version: 66.06
glider: 148
mission: 11
dive: 577
start: 9 4 112 2 31 14
data:
$ID,148
$MISSION,11
$DIVE,577
$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,-930656.56
$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,73
$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
$GPS1,021726,2257.354,-15804.331,35,99.0,54,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-74.3
$GPS2,023018,2257.302,-15804.575,21,1.9,32,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.072
$KALMAN_X,-576698.3,9.8,43.2,568440.4,-2938.9
$KALMAN_Y,65456.4,-73.5,-301.1,-47853.3,-263.1
$MHEAD_RNG_PITCHd_Wd,97.1,20616,-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,-126.5,0.0,0.0,0,86,0.00,0.00,-67.57,0.000,2,0.000,0.000,412,1658,3150,0,0,0,0,0,0
$GC,89,-1.34,-126.5,3.7,-6.2,9,114,13.55,2.47,-4.38,0.000,4,0.148,0.031,3023,3229,3396,0,0,0,0,0,0
$GC,130,-0.09,-126.5,19.2,-37.0,14,139,1.23,2.58,0.00,0.000,6,0.086,0.028,3295,1658,3399,0,0,0,0,0,0
$GC,486,-0.46,-126.5,41.8,-5.5,57,495,0.28,0.00,0.00,0.000,6,0.031,0.000,3158,1658,3400,0,0,0,0,0,0
$GC,819,-0.46,-126.5,79.3,-10.0,88,824,0.25,2.47,0.00,0.000,4,0.080,0.022,3220,3214,3400,0,0,0,0,0,0
$GC,840,-0.58,-126.5,81.5,-9.0,89,845,0.12,2.50,0.00,0.000,6,0.060,0.031,3152,1650,3401,0,0,0,0,0,0
$GC,1169,-0.58,-126.5,109.0,-9.3,119,1174,0.20,2.40,0.00,0.000,4,0.087,0.041,3195,170,3401,0,0,0,0,0,0
$GC,1189,-0.69,-126.5,111.4,-9.2,120,1199,0.08,2.28,0.00,0.000,6,0.033,0.018,3131,1671,3401,0,0,0,0,0,0
$GC,1517,-0.69,-126.5,144.7,-10.1,151,1522,0.17,2.40,0.00,0.000,4,0.092,0.023,3170,3206,3402,0,0,0,0,0,0
$GC,1538,-0.79,-126.5,147.1,-9.5,152,1547,0.08,2.50,0.00,0.000,6,0.033,0.026,3096,1663,3402,0,0,0,0,0,0
$GC,1862,-0.70,-126.5,184.2,-11.1,183,1867,0.28,2.42,0.00,0.000,4,0.084,0.041,3163,166,3402,0,0,0,0,0,0
$GC,1912,-0.86,-126.5,188.4,-8.7,187,1917,0.12,2.25,0.00,0.000,6,0.061,0.017,3092,1652,3403,0,0,0,0,0,0
$GC,2242,-0.80,-126.5,218.8,-8.8,203,2244,0.25,0.00,0.00,0.000,6,0.082,0.000,3147,1656,3403,0,0,0,0,0,0
$GC,2564,-0.92,-126.5,244.4,-8.0,211,2569,0.12,2.45,0.00,0.000,4,0.062,0.044,3079,170,3403,0,0,0,0,0,0
$GC,2590,-0.86,-126.5,247.1,-11.6,211,2595,0.22,2.28,0.00,0.000,6,0.088,0.018,3132,1656,3403,0,0,0,0,0,0
$GC,2932,-0.95,-126.5,277.2,-8.8,220,2937,0.00,2.45,0.00,0.000,4,0.000,0.026,3132,3220,3403,0,0,0,0,0,0
$GC,2947,-1.05,-126.5,278.9,-9.5,220,2952,0.17,2.50,0.00,0.000,6,0.047,0.027,3041,1654,3403,0,0,0,0,0,0
$GC,3300,-0.86,-126.5,323.3,-12.0,229,3305,0.40,2.45,0.00,0.000,4,0.082,0.044,3128,167,3403,0,0,0,0,0,0
