version: 66.06
glider: 148
mission: 12
dive: 471
start: 9 3 113 8 18 37
data:
$ID,148
$MISSION,12
$DIVE,471
$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,-1025442.8
$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,26
$R_STBD_OVSHOOT,130
$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
$GPS1,081053,2337.474,-15806.458,27,1.7,44,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.2
$GPS2,081743,2337.521,-15806.430,10,1.7,16,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM1
$TGT_LATLONG,2415.000,-15835.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,0.200
$KALMAN_X,-85140.9,179.0,73.1,74004.3,494.5
$KALMAN_Y,-20679.7,273.1,120.8,117572.3,-82.0
$MHEAD_RNG_PITCHd_Wd,310.3,84529,-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,13,begin dive
$GC,15,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.93,0.000,2,0.000,0.000,412,1597,2915,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.2,-3.8,9,122,13.98,2.35,-8.75,0.000,4,0.143,0.032,3127,3064,3397,0,0,0,0,0,0
$GC,176,-1.08,-146.0,26.1,-18.2,21,185,0.17,2.50,0.00,0.000,6,0.075,0.035,3171,1566,3398,0,0,0,0,0,0
$GC,451,-0.92,-146.0,71.3,-14.1,47,456,0.17,2.40,0.00,0.000,4,0.098,0.021,3210,3078,3398,0,0,0,0,0,0
$GC,485,-0.92,-146.0,75.6,-10.1,49,489,0.00,2.42,0.00,0.000,6,0.000,0.029,3210,1574,3398,0,0,0,0,0,0
$GC,753,-0.92,-146.0,100.3,-9.1,73,757,0.00,2.30,0.00,0.000,4,0.000,0.044,3210,164,3399,0,0,0,0,0,0
$GC,782,-0.92,-146.0,103.5,-10.4,75,786,0.00,2.05,0.00,0.000,6,0.000,0.016,3210,1550,3400,0,0,0,0,0,0
$GC,1049,-0.92,-146.0,128.7,-9.1,99,1053,0.00,2.42,0.00,0.000,4,0.000,0.021,3210,3106,3400,0,0,0,0,0,0
$GC,1092,-1.02,-146.0,132.9,-8.5,102,1101,0.00,2.50,0.00,0.000,6,0.000,0.028,3210,1580,3401,0,0,0,0,0,0
$GC,1358,-1.02,-146.0,156.6,-9.1,127,1363,0.00,2.38,0.00,0.000,4,0.000,0.021,3210,3096,3401,0,0,0,0,0,0
$GC,1389,-1.08,-146.0,159.7,-8.6,129,1399,0.12,2.47,0.00,0.000,6,0.025,0.028,3131,1585,3401,0,0,0,0,0,0
$GC,1658,-0.93,-146.0,191.8,-12.5,154,1663,0.30,2.33,0.00,0.000,4,0.083,0.042,3202,163,3401,0,0,0,0,0,0
$GC,1698,-0.93,-146.0,196.4,-9.2,157,1703,0.00,2.12,0.00,0.000,6,0.000,0.017,3202,1569,3401,0,0,0,0,0,0
$GC,1955,-0.93,-146.0,216.4,-7.8,166,1959,0.00,2.42,0.00,0.000,4,0.000,0.021,3202,3122,3401,0,0,0,0,0,0
$GC,1999,-1.07,-146.0,220.2,-7.6,167,2004,0.10,2.50,0.00,0.000,6,0.073,0.028,3134,1580,3401,0,0,0,0,0,0
$GC,2289,-0.96,-146.0,252.2,-11.1,174,2291,0.30,0.00,0.00,0.000,6,0.078,0.000,3200,1580,3401,0,0,0,0,0,0
