version: 66.07
glider: 149
mission: 2
dive: 11
start: 4 13 111 6 52 53
data:
$ID,149
$MISSION,2
$DIVE,11
$D_SURF,2
$D_FLARE,3
$D_TGT,221
$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,92
$T_MISSION,95
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$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,-1148.2253
$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,2484
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,30
$R_STBD_OVSHOOT,31
$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,0
$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
$GPS1,130411,064438,4743.016,-12224.747,8,1.9,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-67.9
$GPS2,130411,065155,4742.976,-12224.743,10,1.9,15,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.134,0.035
$KALMAN_X,791.9,152.2,-84.6,-2401.5,-189.8
$KALMAN_Y,-703.1,123.7,-568.4,-485.3,-537.2
$MHEAD_RNG_PITCHd_Wd,57.3,516,-26.9,-8.007
$D_GRID,179
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.85,-45.3,0.0,0.0,0,88,0.00,0.00,-65.32,0.000,6,0.000,0.000,433,2336,3353,0,0,0,0,0,0
$GC,90,-1.88,-66.4,3.0,-5.5,10,107,9.12,2.50,-2.10,0.000,4,0.177,0.074,2067,3748,3441,0,0,0,0,0,0
$GC,325,-1.81,-66.4,39.1,-13.6,54,334,0.08,2.30,0.00,0.000,6,0.135,0.029,2084,2339,3443,0,0,0,0,0,0
$GC,399,-1.81,-66.4,48.8,-12.8,67,407,0.00,2.30,0.00,0.000,4,0.000,0.043,2084,956,3442,0,0,0,0,0,0
$GC,546,-1.81,-66.4,69.1,-13.3,97,553,0.00,2.28,0.00,0.000,6,0.000,0.035,2084,2341,3442,0,0,0,0,0,0
$GC,682,-1.81,-66.4,85.1,-11.3,122,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2341,3443,0,0,0,0,0,0
$GC,823,-1.81,-66.4,100.3,-11.0,147,830,0.00,2.30,0.00,0.000,4,0.000,0.042,2084,953,3443,0,0,0,0,0,0
$GC,1015,-1.81,-66.4,123.6,-11.8,187,1022,0.00,2.17,0.00,0.000,6,0.000,0.035,2084,2279,3442,0,0,0,0,0,0
$GC,1154,-1.81,-66.4,140.8,-13.4,212,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2279,3443,0,0,0,0,0,0
$GC,1292,-1.81,-66.4,158.7,-12.2,237,1299,0.00,2.17,0.00,0.000,4,0.000,0.042,2084,950,3443,0,0,0,0,0,0
$STATE,1457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1457,begin apogee
$GC,1463,-0.33,0.0,179.3,11.9,271,1528,1.60,0.00,54.72,0.834,6,0.125,0.000,2407,2329,3171,0,0,0,0,0,0
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1530,1.88,66.4,182.7,0.0,281,1596,2.12,2.47,55.45,0.811,4,0.066,0.073,2895,3717,2897,0,0,0,0,0,0
$GC,1629,1.80,66.4,177.0,9.8,297,1636,0.00,2.30,0.00,0.000,6,0.000,0.037,2895,2338,2896,0,0,0,0,0,0
$GC,1768,1.80,66.4,162.3,9.4,322,1776,0.00,2.47,0.00,0.000,4,0.000,0.063,2895,921,2894,0,0,0,0,0,0
$GC,1807,1.76,66.4,158.5,9.9,329,1815,0.15,2.30,0.00,0.000,6,0.143,0.044,2869,2303,2893,0,0,1,0,0,0
$GC,1946,1.76,66.4,144.8,9.5,354,1954,0.00,2.55,0.00,0.000,4,0.000,0.082,2869,3716,2893,0,0,0,0,0,0
