version: 66.06
glider: 148
mission: 12
dive: 468
start: 9 2 113 15 56 3
data:
$ID,148
$MISSION,12
$DIVE,468
$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,-1025364
$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,23
$R_STBD_OVSHOOT,113
$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
$GPS1,154401,2330.564,-15802.904,38,1.7,39,10.2
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.8
$GPS2,155507,2330.640,-15802.948,12,1.2,12,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.172,0.194
$KALMAN_X,-87911.4,0.1,-7.0,82978.6,305.7
$KALMAN_Y,-21920.0,-138.7,-195.8,106802.0,698.1
$MHEAD_RNG_PITCHd_Wd,308.2,98379,-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,-67.18,0.000,2,0.000,0.000,412,1607,2939,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.3,-3.8,9,122,14.20,2.38,-8.02,0.000,4,0.148,0.035,3129,3081,3398,0,0,0,0,0,0
$GC,279,-1.07,-146.0,44.1,-18.1,32,288,0.17,2.50,0.00,0.000,6,0.080,0.029,3172,1558,3398,0,0,0,0,0,0
$GC,546,-0.96,-146.0,86.0,-12.0,57,551,0.12,2.42,0.00,0.000,4,0.108,0.021,3199,3094,3398,0,0,0,0,0,0
$GC,578,-0.96,-146.0,90.1,-10.9,59,583,0.00,2.47,0.00,0.000,6,0.000,0.028,3199,1572,3399,0,0,0,0,0,0
$GC,847,-0.96,-146.0,116.5,-9.5,83,851,0.00,2.30,0.00,0.000,4,0.000,0.043,3199,169,3400,0,0,0,0,0,0
$GC,876,-0.96,-146.0,119.8,-10.7,85,880,0.00,2.05,0.00,0.000,6,0.000,0.016,3199,1559,3400,0,0,0,0,0,0
$GC,1142,-0.96,-146.0,144.6,-8.5,109,1147,0.00,2.42,0.00,0.000,4,0.000,0.021,3200,3114,3400,0,0,0,0,0,0
$GC,1196,-1.06,-146.0,148.9,-7.8,113,1200,0.00,2.47,0.00,0.000,6,0.000,0.028,3199,1574,3400,0,0,0,0,0,0
$GC,1459,-1.06,-146.0,174.0,-9.4,137,1463,0.00,2.30,0.00,0.000,4,0.000,0.043,3200,169,3400,0,0,0,0,0,0
$GC,1491,-1.06,-146.0,177.1,-9.6,139,1496,0.00,2.12,0.00,0.000,6,0.000,0.017,3200,1585,3400,0,0,0,0,0,0
$GC,1754,-1.06,-146.0,200.7,-8.6,164,1758,0.00,2.38,0.00,0.000,4,0.000,0.021,3199,3113,3400,0,0,0,0,0,0
$GC,1799,-1.18,-146.0,204.3,-7.2,165,1804,0.20,2.47,0.00,0.000,6,0.042,0.028,3109,1573,3400,0,0,0,0,0,0
$GC,2088,-1.00,-146.0,239.8,-12.3,172,2093,0.35,2.30,0.00,0.000,4,0.082,0.041,3189,162,3400,0,0,0,0,0,0
$GC,2123,-1.00,-146.0,243.5,-9.3,172,2127,0.00,2.15,0.00,0.000,6,0.000,0.018,3189,1574,3400,0,0,0,0,0,0
$GC,2375,-1.00,-146.0,261.4,-7.0,178,2379,0.00,2.45,0.00,0.000,4,0.000,0.023,3189,3122,3399,0,0,0,0,0,0
$GC,2409,-1.11,-146.0,264.3,-8.1,178,2413,0.00,2.50,0.00,0.000,6,0.000,0.029,3189,1574,3399,0,0,0,0,0,0
$GC,2659,-1.11,-146.0,284.0,-8.0,184,2663,0.00,2.30,0.00,0.000,4,0.000,0.048,3190,171,3399,0,0,0,0,0,0
