version: 66.06
glider: 148
mission: 11
dive: 233
start: 7 13 112 5 2 42
data:
$ID,148
$MISSION,11
$DIVE,233
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$T_MISSION,450
$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,150
$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,380
$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,-923198.19
$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,3340
$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,1540
$C_ROLL_CLIMB,1380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2920
$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
$GPS1,045436,2241.278,-15804.899,26,1.1,26,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-75.0
$GPS2,050148,2241.347,-15804.951,9,1.1,14,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.110,-0.134
$KALMAN_X,32014.6,69.4,216.8,-41165.5,-611.0
$KALMAN_Y,-5349.0,212.0,170.0,-7359.4,-131.7
$MHEAD_RNG_PITCHd_Wd,209.3,2383,-27.2,-10.000
$D_GRID,600
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.78,-63.0,0.0,0.0,0,91,0.00,0.00,-71.88,0.000,6,0.000,0.000,414,1539,3177,0,0,0,0,0,0
$GC,95,-1.83,-101.3,3.6,-5.9,10,120,13.02,2.28,-2.80,0.000,4,0.149,0.047,2936,163,3333,0,0,0,0,0,0
$GC,291,-1.47,-101.3,66.4,-31.4,32,301,0.35,2.10,0.00,0.000,6,0.104,0.018,3012,1515,3335,0,0,0,0,0,0
$GC,558,-1.47,-101.3,116.7,-18.8,57,562,0.00,2.20,0.00,0.000,4,0.000,0.042,3012,164,3337,0,0,0,0,0,0
$GC,660,-1.47,-101.3,136.7,-17.2,66,669,0.00,2.10,0.00,0.000,6,0.000,0.018,3012,1536,3337,0,0,0,0,0,0
$GC,926,-1.55,-101.3,175.7,-15.3,91,930,0.00,2.22,0.00,0.000,4,0.000,0.041,3012,164,3338,0,0,0,0,0,0
$GC,992,-1.55,-101.3,186.8,-16.1,97,996,0.00,2.05,0.00,0.000,6,0.000,0.018,3012,1527,3338,0,0,0,0,0,0
$GC,1258,-1.65,-101.3,224.1,-14.2,110,1263,0.15,2.25,0.00,0.000,4,0.055,0.043,2948,167,3339,0,0,0,0,0,0
$GC,1314,-1.54,-101.3,234.8,-19.3,111,1319,0.25,2.03,0.00,0.000,6,0.106,0.018,3000,1510,3339,0,0,0,0,0,0
$GC,1594,-1.65,-101.3,274.9,-13.8,118,1598,0.00,2.20,0.00,0.000,4,0.000,0.045,3000,167,3340,0,0,0,0,0,0
$GC,1655,-1.72,-101.3,283.9,-14.5,119,1659,0.15,2.05,0.00,0.000,6,0.058,0.018,2944,1509,3339,0,0,0,0,0,0
$GC,1925,-1.72,-101.3,322.1,-14.2,126,1929,0.00,2.22,0.00,0.000,4,0.000,0.051,2944,170,3339,0,0,0,0,0,0
$GC,2108,-1.63,-101.3,353.1,-16.6,130,2113,0.20,2.05,0.00,0.000,6,0.111,0.021,2985,1484,3339,0,0,0,0,0,0
$GC,2397,-1.73,-101.3,392.1,-13.3,137,2401,0.00,2.22,0.00,0.000,4,0.000,0.058,2985,164,3339,0,0,0,0,0,0
$GC,2443,-1.73,-101.3,399.0,-14.0,138,2447,0.00,2.05,0.00,0.000,6,0.000,0.024,2984,1472,3338,0,0,0,0,0,0
$GC,2726,-1.83,-101.3,432.9,-11.6,145,2730,0.17,2.22,0.00,0.000,4,0.053,0.061,2921,171,3337,0,0,0,0,0,0
$GC,2819,-1.67,-101.3,447.6,-17.4,147,2824,0.25,2.05,0.00,0.000,6,0.106,0.026,2972,1462,3336,0,0,0,0,0,0
$GC,3106,-1.74,-101.3,486.3,-13.3,154,3110,0.00,2.22,0.00,0.000,4,0.000,0.065,2972,163,3334,0,0,0,0,0,0
$GC,3173,-1.74,-101.3,496.4,-15.7,155,3176,0.00,2.08,0.00,0.000,6,0.000,0.031,2972,1450,3334,0,0,0,0,0,0
$GC,3441,-1.84,-101.3,531.2,-12.6,162,3446,0.15,2.22,0.00,0.000,4,0.059,0.068,2919,174,3332,0,0,0,0,0,0
$GC,3457,-1.84,-101.3,533.5,-12.8,162,3461,0.00,2.08,0.00,0.000,6,0.000,0.031,2919,1463,3332,0,0,0,0,0,0
$GC,3729,-1.84,-101.3,571.9,-14.0,169,3733,0.00,2.22,0.00,0.000,4,0.000,0.069,2919,166,3330,0,0,0,0,0,0
$GC,3767,-1.71,-101.3,577.7,-16.3,169,3773,0.22,2.08,0.00,0.000,6,0.110,0.034,2965,1443,3330,0,0,0,0,0,0
$STATE,3973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3973,begin apogee
$GC,3981,-0.31,0.0,603.3,12.1,175,4068,1.38,0.00,83.00,0.920,6,0.087,0.000,3269,1367,2919,0,0,0,0,0,0
$STATE,4069,end apogee,CONTROL_FINISHED_OK
