version: 66.06
glider: 148
mission: 11
dive: 597
start: 9 7 112 17 21 26
data:
$ID,148
$MISSION,11
$DIVE,597
$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,-931534.44
$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,74
$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
$GPS1,170239,2246.606,-15759.166,39,1.3,41,10.1
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.7
$GPS2,172030,2246.555,-15759.224,33,1.5,44,10.1
$SPEED_LIMITS,0.173,0.243
$TGT_NAME,targetA
$TGT_LATLONG,2247.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.120
$KALMAN_X,-619871.9,171.6,2.3,620611.6,-1856.7
$KALMAN_Y,68168.7,-320.6,-643.8,-69884.2,1331.7
$MHEAD_RNG_PITCHd_Wd,123.6,1561,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.78,-63.0,0.0,0.0,0,86,0.00,0.00,-65.82,0.000,6,0.000,0.000,413,1649,3138,0,0,0,0,0,0
$GC,89,-1.83,-102.6,3.7,-5.8,9,114,13.55,2.45,-2.97,0.000,4,0.167,0.046,2915,166,3300,0,0,0,0,0,0
$GC,169,-1.32,-102.6,29.9,-28.9,20,178,0.52,2.30,0.00,0.000,6,0.112,0.018,3025,1649,3301,0,0,0,0,0,0
$GC,498,-1.26,-102.6,99.8,-16.9,51,503,0.10,2.45,0.00,0.000,4,0.131,0.049,3045,160,3302,0,0,0,0,0,0
$GC,550,-1.26,-102.6,108.5,-16.3,55,554,0.00,2.30,0.00,0.000,6,0.000,0.017,3045,1670,3303,0,0,0,0,0,0
$GC,879,-1.32,-102.6,153.4,-13.5,86,880,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,1673,3303,0,0,0,0,0,0
$GC,1200,-1.43,-102.6,194.8,-12.9,116,1205,0.15,2.47,0.00,0.000,4,0.054,0.041,2979,156,3304,0,0,0,0,0,0
$GC,1216,-1.43,-102.6,197.6,-13.7,117,1221,0.12,2.30,0.00,0.000,6,0.122,0.017,3005,1671,3303,0,0,0,0,0,0
$GC,1557,-1.43,-102.6,244.4,-12.6,126,1562,0.00,2.40,0.00,0.000,4,0.000,0.022,3005,3218,3304,0,0,0,0,0,0
$GC,1573,-1.43,-102.6,246.2,-11.9,126,1578,0.00,2.53,0.00,0.000,6,0.000,0.025,3005,1645,3304,0,0,0,0,0,0
$GC,1923,-1.43,-102.6,288.3,-12.8,135,1927,0.00,2.42,0.00,0.000,4,0.000,0.044,3005,168,3304,0,0,0,0,0,0
$GC,2020,-1.43,-102.6,303.0,-14.4,137,2024,0.00,2.28,0.00,0.000,6,0.000,0.018,3005,1645,3304,0,0,0,0,0,0
$GC,2340,-1.51,-102.6,342.2,-12.2,145,2345,0.00,2.45,0.00,0.000,4,0.000,0.048,3005,169,3304,0,0,0,0,0,0
$GC,2368,-1.51,-102.6,346.4,-13.1,145,2373,0.00,2.30,0.00,0.000,6,0.000,0.020,3005,1648,3304,0,0,0,0,0,0
$GC,2706,-1.60,-102.6,387.0,-11.4,154,2708,0.15,0.00,0.00,0.000,6,0.054,0.000,2941,1650,3304,0,0,0,0,0,0
$GC,3029,-1.52,-102.6,431.8,-13.6,162,3031,0.22,0.00,0.00,0.000,6,0.100,0.000,2987,1651,3302,0,0,0,0,0,0
$GC,3354,-1.58,-102.6,467.1,-10.7,170,3359,0.00,2.55,0.00,0.000,4,0.000,0.065,2988,182,3301,0,0,0,0,0,0
$GC,3370,-1.58,-102.6,469.0,-11.3,170,3374,0.00,2.33,0.00,0.000,6,0.000,0.028,2988,1633,3300,0,0,0,0,0,0
$GC,3720,-1.65,-102.6,510.1,-11.4,179,3722,0.12,0.00,0.00,0.000,6,0.064,0.000,2934,1633,3298,0,0,0,0,0,0
