version: 66.07
glider: 149
mission: 2
dive: 8
start: 4 13 111 3 22 1
data:
$ID,149
$MISSION,2
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,190
$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,79
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,-1144.3561
$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,32
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,130411,031328,4743.850,-12225.099,8,2.2,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-68.0
$GPS2,130411,032100,4743.859,-12225.085,34,1.6,38,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,0.124
$KALMAN_X,853.3,593.3,-18.2,-3391.8,57.4
$KALMAN_Y,676.0,894.9,-315.3,-1247.6,-512.7
$MHEAD_RNG_PITCHd_Wd,37.7,363,-26.9,-8.017
$D_GRID,190
$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,-2.30,-45.4,0.0,0.0,0,91,0.00,0.00,-70.70,0.000,6,0.000,0.000,429,2335,3353,0,0,0,0,0,0
$GC,93,-2.34,-82.4,2.3,-3.6,10,112,8.48,2.47,-3.72,0.000,4,0.170,0.070,1973,3748,3506,0,0,0,0,0,0
$GC,407,-2.18,-82.4,64.7,-18.4,69,415,0.20,2.28,0.00,0.000,6,0.158,0.029,2009,2335,3506,0,0,0,0,0,0
$GC,549,-2.09,-82.4,88.0,-15.7,94,558,0.12,2.45,0.00,0.000,4,0.162,0.062,2030,3743,3507,0,0,1,0,0,0
$GC,629,-2.01,-82.4,100.9,-17.0,109,637,0.10,2.20,0.00,0.000,6,0.166,0.029,2047,2357,3507,0,0,0,0,0,0
$GC,771,-1.97,-82.4,121.8,-14.5,134,780,0.00,2.35,0.00,0.000,4,0.000,0.044,2047,946,3507,0,0,0,0,0,0
$GC,926,-1.92,-82.4,144.9,-14.4,164,935,0.08,2.25,0.00,0.000,6,0.140,0.036,2063,2307,3506,0,0,0,0,0,0
$GC,1072,-1.92,-82.4,163.6,-12.9,189,1078,0.00,2.22,0.00,0.000,4,0.000,0.042,2063,949,3507,0,0,0,0,0,0
$GC,1133,-1.92,-82.4,172.7,-14.9,201,1140,0.00,2.22,0.00,0.000,6,0.000,0.036,2063,2308,3506,0,0,0,0,0,0
$STATE,1267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1267,begin apogee
$GC,1272,-0.42,0.0,190.5,12.3,225,1346,1.60,0.00,67.55,0.845,6,0.119,0.000,2391,2308,3168,0,0,0,0,0,0
$STATE,1347,end apogee,CONTROL_FINISHED_OK
$STATE,1347,begin climb
$GC,1350,2.34,82.4,192.8,0.0,236,1426,2.67,0.00,68.30,0.818,6,0.061,0.000,3005,2308,2831,0,0,0,0,0,0
$GC,1562,2.19,82.4,163.3,18.7,271,1570,0.20,2.47,0.00,0.000,4,0.141,0.073,2969,3719,2828,0,0,0,0,0,0
$GC,1681,2.04,82.4,143.0,16.6,294,1690,0.15,2.25,0.00,0.000,6,0.128,0.037,2938,2376,2827,0,0,0,0,0,0
$GC,1827,1.97,82.4,122.6,13.3,319,1834,0.00,2.38,0.00,0.000,4,0.000,0.068,2938,3727,2826,0,0,0,0,0,0
$GC,1968,1.86,82.4,101.9,14.4,347,1975,0.22,2.17,0.00,0.000,6,0.142,0.037,2897,2406,2826,0,0,0,0,0,0
$GC,2110,1.86,82.4,84.6,10.8,372,2118,0.00,2.33,0.00,0.000,4,0.000,0.068,2897,3719,2826,0,0,0,0,0,0
$GC,2298,1.81,82.4,60.4,13.7,409,2305,0.00,2.12,0.00,0.000,6,0.000,0.036,2897,2425,2826,0,0,0,0,0,0
$GC,2438,1.81,82.4,43.9,10.9,434,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2425,2826,0,0,0,0,0,0
$GC,2512,1.81,82.4,36.3,9.9,447,2520,0.00,2.28,0.00,0.000,4,0.000,0.067,2897,3714,2826,0,0,0,0,0,0
$GC,2612,1.77,96.0,28.0,6.4,465,2629,0.00,2.15,12.10,0.721,6,0.000,0.037,2897,2424,2776,0,0,0,0,0,0
$GC,2697,1.79,110.4,23.2,6.3,479,2720,0.00,2.62,13.48,0.695,4,0.000,0.061,2897,936,2716,0,0,0,0,0,0
$GC,2776,1.79,110.4,16.3,9.6,492,2784,0.00,2.38,0.00,0.000,6,0.000,0.045,2897,2344,2714,0,0,1,0,0,0
$GC,2850,1.79,110.4,9.7,8.2,505,2858,0.00,2.40,0.00,0.000,4,0.000,0.048,2897,936,2714,0,0,0,0,0,0
$GC,2902,1.79,110.4,4.9,9.2,514,2911,0.00,2.20,0.00,0.000,6,0.000,0.044,2897,2235,2714,0,0,0,0,0,0
$STATE,2948,end climb,SURFACE_DEPTH_REACHED
$STATE,2948,begin surface coast
$FINISH,0.9,1.020398
$STATE,2983,end surface coast,CONTROL_FINISHED_OK
$STATE,2983,begin surface
$SM_CCo,3002,102.93,0.667,1,0,1944,300.00
$SM_GC,0.16,0.00,0.00,102.93,0.000,0.000,0.667,428,2356,1944,-9.49,0.17,300.00
$IRIDIUM_FIX,4729.30,-12226.80,130411,020216
$TT8_MAMPS,0.026215
$HUMID,32.31
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,13.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.1,76.5
$24V_AH,23.4,1.114
$10V_AH,10.3,0.708
$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,24.600,46.375,161.425,102.925,0.000,27.202,33.248,252.948,1.500,0.000,40.563,1267.328,228.347,371.204,1568.825,142.810,33.319,845.032,0.000,1234.880,0.000,12.055,0.000
$DEVICE_MAMPS,169.830,77.265,844.560,667.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.925,245.584,885.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26850,528
$CAP_FILE_SIZE,69918,0
$CFSIZE,260165632,204677120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.131,192.4,1
$GPS,130411,041458,4743.786,-12224.890,9,2.4,28,18.2