version: 66.06
glider: 148
mission: 11
dive: 601
start: 9 8 112 10 40 6
data:
$ID,148
$MISSION,11
$DIVE,601
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$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,120
$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,-931659.25
$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,21
$R_STBD_OVSHOOT,69
$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
$GPS1,102753,2247.607,-15802.373,141,1.2,141,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.5
$GPS2,103912,2247.661,-15802.311,34,1.0,34,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetB
$TGT_LATLONG,2248.500,-15802.400
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.021,0.242
$KALMAN_X,-624432.6,-355.1,-19.7,620455.1,-299.7
$KALMAN_Y,67016.7,53.3,510.2,-68210.0,-250.5
$MHEAD_RNG_PITCHd_Wd,354.8,1562,-18.9,-10.000
$D_GRID,360
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.34,-126.5,0.0,0.0,0,90,0.00,0.00,-67.57,0.000,2,0.000,0.000,413,1686,3232,0,0,0,0,0,0
$GC,93,-1.34,-126.5,4.2,-7.3,9,118,13.73,2.45,-2.85,0.000,4,0.153,0.032,3024,3219,3397,0,0,0,0,0,0
$GC,212,-0.99,-126.5,36.8,-18.6,24,225,0.35,2.53,0.00,0.000,6,0.094,0.029,3100,1652,3399,0,0,0,0,0,0
$GC,544,-0.80,-126.5,90.5,-13.6,55,549,0.20,2.42,0.00,0.000,4,0.100,0.040,3143,167,3400,0,0,0,0,0,0
$GC,594,-0.80,-126.5,97.1,-11.9,59,599,0.00,2.25,0.00,0.000,6,0.000,0.017,3143,1666,3401,0,0,0,0,0,0
$GC,923,-0.80,-126.5,133.0,-9.8,90,928,0.00,2.42,0.00,0.000,4,0.000,0.022,3144,3212,3401,0,0,0,0,0,0
$GC,962,-0.94,-126.5,136.4,-9.1,93,968,0.12,2.50,0.00,0.000,6,0.059,0.026,3059,1659,3401,0,0,0,0,0,0
$GC,1288,-0.70,-126.5,179.0,-12.5,123,1300,0.50,2.40,0.00,0.000,4,0.086,0.039,3162,170,3402,0,0,0,0,0,0
$GC,1324,-0.82,-126.5,182.7,-8.4,126,1333,0.00,2.28,0.00,0.000,6,0.000,0.017,3162,1663,3402,0,0,0,0,0,0
$GC,1671,-0.96,-126.5,209.9,-8.1,150,1676,0.22,2.45,0.00,0.000,4,0.039,0.021,3065,3218,3403,0,0,0,0,0,0
$GC,1727,-0.96,-126.5,216.3,-10.4,151,1732,0.20,2.47,0.00,0.000,6,0.086,0.027,3111,1666,3402,0,0,0,0,0,0
$GC,2044,-0.96,-126.5,243.7,-8.6,159,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1666,3403,0,0,0,0,0,0
$GC,2366,-0.96,-126.5,275.3,-10.3,167,2371,0.00,2.42,0.00,0.000,4,0.000,0.044,3111,173,3402,0,0,0,0,0,0
$GC,2419,-0.96,-126.5,281.1,-11.1,168,2423,0.00,2.25,0.00,0.000,6,0.000,0.018,3111,1662,3403,0,0,0,0,0,0
$GC,2738,-0.96,-126.5,309.1,-8.4,176,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1666,3402,0,0,0,0,0,0
$GC,3062,-0.96,-126.5,335.5,-8.2,184,3067,0.00,2.45,0.00,0.000,4,0.000,0.026,3111,3219,3401,0,0,0,0,0,0
$GC,3093,-1.10,-126.5,337.9,-8.2,184,3098,0.12,2.50,0.00,0.000,6,0.063,0.029,3035,1667,3401,0,0,0,0,0,0
$STATE,3305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3305,begin apogee
$GC,3312,-0.31,0.0,364.2,12.7,190,3418,0.98,0.00,102.30,0.700,6,0.081,0.000,3250,1302,2880,0,0,0,0,0,0
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3421,1.34,126.5,368.8,0.0,192,3535,1.52,2.03,105.15,0.693,4,0.048,0.061,3614,174,2363,0,0,0,0,0,0
