version: 66.07
glider: 149
mission: 2
dive: 10
start: 4 13 111 5 41 19
data:
$ID,149
$MISSION,2
$DIVE,10
$D_SURF,2
$D_FLARE,3
$D_TGT,221
$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,92
$T_MISSION,95
$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,100
$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,280
$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,-1146.8732
$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,2484
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,130411,053236,4743.633,-12224.919,30,0.9,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-66.3
$GPS2,130411,054019,4743.608,-12224.958,9,0.9,14,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,-0.139
$KALMAN_X,681.8,433.7,-37.5,-2885.1,-288.1
$KALMAN_Y,-786.0,650.2,-597.5,281.0,-918.8
$MHEAD_RNG_PITCHd_Wd,136.1,1693,-26.9,-8.007
$D_GRID,221
$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,-1.85,-45.3,0.0,0.0,0,94,0.00,0.00,-71.40,0.000,6,0.000,0.000,433,2363,3354,0,0,0,0,0,0
$GC,96,-1.90,-85.1,2.2,-3.3,10,120,8.93,2.40,-4.12,0.000,4,0.169,0.054,2063,944,3517,0,0,0,0,0,0
$GC,129,-1.32,-85.1,8.9,-17.4,14,138,0.60,2.35,0.00,0.000,6,0.120,0.037,2191,2352,3517,0,0,0,0,0,0
$GC,204,-1.44,-85.1,18.0,-10.5,27,212,0.00,2.38,0.00,0.000,4,0.000,0.043,2191,941,3517,0,0,0,0,0,0
$GC,285,-1.55,-85.1,26.8,-11.5,41,295,0.17,2.33,0.00,0.000,6,0.045,0.037,2138,2335,3519,0,0,0,0,0,0
$GC,362,-1.61,-85.1,36.4,-12.7,54,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2335,3519,0,0,0,0,0,0
$GC,436,-1.67,-85.1,44.3,-10.2,67,444,0.00,2.35,0.00,0.000,4,0.000,0.041,2137,934,3519,0,0,0,0,0,0
$GC,483,-1.72,-85.1,49.7,-11.2,75,492,0.08,2.30,0.00,0.000,6,0.051,0.037,2107,2319,3518,0,0,0,0,0,0
$GC,558,-1.72,-85.1,58.2,-10.5,88,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2318,3518,0,0,0,0,0,0
$GC,697,-1.72,-85.1,73.2,-11.2,113,704,0.00,2.30,0.00,0.000,4,0.000,0.041,2107,930,3518,0,0,0,0,0,0
$GC,749,-1.72,-85.1,79.0,-11.2,123,757,0.00,2.28,0.00,0.000,6,0.000,0.037,2107,2317,3518,0,0,0,0,0,0
$GC,885,-1.72,-85.1,93.2,-9.9,148,893,0.00,2.30,0.00,0.000,4,0.000,0.041,2107,941,3518,0,0,0,0,0,0
$GC,905,-1.72,-85.1,94.9,-9.7,151,912,0.00,2.22,0.00,0.000,6,0.000,0.037,2107,2303,3518,0,0,0,0,0,0
$GC,1041,-1.72,-85.1,108.7,-10.1,176,1049,0.00,2.28,0.00,0.000,4,0.000,0.041,2107,941,3518,0,0,0,0,0,0
$GC,1066,-1.72,-85.1,111.4,-10.7,180,1074,0.00,2.25,0.00,0.000,6,0.000,0.037,2107,2296,3518,0,0,0,0,0,0
$GC,1208,-1.72,-85.1,127.5,-12.6,205,1216,0.00,2.22,0.00,0.000,4,0.000,0.042,2107,937,3518,0,0,0,0,0,0
$GC,1224,-1.72,-85.1,129.5,-12.4,207,1230,0.00,2.22,0.00,0.000,6,0.000,0.035,2107,2297,3518,0,0,0,0,0,0
$GC,1361,-1.72,-85.1,144.8,-11.7,232,1368,0.00,2.28,0.00,0.000,4,0.000,0.043,2107,939,3518,0,0,0,0,0,0
$GC,1400,-1.72,-85.1,149.5,-12.1,239,1407,0.00,2.20,0.00,0.000,6,0.000,0.036,2107,2285,3518,0,0,0,0,0,0
$GC,1537,-1.72,-85.1,165.6,-11.4,264,1545,0.00,2.25,0.00,0.000,4,0.000,0.043,2107,939,3518,0,0,0,0,0,0
