1980,0,0,0,0,0,0
$GC,12324,0.82,201.1,691.5,10.9,416,12328,0.00,1.95,0.00,0.000,6,0.000,0.031,3589,1357,1980,0,0,0,0,0,0
$GC,12594,0.83,210.2,665.3,9.6,423,12611,0.00,2.75,10.50,0.887,4,0.000,0.050,3589,2930,1943,0,0,0,0,0,0
$GC,12621,0.93,249.4,662.5,8.2,423,12666,0.10,2.72,38.85,0.976,6,0.077,0.048,3631,1355,1783,0,0,0,0,0,0
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$STATE,18584,end climb,SURFACE_DEPTH_REACHED
$STATE,18584,begin surface coast
$FINISH,0.9,1.012592
$STATE,18630,end surface coast,CONTROL_FINISHED_OK
$STATE,18630,begin surface
$SM_CCo,18656,37.70,0.426,0,0,1210,390.03
$SM_GC,2.17,0.00,0.00,37.70,0.000,0.000,0.426,414,1618,1210,-13.79,1.36,390.03
$IRIDIUM_FIX,2312.13,-15757.10,261102,181802
$TT8_MAMPS,0.027612
$HUMID,67.99
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,22.9,68.564
$10V_AH,9.8,66.447
$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
$DEVICE_SECS,33.900,204.100,430.525,37.700,0.000,24.308,35.976,205.288,1.000,0.000,30.765,1559.052,13631.272,563.874,2627.088,743.473,33.377,1639.578,0.000,2611.767,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,486.305,378.624,484.935,1007.854,1325.450,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,57248,714
$CAP_FILE_SIZE,179151,0
$CFSIZE,260165632,136880128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020913,044543,2326.305,-15800.907,44,3.7,63,10.2