version: 66.06
glider: 148
mission: 11
dive: 595
start: 9 7 112 9 16 38
data:
$ID,148
$MISSION,11
$DIVE,595
$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,-931455
$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,24
$R_STBD_OVSHOOT,65
$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
$GPS1,085635,2246.016,-15759.276,35,1.6,46,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.4
$GPS2,091543,2246.263,-15759.230,15,1.6,15,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,0.173
$KALMAN_X,-617153.5,-15.2,-141.8,618213.1,-1338.9
$KALMAN_Y,67622.3,152.2,408.9,-71407.6,-316.2
$MHEAD_RNG_PITCHd_Wd,350.8,1895,-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,16,-1.78,-63.0,0.0,0.0,0,85,0.00,0.00,-65.12,0.000,6,0.000,0.000,412,1676,3139,0,0,0,0,0,0
$GC,88,-1.81,-90.5,4.0,-7.1,9,113,13.55,2.47,-1.98,0.000,4,0.167,0.031,2920,3227,3252,0,0,0,0,0,0
$GC,199,-1.50,-90.5,36.2,-25.7,23,211,0.35,2.58,0.00,0.000,6,0.104,0.029,2991,1642,3252,0,0,0,0,0,0
$GC,528,-1.40,-90.5,103.8,-16.8,54,533,0.12,2.42,0.00,0.000,4,0.125,0.041,3016,164,3253,0,0,0,0,0,0
$GC,641,-1.40,-90.5,122.9,-15.4,64,650,0.00,2.28,0.00,0.000,6,0.000,0.017,3016,1647,3254,0,0,0,0,0,0
$GC,966,-1.40,-90.5,163.5,-13.7,95,970,0.00,2.40,0.00,0.000,4,0.000,0.039,3016,167,3254,0,0,0,0,0,0
$GC,1025,-1.33,-90.5,172.5,-15.5,100,1031,0.00,2.22,0.00,0.000,6,0.000,0.017,3016,1654,3254,0,0,0,0,0,0
$GC,1344,-1.33,-90.5,218.6,-14.7,122,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1656,3255,0,0,0,0,0,0
$GC,1671,-1.33,-90.5,259.0,-11.6,130,1675,0.00,2.42,0.00,0.000,4,0.000,0.041,3015,165,3255,0,0,0,0,0,0
$GC,1760,-1.33,-90.5,270.6,-13.9,132,1764,0.00,2.25,0.00,0.000,6,0.000,0.018,3015,1648,3255,0,0,0,0,0,0
$GC,2090,-1.41,-90.5,307.4,-11.1,140,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,1651,3255,0,0,0,0,0,0
$GC,2413,-1.50,-90.5,344.8,-11.9,148,2417,0.00,2.45,0.00,0.000,4,0.000,0.047,3015,171,3255,0,0,0,0,0,0
$GC,2431,-1.50,-90.5,347.7,-14.8,148,2436,0.10,2.28,0.00,0.000,6,0.077,0.020,2970,1647,3255,0,0,0,0,0,0
$GC,2779,-1.50,-90.5,393.9,-12.8,157,2784,0.10,2.53,0.00,0.000,4,0.128,0.055,2990,174,3254,0,0,0,0,0,0
$GC,2831,-1.50,-90.5,401.5,-13.9,158,2835,0.00,2.30,0.00,0.000,6,0.000,0.023,2990,1645,3254,0,0,0,0,0,0
$GC,3149,-1.50,-90.5,437.6,-11.6,166,3153,0.00,2.50,0.00,0.000,4,0.000,0.060,2990,180,3251,0,0,0,0,0,0
$GC,3165,-1.50,-90.5,439.4,-11.8,166,3169,0.00,2.33,0.00,0.000,6,0.000,0.026,2990,1655,3251,0,0,0,0,0,0
$GC,3515,-1.56,-90.5,478.7,-11.1,175,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1655,3249,0,0,0,0,0,0
$GC,3840,-1.62,-90.5,516.0,-11.6,183,3845,0.10,2.58,0.00,0.000,4,0.077,0.065,2945,181,3246,0,0,0,0,0,0
