version: 66.06
glider: 148
mission: 11
dive: 579
start: 9 4 112 11 36 43
data:
$ID,148
$MISSION,11
$DIVE,579
$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,-930708.81
$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,79
$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
$GPS1,111636,2255.208,-15804.378,40,1.4,40,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-75.3
$GPS2,113546,2255.071,-15804.593,14,1.7,17,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.238,-0.052
$KALMAN_X,-582439.7,-419.7,324.8,574290.6,-2555.0
$KALMAN_Y,64633.5,-109.0,260.9,-51689.0,-1139.1
$MHEAD_RNG_PITCHd_Wd,92.4,16879,-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,-126.5,0.0,0.0,0,87,0.00,0.00,-67.40,0.000,2,0.000,0.000,410,1672,3214,0,0,0,0,0,0
$GC,90,-1.34,-126.5,3.8,-5.8,9,115,14.15,2.50,-3.17,0.000,4,0.166,0.048,3022,170,3398,0,0,0,0,0,0
$GC,131,-0.04,-126.5,20.9,-42.3,14,139,1.30,2.30,0.00,0.000,6,0.091,0.018,3308,1637,3399,0,0,0,0,0,0
$GC,470,-0.46,-126.5,39.7,-3.2,50,475,0.32,2.53,0.00,0.000,4,0.035,0.022,3193,3234,3401,0,0,0,0,0,0
$GC,496,-0.73,-126.5,41.6,-7.1,51,505,0.10,2.58,0.00,0.000,6,0.025,0.028,3114,1660,3400,0,0,0,0,0,0
$GC,820,-0.61,-126.5,85.3,-13.7,82,822,0.32,0.00,0.00,0.000,6,0.081,0.000,3186,1660,3401,0,0,0,0,0,0
$GC,1143,-0.77,-126.5,112.3,-8.6,112,1148,0.15,2.45,0.00,0.000,4,0.053,0.043,3109,161,3402,0,0,0,0,0,0
$GC,1169,-0.77,-126.5,115.7,-12.4,114,1174,0.20,2.30,0.00,0.000,6,0.091,0.017,3153,1671,3401,0,0,0,0,0,0
$GC,1494,-0.84,-126.5,143.0,-7.5,144,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1675,3402,0,0,0,0,0,0
$GC,1815,-0.92,-126.5,167.7,-8.3,174,1817,0.15,0.00,0.00,0.000,6,0.053,0.000,3075,1675,3402,0,0,0,0,0,0
$GC,2163,-0.79,-126.5,209.7,-11.3,201,2168,0.28,2.47,0.00,0.000,4,0.084,0.040,3142,160,3402,0,0,0,0,0,0
$GC,2193,-0.86,-126.5,212.8,-8.9,201,2197,0.00,2.28,0.00,0.000,6,0.000,0.018,3142,1667,3402,0,0,0,0,0,0
$GC,2531,-0.96,-126.5,239.1,-7.9,210,2536,0.12,2.45,0.00,0.000,4,0.062,0.024,3073,3227,3402,0,0,0,0,0,0
$GC,2575,-0.96,-126.5,243.7,-10.3,211,2580,0.17,2.53,0.00,0.000,6,0.087,0.027,3114,1659,3402,0,0,0,0,0,0
$GC,2905,-0.96,-126.5,278.0,-10.2,219,2909,0.00,2.45,0.00,0.000,4,0.000,0.025,3114,3214,3402,0,0,0,0,0,0
$GC,2934,-1.06,-126.5,280.9,-9.1,219,2939,0.10,2.47,0.00,0.000,6,0.073,0.028,3038,1668,3402,0,0,0,0,0,0
$GC,3270,-0.84,-126.5,320.0,-11.5,228,3278,0.45,2.45,0.00,0.000,4,0.082,0.043,3130,165,3402,0,0,0,0,0,0
$GC,3295,-0.84,-126.5,322.1,-8.3,228,3299,0.00,2.28,0.00,0.000,6,0.000,0.020,3130,1652,3402,0,0,0,0,0,0
$GC,3640,-0.96,-126.5,346.4,-7.6,237,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1654,3401,0,0,0,0,0,0
$GC,3965,-1.07,-126.5,375.2,-8.9,245,3970,0.17,2.53,0.00,0.000,4,0.048,0.030,3048,3225,3398,0,0,0,0,0,0
$GC,3984,-1.07,-126.5,376.8,-8.5,245,3989,0.17,2.53,0.00,0.000,6,0.089,0.031,3089,1667,3398,0,0,0,0,0,0
$GC,4335,-1.07,-126.5,406.6,-8.1,254,4339,0.00,2.53,0.00,0.000,4,0.000,0.058,3089,163,3396,0,0,0,0,0,0
$GC,4356,-1.07,-126.5,408.4,-9.1,254,4360,0.00,2.35,0.00,0.000,6,0.000,0.023,3089,1652,3396,0,0,0,0,0,0
$GC,4701,-1.07,-126.5,439.9,-9.3,263,4705,0.00,2.55,0.00,0.000,4,0.000,0.035,3090,3231,3393,0,0,0,0,0,0
