version: 66.06
glider: 148
mission: 11
dive: 431
start: 8 10 112 17 42 27
data:
$ID,148
$MISSION,11
$DIVE,431
$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,-927656.5
$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,1580
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,89
$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
$GPS1,173421,2241.529,-15804.597,10,99.0,29,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.2
$GPS2,174135,2241.533,-15804.650,15,1.3,31,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.046,-0.167
$KALMAN_X,-249613.0,277.9,10.5,240976.7,-1754.2
$KALMAN_Y,98921.3,-127.5,-249.1,-110527.5,71.8
$MHEAD_RNG_PITCHd_Wd,185.5,2997,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.78,-63.0,0.0,0.0,0,86,0.00,0.00,-67.47,0.000,2,0.000,0.000,412,1583,3091,0,0,0,0,0,0
$GC,89,-1.83,-103.9,3.4,-5.6,9,114,13.15,2.33,-4.72,0.000,4,0.151,0.048,2937,158,3346,0,0,0,0,0,0
$GC,369,-1.47,-103.9,88.5,-26.3,39,374,0.38,2.12,0.00,0.000,6,0.114,0.017,3014,1569,3349,0,0,0,0,0,0
$GC,634,-1.47,-103.9,139.0,-17.3,63,638,0.00,2.28,0.00,0.000,4,0.000,0.039,3014,166,3351,0,0,0,0,0,0
$GC,664,-1.38,-103.9,144.4,-17.5,65,669,0.12,2.15,0.00,0.000,6,0.127,0.018,3038,1582,3350,0,0,0,0,0,0
$GC,928,-1.38,-103.9,187.8,-16.4,89,933,0.00,2.30,0.00,0.000,4,0.000,0.041,3038,167,3352,0,0,0,0,0,0
$GC,996,-1.38,-103.9,200.9,-18.2,95,1000,0.00,2.10,0.00,0.000,6,0.000,0.018,3039,1565,3351,0,0,0,0,0,0
$GC,1262,-1.48,-103.9,235.5,-12.1,102,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,1568,3352,0,0,0,0,0,0
$GC,1504,-1.61,-103.9,268.6,-13.9,108,1506,0.20,0.00,0.00,0.000,6,0.044,0.000,2961,1568,3352,0,0,0,0,0,0
$GC,1748,-1.54,-103.9,308.9,-16.6,114,1752,0.20,2.30,0.00,0.000,4,0.104,0.044,3002,169,3352,0,0,0,0,0,0
$GC,1815,-1.54,-103.9,319.4,-15.0,115,1819,0.00,2.12,0.00,0.000,6,0.000,0.020,3003,1555,3353,0,0,0,0,0,0
$GC,2079,-1.60,-103.9,356.8,-13.8,122,2083,0.00,2.33,0.00,0.000,4,0.000,0.052,3003,163,3353,0,0,0,0,0,0
$GC,2116,-1.60,-103.9,362.5,-14.7,122,2121,0.00,2.15,0.00,0.000,6,0.000,0.021,3003,1555,3353,0,0,0,0,0,0
$GC,2368,-1.69,-103.9,394.5,-12.4,129,2369,0.12,0.00,0.00,0.000,6,0.064,0.000,2948,1555,3352,0,0,0,0,0,0
$GC,2610,-1.63,-103.9,431.4,-15.7,135,2611,0.17,0.00,0.00,0.000,6,0.107,0.000,2984,1555,3352,0,0,0,0,0,0
$GC,2853,-1.63,-103.9,464.4,-13.4,141,2857,0.00,2.40,0.00,0.000,4,0.000,0.065,2984,169,3350,0,0,0,0,0,0
$GC,2921,-1.63,-103.9,474.0,-15.6,142,2925,0.00,2.22,0.00,0.000,6,0.000,0.030,2984,1554,3350,0,0,0,0,0,0
$GC,3185,-1.69,-103.9,509.1,-13.0,149,3189,0.00,2.38,0.00,0.000,4,0.000,0.065,2984,169,3348,0,0,0,0,0,0
$GC,3307,-1.69,-103.9,526.2,-14.8,151,3311,0.00,2.22,0.00,0.000,6,0.000,0.031,2984,1557,3347,0,0,0,0,0,0
$GC,3566,-1.76,-103.9,557.4,-11.6,158,3571,0.12,2.70,0.00,0.000,4,0.067,0.048,2935,3167,3345,0,0,0,0,0,0
$GC,3590,-1.76,-103.9,560.9,-13.5,158,3596,0.10,2.67,0.00,0.000,6,0.127,0.044,2954,1571,3345,0,0,0,0,0,0
$GC,3852,-1.76,-103.9,596.8,-14.1,165,3856,0.00,2.45,0.00,0.000,4,0.000,0.075,2955,168,3343,0,0,0,0,0,0
$STATE,3868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3868,begin apogee
$GC,3877,-0.31,0.0,600.1,16.1,165,3966,1.40,0.00,85.60,0.906,6,0.091,0.000,3265,1406,2920,0,0,0,0,0,0
$STATE,3967,end apogee,CONTROL_FINISHED_OK
$STATE,3967,begin climb
$GC,3971,1.83,103.9,603.5,0.0,167,4069,1.85,2.25,88.12,0.893,4,0.049,0.071,3703,161,2495,0,0,0,0,0,0
