version: 66.10
glider: 149
mission: 12
dive: 17
start: 2 6 114 11 7 44
data:
$ID,149
$MISSION,12
$DIVE,17
$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,70
$T_MISSION,85
$T_ABORT,720
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$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,35
$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,-11042.72
$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,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,1900
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,27
$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,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,060214,105906,4742.592,-12224.299,42,1.1,42,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,060214,110647,4742.628,-12224.222,4,1.8,4,16.3
$SPEED_LIMITS,0.122,0.247
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.233,-0.071
$KALMAN_X,1648.7,-113.7,-294.7,9.8,263.6
$KALMAN_Y,3063.9,-1438.7,457.0,-2364.0,430.0
$MHEAD_RNG_PITCHd_Wd,236.8,733,-14.1,-8.571
$D_GRID,180
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.20,-141.8,0.0,0.0,0,93,0.00,0.00,-72.50,0.000,6,0.000,0.000,429,1901,2609,0,0,0,0,0,0,28.83,28.83,24.54
$GC,97,-1.20,-146.6,4.0,-8.0,10,115,11.95,1.88,-0.40,0.000,4,0.190,0.072,2501,833,2629,0,0,0,0,0,0,24.02,24.16,24.32
$GC,124,-0.30,-146.6,15.2,-33.1,13,133,0.95,1.77,0.00,0.000,6,0.109,0.037,2699,1910,2629,0,0,0,0,0,0,24.14,24.22,28.83
$GC,207,-0.49,-146.6,21.0,-4.0,26,216,0.15,1.75,0.00,0.000,4,0.070,0.056,2655,2932,2630,0,0,0,0,0,0,24.31,24.24,28.83
$GC,232,-0.65,-146.6,22.3,-4.7,29,241,0.10,1.75,0.00,0.000,6,0.047,0.041,2616,1889,2630,0,0,0,0,0,0,24.28,24.27,28.83
$GC,314,-0.73,-146.6,27.5,-6.4,42,323,0.00,1.77,0.00,0.000,4,0.000,0.056,2615,850,2630,0,0,0,0,0,0,28.83,24.27,28.83
$GC,536,-0.82,-146.6,42.7,-6.7,79,545,0.08,1.73,0.00,0.000,6,0.047,0.038,2580,1898,2629,0,0,0,0,0,0,24.34,24.34,28.83
$GC,617,-0.82,-146.6,49.3,-7.8,92,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1899,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,697,-0.82,-146.6,54.8,-6.1,105,705,0.00,1.73,0.00,0.000,4,0.000,0.055,2580,2946,2629,0,0,0,0,0,0,28.83,24.31,28.83
$GC,751,-0.82,-146.6,59.4,-7.7,114,760,0.00,1.75,0.00,0.000,6,0.000,0.040,2580,1907,2629,0,0,0,0,0,0,28.83,24.34,28.83
$GC,901,-0.82,-146.6,70.2,-7.9,139,908,0.00,1.77,0.00,0.000,4,0.000,0.054,2580,846,2629,0,0,0,0,0,0,28.83,24.33,28.83
$GC,973,-0.82,-146.6,76.1,-9.1,151,979,0.00,1.73,0.00,0.000,6,0.000,0.039,2580,1914,2630,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1120,-0.90,-146.6,81.7,0.1,176,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1917,2630,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1179,end dive,NO_VERTICAL_VELOCITY
$STATE,1179,begin apogee
$GC,1184,-0.36,0.0,81.9,0.0,186,1317,0.47,0.00,124.80,0.715,4,0.080,0.000,2689,2306,2027,0,0,0,0,0,0,24.34,28.83,23.37
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1321,1.20,146.6,81.6,0.0,206,1450,1.52,0.00,122.45,0.691,6,0.075,0.000,3027,2306,1429,0,0,0,0,0,0,23.94,28.83,23.36
$GC,1591,1.20,146.6,63.1,9.6,249,1597,0.00,1.83,0.00,0.000,4,0.000,0.056,3027,1239,1424,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1640,1.20,146.6,57.9,10.0,257,1647,0.00,1.77,0.00,0.000,6,0.000,0.044,3027,2292,1424,0,0,0,0,0,0,28.83,24.19,28.83
$GC,1789,1.23,166.2,45.2,7.8,282,1813,0.00,0.00,17.42,0.647,6,0.000,0.000,3026,2293,1349,0,0,0,0,0,0,28.83,28.83,23.51
$GC,1887,1.23,170.7,37.9,8.4,297,1896,0.00,0.00,4.95,0.493,6,0.000,0.000,3026,2293,1332,0,0,0,0,0,0,28.83,28.83,23.68
$GC,1968,1.24,174.3,31.0,8.4,310,1977,0.00,0.00,4.70,0.478,6,0.000,0.000,3026,2293,1317,0,0,0,0,0,0,28.83,28.83,23.70
$GC,2050,1.24,174.3,23.8,9.0,323,2058,0.00,1.88,0.00,0.000,4,0.000,0.074,3026,3344,1316,0,0,0,0,0,0,28.83,24.19,28.83
$GC,2079,1.24,174.3,21.1,8.8,327,2088,0.00,1.77,0.00,0.000,6,0.000,0.040,3027,2300,1316,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2159,1.24,174.3,13.5,9.1,340,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2301,1316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,1.24,174.3,6.6,8.6,353,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2300,1316,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2294,end climb,SURFACE_DEPTH_REACHED
$STATE,2294,begin surface coast
$FINISH,0.2,1.012085
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2319,begin surface
$SM_CCo,2340,43.12,0.644,0,0,1090,230.09
$SM_GC,1.23,10.95,0.68,43.12,0.038,0.054,0.644,430,1901,1090,-10.69,0.90,230.09,0,0,0,0,0,0,24.30,24.29,23.44
$IRIDIUM_FIX,4726.11,-12227.78,060214,101018
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.48
$INTERNAL_PRESSURE,8.79062
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,23.4,1.668
$10V_AH,10.4,0.946
$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,26.175,26.175,274.325,43.125,0.000,23.473,44.758,288.239,0.000,0.000,5.141,814.705,121.153,345.550,1452.790,122.788,33.211,793.621,0.000,1103.870,0.000,1.005,0.000
$DEVICE_MAMPS,190.485,74.205,714.510,644.130,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.521,198.776,912.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,20339,366
$CAP_FILE_SIZE,52026,0
$CFSIZE,260165632,202268672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060214,114823,4742.530,-12224.354,17,1.2,17,16.3