version: 66.06
glider: 148
mission: 10
dive: 74
start: 8 26 111 16 9 22
data:
$ID,148
$MISSION,10
$DIVE,74
$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,-878529.81
$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,36
$R_STBD_OVSHOOT,50
$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
$GPS1,160137,2325.712,-15811.213,36,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-72.1
$GPS2,160828,2325.715,-15811.254,9,2.9,28,10.1
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,Bowf2
$TGT_LATLONG,2348.000,-15830.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.097,0.214
$KALMAN_X,-72775.5,41.6,-268.8,69699.4,-995.5
$KALMAN_Y,-52326.0,-213.1,-266.1,246358.0,-335.5
$MHEAD_RNG_PITCHd_Wd,325.5,52080,-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,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-67.28,0.000,2,0.000,0.000,412,1937,3258,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-6.0,9,115,12.40,2.38,-5.55,0.000,4,0.175,0.038,2640,3426,3573,0,0,0,0,0,0
$GC,212,-1.10,-116.8,38.2,-20.9,25,223,0.30,2.53,0.00,0.000,6,0.087,0.024,2708,1859,3575,0,0,0,0,0,0
$GC,482,-1.02,-116.8,79.8,-15.8,50,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1858,3576,0,0,0,0,0,0
$GC,747,-1.02,-116.8,117.4,-13.2,75,752,0.00,2.50,0.00,0.000,4,0.000,0.027,2709,3432,3577,0,0,0,0,0,0
$GC,765,-1.02,-116.8,119.9,-12.8,76,769,0.00,2.53,0.00,0.000,6,0.000,0.021,2709,1836,3577,0,0,0,0,0,0
$GC,1028,-1.02,-116.8,148.0,-9.9,100,1032,0.00,2.53,0.00,0.000,4,0.000,0.038,2708,280,3578,0,0,0,0,0,0
$GC,1047,-1.02,-116.8,149.9,-10.1,101,1052,0.00,2.45,0.00,0.000,6,0.000,0.018,2709,1859,3578,0,0,0,0,0,0
$GC,1310,-1.02,-116.8,177.7,-10.5,125,1315,0.00,2.47,0.00,0.000,4,0.000,0.030,2709,3424,3578,0,0,0,0,0,0
$GC,1341,-1.02,-116.8,180.6,-11.8,127,1345,0.00,2.47,0.00,0.000,6,0.000,0.021,2709,1846,3579,0,0,0,0,0,0
$GC,1599,-1.10,-116.8,210.0,-11.0,145,1603,0.00,2.53,0.00,0.000,4,0.000,0.039,2709,278,3579,0,0,0,0,0,0
$GC,1658,-1.21,-116.8,217.0,-12.0,146,1663,0.10,2.42,0.00,0.000,6,0.076,0.019,2656,1846,3579,0,0,0,0,0,0
$GC,1932,-1.21,-116.8,251.6,-12.5,153,1934,0.12,0.00,0.00,0.000,6,0.112,0.000,2683,1848,3579,0,0,0,0,0,0
$GC,2176,-1.21,-116.8,277.7,-10.5,159,2180,0.00,2.60,0.00,0.000,4,0.000,0.042,2684,276,3579,0,0,0,0,0,0
$GC,2199,-1.21,-116.8,280.3,-11.5,159,2203,0.00,2.47,0.00,0.000,6,0.000,0.021,2683,1851,3579,0,0,0,0,0,0
$GC,2458,-1.21,-116.8,305.8,-9.8,166,2464,0.00,2.55,0.00,0.000,4,0.000,0.034,2683,3416,3580,0,0,0,0,0,0
