version: 66.06
glider: 148
mission: 10
dive: 55
start: 8 22 111 15 50 30
data:
$ID,148
$MISSION,10
$DIVE,55
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1040
$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,600
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52523
$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,400
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-878187.5
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2950
$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,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1850
$C_ROLL_CLIMB,1630
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3095
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,154054,2254.402,-15802.842,24,1.6,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-72.1
$GPS2,154932,2254.391,-15802.867,12,1.6,12,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,Bowf1
$TGT_LATLONG,2324.000,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,0.231
$KALMAN_X,-49912.4,2.6,73.7,60961.2,-1418.2
$KALMAN_Y,-32096.7,-202.6,-6.8,167842.4,-1158.3
$MHEAD_RNG_PITCHd_Wd,0.1,56160,-19.8,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.80,0.000,2,0.000,0.000,410,1833,3266,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.6,-5.7,9,116,12.35,2.55,-5.32,0.000,4,0.173,0.036,2640,3425,3571,0,0,0,0,0,0
$GC,190,-1.13,-116.8,31.7,-20.2,23,196,0.30,2.50,0.00,0.000,6,0.100,0.024,2704,1850,3573,0,0,0,0,0,0
$GC,459,-1.01,-116.8,76.4,-14.9,47,464,0.12,2.58,0.00,0.000,4,0.124,0.039,2729,266,3573,0,0,0,0,0,0
$GC,482,-0.94,-116.8,80.1,-14.2,48,486,0.00,2.47,0.00,0.000,6,0.000,0.018,2729,1858,3573,0,0,0,0,0,0
$GC,745,-1.01,-116.8,109.2,-9.2,72,750,0.00,2.45,0.00,0.000,4,0.000,0.028,2729,3418,3575,0,0,0,0,0,0
$GC,776,-1.13,-116.8,111.8,-9.6,74,781,0.10,2.47,0.00,0.000,6,0.078,0.022,2659,1844,3575,0,0,0,0,0,0
$GC,1039,-1.01,-116.8,149.3,-14.2,98,1044,0.30,2.53,0.00,0.000,4,0.091,0.037,2727,276,3576,0,0,0,0,0,0
$GC,1071,-1.10,-116.8,153.6,-10.3,100,1077,0.00,2.45,0.00,0.000,6,0.000,0.018,2727,1851,3576,0,0,0,0,0,0
$GC,1335,-1.21,-116.8,175.0,-7.8,125,1340,0.17,2.50,0.00,0.000,4,0.051,0.029,2660,3422,3576,0,0,0,0,0,0
$GC,1354,-1.21,-116.8,177.0,-8.9,126,1365,0.08,2.53,0.00,0.000,6,0.087,0.022,2681,1849,3576,0,0,0,0,0,0
$GC,1638,-1.21,-116.8,204.6,-9.6,150,1642,0.00,2.58,0.00,0.000,4,0.000,0.040,2681,272,3576,0,0,0,0,0,0
$GC,1675,-1.21,-116.8,208.8,-9.9,150,1681,0.00,2.45,0.00,0.000,6,0.000,0.020,2681,1837,3576,0,0,0,0,0,0
$GC,1926,-1.21,-116.8,228.7,-7.8,157,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1842,3576,0,0,0,0,0,0