$GC,3593,1.18,159.3,363.2,8.3,196,3626,0.17,1.73,28.17,0.663,6,0.097,0.020,3576,1308,2230,0,0,0,0,0,0
$GC,3967,1.22,186.1,333.5,8.6,206,3996,0.00,1.95,23.48,0.650,4,0.000,0.054,3577,178,2120,0,0,0,0,0,0
$GC,4042,1.22,186.1,325.6,10.7,207,4046,0.00,1.75,0.00,0.000,6,0.000,0.021,3576,1302,2119,0,0,0,0,0,0
$GC,4385,1.35,219.1,295.3,8.2,216,4422,0.15,1.95,29.15,0.644,4,0.055,0.052,3641,176,1985,0,0,0,0,0,0
$GC,4443,1.22,219.1,289.6,11.0,217,4447,0.25,1.75,0.00,0.000,6,0.087,0.021,3586,1293,1984,0,0,0,0,0,0
$GC,4764,1.38,268.6,264.4,7.4,225,4813,0.15,1.92,43.80,0.638,4,0.055,0.054,3655,181,1785,0,0,0,0,0,0
$GC,4916,1.24,268.6,246.4,13.6,228,4921,0.28,1.75,0.00,0.000,6,0.072,0.022,3583,1288,1782,0,0,0,0,0,0
$GC,5233,1.43,290.0,218.3,8.9,236,5258,0.20,2.60,19.30,0.586,4,0.045,0.030,3664,2866,1696,0,0,0,0,0,0
$GC,5332,1.43,290.0,206.6,11.9,238,5337,0.15,2.60,0.00,0.000,6,0.096,0.038,3631,1303,1691,0,0,0,0,0,0
$GC,5662,1.43,293.6,173.0,9.8,264,5667,0.00,2.55,0.00,0.000,4,0.000,0.028,3631,2879,1690,0,0,0,0,0,0
$GC,5692,1.52,293.6,169.9,10.5,266,5698,0.00,2.60,0.00,0.000,6,0.000,0.035,3631,1301,1688,0,0,0,0,0,0
$GC,6021,1.52,293.6,136.2,10.1,297,6024,0.00,1.88,0.00,0.000,4,0.000,0.056,3631,161,1688,0,0,0,0,0,0
$GC,6043,1.52,293.6,133.9,10.4,299,6047,0.00,1.75,0.00,0.000,6,0.000,0.021,3631,1331,1688,0,0,0,0,0,0
$GC,6372,1.63,322.1,107.5,8.5,330,6407,0.17,2.03,27.85,0.515,4,0.049,0.049,3701,167,1566,0,0,0,0,0,0
$GC,6480,1.50,322.1,92.6,15.3,340,6489,0.20,1.75,0.00,0.000,6,0.071,0.020,3651,1299,1566,0,0,0,0,0,0
$GC,6807,1.59,340.1,60.4,9.0,371,6832,0.00,1.95,16.52,0.456,4,0.000,0.048,3650,166,1491,0,0,0,0,0,0
$GC,6882,1.59,340.1,52.9,11.3,377,6885,0.00,1.70,0.00,0.000,6,0.000,0.020,3651,1305,1491,0,0,0,0,0,0
$GC,7231,1.70,360.3,16.9,8.9,417,7255,0.15,2.47,18.42,0.428,4,0.055,0.025,3718,2853,1410,0,0,0,0,0,0
$GC,7267,1.70,360.3,13.3,10.5,421,7276,0.10,2.60,0.00,0.000,6,0.072,0.035,3690,1299,1408,0,0,0,0,0,0
$STATE,7340,end climb,SURFACE_DEPTH_REACHED
$STATE,7340,begin surface coast
$FINISH,0.9,1.016036
$STATE,7380,end surface coast,CONTROL_FINISHED_OK
$STATE,7380,begin surface
$SM_CCo,7464,0.00,0.000,0,0,1400,363.04
$SM_GC,1.56,13.20,0.00,0.00,0.021,0.000,0.000,414,1681,1400,-13.29,0.59,363.04
$IRIDIUM_FIX,2239.35,-15804.53,031201,101009
$TT8_MAMPS,0.027612
$HUMID,67.01
$INTERNAL_PRESSURE,9.59408
$TCM_TEMP,22.20
$XPDR_PINGS,6
$24V_AH,23.5,78.817
$10V_AH,9.8,65.181
$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,33.125,76.175,414.150,0.000,0.000,55.564,73.741,305.752,1.500,0.000,35.692,865.773,4449.616,421.974,1674.613,721.338,33.368,1055.619,0.000,1659.249,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,60.593,699.504,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.680,293.771,372.557,567.836,996.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356044
$DATA_FILE_SIZE,35345,438
$CAP_FILE_SIZE,89921,0
$CFSIZE,260165632,141914112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080912,124519,2248.553,-15802.594,9,1.7,9,10.1