version: 66.07
glider: 149
mission: 2
dive: 9
start: 4 13 111 4 22 54
data:
$ID,149
$MISSION,2
$DIVE,9
$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,-1145.613
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,130411,041458,4743.786,-12224.890,9,2.4,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-68.3
$GPS2,130411,042151,4743.756,-12224.879,10,2.5,29,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.043,0.192
$KALMAN_X,863.6,558.5,-38.0,-3093.6,-104.6
$KALMAN_Y,270.3,810.1,-612.6,-649.0,-648.5
$MHEAD_RNG_PITCHd_Wd,356.6,285,-19.1,-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,-1.70,-85.9,0.0,0.0,0,98,0.00,0.00,-75.12,0.000,6,0.000,0.000,429,2356,3517,0,0,0,0,0,0
$GC,100,-1.71,-90.1,4.2,-7.8,11,117,9.25,2.35,-0.40,0.000,4,0.170,0.066,2115,3747,3538,0,0,0,0,0,0
$GC,180,-1.56,-90.1,21.8,-15.3,24,188,0.12,2.28,0.00,0.000,6,0.120,0.029,2142,2354,3539,0,0,0,0,0,0
$GC,257,-1.46,-90.1,31.6,-11.7,37,265,0.15,2.35,0.00,0.000,4,0.135,0.044,2169,956,3539,0,0,0,0,0,0
$GC,484,-1.40,-90.1,56.1,-10.8,80,492,0.00,2.25,0.00,0.000,6,0.000,0.037,2169,2306,3538,0,0,0,0,0,0
$GC,628,-1.36,-90.1,72.0,-11.9,105,634,0.12,0.00,0.00,0.000,6,0.142,0.000,2192,2306,3538,0,0,0,0,0,0
$GC,768,-1.36,-90.1,86.8,-9.7,130,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2306,3539,0,0,0,0,0,0
$GC,911,-1.36,-90.1,99.6,-8.9,155,918,0.00,2.25,0.00,0.000,4,0.000,0.043,2192,949,3539,0,0,0,0,0,0
$GC,982,-1.36,-90.1,106.1,-9.3,169,988,0.00,2.25,0.00,0.000,6,0.000,0.037,2192,2319,3538,0,0,0,0,0,0
$GC,1127,-1.36,-90.1,118.7,-8.3,194,1135,0.00,2.30,0.00,0.000,4,0.000,0.044,2192,949,3538,0,0,0,0,0,0
$GC,1199,-1.36,-90.1,124.9,-8.7,208,1207,0.00,2.22,0.00,0.000,6,0.000,0.037,2192,2285,3538,0,0,0,0,0,0
$GC,1344,-1.36,-90.1,137.9,-9.6,233,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2285,3539,0,0,0,0,0,0
$GC,1481,-1.36,-90.1,150.8,-8.9,258,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2285,3539,0,0,0,0,0,0
$GC,1625,-1.36,-90.1,163.3,-9.2,283,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2285,3538,0,0,0,0,0,0
$GC,1762,-1.36,-90.1,176.0,-9.3,308,1770,0.00,2.22,0.00,0.000,4,0.000,0.044,2192,958,3538,0,0,0,0,0,0
$STATE,1823,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1824,begin apogee
$GC,1831,-0.42,0.0,180.9,8.1,320,1911,0.95,0.00,73.57,0.841,6,0.109,0.000,2392,2328,3168,0,0,0,0,0,0
$STATE,1912,end apogee,CONTROL_FINISHED_OK
$STATE,1912,begin climb
$GC,1914,1.71,90.1,183.7,0.0,332,2003,2.08,2.47,74.55,0.812,4,0.070,0.054,2859,928,2798,0,0,1,0,0,0
$GC,2020,1.57,90.1,175.9,10.6,348,2029,0.10,2.40,0.00,0.000,6,0.122,0.049,2838,2308,2796,0,0,0,0,0,0