$STATE,1710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1710,begin apogee
$GC,1717,-0.33,0.0,186.7,11.7,300,1793,1.45,0.00,69.88,0.842,6,0.115,0.000,2407,2323,3168,0,0,0,0,0,0
$STATE,1794,end apogee,CONTROL_FINISHED_OK
$STATE,1794,begin climb
$GC,1796,1.90,85.1,189.7,0.0,311,1878,2.08,2.50,70.18,0.814,4,0.057,0.074,2902,3718,2823,0,0,0,0,0,0
$GC,2000,1.83,85.1,168.1,14.5,348,2008,0.00,2.35,0.00,0.000,6,0.000,0.037,2902,2322,2819,0,0,0,0,0,0
$GC,2140,1.83,85.1,150.9,12.4,373,2147,0.00,2.47,0.00,0.000,4,0.000,0.069,2902,3726,2818,0,0,0,0,0,0
$GC,2178,1.77,85.1,145.8,12.7,380,2186,0.15,2.33,0.00,0.000,6,0.123,0.037,2871,2343,2818,0,0,0,0,0,0
$GC,2320,1.77,85.1,129.0,11.9,405,2328,0.00,2.42,0.00,0.000,4,0.000,0.068,2871,3721,2818,0,0,0,0,0,0
$GC,2421,1.77,85.1,115.4,13.7,425,2428,0.00,2.25,0.00,0.000,6,0.000,0.036,2871,2360,2818,0,0,0,0,0,0
$GC,2559,1.77,85.1,98.9,11.6,450,2567,0.00,2.40,0.00,0.000,4,0.000,0.069,2871,3712,2817,0,0,0,0,0,0
$GC,2733,1.77,85.1,78.6,10.9,486,2741,0.00,2.20,0.00,0.000,6,0.000,0.037,2871,2393,2817,0,0,0,0,0,0
$GC,2872,1.77,85.1,64.1,10.6,511,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2393,2817,0,0,0,0,0,0
$GC,3010,1.77,85.1,49.4,10.4,536,3017,0.00,2.35,0.00,0.000,4,0.000,0.068,2871,3722,2817,0,0,0,0,0,0
$GC,3116,1.77,85.1,38.4,10.1,555,3124,0.00,2.20,0.00,0.000,6,0.000,0.037,2871,2399,2817,0,0,0,0,0,0
$GC,3189,1.77,85.1,31.5,9.3,568,3197,0.00,2.55,0.00,0.000,4,0.000,0.060,2871,923,2816,0,0,0,0,0,0
$GC,3279,1.77,85.1,23.8,8.3,584,3287,0.00,2.50,0.00,0.000,6,0.000,0.044,2871,2397,2815,0,0,0,0,0,0
$GC,3354,1.79,102.8,19.2,5.9,597,3377,0.00,2.38,15.57,0.728,4,0.000,0.076,2871,3726,2749,0,0,0,0,0,0
$GC,3402,1.79,102.8,14.9,8.8,604,3410,0.00,2.25,0.00,0.000,6,0.000,0.037,2871,2380,2749,0,0,0,0,0,0
$GC,3477,1.80,110.6,8.5,7.1,617,3494,0.00,2.38,8.23,0.642,4,0.000,0.068,2871,3714,2717,0,0,1,0,0,0
$STATE,3559,end climb,SURFACE_DEPTH_REACHED
$STATE,3559,begin surface coast
$FINISH,1.3,1.020377
$STATE,3597,end surface coast,CONTROL_FINISHED_OK
$STATE,3598,begin surface
$SM_CCo,3618,109.43,0.639,5,0,2026,280.13
$SM_GC,0.73,0.00,0.00,109.43,0.000,0.000,0.639,433,2337,2026,-9.43,-0.37,280.13
$IRIDIUM_FIX,4726.11,-12223.37,130411,040432
$TT8_MAMPS,0.026215
$HUMID,32.00
$INTERNAL_PRESSURE,8.866
$TCM_TEMP,14.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.0,76.2
$24V_AH,23.4,1.254
$10V_AH,10.3,0.874
$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,24.075,79.000,163.850,109.425,0.000,22.679,35.407,286.637,0.750,0.000,16.820,1531.831,246.203,462.078,1807.668,180.155,33.308,1050.226,0.000,1483.200,0.000,7.224,0.000
$DEVICE_MAMPS,169.065,75.735,842.265,638.775,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.464,292.398,1056.691,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323456
$DATA_FILE_SIZE,33564,638
$CAP_FILE_SIZE,87330,0
$CFSIZE,260165632,204562432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,5,0
$CURRENT,0.158,193.1,1
$GPS,130411,064438,4743.016,-12224.747,8,1.9,8,18.2