version: 66.07
glider: 149
mission: 2
dive: 1
start: 4 12 111 20 19 4
data:
$ID,149
$MISSION,2
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,100
$D_BOOST,4
$T_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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,150
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,644.46039
$N_FILEKB,8
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1059.8989
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3733
$C_PITCH,2888
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,282
$ROLL_MAX,3925
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,3168
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.02247
$PRESSURE_SLOPE,0.000116112
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043695122
$SEABIRD_T_H,0.00063882151
$SEABIRD_T_I,2.6696958e-05
$SEABIRD_T_J,3.0855513e-06
$SEABIRD_C_G,-9.7004786
$SEABIRD_C_H,1.0787733
$SEABIRD_C_I,-0.0011301751
$SEABIRD_C_J,0.00016579087
$GPS1,120411,201413,4743.833,-12223.537,28,1.3,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-59.1
$GPS2,120411,201802,4743.855,-12223.506,14,1.8,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.260,0.013
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,254.7,1614,-17.5,-10.000
$D_GRID,163
$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,15,-1.21,-146.6,0.0,0.0,0,171,0.00,0.00,-150.20,0.000,6,0.000,0.000,423,2082,3766,0,0,0,0,0,0
$GC,175,-1.21,-146.6,4.4,-12.9,21,191,11.65,2.35,0.00,0.000,4,0.157,0.047,2619,709,3768,0,0,0,0,0,0
$GC,328,-1.82,-146.6,20.5,-6.3,48,337,0.52,2.35,0.00,0.000,6,0.072,0.042,2498,2104,3768,0,0,0,0,0,0
$GC,405,-2.17,-146.6,24.7,-6.7,61,414,0.32,2.42,0.00,0.000,4,0.059,0.065,2411,3495,3768,0,0,0,0,0,0
$STATE,697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,697,begin apogee
$GC,704,-0.29,0.0,45.2,6.6,116,826,1.70,0.00,115.03,0.756,6,0.039,0.000,2829,2106,3168,0,0,0,0,0,0
$STATE,827,end apogee,CONTROL_FINISHED_OK
$STATE,827,begin climb
$GC,829,1.21,146.6,54.4,0.0,132,957,1.35,2.50,118.85,0.723,4,0.046,0.059,3152,700,2569,0,0,0,0,0,0
$GC,1028,0.75,146.6,27.4,28.4,163,1036,0.45,2.40,0.00,0.000,6,0.128,0.047,3061,2090,2563,0,0,0,0,0,0
$GC,1103,0.40,146.6,10.0,20.0,176,1111,0.40,2.53,0.00,0.000,4,0.136,0.074,2981,3502,2562,0,0,0,0,0,0
$GC,1126,0.07,146.6,6.0,19.0,179,1134,0.35,2.35,0.00,0.000,6,0.125,0.042,2911,2108,2562,0,0,0,0,0,0
$STATE,1164,end climb,SURFACE_DEPTH_REACHED
$STATE,1164,begin surface coast
$FINISH,-0.5,1.020299
$STATE,1188,end surface coast,CONTROL_FINISHED_OK
$STATE,1188,begin surface
$SM_CCo,1205,267.75,0.080,0,0,540,644.65
$SM_GC,0.07,0.00,0.00,267.75,0.000,0.000,0.080,430,2104,540,-11.31,0.11,644.65
$IRIDIUM_FIX,4726.11,-12225.08,120411,202031
$TT8_MAMPS,0.026215
$HUMID,31.25
$INTERNAL_PRESSURE,8.75857
$TCM_TEMP,12.30
$XPDR_PINGS,7
$24V_AH,23.5,0.547
$10V_AH,10.3,0.221
$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,27.275,19.200,233.875,267.750,0.000,0.000,0.000,0.000,1.750,0.000,17.134,409.852,3.658,569.517,522.719,53.454,29.229,838.608,0.000,529.112,0.000,1.005,0.000
$DEVICE_MAMPS,156.825,74.205,755.820,80.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.285,125.047,465.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323768
$DATA_FILE_SIZE,10289,189
$CAP_FILE_SIZE,42735,0
$CFSIZE,260165632,204992512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.253,160.8,1
$GPS,120411,204446,4743.903,-12223.480,11,2.4,30,18.2