version: 66.10
glider: 149
mission: 12
dive: 22
start: 2 6 114 15 36 8
data:
$ID,149
$MISSION,12
$DIVE,22
$N_DIVES,30
$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,80
$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,-11056.149
$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,28
$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
$GPS1,060214,152804,4742.142,-12225.683,39,1.1,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.5
$GPS2,060214,153507,4742.116,-12225.740,4,1.1,4,16.3
$SPEED_LIMITS,0.107,0.233
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.069,0.223
$KALMAN_X,1574.2,1026.8,702.1,-3931.8,-302.8
$KALMAN_Y,503.4,-21.0,-247.5,-1468.1,-1041.4
$MHEAD_RNG_PITCHd_Wd,1.0,1595,-11.7,-7.500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.03,-146.6,0.0,0.0,0,101,0.00,0.00,-76.40,0.000,6,0.000,0.000,429,1891,2626,0,0,0,0,0,0,28.83,28.83,24.56
$GC,104,-1.03,-146.6,4.6,-10.2,11,121,12.45,1.83,0.00,0.000,4,0.200,0.047,2538,2960,2627,0,0,0,0,0,0,24.03,24.17,28.83
$GC,228,-0.96,-146.6,26.2,-9.2,31,237,0.08,1.77,0.00,0.000,6,0.133,0.040,2554,1905,2627,0,0,0,0,0,0,24.20,24.28,28.83
$GC,310,-0.92,-146.6,33.0,-8.9,44,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1905,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,391,-0.87,-146.6,40.3,-9.7,57,399,0.12,0.00,0.00,0.000,6,0.132,0.000,2581,1905,2627,0,0,0,0,0,0,24.27,28.83,28.83
$GC,472,-0.87,-146.6,46.7,-8.6,70,480,0.00,1.83,0.00,0.000,4,0.000,0.056,2581,840,2627,0,0,0,0,0,0,28.83,24.30,28.83
$GC,551,-0.87,-146.6,53.7,-8.9,83,558,0.00,1.75,0.00,0.000,6,0.000,0.037,2580,1926,2627,0,0,0,0,0,0,28.83,24.34,28.83
$GC,695,-0.87,-146.6,65.1,-8.3,108,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,1928,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-0.87,-146.6,76.0,-7.0,133,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1929,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,986,-0.87,-146.6,87.6,-8.1,158,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1928,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1136,-0.87,-146.6,99.4,-8.2,183,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1929,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-0.87,-146.6,110.6,-8.1,208,1286,0.00,1.88,0.00,0.000,4,0.000,0.054,2581,836,2627,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1348,-0.87,-146.6,116.6,-8.9,219,1355,0.00,1.73,0.00,0.000,6,0.000,0.037,2581,1913,2627,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1496,-0.87,-146.6,127.8,-7.2,244,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1916,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1647,-0.87,-146.6,139.0,-7.6,269,1654,0.00,1.70,0.00,0.000,4,0.000,0.057,2581,2938,2627,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1679,-0.87,-146.6,142.0,-7.5,274,1688,0.00,1.75,0.00,0.000,6,0.000,0.039,2581,1894,2627,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1829,-0.87,-146.6,152.1,-6.6,299,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1894,2627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.87,-146.6,162.5,-6.5,324,1983,0.00,1.77,0.00,0.000,4,0.000,0.050,2581,2937,2627,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2043,-0.87,-146.6,167.3,-6.8,335,2050,0.00,1.70,0.00,0.000,6,0.000,0.039,2581,1906,2627,0,0,0,0,0,0,28.83,24.42,28.83
$GC,2190,-0.87,-146.6,176.1,-7.1,360,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,1906,2627,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2248,begin apogee
