version: 66.06
glider: 148
mission: 11
dive: 581
start: 9 4 112 21 18 38
data:
$ID,148
$MISSION,11
$DIVE,581
$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,-930756.62
$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,24
$R_STBD_OVSHOOT,103
$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
$GPS1,210535,2253.459,-15804.785,36,1.6,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.5
$GPS2,211743,2253.545,-15804.948,14,1.2,14,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.152
$KALMAN_X,-588843.6,-333.9,-256.6,580581.9,-840.2
$KALMAN_Y,64516.7,119.3,430.9,-54806.7,-597.5
$MHEAD_RNG_PITCHd_Wd,118.6,14776,-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,-126.5,0.0,0.0,0,123,0.00,0.00,-104.47,0.000,2,0.000,0.000,412,1687,3143,0,0,0,0,0,0
$GC,128,-1.34,-126.5,3.6,-5.6,14,152,13.52,0.00,-4.55,0.000,6,0.146,0.000,3024,1687,3397,0,0,0,0,0,0
$GC,491,-0.94,-126.5,82.9,-16.8,53,496,0.38,0.00,0.00,0.000,6,0.097,0.000,3109,1687,3398,0,0,0,0,0,0
$GC,817,-0.85,-126.5,128.1,-12.9,84,819,0.12,0.00,0.00,0.000,6,0.114,0.000,3136,1687,3399,0,0,0,0,0,0
$GC,1140,-0.85,-126.5,159.2,-7.8,114,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1687,3399,0,0,0,0,0,0
$GC,1470,-0.85,-126.5,184.6,-9.0,145,1474,0.00,2.47,0.00,0.000,4,0.000,0.041,3136,158,3399,0,0,0,0,0,0
$GC,1500,-0.85,-126.5,188.0,-10.5,147,1509,0.00,2.25,0.00,0.000,6,0.000,0.018,3136,1626,3399,0,0,0,0,0,0
$GC,1836,-0.85,-126.5,220.7,-9.9,165,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1629,3399,0,0,0,0,0,0
$GC,2162,-0.93,-126.5,251.4,-9.0,173,2165,0.00,2.50,0.00,0.000,4,0.000,0.024,3136,3219,3399,0,0,0,0,0,0
$GC,2196,-1.11,-126.5,254.1,-7.7,173,2202,0.22,2.50,0.00,0.000,6,0.038,0.028,3026,1649,3399,0,0,0,0,0,0
$GC,2534,-0.82,-126.5,298.2,-12.6,182,2541,0.57,2.40,0.00,0.000,4,0.084,0.043,3137,170,3399,0,0,0,0,0,0
$GC,2587,-0.96,-126.5,302.5,-6.6,183,2591,0.10,2.25,0.00,0.000,6,0.073,0.019,3072,1654,3399,0,0,0,0,0,0
$GC,2911,-0.89,-126.5,335.0,-10.7,191,2916,0.25,2.47,0.00,0.000,4,0.084,0.027,3131,3220,3398,0,0,0,0,0,0
$GC,2940,-1.06,-126.5,338.0,-8.9,191,2945,0.17,2.53,0.00,0.000,6,0.044,0.031,3034,1662,3398,0,0,0,0,0,0
$GC,3279,-0.87,-126.5,379.9,-12.8,200,3286,0.43,2.47,0.00,0.000,4,0.083,0.054,3125,172,3396,0,0,0,0,0,0
$GC,3326,-1.02,-126.5,384.8,-8.9,201,3331,0.12,2.30,0.00,0.000,6,0.061,0.022,3056,1647,3397,0,0,0,0,0,0
$GC,3658,-0.92,-126.5,418.4,-9.8,209,3664,0.25,2.55,0.00,0.000,4,0.087,0.033,3116,3235,3394,0,0,0,0,0,0
$GC,3674,-0.92,-126.5,420.3,-9.4,209,3678,0.00,2.55,0.00,0.000,6,0.000,0.038,3116,1655,3394,0,0,0,0,0,0
$GC,4026,-1.00,-126.5,443.3,-7.1,218,4030,0.00,2.53,0.00,0.000,4,0.000,0.064,3116,169,3392,0,0,0,0,0,0
$GC,4050,-1.07,-126.5,445.5,-8.6,218,4055,0.12,2.35,0.00,0.000,6,0.061,0.026,3053,1650,3391,0,0,0,0,0,0
$GC,4392,-0.97,-126.5,481.9,-11.3,227,4397,0.25,2.60,0.00,0.000,4,0.087,0.038,3113,3244,3389,0,0,0,0,0,0
$GC,4413,-0.97,-126.5,484.2,-10.8,227,4418,0.00,2.62,0.00,0.000,6,0.000,0.038,3112,1659,3389,0,0,0,0,0,0
