version: 66.06
glider: 148
mission: 12
dive: 478
start: 9 4 113 22 15 19
data:
$ID,148
$MISSION,12
$DIVE,478
$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,-1025546.1
$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,22
$R_STBD_OVSHOOT,112
$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
$GPS1,220726,2345.944,-15819.068,37,99.0,56,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-77.8
$GPS2,221425,2345.986,-15819.055,14,1.1,14,10.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,BLOOM2
$TGT_LATLONG,2350.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.250,0.069
$KALMAN_X,-77989.5,-77.1,119.2,45502.2,814.8
$KALMAN_Y,-17230.7,-119.9,91.7,130226.0,225.5
$MHEAD_RNG_PITCHd_Wd,275.2,19977,-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,-67.10,0.000,2,0.000,0.000,411,1604,2911,0,0,0,0,0,0
$GC,89,-1.27,-146.0,3.1,-3.1,9,122,14.18,2.38,-8.88,0.000,4,0.150,0.032,3126,3086,3396,0,0,0,0,0,0
$GC,247,-1.08,-146.0,38.9,-17.4,30,257,0.17,2.53,0.00,0.000,6,0.080,0.033,3170,1562,3397,0,0,0,0,0,0
$GC,517,-0.95,-146.0,78.8,-12.6,55,522,0.15,2.30,0.00,0.000,4,0.103,0.044,3204,168,3398,0,0,0,0,0,0
$GC,548,-0.85,-146.0,83.3,-12.4,57,552,0.00,2.08,0.00,0.000,6,0.000,0.016,3204,1556,3398,0,0,0,0,0,0
$GC,817,-0.85,-146.0,108.5,-8.9,81,821,0.00,2.42,0.00,0.000,4,0.000,0.021,3203,3111,3399,0,0,0,0,0,0
$GC,886,-0.95,-146.0,114.4,-7.5,87,890,0.00,2.47,0.00,0.000,6,0.000,0.028,3203,1570,3399,0,0,0,0,0,0
$GC,1154,-0.95,-146.0,140.3,-10.7,111,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1570,3400,0,0,0,0,0,0
$GC,1419,-0.95,-146.0,166.5,-9.7,136,1423,0.00,2.47,0.00,0.000,4,0.000,0.023,3203,3112,3400,0,0,0,0,0,0
$GC,1460,-1.02,-146.0,170.1,-9.3,139,1465,0.00,2.47,0.00,0.000,6,0.000,0.028,3203,1585,3400,0,0,0,0,0,0
$GC,1727,-1.02,-146.0,191.7,-7.9,163,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,1585,3400,0,0,0,0,0,0
$GC,2002,-1.02,-146.0,213.4,-7.8,178,2006,0.00,2.40,0.00,0.000,4,0.000,0.022,3203,3104,3400,0,0,0,0,0,0
$GC,2023,-1.08,-146.0,214.9,-8.5,178,2028,0.12,2.45,0.00,0.000,6,0.060,0.028,3131,1585,3400,0,0,0,0,0,0
$GC,2293,-0.96,-146.0,248.7,-12.9,185,2295,0.30,0.00,0.00,0.000,6,0.080,0.000,3197,1586,3400,0,0,0,0,0,0
$GC,2541,-1.02,-146.0,269.8,-8.2,191,2545,0.00,2.35,0.00,0.000,4,0.000,0.048,3197,171,3400,0,0,0,0,0,0
$GC,2560,-1.08,-146.0,271.9,-8.7,191,2565,0.10,2.15,0.00,0.000,6,0.074,0.019,3137,1576,3400,0,0,0,0,0,0
$GC,2825,-1.00,-146.0,298.2,-10.1,198,2830,0.25,2.45,0.00,0.000,4,0.081,0.025,3197,3121,3399,0,0,0,0,0,0
