version: 66.06
glider: 148
mission: 12
dive: 474
start: 9 4 113 0 40 0
data:
$ID,148
$MISSION,12
$DIVE,474
$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,-1025485.2
$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,64
$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
$GPS1,003129,2342.605,-15810.793,40,1.9,46,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-78.6
$GPS2,003906,2342.627,-15810.805,10,1.4,10,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM2
$TGT_LATLONG,2350.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.253,0.058
$KALMAN_X,-82195.2,56.7,178.9,63603.2,443.6
$KALMAN_Y,-18767.8,-98.1,-45.7,125661.4,670.2
$MHEAD_RNG_PITCHd_Wd,272.7,35268,-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,17,-1.27,-146.0,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,2,0.000,0.000,417,1576,2891,0,0,0,0,0,0
$GC,88,-1.27,-146.0,3.3,-4.0,9,121,14.00,2.53,-9.50,0.000,4,0.143,0.034,3126,3135,3396,0,0,0,0,0,0
$GC,225,-1.10,-146.0,33.8,-16.9,28,234,0.15,2.60,0.00,0.000,6,0.082,0.032,3164,1569,3398,0,0,0,0,0,0
$GC,494,-0.95,-146.0,73.8,-11.7,53,499,0.17,2.53,0.00,0.000,4,0.097,0.022,3203,3141,3398,0,0,0,0,0,0
$GC,517,-0.85,-146.0,77.1,-12.6,54,521,0.00,2.58,0.00,0.000,6,0.000,0.028,3203,1556,3398,0,0,0,0,0,0
$GC,782,-0.85,-146.0,101.8,-9.6,78,786,0.00,2.28,0.00,0.000,4,0.000,0.043,3203,172,3398,0,0,0,0,0,0
$GC,814,-0.85,-146.0,105.7,-10.6,80,823,0.00,2.15,0.00,0.000,6,0.000,0.016,3203,1591,3399,0,0,0,0,0,0
$GC,1083,-0.85,-146.0,129.8,-8.9,105,1087,0.00,2.38,0.00,0.000,4,0.000,0.021,3203,3115,3399,0,0,0,0,0,0
$GC,1139,-0.95,-146.0,135.1,-7.8,110,1144,0.00,2.47,0.00,0.000,6,0.000,0.028,3203,1575,3400,0,0,0,0,0,0
$GC,1404,-0.95,-146.0,157.1,-8.8,134,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1575,3400,0,0,0,0,0,0
$GC,1666,-0.95,-146.0,181.1,-9.0,159,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1575,3400,0,0,0,0,0,0
$GC,1942,-0.95,-146.0,203.6,-7.8,182,1946,0.00,2.42,0.00,0.000,4,0.000,0.021,3203,3115,3400,0,0,0,0,0,0
$GC,1986,-1.07,-146.0,207.0,-7.1,183,1991,0.10,2.47,0.00,0.000,6,0.073,0.028,3135,1578,3400,0,0,0,0,0,0
$GC,2274,-0.95,-146.0,240.3,-11.9,190,2276,0.30,0.00,0.00,0.000,6,0.079,0.000,3202,1578,3400,0,0,0,0,0,0
$GC,2527,-1.01,-146.0,259.3,-7.7,196,2531,0.00,2.42,0.00,0.000,4,0.000,0.023,3202,3114,3400,0,0,0,0,0,0
$GC,2551,-1.10,-146.0,261.8,-7.2,196,2556,0.15,2.50,0.00,0.000,6,0.054,0.029,3132,1582,3400,0,0,0,0,0,0
$GC,2813,-1.00,-146.0,288.7,-10.7,203,2818,0.25,2.35,0.00,0.000,4,0.081,0.045,3192,165,3399,0,0,0,0,0,0
