version: 66.06
glider: 148
mission: 11
dive: 594
start: 9 7 112 5 14 54
data:
$ID,148
$MISSION,11
$DIVE,594
$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,-931437.88
$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,17
$R_STBD_OVSHOOT,81
$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
$GPS1,044539,2246.776,-15758.690,29,1.6,33,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.0
$GPS2,051400,2246.875,-15759.055,14,2.0,30,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,-0.147
$KALMAN_X,-615628.5,11.0,-14.8,616838.8,-2025.4
$KALMAN_Y,67306.2,354.8,-549.2,-69202.9,888.2
$MHEAD_RNG_PITCHd_Wd,137.9,1631,-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,17,-1.78,-63.0,0.0,0.0,0,78,0.00,0.00,-58.85,0.000,2,0.000,0.000,413,1645,2963,0,0,0,0,0,0
$GC,82,-1.84,-112.0,3.0,-4.8,8,114,12.98,2.47,-7.38,0.000,4,0.150,0.050,2913,159,3338,0,0,0,0,0,0
$GC,124,-0.81,-112.0,16.2,-32.3,13,134,1.08,2.30,0.00,0.000,6,0.112,0.016,3137,1645,3339,0,0,0,0,0,0
$GC,464,-1.01,-112.0,68.2,-14.6,49,472,0.15,0.00,0.00,0.000,6,0.053,0.000,3063,1647,3340,0,0,0,0,0,0
$GC,792,-1.10,-112.0,118.9,-15.4,80,797,0.00,2.45,0.00,0.000,4,0.000,0.021,3063,3223,3341,0,0,0,0,0,0
$GC,802,-1.19,-112.0,121.1,-15.3,80,811,0.00,2.55,0.00,0.000,6,0.000,0.025,3063,1643,3341,0,0,0,0,0,0
$GC,1127,-1.29,-112.0,164.4,-13.3,111,1132,0.10,2.42,0.00,0.000,4,0.074,0.041,3008,167,3341,0,0,0,0,0,0
$GC,1157,-1.16,-112.0,169.7,-17.9,113,1164,0.28,2.25,0.00,0.000,6,0.100,0.017,3066,1656,3341,0,0,0,0,0,0
$GC,1482,-1.32,-112.0,209.6,-11.7,138,1484,0.15,0.00,0.00,0.000,6,0.054,0.000,2997,1659,3342,0,0,0,0,0,0
$GC,1803,-1.32,-112.0,255.2,-13.8,146,1805,0.15,0.00,0.00,0.000,6,0.108,0.000,3030,1659,3341,0,0,0,0,0,0
$GC,2129,-1.45,-112.0,295.0,-11.7,154,2130,0.12,0.00,0.00,0.000,6,0.064,0.000,2969,1659,3342,0,0,0,0,0,0
$GC,2455,-1.45,-112.0,338.6,-13.5,162,2457,0.15,0.00,0.00,0.000,6,0.107,0.000,3001,1659,3342,0,0,0,0,0,0
$GC,2779,-1.52,-112.0,381.0,-13.0,170,2783,0.00,2.53,0.00,0.000,4,0.000,0.061,3001,171,3341,0,0,0,0,0,0
$GC,2834,-1.52,-112.0,388.7,-13.6,171,2838,0.00,2.28,0.00,0.000,6,0.000,0.022,3001,1623,3340,0,0,0,0,0,0
$GC,3155,-1.60,-112.0,426.4,-12.1,179,3160,0.12,2.47,0.00,0.000,4,0.064,0.059,2945,175,3338,0,0,0,0,0,0
$GC,3184,-1.44,-112.0,431.1,-16.5,179,3189,0.28,2.33,0.00,0.000,6,0.100,0.027,3003,1636,3338,0,0,0,0,0,0
$GC,3521,-1.53,-112.0,474.5,-12.8,188,3525,0.00,2.47,0.00,0.000,4,0.000,0.062,3003,181,3335,0,0,0,0,0,0
$GC,3561,-1.53,-112.0,479.8,-13.5,188,3566,0.00,2.35,0.00,0.000,6,0.000,0.031,3003,1637,3335,0,0,0,0,0,0
