version: 66.06
glider: 148
mission: 11
dive: 596
start: 9 7 112 13 23 9
data:
$ID,148
$MISSION,11
$DIVE,596
$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,-931488
$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,23
$R_STBD_OVSHOOT,75
$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
$GPS1,130614,2247.690,-15759.722,36,3.5,55,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.7
$GPS2,132215,2247.664,-15759.686,11,2.7,30,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,-0.072
$KALMAN_X,-618507.1,66.8,313.8,618249.4,-1904.8
$KALMAN_Y,68085.0,-142.7,240.1,-68813.0,-604.6
$MHEAD_RNG_PITCHd_Wd,104.3,1342,-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,-63.0,0.0,0.0,0,122,0.00,0.00,-103.78,0.000,2,0.000,0.000,411,1649,3102,0,0,0,0,0,0
$GC,127,-1.84,-114.4,3.3,-4.5,14,152,13.00,2.45,-4.50,0.000,4,0.150,0.031,2914,3218,3348,0,0,0,0,0,0
$GC,168,-0.81,-114.4,19.3,-37.9,19,177,1.02,2.58,0.00,0.000,6,0.097,0.029,3135,1652,3349,0,0,0,0,0,0
$GC,510,-1.00,-114.4,72.3,-13.7,54,519,0.15,0.00,0.00,0.000,6,0.055,0.000,3073,1653,3350,0,0,0,0,0,0
$GC,842,-1.14,-114.4,117.9,-12.3,85,846,0.00,2.45,0.00,0.000,4,0.000,0.021,3073,3222,3350,0,0,0,0,0,0
$GC,914,-1.43,-114.4,126.3,-10.1,91,920,0.25,2.47,0.00,0.000,6,0.037,0.027,2975,1662,3350,0,0,0,0,0,0
$GC,1239,-1.33,-114.4,177.5,-16.2,122,1244,0.25,2.40,0.00,0.000,4,0.101,0.038,3031,171,3350,0,0,0,0,0,0
$GC,1271,-1.33,-114.4,182.5,-15.2,124,1277,0.00,2.28,0.00,0.000,6,0.000,0.018,3032,1662,3351,0,0,0,0,0,0
$GC,1609,-1.40,-114.4,226.6,-13.2,142,1613,0.00,2.45,0.00,0.000,4,0.000,0.023,3031,3223,3351,0,0,0,0,0,0
$GC,1629,-1.51,-114.4,229.2,-13.1,142,1634,0.17,2.50,0.00,0.000,6,0.048,0.026,2957,1665,3351,0,0,0,0,0,0
$GC,1976,-1.41,-114.4,282.5,-15.2,151,1981,0.25,2.42,0.00,0.000,4,0.099,0.040,3014,167,3351,0,0,0,0,0,0
$GC,2089,-1.41,-114.4,298.9,-14.9,153,2094,0.00,2.28,0.00,0.000,6,0.000,0.018,3014,1646,3351,0,0,0,0,0,0
$GC,2437,-1.52,-114.4,340.8,-11.9,162,2441,0.10,2.47,0.00,0.000,4,0.076,0.048,2965,172,3351,0,0,0,0,0,0
$GC,2493,-1.44,-114.4,349.8,-15.6,163,2498,0.20,2.28,0.00,0.000,6,0.105,0.020,3006,1646,3351,0,0,0,0,0,0
$GC,2810,-1.53,-114.4,386.2,-10.9,171,2814,0.00,2.47,0.00,0.000,4,0.000,0.054,3005,178,3349,0,0,0,0,0,0
$GC,2838,-1.53,-114.4,389.9,-11.9,171,2842,0.00,2.30,0.00,0.000,6,0.000,0.022,3005,1651,3349,0,0,0,0,0,0
$GC,3174,-1.64,-114.4,427.4,-11.3,180,3176,0.17,0.00,0.00,0.000,6,0.049,0.000,2937,1651,3347,0,0,0,0,0,0
$GC,3501,-1.56,-114.4,475.9,-15.6,188,3506,0.20,2.58,0.00,0.000,4,0.103,0.064,2978,170,3345,0,0,0,0,0,0
