version: 66.06
glider: 148
mission: 11
dive: 600
start: 9 8 112 6 38 33
data:
$ID,148
$MISSION,11
$DIVE,600
$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,-931622.94
$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,25
$R_STBD_OVSHOOT,90
$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
$GPS1,062423,2248.580,-15802.275,69,1.8,69,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-70.8
$GPS2,063737,2248.651,-15802.322,21,1.3,33,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetB
$TGT_LATLONG,2248.500,-15802.400
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.086,-0.150
$KALMAN_X,-623148.6,-130.7,-261.1,619166.1,-946.8
$KALMAN_Y,67539.4,91.6,-488.5,-65948.7,1143.2
$MHEAD_RNG_PITCHd_Wd,140.1,309,-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,-65.03,0.000,6,0.000,0.000,412,1673,3137,0,0,0,0,0,0
$GC,88,-1.81,-90.8,4.2,-7.0,9,113,12.95,2.50,-2.10,0.000,4,0.146,0.049,2921,166,3253,0,0,0,0,0,0
$GC,137,-1.01,-90.8,21.7,-36.1,15,146,0.82,2.28,0.00,0.000,6,0.112,0.018,3094,1621,3255,0,0,0,0,0,0
$GC,472,-1.09,-90.8,78.7,-15.0,48,477,0.00,2.55,0.00,0.000,4,0.000,0.023,3094,3233,3256,0,0,0,0,0,0
$GC,506,-1.26,-90.8,83.5,-12.8,50,516,0.17,2.58,0.00,0.000,6,0.021,0.028,3009,1656,3256,0,0,0,0,0,0
$GC,833,-1.26,-90.8,134.0,-15.6,81,839,0.17,0.00,0.00,0.000,6,0.105,0.000,3046,1656,3257,0,0,0,0,0,0
$GC,1166,-1.34,-90.8,179.0,-13.4,112,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1656,3258,0,0,0,0,0,0
$GC,1504,-1.44,-90.8,218.9,-11.2,133,1509,0.17,2.45,0.00,0.000,4,0.050,0.041,2975,164,3258,0,0,0,0,0,0
$GC,1526,-1.44,-90.8,221.6,-13.1,133,1531,0.15,2.33,0.00,0.000,6,0.117,0.018,3005,1689,3258,0,0,0,0,0,0
$GC,1871,-1.44,-90.8,263.5,-12.2,142,1875,0.00,2.47,0.00,0.000,4,0.000,0.041,3005,166,3258,0,0,0,0,0,0
$GC,1881,-1.44,-90.8,264.7,-12.0,142,1885,0.00,2.28,0.00,0.000,6,0.000,0.018,3005,1676,3258,0,0,0,0,0,0
$GC,2196,-1.44,-90.8,303.3,-12.4,150,2200,0.00,2.47,0.00,0.000,4,0.000,0.043,3005,163,3258,0,0,0,0,0,0
$GC,2210,-1.44,-90.8,305.5,-11.7,150,2214,0.00,2.30,0.00,0.000,6,0.000,0.019,3005,1657,3258,0,0,0,0,0,0
$GC,2560,-1.51,-90.8,345.7,-11.0,159,2564,0.00,2.47,0.00,0.000,4,0.000,0.028,3005,3216,3258,0,0,0,0,0,0
$GC,2581,-1.61,-90.8,348.0,-10.8,159,2586,0.15,2.55,0.00,0.000,6,0.053,0.033,2937,1659,3259,0,0,0,0,0,0
$GC,2927,-1.51,-90.8,395.1,-13.6,168,2932,0.25,2.53,0.00,0.000,4,0.098,0.056,2993,170,3258,0,0,0,0,0,0
$GC,3013,-1.51,-90.8,406.5,-13.0,169,3019,0.00,2.30,0.00,0.000,6,0.000,0.023,2993,1629,3258,0,0,0,0,0,0
$GC,3346,-1.58,-90.8,445.2,-11.7,178,3351,0.00,2.50,0.00,0.000,4,0.000,0.059,2993,173,3257,0,0,0,0,0,0
