version: 66.06
glider: 148
mission: 11
dive: 590
start: 9 6 112 13 11 58
data:
$ID,148
$MISSION,11
$DIVE,590
$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,-931337.94
$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,26
$R_STBD_OVSHOOT,79
$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
$GPS1,084643,2248.227,-15800.629,301,99.0,301,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.3
$GPS2,131105,2246.840,-15800.041,62,1.3,62,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,0.061
$KALMAN_X,-609420.5,-42.9,388.4,608595.6,-2325.8
$KALMAN_Y,66627.9,-284.8,182.6,-68678.1,-608.2
$MHEAD_RNG_PITCHd_Wd,59.3,304,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.78,-63.0,0.0,0.0,0,87,0.00,0.00,-64.65,0.000,6,0.000,0.000,412,1684,3136,0,0,0,0,0,0
$GC,92,-1.81,-85.3,4.1,-7.6,9,117,13.57,2.45,-1.62,0.000,4,0.166,0.034,2922,3216,3231,0,0,0,0,0,0
$GC,127,-0.41,-85.3,19.2,-38.7,13,136,1.42,2.55,0.00,0.000,6,0.104,0.027,3225,1656,3232,0,0,0,0,0,0
$GC,475,-0.93,-114.4,50.8,-6.9,50,489,0.43,2.45,-1.10,0.000,4,0.025,0.054,3070,170,3349,0,0,0,0,0,0
$GC,497,-1.21,-121.6,53.7,-9.2,51,506,0.00,2.28,-0.28,0.000,6,0.000,0.017,3070,1663,3380,0,0,0,0,0,0
$GC,823,-1.35,-121.6,101.7,-14.5,82,828,0.17,2.42,0.00,0.000,4,0.049,0.022,3000,3214,3381,0,0,0,0,0,0
$GC,843,-1.43,-121.6,104.5,-14.7,83,847,0.00,2.50,0.00,0.000,6,0.000,0.026,2999,1649,3381,0,0,0,0,0,0
$GC,1169,-1.43,-121.6,162.8,-17.3,113,1173,0.00,2.38,0.00,0.000,4,0.000,0.039,2999,171,3381,0,0,0,0,0,0
$GC,1227,-1.37,-121.6,172.7,-17.3,118,1232,0.10,2.22,0.00,0.000,6,0.132,0.017,3019,1643,3381,0,0,0,0,0,0
$GC,1578,-1.37,-121.6,224.0,-13.9,139,1582,0.00,2.45,0.00,0.000,4,0.000,0.023,3019,3216,3382,0,0,0,0,0,0
$GC,1598,-1.37,-121.6,227.0,-13.6,139,1602,0.00,2.50,0.00,0.000,6,0.000,0.026,3019,1646,3382,0,0,0,0,0,0
$GC,1943,-1.43,-121.6,275.2,-14.0,148,1948,0.00,2.42,0.00,0.000,4,0.000,0.043,3019,163,3382,0,0,0,0,0,0
$GC,1967,-1.43,-121.6,278.9,-15.4,148,1971,0.00,2.25,0.00,0.000,6,0.000,0.018,3019,1637,3381,0,0,0,0,0,0
$GC,2307,-1.54,-121.6,324.7,-12.6,157,2309,0.15,0.00,0.00,0.000,6,0.054,0.000,2953,1639,3382,0,0,0,0,0,0
$GC,2632,-1.46,-121.6,369.7,-13.6,165,2637,0.22,2.47,0.00,0.000,4,0.099,0.050,3001,176,3381,0,0,0,0,0,0
$GC,2647,-1.46,-121.6,372.1,-13.2,165,2652,0.00,2.25,0.00,0.000,6,0.000,0.021,3001,1622,3381,0,0,0,0,0,0
$GC,2999,-1.54,-121.6,411.3,-11.3,174,3003,0.00,2.45,0.00,0.000,4,0.000,0.058,3001,172,3379,0,0,0,0,0,0
$GC,3050,-1.54,-121.6,418.2,-12.7,175,3054,0.00,2.30,0.00,0.000,6,0.000,0.025,3001,1619,3379,0,0,0,0,0,0
$GC,3370,-1.63,-121.6,457.4,-12.7,183,3376,0.15,2.65,0.00,0.000,4,0.056,0.038,2938,3241,3376,0,0,0,0,0,0