$GC,2704,-1.17,-146.0,287.8,-9.1,185,2709,0.15,2.15,0.00,0.000,6,0.054,0.019,3117,1573,3398,0,0,0,0,0,0
$GC,2994,-1.06,-146.0,322.4,-12.0,192,2999,0.25,2.47,0.00,0.000,4,0.082,0.026,3178,3124,3397,0,0,0,0,0,0
$GC,3048,-1.16,-146.0,327.6,-8.2,193,3053,0.00,2.55,0.00,0.000,6,0.000,0.034,3178,1578,3397,0,0,0,0,0,0
$GC,3326,-1.16,-146.0,349.4,-7.9,200,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,1578,3395,0,0,0,0,0,0
$GC,3572,-1.16,-146.0,367.6,-7.4,206,3576,0.00,2.38,0.00,0.000,4,0.000,0.056,3178,171,3393,0,0,0,0,0,0
$GC,3594,-1.16,-146.0,369.4,-8.4,206,3598,0.00,2.17,0.00,0.000,6,0.000,0.021,3178,1579,3393,0,0,0,0,0,0
$GC,3857,-1.16,-146.0,389.2,-7.5,213,3862,0.00,2.53,0.00,0.000,4,0.000,0.034,3178,3140,3392,0,0,0,0,0,0
$GC,3882,-1.23,-146.0,391.2,-8.5,213,3887,0.15,2.58,0.00,0.000,6,0.053,0.038,3110,1592,3392,0,0,0,0,0,0
$GC,4144,-1.11,-146.0,419.7,-11.3,220,4149,0.25,2.42,0.00,0.000,4,0.082,0.061,3170,164,3390,0,0,0,0,0,0
$GC,4182,-1.11,-146.0,423.8,-9.2,220,4190,0.00,2.25,0.00,0.000,6,0.000,0.024,3170,1574,3389,0,0,0,0,0,0
$GC,4434,-1.11,-146.0,444.1,-8.3,227,4439,0.00,2.60,0.00,0.000,4,0.000,0.037,3171,3147,3388,0,0,0,0,0,0
$GC,4463,-1.21,-146.0,446.8,-8.6,227,4468,0.10,2.62,0.00,0.000,6,0.071,0.039,3114,1581,3388,0,0,0,0,0,0
$GC,4719,-1.11,-146.0,474.5,-11.4,234,4724,0.22,2.45,0.00,0.000,4,0.084,0.067,3165,169,3386,0,0,0,0,0,0
$GC,4769,-1.16,-146.0,479.4,-9.9,235,4773,0.00,2.25,0.00,0.000,6,0.000,0.029,3165,1572,3385,0,0,0,0,0,0
$GC,5056,-1.16,-146.0,504.6,-8.7,242,5060,0.00,2.62,0.00,0.000,4,0.000,0.045,3164,3151,3383,0,0,0,0,0,0
$GC,5105,-1.27,-146.0,508.9,-8.9,243,5110,0.12,2.62,0.00,0.000,6,0.064,0.042,3103,1591,3383,0,0,0,0,0,0
$GC,5389,-1.17,-146.0,539.4,-10.9,250,5394,0.22,2.50,0.00,0.000,4,0.084,0.073,3154,165,3381,0,0,0,0,0,0
$GC,5451,-1.17,-146.0,545.4,-9.0,251,5455,0.00,2.30,0.00,0.000,6,0.000,0.033,3154,1581,3381,0,0,0,0,0,0
$GC,5721,-1.17,-146.0,566.9,-7.9,258,5726,0.00,2.62,0.00,0.000,4,0.000,0.047,3153,3162,3379,0,0,0,0,0,0
$GC,5741,-1.17,-146.0,568.6,-8.0,258,5745,0.00,2.67,0.00,0.000,6,0.000,0.048,3153,1578,3379,0,0,0,0,0,0
$GC,6007,-1.17,-146.0,588.0,-7.2,265,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1578,3377,0,0,0,0,0,0
$GC,6255,-1.17,-146.0,605.7,-7.3,271,6259,0.00,2.67,0.00,0.000,4,0.000,0.046,3153,3159,3375,0,0,0,0,0,0
$GC,6288,-1.24,-146.0,608.6,-6.9,271,6293,0.00,2.67,0.00,0.000,6,0.000,0.047,3153,1583,3375,0,0,0,0,0,0
$GC,6540,-1.24,-146.0,626.9,-7.6,277,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1583,3374,0,0,0,0,0,0