$GC,3316,-0.75,-126.5,325.3,-11.0,229,3321,0.12,2.28,0.00,0.000,6,0.100,0.020,3157,1649,3403,0,0,0,0,0,0
$GC,3668,-0.95,-126.5,345.5,-5.9,238,3674,0.17,2.55,0.00,0.000,4,0.047,0.029,3071,3230,3401,0,0,0,0,0,0
$GC,3693,-0.95,-126.5,347.8,-9.0,238,3698,0.17,2.55,0.00,0.000,6,0.086,0.031,3112,1650,3402,0,0,0,0,0,0
$GC,4035,-1.02,-126.5,375.7,-8.0,247,4039,0.00,2.45,0.00,0.000,4,0.000,0.054,3112,174,3400,0,0,0,0,0,0
$GC,4061,-1.02,-126.5,378.0,-9.0,247,4065,0.00,2.30,0.00,0.000,6,0.000,0.021,3112,1654,3400,0,0,0,0,0,0
$GC,4402,-1.10,-126.5,403.4,-7.6,256,4407,0.15,2.55,0.00,0.000,4,0.054,0.034,3041,3232,3397,0,0,0,0,0,0
$GC,4433,-1.03,-126.5,406.6,-11.2,256,4440,0.25,2.58,0.00,0.000,6,0.082,0.035,3098,1660,3397,0,0,0,0,0,0
$GC,4771,-1.03,-126.5,441.1,-10.0,265,4775,0.00,2.55,0.00,0.000,4,0.000,0.064,3098,168,3395,0,0,0,0,0,0
$GC,4804,-1.03,-126.5,444.6,-11.5,265,4808,0.00,2.33,0.00,0.000,6,0.000,0.026,3098,1649,3395,0,0,0,0,0,0
$GC,5137,-1.03,-126.5,473.2,-8.0,273,5141,0.00,2.53,0.00,0.000,4,0.000,0.064,3098,174,3392,0,0,0,0,0,0
$GC,5161,-1.03,-126.5,475.4,-9.1,273,5165,0.00,2.35,0.00,0.000,6,0.000,0.029,3098,1644,3393,0,0,0,0,0,0
$GC,5508,-1.03,-126.5,502.0,-7.8,282,5512,0.00,2.62,0.00,0.000,4,0.000,0.041,3098,3236,3390,0,0,0,0,0,0
$GC,5534,-1.11,-126.5,504.1,-8.7,282,5539,0.00,2.62,0.00,0.000,6,0.000,0.038,3098,1654,3389,0,0,0,0,0,0
$GC,5876,-1.17,-126.5,532.2,-8.2,291,5881,0.15,2.60,0.00,0.000,4,0.054,0.073,3027,161,3387,0,0,0,0,0,0
$GC,5922,-0.98,-126.5,537.6,-13.4,292,5927,0.35,2.40,0.00,0.000,6,0.087,0.033,3103,1642,3386,0,0,0,0,0,0
$GC,6254,-1.07,-126.5,567.0,-8.7,300,6259,0.00,2.62,0.00,0.000,4,0.000,0.045,3103,3241,3384,0,0,0,0,0,0
$GC,6279,-1.18,-126.5,569.7,-9.8,300,6286,0.17,2.65,0.00,0.000,6,0.048,0.042,3018,1643,3385,0,0,0,0,0,0
$GC,6624,-1.01,-126.5,611.3,-12.0,309,6632,0.32,2.55,0.00,0.000,4,0.087,0.075,3095,173,3383,0,0,0,0,0,0
$GC,6655,-1.01,-126.5,614.9,-10.2,309,6660,0.00,2.38,0.00,0.000,6,0.000,0.037,3095,1644,3383,0,0,0,0,0,0
$GC,6994,-1.08,-126.5,641.3,-7.6,318,6998,0.00,2.70,0.00,0.000,4,0.000,0.054,3095,3245,3381,0,0,0,0,0,0
$GC,7018,-1.18,-126.5,643.4,-8.2,318,7025,0.15,2.70,0.00,0.000,6,0.054,0.046,3026,1640,3380,0,0,0,0,0,0
$GC,7362,-1.06,-126.5,679.0,-10.8,327,7367,0.25,2.58,0.00,0.000,4,0.091,0.077,3086,168,3377,0,0,0,0,0,0
$GC,7392,-1.06,-126.5,682.1,-10.3,327,7397,0.00,2.42,0.00,0.000,6,0.000,0.038,3086,1646,3378,0,0,0,0,0,0
