version: 66.06
glider: 148
mission: 12
dive: 473
start: 9 3 113 19 9 37
data:
$ID,148
$MISSION,12
$DIVE,473
$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,-1025472.5
$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,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
$GPS1,190130,2342.018,-15808.896,40,1.4,40,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.1
$GPS2,190843,2342.065,-15808.861,11,1.4,11,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM2
$TGT_LATLONG,2350.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.256,0.042
$KALMAN_X,-83197.5,-31.2,-20.2,68210.2,948.4
$KALMAN_Y,-19115.5,-101.7,1.0,124918.1,740.7
$MHEAD_RNG_PITCHd_Wd,269.1,38709,-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,-67.18,0.000,2,0.000,0.000,413,1608,2908,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.2,9,122,13.98,2.35,-9.02,0.000,4,0.143,0.032,3126,3076,3396,0,0,0,0,0,0
$GC,247,-1.09,-146.0,37.8,-17.3,30,252,0.20,2.45,0.00,0.000,6,0.097,0.032,3170,1566,3397,0,0,0,0,0,0
$GC,517,-0.98,-146.0,79.2,-11.8,54,521,0.12,2.33,0.00,0.000,4,0.109,0.050,3198,168,3397,0,0,0,0,0,0
$GC,560,-0.98,-146.0,85.2,-12.7,57,564,0.00,2.03,0.00,0.000,6,0.000,0.016,3197,1533,3398,0,0,0,0,0,0
$GC,829,-0.98,-146.0,111.5,-9.5,81,833,0.00,2.50,0.00,0.000,4,0.000,0.021,3198,3119,3399,0,0,0,0,0,0
$GC,918,-1.07,-146.0,119.7,-8.5,89,923,0.00,2.50,0.00,0.000,6,0.000,0.028,3198,1574,3399,0,0,0,0,0,0
$GC,1187,-1.07,-146.0,143.9,-10.0,113,1191,0.00,2.30,0.00,0.000,4,0.000,0.042,3198,171,3399,0,0,0,0,0,0
$GC,1218,-1.07,-146.0,147.0,-10.7,115,1222,0.00,2.10,0.00,0.000,6,0.000,0.016,3197,1582,3399,0,0,0,0,0,0
$GC,1486,-1.07,-146.0,171.4,-9.1,139,1490,0.00,2.40,0.00,0.000,4,0.000,0.021,3197,3121,3400,0,0,0,0,0,0
$GC,1511,-1.07,-146.0,174.4,-9.5,141,1515,0.00,2.47,0.00,0.000,6,0.000,0.028,3197,1580,3400,0,0,0,0,0,0
$GC,1774,-1.07,-146.0,196.8,-7.9,165,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1580,3400,0,0,0,0,0,0
$GC,2019,-1.07,-146.0,216.5,-7.9,174,2023,0.00,2.42,0.00,0.000,4,0.000,0.022,3197,3117,3400,0,0,0,0,0,0
$GC,2043,-1.13,-146.0,218.7,-8.4,174,2048,0.15,2.47,0.00,0.000,6,0.052,0.028,3119,1583,3400,0,0,0,0,0,0
$GC,2309,-1.00,-146.0,249.7,-12.4,181,2314,0.30,2.42,0.00,0.000,4,0.083,0.021,3189,3115,3400,0,0,0,0,0,0
$GC,2324,-0.92,-146.0,252.4,-12.6,181,2329,0.00,2.45,0.00,0.000,6,0.000,0.026,3189,1587,3400,0,0,0,0,0,0
$GC,2593,-0.92,-146.0,275.4,-8.5,188,2597,0.00,2.35,0.00,0.000,4,0.000,0.048,3190,169,3399,0,0,0,0,0,0
