version: 66.06
glider: 148
mission: 11
dive: 574
start: 9 3 112 13 6 54
data:
$ID,148
$MISSION,11
$DIVE,574
$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,-930588.69
$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,94
$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
$GPS1,124230,2302.119,-15803.951,208,1.2,208,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.3
$GPS2,130600,2302.019,-15804.319,21,1.7,21,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.112
$KALMAN_X,-568419.4,-350.3,270.1,560724.1,-2587.2
$KALMAN_Y,66367.3,-39.9,80.1,-40448.2,-767.0
$MHEAD_RNG_PITCHd_Wd,107.4,28776,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.34,-126.5,0.0,0.0,0,78,0.00,0.00,-59.50,0.000,2,0.000,0.000,412,1680,2987,0,0,0,0,0,0
$GC,82,-1.34,-126.5,3.2,-4.9,8,106,13.55,0.00,-7.85,0.000,6,0.148,0.000,3025,1680,3398,0,0,0,0,0,0
$GC,440,-0.92,-126.5,84.3,-18.5,47,445,0.40,2.47,0.00,0.000,4,0.095,0.038,3115,161,3400,0,0,0,0,0,0
$GC,469,-0.68,-126.5,89.4,-16.2,49,474,0.25,2.25,0.00,0.000,6,0.097,0.017,3168,1635,3401,0,0,0,0,0,0
$GC,798,-0.77,-126.5,120.5,-8.5,79,802,0.00,2.47,0.00,0.000,4,0.000,0.022,3169,3221,3401,0,0,0,0,0,0
$GC,834,-0.98,-126.5,123.6,-8.1,82,839,0.25,2.53,0.00,0.000,6,0.032,0.027,3056,1656,3401,0,0,0,0,0,0
$GC,1162,-0.73,-126.5,172.2,-16.0,112,1171,0.45,2.50,0.00,0.000,4,0.087,0.021,3152,3229,3401,0,0,0,0,0,0
$GC,1176,-0.58,-126.5,175.1,-15.3,113,1183,0.17,2.50,0.00,0.000,6,0.084,0.024,3194,1662,3402,0,0,0,0,0,0
$GC,1502,-0.81,-126.5,199.0,-6.0,144,1507,0.20,2.45,0.00,0.000,4,0.042,0.043,3099,171,3402,0,0,0,0,0,0
$GC,1551,-0.81,-126.5,204.0,-11.2,146,1556,0.20,2.28,0.00,0.000,6,0.087,0.018,3145,1662,3402,0,0,0,0,0,0
$GC,1878,-0.89,-126.5,227.1,-7.0,154,1883,0.00,2.45,0.00,0.000,4,0.000,0.022,3145,3229,3402,0,0,0,0,0,0
$GC,1912,-1.09,-126.5,229.7,-6.2,154,1917,0.25,2.53,0.00,0.000,6,0.034,0.026,3027,1658,3402,0,0,0,0,0,0
$GC,2245,-0.81,-126.5,272.7,-13.2,162,2252,0.57,2.42,0.00,0.000,4,0.083,0.041,3138,166,3402,0,0,0,0,0,0
$GC,2304,-1.00,-126.5,278.6,-8.5,163,2309,0.15,2.28,0.00,0.000,6,0.052,0.018,3059,1662,3402,0,0,0,0,0,0
$GC,2621,-0.88,-126.5,312.6,-10.9,171,2626,0.28,2.47,0.00,0.000,4,0.084,0.025,3124,3217,3402,0,0,0,0,0,0
$GC,2665,-1.07,-126.5,317.0,-8.7,172,2671,0.17,2.53,0.00,0.000,6,0.046,0.029,3030,1654,3402,0,0,0,0,0,0
$GC,2996,-0.83,-126.5,361.0,-13.5,180,3003,0.52,2.47,0.00,0.000,4,0.082,0.051,3132,165,3400,0,0,0,0,0,0