$GC,2851,-1.06,-146.0,300.1,-7.3,198,2856,0.00,2.53,0.00,0.000,6,0.000,0.033,3197,1585,3399,0,0,0,0,0,0
$GC,3111,-1.13,-146.0,318.0,-7.0,205,3116,0.15,2.38,0.00,0.000,4,0.054,0.058,3129,169,3398,0,0,0,0,0,0
$GC,3136,-1.08,-146.0,320.4,-10.4,205,3141,0.20,2.17,0.00,0.000,6,0.087,0.021,3174,1579,3398,0,0,0,0,0,0
$GC,3398,-1.08,-146.0,341.9,-8.3,212,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1581,3397,0,0,0,0,0,0
$GC,3640,-1.08,-146.0,364.2,-9.4,218,3644,0.00,2.50,0.00,0.000,4,0.000,0.031,3175,3134,3395,0,0,0,0,0,0
$GC,3673,-1.16,-146.0,367.1,-8.8,218,3678,0.00,2.58,0.00,0.000,6,0.000,0.037,3175,1589,3395,0,0,0,0,0,0
$GC,3925,-1.16,-146.0,388.1,-8.2,224,3929,0.00,2.42,0.00,0.000,4,0.000,0.058,3175,162,3393,0,0,0,0,0,0
$GC,3968,-1.16,-146.0,392.0,-8.3,225,3972,0.00,2.22,0.00,0.000,6,0.000,0.022,3175,1588,3393,0,0,0,0,0,0
$GC,4257,-1.16,-146.0,413.7,-7.2,232,4262,0.00,2.53,0.00,0.000,4,0.000,0.035,3175,3143,3391,0,0,0,0,0,0
$GC,4295,-1.27,-146.0,416.5,-6.3,232,4302,0.17,2.60,0.00,0.000,6,0.048,0.040,3100,1590,3391,0,0,0,0,0,0
$GC,4546,-1.14,-146.0,442.8,-10.9,239,4551,0.25,2.42,0.00,0.000,4,0.084,0.061,3161,167,3389,0,0,0,0,0,0
$GC,4572,-1.09,-146.0,445.3,-9.8,239,4577,0.00,2.25,0.00,0.000,6,0.000,0.025,3161,1598,3389,0,0,0,0,0,0
$GC,4834,-1.09,-146.0,464.5,-7.4,246,4838,0.00,2.55,0.00,0.000,4,0.000,0.039,3161,3145,3388,0,0,0,0,0,0
$GC,4853,-1.09,-146.0,466.3,-7.8,246,4858,0.00,2.60,0.00,0.000,6,0.000,0.038,3160,1588,3387,0,0,0,0,0,0
$GC,5119,-1.09,-146.0,485.1,-7.2,253,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,1587,3386,0,0,0,0,0,0
$GC,5361,-1.09,-146.0,502.7,-7.2,259,5362,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1587,3384,0,0,0,0,0,0
$GC,5605,-1.09,-146.0,520.3,-7.2,265,5609,0.00,2.62,0.00,0.000,4,0.000,0.045,3160,3138,3383,0,0,0,0,0,0
$GC,5653,-1.18,-146.0,523.5,-6.8,266,5657,0.00,2.62,0.00,0.000,6,0.000,0.043,3161,1585,3383,0,0,0,0,0,0
$GC,5940,-1.18,-146.0,545.9,-7.6,273,5945,0.00,2.47,0.00,0.000,4,0.000,0.074,3162,168,3381,0,0,0,0,0,0
$GC,5961,-1.18,-146.0,547.4,-8.0,273,5965,0.00,2.30,0.00,0.000,6,0.000,0.031,3161,1592,3381,0,0,0,0,0,0
$GC,6227,-1.18,-146.0,567.2,-7.4,280,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1591,3379,0,0,0,0,0,0
$GC,6473,-1.18,-146.0,585.5,-7.5,286,6477,0.00,2.62,0.00,0.000,4,0.000,0.048,3160,3148,3378,0,0,0,0,0,0
$GC,6502,-1.26,-146.0,588.0,-7.1,286,6507,0.12,2.65,0.00,0.000,6,0.065,0.045,3106,1586,3378,0,0,0,0,0,0
$GC,6760,-1.17,-146.0,613.4,-10.1,293,6765,0.20,2.50,0.00,0.000,4,0.087,0.077,3153,169,3376,0,0,0,0,0,0
