version: 66.06
glider: 148
mission: 12
dive: 466
start: 9 2 113 4 54 52
data:
$ID,148
$MISSION,12
$DIVE,466
$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,-1025332.2
$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,120
$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
$GPS1,044543,2326.305,-15800.907,44,3.7,63,10.2
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.9
$GPS2,045355,2326.345,-15800.912,11,1.3,11,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.153,0.210
$KALMAN_X,-89387.0,254.7,-79.5,87750.5,333.7
$KALMAN_Y,-22366.1,172.8,-28.4,98812.6,-36.1
$MHEAD_RNG_PITCHd_Wd,313.7,106924,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.95,0.000,2,0.000,0.000,413,1618,2918,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.1,-3.4,9,120,14.00,2.35,-8.93,0.000,4,0.143,0.035,3128,3074,3396,0,0,0,0,0,0
$GC,258,-1.11,-146.0,39.4,-17.0,31,263,0.17,2.50,0.00,0.000,6,0.100,0.032,3165,1558,3396,0,0,0,0,0,0
$GC,526,-0.97,-146.0,78.1,-12.2,55,531,0.15,2.42,0.00,0.000,4,0.104,0.022,3198,3086,3397,0,0,0,0,0,0
$GC,564,-0.97,-146.0,83.2,-10.0,57,570,0.00,2.45,0.00,0.000,6,0.000,0.028,3198,1579,3397,0,0,0,0,0,0
$GC,825,-0.97,-146.0,110.3,-10.3,82,826,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1579,3398,0,0,0,0,0,0
$GC,1080,-0.97,-146.0,136.7,-10.4,106,1084,0.00,2.35,0.00,0.000,4,0.000,0.021,3198,3078,3399,0,0,0,0,0,0
$GC,1133,-1.07,-146.0,141.7,-8.8,110,1142,0.00,2.47,0.00,0.000,6,0.000,0.029,3198,1573,3399,0,0,0,0,0,0
$GC,1395,-1.07,-146.0,167.8,-10.4,135,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1573,3399,0,0,0,0,0,0
$GC,1651,-1.07,-146.0,191.6,-8.8,159,1655,0.00,2.40,0.00,0.000,4,0.000,0.021,3198,3090,3399,0,0,0,0,0,0
$GC,1681,-1.12,-146.0,194.4,-8.4,161,1687,0.12,2.45,0.00,0.000,6,0.059,0.028,3116,1579,3399,0,0,0,0,0,0
$GC,1937,-0.94,-146.0,229.0,-14.4,171,1942,0.35,2.38,0.00,0.000,4,0.082,0.021,3198,3084,3399,0,0,0,0,0,0
$GC,1971,-1.01,-146.0,233.4,-9.4,171,1976,0.00,2.42,0.00,0.000,6,0.000,0.028,3198,1590,3400,0,0,0,0,0,0
$GC,2221,-1.01,-146.0,253.4,-7.6,177,2225,0.00,2.33,0.00,0.000,4,0.000,0.047,3198,170,3399,0,0,0,0,0,0
$GC,2256,-1.05,-146.0,256.0,-8.0,177,2260,0.00,2.08,0.00,0.000,6,0.000,0.018,3198,1547,3399,0,0,0,0,0,0
$GC,2507,-1.10,-146.0,275.2,-7.6,183,2512,0.12,2.50,0.00,0.000,4,0.061,0.025,3130,3130,3399,0,0,0,0,0,0
$GC,2566,-1.10,-146.0,280.9,-9.7,184,2571,0.17,2.50,0.00,0.000,6,0.087,0.030,3170,1598,3399,0,0,0,0,0,0
$GC,2842,-1.10,-146.0,303.8,-8.1,191,2846,0.00,2.40,0.00,0.000,4,0.000,0.050,3170,165,3397,0,0,0,0,0,0
