version: 66.06
glider: 148
mission: 11
dive: 580
start: 9 4 112 16 42 36
data:
$ID,148
$MISSION,11
$DIVE,580
$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,581.11566
$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,-930739.75
$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,97
$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
$GPS1,155805,2254.253,-15804.329,38,1.4,42,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-75.4
$GPS2,164142,2254.325,-15805.200,11,1.6,28,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.157
$KALMAN_X,-586081.2,-585.0,-415.6,577810.6,-1648.0
$KALMAN_Y,64558.1,-4.6,-386.4,-52464.7,600.0
$MHEAD_RNG_PITCHd_Wd,120.0,16213,-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,17,-1.34,-126.5,0.0,0.0,0,86,0.00,0.00,-66.18,0.000,2,0.000,0.000,408,1691,3218,0,0,0,0,0,0
$GC,89,-1.34,-126.5,4.0,-7.0,9,114,13.60,2.38,-3.17,0.000,4,0.149,0.032,3023,3194,3397,0,0,0,0,0,0
$GC,138,-0.45,-126.5,21.0,-32.7,15,147,0.88,2.50,0.00,0.000,6,0.084,0.028,3219,1654,3397,0,0,0,0,0,0
$GC,483,-0.58,-126.5,54.8,-9.8,51,488,0.12,2.42,0.00,0.000,4,0.061,0.023,3151,3202,3398,0,0,0,0,0,0
$GC,506,-0.64,-126.5,57.3,-11.2,52,511,0.12,2.42,0.00,0.000,6,0.102,0.025,3179,1661,3398,0,0,0,0,0,0
$GC,832,-0.76,-126.5,91.1,-8.6,82,834,0.10,0.00,0.00,0.000,6,0.074,0.000,3120,1661,3399,0,0,0,0,0,0
$GC,1153,-0.76,-126.5,124.4,-10.1,112,1158,0.15,2.40,0.00,0.000,4,0.097,0.042,3154,173,3399,0,0,0,0,0,0
$GC,1172,-0.76,-126.5,126.3,-10.0,113,1177,0.00,2.22,0.00,0.000,6,0.000,0.017,3153,1663,3399,0,0,0,0,0,0
$GC,1502,-0.82,-126.5,154.9,-8.1,144,1506,0.00,2.40,0.00,0.000,4,0.000,0.023,3153,3209,3399,0,0,0,0,0,0
$GC,1532,-0.95,-126.5,157.3,-7.1,146,1539,0.17,2.45,0.00,0.000,6,0.047,0.026,3058,1657,3399,0,0,0,0,0,0
$GC,1857,-0.75,-126.5,195.0,-12.5,177,1862,0.40,2.38,0.00,0.000,4,0.085,0.039,3151,170,3399,0,0,0,0,0,0
$GC,1907,-0.86,-126.5,199.4,-8.4,181,1911,0.00,2.20,0.00,0.000,6,0.000,0.018,3151,1652,3399,0,0,0,0,0,0
$GC,2241,-0.96,-126.5,226.6,-7.8,189,2245,0.17,2.45,0.00,0.000,4,0.048,0.023,3068,3216,3399,0,0,0,0,0,0
$GC,2260,-0.96,-126.5,228.8,-9.6,189,2265,0.17,2.45,0.00,0.000,6,0.090,0.026,3109,1661,3399,0,0,0,0,0,0
$GC,2608,-0.96,-126.5,263.3,-9.8,198,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1661,3399,0,0,0,0,0,0
$GC,2932,-0.96,-126.5,291.6,-8.5,206,2936,0.00,2.45,0.00,0.000,4,0.000,0.026,3109,3211,3398,0,0,0,0,0,0
$GC,2969,-1.08,-126.5,295.1,-8.0,206,2976,0.10,2.47,0.00,0.000,6,0.075,0.028,3031,1667,3398,0,0,0,0,0,0
$GC,3303,-0.88,-126.5,335.3,-12.5,215,3308,0.40,2.45,0.00,0.000,4,0.085,0.046,3123,166,3396,0,0,0,0,0,0
$GC,3351,-1.02,-126.5,340.9,-9.8,216,3356,0.12,2.25,0.00,0.000,6,0.061,0.020,3055,1643,3396,0,0,0,0,0,0
$GC,3675,-0.90,-126.5,378.0,-11.4,224,3677,0.30,0.00,0.00,0.000,6,0.085,0.000,3121,1646,3395,0,0,0,0,0,0
$GC,4002,-1.00,-126.5,405.3,-8.1,232,4006,0.00,2.50,0.00,0.000,4,0.000,0.038,3121,3223,3393,0,0,0,0,0,0
$GC,4026,-1.13,-126.5,407.1,-6.9,232,4031,0.20,2.50,0.00,0.000,6,0.042,0.034,3031,1673,3393,0,0,0,0,0,0
$GC,4368,-0.97,-126.5,441.6,-9.7,241,4375,0.32,2.55,0.00,0.000,4,0.087,0.064,3108,167,3390,0,0,0,0,0,0
