version: 66.10
glider: 149
mission: 11
dive: 17
start: 12 13 112 11 32 10
data:
$ID,149
$MISSION,11
$DIVE,17
$N_DIVES,30
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,100
$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,-5410.4863
$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,2000
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$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,2098
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,115
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$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
$GPS1,131212,112442,4743.025,-12225.338,11,1.1,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.4
$GPS2,131212,113113,4743.003,-12225.434,9,1.4,9,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.129,0.160
$KALMAN_X,-3724.7,681.8,-100.0,1880.6,-831.5
$KALMAN_Y,-935.2,1897.6,-946.8,425.2,-1225.3
$MHEAD_RNG_PITCHd_Wd,20.8,1839,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-97.8,0.0,0.0,0,89,0.00,0.00,-68.55,0.000,6,0.000,0.000,430,2003,2498,0,0,0,0,0,0,28.83,28.83,24.51
$GC,92,-1.38,-97.8,3.3,-5.5,9,110,11.77,1.80,0.00,0.000,4,0.189,0.048,2471,3061,2499,0,0,0,0,0,0,24.05,24.15,28.83
$GC,327,-1.38,-97.8,39.2,-13.4,48,336,0.00,1.75,0.00,0.000,6,0.000,0.034,2470,2002,2500,0,0,0,0,0,0,28.83,24.28,28.83
$GC,409,-1.34,-97.8,49.7,-12.6,61,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2002,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,486,-1.34,-97.8,60.6,-13.7,74,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2002,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-1.34,-97.8,79.7,-11.7,99,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2002,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,777,-1.30,-97.8,98.8,-14.6,124,786,0.12,1.77,0.00,0.000,4,0.142,0.045,2496,946,2500,0,0,0,0,0,0,24.27,24.32,28.83
$GC,892,-1.30,-97.8,113.1,-13.8,143,898,0.00,1.70,0.00,0.000,6,0.000,0.033,2496,2024,2499,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1044,-1.30,-97.8,132.9,-11.9,168,1052,0.00,1.70,0.00,0.000,4,0.000,0.052,2496,3034,2499,0,0,0,0,0,0,28.83,24.32,28.83
$GC,1157,-1.30,-97.8,146.1,-12.1,187,1164,0.00,1.67,0.00,0.000,6,0.000,0.033,2496,1992,2499,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1303,-1.30,-97.8,161.6,-10.5,212,1311,0.00,1.77,0.00,0.000,4,0.000,0.052,2496,3033,2499,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1371,-1.30,-97.8,168.3,-10.6,223,1378,0.00,1.65,0.00,0.000,6,0.000,0.033,2496,2004,2499,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1516,-1.30,-97.8,185.0,-13.6,248,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2004,2499,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1593,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1593,begin apogee
$GC,1599,-0.33,0.0,194.0,-10.8,261,1692,0.98,0.00,86.55,0.838,4,0.106,0.000,2700,2395,2097,0,0,0,0,0,0,24.32,28.83,23.33
$STATE,1693,end apogee,CONTROL_FINISHED_OK
$STATE,1693,begin climb
$GC,1696,1.38,97.8,197.9,0.0,275,1789,1.65,0.00,86.15,0.809,6,0.070,0.000,3080,2395,1698,0,0,0,0,0,0,23.94,28.83,23.32
$GC,1933,1.35,107.4,180.3,8.0,313,1948,0.00,1.90,8.95,0.715,4,0.000,0.064,3080,3449,1659,0,0,0,0,0,0,28.83,23.96,23.49
$GC,2166,1.30,107.4,161.3,9.3,353,2173,0.00,1.67,0.00,0.000,6,0.000,0.032,3080,2407,1657,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2312,1.33,126.4,151.6,7.4,378,2336,0.00,1.88,18.12,0.768,4,0.000,0.060,3080,3441,1581,0,0,0,0,0,0,28.83,23.91,23.43
$GC,2457,1.33,126.4,137.4,11.2,402,2466,0.00,1.70,0.00,0.000,6,0.000,0.032,3080,2414,1579,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2608,1.33,126.4,118.8,13.5,427,2615,0.00,1.77,0.00,0.000,4,0.000,0.050,3080,1338,1578,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2650,1.33,126.4,112.4,13.9,434,2659,0.00,1.80,0.00,0.000,6,0.000,0.042,3080,2400,1578,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2800,1.33,126.4,94.6,11.0,459,2807,0.00,1.73,0.00,0.000,4,0.000,0.045,3080,1345,1578,0,0,0,0,0,0,28.83,24.28,28.83
$GC,2864,1.33,126.4,86.6,11.9,470,2873,0.00,1.80,0.00,0.000,6,0.000,0.042,3080,2408,1577,0,0,0,0,0,0,28.83,24.29,28.83
$GC,3012,1.33,126.4,69.9,11.3,495,3019,0.00,1.77,0.00,0.000,4,0.000,0.067,3080,3451,1578,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3188,1.33,126.4,50.7,10.9,525,3194,0.00,1.70,0.00,0.000,6,0.000,0.032,3080,2403,1578,0,0,0,0,0,0,28.83,24.35,28.83
$GC,3339,1.33,126.4,35.4,11.0,550,3348,0.00,1.83,0.00,0.000,4,0.000,0.061,3080,3446,1578,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3571,1.36,153.9,11.0,6.9,589,3603,0.00,1.70,24.98,0.734,6,0.000,0.031,3080,2414,1469,0,0,0,0,0,0,28.83,24.39,23.47
$GC,3678,1.36,153.9,3.2,9.0,605,3686,0.00,1.83,0.00,0.000,4,0.000,0.062,3080,3452,1466,0,0,0,0,0,0,28.83,24.22,28.83
$STATE,3693,end climb,SURFACE_DEPTH_REACHED
$STATE,3693,begin surface coast
$FINISH,0.4,1.003007
$STATE,3712,end surface coast,CONTROL_FINISHED_OK
$STATE,3712,begin surface
$SM_CCo,3735,90.20,0.645,1,0,955,280.13
$SM_GC,1.20,11.30,2.45,90.20,0.044,0.035,0.645,432,1997,955,-10.72,0.90,280.13,0,0,0,0,1,0,24.27,24.29,23.41
$IRIDIUM_FIX,4726.11,-12220.67,131212,101001
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,8.95389
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.2,78.2
$24V_AH,23.3,1.595
$10V_AH,10.5,1.434
$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,25.825,39.975,224.750,90.200,0.000,22.683,28.943,234.559,1.750,0.000,11.598,1355.234,382.521,380.515,1964.240,149.628,33.207,966.832,0.000,1680.708,0.000,13.336,0.000
$DEVICE_MAMPS,188.955,66.555,838.440,644.895,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.069,279.704,1249.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323140
$DATA_FILE_SIZE,33507,610
$CAP_FILE_SIZE,66183,0
$CFSIZE,260165632,207040512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131212,123715,4742.962,-12225.547,13,2.1,32,18.2