version: 66.07
glider: 149
mission: 2
dive: 16
start: 4 13 111 12 59 33
data:
$ID,149
$MISSION,2
$DIVE,16
$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,-1154.519
$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,28
$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
$GPS1,130411,125024,4743.841,-12224.926,12,1.3,23,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-66.7
$GPS2,130411,125836,4743.919,-12224.871,10,1.2,26,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.185,0.079
$KALMAN_X,1196.9,-827.1,139.0,-2208.8,145.7
$KALMAN_Y,179.5,-1424.4,834.1,523.7,-53.3
$MHEAD_RNG_PITCHd_Wd,48.6,1785,-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,-97.8,0.0,0.0,0,88,0.00,0.00,-69.57,0.000,2,0.000,0.000,434,2323,3494,0,0,0,0,0,0
$GC,90,-1.31,-97.8,3.6,-6.5,10,107,9.85,2.38,-1.60,0.000,4,0.178,0.055,2193,935,3569,0,0,0,0,0,0
$GC,402,-1.25,-97.8,45.4,-10.5,69,410,0.00,2.38,0.00,0.000,6,0.000,0.037,2193,2353,3569,0,0,0,0,0,0
$GC,473,-1.20,-97.8,53.2,-10.1,82,482,0.12,2.40,0.00,0.000,4,0.140,0.044,2218,939,3570,0,0,0,0,0,0
$GC,662,-1.20,-97.8,73.1,-11.1,121,669,0.00,2.35,0.00,0.000,6,0.000,0.038,2218,2357,3570,0,0,0,0,0,0
$GC,800,-1.20,-97.8,86.7,-10.8,146,808,0.00,2.38,0.00,0.000,4,0.000,0.042,2217,940,3570,0,0,0,0,0,0
$GC,861,-1.20,-97.8,91.8,-7.9,158,869,0.00,2.35,0.00,0.000,6,0.000,0.037,2218,2347,3570,0,0,0,0,0,0
$GC,1002,-1.20,-97.8,102.5,-6.0,183,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2347,3570,0,0,0,0,0,0
$GC,1140,-1.20,-97.8,112.5,-7.8,208,1148,0.00,2.35,0.00,0.000,4,0.000,0.044,2217,947,3570,0,0,0,0,0,0
$GC,1325,-1.20,-97.8,128.8,-10.1,246,1333,0.00,2.35,0.00,0.000,6,0.000,0.038,2218,2353,3570,0,0,0,0,0,0
$GC,1466,-1.20,-97.8,143.6,-10.1,271,1473,0.00,2.35,0.00,0.000,4,0.000,0.042,2218,934,3570,0,0,0,0,0,0
$GC,1527,-1.20,-97.8,149.7,-10.2,283,1533,0.00,2.35,0.00,0.000,6,0.000,0.037,2217,2357,3570,0,0,0,0,0,0
$GC,1663,-1.20,-97.8,162.9,-9.5,308,1670,0.00,2.38,0.00,0.000,4,0.000,0.043,2217,941,3570,0,0,0,0,0,0
$GC,1748,-1.20,-97.8,171.1,-9.5,325,1755,0.00,2.33,0.00,0.000,6,0.000,0.039,2218,2350,3570,0,0,0,0,0,0
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1812,-0.33,0.0,176.2,7.6,336,1897,0.85,0.00,80.18,0.834,6,0.095,0.000,2403,2350,3168,0,0,0,0,0,0
$STATE,1898,end apogee,CONTROL_FINISHED_OK
$STATE,1898,begin climb
$GC,1900,1.31,97.8,180.0,0.0,349,1989,1.60,0.00,81.03,0.807,6,0.067,0.000,2765,2350,2768,0,0,0,0,0,0
$GC,2122,1.31,97.8,167.0,8.1,387,2129,0.00,2.42,0.00,0.000,4,0.000,0.074,2765,3722,2764,0,0,0,0,0,0
$GC,2140,1.31,97.8,165.2,8.3,390,2148,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,2328,2764,0,0,0,0,0,0
$GC,2280,1.31,97.8,154.6,8.6,415,2287,0.00,2.45,0.00,0.000,4,0.000,0.067,2765,3723,2763,0,0,0,0,0,0
$GC,2294,1.31,97.8,153.3,8.8,417,2301,0.00,2.33,0.00,0.000,6,0.000,0.035,2765,2317,2763,0,0,0,0,0,0
$GC,2431,1.32,112.0,143.3,7.2,442,2453,0.00,2.55,12.73,0.750,4,0.000,0.069,2765,3726,2711,0,0,0,0,0,0