$GC,4434,-1.05,-126.5,446.3,-6.9,242,4438,0.00,2.33,0.00,0.000,6,0.000,0.025,3108,1646,3389,0,0,0,0,0,0
$GC,4786,-1.12,-126.5,469.8,-7.5,251,4788,0.12,0.00,0.00,0.000,6,0.063,0.000,3044,1646,3387,0,0,0,0,0,0
$GC,5109,-1.01,-126.5,505.0,-11.3,259,5114,0.25,2.55,0.00,0.000,4,0.087,0.065,3104,166,3384,0,0,0,0,0,0
$GC,5129,-1.01,-126.5,507.2,-10.4,259,5133,0.00,2.40,0.00,0.000,6,0.000,0.038,3104,1654,3384,0,0,0,0,0,0
$GC,5476,-1.08,-126.5,537.7,-8.9,268,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1655,3381,0,0,0,0,0,0
$GC,5799,-1.16,-126.5,569.1,-9.7,276,5805,0.15,2.60,0.00,0.000,4,0.057,0.071,3042,169,3378,0,0,0,0,0,0
$GC,5820,-1.10,-126.5,571.6,-11.9,276,5825,0.17,2.40,0.00,0.000,6,0.100,0.035,3079,1660,3378,0,0,0,0,0,0
$GC,6167,-1.10,-126.5,604.5,-8.9,285,6172,0.00,2.62,0.00,0.000,4,0.000,0.071,3079,167,3375,0,0,0,0,0,0
$GC,6200,-1.10,-126.5,608.0,-10.9,285,6205,0.00,2.42,0.00,0.000,6,0.000,0.038,3079,1654,3375,0,0,0,0,0,0
$GC,6532,-1.10,-126.5,633.3,-7.3,293,6536,0.00,2.58,0.00,0.000,4,0.000,0.074,3079,171,3373,0,0,0,0,0,0
$GC,6571,-1.10,-126.5,636.5,-7.7,293,6577,0.00,2.42,0.00,0.000,6,0.000,0.038,3079,1653,3372,0,0,0,0,0,0
$GC,6902,-1.10,-126.5,659.1,-6.8,302,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1653,3370,0,0,0,0,0,0
$GC,7228,-1.10,-126.5,680.8,-6.8,310,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1653,3368,0,0,0,0,0,0
$GC,7554,-1.10,-126.5,702.5,-6.6,318,7559,0.00,2.58,0.00,0.000,4,0.000,0.075,3079,174,3366,0,0,0,0,0,0
$GC,7598,-1.10,-126.5,705.8,-7.5,319,7602,0.00,2.42,0.00,0.000,6,0.000,0.039,3079,1649,3366,0,0,0,0,0,0
$GC,7926,-1.10,-126.5,729.3,-7.4,327,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1649,3364,0,0,0,0,0,0
$STATE,8207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8215,-0.31,0.0,750.6,7.4,334,8320,0.75,0.00,101.62,1.045,6,0.074,0.000,3250,1302,2880,0,0,0,0,0,0
$STATE,8321,end apogee,CONTROL_FINISHED_OK
$STATE,8321,begin climb
$GC,8324,1.34,126.5,752.9,0.0,336,8441,1.52,0.00,112.70,1.022,6,0.053,0.000,3607,1302,2364,0,0,0,0,0,0
$GC,8736,1.23,139.7,722.0,9.3,346,8752,0.00,2.08,11.43,0.889,4,0.000,0.080,3607,176,2310,0,0,0,0,0,0
$GC,8870,1.02,139.7,707.3,10.8,348,8876,0.30,1.85,0.00,0.000,6,0.092,0.030,3543,1319,2307,0,0,0,0,0,0
$GC,9203,1.16,195.9,683.6,7.0,357,9261,0.12,2.10,51.72,0.979,4,0.066,0.073,3592,165,2080,0,0,0,0,0,0
$GC,9358,1.08,195.9,666.4,12.1,360,9362,0.17,1.85,0.00,0.000,6,0.098,0.031,3555,1301,2078,0,0,0,0,0,0
$GC,9708,1.19,224.9,635.6,8.5,369,9738,0.10,0.00,27.30,0.937,6,0.078,0.000,3602,1302,1963,0,0,0,0,0,0
$GC,10033,1.19,224.9,599.5,11.2,377,10037,0.10,2.00,0.00,0.000,4,0.121,0.069,3579,170,1957,0,0,0,0,0,0
$GC,10058,1.19,224.9,596.7,11.5,377,10061,0.00,1.85,0.00,0.000,6,0.000,0.029,3579,1314,1956,0,0,0,0,0,0
$GC,10407,1.19,224.9,560.7,10.1,386,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1315,1955,0,0,0,0,0,0
$GC,10731,1.19,224.9,526.6,10.9,394,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1316,1954,0,0,0,0,0,0
$GC,11058,1.19,224.9,491.1,10.7,402,11063,0.00,2.60,0.00,0.000,4,0.000,0.043,3579,2892,1953,0,0,0,0,0,0
