version: 66.07
glider: 149
mission: 2
dive: 14
start: 4 13 111 10 22 54
data:
$ID,149
$MISSION,2
$DIVE,14
$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,-1152.0039
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,130411,101455,4742.595,-12224.738,62,1.3,62,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-66.7
$GPS2,130411,102156,4742.664,-12224.663,11,1.3,11,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.033,0.198
$KALMAN_X,1175.1,-674.5,-84.2,-1863.8,89.5
$KALMAN_Y,-670.9,-1043.8,693.4,-1187.2,-57.6
$MHEAD_RNG_PITCHd_Wd,332.3,2295,-17.8,-8.007
$D_GRID,179
$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,-1.31,-97.8,0.0,0.0,0,89,0.00,0.00,-70.32,0.000,2,0.000,0.000,434,2327,3489,0,0,0,0,0,0
$GC,91,-1.31,-97.8,3.4,-6.7,10,108,9.65,2.35,-1.80,0.000,4,0.171,0.054,2184,939,3570,0,0,1,0,0,0
$GC,404,-1.23,-97.8,49.8,-13.3,69,413,0.10,2.38,0.00,0.000,6,0.112,0.037,2208,2357,3570,0,0,0,0,0,0
$GC,478,-1.23,-97.8,59.1,-11.7,82,486,0.00,2.38,0.00,0.000,4,0.000,0.042,2207,945,3571,0,0,0,0,0,0
$GC,714,-1.23,-97.8,82.2,-9.2,131,721,0.00,2.33,0.00,0.000,6,0.000,0.037,2207,2355,3571,0,0,0,0,0,0
$GC,850,-1.23,-97.8,93.5,-8.1,156,858,0.00,2.38,0.00,0.000,4,0.000,0.042,2207,941,3571,0,0,0,0,0,0
$GC,893,-1.23,-97.8,97.1,-9.1,164,901,0.00,2.35,0.00,0.000,6,0.000,0.037,2207,2346,3571,0,0,0,0,0,0
$GC,1033,-1.23,-97.8,108.8,-8.9,189,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,2346,3570,0,0,0,0,0,0
$GC,1169,-1.23,-97.8,125.1,-12.3,214,1177,0.00,2.35,0.00,0.000,4,0.000,0.042,2207,944,3570,0,0,0,0,0,0
$GC,1349,-1.23,-97.8,144.2,-9.0,251,1356,0.00,2.33,0.00,0.000,6,0.000,0.038,2207,2353,3571,0,0,0,0,0,0
$GC,1488,-1.23,-97.8,157.5,-10.0,276,1496,0.00,2.38,0.00,0.000,4,0.000,0.041,2207,933,3571,0,0,0,0,0,0
$GC,1582,-1.23,-97.8,166.7,-10.0,295,1589,0.00,2.35,0.00,0.000,6,0.000,0.037,2207,2355,3570,0,0,0,0,0,0
$STATE,1714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1714,begin apogee
$GC,1719,-0.33,0.0,179.4,9.5,319,1809,0.90,0.00,79.97,0.835,6,0.096,0.000,2404,2355,3169,0,0,0,0,0,0
$STATE,1809,end apogee,CONTROL_FINISHED_OK
$STATE,1809,begin climb
$GC,1812,1.31,97.8,182.9,0.0,333,1903,1.58,2.47,80.57,0.809,4,0.065,0.080,2763,3720,2771,0,0,0,0,0,0
$GC,1944,1.25,97.8,176.1,8.8,355,1951,0.00,2.33,0.00,0.000,6,0.000,0.036,2763,2323,2769,0,0,0,0,0,0
$GC,2082,1.25,97.8,163.9,8.9,380,2090,0.00,2.50,0.00,0.000,4,0.000,0.070,2763,3717,2767,0,0,0,0,0,0
$GC,2190,1.21,97.8,153.4,8.9,402,2198,0.00,2.33,0.00,0.000,6,0.000,0.036,2763,2328,2766,0,0,0,0,0,0
$GC,2333,1.24,123.5,142.6,6.6,427,2361,0.00,2.55,22.77,0.777,4,0.000,0.070,2763,3727,2663,0,0,1,0,0,0
$GC,2367,1.26,143.6,140.1,6.9,432,2394,0.00,2.38,18.35,0.748,6,0.000,0.037,2763,2322,2581,0,0,0,0,0,0
$GC,2525,1.26,143.6,123.0,11.2,460,2533,0.00,2.50,0.00,0.000,4,0.000,0.070,2763,3719,2578,0,0,0,0,0,0