$GC,2861,-1.10,-146.0,293.4,-8.6,204,2866,0.00,2.17,0.00,0.000,6,0.000,0.020,3192,1572,3399,0,0,0,0,0,0
$GC,3149,-1.15,-146.0,314.8,-7.5,211,3154,0.15,2.53,0.00,0.000,4,0.054,0.028,3121,3133,3398,0,0,0,0,0,0
$GC,3175,-1.15,-146.0,317.7,-10.7,211,3180,0.17,2.55,0.00,0.000,6,0.085,0.032,3162,1583,3398,0,0,0,0,0,0
$GC,3435,-1.15,-146.0,341.5,-8.9,218,3440,0.00,2.50,0.00,0.000,4,0.000,0.030,3162,3128,3396,0,0,0,0,0,0
$GC,3459,-1.15,-146.0,343.8,-9.6,218,3463,0.00,2.55,0.00,0.000,6,0.000,0.035,3162,1588,3396,0,0,0,0,0,0
$GC,3721,-1.15,-146.0,365.7,-8.4,225,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3395,0,0,0,0,0,0
$GC,3965,-1.15,-146.0,384.6,-7.7,231,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3393,0,0,0,0,0,0
$GC,4206,-1.15,-146.0,403.0,-7.5,237,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3392,0,0,0,0,0,0
$GC,4452,-1.15,-146.0,422.7,-8.5,243,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3390,0,0,0,0,0,0
$GC,4693,-1.15,-146.0,444.9,-9.0,249,4698,0.00,2.55,0.00,0.000,4,0.000,0.039,3162,3121,3389,0,0,0,0,0,0
$GC,4722,-1.22,-146.0,447.6,-9.3,249,4727,0.00,2.58,0.00,0.000,6,0.000,0.039,3162,1588,3389,0,0,0,0,0,0
$GC,4983,-1.22,-146.0,469.3,-8.4,256,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3387,0,0,0,0,0,0
$GC,5221,-1.22,-146.0,488.1,-7.6,262,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1588,3385,0,0,0,0,0,0
$GC,5465,-1.22,-146.0,505.9,-7.3,268,5469,0.00,2.47,0.00,0.000,4,0.000,0.073,3162,162,3384,0,0,0,0,0,0
$GC,5498,-1.22,-146.0,508.7,-8.2,268,5502,0.00,2.28,0.00,0.000,6,0.000,0.031,3163,1569,3383,0,0,0,0,0,0
$GC,5750,-1.22,-146.0,529.2,-8.3,274,5754,0.00,2.65,0.00,0.000,4,0.000,0.046,3162,3150,3382,0,0,0,0,0,0
$GC,5788,-1.31,-146.0,532.7,-8.5,274,5795,0.15,2.60,0.00,0.000,6,0.054,0.043,3097,1602,3382,0,0,0,0,0,0
$GC,6041,-1.20,-146.0,561.1,-11.5,281,6046,0.22,2.53,0.00,0.000,4,0.086,0.073,3148,162,3380,0,0,0,0,0,0
$GC,6063,-1.13,-146.0,563.7,-10.8,281,6067,0.00,2.33,0.00,0.000,6,0.000,0.032,3147,1598,3380,0,0,0,0,0,0
$GC,6331,-1.13,-146.0,586.4,-8.3,288,6336,0.00,2.62,0.00,0.000,4,0.000,0.048,3147,3160,3379,0,0,0,0,0,0
$GC,6351,-1.13,-146.0,588.1,-8.8,288,6355,0.00,2.65,0.00,0.000,6,0.000,0.044,3147,1593,3379,0,0,0,0,0,0
$GC,6617,-1.13,-146.0,610.3,-8.5,295,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1593,3377,0,0,0,0,0,0
$GC,6863,-1.13,-146.0,631.4,-8.5,301,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1594,3375,0,0,0,0,0,0
$GC,7102,-1.13,-146.0,652.0,-8.3,307,7107,0.00,2.62,0.00,0.000,4,0.000,0.048,3147,3152,3374,0,0,0,0,0,0
