version: 66.07
glider: 149
mission: 2
dive: 15
start: 4 13 111 11 38 32
data:
$ID,149
$MISSION,2
$DIVE,15
$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,-1153.2603
$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,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
$GPS1,130411,112925,4743.188,-12224.878,11,1.7,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-67.0
$GPS2,130411,113736,4743.275,-12224.825,15,1.0,31,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.047,0.196
$KALMAN_X,1175.8,-804.1,-8.9,-2004.4,228.6
$KALMAN_Y,-367.2,-1298.8,906.0,-318.8,-50.9
$MHEAD_RNG_PITCHd_Wd,328.2,1158,-17.8,-8.007
$D_GRID,176
$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,-70.25,0.000,2,0.000,0.000,429,2318,3492,0,0,0,0,0,0
$GC,91,-1.31,-97.8,3.3,-6.3,10,108,9.70,2.35,-1.75,0.000,4,0.171,0.057,2191,938,3569,0,0,0,0,0,0
$GC,403,-1.25,-97.8,43.0,-10.9,69,411,0.00,2.38,0.00,0.000,6,0.000,0.038,2191,2358,3570,0,0,0,0,0,0
$GC,476,-1.21,-97.8,50.2,-9.3,82,485,0.12,2.40,0.00,0.000,4,0.138,0.044,2216,935,3570,0,0,1,0,0,0
$GC,554,-1.21,-97.8,56.8,-9.3,97,561,0.00,2.35,0.00,0.000,6,0.000,0.037,2217,2354,3570,0,0,0,0,0,0
$GC,692,-1.21,-97.8,69.0,-7.1,122,700,0.00,2.38,0.00,0.000,4,0.000,0.043,2216,940,3570,0,0,0,0,0,0
$GC,908,-1.21,-97.8,93.2,-12.6,167,915,0.00,2.33,0.00,0.000,6,0.000,0.037,2217,2350,3570,0,0,0,0,0,0
$GC,1047,-1.21,-97.8,106.8,-8.4,192,1055,0.00,2.38,0.00,0.000,4,0.000,0.044,2216,938,3570,0,0,1,0,0,0
$GC,1208,-1.21,-97.8,122.2,-9.7,225,1215,0.00,2.33,0.00,0.000,6,0.000,0.037,2216,2350,3570,0,0,0,0,0,0
$GC,1345,-1.21,-97.8,135.1,-9.2,250,1353,0.00,2.38,0.00,0.000,4,0.000,0.044,2216,936,3570,0,0,1,0,0,0
$GC,1425,-1.21,-97.8,142.0,-8.6,266,1433,0.00,2.35,0.00,0.000,6,0.000,0.038,2216,2346,3570,0,0,0,0,0,0
$GC,1567,-1.21,-97.8,152.5,-7.8,291,1574,0.00,2.35,0.00,0.000,4,0.000,0.042,2216,929,3570,0,0,0,0,0,0
$GC,1613,-1.21,-97.8,156.4,-8.7,300,1621,0.00,2.38,0.00,0.000,6,0.000,0.039,2217,2351,3570,0,0,0,0,0,0
$GC,1752,-1.21,-97.8,168.0,-8.6,325,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2352,3570,0,0,0,0,0,0
$STATE,1843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1843,begin apogee
$GC,1848,-0.33,0.0,176.0,8.6,342,1933,0.88,0.00,80.32,0.835,6,0.097,0.000,2407,2352,3168,0,0,0,0,0,0
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1935,1.31,97.8,179.0,0.0,355,2026,1.58,2.47,80.45,0.808,4,0.066,0.075,2764,3726,2771,0,0,0,0,0,0
$GC,2106,1.26,97.8,169.2,9.0,385,2112,0.00,2.33,0.00,0.000,6,0.000,0.036,2764,2322,2768,0,0,0,0,0,0
$GC,2244,1.26,97.8,158.7,8.2,410,2252,0.00,2.50,0.00,0.000,4,0.000,0.069,2764,3722,2766,0,0,0,0,0,0
$GC,2325,1.21,97.8,150.6,10.2,426,2333,0.00,2.33,0.00,0.000,6,0.000,0.036,2764,2333,2766,0,0,0,0,0,0
