version: 66.06
glider: 148
mission: 11
dive: 582
start: 9 5 112 1 41 38
data:
$ID,148
$MISSION,11
$DIVE,582
$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,-930772.19
$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,76
$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
$GPS1,012924,2251.975,-15804.616,35,1.4,35,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-74.5
$GPS2,014043,2251.986,-15804.794,13,1.1,13,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.243,-0.010
$KALMAN_X,-592140.5,-99.2,285.8,583374.2,-3060.4
$KALMAN_Y,64372.8,203.3,-110.5,-57090.5,-517.7
$MHEAD_RNG_PITCHd_Wd,82.2,12339,-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,-67.50,0.000,2,0.000,0.000,416,1662,3134,0,0,0,0,0,0
$GC,91,-1.34,-126.5,3.4,-4.3,9,115,14.15,2.45,-4.68,0.000,4,0.166,0.045,3023,160,3397,0,0,0,0,0,0
$GC,242,-0.88,-126.5,43.4,-22.2,28,247,0.47,2.28,0.00,0.000,6,0.094,0.018,3125,1642,3400,0,0,0,0,0,0
$GC,567,-0.88,-126.5,84.3,-10.7,58,571,0.00,2.47,0.00,0.000,4,0.000,0.022,3125,3229,3401,0,0,0,0,0,0
$GC,629,-0.99,-126.5,90.4,-9.8,63,633,0.00,2.53,0.00,0.000,6,0.000,0.027,3125,1651,3400,0,0,0,0,0,0
$GC,956,-0.99,-126.5,129.6,-12.6,93,961,0.00,2.42,0.00,0.000,4,0.000,0.042,3125,163,3402,0,0,0,0,0,0
$GC,971,-0.99,-126.5,131.9,-12.8,94,976,0.00,2.28,0.00,0.000,6,0.000,0.017,3125,1689,3402,0,0,0,0,0,0
$GC,1299,-0.99,-126.5,167.8,-9.6,124,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1692,3403,0,0,0,0,0,0
$GC,1628,-0.99,-126.5,196.2,-9.2,155,1632,0.00,2.35,0.00,0.000,4,0.000,0.023,3125,3206,3404,0,0,0,0,0,0
$GC,1647,-0.99,-126.5,198.0,-8.9,156,1651,0.00,2.47,0.00,0.000,6,0.000,0.026,3125,1650,3404,0,0,0,0,0,0
$GC,1959,-0.99,-126.5,228.0,-9.7,165,1963,0.00,2.42,0.00,0.000,4,0.000,0.043,3125,167,3404,0,0,0,0,0,0
$GC,1987,-0.99,-126.5,230.7,-9.1,165,1992,0.00,2.22,0.00,0.000,6,0.000,0.018,3125,1645,3404,0,0,0,0,0,0
$GC,2326,-1.05,-126.5,261.5,-9.4,174,2327,0.15,0.00,0.00,0.000,6,0.053,0.000,3047,1648,3404,0,0,0,0,0,0
$GC,2648,-0.89,-126.5,299.6,-11.1,182,2653,0.32,2.42,0.00,0.000,4,0.083,0.041,3123,167,3404,0,0,0,0,0,0
$GC,2664,-0.80,-126.5,301.2,-10.7,182,2669,0.10,2.25,0.00,0.000,6,0.114,0.019,3147,1649,3404,0,0,0,0,0,0
$GC,3016,-0.96,-126.5,323.1,-6.6,191,3018,0.15,0.00,0.00,0.000,6,0.053,0.000,3067,1652,3403,0,0,0,0,0,0
$GC,3339,-0.88,-126.5,359.4,-11.2,199,3344,0.25,2.50,0.00,0.000,4,0.085,0.028,3128,3221,3402,0,0,0,0,0,0
$GC,3366,-0.99,-126.5,362.0,-9.2,199,3371,0.10,2.58,0.00,0.000,6,0.073,0.031,3054,1644,3402,0,0,0,0,0,0
$GC,3708,-0.84,-126.5,402.0,-11.9,208,3710,0.40,0.00,0.00,0.000,6,0.081,0.000,3134,1644,3400,0,0,0,0,0,0
$GC,4033,-0.99,-126.5,424.3,-6.3,216,4035,0.12,0.00,0.00,0.000,6,0.063,0.000,3069,1644,3398,0,0,0,0,0,0
$GC,4359,-0.99,-126.5,454.1,-9.3,224,4364,0.15,2.58,0.00,0.000,4,0.098,0.038,3103,3209,3396,0,0,0,0,0,0
$GC,4404,-1.15,-126.5,458.0,-7.7,225,4409,0.15,2.55,0.00,0.000,6,0.053,0.037,3018,1657,3396,0,0,0,0,0,0
