version: 66.06
glider: 148
mission: 11
dive: 575
start: 9 3 112 17 34 2
data:
$ID,148
$MISSION,11
$DIVE,575
$D_SURF,4
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,550
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,350
$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,-930605.19
$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,3320
$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,1660
$C_ROLL_CLIMB,1310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2880
$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,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,171926,2300.868,-15804.322,35,99.0,54,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-68.8
$GPS2,173307,2300.913,-15804.505,14,1.1,14,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,-0.194
$KALMAN_X,-571203.9,-371.5,-449.5,563931.4,-1497.6
$KALMAN_Y,66388.8,-109.8,-251.2,-42122.8,546.2
$MHEAD_RNG_PITCHd_Wd,132.8,26891,-18.9,-10.000
$D_GRID,750
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-1.34,-126.5,0.0,0.0,0,123,0.00,0.00,-102.93,0.000,2,0.000,0.000,410,1668,3099,0,0,0,0,0,0
$GC,127,-1.34,-126.5,3.3,-4.8,14,152,13.57,2.47,-5.57,0.000,4,0.148,0.048,3024,164,3396,0,0,0,0,0,0
$GC,239,-0.87,-126.5,32.8,-23.4,29,244,0.47,2.28,0.00,0.000,6,0.095,0.018,3127,1645,3397,0,0,0,0,0,0
$GC,567,-0.77,-126.5,80.0,-10.3,59,572,0.12,2.53,0.00,0.000,4,0.109,0.024,3153,3234,3398,0,0,0,0,0,0
$GC,600,-0.77,-126.5,83.0,-9.6,61,604,0.00,2.55,0.00,0.000,6,0.000,0.026,3153,1642,3398,0,0,0,0,0,0
$GC,927,-0.77,-126.5,115.5,-10.8,91,932,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1641,3398,0,0,0,0,0,0
$GC,1257,-0.84,-126.5,146.0,-9.7,122,1261,0.00,2.50,0.00,0.000,4,0.000,0.022,3153,3234,3398,0,0,0,0,0,0
$GC,1276,-0.92,-126.5,147.9,-9.9,123,1281,0.15,2.55,0.00,0.000,6,0.051,0.025,3059,1651,3398,0,0,0,0,0,0
$GC,1600,-0.68,-126.5,196.5,-13.1,153,1612,0.52,2.40,0.00,0.000,4,0.082,0.039,3167,168,3398,0,0,0,0,0,0
$GC,1637,-0.83,-126.5,200.6,-9.0,156,1642,0.12,2.28,0.00,0.000,6,0.061,0.017,3096,1684,3398,0,0,0,0,0,0
$GC,1976,-0.83,-126.5,236.0,-9.8,165,1981,0.20,2.40,0.00,0.000,4,0.089,0.021,3141,3217,3398,0,0,0,0,0,0
$GC,2001,-0.95,-126.5,238.1,-7.4,165,2006,0.12,2.53,0.00,0.000,6,0.061,0.027,3053,1654,3398,0,0,0,0,0,0
$GC,2344,-0.76,-126.5,277.3,-12.1,174,2351,0.50,2.42,0.00,0.000,4,0.084,0.041,3149,168,3399,0,0,0,0,0,0
$GC,2422,-0.95,-126.5,284.6,-8.4,175,2427,0.15,2.22,0.00,0.000,6,0.053,0.018,3074,1642,3398,0,0,0,0,0,0