$GC,4720,-1.07,-126.5,441.9,-10.3,263,4725,0.00,2.55,0.00,0.000,6,0.000,0.034,3089,1665,3393,0,0,0,0,0,0
$GC,5067,-1.07,-126.5,472.0,-8.3,272,5072,0.00,2.55,0.00,0.000,4,0.000,0.067,3089,170,3391,0,0,0,0,0,0
$GC,5087,-1.07,-126.5,473.9,-8.8,272,5091,0.00,2.40,0.00,0.000,6,0.000,0.028,3089,1667,3391,0,0,0,0,0,0
$GC,5434,-1.07,-126.5,500.4,-7.4,281,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1667,3388,0,0,0,0,0,0
$GC,5759,-1.07,-126.5,523.7,-7.0,289,5764,0.00,2.60,0.00,0.000,4,0.000,0.043,3089,3243,3386,0,0,0,0,0,0
$GC,5774,-1.07,-126.5,525.0,-7.2,289,5778,0.00,2.60,0.00,0.000,6,0.000,0.038,3089,1670,3386,0,0,0,0,0,0
$GC,6124,-1.07,-126.5,552.3,-8.5,298,6128,0.00,2.60,0.00,0.000,4,0.000,0.072,3089,163,3384,0,0,0,0,0,0
$GC,6154,-1.07,-126.5,555.2,-9.6,298,6159,0.00,2.42,0.00,0.000,6,0.000,0.034,3089,1665,3383,0,0,0,0,0,0
$GC,6490,-1.07,-126.5,587.2,-9.7,307,6495,0.00,2.60,0.00,0.000,4,0.000,0.069,3089,163,3381,0,0,0,0,0,0
$GC,6514,-1.07,-126.5,589.8,-10.8,307,6518,0.00,2.45,0.00,0.000,6,0.000,0.035,3089,1663,3382,0,0,0,0,0,0
$GC,6856,-1.07,-126.5,620.7,-8.7,316,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1663,3379,0,0,0,0,0,0
$GC,7179,-1.07,-126.5,643.4,-6.5,324,7184,0.00,2.62,0.00,0.000,4,0.000,0.074,3089,167,3377,0,0,0,0,0,0
$GC,7213,-1.07,-126.5,645.8,-7.4,324,7217,0.00,2.45,0.00,0.000,6,0.000,0.038,3089,1659,3376,0,0,0,0,0,0
$GC,7546,-1.07,-126.5,666.0,-6.1,332,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1660,3375,0,0,0,0,0,0
$GC,7869,-1.07,-126.5,689.0,-7.3,340,7874,0.00,2.65,0.00,0.000,4,0.000,0.075,3089,166,3373,0,0,0,0,0,0
$GC,7926,-1.14,-126.5,694.0,-8.8,341,7930,0.00,2.42,0.00,0.000,6,0.000,0.039,3089,1656,3372,0,0,0,0,0,0
$GC,8242,-1.21,-126.5,720.1,-8.6,349,8247,0.15,2.70,0.00,0.000,4,0.054,0.058,3022,3245,3371,0,0,0,0,0,0
$GC,8253,-1.21,-126.5,721.4,-8.9,349,8258,0.15,2.65,0.00,0.000,6,0.100,0.046,3054,1656,3371,0,0,0,0,0,0
$STATE,8565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8565,begin apogee
$GC,8573,-0.31,0.0,753.6,10.3,357,8680,0.85,0.00,103.25,1.050,6,0.074,0.000,3249,1302,2880,0,0,0,0,0,0
$STATE,8682,end apogee,CONTROL_FINISHED_OK
$STATE,8683,begin climb
$GC,8685,1.34,126.5,757.6,0.0,359,8809,1.52,2.75,112.03,1.028,4,0.053,0.043,3608,2888,2362,0,0,0,0,0,0
$GC,8826,1.28,180.7,754.4,7.1,362,8883,0.00,2.72,49.45,0.999,6,0.000,0.051,3608,1306,2142,0,0,0,0,0,0
$GC,9226,1.19,180.7,712.2,11.4,372,9230,0.15,2.03,0.00,0.000,4,0.108,0.084,3577,167,2132,0,0,0,0,0,0
$GC,9327,1.12,180.7,699.9,11.9,374,9331,0.00,1.88,0.00,0.000,6,0.000,0.031,3577,1324,2132,0,0,0,0,0,0
$GC,9650,1.12,180.7,664.4,10.9,382,9653,0.00,2.03,0.00,0.000,4,0.000,0.071,3577,165,2128,0,0,0,0,0,0
$GC,9711,1.12,180.7,657.1,12.2,383,9715,0.00,1.85,0.00,0.000,6,0.000,0.031,3577,1298,2128,0,0,0,0,0,0
$GC,10029,1.13,193.4,625.6,9.3,391,10046,0.00,2.75,10.02,0.847,4,0.000,0.051,3577,2887,2090,0,0,0,0,0,0
$GC,10071,1.17,222.2,622.1,8.5,391,10105,0.00,2.70,28.15,0.930,6,0.000,0.049,3577,1305,1974,0,0,0,0,0,0
$GC,10443,1.21,254.3,590.6,8.3,401,10480,0.00,0.00,31.55,0.918,6,0.000,0.000,3576,1305,1842,0,0,0,0,0,0
$GC,10807,1.29,274.2,558.3,8.9,410,10832,0.10,2.72,18.50,0.870,4,0.079,0.043,3621,2885,1761,0,0,0,0,0,0
