version: 66.07
glider: 149
mission: 2
dive: 6
start: 4 13 111 1 32 6
data:
$ID,149
$MISSION,2
$DIVE,6
$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,-1141.8436
$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,25
$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
$GPS1,130411,012404,4743.823,-12224.478,9,99.0,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-63.6
$GPS2,130411,013102,4743.866,-12224.484,11,1.2,11,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.074
$KALMAN_X,793.9,542.7,65.2,-2627.2,117.9
$KALMAN_Y,857.8,930.9,336.4,-2105.1,-176.9
$MHEAD_RNG_PITCHd_Wd,248.5,398,-27.2,-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,-2.35,-63.1,0.0,0.0,0,92,0.00,0.00,-74.35,0.000,6,0.000,0.000,428,2343,3427,0,0,0,0,0,0
$GC,95,-2.42,-124.7,1.7,-3.5,10,118,8.38,2.33,-6.35,0.000,4,0.170,0.057,1957,941,3675,0,0,0,0,0,0
$GC,328,-2.29,-124.7,57.2,-23.6,53,336,0.17,2.33,0.00,0.000,6,0.156,0.036,1987,2360,3676,0,0,0,0,0,0
$GC,466,-2.20,-124.7,84.5,-19.1,78,475,0.12,2.40,0.00,0.000,4,0.168,0.043,2007,942,3676,0,0,0,0,0,0
$GC,752,-2.13,-124.7,140.1,-18.4,136,760,0.00,2.33,0.00,0.000,6,0.000,0.037,2008,2338,3677,0,0,0,0,0,0
$GC,893,-2.07,-124.7,165.1,-19.3,161,900,0.15,0.00,0.00,0.000,6,0.159,0.000,2034,2338,3676,0,0,0,0,0,0
$STATE,938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,939,begin apogee
$GC,943,-0.42,0.0,174.2,18.2,169,1050,1.77,0.00,100.22,0.825,6,0.126,0.000,2396,2338,3168,0,0,0,0,0,0
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1055,2.42,124.7,179.2,0.0,185,1170,2.70,2.50,102.38,0.805,4,0.060,0.075,3020,3720,2658,0,0,0,0,0,0
$GC,1191,2.26,124.7,164.3,18.7,206,1199,0.15,2.35,0.00,0.000,6,0.133,0.038,2989,2332,2657,0,0,0,0,0,0
$GC,1333,2.15,124.7,137.1,20.1,231,1341,0.15,2.45,0.00,0.000,4,0.148,0.070,2962,3719,2655,0,0,0,0,0,0
$GC,1595,2.05,124.7,88.5,18.3,285,1604,0.15,2.25,0.00,0.000,6,0.151,0.037,2936,2359,2654,0,0,0,0,0,0
$GC,1732,2.05,124.7,66.0,16.2,310,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2360,2653,0,0,0,0,0,0
$GC,1871,2.05,124.7,44.0,15.1,335,1879,0.00,2.40,0.00,0.000,4,0.000,0.067,2937,3715,2653,0,0,0,0,0,0
$GC,1934,1.97,124.7,34.1,15.4,346,1942,0.05,2.22,0.00,0.000,6,0.147,0.037,2925,2382,2653,0,0,0,0,0,0
$GC,2011,1.97,124.7,24.1,13.4,359,2019,0.00,2.53,0.00,0.000,4,0.000,0.060,2925,924,2651,0,0,0,0,0,0
$GC,2079,1.97,124.7,14.4,15.1,371,2087,0.00,2.45,0.00,0.000,6,0.000,0.047,2925,2361,2651,0,0,0,0,0,0
$GC,2153,1.97,124.9,5.4,10.0,384,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2361,2651,0,0,0,0,0,0
$STATE,2193,end climb,SURFACE_DEPTH_REACHED
$STATE,2193,begin surface coast
$FINISH,-0.1,1.020604
$STATE,2223,end surface coast,CONTROL_FINISHED_OK
$STATE,2223,begin surface
$SM_CCo,2241,87.57,0.081,0,0,1944,300.00
$SM_GC,0.27,0.00,0.00,87.57,0.000,0.000,0.081,431,2365,1944,-9.47,0.42,300.00
$IRIDIUM_FIX,4726.11,-12225.08,130411,000020
$TT8_MAMPS,0.026215
$HUMID,33.26
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.8,66.3
$24V_AH,23.4,0.987
$10V_AH,10.3,0.569
$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,24.425,28.525,202.600,87.575,0.000,26.681,32.864,250.161,1.000,0.000,13.330,932.245,124.635,359.387,1230.750,118.330,33.303,745.649,0.000,926.189,0.000,8.754,0.000
$DEVICE_MAMPS,169.830,74.970,825.435,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.438,181.050,657.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323364
$DATA_FILE_SIZE,20280,396
$CAP_FILE_SIZE,54411,0
$CFSIZE,260165632,204775424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,  9.5,1
$GPS,130411,021143,4743.769,-12224.850,6,1.1,11,18.2