$GC,7729,-1.06,-126.5,708.1,-7.4,336,7733,0.00,2.60,0.00,0.000,4,0.000,0.075,3085,167,3376,0,0,0,0,0,0
$GC,7762,-1.06,-126.5,710.9,-7.8,336,7766,0.00,2.42,0.00,0.000,6,0.000,0.038,3085,1645,3375,0,0,0,0,0,0
$GC,8095,-1.12,-126.5,734.3,-7.0,344,8100,0.00,2.60,0.00,0.000,4,0.000,0.075,3085,170,3374,0,0,0,0,0,0
$GC,8126,-1.12,-126.5,736.9,-7.8,344,8130,0.00,2.42,0.00,0.000,6,0.000,0.038,3085,1645,3374,0,0,0,0,0,0
$STATE,8337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8337,begin apogee
$GC,8343,-0.31,0.0,752.0,7.0,350,8450,0.73,0.00,103.88,1.045,6,0.073,0.000,3251,1308,2880,0,0,0,0,0,0
$STATE,8451,end apogee,CONTROL_FINISHED_OK
$STATE,8451,begin climb
$GC,8456,1.34,126.5,754.1,0.0,352,8579,1.52,2.08,111.78,1.022,4,0.048,0.081,3611,167,2363,0,0,0,0,0,0
$GC,8721,1.10,126.5,731.3,13.1,358,8725,0.25,1.90,0.00,0.000,6,0.098,0.031,3559,1324,2357,0,0,0,0,0,0
$GC,9049,1.11,142.0,701.0,9.2,366,9069,0.00,2.10,13.38,0.908,4,0.000,0.071,3559,166,2299,0,0,0,0,0,0
$GC,9150,1.11,142.0,690.2,11.2,368,9154,0.00,1.85,0.00,0.000,6,0.000,0.030,3558,1312,2297,0,0,0,0,0,0
$GC,9472,1.13,151.9,659.0,9.5,376,9489,0.00,2.75,9.55,0.849,4,0.000,0.049,3559,2889,2259,0,0,0,0,0,0
$GC,9524,1.22,157.1,654.4,9.7,377,9537,0.12,2.72,6.12,0.751,6,0.064,0.049,3608,1316,2239,0,0,0,0,0,0
$GC,9855,1.13,162.3,620.3,9.7,385,9868,0.20,2.10,5.78,0.728,4,0.096,0.081,3565,167,2217,0,0,0,0,0,0
$GC,9985,1.18,207.4,609.6,7.6,387,10036,0.00,1.85,43.10,0.938,6,0.000,0.029,3565,1313,2034,0,0,0,0,0,0
$GC,10361,1.29,240.2,579.8,8.3,397,10399,0.15,2.75,31.17,0.907,4,0.058,0.051,3620,2887,1899,0,0,0,0,0,0
$GC,10429,1.29,240.2,572.1,12.3,397,10434,0.00,2.75,0.00,0.000,6,0.000,0.050,3620,1300,1896,0,0,0,0,0,0
$GC,10772,1.22,240.2,524.2,14.6,406,10774,0.15,0.00,0.00,0.000,6,0.104,0.000,3587,1300,1892,0,0,0,0,0,0
$GC,11095,1.22,240.2,479.9,13.8,414,11099,0.00,2.65,0.00,0.000,4,0.000,0.038,3587,2889,1891,0,0,0,0,0,0
$GC,11118,1.29,240.2,476.5,12.8,414,11123,0.00,2.67,0.00,0.000,6,0.000,0.044,3587,1303,1890,0,0,0,0,0,0
$GC,11461,1.29,240.2,433.6,12.0,423,11465,0.00,1.98,0.00,0.000,4,0.000,0.068,3587,163,1890,0,0,0,0,0,0
$GC,11481,1.29,240.2,431.3,10.6,423,11484,0.00,1.83,0.00,0.000,6,0.000,0.025,3587,1321,1890,0,0,0,0,0,0
$GC,11794,1.31,258.6,400.8,9.0,431,11818,0.00,2.60,16.35,0.775,4,0.000,0.035,3586,2879,1824,0,0,0,0,0,0
$GC,11840,1.46,301.6,396.9,7.7,432,11889,0.20,2.67,40.38,0.798,6,0.046,0.043,3672,1308,1650,0,0,0,0,0,0
$GC,12214,1.33,301.6,344.7,14.0,441,12218,0.25,1.95,0.00,0.000,4,0.090,0.061,3613,162,1644,0,0,0,0,0,0
