version: 66.07
glider: 149
mission: 2
dive: 2
start: 4 12 111 21 2 27
data:
$ID,149
$MISSION,2
$DIVE,2
$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,-1109.7458
$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,2500
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,37
$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,80
$ALTIM_PING_DELTA,5
$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
$GPS1,120411,205726,4743.983,-12223.408,12,1.2,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-58.9
$GPS2,120411,210131,4744.002,-12223.385,9,1.5,15,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.247,-0.082
$KALMAN_X,93.7,93.7,93.7,-140.0,304.9
$KALMAN_Y,63.6,63.6,63.6,75.5,206.8
$MHEAD_RNG_PITCHd_Wd,290.7,1773,-17.5,-10.000
$D_GRID,157
$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,17,-1.64,-146.6,0.0,0.0,0,168,0.00,0.00,-148.48,0.000,2,0.000,0.000,430,2320,3692,0,0,0,0,0,0
$GC,171,-1.64,-146.6,3.5,-7.3,20,189,9.15,2.40,-1.48,0.000,4,0.164,0.055,2131,884,3768,0,0,0,0,0,0
$GC,472,-1.53,-146.6,55.7,-14.8,76,481,0.12,2.35,0.00,0.000,6,0.112,0.040,2159,2289,3768,0,0,0,0,0,0
$GC,617,-1.47,-146.6,73.6,-11.9,101,623,0.00,2.33,0.00,0.000,4,0.000,0.044,2159,887,3768,0,0,0,0,0,0
$GC,647,-1.41,-146.6,77.3,-11.7,106,655,0.10,2.38,0.00,0.000,6,0.110,0.039,2183,2309,3768,0,0,0,0,0,0
$GC,790,-1.41,-146.6,92.3,-10.9,131,796,0.00,2.38,0.00,0.000,4,0.000,0.044,2183,880,3768,0,0,0,0,0,0
$GC,855,-1.41,-146.6,99.9,-11.8,143,863,0.00,2.35,0.00,0.000,6,0.000,0.040,2183,2301,3768,0,0,0,0,0,0
$GC,998,-1.41,-146.6,117.0,-11.3,168,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2183,2301,3768,0,0,0,0,0,0
$GC,1153,-1.41,-146.6,133.1,-9.8,193,1159,0.00,2.35,0.00,0.000,4,0.000,0.044,2183,883,3768,0,0,0,0,0,0
$GC,1254,-1.41,-146.6,144.8,-11.0,213,1261,0.00,2.30,0.00,0.000,6,0.000,0.039,2183,2283,3768,0,0,0,0,0,0
$STATE,1370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1370,begin apogee
$GC,1375,-0.42,0.0,157.6,10.0,234,1503,1.02,0.00,116.57,0.814,6,0.100,0.000,2404,2282,3168,0,0,0,0,0,0
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1506,1.64,146.6,160.9,0.0,253,1641,1.95,2.58,120.55,0.786,4,0.064,0.075,2855,3698,2569,0,0,0,0,0,0
$GC,1672,1.48,146.6,144.3,16.8,279,1680,0.17,2.33,0.00,0.000,6,0.125,0.037,2822,2297,2567,0,0,0,0,0,0
$GC,1815,1.39,146.6,124.5,13.3,304,1824,0.00,2.50,0.00,0.000,4,0.000,0.070,2822,3695,2565,0,0,0,0,0,0
$GC,1855,1.27,146.6,118.8,13.9,311,1863,0.20,2.30,0.00,0.000,6,0.119,0.037,2782,2304,2564,0,0,0,0,0,0
$GC,1998,1.24,151.6,102.3,9.8,336,2008,0.00,2.50,4.68,0.585,4,0.000,0.069,2782,3698,2550,0,0,1,0,0,0
$GC,2024,1.19,155.2,99.4,9.8,340,2035,0.00,2.25,5.07,0.563,6,0.000,0.037,2781,2353,2535,0,0,0,0,0,0
$GC,2173,1.19,155.2,83.9,10.8,365,2179,0.00,2.38,0.00,0.000,4,0.000,0.070,2782,3701,2534,0,0,0,0,0,0
$GC,2284,1.15,155.2,70.1,11.7,387,2291,0.15,2.20,0.00,0.000,6,0.134,0.037,2753,2360,2534,0,0,0,0,0,0
$GC,2425,1.15,155.2,55.8,10.2,412,2434,0.00,2.38,0.00,0.000,4,0.000,0.070,2753,3696,2533,0,0,0,0,0,0
$GC,2456,1.15,156.9,52.8,9.9,417,2464,0.00,2.20,0.00,0.000,6,0.000,0.036,2753,2357,2534,0,0,0,0,0,0
$GC,2596,1.19,191.1,40.4,8.4,442,2634,0.00,0.00,31.33,0.726,6,0.000,0.000,2753,2357,2389,0,0,0,0,0,0
$GC,2700,1.21,203.5,30.4,9.4,459,2717,0.00,2.42,11.62,0.674,4,0.000,0.070,2753,3700,2338,0,0,1,0,0,0
$GC,2762,1.21,203.5,24.4,10.1,469,2770,0.00,2.25,0.00,0.000,6,0.000,0.037,2753,2353,2336,0,0,0,0,0,0
$GC,2837,1.30,235.7,17.5,8.5,482,2876,0.12,2.55,28.30,0.703,4,0.082,0.057,2790,899,2205,0,0,0,0,0,0
$STATE,2987,end climb,SURFACE_DEPTH_REACHED
$STATE,2988,begin surface coast
$FINISH,0.1,1.020325
$STATE,3011,end surface coast,CONTROL_FINISHED_OK
$STATE,3011,begin surface
$SM_CCo,3031,31.15,0.081,0,0,1944,300.00
$SM_GC,0.62,0.00,0.00,31.15,0.000,0.000,0.081,427,2299,1944,-9.54,-0.03,300.00
$IRIDIUM_FIX,4726.11,-12302.37,120411,202046
$TT8_MAMPS,0.026215
$HUMID,34.28
$INTERNAL_PRESSURE,8.866
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,135.5,33.8
$24V_AH,23.5,0.639
$10V_AH,10.3,0.291
$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,22.900,52.050,318.125,31.150,0.000,0.000,0.000,0.000,4.750,0.000,17.659,1157.855,228.910,449.766,1211.240,92.479,30.176,978.340,0.000,1199.523,0.000,34.051,0.000
$DEVICE_MAMPS,163.710,74.970,813.960,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.940,238.427,865.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,26851,512
$CAP_FILE_SIZE,79459,0
$CFSIZE,260165632,204914688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.120, 16.3,1
$GPS,120411,215413,4744.371,-12223.820,7,1.6,7,18.2