version: 66.06
glider: 148
mission: 11
dive: 591
start: 9 6 112 17 5 17
data:
$ID,148
$MISSION,11
$DIVE,591
$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,-931355.44
$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,92
$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
$GPS1,164705,2246.910,-15759.358,47,1.7,52,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-73.2
$GPS2,170418,2246.987,-15759.486,11,1.3,15,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.074,-0.157
$KALMAN_X,-610459.3,-76.5,-44.4,611041.0,-1550.7
$KALMAN_Y,66873.4,-404.7,-588.6,-67763.4,1473.4
$MHEAD_RNG_PITCHd_Wd,144.7,877,-27.2,-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,15,-1.78,-63.0,0.0,0.0,0,84,0.00,0.00,-65.32,0.000,6,0.000,0.000,413,1680,3138,0,0,0,0,0,0
$GC,87,-1.82,-91.9,4.0,-6.9,9,112,12.95,2.50,-2.17,0.000,4,0.146,0.046,2921,164,3258,0,0,0,0,0,0
$GC,165,-1.33,-91.9,30.4,-28.5,20,173,0.50,2.28,0.00,0.000,6,0.108,0.017,3027,1635,3260,0,0,0,0,0,0
$GC,493,-1.33,-91.9,92.3,-15.9,51,498,0.00,2.50,0.00,0.000,4,0.000,0.022,3027,3234,3260,0,0,0,0,0,0
$GC,525,-1.33,-91.9,97.9,-16.4,53,530,0.00,2.55,0.00,0.000,6,0.000,0.027,3027,1659,3260,0,0,0,0,0,0
$GC,849,-1.33,-91.9,145.2,-14.3,84,853,0.00,2.40,0.00,0.000,4,0.000,0.039,3027,169,3261,0,0,0,0,0,0
$GC,888,-1.33,-91.9,150.9,-15.8,87,892,0.00,2.28,0.00,0.000,6,0.000,0.017,3027,1689,3261,0,0,0,0,0,0
$GC,1212,-1.33,-91.9,197.0,-13.3,117,1217,0.00,2.50,0.00,0.000,4,0.000,0.041,3027,169,3262,0,0,0,0,0,0
$GC,1246,-1.33,-91.9,202.2,-15.0,119,1251,0.00,2.25,0.00,0.000,6,0.000,0.018,3027,1664,3262,0,0,0,0,0,0
$GC,1578,-1.40,-91.9,244.9,-12.7,127,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1668,3263,0,0,0,0,0,0
$GC,1905,-1.50,-91.9,282.2,-11.2,135,1910,0.15,2.47,0.00,0.000,4,0.053,0.042,2962,161,3263,0,0,0,0,0,0
$GC,1997,-1.35,-91.9,296.4,-15.1,137,2002,0.28,2.30,0.00,0.000,6,0.102,0.018,3021,1667,3263,0,0,0,0,0,0
$GC,2327,-1.47,-91.9,333.8,-11.3,145,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1670,3262,0,0,0,0,0,0
$GC,2650,-1.60,-91.9,372.9,-11.9,153,2655,0.20,2.55,0.00,0.000,4,0.043,0.051,2940,166,3262,0,0,0,0,0,0
$GC,2670,-1.60,-91.9,375.7,-13.0,153,2675,0.15,2.33,0.00,0.000,6,0.115,0.021,2970,1661,3263,0,0,0,0,0,0
$GC,3017,-1.60,-91.9,416.4,-11.3,162,3022,0.00,2.53,0.00,0.000,4,0.000,0.056,2970,167,3261,0,0,0,0,0,0
$GC,3069,-1.51,-91.9,423.4,-14.3,163,3074,0.10,2.35,0.00,0.000,6,0.133,0.025,2989,1647,3260,0,0,0,0,0,0
$GC,3390,-1.51,-91.9,459.4,-11.8,171,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1647,3259,0,0,0,0,0,0
$GC,3713,-1.57,-91.9,498.6,-11.5,179,3718,0.00,2.55,0.00,0.000,4,0.000,0.066,2989,167,3256,0,0,0,0,0,0