$GC,4089,1.63,115.5,599.7,8.8,170,4106,0.00,2.00,10.93,0.779,6,0.000,0.029,3703,1401,2448,0,0,0,0,0,0
$GC,4394,1.63,115.5,566.4,11.5,178,4398,0.00,2.17,0.00,0.000,4,0.000,0.067,3703,160,2441,0,0,0,0,0,0
$GC,4450,1.45,115.5,558.9,13.6,179,4455,0.22,2.00,0.00,0.000,6,0.118,0.028,3658,1408,2439,0,0,0,0,0,0
$GC,4729,1.45,115.5,530.1,10.3,186,4734,0.00,2.65,0.00,0.000,4,0.000,0.051,3658,2984,2437,0,0,0,0,0,0
$GC,4786,1.57,115.8,524.3,10.0,187,4791,0.10,2.67,0.00,0.000,6,0.080,0.044,3698,1408,2436,0,0,0,0,0,0
$GC,5062,1.57,116.0,496.3,10.0,194,5066,0.00,2.17,0.00,0.000,4,0.000,0.073,3698,161,2434,0,0,0,0,0,0
$GC,5330,1.40,116.0,469.2,10.0,199,5337,0.25,1.98,0.00,0.000,6,0.112,0.025,3648,1409,2432,0,0,0,0,0,0
$GC,5582,1.53,133.8,449.7,8.1,206,5603,0.10,2.20,14.35,0.782,4,0.079,0.061,3686,173,2373,0,0,0,0,0,0
$GC,5873,1.42,133.8,412.0,11.4,212,5877,0.17,1.90,0.00,0.000,6,0.117,0.023,3651,1383,2370,0,0,0,0,0,0
$GC,6151,1.57,154.9,388.9,7.8,219,6177,0.12,2.17,18.40,0.762,4,0.069,0.058,3695,163,2288,0,0,0,0,0,0
$GC,6445,1.49,154.9,351.4,13.6,225,6450,0.15,1.88,0.00,0.000,6,0.120,0.023,3665,1377,2284,0,0,0,0,0,0
$GC,6725,1.61,160.5,324.1,9.4,232,6738,0.10,2.12,5.45,0.568,4,0.081,0.056,3704,166,2264,0,0,0,0,0,0
$GC,7006,1.52,160.5,290.2,11.8,238,7011,0.12,1.90,0.00,0.000,6,0.101,0.022,3675,1372,2263,0,0,0,0,0,0
$GC,7298,1.63,160.5,259.3,11.0,245,7302,0.00,2.05,0.00,0.000,4,0.000,0.054,3675,161,2261,0,0,0,0,0,0
$GC,7567,1.63,161.8,233.4,9.9,250,7571,0.00,1.85,0.00,0.000,6,0.000,0.021,3674,1368,2261,0,0,0,0,0,0
$GC,7823,1.80,177.7,212.4,8.3,257,7844,0.12,2.08,15.30,0.612,4,0.067,0.052,3725,160,2195,0,0,0,0,0,0
$GC,7904,1.69,177.7,203.9,11.5,258,7908,0.00,1.85,0.00,0.000,6,0.000,0.021,3725,1358,2194,0,0,0,0,0,0
$GC,8179,1.71,192.2,178.6,8.5,280,8198,0.00,2.03,13.95,0.573,4,0.000,0.048,3724,157,2135,0,0,0,0,0,0
$GC,8487,1.64,192.2,140.0,12.9,310,8495,0.10,1.83,0.00,0.000,6,0.095,0.020,3700,1344,2133,0,0,0,0,0,0
$GC,8753,1.74,192.2,110.7,11.4,335,8757,0.00,1.98,0.00,0.000,4,0.000,0.048,3700,156,2132,0,0,0,0,0,0
$GC,8849,1.74,192.2,97.5,12.9,344,8858,0.00,1.83,0.00,0.000,6,0.000,0.019,3700,1346,2132,0,0,0,0,0,0
$GC,9115,1.92,222.0,71.9,6.8,369,9152,0.00,2.03,26.15,0.501,4,0.000,0.055,3700,167,2013,0,0,0,0,0,0
$GC,9330,1.98,222.0,51.8,11.7,388,9334,0.00,1.75,0.00,0.000,6,0.000,0.019,3700,1344,2012,0,0,0,0,0,0
$GC,9612,2.16,225.8,23.0,9.6,418,9620,0.00,0.00,4.38,0.334,6,0.000,0.000,3700,1347,1999,0,0,0,0,0,0
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,0.8,1.010319
$STATE,9853,end surface coast,CONTROL_FINISHED_OK
$STATE,9853,begin surface
$SM_CCo,9878,85.97,0.443,0,0,1370,380.21
$SM_GC,1.73,0.00,0.00,85.97,0.000,0.000,0.443,411,1604,1370,-13.48,0.68,380.21
$IRIDIUM_FIX,2237.01,-15800.20,041101,141438
$TT8_MAMPS,0.027612
$HUMID,64.25
$INTERNAL_PRESSURE,9.56478
$TCM_TEMP,22.40
$XPDR_PINGS,5
$24V_AH,23.5,56.487
$10V_AH,9.9,45.313
$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,32.625,90.875,282.625,85.975,0.000,27.737,38.399,208.832,1.250,0.000,32.768,1045.408,6235.409,399.803,2137.644,576.033,33.377,1252.111,0.000,2098.896,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,75.166,905.827,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.233,254.181,332.412,506.079,889.377,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,35193,456
$CAP_FILE_SIZE,112660,0
$CFSIZE,260165632,152883200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100812,202953,2240.693,-15805.841,24,1.4,41,10.0