version: 66.06
glider: 148
mission: 12
dive: 469
start: 9 2 113 21 27 9
data:
$ID,148
$MISSION,12
$DIVE,469
$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,-1025392.9
$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,20
$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
$GPS1,210854,2332.753,-15804.106,40,1.3,40,10.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-77.0
$GPS2,212617,2332.834,-15804.054,11,1.7,26,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.160,0.205
$KALMAN_X,-86896.4,-26.7,197.3,79896.4,440.8
$KALMAN_Y,-21845.2,-12.9,173.3,110296.9,-76.5
$MHEAD_RNG_PITCHd_Wd,311.8,93961,-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,18,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-66.28,0.000,2,0.000,0.000,410,1597,2927,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.2,-3.9,9,122,14.12,2.38,-8.70,0.000,4,0.146,0.032,3127,3077,3396,0,0,0,0,0,0
$GC,248,-1.09,-146.0,36.9,-17.0,30,253,0.20,2.50,0.00,0.000,6,0.097,0.033,3170,1555,3397,0,0,0,0,0,0
$GC,517,-0.98,-146.0,78.8,-12.0,54,526,0.12,0.00,0.00,0.000,6,0.107,0.000,3198,1555,3396,0,0,0,0,0,0
$GC,784,-0.98,-146.0,107.3,-10.1,79,789,0.00,2.40,0.00,0.000,4,0.000,0.021,3197,3084,3397,0,0,0,0,0,0
$GC,825,-1.03,-146.0,112.0,-9.5,82,834,0.00,2.47,0.00,0.000,6,0.000,0.028,3197,1576,3397,0,0,0,0,0,0
$GC,1091,-1.03,-146.0,139.0,-10.4,107,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1576,3397,0,0,0,0,0,0
$GC,1354,-1.03,-146.0,164.0,-9.7,132,1358,0.00,2.35,0.00,0.000,4,0.000,0.021,3197,3078,3397,0,0,0,0,0,0
$GC,1410,-1.13,-146.0,169.1,-8.5,137,1415,0.15,2.45,0.00,0.000,6,0.054,0.028,3122,1570,3397,0,0,0,0,0,0
$GC,1684,-0.96,-146.0,205.8,-13.8,159,1686,0.35,0.00,0.00,0.000,6,0.079,0.000,3200,1570,3397,0,0,0,0,0,0
$GC,1924,-0.96,-146.0,228.1,-8.7,165,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1570,3397,0,0,0,0,0,0
$GC,2170,-0.96,-146.0,248.5,-8.3,171,2174,0.00,2.40,0.00,0.000,4,0.000,0.023,3200,3077,3396,0,0,0,0,0,0
$GC,2205,-1.07,-146.0,251.6,-8.2,171,2210,0.10,2.45,0.00,0.000,6,0.073,0.029,3128,1573,3396,0,0,0,0,0,0
$GC,2455,-0.94,-146.0,280.7,-11.7,177,2460,0.32,2.33,0.00,0.000,4,0.079,0.044,3201,170,3395,0,0,0,0,0,0
$GC,2482,-0.94,-146.0,283.3,-9.5,177,2486,0.00,2.08,0.00,0.000,6,0.000,0.019,3201,1532,3395,0,0,0,0,0,0
$GC,2746,-1.01,-146.0,302.9,-7.5,184,2750,0.00,2.53,0.00,0.000,4,0.000,0.026,3201,3128,3395,0,0,0,0,0,0
$GC,2807,-1.16,-146.0,307.6,-6.9,185,2813,0.20,2.50,0.00,0.000,6,0.042,0.032,3109,1595,3394,0,0,0,0,0,0