$GC,3889,-1.50,-90.5,522.9,-14.2,184,3894,0.22,2.38,0.00,0.000,6,0.107,0.032,2991,1644,3246,0,0,0,0,0,0
$GC,4213,-1.58,-90.5,559.8,-11.3,192,4218,0.00,2.53,0.00,0.000,4,0.000,0.065,2991,174,3243,0,0,0,0,0,0
$GC,4387,-1.58,-90.5,582.6,-12.6,195,4391,0.00,2.35,0.00,0.000,6,0.000,0.032,2991,1637,3242,0,0,0,0,0,0
$GC,4718,-1.66,-90.5,617.8,-10.3,203,4723,0.15,2.55,0.00,0.000,4,0.057,0.070,2934,174,3239,0,0,0,0,0,0
$GC,4745,-1.54,-90.5,620.9,-13.0,203,4750,0.25,2.40,0.00,0.000,6,0.104,0.035,2986,1642,3239,0,0,0,0,0,0
$GC,5087,-1.60,-90.5,655.4,-10.2,212,5091,0.00,2.55,0.00,0.000,4,0.000,0.072,2986,177,3236,0,0,0,0,0,0
$GC,5115,-1.60,-90.5,658.6,-11.8,212,5119,0.00,2.40,0.00,0.000,6,0.000,0.036,2986,1639,3236,0,0,0,0,0,0
$GC,5452,-1.68,-90.5,694.5,-10.8,221,5458,0.12,2.58,0.00,0.000,4,0.064,0.073,2934,183,3234,0,0,0,0,0,0
$GC,5545,-1.52,-90.5,707.1,-14.7,223,5550,0.25,2.38,0.00,0.000,6,0.105,0.037,2986,1627,3233,0,0,0,0,0,0
$GC,5877,-1.60,-96.8,739.7,-9.3,231,5882,0.00,2.53,0.00,0.000,4,0.000,0.074,2986,182,3231,0,0,0,0,0,0
$GC,5920,-1.60,-96.8,744.5,-10.5,232,5924,0.00,2.38,0.00,0.000,6,0.000,0.037,2986,1633,3230,0,0,0,0,0,0
$STATE,6006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6006,begin apogee
$GC,6014,-0.31,0.0,753.2,9.8,234,6091,1.17,0.00,73.78,1.034,6,0.084,0.000,3249,1317,2880,0,0,0,0,0,0
$STATE,6092,end apogee,CONTROL_FINISHED_OK
$STATE,6092,begin climb
$GC,6095,1.82,96.8,755.4,0.0,236,6186,1.98,0.00,86.53,1.015,6,0.048,0.000,3710,1317,2485,0,0,0,0,0,0
$GC,6494,1.72,96.8,719.1,10.5,246,6497,0.00,2.00,0.00,0.000,4,0.000,0.075,3710,172,2475,0,0,0,0,0,0
$GC,6641,1.50,96.8,703.8,11.1,249,6645,0.30,1.85,0.00,0.000,6,0.107,0.029,3648,1323,2472,0,0,0,0,0,0
$GC,6966,1.59,116.3,677.9,7.9,257,6988,0.00,2.05,16.70,0.923,4,0.000,0.068,3648,172,2404,0,0,0,0,0,0
$GC,7240,1.59,116.3,650.5,10.3,263,7243,0.00,1.83,0.00,0.000,6,0.000,0.029,3648,1308,2401,0,0,0,0,0,0
$GC,7574,1.69,124.0,620.4,9.2,271,7587,0.15,2.00,7.32,0.785,4,0.061,0.067,3698,171,2374,0,0,0,0,0,0
$GC,7774,1.54,124.0,595.1,13.1,275,7779,0.20,1.83,0.00,0.000,6,0.113,0.028,3657,1300,2371,0,0,0,0,0,0
$GC,8093,1.62,124.0,562.5,10.1,283,8097,0.00,1.98,0.00,0.000,4,0.000,0.065,3657,167,2370,0,0,0,0,0,0
$GC,8292,1.62,124.0,539.0,12.3,287,8296,0.00,1.83,0.00,0.000,6,0.000,0.027,3657,1303,2368,0,0,0,0,0,0
$GC,8610,1.71,124.0,506.3,10.0,295,8615,0.15,2.00,0.00,0.000,4,0.061,0.063,3707,170,2367,0,0,0,0,0,0
$GC,8650,1.55,124.0,501.9,12.0,295,8655,0.20,1.83,0.00,0.000,6,0.095,0.027,3661,1299,2367,0,0,0,0,0,0
$GC,8987,1.64,137.3,471.7,8.6,304,9004,0.00,1.98,12.18,0.793,4,0.000,0.060,3661,161,2319,0,0,0,0,0,0
$GC,9183,1.65,144.4,451.7,9.2,308,9195,0.00,1.80,7.32,0.707,6,0.000,0.026,3661,1302,2291,0,0,0,0,0,0
