version: 66.06
glider: 148
mission: 11
dive: 576
start: 9 3 112 22 0 14
data:
$ID,148
$MISSION,11
$DIVE,576
$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,-930622.19
$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,27
$R_STBD_OVSHOOT,85
$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
$GPS1,215206,2259.612,-15803.947,79,1.2,79,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-75.4
$GPS2,215919,2259.619,-15804.039,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.186
$KALMAN_X,-573406.3,-83.8,47.5,566136.1,-1398.9
$KALMAN_Y,66254.1,-38.7,331.2,-45034.0,-428.1
$MHEAD_RNG_PITCHd_Wd,129.8,24368,-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,16,-1.34,-126.5,0.0,0.0,0,78,0.00,0.00,-60.30,0.000,2,0.000,0.000,411,1688,2984,0,0,0,0,0,0
$GC,82,-1.34,-126.5,3.4,-5.2,8,115,13.57,2.55,-7.82,0.000,4,0.150,0.051,3024,168,3398,0,0,0,0,0,0
$GC,155,-0.83,-126.5,23.9,-24.9,18,164,0.50,2.28,0.00,0.000,6,0.094,0.018,3135,1628,3398,0,0,0,0,0,0
$GC,493,-0.72,-126.5,77.1,-11.4,51,498,0.12,2.55,0.00,0.000,4,0.113,0.023,3162,3232,3400,0,0,0,0,0,0
$GC,526,-0.72,-126.5,80.3,-8.7,53,531,0.00,2.53,0.00,0.000,6,0.000,0.028,3162,1658,3401,0,0,0,0,0,0
$GC,855,-0.72,-126.5,102.4,-8.2,83,859,0.00,2.42,0.00,0.000,4,0.000,0.042,3162,163,3402,0,0,0,0,0,0
$GC,882,-0.72,-126.5,105.0,-10.1,85,887,0.00,2.30,0.00,0.000,6,0.000,0.017,3162,1687,3402,0,0,0,0,0,0
$GC,1211,-0.81,-126.5,131.7,-8.3,115,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1690,3402,0,0,0,0,0,0
$GC,1539,-0.91,-126.5,161.4,-8.3,146,1541,0.17,0.00,0.00,0.000,6,0.047,0.000,3078,1690,3404,0,0,0,0,0,0
$GC,1885,-0.76,-126.5,206.2,-14.3,176,1887,0.32,0.00,0.00,0.000,6,0.081,0.000,3152,1690,3404,0,0,0,0,0,0
$GC,2211,-0.87,-126.5,236.7,-8.3,184,2215,0.00,2.50,0.00,0.000,4,0.000,0.043,3152,163,3404,0,0,0,0,0,0
$GC,2241,-0.97,-126.5,239.5,-9.4,184,2246,0.17,2.25,0.00,0.000,6,0.047,0.018,3073,1664,3405,0,0,0,0,0,0
$GC,2578,-0.86,-126.5,279.0,-11.8,193,2583,0.25,2.42,0.00,0.000,4,0.084,0.023,3134,3210,3404,0,0,0,0,0,0
$GC,2608,-0.98,-126.5,282.0,-9.0,193,2613,0.12,2.50,0.00,0.000,6,0.061,0.028,3058,1652,3404,0,0,0,0,0,0
$GC,2947,-0.85,-126.5,318.9,-10.3,202,2949,0.35,0.00,0.00,0.000,6,0.083,0.000,3133,1652,3404,0,0,0,0,0,0
$GC,3270,-0.97,-126.5,338.6,-5.8,210,3275,0.10,2.53,0.00,0.000,4,0.074,0.028,3072,3209,3404,0,0,0,0,0,0
$GC,3289,-1.04,-126.5,339.8,-6.2,210,3294,0.10,2.53,0.00,0.000,6,0.111,0.029,3096,1657,3404,0,0,0,0,0,0
$GC,3640,-1.04,-126.5,369.7,-8.5,219,3644,0.00,2.50,0.00,0.000,4,0.000,0.030,3096,3205,3404,0,0,0,0,0,0
$GC,3664,-1.10,-126.5,371.9,-9.1,219,3669,0.00,2.53,0.00,0.000,6,0.000,0.033,3096,1663,3403,0,0,0,0,0,0
$GC,4006,-1.10,-126.5,405.7,-10.1,228,4011,0.00,2.55,0.00,0.000,4,0.000,0.061,3096,162,3402,0,0,0,0,0,0
$GC,4039,-1.10,-126.5,409.5,-10.9,228,4043,0.00,2.33,0.00,0.000,6,0.000,0.024,3096,1639,3402,0,0,0,0,0,0
$GC,4370,-1.10,-126.5,437.5,-8.1,236,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1640,3399,0,0,0,0,0,0
$GC,4697,-1.10,-126.5,463.7,-8.5,244,4701,0.00,2.60,0.00,0.000,4,0.000,0.036,3096,3228,3397,0,0,0,0,0,0
$GC,4712,-1.10,-126.5,465.4,-9.2,244,4716,0.00,2.60,0.00,0.000,6,0.000,0.036,3096,1656,3397,0,0,0,0,0,0