$GC,4045,-1.57,-102.6,555.5,-14.0,187,4050,0.20,2.53,0.00,0.000,4,0.104,0.067,2975,180,3295,0,0,0,0,0,0
$GC,4145,-1.57,-102.6,568.6,-12.9,189,4149,0.00,2.38,0.00,0.000,6,0.000,0.034,2975,1642,3294,0,0,0,0,0,0
$GC,4463,-1.57,-102.6,607.0,-12.1,197,4468,0.00,2.53,0.00,0.000,4,0.000,0.069,2975,184,3291,0,0,0,0,0,0
$GC,4482,-1.57,-102.6,609.6,-13.3,197,4486,0.00,2.40,0.00,0.000,6,0.000,0.035,2975,1653,3291,0,0,0,0,0,0
$GC,4829,-1.57,-102.6,649.0,-11.3,206,4833,0.00,2.55,0.00,0.000,4,0.000,0.072,2975,184,3288,0,0,0,0,0,0
$GC,4912,-1.57,-102.6,660.3,-12.8,207,4918,0.00,2.40,0.00,0.000,6,0.000,0.038,2975,1642,3287,0,0,0,0,0,0
$GC,5245,-1.57,-102.6,698.2,-11.3,216,5249,0.00,2.58,0.00,0.000,4,0.000,0.074,2975,178,3285,0,0,0,0,0,0
$GC,5273,-1.57,-102.6,702.1,-13.0,216,5277,0.00,2.42,0.00,0.000,6,0.000,0.038,2976,1650,3284,0,0,0,0,0,0
$GC,5609,-1.57,-102.6,740.4,-11.4,225,5613,0.00,2.60,0.00,0.000,4,0.000,0.074,2975,175,3282,0,0,0,0,0,0
$GC,5661,-1.57,-102.6,747.0,-13.3,226,5666,0.00,2.42,0.00,0.000,6,0.000,0.038,2975,1645,3281,0,0,0,0,0,0
$STATE,5682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5682,begin apogee
$GC,5689,-0.31,0.0,750.1,12.9,226,5779,1.20,0.00,84.53,1.032,6,0.084,0.000,3245,1313,2880,0,0,0,0,0,0
$STATE,5780,end apogee,CONTROL_FINISHED_OK
$STATE,5780,begin climb
$GC,5782,1.83,102.6,753.1,0.0,229,5887,1.95,2.10,90.95,1.011,4,0.051,0.080,3703,166,2460,0,0,0,0,0,0
$GC,5948,1.63,102.6,739.5,13.1,232,5953,0.15,1.90,0.00,0.000,6,0.125,0.033,3674,1321,2455,0,0,0,0,0,0
$GC,6281,1.63,102.6,701.8,11.3,240,6285,0.00,2.03,0.00,0.000,4,0.000,0.071,3675,173,2450,0,0,0,0,0,0
$GC,6551,1.51,102.6,670.3,11.4,245,6555,0.12,1.85,0.00,0.000,6,0.127,0.030,3649,1305,2447,0,0,0,0,0,0
$GC,6888,1.60,125.9,643.0,7.5,254,6912,0.00,2.05,19.80,0.921,4,0.000,0.070,3650,169,2366,0,0,0,0,0,0
$GC,7178,1.60,125.9,611.3,12.1,260,7182,0.00,1.85,0.00,0.000,6,0.000,0.029,3650,1292,2362,0,0,0,0,0,0
$GC,7496,1.69,125.9,575.2,11.5,268,7501,0.15,1.98,0.00,0.000,4,0.061,0.067,3699,172,2360,0,0,0,0,0,0
$GC,7766,1.54,125.9,536.9,13.5,273,7772,0.20,1.83,0.00,0.000,6,0.111,0.028,3658,1309,2358,0,0,0,0,0,0
$GC,8100,1.65,136.8,506.2,8.8,282,8116,0.00,2.00,9.45,0.782,4,0.000,0.061,3658,170,2322,0,0,0,0,0,0
$GC,8350,1.67,148.6,483.3,8.7,287,8367,0.10,1.80,11.95,0.798,6,0.081,0.026,3693,1298,2274,0,0,0,0,0,0
$GC,8705,1.67,148.6,446.8,10.8,296,8709,0.00,1.95,0.00,0.000,4,0.000,0.060,3693,165,2268,0,0,0,0,0,0
$GC,8758,1.60,148.6,440.4,11.9,297,8762,0.10,1.80,0.00,0.000,6,0.099,0.026,3668,1279,2268,0,0,0,0,0,0
$GC,9086,1.70,149.3,407.0,9.9,305,9090,0.00,1.90,0.00,0.000,4,0.000,0.058,3668,170,2267,0,0,0,0,0,0
$GC,9138,1.70,149.3,401.1,11.8,306,9142,0.00,1.80,0.00,0.000,6,0.000,0.025,3669,1303,2267,0,0,0,0,0,0