$GC,3402,-1.58,-90.8,453.0,-13.4,179,3406,0.00,2.35,0.00,0.000,6,0.000,0.028,2993,1640,3256,0,0,0,0,0,0
$GC,3718,-1.65,-90.8,487.9,-11.1,187,3723,0.15,2.53,0.00,0.000,4,0.057,0.064,2935,175,3255,0,0,0,0,0,0
$GC,3798,-1.46,-90.8,500.8,-16.2,188,3803,0.30,2.35,0.00,0.000,6,0.101,0.032,2997,1639,3253,0,0,0,0,0,0
$GC,4131,-1.55,-90.8,543.6,-12.9,196,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1640,3251,0,0,0,0,0,0
$GC,4454,-1.65,-90.8,580.2,-10.6,204,4459,0.15,2.58,0.00,0.000,4,0.055,0.071,2939,176,3249,0,0,0,0,0,0
$GC,4485,-1.50,-90.8,584.2,-12.8,204,4490,0.25,2.40,0.00,0.000,6,0.104,0.035,2990,1644,3248,0,0,0,0,0,0
$GC,4824,-1.58,-90.8,621.2,-10.6,213,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1644,3245,0,0,0,0,0,0
$GC,5147,-1.67,-90.8,655.6,-10.6,221,5152,0.15,2.58,0.00,0.000,4,0.056,0.073,2933,175,3243,0,0,0,0,0,0
$GC,5162,-1.67,-90.8,657.7,-11.2,221,5167,0.10,2.40,0.00,0.000,6,0.133,0.037,2953,1639,3242,0,0,0,0,0,0
$GC,5514,-1.67,-90.8,701.5,-12.3,230,5518,0.00,2.58,0.00,0.000,4,0.000,0.074,2952,176,3240,0,0,0,0,0,0
$GC,5629,-1.56,-90.8,717.3,-14.0,232,5634,0.12,2.42,0.00,0.000,6,0.125,0.040,2976,1641,3238,0,0,0,0,0,0
$STATE,5975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5975,begin apogee
$GC,5981,-0.31,0.0,752.4,9.6,241,6060,1.23,0.00,75.25,1.031,6,0.082,0.000,3250,1308,2880,0,0,0,0,0,0
$STATE,6061,end apogee,CONTROL_FINISHED_OK
$STATE,6061,begin climb
$GC,6064,1.81,90.8,754.5,0.0,243,6153,1.95,2.10,81.28,1.009,4,0.051,0.082,3708,182,2509,0,0,0,0,0,0
$GC,6167,1.65,99.6,748.9,9.1,245,6181,0.15,1.88,8.68,0.828,6,0.124,0.032,3679,1316,2474,0,0,0,0,0,0
$GC,6517,1.65,99.6,711.3,10.2,254,6521,0.00,2.00,0.00,0.000,4,0.000,0.073,3679,177,2466,0,0,0,0,0,0
$GC,6788,1.52,99.6,683.7,10.5,259,6792,0.15,1.83,0.00,0.000,6,0.121,0.030,3650,1306,2463,0,0,0,0,0,0
$GC,7126,1.62,127.6,659.5,7.0,268,7159,0.10,2.03,24.98,0.944,4,0.082,0.068,3686,172,2358,0,0,0,0,0,0
$GC,7349,1.51,127.6,633.0,13.5,272,7355,0.17,1.85,0.00,0.000,6,0.113,0.030,3650,1306,2354,0,0,0,0,0,0
$GC,7682,1.61,127.6,599.2,10.4,281,7686,0.00,1.98,0.00,0.000,4,0.000,0.067,3650,175,2351,0,0,0,0,0,0
$GC,7788,1.61,127.6,586.0,12.8,283,7792,0.00,1.85,0.00,0.000,6,0.000,0.028,3650,1302,2351,0,0,0,0,0,0
$GC,8109,1.71,127.6,549.3,11.8,291,8113,0.17,1.98,0.00,0.000,4,0.054,0.064,3705,167,2348,0,0,0,0,0,0
$GC,8379,1.57,127.6,511.8,13.5,296,8385,0.20,1.83,0.00,0.000,6,0.113,0.026,3663,1309,2348,0,0,0,0,0,0
$GC,8711,1.67,144.5,482.3,8.2,305,8731,0.00,2.03,14.18,0.815,4,0.000,0.061,3663,178,2289,0,0,0,0,0,0
$GC,8996,1.67,144.5,452.0,10.9,311,9000,0.00,1.77,0.00,0.000,6,0.000,0.025,3663,1298,2287,0,0,0,0,0,0
$GC,9321,1.78,146.5,420.7,9.8,319,9325,0.17,1.92,0.00,0.000,4,0.057,0.060,3719,172,2285,0,0,0,0,0,0
