version: 66.03
glider: 149
mission: 2
dive: 20
start: 4 25 108 13 31 21
data:
$ID,149
$MISSION,2
$DIVE,20
$D_SURF,4.5
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$D_NO_BLEED,80
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51639
$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,600
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2956.3496
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3733
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,282
$ROLL_MAX,3925
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,3485
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-18.749365
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043685557
$SEABIRD_T_H,0.00063666771
$SEABIRD_T_I,2.5326763e-05
$SEABIRD_T_J,2.7989174e-06
$SEABIRD_C_G,-9.6974983
$SEABIRD_C_H,1.0780905
$SEABIRD_C_I,-0.00093173212
$SEABIRD_C_J,0.00015556168
$GPS1,132439,4807.477,-12223.688,9,1.1,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.3
$GPS2,133024,4807.468,-12223.666,15,2.7,34,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,0.275
$KALMAN_X,-79.5,-83.5,92.1,-306.6,-7.3
$KALMAN_Y,182.5,-19.5,-270.5,-269.9,-17.7
$MHEAD_RNG_PITCHd_Wd,320.2,1068,-14.9,-10.000
$D_GRID,103
$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
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.17,-195.5,0.0,0.0,0,96,0.00,0.00,-76.10,0.000,2,0.000,0.000,434,2182,2859
$GC,98,-1.17,-195.5,3.3,-2.5,14,155,12.70,2.62,-34.85,0.000,4,0.166,0.111,2777,3586,3959
$GC,211,-1.17,-195.5,10.6,-8.1,37,217,0.00,2.42,0.00,0.000,6,0.000,0.061,2778,2168,3959
$GC,283,-1.17,-195.5,16.1,-7.3,53,290,0.00,2.40,0.00,0.000,4,0.000,0.069,2778,773,3959
$GC,369,-1.17,-195.5,23.3,-7.9,73,375,0.00,2.42,0.00,0.000,6,0.000,0.067,2778,2182,3959
$GC,439,-1.17,-195.5,28.8,-7.7,89,445,0.00,2.55,0.00,0.000,4,0.000,0.094,2778,3585,3959
$GC,472,-1.17,-195.5,31.4,-8.9,96,478,0.00,2.40,0.00,0.000,6,0.000,0.066,2778,2179,3959
$GC,543,-1.17,-195.5,37.0,-7.6,112,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2179,3959
$GC,613,-1.17,-195.5,42.6,-7.7,128,620,0.00,2.42,0.00,0.000,4,0.000,0.068,2778,772,3959
$GC,652,-1.17,-195.5,45.9,-8.3,136,659,0.00,2.42,0.00,0.000,6,0.000,0.061,2778,2186,3959
$GC,796,-1.17,-195.5,57.2,-7.8,167,802,0.00,2.47,0.00,0.000,4,0.000,0.068,2778,770,3959
$GC,839,-1.17,-195.5,60.9,-8.7,176,846,0.00,2.42,0.00,0.000,6,0.000,0.061,2778,2185,3959
$GC,983,-1.17,-195.5,72.5,-7.7,207,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2185,3959
$GC,1125,-1.17,-195.5,83.8,-7.8,238,1131,0.00,2.45,0.00,0.000,4,0.000,0.070,2777,773,3959
$GC,1186,-1.17,-195.5,89.0,-8.4,251,1192,0.00,2.42,0.00,0.000,6,0.000,0.060,2778,2186,3959
$GC,1328,-1.17,-195.5,100.0,-7.8,282,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2187,3959
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1369,-0.31,0.0,103.2,8.1,289,1469,0.88,0.00,93.38,0.782,6,0.101,0.000,2964,2187,3484
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1471,1.17,195.5,105.4,0.0,308,1635,1.48,2.65,154.02,0.749,4,0.077,0.111,3291,3583,2689
$GC,1655,1.17,195.5,93.3,10.8,343,1661,0.00,2.47,0.00,0.000,6,0.000,0.067,3291,2181,2689
$GC,1796,1.17,195.5,77.4,11.3,374,1802,0.00,2.50,0.00,0.000,4,0.000,0.077,3290,763,2689
$GC,1826,1.17,195.5,73.8,11.5,380,1832,0.00,2.45,0.00,0.000,6,0.000,0.071,3291,2178,2689
$GC,1971,1.17,195.5,58.1,11.2,411,1977,0.00,2.62,0.00,0.000,4,0.000,0.107,3291,3583,2689
$GC,1992,1.17,195.5,55.5,11.0,415,1998,0.00,2.45,0.00,0.000,6,0.000,0.072,3290,2178,2688
$GC,2133,1.17,195.5,40.4,10.8,446,2140,0.00,2.47,0.00,0.000,4,0.000,0.077,3291,766,2689
$GC,2161,1.17,195.5,37.4,10.9,452,2168,0.00,2.45,0.00,0.000,6,0.000,0.066,3291,2179,2689
$GC,2230,1.17,195.5,29.9,11.1,468,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2179,2689
$GC,2299,1.18,202.5,23.1,9.8,484,2312,0.00,2.70,7.65,0.644,4,0.000,0.108,3291,3587,2658
$GC,2338,1.18,202.5,19.0,10.7,492,2345,0.00,2.45,0.00,0.000,6,0.000,0.065,3291,2176,2659
$GC,2410,1.18,202.5,11.8,10.1,508,2416,0.00,2.47,0.00,0.000,4,0.000,0.083,3291,763,2658
$GC,2434,1.20,219.1,9.4,9.4,513,2458,0.00,2.45,14.65,0.692,6,0.000,0.071,3291,2182,2590
$STATE,2512,end climb,SURFACE_DEPTH_REACHED
$STATE,2512,begin surface coast
$FINISH,3.6,1.018589
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2651,278.58,0.684,2,0,1039,600.00
$SM_GC,1.36,0.00,0.00,278.58,0.000,0.000,0.684,430,2182,1039,-12.01,0.06,600.00
$IRIDIUM_FIX,4751.72,-12210.23,200797,121256
$TT8_MAMPS,0.029146
$HUMID,1479
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.30
$XPDR_PINGS,92
$24V_AH,23.6,2.944
$10V_AH,10.1,1.366
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,27.550,59.600,269.700,278.575,0.000,25.810,23.362,192.147,24.000,0.000,0.000,36.496,827.285,457.991,655.467,1036.069,327.103,33.327,1189.976,0.000,1009.072,0.000,8.355
$DEVICE_MAMPS,165.672,111.215,781.573,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,379.398,281.961,683.328,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28568,559
$CAP_FILE_SIZE,60178,0
$CFSIZE,260165632,258039808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250408,142204,4807.729,-12223.887,68,1.0,68,18.3