$GC,9468,1.83,158.6,371.5,9.0,314,9484,0.15,2.03,9.32,0.702,4,0.061,0.058,3720,165,2233,0,0,0,0,0,0
$GC,9609,1.70,158.6,354.6,12.0,317,9613,0.15,1.77,0.00,0.000,6,0.117,0.025,3690,1294,2232,0,0,0,0,0,0
$GC,9943,1.77,158.6,319.2,10.2,325,9947,0.00,1.90,0.00,0.000,4,0.000,0.056,3690,167,2230,0,0,0,0,0,0
$GC,10157,1.77,158.6,293.5,10.9,329,10161,0.00,1.75,0.00,0.000,6,0.000,0.023,3690,1289,2230,0,0,0,0,0,0
$GC,10502,1.89,171.2,263.1,8.7,338,10520,0.05,1.95,12.27,0.650,4,0.137,0.055,3720,163,2181,0,0,0,0,0,0
$GC,10785,1.89,172.6,234.1,9.9,344,10789,0.00,1.73,0.00,0.000,6,0.000,0.022,3720,1279,2179,0,0,0,0,0,0
$GC,11110,1.91,185.9,207.3,8.6,352,11126,0.00,0.00,14.43,0.607,6,0.000,0.000,3720,1282,2122,0,0,0,0,0,0
$GC,11428,1.98,185.9,173.7,11.3,376,11432,0.00,1.88,0.00,0.000,4,0.000,0.051,3720,165,2119,0,0,0,0,0,0
$GC,11462,1.98,185.9,170.0,12.0,379,11466,0.00,1.73,0.00,0.000,6,0.000,0.021,3720,1282,2119,0,0,0,0,0,0
$GC,11791,2.05,185.9,136.3,10.7,410,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,3720,1285,2119,0,0,0,0,0,0
$GC,12114,2.15,188.7,105.4,9.7,440,12117,0.00,1.85,0.00,0.000,4,0.000,0.057,3720,165,2119,0,0,0,0,0,0
$GC,12128,2.23,199.6,104.2,8.8,441,12149,0.00,1.67,13.07,0.503,6,0.000,0.021,3720,1291,2064,0,0,0,0,0,0
$GC,12468,2.38,219.6,77.9,7.9,473,12492,0.00,2.50,18.23,0.490,4,0.000,0.024,3720,2853,1984,0,0,0,0,0,0
$GC,12499,2.54,236.1,74.8,8.2,475,12522,0.00,2.65,16.50,0.482,6,0.000,0.035,3720,1279,1915,0,0,0,0,0,0
$GC,12851,2.70,241.5,39.3,9.4,508,12864,0.00,1.88,5.82,0.379,4,0.000,0.048,3720,170,1893,0,0,0,0,0,0
$GC,12915,2.79,245.7,33.5,9.5,513,12929,0.00,1.67,5.55,0.370,6,0.000,0.020,3720,1300,1877,0,0,0,0,0,0
$STATE,13206,end climb,SURFACE_DEPTH_REACHED
$STATE,13206,begin surface coast
$FINISH,1.0,1.023223
$STATE,13245,end surface coast,CONTROL_FINISHED_OK
$STATE,13245,begin surface
$SM_CCo,13271,56.50,0.436,0,0,1452,350.04
$SM_GC,1.62,0.00,0.00,56.50,0.000,0.000,0.436,413,1670,1452,-13.38,0.31,350.04
$IRIDIUM_FIX,2234.68,-15800.20,021201,171752
$TT8_MAMPS,0.027612
$HUMID,67.79
$INTERNAL_PRESSURE,9.57455
$TCM_TEMP,22.30
$XPDR_PINGS,9
$24V_AH,23.2,78.265
$10V_AH,9.8,64.708
$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,32.750,113.125,311.875,56.500,0.000,122.155,192.898,365.408,2.250,0.000,45.831,1246.750,9277.541,401.108,2390.838,1077.949,33.371,1376.798,0.000,2355.989,0.000,1.140,0.000
$DEVICE_MAMPS,167.206,79.768,1032.382,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,380.810,315.615,389.989,552.588,970.867,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355960
$DATA_FILE_SIZE,44706,563
$CAP_FILE_SIZE,137019,0
$CFSIZE,260165632,142127104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070912,210606,2245.976,-15758.706,111,1.8,111,10.1