$GC,2489,-1.31,-116.8,308.7,-8.9,166,2493,0.00,2.47,0.00,0.000,6,0.000,0.031,2683,1855,3579,0,0,0,0,0,0
$GC,2748,-1.37,-116.8,333.4,-9.5,173,2750,0.12,0.00,0.00,0.000,6,0.066,0.000,2629,1855,3578,0,0,0,0,0,0
$GC,2992,-1.28,-116.8,363.6,-12.4,179,2997,0.17,2.65,0.00,0.000,4,0.102,0.050,2669,276,3577,0,0,0,0,0,0
$GC,3031,-1.28,-116.8,368.4,-11.7,179,3036,0.00,2.50,0.00,0.000,6,0.000,0.023,2669,1846,3577,0,0,0,0,0,0
$GC,3281,-1.28,-116.8,394.3,-10.1,186,3285,0.00,2.55,0.00,0.000,4,0.000,0.039,2669,3424,3576,0,0,0,0,0,0
$GC,3304,-1.28,-116.8,396.8,-10.8,186,3310,0.00,2.58,0.00,0.000,6,0.000,0.034,2669,1846,3576,0,0,0,0,0,0
$GC,3570,-1.28,-116.8,422.3,-9.7,193,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1846,3574,0,0,0,0,0,0
$GC,3814,-1.28,-116.8,443.2,-8.5,199,3818,0.00,2.62,0.00,0.000,4,0.000,0.043,2669,3422,3573,0,0,0,0,0,0
$GC,3837,-1.28,-116.8,445.6,-9.5,199,3843,0.00,2.58,0.00,0.000,6,0.000,0.030,2669,1853,3573,0,0,0,0,0,0
$GC,4103,-1.28,-116.8,469.6,-9.2,206,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1853,3571,0,0,0,0,0,0
$GC,4347,-1.28,-116.8,492.4,-9.3,212,4352,0.00,2.70,0.00,0.000,4,0.000,0.065,2669,272,3569,0,0,0,0,0,0
$GC,4366,-1.28,-116.8,494.6,-10.0,212,4371,0.00,2.55,0.00,0.000,6,0.000,0.031,2668,1842,3569,0,0,0,0,0,0
$GC,4629,-1.28,-116.8,521.7,-10.4,219,4634,0.00,2.65,0.00,0.000,4,0.000,0.048,2669,3429,3567,0,0,0,0,0,0
$GC,4653,-1.28,-116.8,524.2,-11.2,219,4658,0.00,2.58,0.00,0.000,6,0.000,0.033,2669,1844,3567,0,0,0,0,0,0
$GC,4914,-1.34,-116.8,548.5,-9.1,226,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1844,3565,0,0,0,0,0,0
$GC,5157,-1.41,-116.8,567.9,-7.8,232,5164,0.12,2.75,0.00,0.000,4,0.067,0.069,2617,269,3563,0,0,0,0,0,0
$GC,5189,-1.32,-116.8,571.1,-11.1,232,5194,0.20,2.58,0.00,0.000,6,0.100,0.034,2660,1843,3563,0,0,0,0,0,0
$GC,5445,-1.32,-116.8,592.2,-8.2,239,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1843,3561,0,0,0,0,0,0
$GC,5688,-1.32,-116.8,614.0,-9.2,245,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1843,3560,0,0,0,0,0,0
$GC,5933,-1.32,-116.8,638.2,-9.9,251,5938,0.00,2.78,0.00,0.000,4,0.000,0.068,2659,269,3559,0,0,0,0,0,0
$GC,5971,-1.38,-116.8,642.3,-10.5,251,5976,0.00,2.62,0.00,0.000,6,0.000,0.037,2660,1842,3559,0,0,0,0,0,0
$GC,6227,-1.38,-116.8,665.1,-8.7,258,6231,0.00,2.70,0.00,0.000,4,0.000,0.061,2660,3435,3556,0,0,0,0,0,0
$GC,6251,-1.38,-116.8,667.3,-9.8,258,6256,0.00,2.62,0.00,0.000,6,0.000,0.044,2660,1849,3556,0,0,0,0,0,0
$GC,6512,-1.44,-116.8,688.9,-8.3,265,6517,0.10,2.78,0.00,0.000,4,0.081,0.074,2615,270,3554,0,0,0,0,0,0
