version: 66.06
glider: 148
mission: 12
dive: 467
start: 9 2 113 10 30 7
data:
$ID,148
$MISSION,12
$DIVE,467
$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,-1025348.9
$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,24
$R_STBD_OVSHOOT,105
$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
$GPS1,101729,2328.520,-15801.910,68,1.3,73,10.2
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-75.3
$GPS2,102913,2328.532,-15801.945,14,1.6,14,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.114,0.233
$KALMAN_X,-88728.8,241.8,250.0,85010.2,-427.3
$KALMAN_Y,-22121.8,-34.2,201.0,102596.8,-430.0
$MHEAD_RNG_PITCHd_Wd,323.8,102574,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.27,-146.0,0.0,0.0,0,89,0.00,0.00,-67.45,0.000,2,0.000,0.000,414,1595,2948,0,0,0,0,0,0
$GC,92,-1.27,-146.0,3.3,-3.9,9,125,13.98,2.42,-8.12,0.000,4,0.143,0.054,3128,167,3398,0,0,0,0,0,0
$GC,247,-0.98,-146.0,41.1,-21.3,29,252,0.30,2.08,0.00,0.000,6,0.097,0.016,3192,1537,3399,0,0,0,0,0,0
$GC,515,-0.91,-146.0,77.3,-11.9,53,519,0.00,2.50,0.00,0.000,4,0.000,0.021,3192,3135,3399,0,0,0,0,0,0
$GC,621,-0.97,-146.0,89.0,-9.5,62,631,0.00,2.58,0.00,0.000,6,0.000,0.029,3192,1573,3400,0,0,0,0,0,0
$GC,885,-0.97,-146.0,116.8,-10.5,87,889,0.00,2.30,0.00,0.000,4,0.000,0.042,3192,169,3400,0,0,0,0,0,0
$GC,916,-0.92,-146.0,120.7,-11.3,89,922,0.00,2.15,0.00,0.000,6,0.000,0.016,3192,1608,3400,0,0,0,0,0,0
$GC,1181,-0.92,-146.0,146.2,-9.7,114,1185,0.00,2.35,0.00,0.000,4,0.000,0.021,3192,3119,3401,0,0,0,0,0,0
$GC,1233,-1.00,-146.0,151.1,-8.4,118,1238,0.00,2.47,0.00,0.000,6,0.000,0.028,3192,1591,3401,0,0,0,0,0,0
$GC,1498,-1.00,-146.0,175.8,-9.9,143,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1591,3401,0,0,0,0,0,0
$GC,1789,-1.00,-146.0,203.7,-8.6,168,1793,0.00,2.40,0.00,0.000,4,0.000,0.021,3192,3118,3401,0,0,0,0,0,0
$GC,1815,-1.04,-146.0,205.8,-8.6,168,1819,0.00,2.47,0.00,0.000,6,0.000,0.028,3192,1594,3401,0,0,0,0,0,0
$GC,2074,-1.04,-146.0,227.3,-8.7,175,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1594,3401,0,0,0,0,0,0
$GC,2321,-1.04,-146.0,247.9,-8.3,181,2326,0.00,2.40,0.00,0.000,4,0.000,0.022,3192,3114,3400,0,0,0,0,0,0
$GC,2357,-1.14,-146.0,250.9,-7.6,181,2362,0.12,2.45,0.00,0.000,6,0.060,0.029,3119,1602,3400,0,0,0,0,0,0
$GC,2607,-1.02,-146.0,279.2,-11.7,187,2609,0.30,0.00,0.00,0.000,6,0.080,0.000,3187,1603,3399,0,0,0,0,0,0
$GC,2850,-1.02,-146.0,297.3,-7.3,193,2855,0.00,2.40,0.00,0.000,4,0.000,0.025,3186,3109,3398,0,0,0,0,0,0