$GC,3081,-1.03,-146.0,340.2,-12.5,192,3086,0.30,2.38,0.00,0.000,4,0.081,0.049,3181,162,3393,0,0,0,0,0,0
$GC,3125,-1.10,-146.0,344.8,-8.1,193,3129,0.00,2.20,0.00,0.000,6,0.000,0.020,3181,1580,3392,0,0,0,0,0,0
$GC,3414,-1.14,-146.0,364.5,-6.7,200,3419,0.00,2.53,0.00,0.000,4,0.000,0.031,3181,3141,3390,0,0,0,0,0,0
$GC,3460,-1.26,-146.0,367.6,-6.4,201,3466,0.20,2.55,0.00,0.000,6,0.044,0.037,3099,1590,3390,0,0,0,0,0,0
$GC,3751,-1.13,-146.0,399.8,-11.6,208,3756,0.25,2.42,0.00,0.000,4,0.085,0.058,3159,165,3388,0,0,0,0,0,0
$GC,3779,-1.13,-146.0,403.4,-10.1,208,3784,0.00,2.22,0.00,0.000,6,0.000,0.022,3159,1592,3388,0,0,0,0,0,0
$GC,4034,-1.13,-146.0,423.9,-8.0,215,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1594,3387,0,0,0,0,0,0
$GC,4282,-1.13,-146.0,444.4,-8.4,221,4286,0.00,2.55,0.00,0.000,4,0.000,0.038,3159,3144,3385,0,0,0,0,0,0
$GC,4326,-1.21,-146.0,448.5,-8.3,222,4330,0.00,2.60,0.00,0.000,6,0.000,0.038,3159,1589,3385,0,0,0,0,0,0
$GC,4613,-1.21,-146.0,473.6,-8.7,229,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1589,3382,0,0,0,0,0,0
$GC,4857,-1.21,-146.0,493.9,-8.2,235,4861,0.00,2.47,0.00,0.000,4,0.000,0.071,3159,166,3381,0,0,0,0,0,0
$GC,4890,-1.21,-146.0,496.8,-9.1,235,4894,0.00,2.30,0.00,0.000,6,0.000,0.031,3159,1588,3380,0,0,0,0,0,0
$GC,5144,-1.21,-146.0,516.2,-7.6,241,5149,0.00,2.60,0.00,0.000,4,0.000,0.045,3159,3154,3379,0,0,0,0,0,0
$GC,5180,-1.30,-146.0,519.3,-7.8,241,5185,0.12,2.62,0.00,0.000,6,0.063,0.049,3098,1594,3378,0,0,0,0,0,0
$GC,5430,-1.18,-146.0,546.3,-11.3,247,5435,0.22,2.50,0.00,0.000,4,0.086,0.072,3150,165,3377,0,0,0,0,0,0
$GC,5450,-1.12,-146.0,548.7,-11.0,247,5454,0.00,2.35,0.00,0.000,6,0.000,0.031,3150,1614,3377,0,0,0,0,0,0
$GC,5716,-1.12,-146.0,572.3,-8.8,254,5720,0.00,2.55,0.00,0.000,4,0.000,0.046,3150,3152,3375,0,0,0,0,0,0
$GC,5760,-1.19,-146.0,576.2,-8.0,255,5764,0.00,2.60,0.00,0.000,6,0.000,0.044,3150,1610,3375,0,0,0,0,0,0
$GC,6049,-1.19,-146.0,599.1,-7.9,262,6053,0.00,2.53,0.00,0.000,4,0.000,0.077,3150,170,3372,0,0,0,0,0,0
$GC,6072,-1.19,-146.0,601.2,-9.4,262,6077,0.00,2.35,0.00,0.000,6,0.000,0.034,3150,1616,3372,0,0,0,0,0,0
$GC,6336,-1.19,-146.0,620.0,-7.0,269,6341,0.00,2.58,0.00,0.000,4,0.000,0.049,3150,3154,3370,0,0,0,0,0,0
$GC,6357,-1.19,-146.0,621.4,-7.5,269,6362,0.00,2.62,0.00,0.000,6,0.000,0.045,3149,1601,3371,0,0,0,0,0,0
$GC,6625,-1.19,-146.0,640.8,-7.4,276,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1602,3370,0,0,0,0,0,0