$GC,6782,-1.24,-146.0,645.8,-7.8,283,6787,0.00,2.65,0.00,0.000,4,0.000,0.048,3153,3153,3372,0,0,0,0,0,0
$GC,6820,-1.34,-146.0,648.9,-8.1,283,6827,0.15,2.67,0.00,0.000,6,0.055,0.049,3090,1584,3372,0,0,0,0,0,0
$GC,7072,-1.23,-146.0,675.0,-10.6,290,7078,0.22,2.50,0.00,0.000,4,0.085,0.082,3141,168,3371,0,0,0,0,0,0
$GC,7139,-1.23,-146.0,681.6,-9.5,291,7143,0.00,2.33,0.00,0.000,6,0.000,0.038,3141,1583,3371,0,0,0,0,0,0
$GC,7408,-1.23,-146.0,702.2,-7.7,298,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1584,3369,0,0,0,0,0,0
$GC,7653,-1.23,-146.0,720.3,-7.4,304,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1584,3368,0,0,0,0,0,0
$GC,7895,-1.23,-146.0,737.9,-7.2,310,7900,0.00,2.70,0.00,0.000,4,0.000,0.057,3141,3161,3366,0,0,0,0,0,0
$GC,7929,-1.29,-146.0,740.5,-7.3,310,7933,0.00,2.70,0.00,0.000,6,0.000,0.050,3141,1580,3366,0,0,0,0,0,0
$GC,8185,-1.29,-146.0,759.3,-7.7,316,8189,0.00,2.53,0.00,0.000,4,0.000,0.084,3142,160,3366,0,0,0,0,0,0
$GC,8228,-1.29,-146.0,763.5,-9.6,317,8233,0.00,2.33,0.00,0.000,6,0.000,0.038,3141,1575,3365,0,0,0,0,0,0
$GC,8515,-1.29,-146.0,786.2,-7.9,324,8520,0.00,2.70,0.00,0.000,4,0.000,0.058,3141,3157,3364,0,0,0,0,0,0
$GC,8546,-1.35,-146.0,788.5,-7.7,324,8552,0.12,2.70,0.00,0.000,6,0.064,0.050,3088,1577,3364,0,0,0,0,0,0
$GC,8807,-1.25,-146.0,813.3,-9.8,331,8812,0.20,2.50,0.00,0.000,4,0.088,0.081,3136,161,3363,0,0,0,0,0,0
$GC,8855,-1.25,-146.0,818.0,-7.8,332,8859,0.00,2.35,0.00,0.000,6,0.000,0.038,3134,1583,3362,0,0,0,0,0,0
$GC,9139,-1.25,-146.0,838.1,-7.0,339,9143,0.00,2.67,0.00,0.000,4,0.000,0.058,3135,3164,3361,0,0,0,0,0,0
$GC,9168,-1.30,-146.0,840.3,-7.2,339,9172,0.00,2.72,0.00,0.000,6,0.000,0.050,3135,1574,3361,0,0,0,0,0,0
$GC,9429,-1.30,-146.0,858.0,-7.1,346,9433,0.00,2.50,0.00,0.000,4,0.000,0.083,3135,165,3360,0,0,0,0,0,0
$GC,9457,-1.30,-146.0,860.8,-8.6,346,9462,0.00,2.35,0.00,0.000,6,0.000,0.039,3135,1584,3360,0,0,0,0,0,0
$GC,9712,-1.30,-146.0,879.1,-7.2,353,9717,0.00,2.70,0.00,0.000,4,0.000,0.058,3135,3164,3359,0,0,0,0,0,0
$GC,9752,-1.37,-146.0,881.8,-6.3,353,9758,0.10,2.72,0.00,0.000,6,0.076,0.051,3089,1573,3359,0,0,0,0,0,0
$STATE,9959,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9959,begin apogee
$GC,9965,-0.31,0.0,901.2,9.5,359,10090,1.10,0.00,120.72,1.150,6,0.073,0.000,3339,1354,2800,0,0,0,0,0,0
$STATE,10090,end apogee,CONTROL_FINISHED_OK
$STATE,10090,begin climb
$GC,10093,1.27,146.0,904.6,0.0,362,10230,1.45,0.00,132.43,1.131,6,0.033,0.000,3693,1354,2204,0,0,0,0,0,0
