version: 66.10
glider: 149
mission: 11
dive: 5
start: 12 12 112 21 21 34
data:
$ID,149
$MISSION,11
$DIVE,5
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,3
$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,78
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51901
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,280
$N_FILEKB,8
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5393.7529
$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,2778
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,500
$VBD_MAX,3957
$C_VBD,2098
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-19.018681
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,95
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$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,0.0043684435
$SEABIRD_T_H,0.00063651236
$SEABIRD_T_I,2.5174295e-05
$SEABIRD_T_J,2.7580347e-06
$SEABIRD_C_G,-9.7064676
$SEABIRD_C_H,1.0803987
$SEABIRD_C_I,-0.0015466471
$SEABIRD_C_J,0.00019632383
$GPS1,121212,211400,4742.939,-12225.497,10,1.5,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.1
$GPS2,121212,212036,4742.926,-12225.464,13,1.6,30,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.146,0.145
$KALMAN_X,-644.6,-112.5,238.2,-773.5,-627.4
$KALMAN_Y,-1047.2,-605.8,-112.5,2071.1,-555.9
$MHEAD_RNG_PITCHd_Wd,27.0,1985,-18.9,-8.547
$D_GRID,200
$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,-1.38,-97.8,0.0,0.0,0,87,0.00,0.00,-68.65,0.000,6,0.000,0.000,431,2372,2498,0,0,0,0,0,0,28.83,28.83,24.53
$GC,90,-1.38,-97.8,3.3,-5.8,9,108,11.23,1.77,0.00,0.000,4,0.169,0.047,2466,1288,2500,0,0,0,0,0,0,24.06,24.18,28.83
$GC,117,-0.59,-97.8,12.9,-27.9,12,126,0.82,1.75,0.00,0.000,6,0.112,0.037,2637,2346,2500,0,0,0,0,0,0,24.12,24.23,28.83
$GC,200,-0.76,-97.8,20.9,-6.9,25,209,0.12,1.77,0.00,0.000,4,0.076,0.044,2593,1296,2500,0,0,0,0,0,0,24.32,24.25,28.83
$GC,474,-0.89,-97.8,40.8,-8.0,71,483,0.00,1.75,0.00,0.000,6,0.000,0.037,2593,2347,2500,0,0,0,0,0,0,28.83,24.29,28.83
$GC,557,-1.02,-97.8,47.0,-7.2,84,566,0.15,1.77,0.00,0.000,4,0.069,0.042,2545,1293,2500,0,0,0,0,0,0,24.36,24.30,28.83
$GC,826,-1.09,-97.8,73.4,-10.3,130,834,0.00,1.75,0.00,0.000,6,0.000,0.036,2545,2351,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,975,-1.16,-97.8,87.2,-10.6,155,982,0.00,1.73,0.00,0.000,4,0.000,0.044,2545,1293,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1059,-1.23,-97.8,95.8,-10.8,169,1067,0.17,1.70,0.00,0.000,6,0.061,0.035,2495,2349,2500,0,0,0,0,0,0,24.39,24.34,28.83
$GC,1209,-1.23,-97.8,114.0,-11.4,194,1218,0.00,1.77,0.00,0.000,4,0.000,0.043,2495,1288,2500,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1385,-1.23,-97.8,134.8,-12.5,224,1398,0.00,1.73,0.00,0.000,6,0.000,0.034,2495,2341,2500,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1537,-1.23,-97.8,153.3,-11.0,249,1544,0.00,1.70,0.00,0.000,4,0.000,0.043,2495,1293,2500,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1621,-1.23,-97.8,162.6,-10.9,263,1628,0.00,1.70,0.00,0.000,6,0.000,0.034,2495,2327,2500,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1766,-1.23,-97.8,178.3,-10.3,288,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2327,2499,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1893,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1893,begin apogee
$GC,1898,-0.33,0.0,192.0,-10.1,310,1992,0.95,0.00,87.38,0.846,4,0.099,0.000,2698,2327,2098,0,0,0,0,0,0,24.35,28.83,23.36
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1995,1.38,97.8,195.6,0.0,324,2089,1.65,1.90,86.28,0.804,4,0.067,0.063,3076,3395,1699,0,0,0,0,0,0,23.96,23.96,23.32