$GC,2254,-0.36,0.0,180.1,-6.7,370,2384,0.47,0.00,125.55,0.789,4,0.098,0.000,2684,2292,2028,0,0,0,0,0,0,24.38,28.83,23.32
$STATE,2385,end apogee,CONTROL_FINISHED_OK
$STATE,2385,begin climb
$GC,2388,1.03,146.6,182.4,0.0,389,2522,1.42,1.85,123.43,0.763,4,0.080,0.065,2990,3349,1429,0,0,0,0,0,0,23.90,23.88,23.31
$GC,2776,0.97,146.6,153.8,8.9,453,2783,0.00,1.75,0.00,0.000,6,0.000,0.043,2990,2293,1423,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2921,0.93,146.6,142.0,7.5,478,2930,0.00,1.88,0.00,0.000,4,0.000,0.069,2990,3342,1422,0,0,0,0,0,0,28.83,24.20,28.83
$GC,3149,0.97,178.8,124.3,6.3,517,3183,0.00,1.73,28.08,0.732,6,0.000,0.041,2990,2296,1298,0,0,0,0,0,0,28.83,24.28,23.40
$GC,3323,0.98,185.0,111.9,7.3,546,3338,0.00,1.83,6.60,0.601,4,0.000,0.059,2990,1247,1273,0,0,0,0,0,0,28.83,24.09,23.63
$GC,3381,0.98,185.0,107.3,8.2,555,3387,0.00,1.73,0.00,0.000,6,0.000,0.042,2990,2290,1272,0,0,0,0,0,0,28.83,24.20,28.83
$GC,3528,0.98,189.4,96.1,7.3,580,3537,0.00,0.00,5.25,0.549,6,0.000,0.000,2990,2290,1255,0,0,0,0,0,0,28.83,28.83,23.69
$GC,3679,0.99,193.0,85.3,7.4,605,3694,0.00,1.83,4.57,0.515,4,0.000,0.054,2991,1242,1240,0,0,0,0,0,0,28.83,24.19,23.70
$GC,3709,1.00,203.4,83.0,7.1,609,3724,0.00,1.75,10.82,0.646,6,0.000,0.043,2990,2297,1198,0,0,0,0,0,0,28.83,24.22,23.56
$GC,3866,1.00,203.4,70.6,8.4,635,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2297,1196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,1.00,203.4,56.7,8.7,660,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2297,1196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,1.00,203.4,44.4,8.3,685,4167,0.00,1.83,0.00,0.000,4,0.000,0.054,2990,1236,1196,0,0,0,0,0,0,28.83,24.32,28.83
$GC,4239,1.00,203.4,37.6,8.0,698,4247,0.00,1.77,0.00,0.000,6,0.000,0.044,2990,2291,1195,0,0,0,0,0,0,28.83,24.32,28.83
$GC,4321,1.03,227.9,31.8,6.6,711,4345,0.00,0.00,22.10,0.677,6,0.000,0.000,2990,2291,1098,0,0,0,0,0,0,28.83,28.83,23.49
$GC,4417,1.03,227.9,24.8,7.9,726,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2291,1097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,1.03,227.9,18.0,9.1,739,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2291,1096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4579,1.07,260.6,12.3,6.3,752,4619,0.00,1.92,28.48,0.658,4,0.000,0.071,2990,3353,964,0,0,0,0,0,0,28.83,23.87,23.46
$GC,4657,1.10,280.8,7.0,6.8,763,4682,0.00,1.80,17.73,0.626,6,0.000,0.039,2990,2285,882,0,0,0,0,0,0,28.83,24.18,23.49
$STATE,4718,end climb,SURFACE_DEPTH_REACHED
$STATE,4718,begin surface coast
$FINISH,0.1,1.011982
$STATE,4750,end surface coast,CONTROL_FINISHED_OK
$STATE,4750,begin surface
$SM_CCo,4832,0.00,0.000,0,0,879,281.85
$SM_GC,1.05,10.82,0.65,0.00,0.037,0.053,0.000,429,1901,879,-10.70,0.85,281.85,0,0,0,0,0,0,24.23,24.20,28.83
$IRIDIUM_FIX,4722.92,-12223.37,060214,141434
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.64
$INTERNAL_PRESSURE,8.77109
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.0,64.7
$24V_AH,23.3,2.099
$10V_AH,10.4,1.218
$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,25.375,40.625,372.600,0.000,0.000,27.573,38.176,254.105,0.750,0.000,7.584,1706.697,545.695,414.443,2414.486,185.953,33.207,1191.885,0.000,2093.617,0.000,7.202,0.000
$DEVICE_MAMPS,199.665,71.145,789.480,0.000,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.172,346.586,1579.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323200
$DATA_FILE_SIZE,46950,777
$CAP_FILE_SIZE,82982,0
$CFSIZE,260165632,202035200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060214,165754,4742.184,-12225.913,39,1.3,39,16.3