$GC,3737,-1.57,-91.9,501.5,-13.1,179,3741,0.00,2.38,0.00,0.000,6,0.000,0.031,2989,1656,3256,0,0,0,0,0,0
$GC,4079,-1.64,-91.9,539.7,-11.2,188,4084,0.12,2.60,0.00,0.000,4,0.062,0.067,2933,173,3253,0,0,0,0,0,0
$GC,4205,-1.47,-91.9,557.8,-14.3,190,4210,0.30,2.40,0.00,0.000,6,0.101,0.033,2996,1654,3252,0,0,0,0,0,0
$GC,4538,-1.57,-91.9,592.5,-10.4,198,4543,0.00,2.58,0.00,0.000,4,0.000,0.070,2996,179,3250,0,0,0,0,0,0
$GC,4567,-1.57,-91.9,596.1,-12.2,198,4571,0.00,2.40,0.00,0.000,6,0.000,0.035,2996,1653,3250,0,0,0,0,0,0
$GC,4903,-1.67,-91.9,630.1,-10.2,207,4908,0.17,2.58,0.00,0.000,4,0.048,0.071,2928,178,3247,0,0,0,0,0,0
$GC,4962,-1.50,-91.9,637.8,-14.2,208,4967,0.30,2.42,0.00,0.000,6,0.100,0.036,2990,1658,3246,0,0,0,0,0,0
$GC,5277,-1.59,-92.6,670.0,-9.9,216,5281,0.00,2.58,0.00,0.000,4,0.000,0.072,2990,178,3244,0,0,0,0,0,0
$GC,5372,-1.59,-92.6,680.4,-11.2,218,5376,0.00,2.42,0.00,0.000,6,0.000,0.037,2990,1655,3243,0,0,0,0,0,0
$GC,5695,-1.69,-93.8,711.8,-9.9,226,5700,0.17,2.60,0.00,0.000,4,0.050,0.074,2924,177,3241,0,0,0,0,0,0
$GC,5724,-1.50,-93.8,716.0,-14.6,226,5729,0.32,2.42,0.00,0.000,6,0.101,0.037,2992,1648,3240,0,0,0,0,0,0
$STATE,6059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6059,begin apogee
$GC,6067,-0.31,0.0,754.7,11.6,235,6146,1.15,0.00,75.60,1.040,6,0.079,0.000,3250,1316,2880,0,0,0,0,0,0
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6149,1.82,93.8,758.7,0.0,237,6247,1.95,2.70,83.50,1.019,4,0.055,0.044,3702,2892,2495,0,0,0,0,0,0
$GC,6253,1.79,131.4,756.0,6.0,239,6294,0.00,2.80,34.22,0.982,6,0.000,0.060,3702,1315,2343,0,0,0,0,0,0
$GC,6608,1.79,131.4,715.0,11.9,248,6612,0.00,2.05,0.00,0.000,4,0.000,0.081,3702,164,2334,0,0,0,0,0,0
$GC,6877,1.62,131.4,677.0,15.2,253,6882,0.15,1.88,0.00,0.000,6,0.132,0.030,3674,1322,2331,0,0,0,0,0,0
$GC,7213,1.62,131.4,635.6,12.6,262,7217,0.00,2.05,0.00,0.000,4,0.000,0.069,3674,157,2329,0,0,0,0,0,0
$GC,7482,1.54,131.4,596.9,13.4,267,7486,0.00,1.85,0.00,0.000,6,0.000,0.028,3674,1295,2327,0,0,0,0,0,0
$GC,7818,1.54,131.4,558.5,11.0,276,7822,0.00,2.00,0.00,0.000,4,0.000,0.066,3674,137,2326,0,0,0,0,0,0
$GC,8088,1.47,131.4,527.4,11.0,281,8092,0.15,1.83,0.00,0.000,6,0.133,0.035,3644,1288,2325,0,0,0,0,0,0
$GC,8426,1.62,144.9,499.3,8.6,290,8443,0.12,2.03,9.48,0.778,4,0.067,0.061,3689,161,2289,0,0,0,0,0,0
$GC,8712,1.53,144.9,464.7,13.3,296,8716,0.15,1.80,0.00,0.000,6,0.103,0.025,3654,1276,2287,0,0,0,0,0,0
$GC,9040,1.65,144.9,431.2,10.1,304,9044,0.10,1.92,0.00,0.000,4,0.079,0.061,3695,161,2285,0,0,0,0,0,0
$GC,9309,1.56,144.9,397.8,12.0,309,9314,0.17,1.75,0.00,0.000,6,0.123,0.024,3661,1276,2285,0,0,0,0,0,0
$GC,9649,1.69,150.3,366.3,9.4,318,9662,0.10,1.98,5.88,0.623,4,0.080,0.058,3703,161,2266,0,0,0,0,0,0