$GC,3018,-0.83,-126.5,363.7,-10.2,180,3022,0.00,2.30,0.00,0.000,6,0.000,0.020,3132,1640,3400,0,0,0,0,0,0
$GC,3363,-0.98,-126.5,388.3,-7.6,189,3368,0.10,2.60,0.00,0.000,4,0.074,0.032,3073,3237,3399,0,0,0,0,0,0
$GC,3385,-0.98,-126.5,390.4,-9.7,189,3390,0.15,2.58,0.00,0.000,6,0.092,0.035,3108,1663,3399,0,0,0,0,0,0
$GC,3732,-1.05,-126.5,418.4,-7.5,198,3736,0.00,2.53,0.00,0.000,4,0.000,0.062,3108,169,3396,0,0,0,0,0,0
$GC,3751,-1.05,-126.5,420.2,-8.7,198,3755,0.00,2.35,0.00,0.000,6,0.000,0.023,3108,1659,3396,0,0,0,0,0,0
$GC,4098,-1.13,-126.5,443.4,-6.8,207,4100,0.15,0.00,0.00,0.000,6,0.054,0.000,3035,1660,3393,0,0,0,0,0,0
$GC,4421,-0.99,-126.5,480.6,-12.3,215,4427,0.28,2.58,0.00,0.000,4,0.089,0.064,3101,163,3391,0,0,0,0,0,0
$GC,4443,-0.93,-126.5,483.3,-12.5,215,4448,0.00,2.40,0.00,0.000,6,0.000,0.031,3101,1648,3390,0,0,0,0,0,0
$GC,4789,-1.00,-126.5,519.3,-10.2,224,4793,0.00,2.58,0.00,0.000,4,0.000,0.068,3101,166,3388,0,0,0,0,0,0
$GC,4804,-1.00,-126.5,520.9,-9.8,224,4808,0.00,2.40,0.00,0.000,6,0.000,0.031,3101,1650,3388,0,0,0,0,0,0
$GC,5156,-1.07,-126.5,549.4,-7.3,233,5160,0.00,2.55,0.00,0.000,4,0.000,0.067,3101,170,3385,0,0,0,0,0,0
$GC,5184,-1.07,-126.5,552.0,-8.0,233,5189,0.00,2.40,0.00,0.000,6,0.000,0.032,3101,1645,3384,0,0,0,0,0,0
$GC,5521,-1.15,-126.5,571.8,-5.9,242,5522,0.12,0.00,0.00,0.000,6,0.064,0.000,3041,1645,3382,0,0,0,0,0,0
$GC,5848,-1.05,-126.5,600.0,-9.0,250,5853,0.22,2.58,0.00,0.000,4,0.090,0.070,3092,173,3380,0,0,0,0,0,0
$GC,5874,-1.05,-126.5,602.4,-8.0,250,5878,0.00,2.40,0.00,0.000,6,0.000,0.035,3092,1644,3379,0,0,0,0,0,0
$GC,6217,-1.11,-126.5,626.6,-7.1,259,6221,0.00,2.70,0.00,0.000,4,0.000,0.051,3092,3249,3376,0,0,0,0,0,0
$GC,6237,-1.18,-126.5,628.4,-7.8,259,6244,0.12,2.70,0.00,0.000,6,0.064,0.045,3026,1647,3376,0,0,0,0,0,0
$GC,6585,-1.05,-126.5,661.0,-10.1,268,6591,0.25,2.58,0.00,0.000,4,0.090,0.077,3086,171,3374,0,0,0,0,0,0
$GC,6678,-1.05,-126.5,669.8,-9.2,270,6682,0.00,2.40,0.00,0.000,6,0.000,0.037,3086,1641,3373,0,0,0,0,0,0
$GC,7006,-1.05,-126.5,696.6,-8.1,278,7010,0.00,2.72,0.00,0.000,4,0.000,0.056,3086,3250,3372,0,0,0,0,0,0
$GC,7022,-1.05,-126.5,697.8,-8.0,278,7027,0.00,2.72,0.00,0.000,6,0.000,0.047,3086,1636,3372,0,0,0,0,0,0
$GC,7372,-1.05,-126.5,726.2,-8.3,287,7377,0.00,2.58,0.00,0.000,4,0.000,0.080,3086,171,3370,0,0,0,0,0,0