$GC,6532,-1.44,-116.8,691.2,-10.1,265,6537,0.00,2.62,0.00,0.000,6,0.000,0.038,2617,1842,3554,0,0,0,0,0,0
$GC,6801,-1.44,-116.8,719.1,-10.3,272,6806,0.00,2.75,0.00,0.000,4,0.000,0.061,2616,3436,3553,0,0,0,0,0,0
$GC,6826,-1.38,-116.8,721.9,-10.9,272,6831,0.15,2.65,0.00,0.000,6,0.107,0.039,2648,1842,3552,0,0,0,0,0,0
$GC,7091,-1.38,-116.8,745.7,-9.0,279,7095,0.00,2.75,0.00,0.000,4,0.000,0.074,2647,271,3551,0,0,0,0,0,0
$GC,7140,-1.38,-116.8,750.9,-10.4,280,7144,0.00,2.58,0.00,0.000,6,0.000,0.039,2648,1839,3551,0,0,0,0,0,0
$GC,7422,-1.38,-116.8,777.3,-9.3,287,7428,0.00,2.75,0.00,0.000,4,0.000,0.061,2648,3434,3549,0,0,0,0,0,0
$GC,7442,-1.38,-116.8,779.3,-9.3,287,7447,0.00,2.65,0.00,0.000,6,0.000,0.038,2647,1839,3549,0,0,0,0,0,0
$GC,7711,-1.38,-116.8,803.4,-9.0,294,7715,0.00,2.75,0.00,0.000,4,0.000,0.075,2648,271,3548,0,0,0,0,0,0
$GC,7734,-1.38,-116.8,805.8,-10.4,294,7738,0.00,2.60,0.00,0.000,6,0.000,0.038,2648,1840,3548,0,0,0,0,0,0
$GC,7994,-1.38,-116.8,828.2,-8.7,301,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1840,3546,0,0,0,0,0,0
$GC,8237,-1.38,-116.8,848.8,-8.4,307,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1840,3545,0,0,0,0,0,0
$GC,8480,-1.38,-116.8,868.9,-8.4,313,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1840,3545,0,0,0,0,0,0
$GC,8725,-1.38,-116.8,888.3,-7.9,319,8729,0.00,2.75,0.00,0.000,4,0.000,0.070,2648,271,3544,0,0,0,0,0,0
$GC,8746,-1.38,-116.8,890.1,-8.9,319,8752,0.00,2.62,0.00,0.000,6,0.000,0.040,2648,1833,3544,0,0,0,0,0,0
$STATE,8891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8897,-0.31,0.0,901.6,7.7,323,8996,1.05,0.00,95.22,1.181,6,0.081,0.000,2882,1610,3095,0,0,0,0,0,0
$STATE,8997,end apogee,CONTROL_FINISHED_OK
$STATE,8997,begin climb
$GC,8999,1.38,116.8,903.5,0.0,325,9113,1.52,2.58,103.80,1.157,4,0.030,0.077,3260,188,2617,0,0,0,0,0,0
$GC,9155,0.97,133.3,903.0,9.0,328,9178,0.47,2.40,16.00,1.055,6,0.110,0.035,3165,1632,2551,0,0,0,0,0,0
$GC,9462,1.04,192.2,881.8,6.6,336,9518,0.00,0.00,54.17,1.129,6,0.000,0.000,3165,1631,2311,0,0,0,0,0,0
$GC,9745,1.08,219.0,859.3,8.5,343,9777,0.00,2.62,24.85,1.082,4,0.000,0.071,3164,184,2201,0,0,0,0,0,0
$GC,9801,1.08,219.0,853.8,11.3,344,9806,0.00,2.45,0.00,0.000,6,0.000,0.044,3165,1634,2200,0,0,0,0,0,0
$GC,10074,1.08,220.5,827.2,9.9,351,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1635,2196,0,0,0,0,0,0
$GC,10318,1.08,220.5,801.3,10.7,357,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1635,2195,0,0,0,0,0,0
$GC,10562,1.08,220.5,774.3,11.2,363,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1636,2194,0,0,0,0,0,0