$GC,9541,1.76,155.7,419.9,8.8,317,9555,0.17,0.00,11.52,0.755,6,0.055,0.000,3718,1303,2245,0,0,0,0,0,0
$GC,9866,1.76,155.7,383.2,11.2,325,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3717,1303,2242,0,0,0,0,0,0
$GC,10190,1.76,155.7,344.2,12.4,333,10194,0.00,1.92,0.00,0.000,4,0.000,0.057,3718,162,2241,0,0,0,0,0,0
$GC,10238,1.64,155.7,338.1,13.4,334,10242,0.20,1.80,0.00,0.000,6,0.113,0.025,3677,1305,2240,0,0,0,0,0,0
$GC,10574,1.76,164.0,304.8,9.1,342,10588,0.10,1.95,8.38,0.647,4,0.081,0.054,3716,163,2210,0,0,0,0,0,0
$GC,10622,1.67,179.4,300.6,8.4,343,10643,0.15,1.77,15.25,0.695,6,0.119,0.023,3686,1301,2148,0,0,0,0,0,0
$GC,10994,1.81,191.7,269.6,8.7,352,11011,0.08,1.95,12.10,0.651,4,0.100,0.054,3720,163,2097,0,0,0,0,0,0
$GC,11280,1.81,191.7,230.2,15.7,358,11284,0.00,1.73,0.00,0.000,6,0.000,0.021,3720,1295,2096,0,0,0,0,0,0
$GC,11607,1.81,192.6,191.1,9.9,372,11610,0.00,1.90,0.00,0.000,4,0.000,0.051,3720,166,2094,0,0,0,0,0,0
$GC,11659,1.81,192.6,185.9,10.3,377,11663,0.00,1.70,0.00,0.000,6,0.000,0.021,3720,1290,2094,0,0,0,0,0,0
$GC,11988,1.81,192.6,155.1,10.9,408,11991,0.00,1.90,0.00,0.000,4,0.000,0.051,3720,156,2094,0,0,0,0,0,0
$GC,12287,1.81,192.6,115.1,13.3,437,12290,0.00,1.67,0.00,0.000,6,0.000,0.020,3720,1269,2094,0,0,0,0,0,0
$GC,12616,1.95,221.1,80.6,7.0,468,12649,0.00,1.90,26.25,0.518,4,0.000,0.047,3720,165,1977,0,0,0,0,0,0
$GC,12757,1.96,230.4,70.4,9.0,480,12771,0.00,1.65,9.52,0.459,6,0.000,0.020,3720,1287,1940,0,0,0,0,0,0
$GC,13090,2.11,231.7,38.2,9.9,511,13094,0.00,1.88,0.00,0.000,4,0.000,0.048,3720,168,1937,0,0,0,0,0,0
$STATE,13398,end climb,SURFACE_DEPTH_REACHED
$STATE,13398,begin surface coast
$FINISH,0.8,1.001843
$STATE,13424,end surface coast,CONTROL_FINISHED_OK
$STATE,13424,begin surface
$SM_CCo,13450,216.32,0.442,2,0,510,581.12
$SM_GC,1.47,0.00,0.00,216.32,0.000,0.000,0.442,412,1649,510,-13.38,-0.31,581.12
$IRIDIUM_FIX,2234.68,-15755.87,021201,090936
$TT8_MAMPS,0.027612
$HUMID,64.53
$INTERNAL_PRESSURE,9.47689
$TCM_TEMP,21.90
$XPDR_PINGS,9
$24V_AH,23.2,78.022
$10V_AH,9.8,64.463
$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,33.500,112.525,286.850,216.325,0.000,156.814,165.241,404.675,2.250,0.000,16.518,1250.851,9551.643,584.083,2310.676,1123.287,33.369,1512.945,0.000,2304.126,0.000,1.140,0.000
$DEVICE_MAMPS,167.206,75.166,1033.916,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,378.814,298.056,377.072,527.226,926.317,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,44680,559
$CAP_FILE_SIZE,136657,0
$CFSIZE,260165632,142241792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070912,130614,2247.690,-15759.722,36,3.5,55,10.1