$GC,7391,-1.05,-126.5,728.1,-9.1,287,7396,0.00,2.40,0.00,0.000,6,0.000,0.036,3086,1641,3370,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7661,-0.31,0.0,750.8,8.7,294,7767,0.73,0.00,102.60,1.051,6,0.076,0.000,3250,1307,2880,0,0,0,0,0,0
$STATE,7767,end apogee,CONTROL_FINISHED_OK
$STATE,7768,begin climb
$GC,7770,1.34,126.5,754.7,0.0,296,7891,1.55,2.10,113.32,1.026,4,0.054,0.081,3613,181,2364,0,0,0,0,0,0
$GC,7923,1.08,126.5,749.8,10.2,300,7927,0.28,1.88,0.00,0.000,6,0.094,0.031,3557,1319,2360,0,0,0,0,0,0
$GC,8268,1.18,210.9,730.0,5.5,309,8355,0.00,2.10,75.55,1.006,4,0.000,0.075,3557,175,2019,0,0,0,0,0,0
$GC,8413,1.18,210.9,717.9,10.4,312,8416,0.00,1.88,0.00,0.000,6,0.000,0.031,3557,1314,2016,0,0,0,0,0,0
$GC,8735,1.26,210.9,684.2,10.7,320,8740,0.15,2.03,0.00,0.000,4,0.058,0.072,3613,174,2009,0,0,0,0,0,0
$GC,8803,1.11,210.9,674.2,15.7,321,8807,0.17,1.85,0.00,0.000,6,0.082,0.031,3562,1295,2009,0,0,0,0,0,0
$GC,9153,1.11,210.9,634.4,10.8,330,9156,0.00,1.98,0.00,0.000,4,0.000,0.071,3562,173,2006,0,0,0,0,0,0
$GC,9256,1.11,210.9,622.7,11.1,332,9260,0.00,1.83,0.00,0.000,6,0.000,0.030,3562,1298,2006,0,0,0,0,0,0
$GC,9579,1.19,215.9,590.6,9.7,340,9583,0.00,2.67,0.00,0.000,4,0.000,0.048,3563,2888,2005,0,0,0,0,0,0
$GC,9603,1.31,227.0,588.2,9.4,340,9625,0.17,2.72,14.10,0.871,6,0.048,0.049,3636,1299,1953,0,0,0,0,0,0
$GC,9953,1.19,227.0,545.2,11.8,349,9957,0.25,1.98,0.00,0.000,4,0.093,0.074,3578,165,1950,0,0,0,0,0,0
$GC,10029,1.20,230.2,537.7,9.8,350,10038,0.00,1.83,3.70,0.548,6,0.000,0.028,3578,1310,1941,0,0,0,0,0,0
$GC,10371,1.21,241.0,507.1,9.4,359,10385,0.00,0.00,12.00,0.819,6,0.000,0.000,3578,1313,1896,0,0,0,0,0,0
$GC,10695,1.29,241.0,471.7,11.1,367,10699,0.00,2.60,0.00,0.000,4,0.000,0.038,3578,2882,1894,0,0,0,0,0,0
$GC,10729,1.40,241.0,468.1,10.5,367,10739,0.20,2.72,0.00,0.000,6,0.046,0.044,3653,1281,1891,0,0,0,0,0,0
$GC,11064,1.27,241.0,421.9,13.7,376,11069,0.25,1.92,0.00,0.000,4,0.093,0.065,3595,158,1891,0,0,0,0,0,0
$GC,11130,1.27,241.0,413.6,12.9,377,11134,0.00,1.80,0.00,0.000,6,0.000,0.025,3595,1302,1891,0,0,0,0,0,0
$GC,11481,1.27,241.0,377.7,10.2,386,11485,0.00,2.58,0.00,0.000,4,0.000,0.034,3595,2879,1891,0,0,0,0,0,0
$GC,11509,1.37,250.3,374.7,9.5,386,11524,0.10,2.70,9.00,0.704,6,0.077,0.042,3648,1277,1859,0,0,0,0,0,0
$GC,11851,1.27,250.3,330.9,13.4,395,11853,0.22,0.00,0.00,0.000,6,0.095,0.000,3600,1277,1857,0,0,0,0,0,0