$GC,4735,-0.94,-126.5,496.5,-12.0,233,4742,0.40,2.58,0.00,0.000,4,0.086,0.068,3108,160,3393,0,0,0,0,0,0
$GC,4785,-1.05,-126.5,502.2,-10.1,234,4790,0.00,2.33,0.00,0.000,6,0.000,0.029,3108,1621,3393,0,0,0,0,0,0
$GC,5111,-1.14,-126.5,531.1,-9.5,242,5112,0.15,0.00,0.00,0.000,6,0.054,0.000,3039,1621,3390,0,0,0,0,0,0
$GC,5433,-1.03,-126.5,572.4,-12.9,250,5440,0.25,2.70,0.00,0.000,4,0.087,0.044,3100,3237,3387,0,0,0,0,0,0
$GC,5460,-1.11,-126.5,575.5,-10.7,250,5465,0.00,2.67,0.00,0.000,6,0.000,0.043,3100,1638,3387,0,0,0,0,0,0
$GC,5803,-1.19,-126.5,603.4,-7.6,259,5805,0.17,0.00,0.00,0.000,6,0.050,0.000,3028,1638,3386,0,0,0,0,0,0
$GC,6126,-1.06,-126.5,636.1,-10.2,267,6128,0.28,0.00,0.00,0.000,6,0.087,0.000,3090,1638,3383,0,0,0,0,0,0
$GC,6451,-1.12,-126.5,661.3,-7.6,275,6456,0.00,2.60,0.00,0.000,4,0.000,0.081,3089,167,3382,0,0,0,0,0,0
$GC,6477,-1.12,-126.5,663.4,-8.7,275,6481,0.00,2.42,0.00,0.000,6,0.000,0.038,3089,1645,3381,0,0,0,0,0,0
$GC,6820,-1.12,-126.5,691.4,-8.3,284,6824,0.00,2.70,0.00,0.000,4,0.000,0.054,3089,3244,3379,0,0,0,0,0,0
$GC,6858,-1.26,-126.5,695.2,-8.8,284,6864,0.17,2.70,0.00,0.000,6,0.047,0.046,3002,1642,3379,0,0,0,0,0,0
$GC,7191,-1.07,-126.5,737.2,-13.2,293,7193,0.38,0.00,0.00,0.000,6,0.087,0.000,3085,1642,3377,0,0,0,0,0,0
$STATE,7349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7349,begin apogee
$GC,7355,-0.31,0.0,753.2,9.7,297,7463,0.73,0.00,104.30,1.045,6,0.073,0.000,3251,1306,2880,0,0,0,0,0,0
$STATE,7464,end apogee,CONTROL_FINISHED_OK
$STATE,7464,begin climb
$GC,7468,1.34,126.5,756.6,0.0,299,7592,1.52,2.15,112.72,1.023,4,0.054,0.086,3607,170,2363,0,0,0,0,0,0
$GC,7676,1.11,126.5,745.3,10.9,303,7680,0.22,1.88,0.00,0.000,6,0.100,0.031,3561,1317,2358,0,0,0,0,0,0
$GC,8012,1.16,167.0,718.6,7.8,312,8051,0.00,0.00,35.95,0.980,6,0.000,0.000,3561,1317,2199,0,0,0,0,0,0
$GC,8377,1.20,199.1,687.7,8.3,321,8409,0.00,0.00,30.33,0.960,6,0.000,0.000,3561,1317,2068,0,0,0,0,0,0
$GC,8704,1.23,222.5,659.5,8.8,329,8729,0.10,0.00,22.88,0.933,6,0.078,0.000,3601,1318,1972,0,0,0,0,0,0
$GC,9026,1.23,222.5,621.3,12.0,337,9030,0.00,2.03,0.00,0.000,4,0.000,0.070,3601,167,1965,0,0,0,0,0,0
$GC,9045,1.15,222.5,619.0,12.1,337,9049,0.15,1.88,0.00,0.000,6,0.102,0.030,3570,1320,1965,0,0,0,0,0,0
$GC,9361,1.21,222.5,584.2,11.1,345,9365,0.00,2.65,0.00,0.000,4,0.000,0.048,3570,2890,1963,0,0,0,0,0,0
$GC,9382,1.28,222.5,581.5,11.3,345,9388,0.12,2.70,0.00,0.000,6,0.064,0.047,3626,1313,1962,0,0,0,0,0,0
$GC,9729,1.19,222.5,533.6,14.0,354,9733,0.22,2.00,0.00,0.000,4,0.094,0.074,3578,164,1962,0,0,0,0,0,0
$GC,9763,1.19,222.5,529.0,13.6,354,9767,0.00,1.83,0.00,0.000,6,0.000,0.027,3579,1320,1962,0,0,0,0,0,0
$GC,10099,1.19,225.7,494.5,9.8,363,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,1323,1961,0,0,0,0,0,0
$GC,10424,1.22,248.8,465.5,8.8,371,10450,0.00,0.00,24.20,0.834,6,0.000,0.000,3578,1323,1865,0,0,0,0,0,0
$GC,10751,1.31,260.6,434.6,9.4,379,10769,0.10,2.60,11.65,0.759,4,0.078,0.037,3620,2884,1816,0,0,0,0,0,0