$GC,2870,-1.10,-146.0,306.6,-8.8,191,2874,0.00,2.20,0.00,0.000,6,0.000,0.020,3170,1590,3397,0,0,0,0,0,0
$GC,3131,-1.10,-146.0,327.7,-8.4,198,3136,0.00,2.45,0.00,0.000,4,0.000,0.028,3170,3129,3396,0,0,0,0,0,0
$GC,3179,-1.19,-146.0,331.8,-8.0,199,3183,0.00,2.53,0.00,0.000,6,0.000,0.035,3170,1605,3396,0,0,0,0,0,0
$GC,3463,-1.19,-146.0,354.3,-7.8,206,3467,0.00,2.42,0.00,0.000,4,0.000,0.055,3170,169,3394,0,0,0,0,0,0
$GC,3498,-1.19,-146.0,357.5,-9.4,206,3502,0.00,2.20,0.00,0.000,6,0.000,0.021,3170,1595,3394,0,0,0,0,0,0
$GC,3752,-1.19,-146.0,379.0,-8.6,213,3757,0.00,2.50,0.00,0.000,4,0.000,0.031,3170,3134,3392,0,0,0,0,0,0
$GC,3800,-1.29,-146.0,383.2,-8.5,214,3805,0.17,2.55,0.00,0.000,6,0.048,0.038,3096,1603,3392,0,0,0,0,0,0
$GC,4087,-1.14,-146.0,416.6,-11.9,221,4092,0.25,2.47,0.00,0.000,4,0.087,0.061,3156,162,3390,0,0,0,0,0,0
$GC,4107,-1.05,-146.0,419.4,-11.5,221,4112,0.12,2.28,0.00,0.000,6,0.107,0.024,3183,1606,3390,0,0,0,0,0,0
$GC,4374,-1.10,-146.0,437.7,-6.9,228,4379,0.00,2.47,0.00,0.000,4,0.000,0.035,3182,3134,3388,0,0,0,0,0,0
$GC,4418,-1.23,-146.0,440.9,-6.7,229,4423,0.17,2.55,0.00,0.000,6,0.048,0.039,3115,1606,3388,0,0,0,0,0,0
$GC,4710,-1.13,-146.0,471.2,-10.6,236,4715,0.22,2.47,0.00,0.000,4,0.087,0.067,3164,169,3387,0,0,0,0,0,0
$GC,4725,-1.07,-146.0,473.4,-10.4,236,4730,0.00,2.30,0.00,0.000,6,0.000,0.028,3164,1607,3386,0,0,0,0,0,0
$GC,4994,-1.07,-146.0,493.8,-7.6,243,4998,0.00,2.53,0.00,0.000,4,0.000,0.041,3164,3147,3384,0,0,0,0,0,0
$GC,5020,-1.13,-146.0,495.6,-7.8,243,5025,0.00,2.55,0.00,0.000,6,0.000,0.040,3164,1620,3384,0,0,0,0,0,0
$GC,5280,-1.13,-146.0,515.3,-7.6,250,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1620,3382,0,0,0,0,0,0
$GC,5528,-1.13,-146.0,532.4,-7.0,256,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1620,3381,0,0,0,0,0,0
$GC,5769,-1.13,-146.0,550.5,-7.6,262,5773,0.00,2.55,0.00,0.000,4,0.000,0.044,3163,3148,3379,0,0,0,0,0,0
$GC,5793,-1.19,-146.0,552.8,-8.7,262,5798,0.00,2.58,0.00,0.000,6,0.000,0.044,3164,1620,3379,0,0,0,0,0,0
$GC,6053,-1.19,-146.0,574.2,-8.4,269,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1620,3378,0,0,0,0,0,0
$GC,6298,-1.19,-146.0,592.6,-7.4,275,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,1620,3376,0,0,0,0,0,0
$GC,6544,-1.19,-146.0,610.1,-7.2,281,6548,0.00,2.58,0.00,0.000,4,0.000,0.044,3164,3153,3375,0,0,0,0,0,0
$GC,6568,-1.27,-146.0,612.2,-8.4,281,6573,0.12,2.60,0.00,0.000,6,0.062,0.048,3107,1620,3374,0,0,0,0,0,0
$GC,6831,-1.18,-146.0,637.6,-10.0,288,6836,0.20,2.55,0.00,0.000,4,0.090,0.081,3152,167,3373,0,0,0,0,0,0
