version: 66.07
glider: 149
mission: 2
dive: 5
start: 4 13 111 0 27 58
data:
$ID,149
$MISSION,2
$DIVE,5
$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,-1140.5845
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,130411,001926,4744.101,-12224.213,13,2.0,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-67.7
$GPS2,130411,002656,4744.137,-12224.222,13,1.9,13,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.213,-0.148
$KALMAN_X,415.1,417.2,203.4,-1930.1,23.3
$KALMAN_Y,764.7,845.0,493.0,-1581.3,77.9
$MHEAD_RNG_PITCHd_Wd,206.1,843,-17.5,-10.000
$D_GRID,174
$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,-1.64,-146.6,0.0,0.0,0,105,0.00,0.00,-84.72,0.000,6,0.000,0.000,431,2321,3767,0,0,0,0,0,0
$GC,107,-1.64,-146.6,5.3,-15.7,12,122,9.25,0.00,0.00,0.000,6,0.167,0.000,2129,2321,3768,0,0,0,0,0,0
$GC,189,-1.52,-146.6,26.8,-16.5,26,198,0.15,0.00,0.00,0.000,6,0.133,0.000,2156,2321,3768,0,0,0,0,0,0
$GC,264,-1.44,-146.6,37.9,-14.2,39,272,0.00,2.28,0.00,0.000,4,0.000,0.045,2156,964,3768,0,0,0,0,0,0
$GC,385,-1.38,-146.6,55.4,-14.3,61,392,0.15,2.30,0.00,0.000,6,0.140,0.037,2184,2354,3768,0,0,0,0,0,0
$GC,528,-1.38,-146.6,71.3,-10.7,86,536,0.00,2.35,0.00,0.000,4,0.000,0.043,2184,958,3768,0,0,0,0,0,0
$GC,644,-1.38,-146.6,84.7,-11.6,109,651,0.00,2.28,0.00,0.000,6,0.000,0.039,2184,2334,3768,0,0,0,0,0,0
$GC,788,-1.38,-146.6,102.1,-11.4,134,797,0.00,2.30,0.00,0.000,4,0.000,0.043,2184,964,3768,0,0,0,0,0,0
$GC,907,-1.38,-146.6,116.5,-12.2,158,916,0.00,2.25,0.00,0.000,6,0.000,0.038,2184,2310,3768,0,0,0,0,0,0
$GC,1054,-1.38,-146.6,133.0,-11.2,183,1061,0.00,2.22,0.00,0.000,4,0.000,0.043,2184,959,3768,0,0,0,0,0,0
$GC,1068,-1.38,-146.6,134.6,-10.9,185,1075,0.00,2.25,0.00,0.000,6,0.000,0.039,2184,2320,3768,0,0,0,0,0,0
$GC,1207,-1.38,-146.6,150.4,-12.1,210,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2320,3768,0,0,0,0,0,0
$GC,1351,-1.38,-146.6,166.7,-11.1,235,1358,0.00,2.25,0.00,0.000,4,0.000,0.044,2184,959,3768,0,0,0,0,0,0
$GC,1367,-1.38,-146.6,168.6,-12.1,237,1373,0.00,2.22,0.00,0.000,6,0.000,0.039,2184,2306,3768,0,0,0,0,0,0
$STATE,1415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1415,begin apogee
$GC,1420,-0.42,0.0,174.5,11.4,246,1547,0.98,0.00,117.53,0.828,6,0.100,0.000,2394,2306,3169,0,0,0,0,0,0
$STATE,1548,end apogee,CONTROL_FINISHED_OK
$STATE,1548,begin climb
$GC,1550,1.64,146.6,178.7,0.0,265,1686,1.95,2.60,120.10,0.803,4,0.065,0.076,2849,3719,2570,0,0,0,0,0,0
$GC,1737,1.49,146.6,161.3,15.0,295,1744,0.17,2.30,0.00,0.000,6,0.133,0.037,2817,2340,2568,0,0,0,0,0,0
$GC,1882,1.40,146.6,142.6,11.9,320,1890,0.10,2.45,0.00,0.000,4,0.151,0.071,2798,3714,2566,0,0,1,0,0,0
$GC,2052,1.32,146.6,122.4,13.0,354,2061,0.08,2.25,0.00,0.000,6,0.123,0.036,2781,2366,2565,0,0,0,0,0,0
$GC,2198,1.32,146.6,107.0,10.7,379,2205,0.00,2.38,0.00,0.000,4,0.000,0.069,2782,3726,2565,0,0,0,0,0,0
$GC,2232,1.26,146.6,102.7,12.1,385,2239,0.00,2.22,0.00,0.000,6,0.000,0.036,2782,2380,2565,0,0,0,0,0,0
$GC,2374,1.26,146.6,88.3,10.6,410,2383,0.00,2.53,0.00,0.000,4,0.000,0.058,2781,916,2563,0,0,0,0,0,0
$GC,2434,1.26,146.6,81.9,10.5,421,2441,0.00,2.42,0.00,0.000,6,0.000,0.044,2782,2368,2562,0,0,0,0,0,0
$GC,2575,1.26,149.7,67.0,9.9,446,2583,0.00,2.40,0.00,0.000,4,0.000,0.075,2781,3720,2563,0,0,0,0,0,0
$GC,2675,1.22,149.7,56.2,11.9,465,2682,0.12,2.22,0.00,0.000,6,0.142,0.035,2759,2363,2563,0,0,0,0,0,0
$GC,2815,1.27,188.8,43.5,8.2,490,2860,0.00,2.45,36.15,0.737,4,0.000,0.070,2758,3722,2397,0,0,1,0,0,0
$GC,2893,1.27,188.8,36.2,10.2,502,2902,0.00,2.20,0.00,0.000,6,0.000,0.035,2759,2405,2395,0,0,0,0,0,0
$GC,2969,1.30,213.5,29.3,8.9,515,3000,0.00,2.55,21.83,0.704,4,0.000,0.053,2759,918,2297,0,0,0,0,0,0
$GC,3061,1.36,224.0,20.2,9.5,530,3079,0.10,2.47,10.57,0.656,6,0.047,0.046,2795,2380,2254,0,0,1,0,0,0
$GC,3147,1.36,224.0,10.7,10.9,544,3154,0.00,2.38,0.00,0.000,4,0.000,0.073,2795,3720,2251,0,0,0,0,0,0
$STATE,3229,end climb,SURFACE_DEPTH_REACHED
$STATE,3229,begin surface coast
$FINISH,0.5,1.020986
$STATE,3241,end surface coast,CONTROL_FINISHED_OK
$STATE,3241,begin surface
$SM_CCo,3261,37.60,0.081,0,0,1944,300.00
$SM_GC,0.20,0.00,0.00,37.60,0.000,0.000,0.081,428,2344,1944,-9.49,-0.17,300.00
$IRIDIUM_FIX,4726.11,-12220.67,120411,232307
$TT8_MAMPS,0.026215
$HUMID,33.38
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.2,66.4
$24V_AH,23.5,0.920
$10V_AH,10.3,0.516
$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,22.975,60.825,306.175,37.600,0.000,30.397,35.411,267.956,1.250,0.000,15.843,1285.967,267.255,436.783,1621.320,152.922,33.300,989.102,0.000,1290.580,0.000,8.756,0.000
$DEVICE_MAMPS,166.770,75.735,828.495,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.905,247.736,903.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30156,561
$CAP_FILE_SIZE,75839,0
$CFSIZE,260165632,204779520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.044, 41.3,1
$GPS,130411,012404,4743.823,-12224.478,9,99.0,28,18.2