$GC,2876,-1.08,-146.0,299.2,-7.7,193,2881,0.00,2.45,0.00,0.000,6,0.000,0.031,3186,1613,3398,0,0,0,0,0,0
$GC,3136,-1.08,-146.0,317.3,-7.0,200,3140,0.00,2.40,0.00,0.000,4,0.000,0.051,3186,168,3397,0,0,0,0,0,0
$GC,3174,-1.15,-146.0,320.3,-7.4,200,3182,0.08,2.20,0.00,0.000,6,0.035,0.021,3129,1574,3396,0,0,0,0,0,0
$GC,3426,-1.06,-146.0,346.7,-11.0,207,3431,0.22,2.50,0.00,0.000,4,0.082,0.028,3180,3128,3395,0,0,0,0,0,0
$GC,3474,-1.17,-146.0,351.6,-8.9,208,3479,0.12,2.53,0.00,0.000,6,0.061,0.037,3114,1611,3395,0,0,0,0,0,0
$GC,3759,-1.06,-146.0,384.1,-11.5,215,3764,0.25,2.45,0.00,0.000,4,0.084,0.057,3174,159,3393,0,0,0,0,0,0
$GC,3806,-1.06,-146.0,388.7,-9.1,216,3810,0.00,2.25,0.00,0.000,6,0.000,0.023,3174,1601,3392,0,0,0,0,0,0
$GC,4095,-1.06,-146.0,411.7,-7.8,223,4099,0.00,2.50,0.00,0.000,4,0.000,0.035,3173,3141,3391,0,0,0,0,0,0
$GC,4147,-1.15,-146.0,415.9,-7.0,224,4151,0.00,2.55,0.00,0.000,6,0.000,0.038,3173,1611,3391,0,0,0,0,0,0
$GC,4427,-1.15,-146.0,438.3,-8.3,231,4431,0.00,2.47,0.00,0.000,4,0.000,0.065,3173,169,3389,0,0,0,0,0,0
$GC,4462,-1.15,-146.0,441.7,-9.1,231,4466,0.00,2.30,0.00,0.000,6,0.000,0.026,3173,1616,3389,0,0,0,0,0,0
$GC,4712,-1.15,-146.0,462.7,-8.3,237,4716,0.00,2.50,0.00,0.000,4,0.000,0.037,3174,3150,3387,0,0,0,0,0,0
$GC,4736,-1.23,-146.0,464.7,-7.9,237,4741,0.12,2.58,0.00,0.000,6,0.062,0.038,3112,1608,3387,0,0,0,0,0,0
$GC,4998,-1.14,-146.0,492.3,-10.7,244,5000,0.22,0.00,0.00,0.000,6,0.085,0.000,3162,1608,3385,0,0,0,0,0,0
$GC,5240,-1.14,-146.0,511.8,-7.9,250,5244,0.00,2.58,0.00,0.000,4,0.000,0.043,3162,3141,3383,0,0,0,0,0,0
$GC,5274,-1.22,-146.0,514.4,-7.8,250,5278,0.00,2.58,0.00,0.000,6,0.000,0.041,3162,1610,3383,0,0,0,0,0,0
$GC,5529,-1.22,-146.0,532.9,-7.5,256,5533,0.00,2.50,0.00,0.000,4,0.000,0.074,3162,168,3381,0,0,0,0,0,0
$GC,5577,-1.27,-146.0,537.3,-8.5,257,5581,0.12,2.30,0.00,0.000,6,0.063,0.031,3104,1605,3381,0,0,0,0,0,0
$GC,5862,-1.17,-146.0,565.9,-10.2,264,5867,0.22,2.60,0.00,0.000,4,0.087,0.043,3154,3161,3379,0,0,0,0,0,0
$GC,5882,-1.17,-146.0,568.2,-9.8,264,5886,0.00,2.60,0.00,0.000,6,0.000,0.042,3154,1605,3379,0,0,0,0,0,0
$GC,6149,-1.17,-146.0,588.7,-7.9,271,6154,0.00,2.53,0.00,0.000,4,0.000,0.077,3154,169,3378,0,0,0,0,0,0
$GC,6175,-1.17,-146.0,591.1,-9.4,271,6179,0.00,2.33,0.00,0.000,6,0.000,0.034,3154,1609,3378,0,0,0,0,0,0
$GC,6439,-1.17,-146.0,611.5,-7.6,278,6443,0.00,2.58,0.00,0.000,4,0.000,0.048,3153,3157,3376,0,0,0,0,0,0
$GC,6460,-1.17,-146.0,613.2,-8.3,278,6464,0.00,2.62,0.00,0.000,6,0.000,0.046,3154,1608,3376,0,0,0,0,0,0