$GC,9890,1.59,150.3,338.6,11.6,323,9894,0.17,1.73,0.00,0.000,6,0.124,0.024,3670,1271,2265,0,0,0,0,0,0
$GC,10215,1.73,161.9,310.0,8.8,331,10233,0.10,2.67,11.50,0.682,4,0.080,0.040,3712,2869,2218,0,0,0,0,0,0
$GC,10252,1.79,161.9,306.0,10.1,331,10258,0.00,2.72,0.00,0.000,6,0.000,0.041,3711,1261,2217,0,0,0,0,0,0
$GC,10586,1.80,167.8,274.0,9.4,340,10598,0.00,1.90,6.57,0.584,4,0.000,0.061,3712,172,2195,0,0,0,0,0,0
$GC,10840,1.80,167.8,245.8,10.9,345,10844,0.00,1.70,0.00,0.000,6,0.000,0.021,3712,1286,2194,0,0,0,0,0,0
$GC,11189,1.86,167.8,213.3,10.2,354,11193,0.00,1.92,0.00,0.000,4,0.000,0.054,3712,162,2192,0,0,0,0,0,0
$GC,11212,1.86,167.8,210.8,10.7,354,11216,0.00,1.67,0.00,0.000,6,0.000,0.021,3712,1264,2192,0,0,0,0,0,0
$GC,11543,1.88,186.1,182.5,8.1,375,11569,0.00,2.58,17.35,0.591,4,0.000,0.027,3712,2859,2119,0,0,0,0,0,0
$GC,11585,2.00,196.3,178.8,8.9,379,11603,0.00,2.67,10.40,0.554,6,0.000,0.038,3712,1258,2078,0,0,0,0,0,0
$GC,11926,2.10,196.3,139.3,10.2,411,11930,0.00,1.83,0.00,0.000,4,0.000,0.051,3712,162,2076,0,0,0,0,0,0
$GC,12227,2.10,200.3,106.9,9.6,440,12241,0.00,1.67,4.78,0.405,6,0.000,0.021,3712,1275,2062,0,0,0,0,0,0
$GC,12559,2.29,237.5,83.4,6.0,471,12603,0.00,2.60,33.90,0.515,4,0.000,0.027,3712,2850,1909,0,0,0,0,0,0
$GC,12654,2.54,257.7,76.0,7.9,479,12678,0.00,2.67,18.73,0.489,6,0.000,0.036,3712,1260,1829,0,0,0,0,0,0
$GC,13006,2.72,257.7,38.4,10.6,512,13010,0.00,1.83,0.00,0.000,4,0.000,0.048,3712,170,1825,0,0,0,0,0,0
$GC,13239,2.83,257.7,8.9,15.9,544,13248,0.00,1.65,0.00,0.000,6,0.000,0.018,3712,1260,1825,0,0,0,0,0,0
$STATE,13286,end climb,SURFACE_DEPTH_REACHED
$STATE,13286,begin surface coast
$FINISH,0.9,1.023278
$STATE,13337,end surface coast,CONTROL_FINISHED_OK
$STATE,13337,begin surface
$SM_CCo,13361,45.70,0.436,0,0,1452,350.04
$SM_GC,1.81,0.00,0.00,45.70,0.000,0.000,0.436,414,1691,1452,-13.37,0.88,350.04
$IRIDIUM_FIX,2239.35,-15754.99,011201,161620
$TT8_MAMPS,0.027612
$HUMID,68.38
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.30
$XPDR_PINGS,4
$24V_AH,23.2,77.506
$10V_AH,9.8,63.973
$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,33.450,123.275,311.900,45.700,0.000,57.899,87.059,646.488,1.000,0.000,16.895,1254.265,9186.584,395.740,2422.013,1181.406,33.369,1404.238,0.000,2402.753,0.000,1.141,0.000
$DEVICE_MAMPS,145.730,81.302,1040.052,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.260,305.216,377.784,534.445,938.586,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356176
$DATA_FILE_SIZE,44791,559
$CAP_FILE_SIZE,144328,0
$CFSIZE,260165632,142524416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060912,205025,2246.317,-15759.830,38,99.0,57,10.1