$GC,4759,-1.07,-126.5,510.8,-7.2,236,4761,0.10,0.00,0.00,0.000,6,0.075,0.000,3055,1659,3386,0,0,0,0,0,0
$GC,5084,-1.00,-126.5,542.3,-10.1,244,5086,0.20,0.00,0.00,0.000,6,0.090,0.000,3101,1659,3383,0,0,0,0,0,0
$GC,5411,-1.07,-126.5,571.4,-9.0,252,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,1659,3381,0,0,0,0,0,0
$GC,5734,-1.15,-126.5,598.5,-8.1,260,5736,0.15,0.00,0.00,0.000,6,0.055,0.000,3031,1659,3379,0,0,0,0,0,0
$GC,6059,-1.02,-126.5,632.2,-10.3,268,6064,0.25,2.60,0.00,0.000,4,0.089,0.078,3090,171,3376,0,0,0,0,0,0
$GC,6108,-1.02,-126.5,636.6,-8.3,269,6113,0.00,2.40,0.00,0.000,6,0.000,0.037,3090,1645,3376,0,0,0,0,0,0
$GC,6436,-1.02,-126.5,659.9,-7.0,277,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1645,3374,0,0,0,0,0,0
$GC,6763,-1.08,-126.5,682.1,-7.0,285,6768,0.00,2.58,0.00,0.000,4,0.000,0.074,3090,166,3372,0,0,0,0,0,0
$GC,6792,-1.08,-126.5,684.5,-7.3,285,6796,0.00,2.45,0.00,0.000,6,0.000,0.038,3090,1654,3371,0,0,0,0,0,0
$GC,7129,-1.15,-126.5,709.6,-7.6,294,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1654,3369,0,0,0,0,0,0
$GC,7455,-1.21,-126.5,733.9,-7.4,302,7457,0.15,0.00,0.00,0.000,6,0.055,0.000,3022,1654,3367,0,0,0,0,0,0
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7619,-0.31,0.0,750.6,10.4,306,7725,1.02,0.00,102.38,1.047,6,0.078,0.000,3253,1305,2880,0,0,0,0,0,0
$STATE,7726,end apogee,CONTROL_FINISHED_OK
$STATE,7726,begin climb
$GC,7729,1.34,126.5,753.3,0.0,308,7850,1.52,2.08,113.18,1.023,4,0.050,0.080,3614,172,2363,0,0,0,0,0,0
$GC,7931,1.09,126.5,739.2,11.9,311,7936,0.25,1.88,0.00,0.000,6,0.097,0.031,3560,1316,2357,0,0,0,0,0,0
$GC,8269,1.14,164.9,711.5,8.0,320,8311,0.00,2.12,33.40,0.976,4,0.000,0.074,3560,177,2207,0,0,0,0,0,0
$GC,8340,1.14,164.9,704.8,11.0,321,8343,0.00,1.88,0.00,0.000,6,0.000,0.031,3560,1316,2205,0,0,0,0,0,0
$GC,8686,1.17,187.1,674.2,8.8,330,8709,0.00,0.00,20.88,0.938,6,0.000,0.000,3560,1316,2117,0,0,0,0,0,0
$GC,9010,1.25,196.2,644.1,9.5,338,9026,0.12,2.05,9.07,0.833,4,0.065,0.070,3608,167,2079,0,0,0,0,0,0
$GC,9066,1.11,196.2,637.4,13.4,339,9070,0.20,1.88,0.00,0.000,6,0.096,0.031,3563,1315,2078,0,0,0,0,0,0
$GC,9385,1.19,209.6,606.3,9.3,347,9405,0.00,2.03,13.20,0.870,4,0.000,0.068,3563,175,2024,0,0,0,0,0,0
$GC,9444,1.20,218.9,600.3,9.5,348,9461,0.00,1.85,10.60,0.832,6,0.000,0.030,3563,1309,1986,0,0,0,0,0,0
$GC,9805,1.30,231.0,566.9,9.4,357,9826,0.17,2.72,12.25,0.839,4,0.054,0.049,3625,2885,1936,0,0,0,0,0,0
$GC,9863,1.30,231.0,559.6,12.0,358,9869,0.10,2.70,0.00,0.000,6,0.119,0.046,3603,1313,1933,0,0,0,0,0,0
$GC,10180,1.30,231.0,521.9,12.0,366,10183,0.00,2.00,0.00,0.000,4,0.000,0.074,3603,164,1932,0,0,0,0,0,0
$GC,10203,1.23,231.0,518.6,13.2,366,10207,0.00,1.85,0.00,0.000,6,0.000,0.026,3603,1323,1931,0,0,0,0,0,0
$GC,10554,1.23,231.0,475.1,12.6,375,10557,0.00,2.00,0.00,0.000,4,0.000,0.062,3603,162,1930,0,0,0,0,0,0
$GC,10581,1.17,231.0,471.2,13.9,375,10586,0.12,1.83,0.00,0.000,6,0.109,0.026,3575,1312,1930,0,0,0,0,0,0
$GC,10927,1.25,231.0,434.0,10.4,384,10931,0.00,2.55,0.00,0.000,4,0.000,0.037,3575,2880,1929,0,0,0,0,0,0