$GC,2530,-1.03,-146.0,269.6,-7.0,180,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1581,3401,0,0,0,0,0,0
$GC,2779,-1.10,-146.0,287.4,-7.5,186,2780,0.12,0.00,0.00,0.000,6,0.063,0.000,3136,1580,3400,0,0,0,0,0,0
$GC,3018,-1.02,-146.0,311.5,-9.9,192,3023,0.22,2.47,0.00,0.000,4,0.079,0.025,3187,3112,3399,0,0,0,0,0,0
$GC,3043,-1.07,-146.0,313.7,-7.5,192,3047,0.00,2.50,0.00,0.000,6,0.000,0.032,3188,1595,3398,0,0,0,0,0,0
$GC,3305,-1.12,-146.0,332.2,-7.5,199,3309,0.00,2.38,0.00,0.000,4,0.000,0.053,3188,166,3397,0,0,0,0,0,0
$GC,3366,-1.21,-146.0,337.5,-8.0,200,3370,0.17,2.17,0.00,0.000,6,0.047,0.021,3114,1568,3396,0,0,0,0,0,0
$GC,3643,-1.08,-146.0,368.7,-11.6,207,3648,0.25,2.53,0.00,0.000,4,0.085,0.031,3169,3131,3396,0,0,0,0,0,0
$GC,3691,-1.17,-146.0,373.3,-6.9,208,3696,0.00,2.55,0.00,0.000,6,0.000,0.044,3169,1596,3395,0,0,0,0,0,0
$GC,3974,-1.17,-146.0,394.5,-7.6,215,3978,0.00,2.42,0.00,0.000,4,0.000,0.058,3169,167,3393,0,0,0,0,0,0
$GC,4004,-1.17,-146.0,397.0,-8.7,215,4008,0.00,2.20,0.00,0.000,6,0.000,0.022,3169,1584,3392,0,0,0,0,0,0
$GC,4259,-1.17,-146.0,418.6,-8.6,222,4263,0.00,2.55,0.00,0.000,4,0.000,0.034,3169,3139,3391,0,0,0,0,0,0
$GC,4311,-1.28,-146.0,423.0,-7.8,223,4316,0.15,2.58,0.00,0.000,6,0.054,0.038,3100,1596,3391,0,0,0,0,0,0
$GC,4591,-1.16,-146.0,455.1,-11.8,230,4596,0.25,2.47,0.00,0.000,4,0.085,0.064,3160,167,3389,0,0,0,0,0,0
$GC,4629,-1.16,-146.0,459.4,-9.4,230,4637,0.00,2.30,0.00,0.000,6,0.000,0.027,3159,1593,3389,0,0,0,0,0,0
$GC,4882,-1.16,-146.0,478.1,-7.3,237,4886,0.00,2.58,0.00,0.000,4,0.000,0.039,3159,3151,3388,0,0,0,0,0,0
$GC,4906,-1.16,-146.0,480.2,-8.3,237,4910,0.00,2.60,0.00,0.000,6,0.000,0.039,3159,1594,3388,0,0,0,0,0,0
$GC,5165,-1.16,-146.0,501.0,-8.4,244,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1594,3386,0,0,0,0,0,0
$GC,5411,-1.16,-146.0,520.9,-8.1,250,5415,0.00,2.62,0.00,0.000,4,0.000,0.043,3159,3155,3385,0,0,0,0,0,0
$GC,5440,-1.23,-146.0,523.4,-7.8,250,5444,0.00,2.62,0.00,0.000,6,0.000,0.043,3160,1597,3384,0,0,0,0,0,0
$GC,5695,-1.23,-146.0,543.1,-7.9,257,5699,0.00,2.50,0.00,0.000,4,0.000,0.074,3160,165,3382,0,0,0,0,0,0
$GC,5745,-1.27,-146.0,547.3,-8.6,258,5750,0.12,2.33,0.00,0.000,6,0.063,0.032,3101,1600,3382,0,0,0,0,0,0
$GC,6033,-1.18,-146.0,577.5,-10.5,265,6035,0.22,0.00,0.00,0.000,6,0.087,0.000,3151,1600,3380,0,0,0,0,0,0
$GC,6281,-1.18,-146.0,596.4,-7.7,271,6285,0.00,2.53,0.00,0.000,4,0.000,0.074,3152,165,3379,0,0,0,0,0,0