$GC,5062,-1.10,-126.5,497.0,-8.8,253,5066,0.00,2.55,0.00,0.000,4,0.000,0.071,3096,169,3395,0,0,0,0,0,0
$GC,5120,-1.10,-126.5,502.3,-9.6,254,5124,0.00,2.38,0.00,0.000,6,0.000,0.031,3096,1643,3394,0,0,0,0,0,0
$GC,5438,-1.10,-126.5,525.6,-7.0,262,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1644,3392,0,0,0,0,0,0
$GC,5765,-1.16,-126.5,548.6,-7.4,270,5770,0.12,2.60,0.00,0.000,4,0.064,0.070,3034,163,3390,0,0,0,0,0,0
$GC,5786,-1.07,-126.5,550.9,-10.0,270,5791,0.22,2.42,0.00,0.000,6,0.098,0.033,3084,1657,3390,0,0,0,0,0,0
$GC,6132,-1.07,-126.5,580.1,-8.4,279,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1657,3387,0,0,0,0,0,0
$GC,6458,-1.07,-126.5,607.1,-8.2,287,6463,0.00,2.62,0.00,0.000,4,0.000,0.073,3084,161,3385,0,0,0,0,0,0
$GC,6487,-1.07,-126.5,610.0,-10.0,287,6491,0.00,2.45,0.00,0.000,6,0.000,0.036,3084,1658,3385,0,0,0,0,0,0
$GC,6823,-1.07,-126.5,637.2,-7.7,296,6828,0.00,2.62,0.00,0.000,4,0.000,0.074,3084,166,3382,0,0,0,0,0,0
$GC,6872,-1.07,-126.5,641.3,-8.8,297,6876,0.00,2.45,0.00,0.000,6,0.000,0.036,3084,1657,3382,0,0,0,0,0,0
$GC,7195,-1.07,-126.5,668.5,-8.8,305,7199,0.00,2.62,0.00,0.000,4,0.000,0.074,3084,165,3381,0,0,0,0,0,0
$GC,7218,-1.07,-126.5,671.1,-11.1,305,7223,0.00,2.45,0.00,0.000,6,0.000,0.036,3084,1656,3381,0,0,0,0,0,0
$GC,7560,-1.07,-126.5,706.1,-10.4,314,7565,0.00,2.60,0.00,0.000,4,0.000,0.075,3084,169,3379,0,0,0,0,0,0
$GC,7603,-1.07,-126.5,711.1,-10.8,315,7608,0.00,2.45,0.00,0.000,6,0.000,0.038,3084,1653,3378,0,0,0,0,0,0
$GC,7931,-1.07,-126.5,739.9,-8.2,323,7936,0.00,2.60,0.00,0.000,4,0.000,0.075,3084,168,3376,0,0,0,0,0,0
$GC,7957,-1.07,-126.5,742.2,-9.1,323,7961,0.00,2.45,0.00,0.000,6,0.000,0.038,3084,1652,3376,0,0,0,0,0,0
$STATE,8092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8092,begin apogee
$GC,8098,-0.31,0.0,752.5,7.4,327,8206,0.73,0.00,104.62,1.047,6,0.075,0.000,3250,1306,2880,0,0,0,0,0,0
$STATE,8207,end apogee,CONTROL_FINISHED_OK
$STATE,8207,begin climb
$GC,8211,1.34,126.5,754.6,0.0,329,8334,1.55,2.10,112.88,1.022,4,0.055,0.081,3609,180,2364,0,0,0,0,0,0
$GC,8396,1.09,126.5,741.4,12.6,334,8401,0.25,1.88,0.00,0.000,6,0.096,0.031,3557,1321,2359,0,0,0,0,0,0
$GC,8720,1.11,136.9,710.4,9.4,342,8735,0.00,2.08,9.20,0.855,4,0.000,0.073,3556,173,2320,0,0,0,0,0,0
$GC,8768,1.11,136.9,705.3,11.9,343,8772,0.00,1.88,0.00,0.000,6,0.000,0.031,3556,1316,2319,0,0,0,0,0,0
$GC,9097,1.12,148.0,674.1,9.4,351,9110,0.00,0.00,10.85,0.874,6,0.000,0.000,3557,1316,2276,0,0,0,0,0,0
$GC,9420,1.17,189.2,646.8,7.8,359,9465,0.00,2.10,38.75,0.956,4,0.000,0.071,3557,178,2108,0,0,0,0,0,0
$GC,9519,1.19,206.4,639.0,9.1,361,9543,0.10,1.85,16.95,0.898,6,0.080,0.030,3595,1307,2037,0,0,0,0,0,0
$GC,9881,1.22,229.7,607.4,8.8,370,9906,0.00,0.00,22.58,0.909,6,0.000,0.000,3595,1309,1943,0,0,0,0,0,0
$GC,10206,1.22,229.7,568.2,12.8,378,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1310,1938,0,0,0,0,0,0
$GC,10529,1.22,229.7,526.5,12.6,386,10533,0.00,2.00,0.00,0.000,4,0.000,0.066,3594,171,1937,0,0,0,0,0,0
$GC,10547,1.22,229.7,524.0,13.6,386,10551,0.00,1.88,0.00,0.000,6,0.000,0.034,3595,1323,1936,0,0,0,0,0,0
$GC,10863,1.22,229.7,487.8,11.2,394,10867,0.00,2.03,0.00,0.000,4,0.000,0.064,3595,169,1935,0,0,0,0,0,0