$GC,2466,1.22,101.9,138.7,7.8,451,2481,0.00,2.47,4.72,0.614,4,0.000,0.070,2764,3719,2752,0,0,1,0,0,0
$GC,2492,1.25,123.4,136.8,6.8,455,2520,0.00,2.33,19.85,0.762,6,0.000,0.035,2764,2318,2664,0,0,0,0,0,0
$GC,2654,1.25,123.4,124.3,8.2,483,2661,0.00,2.40,0.00,0.000,4,0.000,0.059,2764,917,2661,0,0,0,0,0,0
$GC,2670,1.25,123.4,122.9,8.4,485,2677,0.00,2.35,0.00,0.000,6,0.000,0.043,2764,2325,2660,0,0,1,0,0,0
$GC,2808,1.25,123.4,111.8,8.2,510,2815,0.00,2.55,0.00,0.000,4,0.000,0.081,2764,3727,2660,0,0,0,0,0,0
$GC,2860,1.20,123.4,107.5,8.4,520,2868,0.00,2.33,0.00,0.000,6,0.000,0.036,2764,2333,2660,0,0,0,0,0,0
$GC,3002,1.21,128.7,95.5,7.7,545,3016,0.00,2.47,5.60,0.640,4,0.000,0.070,2764,3719,2643,0,0,1,0,0,0
$GC,3024,1.22,136.8,93.8,7.6,548,3038,0.00,2.35,8.73,0.679,6,0.000,0.036,2764,2316,2610,0,0,0,0,0,0
$GC,3167,1.22,136.8,81.2,8.1,574,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2316,2608,0,0,0,0,0,0
$GC,3307,1.22,136.8,68.9,8.8,599,3313,0.00,2.47,0.00,0.000,4,0.000,0.068,2764,3728,2608,0,0,0,0,0,0
$GC,3321,1.22,136.8,67.7,8.4,601,3329,0.00,2.30,0.00,0.000,6,0.000,0.037,2764,2322,2607,0,0,0,0,0,0
$GC,3460,1.24,153.1,57.8,7.1,626,3481,0.00,0.00,14.77,0.724,6,0.000,0.000,2764,2322,2545,0,0,0,0,0,0
$GC,3612,1.24,153.1,45.7,8.3,653,3620,0.00,2.40,0.00,0.000,4,0.000,0.055,2764,920,2542,0,0,0,0,0,0
$GC,3874,1.24,153.1,21.4,9.6,703,3882,0.00,2.38,0.00,0.000,6,0.000,0.044,2764,2321,2541,0,0,0,0,0,0
$GC,3949,1.24,153.1,14.8,9.5,716,3956,0.00,2.38,0.00,0.000,4,0.000,0.050,2764,931,2540,0,0,0,0,0,0
$GC,4069,1.29,161.2,5.5,7.6,738,4085,0.00,2.33,8.73,0.666,6,0.000,0.043,2764,2321,2510,0,0,1,0,0,0
$STATE,4128,end climb,SURFACE_DEPTH_REACHED
$STATE,4128,begin surface coast
$FINISH,0.0,1.020898
$STATE,4165,end surface coast,CONTROL_FINISHED_OK
$STATE,4165,begin surface
$SM_CCo,4183,67.53,0.080,0,0,1944,300.00
$SM_GC,0.77,0.00,0.00,67.53,0.000,0.000,0.080,433,2323,1944,-9.43,-0.76,300.00
$IRIDIUM_FIX,4726.11,-12223.37,130411,101036
$TT8_MAMPS,0.026215
$HUMID,32.20
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,23.4,1.613
$10V_AH,10.3,1.289
$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,22.275,71.450,223.175,67.525,0.000,25.844,29.935,299.092,0.000,0.000,33.209,1688.328,383.161,403.279,2098.822,177.316,33.319,1062.553,0.000,1743.066,0.000,0.542,0.000
$DEVICE_MAMPS,171.360,81.090,834.615,80.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,521.567,336.923,1227.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323340
$DATA_FILE_SIZE,40245,755
$CAP_FILE_SIZE,91167,0
$CFSIZE,260165632,204337152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,130411,125024,4743.841,-12224.926,12,1.3,23,18.2