$GC,2633,-0.97,-146.0,278.7,-9.0,188,2638,0.00,2.15,0.00,0.000,6,0.000,0.019,3189,1564,3399,0,0,0,0,0,0
$GC,2883,-0.97,-146.0,298.0,-7.7,195,2887,0.00,2.50,0.00,0.000,4,0.000,0.026,3189,3142,3398,0,0,0,0,0,0
$GC,2937,-1.09,-146.0,302.1,-7.1,196,2941,0.00,2.53,0.00,0.000,6,0.000,0.031,3189,1589,3398,0,0,0,0,0,0
$GC,3217,-1.15,-146.0,322.6,-7.4,203,3222,0.12,2.38,0.00,0.000,4,0.063,0.051,3127,166,3397,0,0,0,0,0,0
$GC,3266,-1.08,-146.0,328.1,-11.3,204,3271,0.22,2.22,0.00,0.000,6,0.081,0.021,3179,1588,3397,0,0,0,0,0,0
$GC,3556,-1.08,-146.0,350.8,-7.8,211,3560,0.00,2.50,0.00,0.000,4,0.000,0.030,3179,3141,3395,0,0,0,0,0,0
$GC,3575,-1.13,-146.0,353.0,-8.4,211,3580,0.00,2.58,0.00,0.000,6,0.000,0.035,3180,1588,3395,0,0,0,0,0,0
$GC,3839,-1.13,-146.0,372.5,-7.2,218,3844,0.00,2.38,0.00,0.000,4,0.000,0.056,3180,168,3393,0,0,0,0,0,0
$GC,3869,-1.13,-146.0,374.8,-7.9,218,3874,0.00,2.20,0.00,0.000,6,0.000,0.021,3180,1586,3393,0,0,0,0,0,0
$GC,4124,-1.13,-146.0,392.8,-7.0,225,4129,0.00,2.55,0.00,0.000,4,0.000,0.034,3180,3142,3392,0,0,0,0,0,0
$GC,4158,-1.23,-146.0,395.3,-7.2,225,4163,0.17,2.58,0.00,0.000,6,0.048,0.038,3106,1587,3392,0,0,0,0,0,0
$GC,4412,-1.11,-146.0,424.3,-12.1,231,4417,0.25,2.42,0.00,0.000,4,0.085,0.059,3166,168,3390,0,0,0,0,0,0
$GC,4458,-1.11,-146.0,429.6,-10.5,232,4462,0.00,2.22,0.00,0.000,6,0.000,0.024,3166,1588,3390,0,0,0,0,0,0
$GC,4747,-1.11,-146.0,455.7,-8.8,239,4751,0.00,2.55,0.00,0.000,4,0.000,0.039,3166,3145,3388,0,0,0,0,0,0
$GC,4771,-1.16,-146.0,458.1,-9.8,239,4776,0.00,2.58,0.00,0.000,6,0.000,0.038,3166,1587,3388,0,0,0,0,0,0
$GC,5033,-1.16,-146.0,478.5,-7.8,246,5038,0.00,2.45,0.00,0.000,4,0.000,0.068,3166,169,3387,0,0,0,0,0,0
$GC,5078,-1.16,-146.0,482.3,-9.0,247,5083,0.00,2.22,0.00,0.000,6,0.000,0.028,3166,1574,3386,0,0,0,0,0,0
$GC,5365,-1.16,-146.0,504.3,-7.4,254,5370,0.00,2.65,0.00,0.000,4,0.000,0.045,3166,3154,3385,0,0,0,0,0,0
$GC,5404,-1.26,-146.0,507.0,-6.8,254,5410,0.12,2.65,0.00,0.000,6,0.062,0.041,3105,1577,3385,0,0,0,0,0,0
$GC,5659,-1.16,-146.0,531.1,-9.9,261,5664,0.22,2.47,0.00,0.000,4,0.088,0.071,3156,164,3383,0,0,0,0,0,0
$GC,5679,-1.10,-146.0,533.6,-9.6,261,5683,0.00,2.28,0.00,0.000,6,0.000,0.031,3156,1582,3382,0,0,0,0,0,0
$GC,5945,-1.10,-146.0,553.7,-7.7,268,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1583,3381,0,0,0,0,0,0
$GC,6186,-1.10,-146.0,572.6,-7.8,274,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1583,3380,0,0,0,0,0,0
$GC,6430,-1.10,-146.0,591.7,-7.9,280,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1583,3378,0,0,0,0,0,0
