version: 66.06
glider: 148
mission: 10
dive: 56
start: 8 22 111 21 5 46
data:
$ID,148
$MISSION,10
$DIVE,56
$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,633.85516
$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,-878203.31
$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,31
$R_STBD_OVSHOOT,61
$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
$GPS1,204738,2256.134,-15803.128,36,1.3,42,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,210450,2256.140,-15803.200,13,1.2,13,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,Bowf1
$TGT_LATLONG,2324.000,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.008,0.234
$KALMAN_X,-51147.7,107.5,-113.5,61709.2,-1005.3
$KALMAN_Y,-33007.5,-139.4,-79.2,171998.7,-405.2
$MHEAD_RNG_PITCHd_Wd,351.8,52876,-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,-67.93,0.000,2,0.000,0.000,411,1875,3314,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.9,-6.6,9,116,11.93,2.47,-4.53,0.000,4,0.159,0.036,2642,3410,3573,0,0,0,0,0,0
$GC,201,-1.13,-116.8,36.5,-21.6,23,212,0.25,2.53,0.00,0.000,6,0.088,0.025,2700,1844,3575,0,0,0,0,0,0
$GC,465,-1.05,-116.8,81.6,-14.2,48,467,0.10,0.00,0.00,0.000,6,0.133,0.000,2720,1844,3575,0,0,0,0,0,0
$GC,721,-1.05,-116.8,106.2,-8.0,72,725,0.00,2.58,0.00,0.000,4,0.000,0.046,2720,266,3576,0,0,0,0,0,0
$GC,764,-1.15,-116.8,110.5,-10.5,75,770,0.00,2.47,0.00,0.000,6,0.000,0.019,2720,1849,3576,0,0,0,0,0,0
$GC,1025,-1.15,-116.8,136.4,-10.5,100,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1850,3577,0,0,0,0,0,0
$GC,1285,-1.21,-116.8,164.6,-11.5,124,1290,0.15,0.00,0.00,0.000,6,0.057,0.000,2656,1852,3577,0,0,0,0,0,0
$GC,1548,-1.11,-116.8,200.3,-13.1,149,1553,0.22,2.58,0.00,0.000,4,0.095,0.038,2707,270,3577,0,0,0,0,0,0
$GC,1581,-1.17,-116.8,204.4,-10.7,149,1586,0.00,2.47,0.00,0.000,6,0.000,0.020,2707,1856,3577,0,0,0,0,0,0
$GC,1835,-1.25,-116.8,225.7,-8.3,155,1840,0.12,2.50,0.00,0.000,4,0.066,0.030,2653,3427,3577,0,0,0,0,0,0
$GC,1864,-1.25,-116.8,229.1,-11.7,155,1870,0.08,2.53,0.00,0.000,6,0.085,0.023,2674,1851,3577,0,0,0,0,0,0
$GC,2125,-1.25,-116.8,253.5,-9.4,162,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1851,3577,0,0,0,0,0,0
$GC,2369,-1.25,-116.8,279.0,-10.6,168,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,1851,3576,0,0,0,0,0,0
$GC,2612,-1.25,-116.8,305.7,-10.9,174,2617,0.00,2.60,0.00,0.000,4,0.000,0.046,2674,277,3575,0,0,0,0,0,0
$GC,2655,-1.25,-116.8,310.8,-12.3,175,2659,0.00,2.45,0.00,0.000,6,0.000,0.023,2674,1845,3575,0,0,0,0,0,0
$GC,2941,-1.25,-116.8,341.7,-10.5,182,2946,0.00,2.65,0.00,0.000,4,0.000,0.047,2674,275,3574,0,0,0,0,0,0