$GC,6875,-1.18,-146.0,641.8,-8.3,289,6879,0.00,2.38,0.00,0.000,6,0.000,0.035,3152,1622,3372,0,0,0,0,0,0
$GC,7164,-1.18,-146.0,663.3,-7.3,296,7169,0.00,2.58,0.00,0.000,4,0.000,0.051,3152,3154,3371,0,0,0,0,0,0
$GC,7200,-1.27,-146.0,666.1,-6.8,296,7204,0.00,2.60,0.00,0.000,6,0.000,0.048,3152,1627,3371,0,0,0,0,0,0
$GC,7450,-1.27,-146.0,683.1,-6.8,302,7454,0.00,2.60,0.00,0.000,4,0.000,0.082,3153,162,3370,0,0,0,0,0,0
$GC,7495,-1.27,-146.0,686.2,-7.5,303,7499,0.00,2.40,0.00,0.000,6,0.000,0.037,3152,1624,3369,0,0,0,0,0,0
$GC,7784,-1.27,-146.0,704.6,-6.3,310,7788,0.00,2.55,0.00,0.000,4,0.000,0.051,3152,3146,3368,0,0,0,0,0,0
$GC,7808,-1.33,-146.0,706.5,-6.5,310,7813,0.12,2.60,0.00,0.000,6,0.062,0.048,3095,1622,3368,0,0,0,0,0,0
$GC,8071,-1.24,-146.0,730.2,-9.4,317,8076,0.20,2.58,0.00,0.000,4,0.091,0.081,3140,169,3367,0,0,0,0,0,0
$GC,8119,-1.24,-146.0,734.9,-8.8,318,8123,0.00,2.35,0.00,0.000,6,0.000,0.037,3140,1616,3366,0,0,0,0,0,0
$GC,8401,-1.24,-146.0,755.7,-7.5,325,8406,0.00,2.60,0.00,0.000,4,0.000,0.052,3140,3163,3365,0,0,0,0,0,0
$GC,8427,-1.24,-146.0,757.6,-9.1,325,8431,0.00,2.62,0.00,0.000,6,0.000,0.048,3140,1626,3365,0,0,0,0,0,0
$GC,8686,-1.24,-146.0,777.5,-7.7,332,8691,0.00,2.58,0.00,0.000,4,0.000,0.083,3140,168,3364,0,0,0,0,0,0
$GC,8715,-1.24,-146.0,780.1,-9.9,332,8719,0.00,2.40,0.00,0.000,6,0.000,0.038,3140,1624,3364,0,0,0,0,0,0
$GC,8972,-1.24,-146.0,799.7,-7.6,339,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1624,3363,0,0,0,0,0,0
$GC,9213,-1.24,-146.0,817.9,-7.4,345,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1624,3362,0,0,0,0,0,0
$GC,9459,-1.24,-146.0,835.7,-7.3,351,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1624,3361,0,0,0,0,0,0
$GC,9701,-1.24,-146.0,853.0,-7.2,357,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,1624,3361,0,0,0,0,0,0
$GC,9946,-1.24,-146.0,870.5,-7.2,363,9951,0.00,2.58,0.00,0.000,4,0.000,0.077,3140,169,3360,0,0,0,0,0,0
$GC,9970,-1.24,-146.0,872.6,-8.6,363,9974,0.00,2.40,0.00,0.000,6,0.000,0.038,3140,1621,3359,0,0,0,0,0,0
$GC,10229,-1.24,-146.0,892.7,-7.7,370,10234,0.00,2.58,0.00,0.000,4,0.000,0.053,3140,3157,3359,0,0,0,0,0,0
$GC,10256,-1.28,-146.0,894.5,-8.0,370,10260,0.00,2.62,0.00,0.000,6,0.000,0.049,3140,1624,3359,0,0,0,0,0,0
$STATE,10350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10350,begin apogee
$GC,10356,-0.31,0.0,902.2,8.0,373,10480,0.88,0.00,120.57,1.153,6,0.066,0.000,3344,1349,2800,0,0,0,0,0,0
$STATE,10481,end apogee,CONTROL_FINISHED_OK
$STATE,10481,begin climb
$GC,10484,1.27,146.0,906.7,0.0,376,10626,1.42,2.22,132.20,1.131,4,0.031,0.085,3689,174,2203,0,0,0,0,0,0