$GC,6678,-1.10,-146.0,611.2,-7.9,286,6683,0.00,2.65,0.00,0.000,4,0.000,0.051,3156,3148,3376,0,0,0,0,0,0
$GC,6699,-1.10,-146.0,613.2,-8.2,286,6704,0.00,2.65,0.00,0.000,6,0.000,0.046,3155,1578,3377,0,0,0,0,0,0
$GC,6964,-1.10,-146.0,632.8,-7.3,293,6968,0.00,2.50,0.00,0.000,4,0.000,0.080,3156,165,3375,0,0,0,0,0,0
$GC,6985,-1.10,-146.0,634.4,-7.9,293,6989,0.00,2.33,0.00,0.000,6,0.000,0.035,3156,1586,3375,0,0,0,0,0,0
$GC,7251,-1.10,-146.0,653.3,-7.1,300,7255,0.00,2.67,0.00,0.000,4,0.000,0.054,3155,3158,3373,0,0,0,0,0,0
$GC,7300,-1.19,-146.0,656.9,-6.8,301,7304,0.00,2.67,0.00,0.000,6,0.000,0.048,3155,1587,3374,0,0,0,0,0,0
$GC,7583,-1.19,-146.0,677.2,-7.4,308,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1588,3372,0,0,0,0,0,0
$GC,7826,-1.19,-146.0,696.0,-7.8,314,7831,0.00,2.53,0.00,0.000,4,0.000,0.082,3156,163,3371,0,0,0,0,0,0
$GC,7864,-1.19,-146.0,699.3,-8.5,314,7870,0.00,2.35,0.00,0.000,6,0.000,0.037,3156,1590,3370,0,0,0,0,0,0
$GC,8117,-1.19,-146.0,719.4,-8.1,321,8121,0.00,2.67,0.00,0.000,4,0.000,0.057,3155,3159,3369,0,0,0,0,0,0
$GC,8157,-1.29,-146.0,722.8,-8.4,321,8163,0.12,2.65,0.00,0.000,6,0.064,0.050,3101,1595,3369,0,0,0,0,0,0
$GC,8407,-1.21,-146.0,746.6,-9.5,328,8412,0.20,2.55,0.00,0.000,4,0.091,0.081,3144,160,3368,0,0,0,0,0,0
$GC,8480,-1.21,-146.0,752.8,-8.1,329,8484,0.00,2.35,0.00,0.000,6,0.000,0.038,3144,1594,3368,0,0,0,0,0,0
$GC,8742,-1.21,-146.0,770.4,-6.6,336,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1594,3367,0,0,0,0,0,0
$GC,8983,-1.21,-146.0,786.2,-6.4,342,8987,0.00,2.65,0.00,0.000,4,0.000,0.058,3145,3158,3366,0,0,0,0,0,0
$GC,9009,-1.21,-146.0,787.8,-6.9,342,9013,0.00,2.70,0.00,0.000,6,0.000,0.050,3145,1577,3366,0,0,0,0,0,0
$GC,9268,-1.21,-146.0,805.2,-6.7,349,9273,0.00,2.70,0.00,0.000,4,0.000,0.051,3144,3157,3365,0,0,0,0,0,0
$GC,9288,-1.21,-146.0,806.7,-7.9,349,9292,0.00,2.70,0.00,0.000,6,0.000,0.050,3144,1581,3365,0,0,0,0,0,0
$GC,9556,-1.21,-146.0,825.5,-7.3,356,9561,0.00,2.53,0.00,0.000,4,0.000,0.084,3145,161,3364,0,0,0,0,0,0
$GC,9585,-1.21,-146.0,828.1,-8.1,356,9589,0.00,2.38,0.00,0.000,6,0.000,0.038,3144,1598,3363,0,0,0,0,0,0
$GC,9840,-1.21,-146.0,846.5,-7.2,363,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1598,3363,0,0,0,0,0,0
$GC,10083,-1.21,-146.0,864.8,-7.5,369,10088,0.00,2.55,0.00,0.000,4,0.000,0.084,3144,162,3362,0,0,0,0,0,0
$GC,10128,-1.21,-146.0,868.4,-8.2,370,10133,0.00,2.38,0.00,0.000,6,0.000,0.039,3144,1595,3362,0,0,0,0,0,0
$GC,10416,-1.21,-146.0,890.1,-7.3,377,10420,0.00,2.67,0.00,0.000,4,0.000,0.059,3144,3159,3361,0,0,0,0,0,0