$GC,2966,-1.25,-116.8,344.5,-11.8,182,2970,0.00,2.50,0.00,0.000,6,0.000,0.023,2674,1850,3574,0,0,0,0,0,0
$GC,3229,-1.25,-116.8,369.3,-9.3,189,3234,0.00,2.55,0.00,0.000,4,0.000,0.038,2674,3431,3572,0,0,0,0,0,0
$GC,3252,-1.25,-116.8,371.5,-9.9,189,3257,0.00,2.55,0.00,0.000,6,0.000,0.028,2674,1855,3572,0,0,0,0,0,0
$GC,3513,-1.25,-116.8,395.4,-9.5,196,3518,0.00,2.70,0.00,0.000,4,0.000,0.062,2674,271,3570,0,0,0,0,0,0
$GC,3564,-1.33,-116.8,400.9,-10.1,197,3569,0.00,2.53,0.00,0.000,6,0.000,0.027,2674,1849,3570,0,0,0,0,0,0
$GC,3848,-1.33,-116.8,428.1,-9.5,204,3852,0.00,2.70,0.00,0.000,4,0.000,0.057,2674,266,3568,0,0,0,0,0,0
$GC,3871,-1.33,-116.8,430.7,-11.1,204,3875,0.00,2.55,0.00,0.000,6,0.000,0.028,2674,1851,3568,0,0,0,0,0,0
$GC,4131,-1.40,-116.8,455.9,-9.6,211,4132,0.12,0.00,0.00,0.000,6,0.069,0.000,2622,1852,3566,0,0,0,0,0,0
$GC,4375,-1.31,-116.8,483.4,-11.4,217,4382,0.20,2.70,0.00,0.000,4,0.103,0.061,2664,276,3564,0,0,0,0,0,0
$GC,4393,-1.31,-116.8,485.5,-10.4,217,4399,0.00,2.58,0.00,0.000,6,0.000,0.032,2664,1840,3564,0,0,0,0,0,0
$GC,4667,-1.31,-116.8,511.2,-9.4,224,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1841,3562,0,0,0,0,0,0
$GC,4912,-1.31,-116.8,534.2,-9.4,230,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1840,3560,0,0,0,0,0,0
$GC,5156,-1.31,-116.8,557.9,-9.7,236,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,1840,3558,0,0,0,0,0,0
$GC,5401,-1.31,-116.8,579.5,-8.7,242,5406,0.00,2.67,0.00,0.000,4,0.000,0.056,2665,3429,3556,0,0,0,0,0,0
$GC,5438,-1.39,-116.8,582.6,-8.4,242,5442,0.00,2.60,0.00,0.000,6,0.000,0.038,2664,1857,3555,0,0,0,0,0,0
$GC,5688,-1.39,-116.8,601.9,-7.5,248,5693,0.00,2.78,0.00,0.000,4,0.000,0.072,2664,266,3554,0,0,0,0,0,0
$GC,5726,-1.45,-116.8,605.1,-8.9,248,5733,0.12,2.60,0.00,0.000,6,0.068,0.037,2615,1846,3554,0,0,0,0,0,0
$GC,5978,-1.38,-116.8,630.1,-10.3,255,5979,0.15,0.00,0.00,0.000,6,0.112,0.000,2646,1847,3551,0,0,0,0,0,0
$GC,6221,-1.38,-116.8,651.6,-8.8,261,6225,0.00,2.78,0.00,0.000,4,0.000,0.069,2645,265,3550,0,0,0,0,0,0
$GC,6264,-1.38,-116.8,655.8,-9.1,262,6268,0.00,2.65,0.00,0.000,6,0.000,0.041,2646,1856,3550,0,0,0,0,0,0
$GC,6551,-1.38,-116.8,683.1,-9.5,269,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1856,3548,0,0,0,0,0,0
$GC,6796,-1.38,-116.8,706.1,-9.5,275,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1856,3547,0,0,0,0,0,0
$GC,7038,-1.38,-116.8,728.9,-9.3,281,7043,0.00,2.78,0.00,0.000,4,0.000,0.070,2646,271,3546,0,0,0,0,0,0
$GC,7076,-1.38,-116.8,732.8,-10.0,281,7083,0.00,2.60,0.00,0.000,6,0.000,0.041,2646,1844,3545,0,0,0,0,0,0