$GC,2484,1.28,112.0,139.0,8.4,451,2491,0.00,2.33,0.00,0.000,6,0.000,0.036,2765,2325,2710,0,0,0,0,0,0
$GC,2622,1.31,135.6,128.0,6.7,476,2648,0.00,0.00,21.08,0.766,6,0.000,0.000,2765,2325,2615,0,0,0,0,0,0
$GC,2781,1.31,135.6,115.7,8.3,504,2789,0.00,2.47,0.00,0.000,4,0.000,0.069,2765,3715,2612,0,0,1,0,0,0
$GC,2810,1.31,135.6,112.9,9.2,509,2817,0.00,2.30,0.00,0.000,6,0.000,0.035,2765,2323,2612,0,0,0,0,0,0
$GC,2948,1.31,135.6,98.8,10.3,534,2956,0.00,2.50,0.00,0.000,4,0.000,0.069,2765,3727,2612,0,0,0,0,0,0
$GC,2983,1.31,135.6,95.1,10.8,540,2991,0.00,2.35,0.00,0.000,6,0.000,0.036,2765,2323,2612,0,0,0,0,0,0
$GC,3122,1.31,135.6,80.7,10.5,565,3129,0.00,2.42,0.00,0.000,4,0.000,0.068,2765,3723,2612,0,0,0,0,0,0
$GC,3165,1.31,135.6,76.2,10.4,573,3172,0.00,2.28,0.00,0.000,6,0.000,0.036,2765,2326,2612,0,0,0,0,0,0
$GC,3302,1.31,135.6,63.5,9.0,598,3311,0.00,2.47,0.00,0.000,4,0.000,0.068,2765,3722,2612,0,0,0,0,0,0
$GC,3412,1.31,135.6,52.4,10.0,620,3419,0.00,2.33,0.00,0.000,6,0.000,0.037,2765,2325,2612,0,0,0,0,0,0
$GC,3547,1.33,148.6,42.0,7.3,645,3569,0.00,2.45,12.05,0.720,4,0.000,0.055,2765,919,2561,0,0,0,0,0,0
$GC,3577,1.33,148.6,39.3,8.7,649,3585,0.00,2.40,0.00,0.000,6,0.000,0.043,2765,2326,2560,0,0,0,0,0,0
$GC,3651,1.33,148.6,32.4,9.9,662,3659,0.00,2.47,0.00,0.000,4,0.000,0.072,2766,3727,2560,0,0,0,0,0,0
$GC,3703,1.33,148.6,27.1,10.0,671,3711,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,2330,2560,0,0,0,0,0,0
$GC,3777,1.33,148.6,20.4,8.6,684,3784,0.00,2.47,0.00,0.000,4,0.000,0.068,2765,3727,2560,0,0,0,0,0,0
$GC,3845,1.33,150.6,15.0,7.9,696,3853,0.00,2.33,0.00,0.000,6,0.000,0.036,2765,2328,2560,0,0,0,0,0,0
$GC,3918,1.38,188.7,10.3,5.9,709,3962,0.00,2.53,35.40,0.717,4,0.000,0.069,2765,3722,2398,0,0,0,0,0,0
$GC,4039,1.46,207.9,2.2,6.9,729,4049,0.12,2.33,4.43,0.099,2,0.044,0.035,2809,2324,2386,0,0,0,0,0,0
$STATE,4050,end climb,SURFACE_DEPTH_REACHED
$STATE,4050,begin surface coast
$FINISH,0.1,1.020675
$STATE,4093,end surface coast,CONTROL_FINISHED_OK
$STATE,4093,begin surface
$SM_CCo,4111,52.78,0.080,0,0,1945,300.00
$SM_GC,0.46,0.00,0.00,52.78,0.000,0.000,0.080,431,2315,1945,-9.44,-0.99,300.00
$IRIDIUM_FIX,4726.11,-12222.38,130411,111107
$TT8_MAMPS,0.026215
$HUMID,31.96
$INTERNAL_PRESSURE,8.84647
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.4,1.690
$10V_AH,10.3,1.379
$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,22.825,81.150,246.875,52.775,0.000,30.815,31.073,294.116,0.000,0.000,28.938,1641.652,369.637,415.449,2058.656,178.243,33.317,1086.185,0.000,1704.960,0.000,0.542,0.000
$DEVICE_MAMPS,178.245,74.205,833.850,80.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,509.629,329.764,1201.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40208,738
$CAP_FILE_SIZE,91783,0
$CFSIZE,260165632,204292096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130411,141004,4744.403,-12224.315,8,3.8,28,18.2