$GC,10442,-1.27,-146.0,891.9,-7.1,377,10446,0.00,2.70,0.00,0.000,6,0.000,0.051,3144,1580,3361,0,0,0,0,0,0
$STATE,10579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10579,begin apogee
$GC,10585,-0.31,0.0,901.8,7.0,381,10710,0.85,0.00,121.05,1.154,6,0.067,0.000,3342,1346,2800,0,0,0,0,0,0
$STATE,10710,end apogee,CONTROL_FINISHED_OK
$STATE,10711,begin climb
$GC,10713,1.27,146.0,905.9,0.0,384,10857,1.42,2.20,132.12,1.135,4,0.030,0.085,3693,163,2203,0,0,0,0,0,0
$GC,10895,0.99,146.0,896.5,15.0,388,10900,0.32,2.00,0.00,0.000,6,0.109,0.033,3627,1363,2200,0,0,0,0,0,0
$GC,11176,0.92,147.2,868.4,9.9,395,11180,0.00,2.12,0.00,0.000,4,0.000,0.073,3626,170,2194,0,0,0,0,0,0
$GC,11246,0.78,147.2,860.3,11.6,396,11251,0.22,1.95,0.00,0.000,6,0.102,0.031,3580,1355,2193,0,0,0,0,0,0
$GC,11508,0.85,206.9,840.8,7.2,403,11569,0.00,2.20,55.55,1.085,4,0.000,0.074,3579,175,1955,0,0,0,0,0,0
$GC,11588,0.88,230.5,834.2,8.9,404,11617,0.10,1.98,23.98,1.035,6,0.082,0.033,3615,1357,1860,0,0,0,0,0,0
$GC,11885,0.88,230.5,801.8,11.3,412,11889,0.00,2.72,0.00,0.000,4,0.000,0.057,3615,2935,1853,0,0,0,0,0,0
$GC,11937,0.93,230.5,795.6,11.7,413,11941,0.00,2.72,0.00,0.000,6,0.000,0.050,3615,1361,1849,0,0,0,0,0,0
$GC,12217,0.93,230.5,761.9,12.4,420,12221,0.00,2.70,0.00,0.000,4,0.000,0.050,3616,2934,1849,0,0,0,0,0,0
$GC,12254,0.98,230.5,756.9,11.7,420,12263,0.00,2.75,0.00,0.000,6,0.000,0.052,3616,1365,1847,0,0,0,0,0,0
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$STATE,19142,end climb,SURFACE_DEPTH_REACHED
$STATE,19143,begin surface coast
$FINISH,3.0,1.023065
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19177,44.25,0.434,0,0,1209,390.03
$SM_GC,2.12,0.00,0.00,44.25,0.000,0.000,0.434,417,1576,1209,-13.77,0.20,390.03
$IRIDIUM_FIX,2328.57,-15806.24,281102,131353
$TT8_MAMPS,0.027612
$HUMID,69.33
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.80
$XPDR_PINGS,11
$24V_AH,22.9,69.779
$10V_AH,9.7,67.678
$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,33.900,238.800,420.850,44.250,0.000,29.726,33.424,206.782,2.750,0.000,13.311,1616.398,13975.049,578.158,2688.479,784.640,33.372,1721.510,0.000,2689.539,0.000,0.536,0.000
$DEVICE_MAMPS,142.662,85.137,1154.335,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,490.811,376.326,483.082,981.473,1290.486,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355928
$DATA_FILE_SIZE,57287,721
$CAP_FILE_SIZE,192804,0
$CFSIZE,260165632,136241152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040913,003129,2342.605,-15810.793,40,1.9,46,10.2