$GC,2080,1.76,66.4,132.2,9.5,381,2086,0.00,2.30,0.00,0.000,6,0.000,0.036,2869,2323,2893,0,0,0,0,0,0
$GC,2218,1.76,66.4,119.5,9.6,406,2226,0.00,2.47,0.00,0.000,4,0.000,0.068,2868,3721,2893,0,0,0,0,0,0
$GC,2392,1.76,66.4,104.0,8.9,442,2400,0.00,2.33,0.00,0.000,6,0.000,0.037,2869,2329,2893,0,0,0,0,0,0
$GC,2534,1.76,71.0,93.1,7.5,467,2548,0.00,2.47,4.85,0.643,4,0.000,0.059,2868,908,2878,0,0,0,0,0,0
$GC,2658,1.76,71.0,82.7,8.5,492,2666,0.00,2.30,0.00,0.000,6,0.000,0.044,2869,2282,2878,0,0,1,0,0,0
$GC,2799,1.76,71.0,71.2,8.2,517,2806,0.00,2.55,0.00,0.000,4,0.000,0.077,2868,3726,2878,0,0,0,0,0,0
$GC,2897,1.76,71.0,61.7,9.6,537,2904,0.00,2.35,0.00,0.000,6,0.000,0.037,2869,2299,2878,0,0,0,0,0,0
$GC,3038,1.76,71.0,48.5,9.9,562,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2300,2879,0,0,0,0,0,0
$GC,3108,1.76,71.0,41.7,9.1,575,3116,0.00,2.35,0.00,0.000,4,0.000,0.057,2868,926,2878,0,0,0,0,0,0
$GC,3144,1.76,71.0,38.1,10.4,581,3152,0.00,2.33,0.00,0.000,6,0.000,0.044,2869,2297,2878,0,0,0,0,0,0
$GC,3219,1.76,71.0,30.9,8.7,594,3227,0.00,2.53,0.00,0.000,4,0.000,0.076,2868,3721,2878,0,0,0,0,0,0
$GC,3297,1.76,71.0,24.0,8.3,608,3305,0.00,2.28,0.00,0.000,6,0.000,0.037,2868,2352,2878,0,0,0,0,0,0
$GC,3371,1.78,87.4,19.6,6.1,621,3393,0.00,2.45,14.75,0.729,4,0.000,0.067,2868,3731,2813,0,0,0,0,0,0
$GC,3416,1.80,98.3,16.6,6.7,628,3433,0.00,2.30,11.02,0.669,6,0.000,0.037,2869,2358,2767,0,0,0,0,0,0
$GC,3499,1.83,124.2,12.5,4.9,642,3528,0.00,0.00,23.00,0.705,6,0.000,0.000,2868,2358,2661,0,0,0,0,0,0
$GC,3594,1.94,160.9,8.3,3.7,658,3633,0.15,2.42,31.33,0.703,4,0.080,0.065,2908,3732,2515,0,0,0,0,0,0
$STATE,3692,end climb,SURFACE_DEPTH_REACHED
$STATE,3692,begin surface coast
$FINISH,-0.4,1.020063
$STATE,3719,end surface coast,CONTROL_FINISHED_OK
$STATE,3719,begin surface
$SM_CCo,3741,67.25,0.637,1,0,2026,280.13
$SM_GC,0.75,0.00,0.00,67.25,0.000,0.000,0.637,432,2335,2026,-9.44,-0.42,280.13
$IRIDIUM_FIX,4726.11,-12223.37,130411,050523
$TT8_MAMPS,0.026215
$HUMID,32.51
$INTERNAL_PRESSURE,8.866
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.4,1.327
$10V_AH,10.3,0.956
$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,24.050,66.175,195.125,67.250,0.000,28.930,28.837,256.187,0.000,0.000,17.754,1528.251,300.897,379.492,1885.516,167.759,33.317,986.167,0.000,1579.988,0.000,0.542,0.000
$DEVICE_MAMPS,176.715,81.855,833.850,637.245,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.044,308.027,1123.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323376
$DATA_FILE_SIZE,36861,679
$CAP_FILE_SIZE,84692,0
$CFSIZE,260165632,204521472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,130411,075734,4742.926,-12224.711,10,5.9,29,18.2