$GC,6726,-1.17,-146.0,633.3,-7.5,285,6730,0.00,2.55,0.00,0.000,4,0.000,0.081,3154,165,3374,0,0,0,0,0,0
$GC,6759,-1.17,-146.0,636.2,-8.6,285,6763,0.00,2.35,0.00,0.000,6,0.000,0.035,3153,1603,3374,0,0,0,0,0,0
$GC,7012,-1.17,-146.0,654.3,-7.2,291,7016,0.00,2.60,0.00,0.000,4,0.000,0.052,3154,3158,3372,0,0,0,0,0,0
$GC,7044,-1.25,-146.0,656.8,-6.9,291,7049,0.00,2.62,0.00,0.000,6,0.000,0.048,3154,1611,3372,0,0,0,0,0,0
$GC,7299,-1.25,-146.0,672.9,-6.1,298,7303,0.00,2.55,0.00,0.000,4,0.000,0.081,3153,161,3371,0,0,0,0,0,0
$GC,7332,-1.25,-146.0,675.2,-7.6,298,7336,0.00,2.38,0.00,0.000,6,0.000,0.037,3154,1607,3371,0,0,0,0,0,0
$GC,7584,-1.25,-146.0,690.6,-6.2,304,7589,0.00,2.60,0.00,0.000,4,0.000,0.053,3154,3156,3370,0,0,0,0,0,0
$GC,7613,-1.32,-146.0,692.7,-6.8,304,7618,0.15,2.65,0.00,0.000,6,0.056,0.048,3091,1605,3370,0,0,0,0,0,0
$GC,7871,-1.22,-146.0,718.4,-10.5,311,7876,0.25,2.58,0.00,0.000,4,0.087,0.081,3151,161,3368,0,0,0,0,0,0
$GC,7912,-1.22,-146.0,722.3,-8.8,311,7917,0.00,2.38,0.00,0.000,6,0.000,0.037,3150,1604,3368,0,0,0,0,0,0
$GC,8162,-1.22,-146.0,741.3,-7.5,318,8166,0.00,2.62,0.00,0.000,4,0.000,0.054,3151,3160,3367,0,0,0,0,0,0
$GC,8197,-1.30,-146.0,743.9,-7.6,318,8202,0.10,2.65,0.00,0.000,6,0.075,0.049,3102,1606,3367,0,0,0,0,0,0
$GC,8449,-1.22,-146.0,766.9,-9.4,324,8454,0.17,2.58,0.00,0.000,4,0.094,0.083,3141,166,3366,0,0,0,0,0,0
$GC,8494,-1.22,-146.0,770.7,-8.1,325,8498,0.00,2.35,0.00,0.000,6,0.000,0.038,3141,1606,3365,0,0,0,0,0,0
$GC,8782,-1.22,-146.0,791.3,-7.2,332,8787,0.00,2.62,0.00,0.000,4,0.000,0.055,3141,3157,3365,0,0,0,0,0,0
$GC,8813,-1.28,-146.0,793.5,-7.3,332,8817,0.00,2.62,0.00,0.000,6,0.000,0.049,3141,1605,3365,0,0,0,0,0,0
$GC,9068,-1.28,-146.0,812.1,-7.1,339,9072,0.00,2.55,0.00,0.000,4,0.000,0.083,3141,167,3363,0,0,0,0,0,0
$GC,9121,-1.28,-146.0,816.2,-8.0,340,9125,0.00,2.35,0.00,0.000,6,0.000,0.038,3141,1604,3363,0,0,0,0,0,0
$GC,9404,-1.28,-146.0,834.8,-6.3,347,9408,0.00,2.65,0.00,0.000,4,0.000,0.056,3141,3164,3362,0,0,0,0,0,0
$GC,9423,-1.28,-146.0,836.1,-6.5,347,9427,0.00,2.65,0.00,0.000,6,0.000,0.049,3141,1597,3362,0,0,0,0,0,0
$GC,9687,-1.28,-146.0,852.2,-6.1,354,9691,0.00,2.55,0.00,0.000,4,0.000,0.083,3142,164,3361,0,0,0,0,0,0
$GC,9711,-1.28,-146.0,853.9,-7.5,354,9715,0.00,2.38,0.00,0.000,6,0.000,0.038,3141,1602,3360,0,0,0,0,0,0
$GC,9974,-1.28,-146.0,870.4,-6.3,361,9979,0.00,2.62,0.00,0.000,4,0.000,0.054,3141,3157,3360,0,0,0,0,0,0
$GC,10010,-1.36,-146.0,872.9,-5.8,361,10015,0.12,2.67,0.00,0.000,6,0.064,0.050,3089,1598,3360,0,0,0,0,0,0