$GC,6302,-1.18,-146.0,598.4,-8.1,271,6306,0.00,2.33,0.00,0.000,6,0.000,0.033,3152,1593,3379,0,0,0,0,0,0
$GC,6566,-1.18,-146.0,619.6,-8.0,278,6570,0.00,2.62,0.00,0.000,4,0.000,0.048,3152,3158,3377,0,0,0,0,0,0
$GC,6599,-1.25,-146.0,622.5,-7.6,278,6604,0.00,2.65,0.00,0.000,6,0.000,0.047,3152,1597,3377,0,0,0,0,0,0
$GC,6851,-1.25,-146.0,642.0,-7.8,284,6856,0.00,2.53,0.00,0.000,4,0.000,0.081,3152,169,3375,0,0,0,0,0,0
$GC,6898,-1.25,-146.0,646.2,-8.6,285,6902,0.00,2.33,0.00,0.000,6,0.000,0.035,3152,1588,3375,0,0,0,0,0,0
$GC,7185,-1.25,-146.0,666.4,-6.9,292,7189,0.00,2.65,0.00,0.000,4,0.000,0.051,3152,3158,3373,0,0,0,0,0,0
$GC,7215,-1.31,-146.0,668.5,-6.9,292,7220,0.12,2.67,0.00,0.000,6,0.064,0.048,3096,1587,3373,0,0,0,0,0,0
$GC,7471,-1.21,-146.0,691.5,-9.3,299,7476,0.22,2.53,0.00,0.000,4,0.087,0.081,3147,167,3372,0,0,0,0,0,0
$GC,7502,-1.21,-146.0,694.3,-8.4,299,7507,0.00,2.33,0.00,0.000,6,0.000,0.036,3146,1595,3372,0,0,0,0,0,0
$GC,7760,-1.21,-146.0,712.6,-7.2,306,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1596,3371,0,0,0,0,0,0
$GC,8003,-1.21,-146.0,728.7,-6.6,312,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1596,3370,0,0,0,0,0,0
$GC,8247,-1.21,-146.0,744.8,-6.6,318,8251,0.00,2.62,0.00,0.000,4,0.000,0.053,3147,3158,3368,0,0,0,0,0,0
$GC,8285,-1.30,-146.0,747.7,-6.9,318,8290,0.00,2.67,0.00,0.000,6,0.000,0.050,3147,1593,3368,0,0,0,0,0,0
$GC,8535,-1.30,-146.0,765.8,-7.4,325,8536,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1593,3367,0,0,0,0,0,0
$GC,8783,-1.30,-146.0,784.2,-7.6,331,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1593,3366,0,0,0,0,0,0
$GC,9024,-1.30,-146.0,802.6,-7.6,337,9028,0.00,2.53,0.00,0.000,4,0.000,0.083,3147,169,3365,0,0,0,0,0,0
$GC,9067,-1.30,-146.0,806.2,-7.8,338,9072,0.00,2.35,0.00,0.000,6,0.000,0.037,3147,1595,3365,0,0,0,0,0,0
$GC,9356,-1.30,-146.0,826.5,-6.8,345,9361,0.00,2.62,0.00,0.000,4,0.000,0.054,3146,3155,3364,0,0,0,0,0,0
$GC,9404,-1.40,-146.0,829.3,-6.5,346,9411,0.17,2.67,0.00,0.000,6,0.051,0.051,3079,1594,3364,0,0,0,0,0,0
$GC,9696,-1.29,-146.0,855.6,-9.2,353,9701,0.22,2.55,0.00,0.000,4,0.089,0.081,3130,164,3363,0,0,0,0,0,0
$GC,9755,-1.29,-146.0,860.7,-7.2,354,9759,0.00,2.35,0.00,0.000,6,0.000,0.037,3130,1593,3362,0,0,0,0,0,0
$GC,10036,-1.29,-146.0,879.0,-6.5,361,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1593,3362,0,0,0,0,0,0
