version: 66.10
glider: 149
mission: 12
dive: 8
start: 2 6 114 1 56 17
data:
$ID,149
$MISSION,12
$DIVE,8
$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,-11031.301
$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,2766
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.8
$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,26
$R_STBD_OVSHOOT,48
$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,120
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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
$GPS1,060214,014838,4744.129,-12223.248,45,1.9,45,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.3
$GPS2,060214,015520,4744.139,-12223.209,4,1.8,4,16.3
$SPEED_LIMITS,0.119,0.262
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.181,-0.189
$KALMAN_X,-46.6,-16.6,-79.1,2655.4,-47.0
$KALMAN_Y,1547.5,1136.3,-178.1,11.1,-206.6
$MHEAD_RNG_PITCHd_Wd,207.6,3321,-16.3,-10.000
$D_GRID,128
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.36,-146.6,0.0,0.0,0,116,0.00,0.00,-96.60,0.000,6,0.000,0.000,429,2096,2627,0,0,0,0,0,0,28.83,28.83,24.56
$GC,120,-1.36,-146.6,3.5,-6.6,13,137,11.52,1.80,0.00,0.000,4,0.184,0.049,2463,1041,2629,0,0,0,0,0,0,24.06,24.19,28.83
$GC,426,-1.28,-146.6,53.3,-13.2,65,433,0.12,1.70,0.00,0.000,6,0.151,0.038,2484,2098,2628,0,0,0,0,0,0,24.24,24.32,28.83
$GC,573,-1.24,-146.6,70.2,-11.3,90,581,0.00,1.80,0.00,0.000,4,0.000,0.050,2484,1045,2629,0,0,0,0,0,0,28.83,24.31,28.83
$GC,631,-1.19,-146.6,77.3,-11.9,99,638,0.10,1.70,0.00,0.000,6,0.154,0.037,2501,2096,2628,0,0,0,0,0,0,24.26,24.34,28.83
$GC,778,-1.19,-146.6,93.0,-10.1,124,787,0.00,1.80,0.00,0.000,4,0.000,0.050,2502,1043,2629,0,0,0,0,0,0,28.83,24.34,28.83
$GC,863,-1.19,-146.6,101.7,-10.1,138,872,0.00,1.75,0.00,0.000,6,0.000,0.037,2502,2094,2628,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1010,-1.19,-146.6,115.8,-10.7,163,1017,0.00,1.75,0.00,0.000,4,0.000,0.050,2502,1041,2629,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1041,-1.19,-146.6,119.5,-11.5,168,1052,0.00,1.75,0.00,0.000,6,0.000,0.037,2502,2096,2628,0,0,0,0,0,0,28.83,24.37,28.83
$STATE,1125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1132,-0.36,0.0,128.0,-9.3,182,1266,0.85,0.00,125.95,0.744,4,0.105,0.000,2681,2029,2026,0,0,0,0,0,0,24.31,28.83,23.38
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1267,begin climb
$GC,1270,1.36,146.6,132.6,0.0,202,1403,1.70,1.88,121.38,0.718,4,0.076,0.062,3063,3082,1429,0,0,0,0,0,0,23.96,23.94,23.37
$GC,1822,1.36,146.6,76.3,11.6,295,1828,0.00,1.67,0.00,0.000,6,0.000,0.045,3063,2071,1422,0,0,0,0,0,0,28.83,24.27,28.83
$GC,1969,1.36,146.6,60.3,10.3,320,1977,0.00,1.88,0.00,0.000,4,0.000,0.063,3063,989,1422,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2187,1.32,155.1,36.4,9.6,357,2204,0.00,1.77,7.85,0.649,6,0.000,0.044,3063,2042,1395,0,0,0,0,0,0,28.83,24.32,23.66
$GC,2278,1.34,172.0,28.2,9.2,371,2302,0.00,1.88,16.10,0.661,4,0.000,0.067,3062,3096,1325,0,0,0,0,0,0,28.83,23.97,23.56
$GC,2401,1.35,175.4,16.4,9.8,391,2411,0.00,1.75,4.15,0.445,6,0.000,0.042,3063,2066,1312,0,0,0,0,0,0,28.83,24.28,23.74
$GC,2485,1.39,205.9,8.9,8.6,404,2517,0.00,1.90,26.80,0.637,4,0.000,0.065,3063,3104,1188,0,0,0,0,0,0,28.83,23.91,23.50
$GC,2543,1.39,205.9,3.0,10.4,412,2551,0.00,1.77,0.00,0.000,6,0.000,0.043,3062,2066,1186,0,0,0,0,0,0,28.83,24.15,28.83
$STATE,2558,end climb,SURFACE_DEPTH_REACHED
$STATE,2558,begin surface coast
$FINISH,0.3,1.009979
$STATE,2577,end surface coast,CONTROL_FINISHED_OK
$STATE,2577,begin surface
$SM_CCo,2597,20.02,0.619,0,0,1090,230.09
$SM_GC,1.37,11.12,0.00,20.02,0.037,0.000,0.619,431,2066,1090,-10.69,-0.96,230.09,0,0,0,0,0,0,24.25,28.83,23.51
$IRIDIUM_FIX,4726.11,-12225.08,060214,000030
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.99
$INTERNAL_PRESSURE,8.79062
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.0,10.3
$24V_AH,23.4,0.942
$10V_AH,10.4,0.470
$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,25.425,28.625,302.225,20.025,0.000,26.290,38.204,245.889,0.500,0.000,5.031,895.122,210.937,330.166,1473.674,127.651,33.237,806.978,0.000,1181.625,0.000,5.454,0.000
$DEVICE_MAMPS,183.600,116.280,743.580,618.885,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,286.074,205.710,925.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,20347,417
$CAP_FILE_SIZE,49434,0
$CFSIZE,260165632,202596352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060214,024103,4743.889,-12223.306,12,1.3,29,16.3