$STATE,4069,begin climb
$GC,4071,1.83,101.3,605.9,0.0,177,4163,1.88,0.00,87.32,0.901,6,0.048,0.000,3709,1368,2507,0,0,0,0,0,0
$GC,4380,1.68,101.3,580.4,11.0,185,4384,0.00,2.10,0.00,0.000,4,0.000,0.074,3709,178,2499,0,0,0,0,0,0
$GC,4650,1.42,101.3,545.5,12.1,190,4656,0.30,1.90,0.00,0.000,6,0.117,0.028,3649,1347,2495,0,0,0,0,0,0
$GC,4901,1.42,101.3,520.2,10.1,197,4905,0.00,2.05,0.00,0.000,4,0.000,0.066,3648,170,2493,0,0,0,0,0,0
$GC,4950,1.31,101.3,514.9,11.5,198,4955,0.10,1.95,0.00,0.000,6,0.141,0.028,3629,1382,2493,0,0,0,0,0,0
$GC,5243,1.41,107.6,487.4,9.3,205,5251,0.00,2.12,3.97,0.542,4,0.000,0.065,3628,171,2481,0,0,0,0,0,0
$GC,5396,1.41,109.0,471.8,9.8,208,5400,0.00,1.92,0.00,0.000,6,0.000,0.026,3628,1378,2479,0,0,0,0,0,0
$GC,5670,1.54,131.3,450.3,7.6,215,5699,0.20,2.15,22.00,0.811,4,0.051,0.061,3691,179,2382,0,0,0,0,0,0
$GC,5889,1.37,131.3,424.8,11.7,219,5894,0.25,1.90,0.00,0.000,6,0.116,0.025,3640,1371,2379,0,0,0,0,0,0
$GC,6141,1.47,140.8,402.1,9.0,225,6154,0.00,2.10,8.68,0.701,4,0.000,0.059,3640,167,2345,0,0,0,0,0,0
$GC,6244,1.47,140.8,391.2,11.6,227,6248,0.00,1.90,0.00,0.000,6,0.000,0.025,3640,1366,2344,0,0,0,0,0,0
$GC,6524,1.58,151.0,365.5,8.9,234,6540,0.17,2.10,10.00,0.701,4,0.055,0.058,3695,177,2303,0,0,0,0,0,0
$GC,6794,1.44,151.0,331.6,12.4,239,6799,0.12,1.88,0.00,0.000,6,0.108,0.024,3656,1348,2301,0,0,0,0,0,0
$GC,7049,1.52,151.0,304.2,10.9,246,7053,0.00,2.00,0.00,0.000,4,0.000,0.058,3656,174,2299,0,0,0,0,0,0
$GC,7317,1.52,151.0,271.1,11.5,251,7321,0.00,1.83,0.00,0.000,6,0.000,0.021,3655,1340,2298,0,0,0,0,0,0
$GC,7573,1.63,164.6,248.5,8.6,258,7591,0.17,2.00,11.90,0.640,4,0.056,0.053,3712,174,2249,0,0,0,0,0,0
$GC,7809,1.50,164.6,219.7,13.6,263,7813,0.22,1.77,0.00,0.000,6,0.119,0.021,3667,1327,2245,0,0,0,0,0,0
$GC,8081,1.62,178.8,193.8,8.5,274,8102,0.10,1.95,13.45,0.601,4,0.081,0.049,3705,173,2189,0,0,0,0,0,0
$GC,8366,1.55,178.8,160.3,13.2,302,8372,0.12,1.77,0.00,0.000,6,0.133,0.021,3680,1327,2187,0,0,0,0,0,0
$GC,8635,1.67,192.3,133.3,8.6,327,8657,0.10,1.98,12.88,0.542,4,0.081,0.048,3720,173,2133,0,0,0,0,0,0
$GC,8853,1.59,192.3,106.3,12.3,348,8857,0.17,1.75,0.00,0.000,6,0.119,0.021,3686,1324,2132,0,0,0,0,0,0
$GC,9126,1.75,199.9,80.8,9.2,373,9139,0.08,2.58,7.55,0.451,4,0.100,0.026,3722,2945,2105,0,0,0,0,0,0
$GC,9168,1.88,217.4,77.4,8.1,376,9193,0.00,2.67,16.48,0.495,6,0.000,0.034,3722,1319,2031,0,0,0,0,0,0
$GC,9447,1.88,217.4,47.5,11.0,402,9451,0.00,1.90,0.00,0.000,4,0.000,0.047,3722,175,2029,0,0,0,0,0,0
$GC,9571,1.88,217.4,31.5,13.8,413,9575,0.00,1.75,0.00,0.000,6,0.000,0.018,3722,1344,2030,0,0,0,0,0,0
$STATE,9794,end climb,SURFACE_DEPTH_REACHED
$STATE,9794,begin surface coast
$FINISH,0.6,1.010679
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9858,89.03,0.447,0,0,1369,380.21
$SM_GC,1.59,0.00,0.00,89.03,0.000,0.000,0.447,412,1550,1369,-13.47,0.28,380.21
$IRIDIUM_FIX,2237.01,-15805.41,071001,010135
$TT8_MAMPS,0.028379
$HUMID,60.59
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.40
$XPDR_PINGS,4
$24V_AH,23.5,31.597
$10V_AH,10.0,23.876
$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,33.600,95.575,277.225,89.025,0.000,28.461,41.007,221.766,1.000,0.000,16.182,1068.741,6149.052,435.721,2132.200,591.636,33.367,1293.811,0.000,2116.069,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,81.302,920.400,447.161,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,307.606,257.013,333.181,490.205,858.433,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,35064,454
$CAP_FILE_SIZE,116322,0
$CFSIZE,260165632,164823040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130712,074935,2240.437,-15805.853,25,1.9,25,10.0