version: 66.10
glider: 149
mission: 12
dive: 21
start: 2 6 114 14 33 13
data:
$ID,149
$MISSION,12
$DIVE,21
$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,-11047.936
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,060214,142458,4742.018,-12225.297,37,1.9,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-68.2
$GPS2,060214,143216,4741.991,-12225.300,4,1.7,4,16.3
$SPEED_LIMITS,0.122,0.247
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.090,0.230
$KALMAN_X,2383.6,680.2,455.7,-3599.6,418.4
$KALMAN_Y,953.9,-226.7,240.3,-2423.3,-875.4
$MHEAD_RNG_PITCHd_Wd,322.4,1453,-13.8,-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,16,-1.18,-146.6,0.0,0.0,0,94,0.00,0.00,-73.97,0.000,6,0.000,0.000,430,1897,2627,0,0,0,0,0,0,28.83,28.83,24.54
$GC,97,-1.18,-146.6,3.6,-7.2,10,114,12.35,1.83,0.00,0.000,4,0.203,0.048,2505,2961,2628,0,0,0,0,0,0,24.01,24.15,28.83
$GC,347,-1.12,-146.6,38.4,-10.9,52,356,0.00,1.77,0.00,0.000,6,0.000,0.040,2505,1905,2628,0,0,0,0,0,0,28.83,24.30,28.83
$GC,429,-1.05,-146.6,47.5,-11.5,65,437,0.15,0.00,0.00,0.000,6,0.156,0.000,2535,1905,2629,0,0,0,0,0,0,24.24,28.83,28.83
$GC,507,-1.05,-146.6,55.2,-7.6,78,516,0.00,1.83,0.00,0.000,4,0.000,0.056,2535,839,2629,0,0,0,0,0,0,28.83,24.29,28.83
$GC,610,-1.05,-146.6,62.1,-5.8,95,617,0.00,1.75,0.00,0.000,6,0.000,0.037,2535,1924,2628,0,0,0,0,0,0,28.83,24.35,28.83
$GC,756,-1.05,-146.6,72.9,-8.2,120,765,0.00,1.73,0.00,0.000,4,0.000,0.054,2535,2940,2628,0,0,0,0,0,0,28.83,24.32,28.83
$GC,802,-1.05,-146.6,77.0,-9.1,127,809,0.00,1.73,0.00,0.000,6,0.000,0.039,2535,1900,2628,0,0,0,0,0,0,28.83,24.34,28.83
$GC,947,-1.05,-146.6,90.6,-10.4,152,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1900,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1095,-1.05,-146.6,105.4,-9.1,177,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1900,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-1.05,-146.6,118.2,-11.9,202,1246,0.00,1.75,0.00,0.000,4,0.000,0.051,2535,2933,2628,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1297,-1.05,-146.6,124.1,-10.1,211,1303,0.00,1.70,0.00,0.000,6,0.000,0.039,2535,1893,2628,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1443,-0.92,-146.6,127.6,0.2,236,1453,0.12,1.77,0.00,0.000,4,0.152,0.048,2559,841,2628,0,0,0,0,0,0,24.32,24.37,28.83
$STATE,1477,end dive,NO_VERTICAL_VELOCITY
$STATE,1477,begin apogee
$GC,1486,-0.36,0.0,127.6,0.0,241,1619,0.60,0.00,124.62,0.750,4,0.122,0.000,2683,2289,2027,0,0,0,0,0,0,24.31,28.83,23.34
$STATE,1620,end apogee,CONTROL_FINISHED_OK
$STATE,1620,begin climb
$GC,1622,1.18,146.6,127.4,0.0,261,1758,1.58,1.85,122.82,0.728,4,0.076,0.067,3024,3346,1429,0,0,0,0,0,0,23.93,23.91,23.33
$GC,1854,1.17,179.5,116.1,7.2,297,1888,0.00,1.75,28.35,0.697,6,0.000,0.043,3024,2294,1296,0,0,0,0,0,0,28.83,24.15,23.38
$GC,2026,1.17,179.5,98.8,9.3,326,2034,0.00,1.88,0.00,0.000,4,0.000,0.068,3024,3341,1292,0,0,0,0,0,0,28.83,24.15,28.83
$GC,2072,1.17,179.5,94.8,8.7,333,2079,0.00,1.73,0.00,0.000,6,0.000,0.040,3024,2299,1292,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2219,1.20,202.5,83.5,7.6,358,2247,0.00,1.85,20.30,0.682,4,0.000,0.060,3024,1246,1201,0,0,0,0,0,0,28.83,23.91,23.46
$GC,2314,1.20,202.5,75.0,9.5,373,2321,0.00,1.75,0.00,0.000,6,0.000,0.044,3024,2298,1201,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2461,1.20,202.5,60.9,9.3,398,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2298,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,1.20,202.5,46.8,9.9,423,2617,0.00,1.83,0.00,0.000,4,0.000,0.054,3024,1240,1200,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2665,1.20,202.5,40.8,10.6,432,2674,0.00,1.80,0.00,0.000,6,0.000,0.045,3023,2295,1200,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2745,1.20,202.5,33.2,9.7,445,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2296,1199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,1.20,202.5,25.5,9.4,458,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2296,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2905,1.20,202.5,18.3,9.0,471,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2295,1200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2986,1.25,241.0,12.1,7.0,484,3026,0.00,1.88,33.53,0.670,4,0.000,0.073,3024,3351,1045,0,0,0,0,0,0,28.83,23.86,23.44
$GC,3075,1.25,241.0,5.2,9.2,497,3084,0.00,1.77,0.00,0.000,6,0.000,0.040,3024,2298,1043,0,0,0,0,0,0,28.83,24.19,28.83
$STATE,3107,end climb,SURFACE_DEPTH_REACHED
$STATE,3108,begin surface coast
$FINISH,0.1,1.012276
$STATE,3134,end surface coast,CONTROL_FINISHED_OK
$STATE,3134,begin surface
$SM_CCo,3215,0.00,0.000,0,0,1040,242.36
$SM_GC,1.12,10.98,0.68,0.00,0.038,0.047,0.000,429,1893,1040,-10.70,0.71,242.36,0,0,0,0,0,0,24.25,24.25,28.83
$IRIDIUM_FIX,4726.11,-12227.78,060214,131357
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.48
$INTERNAL_PRESSURE,8.79062
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,23.3,2.003
$10V_AH,10.4,1.140
$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,25.775,37.025,329.625,0.000,0.000,24.499,42.885,268.196,0.250,0.000,5.117,1097.537,321.156,359.495,1741.365,143.482,33.209,924.500,0.000,1411.744,0.000,2.596,0.000
$DEVICE_MAMPS,202.725,72.675,750.465,0.000,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.498,243.305,1093.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30255,506
$CAP_FILE_SIZE,61030,0
$CFSIZE,260165632,202113024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060214,152804,4742.142,-12225.683,39,1.1,39,16.3