version: 66.07
glider: 149
mission: 2
dive: 7
start: 4 13 111 2 18 37
data:
$ID,149
$MISSION,2
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,190
$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,79
$T_MISSION,90
$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,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,-1143.1006
$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,27
$R_STBD_OVSHOOT,23
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,130411,021143,4743.769,-12224.850,6,1.1,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-67.7
$GPS2,130411,021738,4743.781,-12224.857,15,1.2,15,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.046,0.131
$KALMAN_X,953.6,528.3,9.4,-3174.7,268.2
$KALMAN_Y,780.1,907.6,47.8,-1869.0,-340.6
$MHEAD_RNG_PITCHd_Wd,0.2,231,-26.9,-8.017
$D_GRID,190
$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,-2.30,-45.4,0.0,0.0,0,93,0.00,0.00,-70.80,0.000,6,0.000,0.000,431,2365,3352,0,0,0,0,0,0
$GC,96,-2.34,-80.6,2.4,-3.8,10,114,8.43,2.45,-3.65,0.000,4,0.168,0.059,1974,936,3498,0,0,0,0,0,0
$GC,409,-2.19,-80.6,63.8,-15.9,69,417,0.20,2.33,0.00,0.000,6,0.164,0.035,2009,2360,3499,0,0,0,0,0,0
$GC,551,-2.09,-80.6,87.4,-16.4,94,561,0.12,2.38,0.00,0.000,4,0.164,0.042,2030,942,3499,0,0,1,0,0,0
$GC,844,-2.02,-80.6,131.9,-15.1,152,851,0.00,2.25,0.00,0.000,6,0.000,0.035,2030,2305,3500,0,0,0,0,0,0
$GC,988,-1.95,-80.6,153.7,-13.2,177,995,0.17,2.28,0.00,0.000,4,0.145,0.042,2062,939,3499,0,0,0,0,0,0
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1267,-0.42,0.0,190.4,14.1,233,1342,1.60,0.00,66.28,0.842,6,0.120,0.000,2388,2333,3168,0,0,0,0,0,0
$STATE,1343,end apogee,CONTROL_FINISHED_OK
$STATE,1343,begin climb
$GC,1344,2.34,80.6,193.5,0.0,244,1421,2.67,2.58,66.65,0.819,4,0.063,0.079,2999,3724,2839,0,0,0,0,0,0
$GC,1497,2.16,80.6,174.0,19.8,270,1506,0.17,2.35,0.00,0.000,6,0.132,0.039,2965,2333,2836,0,0,0,0,0,0
$GC,1644,2.04,80.6,149.8,16.4,295,1651,0.15,2.47,0.00,0.000,4,0.151,0.069,2938,3726,2836,0,0,0,0,0,0
$GC,1761,1.93,80.6,131.0,16.0,317,1768,0.15,2.30,0.00,0.000,6,0.150,0.037,2912,2328,2835,0,0,0,0,0,0
$GC,1903,1.88,80.6,111.2,12.7,342,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2327,2835,0,0,0,0,0,0
$GC,2046,1.84,80.6,93.5,11.5,367,2054,0.10,2.42,0.00,0.000,4,0.170,0.068,2895,3725,2834,0,0,1,0,0,0
$GC,2062,1.79,80.6,91.7,11.4,369,2068,0.00,2.35,0.00,0.000,6,0.000,0.037,2895,2308,2835,0,0,0,0,0,0
$GC,2203,1.79,80.6,76.9,9.3,394,2212,0.00,2.47,0.00,0.000,4,0.000,0.067,2895,3711,2834,0,0,0,0,0,0
$GC,2364,1.74,80.6,58.3,11.6,425,2371,0.12,2.25,0.00,0.000,6,0.164,0.037,2873,2336,2834,0,0,0,0,0,0
$GC,2504,1.74,80.6,45.1,9.3,450,2513,0.00,2.45,0.00,0.000,4,0.000,0.067,2873,3721,2834,0,0,0,0,0,0
$GC,2600,1.74,80.6,35.2,9.7,467,2608,0.00,2.22,0.00,0.000,6,0.000,0.037,2873,2384,2834,0,0,0,0,0,0
$GC,2675,1.74,80.6,28.4,9.0,480,2682,0.00,2.35,0.00,0.000,4,0.000,0.067,2873,3717,2834,0,0,0,0,0,0
$GC,2765,1.74,80.6,19.9,9.4,496,2772,0.00,2.17,0.00,0.000,6,0.000,0.037,2873,2410,2834,0,0,0,0,0,0
$GC,2839,1.75,86.8,14.0,7.3,509,2856,0.00,2.30,5.80,0.669,4,0.000,0.067,2874,3712,2814,0,0,1,0,0,0
$GC,2880,1.75,87.9,10.7,7.9,515,2888,0.00,2.08,0.00,0.000,6,0.000,0.036,2873,2465,2814,0,0,0,0,0,0
$GC,2955,1.76,97.9,5.2,6.8,528,2970,0.00,0.00,10.68,0.678,6,0.000,0.000,2873,2464,2768,0,0,0,0,0,0
$GC,3039,1.87,149.0,2.6,2.0,542,3080,0.10,2.22,34.72,0.089,4,0.097,0.067,2900,3722,2560,0,0,1,0,0,0
$STATE,3086,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,-0.2,1.020595
$STATE,3131,end surface coast,CONTROL_FINISHED_OK
$STATE,3131,begin surface
$SM_CCo,3152,73.68,0.081,0,0,1945,300.00
$SM_GC,0.64,0.00,0.00,73.68,0.000,0.000,0.081,428,2335,1945,-9.49,-0.40,300.00
$IRIDIUM_FIX,4729.30,-12226.80,130411,010144
$TT8_MAMPS,0.026964
$HUMID,32.67
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,13.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.0,78.0
$24V_AH,23.4,1.039
$10V_AH,10.3,0.639
$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,24.650,51.300,184.125,73.675,0.000,30.164,29.834,190.756,1.250,0.000,17.302,1332.331,214.447,358.426,1549.218,142.425,33.327,857.874,0.000,1306.413,0.000,8.804,0.000
$DEVICE_MAMPS,169.830,78.795,842.265,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.360,258.653,938.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323392
$DATA_FILE_SIZE,30192,556
$CAP_FILE_SIZE,72109,0
$CFSIZE,260165632,204713984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.054,184.0,1
$GPS,130411,031328,4743.850,-12225.099,8,2.2,27,18.2