version: 66.07
glider: 149
mission: 2
dive: 3
start: 4 12 111 22 10 36
data:
$ID,149
$MISSION,2
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,300
$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,-1137.9772
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3733
$C_PITCH,2490
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$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,2350
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,45
$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,100
$ALTIM_PING_DELTA,10
$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
$GPS1,120411,220555,4744.480,-12223.754,10,1.2,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-67.2
$GPS2,120411,220938,4744.514,-12223.739,9,1.3,9,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,-0.220
$KALMAN_X,198.0,219.9,204.2,-913.6,225.2
$KALMAN_Y,402.3,504.9,430.1,-137.0,536.4
$MHEAD_RNG_PITCHd_Wd,196.6,1743,-17.5,-10.000
$D_GRID,167
$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,14,begin dive
$GC,16,-1.64,-146.6,0.0,0.0,0,98,0.00,0.00,-79.97,0.000,2,0.000,0.000,427,2373,3654,0,0,0,0,0,0
$GC,100,-1.64,-146.6,3.7,-10.3,11,118,9.20,2.38,-2.28,0.000,4,0.165,0.071,2125,3738,3768,0,0,0,0,0,0
$GC,127,-0.84,-146.6,13.3,-30.5,14,136,0.80,2.30,0.00,0.000,6,0.109,0.030,2302,2334,3768,0,0,0,0,0,0
$GC,203,-0.95,-146.6,20.3,-6.7,27,211,0.00,2.30,0.00,0.000,4,0.000,0.046,2302,957,3768,0,0,0,0,0,0
$GC,252,-1.07,-146.6,23.9,-7.5,35,261,0.15,2.30,0.00,0.000,6,0.037,0.041,2251,2330,3768,0,0,0,0,0,0
$GC,327,-1.07,-146.6,30.1,-9.1,48,336,0.00,2.47,0.00,0.000,4,0.000,0.067,2251,3747,3768,0,0,0,0,0,0
$GC,346,-1.11,-146.6,31.9,-9.3,50,353,0.00,2.25,0.00,0.000,6,0.000,0.031,2251,2370,3768,0,0,0,0,0,0
$GC,422,-1.17,-146.6,38.6,-8.9,63,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2369,3769,0,0,0,0,0,0
$GC,498,-1.22,-146.6,45.2,-8.7,76,507,0.12,0.00,0.00,0.000,6,0.076,0.000,2209,2369,3769,0,0,0,0,0,0
$GC,573,-1.22,-146.6,53.2,-10.4,89,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2369,3769,0,0,0,0,0,0
$GC,712,-1.22,-146.6,66.9,-9.7,114,720,0.00,2.35,0.00,0.000,4,0.000,0.045,2209,959,3769,0,0,0,0,0,0
$GC,818,-1.22,-146.6,77.9,-10.1,135,825,0.00,2.35,0.00,0.000,6,0.000,0.041,2209,2377,3768,0,0,0,0,0,0
$GC,959,-1.22,-146.6,91.8,-9.4,160,968,0.00,2.38,0.00,0.000,4,0.000,0.044,2209,960,3769,0,0,0,0,0,0
$GC,1022,-1.22,-146.6,98.7,-11.6,172,1031,0.00,2.33,0.00,0.000,6,0.000,0.040,2209,2354,3769,0,0,0,0,0,0
$GC,1170,-1.22,-146.6,114.4,-11.0,197,1177,0.00,2.33,0.00,0.000,4,0.000,0.043,2209,948,3769,0,0,0,0,0,0
$GC,1254,-1.22,-146.6,123.6,-11.2,213,1261,0.00,2.28,0.00,0.000,6,0.000,0.040,2209,2327,3769,0,0,0,0,0,0
$GC,1396,-1.22,-146.6,137.4,-10.3,238,1404,0.00,2.30,0.00,0.000,4,0.000,0.044,2209,952,3769,0,0,0,0,0,0
$GC,1438,-1.22,-146.6,141.7,-10.5,245,1444,0.00,2.22,0.00,0.000,6,0.000,0.040,2209,2316,3769,0,0,0,0,0,0