$GC,10276,-1.29,-146.0,894.0,-6.1,367,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1593,3361,0,0,0,0,0,0
$STATE,10395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10395,begin apogee
$GC,10404,-0.31,0.0,901.6,6.2,370,10528,0.93,0.00,120.75,1.153,6,0.068,0.000,3343,1348,2800,0,0,0,0,0,0
$STATE,10529,end apogee,CONTROL_FINISHED_OK
$STATE,10529,begin climb
$GC,10531,1.27,146.0,904.2,0.0,373,10676,1.45,2.22,132.18,1.131,4,0.032,0.079,3691,168,2203,0,0,0,0,0,0
$GC,10756,0.99,146.0,887.3,14.9,378,10761,0.30,1.98,0.00,0.000,6,0.110,0.033,3629,1355,2199,0,0,0,0,0,0
$GC,11021,0.91,146.0,859.5,10.3,385,11025,0.00,2.10,0.00,0.000,4,0.000,0.074,3629,170,2193,0,0,0,0,0,0
$GC,11088,0.77,146.0,851.8,12.1,386,11093,0.17,1.98,0.00,0.000,6,0.090,0.032,3577,1350,2192,0,0,0,0,0,0
$GC,11362,0.80,175.3,828.0,8.6,393,11390,0.00,0.00,26.48,1.050,6,0.000,0.000,3578,1351,2085,0,0,0,0,0,0
$GC,11608,0.81,182.0,805.1,9.7,399,11620,0.00,2.78,6.82,0.854,4,0.000,0.052,3578,2940,2057,0,0,0,0,0,0
$GC,11630,0.87,194.0,802.7,9.4,399,11653,0.10,2.75,13.35,0.973,6,0.077,0.053,3617,1363,2007,0,0,0,0,0,0
$GC,11901,0.87,194.0,771.3,12.0,406,11905,0.00,2.15,0.00,0.000,4,0.000,0.085,3617,160,2003,0,0,0,0,0,0
$GC,11981,0.80,194.0,760.3,13.3,407,11986,0.15,1.95,0.00,0.000,6,0.110,0.031,3586,1348,2003,0,0,0,0,0,0
$GC,12232,0.80,196.1,735.2,9.9,413,12236,0.00,2.70,0.00,0.000,4,0.000,0.050,3586,2937,2002,0,0,0,0,0,0
$GC,12253,0.86,209.3,733.3,9.4,413,12275,0.00,2.75,14.77,0.963,6,0.000,0.049,3585,1344,1946,0,0,0,0,0,0
$GC,12520,0.93,221.0,707.6,9.5,420,12540,0.10,2.78,12.65,0.932,4,0.078,0.046,3625,2938,1898,0,0,0,0,0,0
$GC,12571,0.93,221.0,702.6,10.8,421,12575,0.00,2.78,0.00,0.000,6,0.000,0.052,3625,1352,1895,0,0,0,0,0,0
$GC,12857,0.93,221.0,670.1,11.1,428,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1352,1894,0,0,0,0,0,0
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$STATE,19053,end climb,SURFACE_DEPTH_REACHED
$STATE,19053,begin surface coast
$FINISH,0.9,1.014826
$STATE,19100,end surface coast,CONTROL_FINISHED_OK
$STATE,19100,begin surface
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$XPDR_PINGS,9
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$10V_AH,9.7,67.378
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355964
$DATA_FILE_SIZE,57208,716
$CAP_FILE_SIZE,192016,0
$CFSIZE,260165632,136400896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030913,133926,2339.712,-15807.717,30,99.0,49,10.2