$GC,10650,0.99,146.0,900.1,14.0,379,10656,0.30,1.98,0.00,0.000,6,0.110,0.032,3629,1358,2202,0,0,0,0,0,0
$GC,10904,0.91,146.0,874.7,10.0,386,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1359,2194,0,0,0,0,0,0
$GC,11144,0.83,148.1,850.6,9.9,392,11149,0.17,2.12,0.00,0.000,4,0.106,0.074,3591,166,2192,0,0,0,0,0,0
$GC,11188,0.78,154.2,846.3,9.7,393,11201,0.00,1.92,6.80,0.866,6,0.000,0.031,3591,1355,2170,0,0,0,0,0,0
$GC,11481,0.81,183.1,821.0,8.7,400,11514,0.00,2.15,28.27,1.052,4,0.000,0.073,3591,169,2052,0,0,0,0,0,0
$GC,11534,0.82,185.5,815.7,9.9,401,11538,0.00,1.98,0.00,0.000,6,0.000,0.032,3591,1356,2051,0,0,0,0,0,0
$GC,11813,0.83,193.3,788.8,9.6,408,11825,0.00,0.00,10.23,0.933,6,0.000,0.000,3591,1357,2012,0,0,0,0,0,0
$GC,12055,0.83,194.2,764.8,10.0,414,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1357,2009,0,0,0,0,0,0
$GC,12299,0.83,195.3,740.6,9.9,420,12300,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,1359,2008,0,0,0,0,0,0
$GC,12547,0.85,211.1,717.6,9.3,426,12567,0.00,0.00,18.08,0.973,6,0.000,0.000,3591,1359,1939,0,0,0,0,0,0
$GC,12786,0.86,217.1,693.9,9.7,432,12795,0.00,0.00,6.93,0.815,6,0.000,0.000,3591,1360,1914,0,0,0,0,0,0
$GC,13030,0.87,229.9,670.7,9.4,438,13050,0.00,2.20,13.85,0.920,4,0.000,0.071,3591,168,1861,0,0,0,0,0,0
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$GC,13367,0.95,241.5,636.4,10.3,446,13372,0.10,2.67,0.00,0.000,4,0.080,0.047,3629,2933,1810,0,0,0,0,0,0
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$STATE,19149,end climb,SURFACE_DEPTH_REACHED
$STATE,19150,begin surface coast
$FINISH,1.2,1.023188
$STATE,19184,end surface coast,CONTROL_FINISHED_OK
$STATE,19184,begin surface
$SM_CCo,19210,30.42,0.426,0,0,1209,390.03
$SM_GC,2.12,0.00,0.00,30.42,0.000,0.000,0.426,414,1595,1209,-13.78,0.71,390.03
$IRIDIUM_FIX,2314.48,-15801.45,261102,232323
$TT8_MAMPS,0.027612
$HUMID,68.82
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,5
$24V_AH,22.9,68.709
$10V_AH,9.7,66.599
$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,33.725,202.225,437.675,30.425,0.000,28.342,35.324,266.768,1.250,0.000,13.227,1584.100,14142.062,556.602,2625.325,815.280,33.371,1647.055,0.000,2621.771,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,85.137,1152.801,425.685,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,491.931,372.685,481.587,1001.220,1321.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355948
$DATA_FILE_SIZE,57359,722
$CAP_FILE_SIZE,183298,0
$CFSIZE,260165632,136794112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020913,101729,2328.520,-15801.910,68,1.3,73,10.2