$GC,2557,1.26,143.6,119.2,11.4,466,2565,0.00,2.33,0.00,0.000,6,0.000,0.036,2763,2328,2578,0,0,0,0,0,0
$GC,2696,1.26,143.6,104.2,10.7,491,2703,0.00,2.45,0.00,0.000,4,0.000,0.070,2763,3722,2577,0,0,0,0,0,0
$GC,2743,1.26,143.6,99.2,10.9,500,2751,0.00,2.33,0.00,0.000,6,0.000,0.035,2763,2330,2577,0,0,0,0,0,0
$GC,2882,1.26,143.6,85.4,9.4,525,2889,0.00,2.45,0.00,0.000,4,0.000,0.068,2763,3723,2577,0,0,0,0,0,0
$GC,2906,1.26,143.6,83.0,9.8,529,2913,0.00,2.30,0.00,0.000,6,0.000,0.036,2764,2318,2577,0,0,0,0,0,0
$GC,3045,1.26,143.6,69.9,8.7,554,3053,0.00,2.50,0.00,0.000,4,0.000,0.070,2763,3726,2576,0,0,0,0,0,0
$GC,3106,1.26,143.6,64.1,10.1,566,3114,0.00,2.33,0.00,0.000,6,0.000,0.037,2763,2333,2577,0,0,0,0,0,0
$GC,3247,1.26,143.6,51.6,9.7,591,3253,0.00,2.40,0.00,0.000,4,0.000,0.055,2763,915,2575,0,0,0,0,0,0
$GC,3264,1.26,143.6,49.6,10.3,594,3272,0.00,2.38,0.00,0.000,6,0.000,0.043,2763,2324,2574,0,0,0,0,0,0
$GC,3337,1.26,143.6,42.1,9.7,607,3345,0.00,2.42,0.00,0.000,4,0.000,0.050,2763,912,2575,0,0,0,0,0,0
$GC,3374,1.26,143.6,38.6,9.6,613,3382,0.00,2.40,0.00,0.000,6,0.000,0.044,2763,2325,2574,0,0,0,0,0,0
$GC,3447,1.26,143.6,31.7,9.1,626,3455,0.00,2.40,0.00,0.000,4,0.000,0.050,2763,920,2574,0,0,0,0,0,0
$GC,3463,1.26,143.6,30.1,9.1,628,3471,0.00,2.40,0.00,0.000,6,0.000,0.046,2763,2330,2574,0,0,0,0,0,0
$GC,3536,1.26,143.6,23.8,8.5,641,3544,0.00,2.45,0.00,0.000,4,0.000,0.072,2763,3722,2574,0,0,0,0,0,0
$GC,3613,1.26,143.6,16.9,9.0,655,3621,0.00,2.33,0.00,0.000,6,0.000,0.036,2763,2325,2574,0,0,0,0,0,0
$GC,3688,1.29,163.6,11.4,6.9,668,3711,0.00,2.53,17.67,0.721,4,0.000,0.068,2763,3727,2500,0,0,1,0,0,0
$GC,3724,1.29,164.6,8.4,8.0,673,3732,0.00,2.35,0.00,0.000,6,0.000,0.035,2763,2325,2500,0,0,0,0,0,0
$GC,3799,1.36,188.8,2.9,6.7,686,3815,0.00,0.00,11.00,0.096,2,0.000,0.000,2763,2325,2462,0,0,0,0,1,0
$STATE,3816,end climb,SURFACE_DEPTH_REACHED
$STATE,3816,begin surface coast
$FINISH,-0.1,1.020731
$STATE,3848,end surface coast,CONTROL_FINISHED_OK
$STATE,3848,begin surface
$SM_CCo,3866,59.60,0.080,0,0,1945,300.00
$SM_GC,0.45,0.00,0.00,59.60,0.000,0.000,0.080,429,2317,1945,-9.46,-0.93,300.00
$IRIDIUM_FIX,4722.92,-12218.96,130411,090932
$TT8_MAMPS,0.026215
$HUMID,32.00
$INTERNAL_PRESSURE,8.84647
$TCM_TEMP,14.10
$XPDR_PINGS,1
$24V_AH,23.4,1.541
$10V_AH,10.3,1.198
$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,22.200,81.325,230.350,59.600,0.000,29.813,31.983,249.349,0.250,0.000,13.283,1552.582,337.854,411.250,1891.665,165.272,33.316,1048.048,0.000,1593.097,0.000,0.544,0.000
$DEVICE_MAMPS,171.360,79.560,835.380,79.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,479.389,305.449,1114.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36964,694
$CAP_FILE_SIZE,87355,0
$CFSIZE,260165632,204386304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,130411,112925,4743.188,-12224.878,11,1.7,28,18.2