$GC,2761,-0.89,-126.5,322.8,-11.5,184,2766,0.22,2.50,0.00,0.000,4,0.086,0.026,3125,3215,3398,0,0,0,0,0,0
$GC,2795,-1.06,-126.5,326.4,-8.3,184,2800,0.15,2.53,0.00,0.000,6,0.051,0.029,3037,1648,3398,0,0,0,0,0,0
$GC,3127,-0.87,-126.5,368.9,-13.3,192,3129,0.45,0.00,0.00,0.000,6,0.082,0.000,3128,1649,3397,0,0,0,0,0,0
$GC,3454,-0.99,-126.5,400.9,-9.1,200,3456,0.10,0.00,0.00,0.000,6,0.074,0.000,3068,1649,3394,0,0,0,0,0,0
$GC,3777,-0.92,-126.5,428.9,-8.4,208,3782,0.22,2.53,0.00,0.000,4,0.086,0.060,3119,174,3392,0,0,0,0,0,0
$GC,3792,-0.92,-126.5,430.3,-8.5,208,3796,0.00,2.28,0.00,0.000,6,0.000,0.023,3119,1625,3392,0,0,0,0,0,0
$GC,4108,-1.03,-126.5,452.7,-7.5,216,4114,0.10,2.65,0.00,0.000,4,0.074,0.036,3061,3236,3389,0,0,0,0,0,0
$GC,4128,-1.03,-126.5,454.7,-9.0,216,4134,0.15,2.62,0.00,0.000,6,0.094,0.037,3095,1653,3389,0,0,0,0,0,0
$GC,4477,-1.03,-126.5,484.0,-8.6,225,4481,0.00,2.62,0.00,0.000,4,0.000,0.038,3096,3233,3386,0,0,0,0,0,0
$GC,4496,-1.03,-126.5,485.9,-8.7,225,4500,0.00,2.60,0.00,0.000,6,0.000,0.036,3095,1653,3386,0,0,0,0,0,0
$GC,4841,-1.03,-126.5,516.8,-9.3,234,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1653,3384,0,0,0,0,0,0
$GC,5168,-1.03,-126.5,543.3,-7.4,242,5172,0.00,2.58,0.00,0.000,4,0.000,0.072,3095,163,3382,0,0,0,0,0,0
$GC,5201,-1.03,-126.5,546.0,-7.2,242,5205,0.00,2.38,0.00,0.000,6,0.000,0.031,3095,1642,3381,0,0,0,0,0,0
$GC,5532,-1.03,-126.5,565.9,-5.9,250,5537,0.00,2.65,0.00,0.000,4,0.000,0.044,3095,3240,3379,0,0,0,0,0,0
$GC,5549,-1.03,-126.5,566.9,-6.0,250,5553,0.00,2.65,0.00,0.000,6,0.000,0.041,3095,1650,3379,0,0,0,0,0,0
$GC,5899,-1.03,-126.5,590.3,-7.2,259,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1649,3376,0,0,0,0,0,0
$GC,6224,-1.03,-126.5,611.4,-5.9,267,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1649,3374,0,0,0,0,0,0
$GC,6550,-1.03,-126.5,627.8,-5.0,275,6555,0.00,2.60,0.00,0.000,4,0.000,0.077,3095,170,3372,0,0,0,0,0,0
$GC,6579,-1.03,-126.5,629.7,-6.4,275,6583,0.00,2.42,0.00,0.000,6,0.000,0.035,3095,1655,3372,0,0,0,0,0,0
$GC,6915,-1.09,-126.5,651.5,-7.1,284,6920,0.00,2.60,0.00,0.000,4,0.000,0.073,3095,171,3370,0,0,0,0,0,0
$GC,6941,-1.09,-126.5,653.6,-8.9,284,6945,0.00,2.42,0.00,0.000,6,0.000,0.035,3095,1657,3370,0,0,0,0,0,0
$GC,7282,-1.15,-126.5,683.8,-9.1,293,7287,0.12,2.70,0.00,0.000,4,0.065,0.054,3043,3244,3368,0,0,0,0,0,0
$GC,7320,-1.15,-126.5,688.0,-10.9,293,7327,0.12,2.67,0.00,0.000,6,0.103,0.048,3071,1663,3368,0,0,0,0,0,0