$GC,10972,1.41,231.0,429.5,11.2,385,10979,0.22,2.67,0.00,0.000,6,0.042,0.044,3651,1293,1927,0,0,0,0,0,0
$GC,11305,1.29,231.0,381.0,14.9,393,11309,0.25,1.92,0.00,0.000,4,0.093,0.062,3593,160,1928,0,0,0,0,0,0
$GC,11344,1.29,231.0,375.4,13.3,393,11350,0.00,1.83,0.00,0.000,6,0.000,0.025,3593,1324,1927,0,0,0,0,0,0
$GC,11675,1.29,231.0,339.1,10.2,402,11679,0.00,1.98,0.00,0.000,4,0.000,0.058,3593,158,1928,0,0,0,0,0,0
$GC,11702,1.29,231.0,335.7,11.6,402,11706,0.00,1.80,0.00,0.000,6,0.000,0.025,3593,1298,1928,0,0,0,0,0,0
$GC,12049,1.37,247.1,303.1,9.1,411,12070,0.10,2.62,14.50,0.697,4,0.079,0.035,3637,2859,1871,0,0,0,0,0,0
$GC,12130,1.37,247.1,294.9,10.9,412,12134,0.00,2.65,0.00,0.000,6,0.000,0.043,3637,1292,1867,0,0,0,0,0,0
$GC,12466,1.37,247.1,260.1,10.1,421,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1292,1866,0,0,0,0,0,0
$GC,12792,1.37,247.1,223.1,12.0,429,12796,0.00,1.92,0.00,0.000,4,0.000,0.059,3637,165,1866,0,0,0,0,0,0
$GC,12871,1.37,247.1,213.2,12.0,430,12875,0.00,1.77,0.00,0.000,6,0.000,0.021,3637,1330,1865,0,0,0,0,0,0
$GC,13202,1.37,247.1,178.7,11.4,452,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1333,1865,0,0,0,0,0,0
$GC,13534,1.38,250.6,144.4,9.8,483,13538,0.00,1.98,0.00,0.000,4,0.000,0.052,3637,154,1865,0,0,0,0,0,0
$GC,13623,1.31,250.6,133.8,10.9,491,13629,0.15,1.75,0.00,0.000,6,0.100,0.020,3605,1321,1865,0,0,0,0,0,0
$GC,13951,1.51,335.7,110.9,5.5,522,14033,0.17,1.98,77.03,0.557,4,0.050,0.048,3671,162,1510,0,0,0,0,0,0
$GC,14054,1.43,335.7,100.3,12.4,531,14060,0.17,1.73,0.00,0.000,6,0.101,0.020,3632,1300,1509,0,0,0,0,0,0
$GC,14385,1.57,358.2,65.4,8.8,562,14410,0.12,2.55,20.12,0.487,4,0.063,0.027,3689,2849,1418,0,0,0,0,0,0
$GC,14482,1.66,358.2,54.3,12.2,570,14487,0.00,2.58,0.00,0.000,6,0.000,0.035,3689,1292,1413,0,0,0,0,0,0
$GC,14837,1.60,358.2,4.7,15.7,613,14845,0.00,0.00,0.00,0.000,6,0.000,0.000,3689,1292,1412,0,0,0,0,0,0
$STATE,14852,end climb,SURFACE_DEPTH_REACHED
$STATE,14852,begin surface coast
$FINISH,0.9,1.011784
$STATE,14885,end surface coast,CONTROL_FINISHED_OK
$STATE,14885,begin surface
$SM_CCo,14971,0.00,0.000,0,0,1404,362.06
$SM_GC,1.66,13.35,0.00,0.00,0.028,0.000,0.000,416,1661,1404,-13.29,0.06,362.06
$IRIDIUM_FIX,2246.36,-15805.83,291101,212156
$TT8_MAMPS,0.026845
$HUMID,70.31
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.20
$XPDR_PINGS,4
$24V_AH,23.2,76.156
$10V_AH,9.8,62.770
$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,35.450,113.600,426.600,0.000,0.000,58.717,89.820,342.936,1.000,0.000,16.247,1251.897,11010.114,462.992,2066.108,898.743,33.381,1365.996,0.000,2071.732,0.000,1.140,0.000
$DEVICE_MAMPS,146.497,79.768,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,420.654,323.373,413.605,555.138,975.353,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,47900,620
$CAP_FILE_SIZE,135973,0
$CFSIZE,260165632,143187968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050912,012924,2251.975,-15804.616,35,1.4,35,10.1