$GC,3390,-1.63,-121.6,460.7,-14.3,183,3395,0.12,2.65,0.00,0.000,6,0.114,0.038,2964,1641,3376,0,0,0,0,0,0
$GC,3736,-1.63,-121.6,513.1,-14.7,192,3740,0.00,2.55,0.00,0.000,4,0.000,0.070,2964,168,3373,0,0,0,0,0,0
$GC,3756,-1.63,-121.6,516.1,-15.3,192,3761,0.00,2.38,0.00,0.000,6,0.000,0.032,2964,1635,3373,0,0,0,0,0,0
$GC,4101,-1.63,-121.6,564.6,-13.5,201,4106,0.00,2.55,0.00,0.000,4,0.000,0.068,2964,164,3370,0,0,0,0,0,0
$GC,4171,-1.63,-121.6,575.1,-15.1,202,4175,0.00,2.40,0.00,0.000,6,0.000,0.035,2964,1634,3369,0,0,0,0,0,0
$GC,4513,-1.63,-121.6,621.8,-13.9,211,4517,0.00,2.53,0.00,0.000,4,0.000,0.070,2964,174,3366,0,0,0,0,0,0
$GC,4541,-1.55,-121.6,626.7,-15.8,211,4546,0.00,2.38,0.00,0.000,6,0.000,0.035,2964,1627,3366,0,0,0,0,0,0
$GC,4877,-1.55,-121.6,674.4,-13.9,220,4881,0.00,2.53,0.00,0.000,4,0.000,0.072,2964,174,3363,0,0,0,0,0,0
$GC,4903,-1.55,-121.6,678.0,-15.9,220,4907,0.00,2.40,0.00,0.000,6,0.000,0.038,2964,1635,3363,0,0,0,0,0,0
$GC,5243,-1.55,-121.6,723.0,-12.7,229,5247,0.00,2.58,0.00,0.000,4,0.000,0.073,2964,170,3359,0,0,0,0,0,0
$GC,5308,-1.55,-121.6,732.0,-13.4,230,5312,0.00,2.40,0.00,0.000,6,0.000,0.038,2964,1625,3358,0,0,0,0,0,0
$STATE,5488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5488,begin apogee
$GC,5496,-0.31,0.0,753.0,11.6,235,5600,1.30,0.00,99.97,1.029,6,0.084,0.000,3252,1305,2880,0,0,0,0,0,0
$STATE,5601,end apogee,CONTROL_FINISHED_OK
$STATE,5601,begin climb
$GC,5603,1.85,121.6,754.7,0.0,237,5721,1.92,2.08,106.93,1.005,4,0.046,0.080,3706,175,2384,0,0,0,0,0,0
$GC,5792,1.67,121.6,733.0,16.3,242,5797,0.12,1.88,0.00,0.000,6,0.132,0.032,3683,1319,2378,0,0,0,0,0,0
$GC,6115,1.67,121.6,687.4,13.6,250,6119,0.00,2.03,0.00,0.000,4,0.000,0.070,3683,177,2372,0,0,0,0,0,0
$GC,6342,1.56,121.6,654.4,14.8,254,6349,0.12,1.85,0.00,0.000,6,0.130,0.038,3659,1311,2370,0,0,0,0,0,0
$GC,6676,1.63,121.6,618.4,10.3,263,6679,0.00,2.00,0.00,0.000,4,0.000,0.069,3658,172,2368,0,0,0,0,0,0
$GC,6808,1.63,121.6,603.5,11.2,265,6812,0.00,1.83,0.00,0.000,6,0.000,0.028,3658,1303,2367,0,0,0,0,0,0
$GC,7146,1.70,121.6,568.5,10.4,274,7150,0.12,1.98,0.00,0.000,4,0.069,0.066,3703,171,2366,0,0,0,0,0,0
$GC,7231,1.55,121.6,556.9,13.9,275,7238,0.22,1.80,0.00,0.000,6,0.113,0.027,3657,1305,2364,0,0,0,0,0,0
$GC,7563,1.64,129.7,524.8,9.1,284,7572,0.00,1.95,4.68,0.628,4,0.000,0.063,3657,174,2351,0,0,0,0,0,0
$GC,7792,1.64,129.7,499.9,11.7,289,7796,0.00,1.80,0.00,0.000,6,0.000,0.026,3657,1301,2349,0,0,0,0,0,0
$GC,8126,1.76,136.9,468.9,9.2,297,8139,0.20,1.98,7.72,0.728,4,0.052,0.061,3719,171,2321,0,0,0,0,0,0
$GC,8350,1.59,136.9,442.2,12.0,301,8355,0.22,1.80,0.00,0.000,6,0.101,0.025,3669,1289,2320,0,0,0,0,0,0