$GC,7654,-1.15,-126.5,718.7,-9.1,302,7658,0.00,2.62,0.00,0.000,4,0.000,0.080,3071,168,3366,0,0,0,0,0,0
$GC,7710,-1.15,-126.5,724.5,-10.1,303,7714,0.00,2.45,0.00,0.000,6,0.000,0.038,3071,1664,3365,0,0,0,0,0,0
$STATE,8025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8026,begin apogee
$GC,8034,-0.31,0.0,750.9,8.2,311,8139,0.80,0.00,101.85,1.043,6,0.075,0.000,3252,1301,2880,0,0,0,0,0,0
$STATE,8140,end apogee,CONTROL_FINISHED_OK
$STATE,8140,begin climb
$GC,8142,1.34,126.5,753.3,0.0,313,8265,1.52,2.12,113.15,1.020,4,0.053,0.081,3610,167,2363,0,0,0,0,0,0
$GC,8315,1.10,126.5,742.0,12.1,317,8321,0.22,1.88,0.00,0.000,6,0.100,0.031,3563,1313,2358,0,0,0,0,0,0
$GC,8650,1.13,148.0,712.0,8.9,326,8674,0.00,2.10,18.60,0.938,4,0.000,0.074,3562,176,2275,0,0,0,0,0,0
$GC,8752,1.13,148.0,701.6,11.7,328,8756,0.00,1.85,0.00,0.000,6,0.000,0.030,3562,1309,2273,0,0,0,0,0,0
$GC,9075,1.16,175.5,672.9,8.5,336,9103,0.00,0.00,25.95,0.947,6,0.000,0.000,3562,1310,2164,0,0,0,0,0,0
$GC,9402,1.17,181.3,642.5,9.7,344,9410,0.00,0.00,6.40,0.755,6,0.000,0.000,3563,1311,2140,0,0,0,0,0,0
$GC,9725,1.19,195.3,611.8,9.3,352,9745,0.00,2.10,13.60,0.875,4,0.000,0.069,3563,168,2083,0,0,0,0,0,0
$GC,9792,1.19,195.3,605.2,10.5,353,9795,0.00,1.88,0.00,0.000,6,0.000,0.028,3563,1322,2082,0,0,0,0,0,0
$GC,10143,1.34,253.1,579.4,6.9,362,10202,0.20,0.00,54.65,0.922,6,0.048,0.000,3636,1323,1848,0,0,0,0,0,0
$GC,10552,1.25,253.1,529.9,13.4,372,10556,0.20,2.03,0.00,0.000,4,0.097,0.063,3593,167,1839,0,0,0,0,0,0
$GC,10588,1.25,253.1,524.4,15.1,372,10592,0.00,1.85,0.00,0.000,6,0.000,0.027,3593,1318,1839,0,0,0,0,0,0
$GC,10923,1.25,253.1,477.4,13.6,381,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,1320,1837,0,0,0,0,0,0
$GC,11248,1.25,253.1,442.0,10.2,389,11252,0.00,2.60,0.00,0.000,4,0.000,0.038,3593,2891,1835,0,0,0,0,0,0
$GC,11293,1.38,253.1,437.7,10.2,390,11299,0.12,2.67,0.00,0.000,6,0.064,0.044,3647,1309,1833,0,0,0,0,0,0
$GC,11624,1.28,253.1,395.9,12.6,398,11628,0.22,1.98,0.00,0.000,4,0.091,0.063,3598,164,1833,0,0,0,0,0,0
$GC,11656,1.28,253.1,392.1,11.6,398,11659,0.00,1.83,0.00,0.000,6,0.000,0.025,3598,1326,1832,0,0,0,0,0,0
$GC,11995,1.28,253.1,354.3,11.1,407,12000,0.00,2.50,0.00,0.000,4,0.000,0.032,3598,2872,1832,0,0,0,0,0,0
$GC,12056,1.42,253.1,347.6,10.6,408,12061,0.12,2.62,0.00,0.000,6,0.066,0.042,3646,1312,1830,0,0,0,0,0,0
$GC,12409,1.35,253.1,304.9,11.3,417,12414,0.15,1.95,0.00,0.000,4,0.101,0.061,3613,164,1830,0,0,0,0,0,0
