version: 66.06
glider: 148
mission: 11
dive: 578
start: 9 4 112 7 3 49
data:
$ID,148
$MISSION,11
$DIVE,578
$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,-930688.94
$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,72
$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
$GPS1,064450,2256.837,-15804.401,41,2.2,60,10.1
$_CALLS,3
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-74.8
$GPS2,070255,2256.914,-15804.637,15,2.0,30,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,-0.183
$KALMAN_X,-579508.7,-136.4,-586.4,571910.4,-1385.1
$KALMAN_Y,65482.0,-10.8,-58.4,-48916.7,393.8
$MHEAD_RNG_PITCHd_Wd,128.8,19994,-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,-67.60,0.000,2,0.000,0.000,413,1679,3235,0,0,0,0,0,0
$GC,89,-1.34,-126.5,4.0,-6.7,9,113,13.62,0.00,-2.85,0.000,6,0.150,0.000,3023,1680,3397,0,0,0,0,0,0
$GC,445,-0.94,-126.5,84.2,-18.4,47,454,0.38,2.47,0.00,0.000,4,0.097,0.041,3108,158,3400,0,0,0,0,0,0
$GC,460,-0.61,-126.5,87.7,-17.9,48,469,0.32,2.30,0.00,0.000,6,0.078,0.017,3185,1672,3400,0,0,0,0,0,0
$GC,789,-0.76,-126.5,117.4,-9.3,79,794,0.12,2.50,0.00,0.000,4,0.060,0.042,3112,158,3400,0,0,0,0,0,0
$GC,806,-0.76,-126.5,119.4,-9.5,80,810,0.20,2.28,0.00,0.000,6,0.093,0.017,3156,1666,3400,0,0,0,0,0,0
$GC,1131,-0.82,-126.5,152.6,-8.8,110,1135,0.00,2.40,0.00,0.000,4,0.000,0.022,3156,3210,3401,0,0,0,0,0,0
$GC,1161,-0.98,-126.5,154.9,-7.3,112,1167,0.20,2.50,0.00,0.000,6,0.040,0.026,3057,1656,3401,0,0,0,0,0,0
$GC,1486,-0.76,-126.5,190.8,-12.5,143,1491,0.40,2.40,0.00,0.000,4,0.085,0.038,3151,170,3401,0,0,0,0,0,0
$GC,1503,-0.62,-126.5,192.9,-13.0,144,1507,0.15,2.25,0.00,0.000,6,0.097,0.018,3185,1668,3401,0,0,0,0,0,0
$GC,1847,-0.82,-126.5,218.8,-7.1,159,1852,0.17,2.45,0.00,0.000,4,0.045,0.023,3093,3217,3401,0,0,0,0,0,0
$GC,1876,-0.82,-126.5,221.8,-9.2,159,1881,0.20,2.50,0.00,0.000,6,0.083,0.026,3139,1663,3401,0,0,0,0,0,0
$GC,2215,-0.91,-126.5,252.0,-9.0,168,2220,0.00,2.42,0.00,0.000,4,0.000,0.023,3139,3209,3401,0,0,0,0,0,0
$GC,2249,-1.10,-126.5,254.8,-7.2,168,2254,0.25,2.47,0.00,0.000,6,0.036,0.027,3033,1672,3401,0,0,0,0,0,0
$GC,2582,-0.88,-126.5,296.2,-13.2,176,2587,0.40,2.45,0.00,0.000,4,0.083,0.041,3124,164,3401,0,0,0,0,0,0
$GC,2658,-0.99,-126.5,304.8,-10.0,177,2662,0.00,2.28,0.00,0.000,6,0.000,0.019,3124,1658,3401,0,0,0,0,0,0
$GC,2995,-1.07,-126.5,329.7,-6.9,186,2996,0.15,0.00,0.00,0.000,6,0.054,0.000,3052,1660,3401,0,0,0,0,0,0