$GC,8689,1.70,157.6,414.5,7.8,310,8710,0.00,0.00,19.55,0.793,6,0.000,0.000,3669,1292,2237,0,0,0,0,0,0
$GC,9014,1.80,160.0,383.2,9.7,318,9018,0.15,1.95,0.00,0.000,4,0.061,0.060,3719,168,2232,0,0,0,0,0,0
$GC,9209,1.68,160.0,356.9,12.8,322,9213,0.15,1.77,0.00,0.000,6,0.122,0.024,3689,1299,2231,0,0,0,0,0,0
$GC,9534,1.76,166.4,325.0,9.3,330,9547,0.00,1.95,8.35,0.652,4,0.000,0.057,3688,164,2201,0,0,0,0,0,0
$GC,9707,1.76,166.4,306.1,12.3,333,9710,0.00,1.77,0.00,0.000,6,0.000,0.023,3689,1297,2200,0,0,0,0,0,0
$GC,10044,1.88,176.8,275.9,8.9,342,10057,0.08,0.00,10.55,0.645,6,0.100,0.000,3722,1300,2159,0,0,0,0,0,0
$GC,10367,1.88,176.8,241.6,10.8,350,10370,0.00,1.92,0.00,0.000,4,0.000,0.054,3722,165,2156,0,0,0,0,0,0
$GC,10636,1.81,176.8,209.2,12.0,355,10639,0.00,1.73,0.00,0.000,6,0.000,0.021,3722,1296,2156,0,0,0,0,0,0
$GC,10965,1.83,191.1,178.7,8.5,380,10986,0.00,1.95,13.32,0.578,4,0.000,0.051,3722,170,2102,0,0,0,0,0,0
$GC,10997,1.83,194.3,175.3,9.7,383,11008,0.00,1.70,5.03,0.459,6,0.000,0.021,3722,1284,2086,0,0,0,0,0,0
$GC,11328,1.83,194.3,137.3,11.3,414,11332,0.00,1.88,0.00,0.000,4,0.000,0.049,3722,161,2084,0,0,0,0,0,0
$GC,11586,1.84,196.5,108.4,9.8,439,11590,0.00,1.67,0.00,0.000,6,0.000,0.020,3722,1284,2084,0,0,0,0,0,0
$GC,11916,1.98,231.0,83.9,6.3,470,11954,0.00,2.53,32.83,0.522,4,0.000,0.025,3722,2852,1936,0,0,0,0,0,0
$GC,12011,2.21,241.5,76.7,8.9,478,12032,0.00,2.60,10.35,0.466,6,0.000,0.035,3722,1300,1895,0,0,0,0,0,0
$GC,12350,2.37,241.5,43.6,10.3,510,12354,0.00,1.90,0.00,0.000,4,0.000,0.049,3722,171,1892,0,0,0,0,0,0
$GC,12456,2.45,241.5,30.8,12.9,519,12460,0.00,1.67,0.00,0.000,6,0.000,0.019,3722,1313,1892,0,0,0,0,0,0
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FINISH,0.9,1.016989
$STATE,12729,end surface coast,CONTROL_FINISHED_OK
$STATE,12729,begin surface
$SM_CCo,12754,58.47,0.443,0,0,1452,350.04
$SM_GC,1.72,0.00,0.00,58.47,0.000,0.000,0.443,414,1679,1452,-13.37,0.54,350.04
$IRIDIUM_FIX,2237.01,-15800.20,011201,131336
$TT8_MAMPS,0.027612
$HUMID,68.23
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.10
$XPDR_PINGS,64
$24V_AH,23.2,77.379
$10V_AH,9.8,63.853
$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,34.375,119.275,319.275,58.475,0.000,131.613,195.732,872.395,16.000,0.000,64.200,1223.007,8872.259,443.308,2358.298,1593.333,33.367,1356.356,0.000,2300.345,0.000,2.048,0.000
$DEVICE_MAMPS,166.439,79.768,1028.547,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.416,319.632,394.411,590.606,1037.659,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356188
$DATA_FILE_SIZE,44738,562
$CAP_FILE_SIZE,146145,0
$CFSIZE,260165632,142589952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060912,164705,2246.910,-15759.358,47,1.7,52,10.1