$GC,10788,1.31,260.6,430.4,10.1,379,10793,0.00,2.70,0.00,0.000,6,0.000,0.042,3621,1302,1814,0,0,0,0,0,0
$GC,11120,1.31,260.6,392.9,11.3,388,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1302,1812,0,0,0,0,0,0
$GC,11444,1.31,260.6,352.5,13.0,396,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1302,1811,0,0,0,0,0,0
$GC,11769,1.31,260.6,310.9,12.6,404,11773,0.00,2.58,0.00,0.000,4,0.000,0.030,3620,2888,1811,0,0,0,0,0,0
$GC,11806,1.37,260.6,306.3,11.3,404,11812,0.00,2.65,0.00,0.000,6,0.000,0.040,3620,1310,1808,0,0,0,0,0,0
$GC,12139,1.37,260.6,268.3,10.9,413,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1310,1808,0,0,0,0,0,0
$GC,12463,1.38,264.8,237.4,9.8,421,12467,0.00,2.58,0.00,0.000,4,0.000,0.028,3620,2889,1808,0,0,0,0,0,0
$GC,12482,1.46,275.8,235.4,9.4,421,12504,0.00,2.62,13.65,0.633,6,0.000,0.038,3620,1309,1754,0,0,0,0,0,0
$GC,12831,1.46,275.8,201.3,10.1,430,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1308,1751,0,0,0,0,0,0
$GC,13152,1.52,275.8,167.5,10.7,457,13157,0.12,2.58,0.00,0.000,4,0.065,0.028,3666,2896,1751,0,0,0,0,0,0
$GC,13193,1.52,275.8,163.0,10.9,460,13198,0.00,2.60,0.00,0.000,6,0.000,0.036,3666,1309,1748,0,0,0,0,0,0
$GC,13518,1.52,275.8,123.1,12.0,490,13521,0.00,1.90,0.00,0.000,4,0.000,0.051,3666,161,1748,0,0,0,0,0,0
$GC,13615,1.39,275.8,110.7,13.2,499,13619,0.20,1.80,0.00,0.000,6,0.095,0.020,3622,1352,1748,0,0,0,0,0,0
$GC,13950,1.49,282.5,77.3,9.6,530,13963,0.00,1.98,6.78,0.428,4,0.000,0.048,3622,167,1727,0,0,0,0,0,0
$GC,14068,1.56,282.5,64.8,10.5,540,14076,0.12,1.75,0.00,0.000,6,0.030,0.021,3679,1327,1727,0,0,0,0,0,0
$GC,14395,1.56,282.5,31.6,11.8,571,14399,0.00,2.40,0.00,0.000,4,0.000,0.026,3680,2845,1727,0,0,0,0,0,0
$GC,14433,1.57,286.1,27.5,9.8,576,14451,0.08,2.55,4.85,0.355,6,0.085,0.035,3658,1305,1712,0,0,0,0,0,0
$STATE,14672,end climb,SURFACE_DEPTH_REACHED
$STATE,14672,begin surface coast
$FINISH,0.9,1.010889
$STATE,14723,end surface coast,CONTROL_FINISHED_OK
$STATE,14723,begin surface
$SM_CCo,14747,34.15,0.439,0,0,1453,350.04
$SM_GC,1.67,0.00,0.00,34.15,0.000,0.000,0.439,416,1688,1453,-13.36,0.82,350.04
$IRIDIUM_FIX,2244.02,-15808.88,301101,010140
$TT8_MAMPS,0.026845
$HUMID,68.86
$INTERNAL_PRESSURE,9.54525
$TCM_TEMP,21.80
$XPDR_PINGS,3
$24V_AH,23.1,76.284
$10V_AH,9.8,62.885
$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,35.175,110.900,367.300,34.150,0.000,52.838,100.370,293.584,0.750,0.000,14.909,1233.625,10974.328,481.261,1945.299,820.067,33.373,1239.262,0.000,1950.140,0.000,1.140,0.000
$DEVICE_MAMPS,166.439,85.904,1045.421,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.278,328.451,413.831,589.671,1035.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356076
$DATA_FILE_SIZE,47907,621
$CAP_FILE_SIZE,126787,0
$CFSIZE,260165632,143134720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050912,054928,2252.001,-15804.349,28,4.2,47,10.1