version: 66.10
glider: 149
mission: 12
dive: 4
start: 2 5 114 21 56 4
data:
$ID,149
$MISSION,12
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51948
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0022942999
$HD_B,0.0094744004
$HD_C,1.33228e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3430
$TGT_DEFAULT_LON,3300
$TGT_AUTO_DEFAULT,0
$SM_CC,230
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11026.273
$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,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$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,30
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,2028
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-19.366322
$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,100
$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,-1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$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,0.0043684109
$SEABIRD_T_H,0.00063666329
$SEABIRD_T_I,2.5353003e-05
$SEABIRD_T_J,2.8093739e-06
$SEABIRD_C_G,-9.7066507
$SEABIRD_C_H,1.0813919
$SEABIRD_C_I,-0.0015058771
$SEABIRD_C_J,0.00018903616
$GPS1,050214,214427,4743.992,-12224.728,39,1.7,42,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.5
$GPS2,050214,215508,4744.151,-12224.710,4,1.3,4,16.3
$SPEED_LIMITS,0.119,0.262
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.244,-0.095
$KALMAN_X,125.3,123.9,65.7,331.4,60.6
$KALMAN_Y,836.6,862.9,536.7,292.5,391.6
$MHEAD_RNG_PITCHd_Wd,94.9,1510,-16.3,-10.000
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.35,-146.6,0.0,0.0,0,93,0.00,0.00,-71.20,0.000,6,0.000,0.000,431,2091,2627,0,0,0,0,0,0,28.83,28.83,24.59
$GC,97,-1.35,-146.6,4.3,-9.0,10,114,11.50,1.80,0.00,0.000,4,0.182,0.044,2471,1026,2628,0,0,0,0,0,0,24.08,24.23,28.83
$GC,282,-1.28,-146.6,38.8,-13.2,41,291,0.00,1.80,0.00,0.000,6,0.000,0.039,2471,2114,2628,0,0,0,0,0,0,28.83,24.34,28.83
$GC,364,-1.23,-146.6,48.7,-11.5,54,373,0.12,1.83,0.00,0.000,4,0.149,0.047,2497,1043,2628,0,0,0,0,0,0,24.27,24.33,28.83
$GC,444,-1.23,-146.6,58.5,-12.6,67,451,0.00,1.70,0.00,0.000,6,0.000,0.038,2497,2096,2628,0,0,0,0,0,0,28.83,24.37,28.83
$GC,587,-1.23,-146.6,77.5,-14.1,92,596,0.00,1.80,0.00,0.000,4,0.000,0.060,2497,3144,2629,0,0,0,0,0,0,28.83,24.33,28.83
$GC,633,-1.23,-146.6,83.3,-13.4,99,640,0.00,1.73,0.00,0.000,6,0.000,0.036,2497,2078,2628,0,0,0,0,0,0,28.83,24.39,28.83
$GC,780,-1.23,-146.6,102.0,-12.8,124,788,0.00,1.73,0.00,0.000,4,0.000,0.051,2497,1053,2628,0,0,0,0,0,0,28.83,24.38,28.83
$GC,807,-1.23,-146.6,105.6,-12.8,128,815,0.00,1.73,0.00,0.000,6,0.000,0.037,2497,2096,2628,0,0,0,0,0,0,28.83,24.40,28.83
$GC,955,-1.23,-146.6,124.0,-12.5,153,961,0.00,1.75,0.00,0.000,4,0.000,0.049,2497,1038,2628,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1038,-1.23,-146.6,134.5,-12.4,167,1044,0.00,1.70,0.00,0.000,6,0.000,0.037,2497,2097,2628,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1186,-1.23,-146.6,150.5,-11.1,192,1194,0.00,1.77,0.00,0.000,4,0.000,0.050,2497,1052,2628,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1254,-1.23,-146.6,158.2,-10.4,203,1260,0.00,1.65,0.00,0.000,6,0.000,0.037,2497,2082,2628,0,0,0,0,0,0,28.83,24.44,28.83