$GC,12174,1.27,250.3,294.3,11.0,403,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,1277,1857,0,0,0,0,0,0
$GC,12499,1.37,272.0,263.7,8.8,411,12521,0.00,0.00,20.40,0.686,6,0.000,0.000,3599,1277,1770,0,0,0,0,0,0
$GC,12826,1.47,272.0,232.0,10.3,419,12828,0.17,0.00,0.00,0.000,6,0.051,0.000,3670,1277,1767,0,0,0,0,0,0
$GC,13131,1.38,272.0,188.5,13.9,431,13136,0.22,2.60,0.00,0.000,4,0.090,0.027,3621,2887,1766,0,0,0,0,0,0
$GC,13163,1.49,272.0,184.6,12.0,433,13169,0.10,2.67,0.00,0.000,6,0.075,0.038,3672,1283,1764,0,0,0,0,0,0
$GC,13488,1.40,272.0,141.2,12.4,464,13492,0.20,1.88,0.00,0.000,4,0.096,0.051,3627,167,1764,0,0,0,0,0,0
$GC,13593,1.40,272.0,128.9,11.7,473,13599,0.00,1.73,0.00,0.000,6,0.000,0.021,3627,1321,1764,0,0,0,0,0,0
$GC,13919,1.56,338.3,101.8,6.5,504,13984,0.12,2.53,58.75,0.551,4,0.067,0.028,3680,2858,1498,0,0,0,0,0,0
$GC,14008,1.56,338.3,93.3,10.1,512,14017,0.08,2.65,0.00,0.000,6,0.077,0.041,3658,1290,1495,0,0,0,0,0,0
$GC,14335,1.56,338.3,56.5,12.1,543,14339,0.00,1.90,0.00,0.000,4,0.000,0.050,3658,164,1493,0,0,0,0,0,0
$GC,14385,1.56,338.3,50.8,12.8,547,14388,0.00,1.70,0.00,0.000,6,0.000,0.020,3658,1299,1493,0,0,0,0,0,0
$GC,14744,1.62,338.3,11.3,10.9,592,14752,0.00,2.47,0.00,0.000,4,0.000,0.025,3658,2845,1493,0,0,0,0,0,0
$GC,14793,1.75,340.9,6.3,9.9,599,14804,0.12,2.62,0.00,0.000,6,0.028,0.037,3716,1275,1490,0,0,0,0,0,0
$STATE,14811,end climb,SURFACE_DEPTH_REACHED
$STATE,14812,begin surface coast
$FINISH,0.9,1.010364
$STATE,14850,end surface coast,CONTROL_FINISHED_OK
$STATE,14850,begin surface
$SM_CCo,14876,162.35,0.440,3,0,510,581.12
$SM_GC,1.46,0.00,0.00,162.35,0.000,0.000,0.440,410,1667,510,-13.38,0.20,581.12
$IRIDIUM_FIX,2251.04,-15804.96,281101,131330
$TT8_MAMPS,0.027612
$HUMID,66.06
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,21.60
$XPDR_PINGS,19
$24V_AH,23.2,75.049
$10V_AH,9.7,61.889
$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,37.275,152.625,409.425,162.350,0.000,131.274,211.077,569.310,4.750,0.000,23.107,1289.539,11026.169,663.771,2083.068,1394.747,33.375,1543.934,0.000,2075.307,0.000,0.537,0.000
$DEVICE_MAMPS,148.031,80.535,1050.790,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,411.407,312.095,393.199,542.423,953.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,47894,607
$CAP_FILE_SIZE,157644,0
$CFSIZE,260165632,143626240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030912,171926,2300.868,-15804.322,35,99.0,54,10.1