$GC,3521,-1.49,-114.4,479.6,-16.5,188,3525,0.00,2.35,0.00,0.000,6,0.000,0.031,2978,1632,3344,0,0,0,0,0,0
$GC,3868,-1.49,-114.4,526.9,-13.4,197,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1632,3341,0,0,0,0,0,0
$GC,4190,-1.49,-114.4,569.8,-13.1,205,4195,0.00,2.50,0.00,0.000,4,0.000,0.067,2978,180,3338,0,0,0,0,0,0
$GC,4209,-1.49,-114.4,572.6,-13.9,205,4214,0.00,2.40,0.00,0.000,6,0.000,0.035,2978,1650,3338,0,0,0,0,0,0
$GC,4554,-1.49,-114.4,612.9,-11.2,214,4559,0.00,2.55,0.00,0.000,4,0.000,0.069,2978,177,3335,0,0,0,0,0,0
$GC,4626,-1.49,-114.4,621.7,-12.8,215,4630,0.00,2.40,0.00,0.000,6,0.000,0.036,2978,1642,3335,0,0,0,0,0,0
$GC,4970,-1.49,-114.4,661.7,-11.4,224,4975,0.00,2.58,0.00,0.000,4,0.000,0.073,2978,177,3332,0,0,0,0,0,0
$GC,5028,-1.49,-114.4,669.0,-12.5,225,5032,0.00,2.40,0.00,0.000,6,0.000,0.037,2978,1636,3331,0,0,0,0,0,0
$GC,5342,-1.55,-114.4,706.4,-12.0,233,5346,0.00,2.55,0.00,0.000,4,0.000,0.074,2978,176,3328,0,0,0,0,0,0
$GC,5379,-1.55,-114.4,711.4,-13.3,233,5385,0.00,2.40,0.00,0.000,6,0.000,0.038,2979,1629,3328,0,0,0,0,0,0
$STATE,5708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5708,begin apogee
$GC,5714,-0.31,0.0,750.1,11.8,242,5812,1.23,0.00,93.72,1.029,6,0.085,0.000,3250,1312,2880,0,0,0,0,0,0
$STATE,5812,end apogee,CONTROL_FINISHED_OK
$STATE,5813,begin climb
$GC,5815,1.84,114.4,753.4,0.0,244,5923,1.95,0.00,102.55,1.006,6,0.051,0.000,3706,1312,2413,0,0,0,0,0,0
$GC,6226,1.77,114.4,707.7,13.8,254,6230,0.00,2.03,0.00,0.000,4,0.000,0.077,3706,170,2401,0,0,0,0,0,0
$GC,6496,1.59,114.4,665.7,15.4,259,6501,0.17,1.90,0.00,0.000,6,0.099,0.030,3658,1320,2399,0,0,0,0,0,0
$GC,6832,1.59,114.4,625.2,11.6,268,6836,0.00,2.05,0.00,0.000,4,0.000,0.069,3658,154,2396,0,0,0,0,0,0
$GC,7102,1.59,114.4,590.5,13.0,273,7106,0.00,1.88,0.00,0.000,6,0.000,0.028,3658,1315,2394,0,0,0,0,0,0
$GC,7438,1.65,114.4,554.5,10.6,282,7442,0.08,2.00,0.00,0.000,4,0.100,0.065,3690,162,2393,0,0,0,0,0,0
$GC,7707,1.51,114.4,522.4,10.7,287,7714,0.20,1.83,0.00,0.000,6,0.112,0.026,3649,1305,2392,0,0,0,0,0,0
$GC,8041,1.65,134.3,495.7,7.9,296,8062,0.12,2.03,15.07,0.827,4,0.070,0.062,3692,178,2331,0,0,0,0,0,0
$GC,8332,1.55,134.3,461.7,12.3,302,8336,0.15,1.80,0.00,0.000,6,0.120,0.025,3661,1308,2328,0,0,0,0,0,0
$GC,8655,1.66,136.1,429.5,9.8,310,8659,0.00,2.00,0.00,0.000,4,0.000,0.061,3660,162,2327,0,0,0,0,0,0
$GC,8924,1.66,136.1,399.8,11.0,315,8927,0.00,1.80,0.00,0.000,6,0.000,0.025,3661,1300,2326,0,0,0,0,0,0
$GC,9260,1.81,163.0,373.9,7.1,324,9292,0.17,2.05,25.48,0.774,4,0.055,0.058,3718,162,2215,0,0,0,0,0,0
$GC,9456,1.68,163.0,351.1,11.9,328,9460,0.15,1.80,0.00,0.000,6,0.120,0.024,3689,1299,2212,0,0,0,0,0,0