$GC,10862,1.29,274.2,552.5,11.2,411,10866,0.00,2.67,0.00,0.000,6,0.000,0.048,3621,1304,1758,0,0,0,0,0,0
$GC,11180,1.29,274.2,516.3,11.4,419,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1304,1757,0,0,0,0,0,0
$GC,11507,1.29,274.2,475.8,13.1,427,11508,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1304,1756,0,0,0,0,0,0
$GC,11830,1.29,274.2,427.8,15.2,435,11835,0.00,2.60,0.00,0.000,4,0.000,0.036,3621,2889,1753,0,0,0,0,0,0
$GC,11868,1.29,274.2,422.2,14.0,435,11873,0.00,2.65,0.00,0.000,6,0.000,0.044,3621,1307,1751,0,0,0,0,0,0
$GC,12201,1.29,274.2,377.5,12.9,444,12205,0.00,2.60,0.00,0.000,4,0.000,0.035,3621,2890,1751,0,0,0,0,0,0
$GC,12224,1.29,274.2,374.2,11.6,444,12229,0.00,2.65,0.00,0.000,6,0.000,0.043,3621,1306,1750,0,0,0,0,0,0
$GC,12565,1.29,274.2,333.0,12.1,453,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1306,1751,0,0,0,0,0,0
$GC,12890,1.29,274.2,292.9,12.4,461,12894,0.00,2.58,0.00,0.000,4,0.000,0.031,3621,2895,1750,0,0,0,0,0,0
$GC,12915,1.29,274.2,289.9,11.5,461,12920,0.00,2.62,0.00,0.000,6,0.000,0.041,3621,1315,1749,0,0,0,0,0,0
$GC,13256,1.29,274.2,247.5,12.9,470,13259,0.00,1.92,0.00,0.000,4,0.000,0.061,3620,160,1749,0,0,0,0,0,0
$GC,13325,1.29,274.2,238.5,11.5,471,13328,0.00,1.83,0.00,0.000,6,0.000,0.022,3621,1348,1749,0,0,0,0,0,0
$GC,13676,1.31,291.1,205.4,9.1,480,13696,0.00,2.47,14.70,0.614,4,0.000,0.029,3621,2864,1692,0,0,0,0,0,0
$GC,13716,1.43,301.7,201.2,9.4,480,13733,0.00,2.58,11.48,0.588,6,0.000,0.038,3621,1309,1648,0,0,0,0,0,0
$GC,14065,1.50,301.7,164.7,10.1,510,14069,0.10,1.92,0.00,0.000,4,0.080,0.054,3664,161,1646,0,0,0,0,0,0
$GC,14109,1.39,301.7,159.3,13.4,514,14113,0.20,1.77,0.00,0.000,6,0.094,0.021,3620,1332,1646,0,0,0,0,0,0
$GC,14442,1.47,301.7,122.5,11.4,545,14447,0.00,0.00,0.00,0.000,6,0.000,0.000,3621,1334,1645,0,0,0,0,0,0
$GC,14771,1.58,301.7,85.7,10.6,576,14780,0.17,0.00,0.00,0.000,6,0.050,0.000,3696,1334,1646,0,0,0,0,0,0
$GC,15098,1.58,301.7,47.3,12.0,607,15107,0.15,0.00,0.00,0.000,6,0.100,0.000,3662,1334,1645,0,0,0,0,0,0
$GC,15456,1.58,301.7,9.1,12.0,653,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,3662,1334,1646,0,0,0,0,0,0
$STATE,15502,end climb,SURFACE_DEPTH_REACHED
$STATE,15502,begin surface coast
$FINISH,1.1,1.023398
$STATE,15541,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15566,30.27,0.441,0,0,1452,350.04
$SM_GC,1.71,0.00,0.00,30.27,0.000,0.000,0.441,410,1689,1452,-13.39,0.82,350.04
$IRIDIUM_FIX,2244.02,-15801.49,291101,111119
$TT8_MAMPS,0.027612
$HUMID,70.00
$INTERNAL_PRESSURE,9.53548
$TCM_TEMP,21.40
$XPDR_PINGS,16
$24V_AH,23.2,75.767
$10V_AH,9.8,62.508
$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,34.800,138.100,379.125,30.275,0.000,56.207,96.340,766.935,4.000,0.000,19.281,1334.499,11359.130,471.021,2240.075,1337.705,33.376,1364.453,0.000,2253.340,0.000,1.142,0.000
$DEVICE_MAMPS,165.672,84.370,1050.023,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,451.638,367.521,456.432,656.044,1152.392,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356084
$DATA_FILE_SIZE,51227,666
$CAP_FILE_SIZE,145126,0
$CFSIZE,260165632,143310848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040912,155805,2254.253,-15804.329,38,1.4,42,10.1