$GC,2165,1.46,90.1,158.4,11.8,373,2172,0.15,0.00,0.00,0.000,6,0.141,0.000,2811,2309,2796,0,0,0,0,0,0
$GC,2306,1.40,90.1,144.5,9.1,398,2315,0.00,2.58,0.00,0.000,4,0.000,0.083,2810,3733,2795,0,0,0,0,0,0
$GC,2369,1.30,90.1,138.1,9.7,410,2379,0.15,2.35,0.00,0.000,6,0.125,0.036,2778,2329,2795,0,0,0,0,0,0
$GC,2515,1.30,93.3,126.8,7.8,435,2522,0.00,2.47,0.00,0.000,4,0.000,0.069,2778,3733,2794,0,0,0,0,0,0
$GC,2560,1.25,93.3,123.0,8.1,443,2567,0.00,2.33,0.00,0.000,6,0.000,0.036,2778,2329,2794,0,0,0,0,0,0
$GC,2701,1.25,93.3,111.4,8.5,468,2709,0.00,2.50,0.00,0.000,4,0.000,0.070,2779,3732,2794,0,0,0,0,0,0
$GC,2784,1.20,93.3,103.1,10.0,484,2793,0.10,2.28,3.30,0.493,6,0.124,0.035,2757,2366,2787,0,0,0,0,0,0
$GC,2928,1.20,93.3,90.6,8.1,509,2934,0.00,2.40,0.00,0.000,4,0.000,0.069,2757,3733,2787,0,0,0,0,0,0
$GC,2946,1.20,93.3,89.1,8.0,512,2954,0.00,2.25,0.00,0.000,6,0.000,0.036,2757,2382,2787,0,0,0,0,0,0
$GC,3089,1.24,127.2,79.7,5.9,537,3131,0.00,2.42,29.92,0.767,4,0.000,0.070,2758,3730,2649,0,0,1,0,0,0
$GC,3139,1.25,136.3,76.0,7.4,544,3153,0.00,2.22,9.23,0.666,6,0.000,0.035,2757,2404,2612,0,0,0,0,0,0
$GC,3287,1.25,136.3,62.9,9.5,570,3295,0.00,2.38,0.00,0.000,4,0.000,0.070,2757,3737,2609,0,0,0,0,0,0
$GC,3345,1.25,136.3,57.3,9.7,581,3352,0.00,2.15,0.00,0.000,6,0.000,0.035,2757,2417,2609,0,0,0,0,0,0
$GC,3486,1.29,136.3,44.4,9.1,606,3495,0.00,2.55,0.00,0.000,4,0.000,0.054,2757,925,2607,0,0,0,0,0,0
$GC,3787,1.33,136.3,18.1,9.7,662,3796,0.00,2.53,0.00,0.000,6,0.000,0.047,2757,2419,2606,0,0,1,0,0,0
$GC,3862,1.38,136.3,11.4,8.5,675,3871,0.15,2.58,0.00,0.000,4,0.073,0.051,2798,922,2605,0,0,0,0,0,0
$STATE,3968,end climb,SURFACE_DEPTH_REACHED
$STATE,3968,begin surface coast
$FINISH,0.0,1.020489
$STATE,4006,end surface coast,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$SM_CCo,4028,83.05,0.082,0,0,1945,300.00
$SM_GC,0.63,0.00,0.00,83.05,0.000,0.000,0.082,433,2362,1945,-9.46,0.34,300.00
$IRIDIUM_FIX,4729.30,-12222.38,130411,030307
$TT8_MAMPS,0.026215
$HUMID,32.63
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.3,80.4
$24V_AH,23.4,1.176
$10V_AH,10.3,0.793
$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,23.475,66.075,190.575,83.050,0.000,23.559,29.564,231.528,0.500,0.000,32.681,1673.268,381.103,418.809,1903.853,163.840,33.306,1037.264,0.000,1606.700,0.000,7.343,0.000
$DEVICE_MAMPS,169.830,82.620,840.735,81.855,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,484.179,313.029,1128.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36904,701
$CAP_FILE_SIZE,87503,0
$CFSIZE,260165632,204603392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.210,185.7,1
$GPS,130411,053236,4743.633,-12224.919,30,0.9,34,18.2