$GC,12238,1.33,301.6,341.1,11.4,441,12242,0.00,1.83,0.00,0.000,6,0.000,0.024,3613,1313,1644,0,0,0,0,0,0
$GC,12586,1.33,301.6,303.0,11.7,450,12590,0.00,2.53,0.00,0.000,4,0.000,0.032,3613,2869,1642,0,0,0,0,0,0
$GC,12627,1.46,301.6,297.5,12.3,450,12633,0.10,2.62,0.00,0.000,6,0.075,0.041,3663,1305,1639,0,0,0,0,0,0
$GC,12959,1.39,301.6,243.3,15.8,459,12963,0.20,1.95,0.00,0.000,4,0.091,0.058,3619,158,1639,0,0,0,0,0,0
$GC,13015,1.39,301.6,236.5,11.6,460,13018,0.00,1.77,0.00,0.000,6,0.000,0.021,3619,1310,1639,0,0,0,0,0,0
$GC,13335,1.49,313.5,205.7,9.4,468,13351,0.10,2.55,10.18,0.584,4,0.078,0.029,3668,2864,1601,0,0,0,0,0,0
$GC,13366,1.49,313.5,201.7,11.3,468,13371,0.12,2.62,0.00,0.000,6,0.102,0.037,3640,1288,1599,0,0,0,0,0,0
$GC,13698,1.49,313.5,160.1,11.4,496,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,1288,1598,0,0,0,0,0,0
$GC,14028,1.49,313.5,118.1,13.9,527,14032,0.00,2.53,0.00,0.000,4,0.000,0.028,3640,2868,1598,0,0,0,0,0,0
$GC,14058,1.55,313.5,113.8,13.3,529,14063,0.00,2.58,0.00,0.000,6,0.000,0.035,3640,1289,1597,0,0,0,0,0,0
$GC,14386,1.55,313.5,74.5,10.0,559,14394,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,1288,1597,0,0,0,0,0,0
$GC,14720,1.69,340.0,44.4,8.6,590,14758,0.20,2.58,24.40,0.476,4,0.044,0.025,3723,2871,1491,0,0,0,0,0,0
$GC,14784,1.69,340.0,37.1,10.6,595,14790,0.15,2.60,0.00,0.000,6,0.094,0.034,3688,1294,1489,0,0,0,0,0,0
$STATE,15040,end climb,SURFACE_DEPTH_REACHED
$STATE,15040,begin surface coast
$FINISH,0.8,1.005764
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15079,begin surface
$SM_CCo,15103,7.45,0.386,0,0,1453,350.04
$SM_GC,1.59,0.00,0.00,7.45,0.000,0.000,0.386,413,1678,1453,-13.37,0.51,350.04
$IRIDIUM_FIX,2248.70,-15803.66,291101,020241
$TT8_MAMPS,0.027612
$HUMID,70.12
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.70
$XPDR_PINGS,3
$24V_AH,23.1,75.458
$10V_AH,9.8,62.255
$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,37.475,170.750,416.050,7.450,0.000,58.030,78.379,386.438,0.750,0.000,33.728,1357.359,10769.890,480.219,2322.007,950.105,33.377,1453.942,0.000,2304.142,0.000,1.140,0.000
$DEVICE_MAMPS,148.031,81.302,1045.421,385.801,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,431.654,355.068,432.017,646.394,1135.651,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,47852,637
$CAP_FILE_SIZE,156471,0
$CFSIZE,260165632,143446016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040912,064450,2256.837,-15804.401,41,2.2,60,10.1