version: 66.07
glider: 149
mission: 2
dive: 17
start: 4 13 111 14 18 18
data:
$ID,149
$MISSION,2
$DIVE,17
$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,-1155.8707
$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,31
$R_STBD_OVSHOOT,23
$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
$GPS1,130411,141004,4744.403,-12224.315,8,3.8,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-65.4
$GPS2,130411,141720,4744.431,-12224.269,12,1.3,12,18.2
$SPEED_LIMITS,0.139,0.201
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.151,-0.132
$KALMAN_X,1012.6,-760.6,191.1,-1390.5,29.4
$KALMAN_Y,1185.2,-1390.1,407.4,855.7,275.2
$MHEAD_RNG_PITCHd_Wd,113.0,1048,-17.8,-8.007
$D_GRID,175
$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,-97.8,0.0,0.0,0,95,0.00,0.00,-75.85,0.000,6,0.000,0.000,431,2315,3568,0,0,0,0,0,0
$GC,97,-1.31,-97.8,3.8,-7.2,11,114,9.82,2.45,0.00,0.000,4,0.177,0.052,2189,3759,3570,0,0,0,0,0,0
$GC,259,-1.24,-97.8,33.7,-12.1,41,268,0.08,2.30,0.00,0.000,6,0.121,0.031,2206,2352,3571,0,0,0,0,0,0
$GC,335,-1.24,-97.8,40.4,-9.4,54,343,0.00,2.35,0.00,0.000,4,0.000,0.044,2206,950,3571,0,0,0,0,0,0
$GC,387,-1.24,-97.8,46.4,-11.0,63,395,0.00,2.35,0.00,0.000,6,0.000,0.037,2207,2354,3571,0,0,0,0,0,0
$GC,459,-1.24,-97.8,53.9,-9.9,76,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2354,3571,0,0,0,0,0,0
$GC,598,-1.24,-97.8,66.0,-7.5,101,605,0.00,2.33,0.00,0.000,4,0.000,0.042,2207,950,3570,0,0,0,0,0,0
$GC,729,-1.24,-97.8,78.7,-9.6,128,737,0.00,2.35,0.00,0.000,6,0.000,0.038,2206,2353,3570,0,0,0,0,0,0
$GC,870,-1.24,-97.8,89.6,-7.2,153,876,0.00,2.33,0.00,0.000,4,0.000,0.042,2207,950,3570,0,0,0,0,0,0
$GC,952,-1.24,-97.8,96.6,-8.6,170,960,0.00,2.35,0.00,0.000,6,0.000,0.037,2206,2358,3571,0,0,0,0,0,0
$GC,1095,-1.24,-97.8,108.8,-9.0,195,1101,0.00,2.35,0.00,0.000,4,0.000,0.042,2206,943,3570,0,0,0,0,0,0
$GC,1118,-1.24,-97.8,111.2,-9.2,199,1124,0.00,2.33,0.00,0.000,6,0.000,0.039,2206,2349,3571,0,0,0,0,0,0
$GC,1255,-1.24,-97.8,123.5,-8.6,224,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2206,2349,3570,0,0,0,0,0,0
$GC,1394,-1.24,-97.8,134.2,-8.9,249,1400,0.00,2.33,0.00,0.000,4,0.000,0.043,2206,948,3570,0,0,0,0,0,0
$GC,1495,-1.24,-97.8,144.2,-10.2,270,1503,0.00,2.35,0.00,0.000,6,0.000,0.039,2207,2354,3571,0,0,0,0,0,0
$GC,1637,-1.24,-97.8,157.0,-8.7,295,1643,0.00,2.33,0.00,0.000,4,0.000,0.043,2206,950,3571,0,0,0,0,0,0
$GC,1730,-1.24,-97.8,166.0,-9.5,314,1737,0.00,2.33,0.00,0.000,6,0.000,0.038,2206,2346,3571,0,0,0,0,0,0
$STATE,1839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1839,begin apogee
$GC,1844,-0.33,0.0,175.4,8.8,334,1929,0.93,0.00,80.28,0.832,6,0.098,0.000,2406,2346,3168,0,0,0,0,0,0
$STATE,1930,end apogee,CONTROL_FINISHED_OK
$STATE,1930,begin climb
$GC,1931,1.31,97.8,178.0,0.0,347,2022,1.58,2.47,80.72,0.805,4,0.065,0.076,2765,3722,2770,0,0,0,0,0,0
$GC,2076,1.25,97.8,169.5,9.4,372,2084,0.00,2.33,0.00,0.000,6,0.000,0.034,2765,2334,2767,0,0,0,0,0,0
$GC,2217,1.25,97.8,157.4,8.5,397,2224,0.00,2.42,0.00,0.000,4,0.000,0.069,2765,3722,2765,0,0,0,0,0,0