$GC,2169,-1.21,-116.8,248.9,-8.6,163,2174,0.00,2.58,0.00,0.000,4,0.000,0.042,2681,270,3576,0,0,0,0,0,0
$GC,2192,-1.21,-116.8,251.5,-11.5,163,2196,0.00,2.47,0.00,0.000,6,0.000,0.021,2681,1846,3576,0,0,0,0,0,0
$GC,2454,-1.21,-116.8,278.3,-10.4,170,2458,0.00,2.55,0.00,0.000,4,0.000,0.033,2681,3429,3575,0,0,0,0,0,0
$GC,2483,-1.21,-116.8,281.9,-10.6,170,2489,0.00,2.58,0.00,0.000,6,0.000,0.025,2681,1842,3576,0,0,0,0,0,0
$GC,2743,-1.21,-116.8,310.4,-10.8,177,2748,0.00,2.58,0.00,0.000,4,0.000,0.047,2681,272,3575,0,0,0,0,0,0
$GC,2761,-1.21,-116.8,312.6,-11.4,177,2766,0.00,2.47,0.00,0.000,6,0.000,0.022,2681,1838,3575,0,0,0,0,0,0
$GC,3027,-1.21,-116.8,339.6,-10.0,184,3031,0.00,2.55,0.00,0.000,4,0.000,0.035,2681,3422,3573,0,0,0,0,0,0
$GC,3046,-1.21,-116.8,341.8,-10.0,184,3050,0.00,2.53,0.00,0.000,6,0.000,0.026,2681,1840,3573,0,0,0,0,0,0
$GC,3310,-1.21,-116.8,365.4,-8.9,191,3314,0.00,2.62,0.00,0.000,4,0.000,0.051,2681,271,3572,0,0,0,0,0,0
$GC,3329,-1.21,-116.8,367.3,-9.2,191,3333,0.00,2.47,0.00,0.000,6,0.000,0.023,2681,1842,3572,0,0,0,0,0,0
$GC,3594,-1.28,-116.8,393.8,-10.5,198,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1842,3570,0,0,0,0,0,0
$GC,3837,-1.35,-116.8,421.0,-11.1,204,3842,0.10,2.60,0.00,0.000,4,0.078,0.042,2634,3424,3568,0,0,0,0,0,0
$GC,3869,-1.35,-116.8,425.4,-12.9,204,3874,0.10,2.55,0.00,0.000,6,0.120,0.030,2654,1843,3569,0,0,0,0,0,0
$GC,4122,-1.35,-116.8,452.6,-10.5,210,4127,0.00,2.67,0.00,0.000,4,0.000,0.061,2655,273,3566,0,0,0,0,0,0
$GC,4153,-1.35,-116.8,456.0,-10.7,210,4158,0.00,2.53,0.00,0.000,6,0.000,0.031,2655,1840,3567,0,0,0,0,0,0
$GC,4408,-1.35,-116.8,479.2,-9.1,217,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1840,3565,0,0,0,0,0,0
$GC,4653,-1.35,-116.8,501.5,-9.0,223,4658,0.00,2.62,0.00,0.000,4,0.000,0.050,2654,3422,3564,0,0,0,0,0,0
$GC,4677,-1.35,-116.8,504.0,-9.7,223,4682,0.00,2.62,0.00,0.000,6,0.000,0.034,2655,1840,3564,0,0,0,0,0,0
$GC,4941,-1.35,-116.8,529.9,-10.1,230,4946,0.00,2.72,0.00,0.000,4,0.000,0.071,2654,264,3562,0,0,0,0,0,0
$GC,4980,-1.41,-116.8,534.1,-11.1,230,4986,0.00,2.58,0.00,0.000,6,0.000,0.035,2654,1832,3562,0,0,0,0,0,0
$GC,5230,-1.41,-116.8,560.8,-10.7,237,5231,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1832,3560,0,0,0,0,0,0
$GC,5473,-1.41,-116.8,585.6,-10.1,243,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1832,3558,0,0,0,0,0,0
$GC,5717,-1.41,-116.8,609.7,-9.9,249,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1832,3557,0,0,0,0,0,0
$GC,5963,-1.41,-116.8,633.0,-9.4,255,5967,0.00,2.75,0.00,0.000,4,0.000,0.072,2653,271,3555,0,0,0,0,0,0
$GC,6005,-1.41,-116.8,637.4,-10.0,256,6010,0.00,2.60,0.00,0.000,6,0.000,0.041,2654,1833,3554,0,0,0,0,0,0