$GC,3321,-0.96,-126.5,364.9,-11.1,194,3323,0.25,0.00,0.00,0.000,6,0.085,0.000,3109,1661,3400,0,0,0,0,0,0
$GC,3644,-1.02,-126.5,391.7,-7.8,202,3649,0.00,2.50,0.00,0.000,4,0.000,0.053,3109,172,3398,0,0,0,0,0,0
$GC,3673,-1.02,-126.5,394.3,-8.9,202,3677,0.00,2.33,0.00,0.000,6,0.000,0.022,3109,1650,3398,0,0,0,0,0,0
$GC,4011,-1.09,-126.5,422.3,-8.5,211,4016,0.12,2.58,0.00,0.000,4,0.062,0.034,3043,3238,3396,0,0,0,0,0,0
$GC,4045,-1.03,-126.5,426.3,-12.1,211,4050,0.22,2.58,0.00,0.000,6,0.082,0.035,3096,1673,3396,0,0,0,0,0,0
$GC,4378,-1.03,-126.5,454.9,-8.1,219,4382,0.00,2.55,0.00,0.000,4,0.000,0.064,3096,172,3393,0,0,0,0,0,0
$GC,4411,-1.03,-126.5,458.2,-8.9,219,4415,0.00,2.38,0.00,0.000,6,0.000,0.028,3096,1657,3393,0,0,0,0,0,0
$GC,4743,-1.03,-126.5,487.6,-9.0,227,4747,0.00,2.55,0.00,0.000,4,0.000,0.065,3096,170,3390,0,0,0,0,0,0
$GC,4772,-1.03,-126.5,490.6,-11.4,227,4777,0.00,2.40,0.00,0.000,6,0.000,0.031,3095,1654,3390,0,0,0,0,0,0
$GC,5109,-1.03,-126.5,522.5,-9.4,236,5113,0.00,2.60,0.00,0.000,4,0.000,0.042,3096,3240,3388,0,0,0,0,0,0
$GC,5128,-1.09,-126.5,524.5,-10.1,236,5132,0.00,2.62,0.00,0.000,6,0.000,0.040,3096,1658,3388,0,0,0,0,0,0
$GC,5475,-1.09,-126.5,554.0,-8.1,245,5479,0.00,2.58,0.00,0.000,4,0.000,0.072,3095,166,3385,0,0,0,0,0,0
$GC,5504,-1.09,-126.5,556.7,-8.6,245,5508,0.00,2.42,0.00,0.000,6,0.000,0.033,3096,1658,3385,0,0,0,0,0,0
$GC,5841,-1.15,-126.5,580.9,-7.1,254,5842,0.12,0.00,0.00,0.000,6,0.063,0.000,3036,1658,3383,0,0,0,0,0,0
$GC,6167,-1.03,-126.5,611.0,-9.3,262,6172,0.25,2.60,0.00,0.000,4,0.087,0.068,3097,165,3380,0,0,0,0,0,0
$GC,6192,-1.03,-126.5,613.5,-8.5,262,6196,0.00,2.40,0.00,0.000,6,0.000,0.034,3096,1650,3381,0,0,0,0,0,0
$GC,6535,-1.10,-126.5,632.5,-5.4,271,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1650,3378,0,0,0,0,0,0
$GC,6858,-1.18,-126.5,651.4,-6.1,279,6863,0.15,2.60,0.00,0.000,4,0.057,0.074,3031,169,3376,0,0,0,0,0,0
$GC,6897,-1.01,-126.5,655.0,-9.4,279,6903,0.30,2.42,0.00,0.000,6,0.093,0.037,3097,1649,3376,0,0,0,0,0,0
$GC,7231,-1.09,-126.5,679.8,-7.7,288,7235,0.00,2.72,0.00,0.000,4,0.000,0.058,3097,3244,3374,0,0,0,0,0,0
$GC,7255,-1.21,-126.5,682.1,-10.2,288,7262,0.17,2.70,0.00,0.000,6,0.046,0.047,3002,1652,3374,0,0,0,0,0,0
$GC,7598,-1.00,-126.5,726.1,-13.1,297,7605,0.40,2.60,0.00,0.000,4,0.090,0.078,3094,169,3372,0,0,0,0,0,0
$GC,7650,-1.07,-126.5,731.7,-9.6,298,7655,0.00,2.42,0.00,0.000,6,0.000,0.038,3094,1648,3371,0,0,0,0,0,0