$GC,7123,-1.13,-146.0,653.6,-8.9,307,7128,0.00,2.65,0.00,0.000,6,0.000,0.048,3147,1598,3374,0,0,0,0,0,0
$GC,7388,-1.13,-146.0,675.0,-7.9,314,7392,0.00,2.55,0.00,0.000,4,0.000,0.083,3147,165,3372,0,0,0,0,0,0
$GC,7425,-1.13,-146.0,678.4,-9.3,314,7431,0.00,2.35,0.00,0.000,6,0.000,0.037,3147,1599,3372,0,0,0,0,0,0
$GC,7680,-1.13,-146.0,697.4,-7.6,321,7684,0.00,2.65,0.00,0.000,4,0.000,0.054,3146,3160,3371,0,0,0,0,0,0
$GC,7704,-1.18,-146.0,699.5,-8.1,321,7709,0.00,2.65,0.00,0.000,6,0.000,0.048,3147,1604,3371,0,0,0,0,0,0
$GC,7964,-1.18,-146.0,717.4,-6.9,328,7968,0.00,2.55,0.00,0.000,4,0.000,0.081,3148,166,3370,0,0,0,0,0,0
$GC,8012,-1.18,-146.0,721.2,-8.0,329,8016,0.00,2.38,0.00,0.000,6,0.000,0.038,3147,1606,3369,0,0,0,0,0,0
$GC,8302,-1.18,-146.0,742.0,-7.2,336,8306,0.00,2.62,0.00,0.000,4,0.000,0.056,3146,3159,3368,0,0,0,0,0,0
$GC,8325,-1.18,-146.0,743.9,-7.8,336,8330,0.00,2.67,0.00,0.000,6,0.000,0.049,3147,1593,3368,0,0,0,0,0,0
$GC,8587,-1.18,-146.0,762.9,-7.4,343,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1593,3366,0,0,0,0,0,0
$GC,8829,-1.18,-146.0,781.3,-7.5,349,8833,0.00,2.65,0.00,0.000,4,0.000,0.049,3147,3158,3366,0,0,0,0,0,0
$GC,8876,-1.27,-146.0,784.8,-8.4,350,8881,0.00,2.67,0.00,0.000,6,0.000,0.051,3147,1602,3366,0,0,0,0,0,0
$GC,9165,-1.27,-146.0,806.2,-7.6,357,9169,0.00,2.55,0.00,0.000,4,0.000,0.083,3148,168,3365,0,0,0,0,0,0
$GC,9230,-1.27,-146.0,812.0,-9.0,358,9234,0.00,2.38,0.00,0.000,6,0.000,0.038,3147,1606,3364,0,0,0,0,0,0
$GC,9496,-1.27,-146.0,830.9,-7.1,365,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1606,3363,0,0,0,0,0,0
$GC,9740,-1.27,-146.0,847.1,-6.7,371,9745,0.00,2.65,0.00,0.000,4,0.000,0.058,3147,3156,3362,0,0,0,0,0,0
$GC,9765,-1.33,-146.0,848.9,-7.5,371,9770,0.12,2.67,0.00,0.000,6,0.064,0.050,3095,1596,3362,0,0,0,0,0,0
$GC,10027,-1.26,-146.0,870.2,-8.3,378,10032,0.17,2.55,0.00,0.000,4,0.094,0.083,3135,169,3361,0,0,0,0,0,0
$GC,10066,-1.26,-146.0,873.4,-8.0,378,10071,0.00,2.38,0.00,0.000,6,0.000,0.039,3135,1603,3361,0,0,0,0,0,0
$GC,10316,-1.26,-146.0,888.2,-5.7,385,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3135,1603,3360,0,0,0,0,0,0
$STATE,10560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10561,begin apogee
$GC,10569,-0.31,0.0,901.9,5.6,391,10693,0.90,0.00,120.65,1.156,6,0.067,0.000,3343,1345,2800,0,0,0,0,0,0
$STATE,10694,end apogee,CONTROL_FINISHED_OK
$STATE,10694,begin climb
$GC,10697,1.27,146.0,903.7,0.0,394,10841,1.45,2.20,132.27,1.133,4,0.029,0.081,3697,172,2203,0,0,0,0,0,0