$GC,10805,1.08,220.5,747.8,10.8,369,10810,0.00,2.75,0.00,0.000,4,0.000,0.061,3165,3219,2193,0,0,0,0,0,0
$GC,10824,1.08,220.5,745.7,10.7,369,10829,0.00,2.67,0.00,0.000,6,0.000,0.040,3165,1635,2191,0,0,0,0,0,0
$GC,11089,1.08,220.5,718.4,10.3,376,11093,0.00,2.62,0.00,0.000,4,0.000,0.084,3164,173,2191,0,0,0,0,0,0
$GC,11127,1.08,220.5,713.9,11.8,376,11132,0.00,2.42,0.00,0.000,6,0.000,0.036,3165,1632,2191,0,0,0,0,0,0
$GC,11377,1.08,222.5,689.0,9.9,383,11382,0.00,2.78,0.00,0.000,4,0.000,0.064,3165,3215,2190,0,0,0,0,0,0
$GC,11401,1.08,222.5,686.4,10.3,383,11405,0.00,2.65,0.00,0.000,6,0.000,0.039,3164,1634,2190,0,0,0,0,0,0
$GC,11665,1.08,222.5,659.5,10.4,390,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1635,2189,0,0,0,0,0,0
$GC,11908,1.08,222.5,634.2,10.4,396,11913,0.00,2.70,0.00,0.000,4,0.000,0.047,3165,3212,2189,0,0,0,0,0,0
$GC,11942,1.16,222.5,630.6,10.9,396,11947,0.15,2.65,0.00,0.000,6,0.061,0.041,3221,1639,2189,0,0,0,0,0,0
$GC,12198,1.06,222.5,600.1,12.2,403,12203,0.17,2.62,0.00,0.000,4,0.111,0.083,3183,165,2188,0,0,0,0,0,0
$GC,12314,1.06,222.5,585.2,13.0,405,12319,0.00,2.42,0.00,0.000,6,0.000,0.031,3183,1646,2188,0,0,0,0,0,0
$GC,12578,1.06,222.5,555.1,11.2,412,12583,0.00,2.60,0.00,0.000,4,0.000,0.064,3184,168,2189,0,0,0,0,0,0
$GC,12607,1.06,222.5,551.3,12.2,412,12612,0.00,2.40,0.00,0.000,6,0.000,0.029,3184,1642,2188,0,0,0,0,0,0
$GC,12866,1.06,222.5,522.2,11.0,419,12867,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1643,2188,0,0,0,0,0,0
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$STATE,17485,end climb,SURFACE_DEPTH_REACHED
$STATE,17486,begin surface coast
$FINISH,0.9,1.000565
$STATE,17533,end surface coast,CONTROL_FINISHED_OK
$STATE,17533,begin surface
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$SM_GC,1.70,0.00,0.00,58.60,0.000,0.000,0.472,414,1917,1463,-11.67,1.89,400.08
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$TT8_MAMPS,0.027612
$HUMID,57.91
$INTERNAL_PRESSURE,9.34993
$TCM_TEMP,22.50
$XPDR_PINGS,4
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$10V_AH,10.3,9.875
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.975,196.850,373.425,58.600,0.000,23.750,39.104,172.051,1.000,0.000,30.986,1441.886,12919.674,515.306,2073.747,1066.980,33.381,1563.888,0.000,2405.732,0.000,0.536,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,51128,668
$CAP_FILE_SIZE,162888,0
$CFSIZE,260165632,126042112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260811,210426,2327.339,-15812.918,29,3.4,48,10.1