$GC,10899,1.22,229.7,482.8,13.5,394,10903,0.00,1.83,0.00,0.000,6,0.000,0.025,3595,1313,1935,0,0,0,0,0,0
$GC,11234,1.22,229.7,443.9,11.6,403,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1316,1934,0,0,0,0,0,0
$GC,11560,1.22,229.7,409.2,10.6,411,11563,0.00,1.98,0.00,0.000,4,0.000,0.061,3595,170,1933,0,0,0,0,0,0
$GC,11585,1.22,229.7,406.5,12.3,411,11588,0.00,1.80,0.00,0.000,6,0.000,0.025,3595,1313,1933,0,0,0,0,0,0
$GC,11934,1.24,241.3,372.2,9.4,420,11950,0.00,2.62,10.18,0.716,4,0.000,0.035,3595,2873,1895,0,0,0,0,0,0
$GC,11982,1.34,249.0,367.8,9.6,421,11998,0.00,2.65,8.82,0.688,6,0.000,0.044,3595,1295,1864,0,0,0,0,0,0
$GC,12312,1.34,249.0,330.1,12.0,429,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,1295,1862,0,0,0,0,0,0
$GC,12638,1.41,249.0,294.4,10.9,437,12643,0.12,2.58,0.00,0.000,4,0.064,0.030,3643,2878,1860,0,0,0,0,0,0
$GC,12664,1.41,249.0,291.6,11.1,437,12668,0.00,2.65,0.00,0.000,6,0.000,0.041,3643,1298,1858,0,0,0,0,0,0
$GC,13004,1.41,249.0,253.2,11.7,446,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,3643,1298,1858,0,0,0,0,0,0
$GC,13329,1.41,249.0,211.4,13.2,454,13333,0.00,1.90,0.00,0.000,4,0.000,0.058,3643,165,1858,0,0,0,0,0,0
$GC,13420,1.33,249.0,199.1,12.1,455,13427,0.17,1.77,0.00,0.000,6,0.196,0.021,3607,1332,1858,0,0,0,0,0,0
$GC,13748,1.47,288.6,172.1,7.9,486,13792,0.15,2.50,34.85,0.611,4,0.056,0.027,3666,2856,1702,0,0,0,0,0,0
$GC,13803,1.47,288.6,165.4,13.0,491,13808,0.12,2.60,0.00,0.000,6,0.104,0.036,3638,1297,1700,0,0,0,0,0,0
$GC,14133,1.50,313.6,131.8,8.7,521,14165,0.00,1.92,23.30,0.557,4,0.000,0.053,3638,167,1600,0,0,0,0,0,0
$GC,14229,1.50,313.6,121.3,12.5,530,14233,0.00,1.73,0.00,0.000,6,0.000,0.021,3638,1303,1600,0,0,0,0,0,0
$GC,14563,1.50,313.6,80.9,12.2,561,14567,0.00,1.90,0.00,0.000,4,0.000,0.058,3638,165,1597,0,0,0,0,0,0
$GC,14587,1.50,313.6,77.0,12.4,563,14596,0.00,1.73,0.00,0.000,6,0.000,0.020,3638,1303,1598,0,0,0,0,0,0
$GC,14915,1.67,361.2,43.6,7.5,594,14964,0.20,2.47,42.00,0.486,4,0.044,0.025,3724,2848,1406,0,0,0,0,0,0
$GC,14993,1.67,361.2,34.3,13.6,600,14998,0.17,2.58,0.00,0.000,6,0.092,0.035,3684,1292,1402,0,0,0,0,0,0
$STATE,15214,end climb,SURFACE_DEPTH_REACHED
$STATE,15214,begin surface coast
$FINISH,1.1,1.023276
$STATE,15253,end surface coast,CONTROL_FINISHED_OK
$STATE,15253,begin surface
$SM_CCo,15337,0.00,0.000,0,0,1394,364.52
$SM_GC,1.54,13.15,0.00,0.00,0.019,0.000,0.000,413,1657,1394,-13.29,-0.08,364.52
$IRIDIUM_FIX,2251.04,-15755.40,281101,171746
$TT8_MAMPS,0.027612
$HUMID,68.94
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.40
$XPDR_PINGS,12
$24V_AH,23.1,75.318
$10V_AH,9.8,62.127
$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,32.875,135.800,434.975,0.000,0.000,27.753,35.417,207.828,3.000,0.000,16.400,1293.765,11245.954,455.825,2110.072,655.720,33.380,1354.155,0.000,2109.683,0.000,0.536,0.000
$DEVICE_MAMPS,196.352,81.302,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,433.802,333.221,425.980,580.084,1018.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,47888,639
$CAP_FILE_SIZE,134857,0
$CFSIZE,260165632,143532032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040912,021726,2257.354,-15804.331,35,99.0,54,10.1