$GC,6293,-1.41,-116.8,662.3,-8.6,263,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1833,3553,0,0,0,0,0,0
$GC,6537,-1.41,-116.8,683.2,-8.6,269,6541,0.00,2.72,0.00,0.000,4,0.000,0.071,2653,270,3551,0,0,0,0,0,0
$GC,6579,-1.41,-116.8,687.2,-10.1,270,6584,0.00,2.62,0.00,0.000,6,0.000,0.041,2654,1842,3551,0,0,0,0,0,0
$GC,6866,-1.41,-116.8,710.9,-8.1,277,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1842,3549,0,0,0,0,0,0
$GC,7114,-1.41,-116.8,730.9,-8.1,283,7118,0.00,2.78,0.00,0.000,4,0.000,0.071,2653,267,3548,0,0,0,0,0,0
$GC,7159,-1.48,-116.8,735.3,-10.1,284,7164,0.10,2.60,0.00,0.000,6,0.082,0.041,2611,1840,3548,0,0,0,0,0,0
$GC,7447,-1.42,-116.8,766.8,-11.3,291,7449,0.12,0.00,0.00,0.000,6,0.118,0.000,2637,1840,3546,0,0,0,0,0,0
$GC,7690,-1.42,-116.8,791.6,-10.1,297,7695,0.00,2.75,0.00,0.000,4,0.000,0.071,2632,273,3545,0,0,0,0,0,0
$GC,7733,-1.42,-116.8,796.1,-10.2,298,7738,0.00,2.58,0.00,0.000,6,0.000,0.043,2635,1830,3545,0,0,0,0,0,0
$GC,8021,-1.42,-116.8,822.4,-8.9,305,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1830,3544,0,0,0,0,0,0
$GC,8264,-1.42,-116.8,843.3,-8.5,311,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1831,3543,0,0,0,0,0,0
$GC,8509,-1.42,-116.8,863.2,-8.2,317,8513,0.00,2.75,0.00,0.000,4,0.000,0.072,2637,269,3542,0,0,0,0,0,0
$GC,8552,-1.42,-116.8,867.3,-9.4,318,8557,0.00,2.58,0.00,0.000,6,0.000,0.042,2638,1825,3541,0,0,0,0,0,0
$GC,8840,-1.42,-116.8,892.6,-9.0,325,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,1825,3540,0,0,0,0,0,0
$STATE,8917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8917,begin apogee
$GC,8923,-0.31,0.0,900.0,9.1,327,9021,1.10,0.00,94.65,1.180,6,0.086,0.000,2880,1618,3095,0,0,0,0,0,0
$STATE,9022,end apogee,CONTROL_FINISHED_OK
$STATE,9022,begin climb
$GC,9025,1.38,116.8,902.4,0.0,329,9139,1.58,2.85,104.18,1.159,4,0.037,0.057,3256,3221,2617,0,0,0,0,0,0
$GC,9164,1.17,184.4,903.8,6.1,333,9236,0.25,2.72,61.55,1.135,6,0.114,0.042,3207,1637,2342,0,0,0,0,0,0
$GC,9496,1.06,184.4,867.1,11.9,341,9501,0.12,2.67,0.00,0.000,4,0.130,0.087,3184,169,2334,0,0,0,0,0,0
$GC,9548,0.94,184.4,860.4,12.5,342,9554,0.10,2.47,0.00,0.000,6,0.101,0.038,3160,1629,2333,0,0,0,0,0,0
$GC,9833,0.94,184.4,830.6,10.4,349,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1630,2331,0,0,0,0,0,0
$GC,10075,0.94,184.5,806.0,10.0,355,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1630,2330,0,0,0,0,0,0
$GC,10319,0.94,186.4,781.8,9.9,361,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1631,2330,0,0,0,0,0,0
$GC,10565,0.95,190.6,757.9,9.8,367,10576,0.00,2.60,4.40,0.716,4,0.000,0.074,3160,174,2317,0,0,0,0,0,0