$GC,10462,1.06,146.0,871.0,13.0,371,10467,0.25,2.12,0.00,0.000,4,0.109,0.081,3642,168,2195,0,0,0,0,0,0
$GC,10506,0.90,146.0,865.2,12.1,372,10511,0.17,1.95,0.00,0.000,6,0.114,0.032,3607,1355,2194,0,0,0,0,0,0
$GC,10795,0.92,165.4,838.3,9.1,379,10819,0.00,2.22,17.50,1.022,4,0.000,0.074,3607,168,2124,0,0,0,0,0,0
$GC,10830,0.87,173.7,834.7,9.6,379,10846,0.00,1.98,9.40,0.923,6,0.000,0.032,3607,1354,2090,0,0,0,0,0,0
$GC,11132,0.87,173.7,804.6,10.3,387,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,1355,2086,0,0,0,0,0,0
$GC,11372,0.88,178.5,780.7,9.8,393,11381,0.00,2.15,4.70,0.726,4,0.000,0.072,3607,161,2072,0,0,0,0,0,0
$GC,11410,0.80,178.5,776.5,11.7,393,11416,0.10,1.98,0.00,0.000,6,0.127,0.032,3585,1357,2072,0,0,0,0,0,0
$GC,11662,0.84,210.4,754.6,8.5,400,11699,0.00,2.20,31.30,1.024,4,0.000,0.075,3585,162,1942,0,0,0,0,0,0
$GC,11723,0.84,210.4,748.7,11.7,401,11726,0.00,1.98,0.00,0.000,6,0.000,0.032,3585,1346,1941,0,0,0,0,0,0
$GC,11998,0.90,216.0,722.3,9.7,408,12010,0.00,2.78,6.22,0.798,4,0.000,0.050,3585,2936,1919,0,0,0,0,0,0
$GC,12034,0.99,225.4,718.4,9.6,408,12052,0.17,2.75,10.38,0.902,6,0.052,0.050,3642,1351,1881,0,0,0,0,0,0
$GC,12341,0.94,225.4,681.0,12.7,416,12346,0.12,2.15,0.00,0.000,4,0.115,0.084,3616,165,1879,0,0,0,0,0,0
$GC,12365,0.88,225.4,677.0,12.9,416,12369,0.00,1.95,0.00,0.000,6,0.000,0.031,3616,1352,1879,0,0,0,0,0,0
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$STATE,18577,end climb,SURFACE_DEPTH_REACHED
$STATE,18577,begin surface coast
$FINISH,1.0,1.013362
$STATE,18624,end surface coast,CONTROL_FINISHED_OK
$STATE,18624,begin surface
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$SM_GC,2.25,0.00,0.00,37.25,0.000,0.000,0.431,411,1596,1209,-13.80,0.74,390.03
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$TT8_MAMPS,0.027612
$HUMID,69.25
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,22.20
$XPDR_PINGS,8
$24V_AH,23.0,69.014
$10V_AH,9.8,66.909
$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
$DEVICE_SECS,34.350,217.100,430.775,37.250,0.000,60.095,87.750,284.591,2.000,0.000,14.425,1585.339,13576.949,577.447,2675.705,926.429,33.404,1669.933,0.000,2669.004,0.000,0.536,0.000
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$SENSOR_SECS,483.137,377.249,481.174,1001.420,1325.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,57170,710
$CAP_FILE_SIZE,187507,0
$CFSIZE,260165632,136638464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020913,210854,2332.753,-15804.106,40,1.3,40,10.2