version: 66.07
glider: 149
mission: 2
dive: 13
start: 4 13 111 9 12 35
data:
$ID,149
$MISSION,2
$DIVE,13
$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,-6
$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,1
$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,-1150.7427
$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,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,130411,090450,4742.741,-12224.482,11,1.5,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-68.6
$GPS2,130411,091137,4742.771,-12224.442,11,1.6,16,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.108,-0.087
$KALMAN_X,604.9,-340.0,-66.7,-1368.6,-242.7
$KALMAN_Y,-674.3,-731.5,186.7,-793.9,35.1
$MHEAD_RNG_PITCHd_Wd,212.7,464,-26.9,-8.007
$D_GRID,177
$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,-45.3,0.0,0.0,0,88,0.00,0.00,-66.22,0.000,6,0.000,0.000,431,2333,3352,0,0,0,0,0,0
$GC,90,-1.89,-74.4,2.6,-4.6,10,113,9.07,2.47,-3.03,0.000,4,0.175,0.070,2063,3748,3475,0,0,0,0,0,0
$GC,121,-1.31,-74.4,10.3,-20.2,14,130,0.60,2.30,0.00,0.000,6,0.120,0.029,2193,2344,3476,0,0,0,0,0,0
$GC,197,-1.41,-74.4,19.1,-9.7,27,205,0.00,2.47,0.00,0.000,4,0.000,0.062,2194,3754,3475,0,0,0,0,0,0
$GC,229,-1.51,-74.4,22.8,-10.8,32,237,0.12,2.30,0.00,0.000,6,0.050,0.029,2154,2347,3475,0,0,0,0,0,0
$GC,304,-1.58,-74.4,31.6,-12.2,45,312,0.00,2.33,0.00,0.000,4,0.000,0.042,2154,952,3475,0,0,0,0,0,0
$GC,367,-1.64,-74.4,40.1,-13.3,56,376,0.08,2.35,0.00,0.000,6,0.053,0.036,2124,2361,3476,0,0,0,0,0,0
$GC,442,-1.64,-74.4,49.8,-12.8,69,449,0.00,2.38,0.00,0.000,4,0.000,0.041,2124,948,3476,0,0,0,0,0,0
$GC,504,-1.64,-74.4,57.8,-11.5,81,511,0.00,2.33,0.00,0.000,6,0.000,0.036,2124,2358,3476,0,0,0,0,0,0
$GC,642,-1.64,-74.4,72.8,-10.0,106,650,0.00,2.35,0.00,0.000,4,0.000,0.041,2124,955,3476,0,0,0,0,0,0
$GC,746,-1.64,-74.4,85.0,-12.9,127,753,0.00,2.30,0.00,0.000,6,0.000,0.036,2124,2355,3477,0,0,0,0,0,0
$GC,885,-1.69,-74.4,102.7,-12.7,152,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2355,3477,0,0,0,0,0,0
$GC,1024,-1.73,-74.4,118.0,-9.3,177,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2355,3477,0,0,0,0,0,0
$GC,1162,-1.77,-74.4,131.7,-10.1,202,1171,0.12,2.35,0.00,0.000,4,0.080,0.042,2085,952,3477,0,0,1,0,0,0
$GC,1258,-1.77,-74.4,143.1,-12.2,221,1265,0.00,2.30,0.00,0.000,6,0.000,0.036,2085,2354,3477,0,0,0,0,0,0
$GC,1395,-1.77,-74.4,159.5,-12.7,246,1403,0.00,2.35,0.00,0.000,4,0.000,0.042,2085,949,3477,0,0,0,0,0,0
$STATE,1615,end dive,NO_VERTICAL_VELOCITY
$STATE,1615,begin apogee
$GC,1623,-0.33,0.0,168.8,0.0,292,1689,1.42,0.00,61.70,0.825,6,0.076,0.000,2403,2322,3167,0,0,0,0,0,0
$STATE,1689,end apogee,CONTROL_FINISHED_OK
$STATE,1689,begin climb
$GC,1691,1.89,74.4,168.9,0.0,302,1763,2.12,2.53,61.45,0.801,4,0.064,0.076,2887,3727,2866,0,0,0,0,0,0
$GC,2020,1.84,74.4,135.2,13.1,367,2027,0.00,2.30,0.00,0.000,6,0.000,0.037,2887,2340,2863,0,0,0,0,0,0
$GC,2159,1.84,74.4,118.3,10.7,392,2166,0.00,2.47,0.00,0.000,4,0.000,0.062,2887,919,2861,0,0,0,0,0,0
$GC,2271,1.84,74.4,106.2,9.5,415,2278,0.00,2.35,0.00,0.000,6,0.000,0.041,2887,2323,2860,0,0,0,0,0,0
$GC,2411,1.84,74.4,94.4,8.7,440,2419,0.00,2.50,0.00,0.000,4,0.000,0.082,2887,3712,2860,0,0,0,0,0,0
$GC,2573,1.84,74.4,76.5,11.6,473,2580,0.00,2.30,0.00,0.000,6,0.000,0.036,2887,2317,2860,0,0,0,0,0,0
$GC,2710,1.84,74.4,61.7,10.3,498,2718,0.00,2.40,0.00,0.000,4,0.000,0.057,2887,916,2860,0,0,0,0,0,0
$GC,2940,1.84,74.4,40.5,8.5,544,2948,0.00,2.38,0.00,0.000,6,0.000,0.044,2887,2321,2860,0,0,0,0,0,0
$GC,3014,1.84,76.0,34.9,7.8,557,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2321,2860,0,0,0,0,0,0
$GC,3086,1.84,76.0,28.9,8.9,570,3094,0.00,2.50,0.00,0.000,4,0.000,0.078,2887,3726,2860,0,0,0,0,0,0
$GC,3219,1.84,76.0,17.2,8.2,595,3227,0.00,2.33,0.00,0.000,6,0.000,0.037,2887,2328,2860,0,0,0,0,0,0
$GC,3293,1.87,98.0,12.8,5.4,608,3323,0.00,2.45,20.33,0.730,4,0.000,0.056,2887,926,2767,0,0,0,0,0,0
$GC,3393,1.87,105.4,6.7,7.1,625,3409,0.00,2.38,7.05,0.619,6,0.000,0.043,2887,2327,2741,0,0,0,0,0,0
$STATE,3462,end climb,SURFACE_DEPTH_REACHED
$STATE,3462,begin surface coast
$FINISH,1.1,1.020237
$STATE,3489,end surface coast,CONTROL_FINISHED_OK
$STATE,3489,begin surface
$SM_CCo,3508,117.07,0.658,3,0,1944,300.00
$SM_GC,0.48,0.00,0.00,117.07,0.000,0.000,0.658,434,2327,1944,-9.43,-0.65,300.00
$IRIDIUM_FIX,4722.92,-12227.78,130411,070715
$TT8_MAMPS,0.026215
$HUMID,31.84
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,23.4,1.471
$10V_AH,10.3,1.113
$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,24.250,61.750,150.525,117.075,0.000,25.493,37.380,231.892,0.250,0.000,18.556,1457.561,254.931,407.362,1785.473,155.021,33.327,975.067,0.000,1500.528,0.000,0.543,0.000
$DEVICE_MAMPS,175.185,81.855,825.435,657.900,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.709,296.313,1076.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323372
$DATA_FILE_SIZE,33546,642
$CAP_FILE_SIZE,80366,0
$CFSIZE,260165632,204439552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,130411,101455,4742.595,-12224.738,62,1.3,62,18.2