$GC,1580,-1.22,-146.6,156.2,-9.4,270,1588,0.00,2.28,0.00,0.000,4,0.000,0.044,2209,955,3769,0,0,0,0,0,0
$GC,1630,-1.22,-146.6,160.7,-9.2,279,1636,0.00,2.22,0.00,0.000,6,0.000,0.040,2209,2304,3769,0,0,0,0,0,0
$STATE,1697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1697,begin apogee
$GC,1702,-0.42,0.0,167.3,9.0,291,1829,0.85,0.00,117.20,0.823,6,0.087,0.000,2398,2304,3168,0,0,0,0,0,0
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1831,1.64,146.6,170.8,0.0,310,1962,1.95,2.60,119.82,0.796,4,0.064,0.075,2845,3723,2569,0,0,0,0,0,0
$GC,2055,1.49,146.6,146.4,15.9,348,2064,0.10,2.33,0.00,0.000,6,0.106,0.037,2822,2341,2566,0,0,0,0,0,0
$GC,2200,1.41,146.6,126.2,12.9,373,2207,0.12,2.45,0.00,0.000,4,0.129,0.071,2798,3725,2565,0,0,1,0,0,0
$GC,2264,1.33,146.6,117.8,13.3,385,2271,0.00,2.28,0.00,0.000,6,0.000,0.036,2798,2337,2564,0,0,0,0,0,0
$GC,2404,1.28,146.6,100.4,11.9,410,2412,0.15,0.00,0.00,0.000,6,0.126,0.000,2769,2337,2564,0,0,0,0,0,0
$GC,2548,1.28,146.6,85.2,10.5,435,2555,0.00,2.42,0.00,0.000,4,0.000,0.070,2769,3726,2564,0,0,0,0,0,0
$GC,2621,1.25,162.2,77.8,9.3,449,2641,0.00,2.22,13.93,0.726,6,0.000,0.037,2769,2362,2505,0,0,0,0,0,0
$GC,2773,1.27,172.7,63.9,9.5,476,2788,0.00,0.00,10.23,0.681,6,0.000,0.000,2769,2362,2463,0,0,0,0,0,0
$GC,2924,1.27,172.7,48.7,10.2,502,2932,0.00,2.42,0.00,0.000,4,0.000,0.070,2769,3722,2461,0,0,0,0,0,0
$GC,3060,1.27,172.7,33.8,10.7,527,3068,0.00,2.22,0.00,0.000,6,0.000,0.036,2769,2384,2461,0,0,0,0,0,0
$GC,3136,1.28,185.1,26.7,9.4,540,3154,0.00,0.00,11.77,0.684,6,0.000,0.000,2769,2384,2413,0,0,0,0,0,0
$GC,3220,1.31,211.3,18.6,8.8,554,3250,0.00,0.00,23.62,0.702,6,0.000,0.000,2769,2384,2305,0,0,0,0,0,0
$GC,3318,1.39,228.8,9.3,9.2,570,3342,0.10,0.00,15.57,0.677,6,0.091,0.000,2801,2384,2235,0,0,0,0,0,0
$STATE,3396,end climb,SURFACE_DEPTH_REACHED
$STATE,3396,begin surface coast
$FINISH,-0.2,1.020517
$STATE,3418,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3436,35.95,0.082,0,0,1945,300.00
$SM_GC,0.62,0.00,0.00,35.95,0.000,0.000,0.082,429,2377,1945,-9.48,0.76,300.00
$IRIDIUM_FIX,4729.30,-12224.09,120411,222221
$TT8_MAMPS,0.026215
$HUMID,33.85
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,15.8
$24V_AH,23.5,0.735
$10V_AH,10.3,0.368
$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,23.525,55.975,312.150,35.950,0.000,0.000,0.000,0.000,0.500,0.000,11.600,1363.637,278.909,438.788,1359.408,105.305,31.404,1019.342,0.000,1370.249,0.000,5.479,0.000
$DEVICE_MAMPS,165.240,74.970,823.140,81.855,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,404.796,268.909,982.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323416
$DATA_FILE_SIZE,30235,587
$CAP_FILE_SIZE,92199,0
$CFSIZE,260165632,204853248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.104,  5.6,1
$GPS,120411,230919,4744.293,-12223.990,8,2.0,13,18.2