$GC,1399,-1.23,-146.6,173.0,-10.2,228,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2082,2628,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1420,begin apogee
$GC,1425,-0.36,0.0,175.2,-10.4,231,1558,0.90,0.00,125.38,0.782,4,0.105,0.000,2687,2083,2028,0,0,0,0,0,0,24.37,28.83,23.37
$STATE,1559,end apogee,CONTROL_FINISHED_OK
$STATE,1559,begin climb
$GC,1562,1.35,146.6,179.9,0.0,251,1695,1.70,1.75,122.60,0.754,4,0.074,0.064,3060,3093,1429,0,0,0,0,0,0,23.99,23.96,23.36
$GC,1948,1.29,146.6,143.7,11.8,315,1955,0.00,1.73,0.00,0.000,6,0.000,0.046,3060,2056,1423,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2093,1.25,146.6,127.6,11.4,340,2102,0.00,1.85,0.00,0.000,4,0.000,0.063,3060,992,1423,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2246,1.19,146.6,109.4,12.8,366,2255,0.10,1.77,0.00,0.000,6,0.099,0.045,3036,2037,1423,0,0,0,0,0,0,24.27,24.30,28.83
$GC,2395,1.20,154.9,93.8,9.6,391,2410,0.00,1.85,7.88,0.679,4,0.000,0.069,3036,3099,1395,0,0,0,0,0,0,28.83,24.11,23.66
$GC,2515,1.20,154.9,81.4,10.3,411,2522,0.00,1.73,0.00,0.000,6,0.000,0.043,3036,2058,1394,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2660,1.20,154.9,67.5,10.3,436,2668,0.00,1.83,0.00,0.000,4,0.000,0.065,3036,3092,1394,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2710,1.20,154.9,62.2,10.4,444,2718,0.00,1.75,0.00,0.000,6,0.000,0.043,3036,2065,1394,0,0,0,0,0,0,28.83,24.35,28.83
$GC,2856,1.20,154.9,47.3,10.1,469,2864,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2066,1394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,1.23,175.1,39.7,9.1,482,2961,0.00,0.00,18.85,0.707,6,0.000,0.000,3036,2065,1312,0,0,0,0,0,0,28.83,28.83,23.58
$GC,3033,1.23,175.1,29.6,10.6,497,3042,0.00,1.83,0.00,0.000,4,0.000,0.065,3036,3096,1310,0,0,0,0,0,0,28.83,24.25,28.83
$GC,3079,1.23,175.1,24.1,12.1,504,3088,0.00,1.75,0.00,0.000,6,0.000,0.044,3036,2070,1310,0,0,0,0,0,0,28.83,24.32,28.83
$GC,3159,1.23,175.1,14.9,11.8,517,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2070,1310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,1.27,214.7,7.5,8.2,530,3280,0.00,1.88,33.90,0.653,4,0.000,0.064,3036,3099,1151,0,0,0,0,0,0,28.83,23.93,23.51
$STATE,3316,end climb,SURFACE_DEPTH_REACHED
$STATE,3317,begin surface coast
$FINISH,0.2,1.016487
$STATE,3349,end surface coast,CONTROL_FINISHED_OK
$STATE,3349,begin surface
$SM_CCo,3370,12.95,0.605,0,0,1090,230.09
$SM_GC,1.10,11.02,1.73,12.95,0.038,0.046,0.605,429,2099,1090,-10.71,0.88,230.09,0,0,0,0,0,0,24.30,24.26,23.61
$IRIDIUM_FIX,4726.11,-12227.78,050214,212109
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.28
$INTERNAL_PRESSURE,8.78085
$TCM_TEMP,12.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,100.5,12.0
$24V_AH,23.4,0.569
$10V_AH,10.3,0.280
$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,25.350,42.400,308.600,12.950,0.000,61.989,87.359,339.017,2.250,0.000,5.041,1191.097,364.383,353.953,1962.245,164.302,32.220,940.403,0.000,1490.370,0.000,5.468,0.000
$DEVICE_MAMPS,182.070,68.850,781.830,605.115,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.640,248.282,1130.192,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323348
$DATA_FILE_SIZE,30181,546
$CAP_FILE_SIZE,66148,0
$CFSIZE,260165632,202702848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050214,225334,4744.224,-12224.257,26,1.0,26,16.3