$GC,9776,1.76,163.0,318.1,10.6,336,9780,0.00,1.95,0.00,0.000,4,0.000,0.057,3689,160,2209,0,0,0,0,0,0
$GC,9923,1.76,163.0,300.5,11.3,339,9926,0.00,1.77,0.00,0.000,6,0.000,0.023,3688,1292,2209,0,0,0,0,0,0
$GC,10252,1.89,173.6,270.2,8.9,347,10269,0.08,2.00,9.95,0.635,4,0.099,0.056,3722,165,2171,0,0,0,0,0,0
$GC,10538,1.81,173.6,237.6,12.3,353,10542,0.00,1.75,0.00,0.000,6,0.000,0.021,3722,1295,2169,0,0,0,0,0,0
$GC,10865,1.81,173.6,202.2,10.2,361,10866,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,1298,2167,0,0,0,0,0,0
$GC,11189,1.82,175.1,171.2,9.8,388,11192,0.00,1.90,0.00,0.000,4,0.000,0.051,3722,164,2167,0,0,0,0,0,0
$GC,11223,1.74,175.1,167.1,11.0,391,11229,0.10,1.70,0.00,0.000,6,0.133,0.021,3701,1288,2167,0,0,0,0,0,0
$GC,11549,1.86,182.6,137.6,9.2,422,11562,0.00,1.95,9.07,0.513,4,0.000,0.058,3701,167,2134,0,0,0,0,0,0
$GC,11627,1.86,182.6,129.6,12.5,429,11631,0.00,1.67,0.00,0.000,6,0.000,0.021,3701,1274,2134,0,0,0,0,0,0
$GC,11956,2.01,214.5,99.6,6.6,460,11989,0.00,1.95,28.55,0.529,4,0.000,0.050,3701,161,2005,0,0,0,0,0,0
$GC,12014,2.10,234.8,95.8,7.8,465,12038,0.00,1.67,19.42,0.514,6,0.000,0.021,3701,1271,1922,0,0,0,0,0,0
$GC,12366,2.31,235.2,61.1,10.0,498,12370,0.00,1.88,0.00,0.000,4,0.000,0.049,3701,167,1917,0,0,0,0,0,0
$GC,12459,2.42,235.2,51.5,11.1,506,12463,0.00,1.67,0.00,0.000,6,0.000,0.020,3701,1289,1916,0,0,0,0,0,0
$GC,12807,2.66,247.6,20.2,8.7,545,12824,0.00,1.88,11.93,0.423,4,0.000,0.047,3701,165,1868,0,0,0,0,0,0
$STATE,12959,end climb,SURFACE_DEPTH_REACHED
$STATE,12959,begin surface coast
$FINISH,1.0,1.011584
$STATE,13004,end surface coast,CONTROL_FINISHED_OK
$STATE,13004,begin surface
$SM_CCo,13030,55.15,0.438,0,0,1452,350.04
$SM_GC,1.65,0.00,0.00,55.15,0.000,0.000,0.438,414,1648,1452,-13.37,-0.31,350.04
$IRIDIUM_FIX,2239.35,-15802.37,021201,131331
$TT8_MAMPS,0.027612
$HUMID,68.38
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,21.90
$XPDR_PINGS,10
$24V_AH,23.2,78.148
$10V_AH,9.8,64.588
$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,33.475,108.250,315.750,55.150,0.000,61.448,72.425,587.128,2.500,0.000,32.355,1249.895,8817.742,439.665,2458.432,1078.267,33.371,1410.021,0.000,2424.370,0.000,1.140,0.000
$DEVICE_MAMPS,149.565,76.700,1028.547,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.023,326.405,404.306,605.833,1064.361,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356140
$DATA_FILE_SIZE,44717,575
$CAP_FILE_SIZE,135533,0
$CFSIZE,260165632,142192640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070912,170239,2246.606,-15759.166,39,1.3,41,10.1