$GC,6865,-1.19,-146.0,659.9,-7.8,282,6869,0.00,2.62,0.00,0.000,4,0.000,0.046,3150,3154,3368,0,0,0,0,0,0
$GC,6891,-1.23,-146.0,661.9,-8.9,282,6895,0.00,2.62,0.00,0.000,6,0.000,0.048,3150,1613,3367,0,0,0,0,0,0
$GC,7152,-1.23,-146.0,682.7,-8.0,289,7156,0.00,2.58,0.00,0.000,4,0.000,0.082,3150,162,3366,0,0,0,0,0,0
$GC,7185,-1.23,-146.0,685.7,-8.9,289,7189,0.00,2.38,0.00,0.000,6,0.000,0.036,3149,1609,3366,0,0,0,0,0,0
$GC,7435,-1.23,-146.0,705.4,-7.9,295,7440,0.00,2.62,0.00,0.000,4,0.000,0.054,3150,3159,3364,0,0,0,0,0,0
$GC,7461,-1.28,-146.0,707.3,-7.3,295,7466,0.00,2.62,0.00,0.000,6,0.000,0.048,3150,1617,3364,0,0,0,0,0,0
$GC,7721,-1.28,-146.0,726.7,-7.4,302,7725,0.00,2.55,0.00,0.000,4,0.000,0.082,3149,166,3363,0,0,0,0,0,0
$GC,7754,-1.28,-146.0,729.5,-8.8,302,7758,0.00,2.40,0.00,0.000,6,0.000,0.038,3150,1621,3363,0,0,0,0,0,0
$GC,8006,-1.28,-146.0,747.3,-7.0,308,8010,0.00,2.60,0.00,0.000,4,0.000,0.054,3150,3158,3362,0,0,0,0,0,0
$GC,8030,-1.34,-146.0,749.2,-7.6,308,8035,0.12,2.62,0.00,0.000,6,0.062,0.048,3095,1615,3361,0,0,0,0,0,0
$GC,8291,-1.25,-146.0,772.5,-9.1,315,8296,0.17,2.58,0.00,0.000,4,0.092,0.081,3135,168,3360,0,0,0,0,0,0
$GC,8339,-1.25,-146.0,776.5,-8.7,316,8343,0.00,2.38,0.00,0.000,6,0.000,0.038,3135,1611,3360,0,0,0,0,0,0
$GC,8626,-1.25,-146.0,798.1,-7.3,323,8630,0.00,2.60,0.00,0.000,4,0.000,0.054,3134,3156,3359,0,0,0,0,0,0
$GC,8647,-1.25,-146.0,799.5,-7.2,323,8651,0.00,2.65,0.00,0.000,6,0.000,0.049,3135,1603,3359,0,0,0,0,0,0
$GC,8911,-1.25,-146.0,816.9,-6.4,330,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1603,3357,0,0,0,0,0,0
$GC,9157,-1.25,-146.0,832.6,-6.4,336,9158,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1604,3356,0,0,0,0,0,0
$GC,9398,-1.25,-146.0,849.6,-7.1,342,9399,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1603,3356,0,0,0,0,0,0
$GC,9644,-1.25,-146.0,868.4,-7.7,348,9648,0.00,2.62,0.00,0.000,4,0.000,0.048,3135,3161,3355,0,0,0,0,0,0
$GC,9678,-1.31,-146.0,871.1,-7.3,348,9682,0.00,2.65,0.00,0.000,6,0.000,0.051,3135,1618,3355,0,0,0,0,0,0
$GC,9930,-1.31,-146.0,890.7,-7.9,354,9934,0.00,2.60,0.00,0.000,4,0.000,0.084,3135,162,3354,0,0,0,0,0,0
$GC,9988,-1.31,-146.0,895.9,-10.2,355,9992,0.00,2.40,0.00,0.000,6,0.000,0.039,3135,1616,3354,0,0,0,0,0,0
$STATE,10059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10059,begin apogee
$GC,10066,-0.31,0.0,902.0,8.1,357,10189,0.90,0.00,119.55,1.154,6,0.070,0.000,3343,1343,2800,0,0,0,0,0,0
$STATE,10190,end apogee,CONTROL_FINISHED_OK
$STATE,10190,begin climb