$GC,3893,-1.63,-112.0,518.2,-11.2,197,3898,0.17,2.53,0.00,0.000,4,0.050,0.065,2935,173,3332,0,0,0,0,0,0
$GC,3939,-1.46,-112.0,524.7,-16.5,198,3944,0.30,2.35,0.00,0.000,6,0.100,0.033,2998,1632,3332,0,0,0,0,0,0
$GC,4269,-1.56,-112.0,560.6,-10.4,206,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1633,3329,0,0,0,0,0,0
$GC,4592,-1.65,-112.0,596.6,-11.3,214,4594,0.15,0.00,0.00,0.000,6,0.055,0.000,2937,1633,3326,0,0,0,0,0,0
$GC,4919,-1.58,-112.0,642.4,-14.1,222,4924,0.17,2.58,0.00,0.000,4,0.107,0.077,2973,175,3323,0,0,0,0,0,0
$GC,4953,-1.58,-112.0,647.8,-14.5,222,4957,0.00,2.40,0.00,0.000,6,0.000,0.038,2973,1636,3323,0,0,0,0,0,0
$GC,5284,-1.58,-112.0,691.0,-12.9,230,5288,0.00,2.55,0.00,0.000,4,0.000,0.073,2973,183,3320,0,0,0,0,0,0
$GC,5346,-1.58,-112.0,699.8,-15.1,231,5350,0.00,2.38,0.00,0.000,6,0.000,0.038,2973,1625,3319,0,0,0,0,0,0
$GC,5659,-1.58,-112.0,738.2,-11.7,239,5664,0.00,2.55,0.00,0.000,4,0.000,0.074,2973,174,3317,0,0,0,0,0,0
$GC,5697,-1.58,-112.0,742.9,-12.9,239,5704,0.00,2.38,0.00,0.000,6,0.000,0.038,2973,1623,3316,0,0,0,0,0,0
$STATE,5781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5781,begin apogee
$GC,5788,-0.31,0.0,752.7,11.5,242,5884,1.25,0.00,91.70,1.032,6,0.081,0.000,3252,1319,2880,0,0,0,0,0,0
$STATE,5884,end apogee,CONTROL_FINISHED_OK
$STATE,5884,begin climb
$GC,5887,1.84,112.0,755.2,0.0,244,5998,1.92,2.08,98.38,1.010,4,0.048,0.078,3705,171,2421,0,0,0,0,0,0
$GC,6265,1.65,112.0,709.2,14.0,252,6270,0.12,1.88,0.00,0.000,6,0.138,0.031,3682,1319,2414,0,0,0,0,0,0
$GC,6579,1.65,112.0,674.3,10.8,260,6582,0.00,2.03,0.00,0.000,4,0.000,0.069,3682,168,2411,0,0,0,0,0,0
$GC,6848,1.53,112.0,639.4,14.4,265,6852,0.15,1.83,0.00,0.000,6,0.127,0.030,3653,1302,2408,0,0,0,0,0,0
$GC,7184,1.61,114.1,605.0,9.8,274,7188,0.00,1.98,0.00,0.000,4,0.000,0.067,3653,171,2407,0,0,0,0,0,0
$GC,7455,1.61,114.1,576.9,10.5,279,7458,0.00,1.83,0.00,0.000,6,0.000,0.028,3653,1303,2405,0,0,0,0,0,0
$GC,7792,1.71,124.3,545.7,8.9,288,7808,0.15,2.00,8.93,0.792,4,0.060,0.062,3707,168,2372,0,0,0,0,0,0
$GC,8076,1.55,124.3,511.0,12.4,294,8081,0.20,1.83,0.00,0.000,6,0.102,0.026,3661,1292,2370,0,0,0,0,0,0
$GC,8407,1.64,128.4,478.7,9.6,302,8416,0.00,1.95,4.62,0.611,4,0.000,0.061,3661,161,2355,0,0,0,0,0,0
$GC,8684,1.65,138.4,450.4,8.9,308,8700,0.00,1.80,10.70,0.767,6,0.000,0.025,3661,1299,2314,0,0,0,0,0,0
$GC,9019,1.77,149.0,421.7,8.9,316,9035,0.17,2.00,10.18,0.743,4,0.054,0.059,3722,173,2272,0,0,0,0,0,0
$GC,9306,1.62,149.0,382.6,14.9,322,9310,0.22,1.73,0.00,0.000,6,0.120,0.025,3676,1279,2269,0,0,0,0,0,0
$GC,9634,1.71,149.0,346.6,10.2,330,9637,0.00,1.90,0.00,0.000,4,0.000,0.057,3676,166,2268,0,0,0,0,0,0