$GC,9594,1.63,146.5,387.1,11.8,324,9598,0.17,1.77,0.00,0.000,6,0.094,0.025,3677,1284,2285,0,0,0,0,0,0
$GC,9930,1.71,146.5,353.7,10.1,333,9934,0.00,1.92,0.00,0.000,4,0.000,0.058,3677,170,2284,0,0,0,0,0,0
$GC,10200,1.71,146.5,323.7,10.3,338,10203,0.00,1.75,0.00,0.000,6,0.000,0.024,3677,1288,2284,0,0,0,0,0,0
$GC,10535,1.86,175.7,298.9,6.9,347,10566,0.12,0.00,27.95,0.719,6,0.070,0.000,3722,1290,2163,0,0,0,0,0,0
$GC,10861,1.86,175.7,264.0,10.8,355,10866,0.00,2.60,0.00,0.000,4,0.000,0.036,3722,2869,2159,0,0,0,0,0,0
$GC,10945,1.96,175.7,255.5,10.1,356,10951,0.00,2.67,0.00,0.000,6,0.000,0.041,3722,1280,2156,0,0,0,0,0,0
$GC,11277,1.97,189.4,225.9,8.5,365,11294,0.00,1.90,12.85,0.617,4,0.000,0.058,3722,165,2106,0,0,0,0,0,0
$GC,11462,1.97,189.4,204.5,13.4,369,11465,0.00,1.75,0.00,0.000,6,0.000,0.021,3722,1312,2105,0,0,0,0,0,0
$GC,11795,2.05,201.2,168.8,8.8,397,11813,0.00,2.00,11.43,0.555,4,0.000,0.052,3722,165,2059,0,0,0,0,0,0
$GC,11857,2.05,201.2,162.3,11.6,403,11860,0.00,1.67,0.00,0.000,6,0.000,0.021,3722,1288,2058,0,0,0,0,0,0
$GC,12185,2.12,201.2,124.7,10.9,434,12189,0.00,1.90,0.00,0.000,4,0.000,0.050,3722,157,2057,0,0,0,0,0,0
$GC,12436,2.12,201.2,95.8,10.4,458,12445,0.00,1.70,0.00,0.000,6,0.000,0.020,3722,1276,2056,0,0,0,0,0,0
$GC,12764,2.26,224.3,73.1,7.5,489,12787,0.00,0.00,21.40,0.489,6,0.000,0.000,3722,1276,1965,0,0,0,0,0,0
$GC,13107,2.39,232.7,39.3,9.1,521,13121,0.00,2.58,8.70,0.416,4,0.000,0.025,3722,2856,1930,0,0,0,0,0,0
$GC,13172,2.61,232.7,32.7,10.3,526,13181,0.00,2.67,0.00,0.000,6,0.000,0.035,3722,1253,1927,0,0,0,0,0,0
$STATE,13441,end climb,SURFACE_DEPTH_REACHED
$STATE,13441,begin surface coast
$FINISH,0.9,1.023492
$STATE,13486,end surface coast,CONTROL_FINISHED_OK
$STATE,13486,begin surface
$SM_CCo,13512,64.70,0.438,0,0,1451,350.04
$SM_GC,1.53,0.00,0.00,64.70,0.000,0.000,0.438,413,1685,1451,-13.37,0.71,350.04
$IRIDIUM_FIX,2239.35,-15804.53,031201,060644
$TT8_MAMPS,0.027612
$HUMID,67.40
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,7
$24V_AH,23.2,78.718
$10V_AH,9.7,65.078
$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,33.950,111.800,286.675,64.700,0.000,56.532,77.599,415.005,1.750,0.000,34.624,1267.816,9331.694,425.231,2429.139,912.821,33.378,1382.065,0.000,2397.286,0.000,1.139,0.000
$DEVICE_MAMPS,146.497,82.069,1030.848,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.035,303.102,391.308,568.737,996.479,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356152
$DATA_FILE_SIZE,44676,575
$CAP_FILE_SIZE,136929,0
$CFSIZE,260165632,141922304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080912,102753,2247.607,-15802.373,141,1.2,141,10.1