$GC,11092,1.31,224.9,487.6,10.0,402,11097,0.10,2.67,0.00,0.000,6,0.075,0.045,3627,1307,1950,0,0,0,0,0,0
$GC,11423,1.24,224.9,449.1,11.7,410,11425,0.17,0.00,0.00,0.000,6,0.097,0.000,3590,1307,1951,0,0,0,0,0,0
$GC,11749,1.24,224.9,413.0,11.4,418,11753,0.00,1.98,0.00,0.000,4,0.000,0.066,3589,160,1951,0,0,0,0,0,0
$GC,11773,1.24,224.9,409.9,12.6,418,11776,0.00,1.83,0.00,0.000,6,0.000,0.025,3589,1324,1950,0,0,0,0,0,0
$GC,12122,1.25,231.4,372.8,9.7,427,12134,0.00,2.55,5.28,0.601,4,0.000,0.032,3590,2881,1934,0,0,0,0,0,0
$GC,12171,1.42,258.9,368.8,8.5,428,12203,0.17,2.65,26.85,0.772,6,0.050,0.043,3659,1305,1824,0,0,0,0,0,0
$GC,12542,1.31,258.9,323.1,13.8,437,12546,0.25,1.95,0.00,0.000,4,0.089,0.062,3600,158,1820,0,0,0,0,0,0
$GC,12613,1.31,258.9,313.5,12.7,438,12617,0.00,1.80,0.00,0.000,6,0.000,0.024,3600,1313,1820,0,0,0,0,0,0
$GC,12959,1.41,285.2,280.9,8.6,447,12985,0.12,0.00,24.00,0.697,6,0.067,0.000,3651,1316,1717,0,0,0,0,0,0
$GC,13284,1.41,285.2,242.0,12.3,455,13286,0.10,0.00,0.00,0.000,6,0.120,0.000,3628,1316,1712,0,0,0,0,0,0
$GC,13608,1.48,290.6,209.7,9.7,463,13621,0.00,2.55,5.70,0.510,4,0.000,0.028,3628,2872,1694,0,0,0,0,0,0
$GC,13645,1.60,290.6,205.5,11.1,463,13650,0.17,2.62,0.00,0.000,6,0.048,0.038,3697,1297,1693,0,0,0,0,0,0
$GC,13973,1.47,290.6,159.2,14.1,490,13978,0.25,0.00,0.00,0.000,6,0.087,0.000,3638,1297,1693,0,0,0,0,0,0
$GC,14301,1.47,290.6,121.3,11.2,521,14305,0.00,2.50,0.00,0.000,4,0.000,0.027,3638,2876,1692,0,0,0,0,0,0
$GC,14340,1.58,290.6,116.6,10.1,524,14349,0.08,2.62,0.00,0.000,6,0.035,0.036,3689,1297,1690,0,0,0,0,0,0
$GC,14670,1.51,290.6,78.2,13.1,555,14679,0.17,0.00,0.00,0.000,6,0.092,0.000,3649,1296,1690,0,0,0,0,0,0
$GC,14998,1.53,303.6,47.9,9.3,586,15023,0.00,1.90,13.23,0.458,4,0.000,0.048,3649,157,1641,0,0,0,0,0,0
$GC,15030,1.53,303.6,44.4,10.2,588,15039,0.00,1.80,0.00,0.000,6,0.000,0.020,3648,1339,1641,0,0,0,0,0,0
$GC,15391,1.62,325.1,10.4,8.9,635,15415,0.10,0.00,20.42,0.439,6,0.077,0.000,3700,1342,1554,0,0,0,0,0,0
$STATE,15441,end climb,SURFACE_DEPTH_REACHED
$STATE,15441,begin surface coast
$FINISH,0.9,1.023472
$STATE,15481,end surface coast,CONTROL_FINISHED_OK
$STATE,15483,begin surface
$SM_CCo,15507,170.43,0.438,3,0,511,581.12
$SM_GC,1.53,0.00,0.00,170.43,0.000,0.000,0.438,413,1685,511,-13.37,0.74,581.12
$IRIDIUM_FIX,2244.02,-15806.70,291101,161617
$TT8_MAMPS,0.026845
$HUMID,65.19
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,22.20
$XPDR_PINGS,140
$24V_AH,23.2,76.022
$10V_AH,9.7,62.655
$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,36.100,117.925,400.250,170.425,0.000,143.505,205.899,1817.897,35.000,0.000,30.288,1304.760,11621.751,656.778,2141.131,2581.912,33.387,1489.666,0.000,2128.958,0.000,2.051,0.000
$DEVICE_MAMPS,148.798,79.768,1044.654,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,439.147,351.231,431.689,638.615,1122.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356228
$DATA_FILE_SIZE,51259,648
$CAP_FILE_SIZE,164629,0
$CFSIZE,260165632,143208448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040912,210535,2253.459,-15804.785,36,1.6,41,10.1