$GC,10261,-1.27,-146.0,894.5,-8.8,367,10266,0.20,2.55,0.00,0.000,4,0.091,0.081,3133,167,3359,0,0,0,0,0,0
$GC,10320,-1.27,-146.0,899.1,-7.5,368,10323,0.00,2.38,0.00,0.000,6,0.000,0.039,3133,1601,3359,0,0,0,0,0,0
$STATE,10331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10331,begin apogee
$GC,10337,-0.31,0.0,900.2,7.1,368,10461,0.88,0.00,120.43,1.154,6,0.070,0.000,3339,1339,2800,0,0,0,0,0,0
$STATE,10462,end apogee,CONTROL_FINISHED_OK
$STATE,10462,begin climb
$GC,10465,1.27,146.0,902.4,0.0,371,10606,1.45,2.17,131.68,1.131,4,0.031,0.080,3692,179,2203,0,0,0,0,0,0
$GC,10791,0.99,146.0,870.1,14.7,378,10796,0.32,1.95,0.00,0.000,6,0.107,0.031,3625,1361,2196,0,0,0,0,0,0
$GC,11065,0.91,147.0,842.1,10.0,385,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1361,2192,0,0,0,0,0,0
$GC,11315,0.84,150.9,818.0,9.8,391,11320,0.15,2.12,0.00,0.000,4,0.110,0.073,3594,175,2190,0,0,0,0,0,0
$GC,11363,0.77,150.9,812.5,10.3,392,11366,0.00,1.92,0.00,0.000,6,0.000,0.032,3594,1349,2190,0,0,0,0,0,0
$GC,11649,0.82,187.3,788.2,8.3,399,11689,0.00,0.00,37.42,1.049,6,0.000,0.000,3594,1349,2036,0,0,0,0,0,0
$GC,11939,0.84,202.8,761.9,9.3,406,11958,0.00,0.00,15.10,0.972,6,0.000,0.000,3594,1350,1973,0,0,0,0,0,0
$GC,12227,0.86,218.6,734.3,9.3,413,12251,0.00,2.75,16.52,0.971,4,0.000,0.049,3594,2941,1907,0,0,0,0,0,0
$GC,12258,0.89,243.5,731.5,8.9,413,12291,0.00,2.75,24.85,0.989,6,0.000,0.046,3594,1360,1807,0,0,0,0,0,0
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$STATE,18645,end climb,SURFACE_DEPTH_REACHED
$STATE,18645,begin surface coast
$FINISH,0.9,1.023008
$STATE,18691,end surface coast,CONTROL_FINISHED_OK
$STATE,18693,begin surface
$SM_CCo,18717,32.12,0.422,0,0,1209,390.03
$SM_GC,2.10,0.00,0.00,32.12,0.000,0.000,0.422,413,1606,1209,-13.79,1.02,390.03
$IRIDIUM_FIX,2319.18,-15800.57,271102,101050
$TT8_MAMPS,0.027612
$HUMID,67.40
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.70
$XPDR_PINGS,12
$24V_AH,22.9,68.864
$10V_AH,9.7,66.755
$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
$DEVICE_SECS,34.025,222.450,432.125,32.125,0.000,57.592,72.994,342.932,3.000,0.000,16.119,1594.102,13566.417,545.465,2758.686,980.074,33.378,1707.258,0.000,2750.990,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.100,377.188,483.445,1000.003,1332.912,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,57229,710
$CAP_FILE_SIZE,193176,0
$CFSIZE,260165632,136708096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020913,154401,2330.564,-15802.904,38,1.7,39,10.2