$GC,10980,0.98,146.0,874.8,15.7,400,10989,0.32,2.00,0.00,0.000,6,0.098,0.033,3626,1361,2196,0,0,0,0,0,0
$GC,11232,0.91,146.0,847.4,10.5,407,11236,0.00,2.12,0.00,0.000,4,0.000,0.073,3626,173,2192,0,0,0,0,0,0
$GC,11269,0.77,146.0,842.7,12.3,407,11276,0.22,1.95,0.00,0.000,6,0.104,0.033,3580,1353,2192,0,0,0,0,0,0
$GC,11519,0.83,195.9,822.8,7.7,414,11567,0.00,0.00,45.60,1.072,6,0.000,0.000,3579,1354,2001,0,0,0,0,0,0
$GC,11810,0.92,225.8,798.8,8.6,421,11846,0.12,2.20,29.20,1.039,4,0.067,0.073,3625,174,1878,0,0,0,0,0,0
$GC,11861,0.84,225.8,792.5,11.7,422,11866,0.15,1.98,0.00,0.000,6,0.109,0.033,3595,1355,1878,0,0,0,0,0,0
$GC,12130,0.84,225.8,763.8,10.8,429,12134,0.00,2.72,0.00,0.000,4,0.000,0.057,3595,2935,1874,0,0,0,0,0,0
$GC,12156,0.90,237.8,761.1,9.5,429,12174,0.00,2.70,11.95,0.944,6,0.000,0.049,3595,1361,1830,0,0,0,0,0,0
$GC,12424,0.90,237.8,731.2,11.5,436,12429,0.00,2.72,0.00,0.000,4,0.000,0.051,3594,2940,1827,0,0,0,0,0,0
$GC,12473,1.01,237.8,725.1,10.4,437,12481,0.15,2.72,0.00,0.000,6,0.058,0.051,3646,1371,1824,0,0,0,0,0,0
$GC,12759,0.95,237.8,685.5,14.0,444,12763,0.12,2.17,0.00,0.000,4,0.114,0.083,3620,165,1824,0,0,0,0,0,0
$GC,12792,0.95,237.8,680.7,14.1,444,12795,0.00,1.98,0.00,0.000,6,0.000,0.031,3619,1369,1824,0,0,0,0,0,0
$GC,13052,0.95,237.8,650.5,11.6,451,13056,0.00,2.15,0.00,0.000,4,0.000,0.071,3620,156,1824,0,0,0,0,0,0
$GC,13070,0.95,237.8,647.5,12.0,451,13074,0.00,2.00,0.00,0.000,6,0.000,0.031,3619,1376,1824,0,0,0,0,0,0
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$STATE,18871,end climb,SURFACE_DEPTH_REACHED
$STATE,18871,begin surface coast
$FINISH,0.9,1.017839
$STATE,18921,end surface coast,CONTROL_FINISHED_OK
$STATE,18921,begin surface
$SM_CCo,18945,24.65,0.427,0,0,1209,390.03
$SM_GC,1.83,0.00,0.00,24.65,0.000,0.000,0.427,416,1582,1209,-13.77,0.37,390.03
$IRIDIUM_FIX,2335.63,-15810.60,281102,191955
$TT8_MAMPS,0.027612
$HUMID,69.84
$INTERNAL_PRESSURE,9.37923
$TCM_TEMP,22.00
$XPDR_PINGS,9
$24V_AH,22.9,69.925
$10V_AH,9.7,67.830
$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
$DEVICE_SECS,33.750,204.400,451.675,24.650,0.000,28.896,33.256,216.462,2.250,0.000,12.111,1571.027,13855.232,606.090,2578.297,802.983,33.379,1672.304,0.000,2597.917,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.060,385.703,491.473,1003.915,1325.616,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355924
$DATA_FILE_SIZE,57539,724
$CAP_FILE_SIZE,179814,0
$CFSIZE,260165632,136171520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040913,055730,2343.559,-15812.954,37,1.6,37,10.2