$GC,7327,-1.38,-116.8,755.3,-8.9,288,7329,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1844,3544,0,0,0,0,0,0
$GC,7569,-1.38,-116.8,777.1,-8.9,294,7574,0.00,2.75,0.00,0.000,4,0.000,0.070,2645,272,3543,0,0,0,0,0,0
$GC,7606,-1.38,-116.8,780.8,-10.1,294,7611,0.00,2.60,0.00,0.000,6,0.000,0.041,2645,1845,3542,0,0,0,0,0,0
$GC,7857,-1.38,-116.8,803.0,-8.8,301,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1845,3542,0,0,0,0,0,0
$GC,8099,-1.38,-116.8,824.0,-8.6,307,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1845,3540,0,0,0,0,0,0
$GC,8343,-1.38,-116.8,845.3,-8.7,313,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1845,3539,0,0,0,0,0,0
$GC,8588,-1.38,-116.8,864.8,-7.8,319,8592,0.00,2.78,0.00,0.000,4,0.000,0.071,2646,266,3538,0,0,0,0,0,0
$GC,8635,-1.38,-116.8,868.9,-9.6,320,8639,0.00,2.62,0.00,0.000,6,0.000,0.043,2645,1844,3537,0,0,0,0,0,0
$GC,8917,-1.38,-116.8,889.9,-7.3,327,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1844,3537,0,0,0,0,0,0
$STATE,9077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9077,begin apogee
$GC,9083,-0.31,0.0,901.6,7.2,331,9180,1.05,0.00,93.97,1.189,6,0.084,0.000,2878,1621,3095,0,0,0,0,0,0
$STATE,9181,end apogee,CONTROL_FINISHED_OK
$STATE,9181,begin climb
$GC,9184,1.38,116.8,903.0,0.0,333,9295,1.55,0.00,103.75,1.161,6,0.035,0.000,3260,1621,2618,0,0,0,0,0,0
$GC,9512,1.09,116.8,883.6,10.4,341,9519,0.32,2.80,0.00,0.000,4,0.114,0.059,3191,3219,2610,0,0,0,0,0,0
$GC,9537,1.00,154.4,881.4,7.8,341,9578,0.12,2.70,34.05,1.115,6,0.128,0.042,3167,1641,2464,0,0,0,0,0,0
$GC,9847,1.02,175.4,853.8,8.8,349,9872,0.00,2.75,19.70,1.067,4,0.000,0.093,3168,175,2379,0,0,0,0,0,0
$GC,9892,0.95,182.0,849.3,9.6,350,9905,0.00,2.42,7.65,0.914,6,0.000,0.043,3168,1626,2352,0,0,0,0,0,0
$GC,10173,0.95,184.8,820.9,9.8,357,10175,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1627,2348,0,0,0,0,0,0
$GC,10419,0.96,194.8,797.7,9.4,363,10434,0.00,0.00,12.52,1.006,6,0.000,0.000,3168,1627,2300,0,0,0,0,0,0
$GC,10662,0.97,204.7,774.7,9.4,369,10674,0.00,0.00,10.27,0.964,6,0.000,0.000,3168,1627,2260,0,0,0,0,0,0
$GC,10906,0.97,204.7,750.7,10.0,375,10910,0.00,2.60,0.00,0.000,4,0.000,0.072,3168,166,2257,0,0,0,0,0,0
$GC,10937,0.97,204.7,747.3,12.4,375,10941,0.00,2.42,0.00,0.000,6,0.000,0.037,3168,1629,2256,0,0,0,0,0,0
$GC,11191,0.97,204.7,720.3,10.5,382,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,1629,2255,0,0,0,0,0,0
$GC,11436,0.97,204.7,694.3,10.7,388,11440,0.00,2.58,0.00,0.000,4,0.000,0.071,3168,173,2255,0,0,0,0,0,0