$GC,12484,1.35,253.1,297.1,10.6,418,12487,0.00,1.80,0.00,0.000,6,0.000,0.023,3613,1328,1830,0,0,0,0,0,0
$GC,12830,1.37,269.7,266.1,9.1,427,12849,0.00,2.03,12.90,0.649,4,0.000,0.056,3614,161,1778,0,0,0,0,0,0
$GC,12868,1.37,269.7,262.0,10.1,427,12874,0.00,1.80,0.00,0.000,6,0.000,0.021,3614,1331,1778,0,0,0,0,0,0
$GC,13200,1.44,269.7,226.0,11.1,436,13204,0.00,2.45,0.00,0.000,4,0.000,0.027,3613,2863,1776,0,0,0,0,0,0
$GC,13216,1.51,269.7,224.6,10.5,436,13222,0.15,2.60,0.00,0.000,6,0.057,0.037,3686,1299,1775,0,0,0,0,0,0
$GC,13546,1.38,269.7,187.2,10.7,451,13551,0.28,1.90,0.00,0.000,4,0.086,0.052,3621,167,1774,0,0,0,0,0,0
$GC,13576,1.38,269.7,183.4,10.9,453,13585,0.00,1.75,0.00,0.000,6,0.000,0.021,3621,1315,1774,0,0,0,0,0,0
$GC,13905,1.41,291.1,152.3,8.9,484,13934,0.00,0.00,19.75,0.564,6,0.000,0.000,3621,1314,1692,0,0,0,0,0,0
$GC,14254,1.49,291.1,113.7,11.5,517,14258,0.10,1.92,0.00,0.000,4,0.076,0.051,3672,164,1690,0,0,0,0,0,0
$GC,14297,1.36,291.1,107.8,14.5,521,14302,0.22,1.73,0.00,0.000,6,0.074,0.020,3617,1294,1690,0,0,0,0,0,0
$GC,14631,1.53,320.4,76.6,8.4,552,14665,0.15,0.00,27.17,0.502,6,0.054,0.000,3688,1297,1572,0,0,0,0,0,0
$GC,14986,1.53,320.4,34.8,11.9,585,14991,0.17,2.50,0.00,0.000,4,0.091,0.026,3647,2855,1569,0,0,0,0,0,0
$GC,15005,1.53,320.4,32.3,11.9,586,15010,0.00,2.55,0.00,0.000,6,0.000,0.034,3647,1295,1567,0,0,0,0,0,0
$STATE,15276,end climb,SURFACE_DEPTH_REACHED
$STATE,15276,begin surface coast
$FINISH,0.9,1.023335
$STATE,15321,end surface coast,CONTROL_FINISHED_OK
$STATE,15321,begin surface
$SM_CCo,15347,14.75,0.413,0,0,1452,350.04
$SM_GC,1.48,0.00,0.00,14.75,0.000,0.000,0.413,412,1686,1452,-13.38,0.76,350.04
$IRIDIUM_FIX,2253.38,-15802.79,281101,131330
$TT8_MAMPS,0.027612
$HUMID,68.50
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.00
$XPDR_PINGS,8
$24V_AH,23.1,75.194
$10V_AH,9.7,62.011
$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,35.250,136.300,394.025,14.750,0.000,24.032,41.638,597.056,2.000,0.000,15.872,1297.500,11250.792,488.679,2094.394,1046.907,33.382,1377.609,0.000,2098.045,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,80.535,1043.120,413.413,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,428.921,338.598,416.059,589.034,1032.124,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356192
$DATA_FILE_SIZE,47883,634
$CAP_FILE_SIZE,142678,0
$CFSIZE,260165632,143589376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030912,215206,2259.612,-15803.947,79,1.2,79,10.1