$GC,6804,-1.17,-146.0,617.6,-8.8,294,6808,0.00,2.33,0.00,0.000,6,0.000,0.035,3152,1591,3376,0,0,0,0,0,0
$GC,7096,-1.17,-146.0,638.7,-7.3,301,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3374,0,0,0,0,0,0
$GC,7335,-1.17,-146.0,655.9,-7.1,307,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1591,3373,0,0,0,0,0,0
$GC,7578,-1.17,-146.0,674.2,-7.6,313,7583,0.00,2.67,0.00,0.000,4,0.000,0.055,3152,3152,3372,0,0,0,0,0,0
$GC,7603,-1.22,-146.0,676.1,-8.2,313,7607,0.00,2.67,0.00,0.000,6,0.000,0.049,3152,1588,3372,0,0,0,0,0,0
$GC,7864,-1.22,-146.0,697.7,-8.4,320,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1588,3370,0,0,0,0,0,0
$GC,8108,-1.22,-146.0,718.0,-8.3,326,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1587,3369,0,0,0,0,0,0
$GC,8350,-1.22,-146.0,736.3,-7.3,332,8354,0.00,2.67,0.00,0.000,4,0.000,0.048,3152,3152,3368,0,0,0,0,0,0
$GC,8395,-1.31,-146.0,739.3,-6.3,333,8401,0.12,2.67,0.00,0.000,6,0.064,0.051,3099,1593,3368,0,0,0,0,0,0
$GC,8686,-1.23,-146.0,764.8,-8.8,340,8691,0.20,2.55,0.00,0.000,4,0.089,0.083,3145,166,3367,0,0,0,0,0,0
$GC,8726,-1.23,-146.0,768.4,-7.9,340,8734,0.00,2.38,0.00,0.000,6,0.000,0.038,3144,1589,3367,0,0,0,0,0,0
$GC,8976,-1.23,-146.0,785.5,-6.9,347,8981,0.00,2.65,0.00,0.000,4,0.000,0.055,3144,3156,3365,0,0,0,0,0,0
$GC,9020,-1.30,-146.0,788.5,-7.4,348,9025,0.00,2.67,0.00,0.000,6,0.000,0.050,3145,1595,3365,0,0,0,0,0,0
$GC,9310,-1.30,-146.0,808.7,-7.1,355,9314,0.00,2.55,0.00,0.000,4,0.000,0.082,3145,161,3364,0,0,0,0,0,0
$GC,9357,-1.30,-146.0,812.8,-8.0,356,9361,0.00,2.38,0.00,0.000,6,0.000,0.037,3144,1600,3364,0,0,0,0,0,0
$GC,9640,-1.30,-146.0,833.2,-7.2,363,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3363,0,0,0,0,0,0
$GC,9885,-1.30,-146.0,850.1,-7.0,369,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3363,0,0,0,0,0,0
$GC,10127,-1.30,-146.0,867.4,-7.1,375,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3362,0,0,0,0,0,0
$GC,10373,-1.30,-146.0,884.6,-7.1,381,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,1600,3361,0,0,0,0,0,0
$STATE,10612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10612,begin apogee
$GC,10620,-0.31,0.0,902.0,7.2,387,10744,0.85,0.00,120.75,1.159,6,0.067,0.000,3341,1342,2800,0,0,0,0,0,0
$STATE,10745,end apogee,CONTROL_FINISHED_OK
$STATE,10745,begin climb
$GC,10748,1.27,146.0,906.1,0.0,390,10889,1.45,2.20,131.85,1.138,4,0.029,0.078,3695,173,2203,0,0,0,0,0,0
$GC,10959,0.98,146.0,893.4,14.5,395,10964,0.32,1.98,0.00,0.000,6,0.107,0.033,3627,1361,2199,0,0,0,0,0,0