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7896,-0.31,0.0,751.6,8.0,304,8002,0.68,0.00,103.28,1.046,6,0.073,0.000,3250,1302,2880,0,0,0,0,0,0
$STATE,8003,end apogee,CONTROL_FINISHED_OK
$STATE,8003,begin climb
$GC,8008,1.34,126.5,754.7,0.0,306,8131,1.52,2.08,112.22,1.022,4,0.051,0.081,3607,165,2363,0,0,0,0,0,0
$GC,8241,1.11,126.5,739.8,11.0,311,8246,0.22,1.88,0.00,0.000,6,0.106,0.032,3561,1315,2357,0,0,0,0,0,0
$GC,8555,1.18,184.2,717.9,6.9,319,8612,0.00,2.10,51.53,0.990,4,0.000,0.074,3560,166,2128,0,0,0,0,0,0
$GC,8650,1.18,184.2,709.3,10.6,321,8654,0.00,1.90,0.00,0.000,6,0.000,0.032,3560,1304,2126,0,0,0,0,0,0
$GC,8973,1.18,184.2,675.6,10.9,329,8977,0.00,2.70,0.00,0.000,4,0.000,0.053,3560,2889,2120,0,0,0,0,0,0
$GC,9003,1.27,184.2,672.4,10.8,329,9010,0.15,2.72,0.00,0.000,6,0.055,0.050,3624,1310,2118,0,0,0,0,0,0
$GC,9342,1.15,184.2,628.0,12.8,338,9347,0.25,2.03,0.00,0.000,4,0.094,0.081,3566,164,2117,0,0,0,0,0,0
$GC,9457,1.15,184.2,615.4,11.3,340,9461,0.00,1.85,0.00,0.000,6,0.000,0.029,3567,1309,2117,0,0,0,0,0,0
$GC,9807,1.18,206.7,584.0,8.8,349,9831,0.00,2.70,19.45,0.890,4,0.000,0.048,3567,2882,2037,0,0,0,0,0,0
$GC,9842,1.27,227.8,581.0,8.9,349,9871,0.12,2.72,21.50,0.886,6,0.064,0.047,3617,1302,1951,0,0,0,0,0,0
$GC,10218,1.21,227.8,532.8,13.9,359,10222,0.15,2.00,0.00,0.000,4,0.103,0.074,3584,166,1945,0,0,0,0,0,0
$GC,10274,1.21,227.8,524.2,15.3,360,10277,0.00,1.83,0.00,0.000,6,0.000,0.026,3584,1313,1945,0,0,0,0,0,0
$GC,10592,1.21,227.8,484.9,11.8,368,10596,0.00,2.60,0.00,0.000,4,0.000,0.041,3583,2878,1943,0,0,0,0,0,0
$GC,10639,1.33,227.8,479.6,10.4,369,10644,0.12,2.65,0.00,0.000,6,0.064,0.044,3643,1301,1940,0,0,0,0,0,0
$GC,10965,1.22,227.8,439.3,12.2,377,10969,0.25,1.98,0.00,0.000,4,0.093,0.066,3584,160,1940,0,0,0,0,0,0
$GC,11044,1.22,227.8,429.8,11.0,378,11048,0.00,1.80,0.00,0.000,6,0.000,0.025,3584,1306,1940,0,0,0,0,0,0
$GC,11386,1.23,240.7,398.0,9.3,387,11403,0.00,2.60,11.65,0.741,4,0.000,0.035,3584,2872,1898,0,0,0,0,0,0
$GC,11431,1.37,240.7,393.3,10.8,388,11437,0.15,2.67,0.00,0.000,6,0.056,0.043,3640,1300,1895,0,0,0,0,0,0
$GC,11757,1.30,240.7,352.7,12.7,396,11762,0.17,1.98,0.00,0.000,4,0.098,0.064,3603,160,1894,0,0,0,0,0,0
$GC,11823,1.30,240.7,344.6,12.1,397,11826,0.00,1.80,0.00,0.000,6,0.000,0.024,3603,1313,1894,0,0,0,0,0,0