$GC,2194,1.34,97.8,182.5,8.9,356,2203,0.00,1.75,0.00,0.000,6,0.000,0.037,3076,2350,1694,0,0,0,0,0,0,28.83,24.16,28.83
$GC,2344,1.35,104.9,170.1,8.1,381,2359,0.00,1.85,6.95,0.709,4,0.000,0.062,3076,3391,1670,0,0,0,0,0,0,28.83,24.03,23.53
$GC,2503,1.36,111.4,157.2,8.2,408,2518,0.00,1.73,7.65,0.726,6,0.000,0.035,3076,2357,1643,0,0,0,0,0,0,28.83,24.25,23.53
$GC,2657,1.36,117.0,144.3,8.2,434,2666,0.00,0.00,6.30,0.688,6,0.000,0.000,3076,2357,1621,0,0,0,0,0,0,28.83,28.83,23.57
$GC,2805,1.36,117.0,130.7,8.6,459,2812,0.00,1.80,0.00,0.000,4,0.000,0.063,3076,3395,1619,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2882,1.36,117.0,123.2,10.5,472,2890,0.00,1.73,0.00,0.000,6,0.000,0.034,3076,2361,1619,0,0,0,0,0,0,28.83,24.28,28.83
$GC,3029,1.36,117.0,109.1,8.8,497,3036,0.00,1.80,0.00,0.000,4,0.000,0.053,3076,1279,1619,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3068,1.32,117.0,105.8,9.1,503,3075,0.00,1.77,0.00,0.000,6,0.000,0.041,3076,2360,1619,0,0,0,0,0,0,28.83,24.28,28.83
$GC,3214,1.32,117.0,92.4,8.9,528,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2360,1619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3361,1.32,117.0,78.9,10.1,553,3368,0.00,1.77,0.00,0.000,4,0.000,0.068,3076,3402,1619,0,0,0,0,0,0,28.83,24.28,28.83
$GC,3586,1.32,117.0,57.9,9.7,592,3595,0.00,1.70,0.00,0.000,6,0.000,0.034,3076,2370,1618,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3736,1.33,126.5,45.9,8.0,617,3753,0.00,1.80,9.82,0.734,4,0.000,0.063,3076,3403,1582,0,0,0,0,0,0,28.83,24.09,23.61
$GC,3802,1.33,126.5,40.4,8.6,627,3811,0.00,1.70,0.00,0.000,6,0.000,0.034,3076,2374,1582,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3883,1.33,126.5,33.5,8.7,640,3892,0.00,1.80,0.00,0.000,4,0.000,0.063,3076,3400,1581,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3941,1.33,126.5,27.9,10.0,649,3950,0.00,1.67,0.00,0.000,6,0.000,0.034,3076,2380,1581,0,0,0,0,0,0,28.83,24.36,28.83
$GC,4023,1.37,157.9,21.5,6.7,662,4063,0.00,1.80,29.12,0.773,4,0.000,0.063,3075,3394,1453,0,0,1,0,0,0,28.83,23.91,23.43
$GC,4101,1.37,157.9,15.4,9.3,673,4110,0.00,1.65,0.00,0.000,6,0.000,0.034,3076,2394,1452,0,0,0,0,0,0,28.83,24.23,28.83
$GC,4183,1.41,189.8,9.3,6.7,686,4215,0.00,0.00,28.80,0.757,6,0.000,0.000,3076,2394,1324,0,0,0,0,0,0,28.83,28.83,23.42
$GC,4288,1.50,225.0,2.5,6.5,702,4298,0.12,0.00,7.30,0.092,2,0.076,0.000,3117,2394,1308,0,0,0,0,0,0,24.28,28.83,28.83
$STATE,4299,end climb,SURFACE_DEPTH_REACHED
$STATE,4299,begin surface coast
$FINISH,0.3,1.010525
$STATE,4335,end surface coast,CONTROL_FINISHED_OK
$STATE,4335,begin surface
$SM_CCo,4356,56.67,0.645,1,0,955,280.13
$SM_GC,1.51,11.38,0.05,56.67,0.039,0.158,0.645,430,2334,955,-10.74,1.05,280.13,0,0,0,0,1,0,24.25,24.33,23.44
$IRIDIUM_FIX,4722.92,-12227.78,121212,202049
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.94
$INTERNAL_PRESSURE,8.94413
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,135.6,70.9
$24V_AH,23.3,0.577
$10V_AH,10.5,0.424
$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,26.600,49.175,269.600,56.675,0.000,25.585,30.205,218.897,2.750,0.000,32.218,1584.125,427.865,389.038,2265.270,160.451,33.202,1082.648,0.000,1970.540,0.000,19.423,0.000
$DEVICE_MAMPS,169.065,157.590,846.090,644.895,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.143,332.131,1487.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,37022,709
$CAP_FILE_SIZE,80316,0
$CFSIZE,260165632,207507456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,121212,223621,4743.016,-12225.495,8,2.3,28,18.2