$GC,2306,1.20,97.8,148.7,9.8,415,2313,0.00,2.33,0.00,0.000,6,0.000,0.035,2764,2313,2765,0,0,0,0,0,0
$GC,2444,1.20,97.8,136.5,8.4,440,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2313,2764,0,0,0,0,0,0
$GC,2583,1.20,97.8,124.5,8.2,465,2590,0.00,2.47,0.00,0.000,4,0.000,0.069,2765,3723,2764,0,0,0,0,0,0
$GC,2686,1.15,97.8,115.2,9.4,486,2694,0.12,2.33,0.00,0.000,6,0.114,0.036,2737,2330,2764,0,0,0,0,0,0
$GC,2828,1.17,112.6,104.4,7.2,511,2848,0.00,2.47,13.27,0.754,4,0.000,0.067,2737,3726,2709,0,0,0,0,0,0
$GC,2902,1.17,112.6,98.1,9.4,525,2909,0.00,2.33,0.00,0.000,6,0.000,0.036,2737,2320,2708,0,0,0,0,0,0
$GC,3043,1.18,119.8,86.8,7.6,550,3057,0.00,2.47,7.75,0.672,4,0.000,0.067,2737,3723,2678,0,0,0,0,0,0
$GC,3125,1.18,119.8,79.6,9.5,566,3133,0.00,2.33,0.00,0.000,6,0.000,0.036,2736,2330,2678,0,0,0,0,0,0
$GC,3265,1.18,119.8,67.6,8.5,591,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2330,2677,0,0,0,0,0,0
$GC,3403,1.23,130.3,57.6,7.4,616,3424,0.00,2.50,10.18,0.696,4,0.000,0.069,2737,3723,2636,0,0,1,0,0,0
$GC,3496,1.23,130.3,49.7,8.8,634,3504,0.00,2.33,0.00,0.000,6,0.000,0.036,2737,2325,2636,0,0,0,0,0,0
$GC,3568,1.29,140.0,44.5,7.5,647,3584,0.12,2.40,9.48,0.679,4,0.082,0.054,2773,917,2597,0,0,0,0,0,0
$GC,3618,1.29,140.0,40.1,9.1,655,3626,0.00,2.38,0.00,0.000,6,0.000,0.042,2774,2318,2595,0,0,0,0,0,0
$GC,3690,1.29,140.0,33.8,8.3,668,3698,0.00,2.47,0.00,0.000,4,0.000,0.074,2774,3715,2595,0,0,0,0,0,0
$GC,3732,1.29,140.0,29.9,9.5,675,3740,0.00,2.33,0.00,0.000,6,0.000,0.036,2774,2319,2595,0,0,0,0,0,0
$GC,3806,1.29,140.0,23.3,8.4,688,3814,0.00,2.38,0.00,0.000,4,0.000,0.055,2774,927,2595,0,0,0,0,0,0
$GC,3848,1.29,140.0,19.8,8.6,695,3856,0.00,2.35,0.00,0.000,6,0.000,0.044,2774,2317,2595,0,0,0,0,0,0
$GC,3922,1.29,141.8,14.0,7.9,708,3930,0.00,2.47,0.00,0.000,4,0.000,0.072,2774,3721,2595,0,0,0,0,0,0
$GC,3958,1.29,141.8,10.7,8.4,714,3966,0.00,2.33,0.00,0.000,6,0.000,0.035,2774,2322,2595,0,0,0,0,0,0
$GC,4033,1.36,199.3,6.4,4.8,727,4091,0.00,0.00,51.03,0.722,6,0.000,0.000,2774,2322,2355,0,0,0,0,0,0
$STATE,4108,end climb,SURFACE_DEPTH_REACHED
$STATE,4108,begin surface coast
$FINISH,0.5,1.021034
$STATE,4141,end surface coast,CONTROL_FINISHED_OK
$STATE,4141,begin surface
$SM_CCo,4158,49.30,0.081,0,0,1944,300.00
$SM_GC,0.34,0.00,0.00,49.30,0.000,0.000,0.081,435,2315,1944,-9.43,-0.99,300.00
$IRIDIUM_FIX,4726.11,-12223.37,130411,121213
$TT8_MAMPS,0.026964
$HUMID,32.08
$INTERNAL_PRESSURE,8.85623
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,23.4,1.766
$10V_AH,10.3,1.468
$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,22.750,80.675,252.700,49.300,0.000,30.046,29.368,260.043,0.000,0.000,15.026,1656.250,381.434,427.276,2011.800,176.610,33.317,1112.742,0.000,1701.035,0.000,0.542,0.000
$DEVICE_MAMPS,176.715,76.500,832.320,81.090,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.566,326.736,1186.109,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40193,744
$CAP_FILE_SIZE,93248,0
$CFSIZE,260165632,204247040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130411,152927,4744.326,-12223.593,9,1.9,24,18.2