$GC,11454,0.97,204.7,691.9,11.4,388,11459,0.00,2.42,0.00,0.000,6,0.000,0.035,3168,1633,2255,0,0,0,0,0,0
$GC,11718,0.98,213.4,666.0,9.5,395,11729,0.00,0.00,8.70,0.896,6,0.000,0.000,3168,1634,2224,0,0,0,0,0,0
$GC,11962,1.00,225.2,643.3,9.3,401,11977,0.00,0.00,12.57,0.937,6,0.000,0.000,3168,1635,2176,0,0,0,0,0,0
$GC,12206,1.03,251.0,622.3,8.5,407,12238,0.00,2.62,25.10,0.979,4,0.000,0.069,3167,173,2070,0,0,0,0,0,0
$GC,12272,1.03,251.0,616.0,10.2,408,12276,0.00,2.42,0.00,0.000,6,0.000,0.035,3168,1633,2069,0,0,0,0,0,0
$GC,12536,1.03,252.4,590.6,9.9,415,12540,0.00,2.75,0.00,0.000,4,0.000,0.058,3168,3222,2066,0,0,0,0,0,0
$GC,12560,1.11,260.6,588.0,9.5,415,12580,0.10,2.72,9.25,0.855,6,0.081,0.040,3207,1613,2032,0,0,0,0,0,0
$GC,12823,1.11,260.6,555.4,12.8,422,12828,0.00,2.75,0.00,0.000,4,0.000,0.048,3207,3222,2030,0,0,0,0,0,0
$GC,12846,1.11,260.6,552.0,12.6,422,12852,0.00,2.72,0.00,0.000,6,0.000,0.038,3207,1624,2029,0,0,0,0,0,0
$GC,13112,1.11,260.6,516.8,13.4,429,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,1623,2029,0,0,0,0,0,0
$GC,13356,1.11,260.6,484.6,13.0,435,13360,0.00,2.70,0.00,0.000,4,0.000,0.045,3207,3215,2028,0,0,0,0,0,0
$GC,13379,1.11,260.6,481.3,11.8,435,13384,0.00,2.70,0.00,0.000,6,0.000,0.038,3207,1622,2027,0,0,0,0,0,0
$GC,13644,1.11,260.6,449.3,12.1,442,13648,0.00,2.70,0.00,0.000,4,0.000,0.044,3207,3216,2027,0,0,0,0,0,0
$GC,13690,1.11,260.6,443.4,12.4,443,13694,0.00,2.67,0.00,0.000,6,0.000,0.036,3207,1618,2027,0,0,0,0,0,0
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$STATE,17745,end climb,SURFACE_DEPTH_REACHED
$STATE,17745,begin surface coast
$FINISH,0.7,1.004254
$STATE,17794,end surface coast,CONTROL_FINISHED_OK
$STATE,17794,begin surface
$SM_CCo,17817,213.15,0.469,1,0,510,633.86
$SM_GC,1.42,0.00,0.00,213.15,0.000,0.000,0.469,408,1917,510,-11.69,1.89,633.86
$IRIDIUM_FIX,2246.36,-15805.83,151100,212119
$TT8_MAMPS,0.026845
$HUMID,53.26
$INTERNAL_PRESSURE,9.28157
$TCM_TEMP,22.60
$XPDR_PINGS,5
$24V_AH,23.2,8.020
$10V_AH,10.3,7.649
$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,28.650,176.425,388.825,213.150,0.000,136.893,210.846,268.183,1.250,0.000,15.167,1442.786,13406.000,694.825,2055.834,1463.545,33.369,1694.833,0.000,2413.042,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,92.807,1188.850,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,465.109,487.317,575.547,531.382,990.059,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,54329,681
$CAP_FILE_SIZE,166405,0
$CFSIZE,260165632,127320064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230811,020736,2258.077,-15803.757,33,1.2,33,10.1