$GC,12136,1.30,240.7,311.0,10.4,405,12137,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1316,1893,0,0,0,0,0,0
$GC,12463,1.37,243.7,278.7,9.8,413,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,1317,1893,0,0,0,0,0,0
$GC,12786,1.47,270.5,250.2,8.6,421,12820,0.15,2.60,26.88,0.672,4,0.058,0.030,3662,2870,1776,0,0,0,0,0,0
$GC,12882,1.47,270.5,239.1,11.2,423,12888,0.10,2.62,0.00,0.000,6,0.114,0.038,3640,1305,1772,0,0,0,0,0,0
$GC,13206,1.47,270.5,202.3,11.0,431,13210,0.00,1.92,0.00,0.000,4,0.000,0.055,3640,160,1772,0,0,0,0,0,0
$GC,13224,1.47,270.5,200.0,11.7,431,13228,0.00,1.80,0.00,0.000,6,0.000,0.021,3639,1346,1771,0,0,0,0,0,0
$GC,13554,1.47,270.5,161.0,12.8,460,13558,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1349,1771,0,0,0,0,0,0
$GC,13884,1.47,270.5,122.1,10.5,491,13887,0.00,1.95,0.00,0.000,4,0.000,0.049,3639,165,1771,0,0,0,0,0,0
$GC,13939,1.47,270.5,114.7,12.6,496,13948,0.00,1.75,0.00,0.000,6,0.000,0.021,3640,1312,1771,0,0,0,0,0,0
$GC,14267,1.52,313.9,86.0,7.7,527,14311,0.00,1.95,39.12,0.520,4,0.000,0.057,3640,164,1599,0,0,0,0,0,0
$GC,14356,1.52,313.9,77.1,11.6,535,14365,0.00,1.73,0.00,0.000,6,0.000,0.019,3640,1293,1598,0,0,0,0,0,0
$GC,14686,1.62,318.1,41.5,9.8,566,14700,0.15,2.50,4.75,0.357,4,0.054,0.026,3714,2843,1582,0,0,0,0,0,0
$GC,14780,1.62,318.1,31.6,12.2,574,14785,0.17,2.55,0.00,0.000,6,0.095,0.035,3675,1296,1579,0,0,0,0,0,0
$STATE,14999,end climb,SURFACE_DEPTH_REACHED
$STATE,15000,begin surface coast
$FINISH,1.0,1.023431
$STATE,15038,end surface coast,CONTROL_FINISHED_OK
$STATE,15038,begin surface
$SM_CCo,15062,21.02,0.430,0,0,1452,350.04
$SM_GC,2.01,0.00,0.00,21.02,0.000,0.000,0.430,411,1671,1452,-13.39,0.31,350.04
$IRIDIUM_FIX,2248.70,-15805.83,291101,070753
$TT8_MAMPS,0.027612
$HUMID,69.25
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,9
$24V_AH,23.2,75.605
$10V_AH,9.7,62.375
$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,36.100,151.275,390.375,21.025,0.000,83.080,130.426,552.231,2.250,0.000,31.731,1301.610,11043.033,456.689,2177.654,1181.725,33.380,1395.044,0.000,2153.567,0.000,1.441,0.000
$DEVICE_MAMPS,150.332,80.535,1046.188,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,415.034,321.167,401.378,545.008,957.528,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,47752,613
$CAP_FILE_SIZE,155221,0
$CFSIZE,260165632,143376384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040912,111636,2255.208,-15804.378,40,1.4,40,10.1