$GC,10194,1.27,146.0,906.4,0.0,360,10336,1.42,2.12,131.48,1.132,4,0.031,0.078,3692,176,2203,0,0,0,0,0,0
$GC,10436,0.98,146.0,889.5,14.0,365,10441,0.32,1.98,0.00,0.000,6,0.109,0.032,3626,1368,2198,0,0,0,0,0,0
$GC,10703,0.90,146.0,862.1,10.2,372,10707,0.00,2.12,0.00,0.000,4,0.000,0.074,3626,175,2193,0,0,0,0,0,0
$GC,10723,0.79,146.0,859.8,11.2,372,10728,0.20,1.95,0.00,0.000,6,0.104,0.033,3584,1357,2193,0,0,0,0,0,0
$GC,10988,0.83,178.9,836.7,8.5,379,11024,0.00,2.78,29.45,1.060,4,0.000,0.051,3584,2928,2069,0,0,0,0,0,0
$GC,11046,0.91,204.8,831.6,8.8,380,11079,0.10,2.72,25.27,1.040,6,0.079,0.050,3622,1366,1964,0,0,0,0,0,0
$GC,11323,0.91,204.8,800.6,11.4,387,11324,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1367,1959,0,0,0,0,0,0
$GC,11563,0.91,204.8,773.2,11.3,393,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,3622,1367,1957,0,0,0,0,0,0
$GC,11809,0.91,204.8,745.3,11.4,399,11813,0.00,2.17,0.00,0.000,4,0.000,0.085,3622,162,1956,0,0,0,0,0,0
$GC,11846,0.84,204.8,740.3,12.7,399,11852,0.15,1.98,0.00,0.000,6,0.108,0.031,3591,1364,1956,0,0,0,0,0,0
$GC,12100,0.84,204.8,714.1,10.3,406,12104,0.00,2.67,0.00,0.000,4,0.000,0.050,3591,2936,1955,0,0,0,0,0,0
$GC,12119,0.89,204.8,711.6,10.0,406,12123,0.00,2.72,0.00,0.000,6,0.000,0.050,3591,1361,1953,0,0,0,0,0,0
$GC,12385,0.93,204.8,684.7,10.2,413,12387,0.10,0.00,0.00,0.000,6,0.080,0.000,3630,1361,1953,0,0,0,0,0,0
$GC,12627,0.93,204.8,656.3,11.6,419,12631,0.00,2.15,0.00,0.000,4,0.000,0.082,3630,162,1953,0,0,0,0,0,0
$GC,12661,0.84,204.8,652.0,13.3,419,12666,0.17,1.98,0.00,0.000,6,0.105,0.030,3594,1371,1953,0,0,0,0,0,0
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$STATE,18643,end climb,SURFACE_DEPTH_REACHED
$STATE,18643,begin surface coast
$FINISH,0.9,1.009786
$STATE,18696,end surface coast,CONTROL_FINISHED_OK
$STATE,18696,begin surface
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$TT8_MAMPS,0.026845
$HUMID,68.03
$INTERNAL_PRESSURE,9.40853
$TCM_TEMP,22.60
$XPDR_PINGS,40
$24V_AH,23.0,69.186
$10V_AH,9.7,67.068
$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
$DEVICE_SECS,34.875,206.225,413.275,43.150,0.000,48.794,72.449,675.228,10.000,0.000,28.253,1581.098,13684.462,543.660,2693.910,1290.392,33.372,1658.179,0.000,2674.637,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356068
$DATA_FILE_SIZE,57225,718
$CAP_FILE_SIZE,192528,0
$CFSIZE,260165632,136552448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030913,024147,2334.997,-15805.274,58,1.8,69,10.2