$GC,9870,1.71,149.0,320.2,10.2,335,9874,0.00,1.75,0.00,0.000,6,0.000,0.024,3676,1278,2268,0,0,0,0,0,0
$GC,10199,1.84,166.2,293.0,8.2,343,10220,0.12,1.95,15.80,0.693,4,0.067,0.057,3725,161,2201,0,0,0,0,0,0
$GC,10232,1.84,166.2,289.9,10.3,343,10236,0.00,1.77,0.00,0.000,6,0.000,0.023,3725,1281,2201,0,0,0,0,0,0
$GC,10572,1.84,166.2,254.1,10.1,352,10573,0.00,0.00,0.00,0.000,6,0.000,0.000,3725,1283,2199,0,0,0,0,0,0
$GC,10897,1.86,182.3,225.1,8.3,360,10917,0.00,1.95,15.43,0.632,4,0.000,0.054,3725,172,2136,0,0,0,0,0,0
$GC,11131,1.86,182.3,199.7,11.4,365,11135,0.00,1.73,0.00,0.000,6,0.000,0.021,3725,1305,2134,0,0,0,0,0,0
$GC,11460,1.87,192.2,167.9,8.9,393,11476,0.00,2.00,9.68,0.545,4,0.000,0.051,3725,150,2095,0,0,0,0,0,0
$GC,11575,1.87,192.2,156.0,11.3,404,11578,0.00,1.73,0.00,0.000,6,0.000,0.021,3725,1276,2095,0,0,0,0,0,0
$GC,11907,1.88,199.5,123.7,9.2,435,11920,0.00,1.90,7.85,0.482,4,0.000,0.049,3725,168,2065,0,0,0,0,0,0
$GC,12124,1.88,199.5,97.0,13.0,456,12127,0.00,1.67,0.00,0.000,6,0.000,0.020,3725,1281,2065,0,0,0,0,0,0
$GC,12456,2.02,221.2,65.2,7.7,487,12481,0.00,1.95,20.08,0.486,4,0.000,0.048,3725,160,1977,0,0,0,0,0,0
$GC,12585,2.03,232.1,54.5,8.8,498,12601,0.00,1.65,11.57,0.450,6,0.000,0.019,3725,1248,1932,0,0,0,0,0,0
$GC,12950,2.15,234.3,18.0,9.8,540,12959,0.00,2.55,0.00,0.000,4,0.000,0.025,3725,2849,1928,0,0,0,0,0,0
$GC,13012,2.40,249.5,12.4,8.4,549,13036,0.00,2.65,16.25,0.430,6,0.000,0.036,3725,1252,1861,0,0,0,0,0,0
$STATE,13086,end climb,SURFACE_DEPTH_REACHED
$STATE,13086,begin surface coast
$FINISH,0.9,1.003578
$STATE,13130,end surface coast,CONTROL_FINISHED_OK
$STATE,13130,begin surface
$SM_CCo,13154,57.25,0.441,0,0,1452,350.04
$SM_GC,1.58,0.00,0.00,57.25,0.000,0.000,0.441,413,1676,1452,-13.37,0.42,350.04
$IRIDIUM_FIX,2239.35,-15807.58,021201,050512
$TT8_MAMPS,0.027612
$HUMID,68.46
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,58
$24V_AH,23.2,77.886
$10V_AH,9.8,64.344
$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,34.000,99.725,321.150,57.250,0.000,146.364,217.916,895.037,14.500,0.000,32.395,1256.491,9100.408,400.963,2476.608,1673.545,33.371,1402.169,0.000,2456.976,0.000,1.746,0.000
$DEVICE_MAMPS,149.565,78.234,1032.382,441.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.452,325.653,397.798,586.489,1027.655,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356180
$DATA_FILE_SIZE,44653,566
$CAP_FILE_SIZE,147635,0
$CFSIZE,260165632,142315520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070912,085635,2246.016,-15759.276,35,1.6,46,10.1