$GC,10590,0.95,190.6,754.9,10.1,367,10595,0.00,2.45,0.00,0.000,6,0.000,0.038,3159,1634,2317,0,0,0,0,0,0
$GC,10849,0.96,201.0,730.2,9.4,374,10863,0.00,0.00,11.23,0.963,6,0.000,0.000,3160,1635,2275,0,0,0,0,0,0
$GC,11095,0.97,209.0,706.8,9.5,380,11106,0.00,0.00,8.65,0.907,6,0.000,0.000,3160,1635,2243,0,0,0,0,0,0
$GC,11338,0.97,212.4,683.0,9.8,386,11345,0.00,0.00,4.65,0.717,6,0.000,0.000,3160,1636,2229,0,0,0,0,0,0
$GC,11581,0.97,212.4,657.9,10.4,392,11586,0.00,2.60,0.00,0.000,4,0.000,0.073,3160,173,2227,0,0,0,0,0,0
$GC,11624,0.97,212.4,652.7,12.1,393,11628,0.00,2.42,0.00,0.000,6,0.000,0.036,3160,1630,2227,0,0,0,0,0,0
$GC,11912,0.97,212.4,622.4,10.3,400,11916,0.00,2.78,0.00,0.000,4,0.000,0.061,3160,3216,2227,0,0,0,0,0,0
$GC,11926,0.97,212.4,620.7,10.5,400,11930,0.00,2.70,0.00,0.000,6,0.000,0.041,3160,1623,2225,0,0,0,0,0,0
$GC,12197,0.98,213.7,594.0,9.9,407,12201,0.00,2.60,0.00,0.000,4,0.000,0.085,3159,167,2225,0,0,0,0,0,0
$GC,12242,0.98,213.7,588.8,11.2,408,12246,0.00,2.38,0.00,0.000,6,0.000,0.035,3160,1621,2225,0,0,0,0,0,0
$GC,12525,1.04,216.2,560.9,9.9,415,12535,0.00,2.78,4.90,0.693,4,0.000,0.061,3159,3209,2212,0,0,0,0,0,0
$GC,12596,1.13,216.2,553.4,10.5,416,12603,0.15,2.67,0.00,0.000,6,0.060,0.038,3212,1612,2211,0,0,0,0,0,0
$GC,12864,1.07,216.2,520.7,12.4,423,12871,0.15,2.75,0.00,0.000,4,0.119,0.051,3182,3208,2211,0,0,0,0,0,0
$GC,12887,1.07,216.2,517.8,11.4,423,12893,0.00,2.70,0.00,0.000,6,0.000,0.041,3183,1627,2211,0,0,0,0,0,0
$GC,13156,1.07,216.3,489.8,10.0,430,13162,0.00,2.60,0.00,0.000,4,0.000,0.078,3182,171,2211,0,0,0,0,0,0
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$STATE,17629,end climb,SURFACE_DEPTH_REACHED
$STATE,17629,begin surface coast
$FINISH,0.7,1.011797
$STATE,17672,end surface coast,CONTROL_FINISHED_OK
$STATE,17672,begin surface
$SM_CCo,17693,49.00,0.472,0,0,1463,400.08
$SM_GC,1.56,0.00,0.00,49.00,0.000,0.000,0.472,411,1874,1463,-11.68,0.68,400.08
$IRIDIUM_FIX,2244.02,-15804.53,151100,101015
$TT8_MAMPS,0.027612
$HUMID,57.04
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.50
$XPDR_PINGS,6
$24V_AH,23.2,7.848
$10V_AH,10.3,7.519
$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,29.175,192.125,402.150,49.000,0.000,28.551,34.953,296.013,1.500,0.000,13.596,1470.206,12935.030,529.635,2097.030,1227.120,33.397,1572.712,0.000,2478.084,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,87.438,1180.413,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,466.905,501.653,589.537,539.233,1003.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,54406,683
$CAP_FILE_SIZE,164384,0
$CFSIZE,260165632,127397888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220811,204738,2256.134,-15803.128,36,1.3,42,10.1