$GC,11238,0.91,151.7,865.2,9.7,402,11249,0.00,2.15,4.88,0.755,4,0.000,0.073,3626,172,2181,0,0,0,0,0,0
$GC,11275,0.76,151.7,861.2,11.3,402,11280,0.22,1.95,0.00,0.000,6,0.102,0.031,3579,1356,2180,0,0,0,0,0,0
$GC,11525,0.82,193.1,840.5,8.1,408,11570,0.00,2.20,39.75,1.076,4,0.000,0.075,3578,168,2011,0,0,0,0,0,0
$GC,11589,0.83,205.3,835.2,9.4,409,11606,0.00,1.98,12.75,0.976,6,0.000,0.033,3578,1352,1963,0,0,0,0,0,0
$GC,11860,0.90,219.7,809.9,9.3,416,11880,0.12,2.20,14.55,0.992,4,0.067,0.074,3623,172,1903,0,0,0,0,0,0
$GC,11902,0.81,219.7,805.0,11.5,416,11908,0.17,1.98,0.00,0.000,6,0.103,0.032,3587,1359,1903,0,0,0,0,0,0
$GC,12152,0.81,219.7,778.9,10.1,423,12156,0.00,2.72,0.00,0.000,4,0.000,0.054,3587,2945,1900,0,0,0,0,0,0
$GC,12180,0.88,219.7,776.0,10.0,423,12185,0.00,2.72,0.00,0.000,6,0.000,0.049,3587,1358,1897,0,0,0,0,0,0
$GC,12438,0.94,224.9,751.1,9.8,430,12451,0.12,2.78,5.43,0.773,4,0.068,0.048,3630,2938,1882,0,0,0,0,0,0
$GC,12470,0.94,224.9,747.0,12.2,430,12475,0.00,2.75,0.00,0.000,6,0.000,0.051,3630,1363,1881,0,0,0,0,0,0
$GC,12725,0.89,224.9,715.3,12.5,437,12731,0.12,2.72,0.00,0.000,4,0.115,0.051,3604,2937,1880,0,0,0,0,0,0
$GC,12742,0.89,224.9,713.3,12.4,437,12747,0.00,2.70,0.00,0.000,6,0.000,0.049,3604,1361,1880,0,0,0,0,0,0
$GC,13011,0.89,224.9,682.9,11.3,444,13015,0.00,2.12,0.00,0.000,4,0.000,0.084,3604,163,1879,0,0,0,0,0,0
$GC,13031,0.89,224.9,680.6,10.7,444,13035,0.00,1.95,0.00,0.000,6,0.000,0.030,3604,1370,1879,0,0,0,0,0,0
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$STATE,19035,end climb,SURFACE_DEPTH_REACHED
$STATE,19035,begin surface coast
$FINISH,1.0,1.015999
$STATE,19076,end surface coast,CONTROL_FINISHED_OK
$STATE,19076,begin surface
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$SM_GC,2.15,0.00,0.00,34.70,0.000,0.000,0.435,412,1602,1208,-13.79,0.88,390.03
$IRIDIUM_FIX,2333.28,-15815.85,291102,161622
$TT8_MAMPS,0.027612
$HUMID,70.35
$INTERNAL_PRESSURE,9.38899
$TCM_TEMP,21.70
$XPDR_PINGS,11
$24V_AH,22.9,70.505
$10V_AH,9.6,68.421
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,34.600,204.075,439.775,34.700,0.000,23.287,34.518,195.636,2.750,0.000,15.531,1574.248,14040.562,556.659,2612.251,758.948,33.375,1661.103,0.000,2611.673,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,489.377,378.498,481.770,978.169,1288.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355908
$DATA_FILE_SIZE,57539,719
$CAP_FILE_SIZE,184713,0
$CFSIZE,260165632,135856128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050913,033535,2346.993,-15821.384,36,1.3,36,10.2