version: 66.10
glider: 149
mission: 11
dive: 18
start: 12 13 112 12 44 46
data:
$ID,149
$MISSION,11
$DIVE,18
$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,-5411.7451
$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,31
$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,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
$GPS1,131212,123715,4742.962,-12225.547,13,2.1,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.3
$GPS2,131212,124349,4743.028,-12225.595,11,2.0,11,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.178,0.102
$KALMAN_X,-4291.5,597.1,-258.4,2484.8,-958.2
$KALMAN_Y,-792.2,1096.3,-957.4,1135.3,-681.3
$MHEAD_RNG_PITCHd_Wd,41.9,1894,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-97.8,0.0,0.0,0,88,0.00,0.00,-68.30,0.000,6,0.000,0.000,432,1995,2497,0,0,0,0,0,0,28.83,28.83,24.52
$GC,91,-1.38,-97.8,3.4,-5.0,9,109,11.93,1.77,0.00,0.000,4,0.194,0.046,2470,940,2499,0,0,0,0,0,0,24.04,24.17,28.83
$GC,141,-1.31,-97.8,21.0,-27.5,16,150,0.00,1.77,0.00,0.000,6,0.000,0.034,2470,2020,2499,0,0,0,0,0,0,28.83,24.23,28.83
$GC,223,-1.26,-97.8,39.1,-20.0,29,232,0.12,1.83,0.00,0.000,4,0.143,0.045,2495,951,2499,0,0,0,0,0,0,24.20,24.25,28.83
$GC,322,-1.26,-97.8,51.1,-8.8,45,328,0.00,1.67,0.00,0.000,6,0.000,0.033,2496,2005,2499,0,0,0,0,0,0,28.83,24.30,28.83
$GC,468,-1.26,-97.8,61.9,-8.3,70,477,0.00,1.73,0.00,0.000,4,0.000,0.050,2496,3029,2499,0,0,0,0,0,0,28.83,24.28,28.83
$GC,506,-1.26,-97.8,65.5,-8.5,76,515,0.00,1.73,0.00,0.000,6,0.000,0.034,2496,1981,2500,0,0,0,0,0,0,28.83,24.31,28.83
$GC,656,-1.26,-97.8,77.7,-7.2,101,662,0.00,1.75,0.00,0.000,4,0.000,0.048,2495,3041,2500,0,0,0,0,0,0,28.83,24.30,28.83
$GC,717,-1.26,-97.8,83.2,-8.7,111,723,0.00,1.67,0.00,0.000,6,0.000,0.032,2496,1990,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,862,-1.26,-97.8,96.6,-7.3,136,871,0.00,1.77,0.00,0.000,4,0.000,0.049,2495,3037,2499,0,0,0,0,0,0,28.83,24.32,28.83
$GC,897,-1.26,-97.8,99.4,-7.9,141,904,0.00,1.67,0.00,0.000,6,0.000,0.033,2496,1991,2499,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1043,-1.26,-97.8,110.2,-7.4,166,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1991,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-1.26,-97.8,122.9,-9.4,191,1199,0.00,1.75,0.00,0.000,4,0.000,0.045,2496,944,2499,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1337,-1.26,-97.8,138.2,-10.6,215,1344,0.00,1.67,0.00,0.000,6,0.000,0.032,2496,1999,2499,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1484,-1.26,-97.8,152.4,-9.6,240,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2002,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1631,-1.26,-97.8,168.6,-10.3,265,1638,0.00,1.70,0.00,0.000,4,0.000,0.051,2495,3036,2499,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1753,-1.26,-97.8,183.5,-10.7,286,1761,0.00,1.73,0.00,0.000,6,0.000,0.034,2496,1992,2499,0,0,0,0,0,0,28.83,24.41,28.83
$STATE,1853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1853,begin apogee
$GC,1860,-0.33,0.0,194.3,-10.9,303,1953,0.98,0.00,86.45,0.841,4,0.109,0.000,2699,2389,2097,0,0,0,0,0,0,24.33,28.83,23.33
$STATE,1954,end apogee,CONTROL_FINISHED_OK
$STATE,1954,begin climb
$GC,1956,1.38,97.8,198.9,0.0,317,2049,1.67,0.00,86.07,0.809,6,0.072,0.000,3080,2389,1698,0,0,0,0,0,0,23.94,28.83,23.31
$GC,2191,1.33,97.8,182.2,8.6,355,2198,0.00,1.83,0.00,0.000,4,0.000,0.067,3081,3437,1693,0,0,0,0,0,0,28.83,24.13,28.83
$GC,2459,1.28,97.8,156.3,10.4,401,2466,0.12,1.70,0.00,0.000,6,0.138,0.033,3058,2390,1691,0,0,0,0,0,0,24.19,24.26,28.83
$GC,2606,1.28,97.8,143.5,9.0,426,2614,0.00,1.85,0.00,0.000,4,0.000,0.063,3058,3435,1690,0,0,0,0,0,0,28.83,24.23,28.83
$GC,2645,1.30,108.2,140.3,7.9,432,2660,0.00,1.73,9.48,0.763,6,0.000,0.034,3058,2402,1656,0,0,0,0,0,0,28.83,24.28,23.52
$GC,2800,1.33,135.2,127.8,7.0,458,2828,0.00,0.00,25.27,0.778,6,0.000,0.000,3058,2402,1546,0,0,0,0,0,0,28.83,28.83,23.41
$GC,2970,1.33,135.2,112.7,9.8,486,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2402,1543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3117,1.33,135.2,95.5,12.6,511,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2402,1543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3261,1.33,135.2,77.1,11.4,536,3270,0.00,1.83,0.00,0.000,4,0.000,0.064,3058,3434,1541,0,0,0,0,0,0,28.83,24.26,28.83
$GC,3368,1.33,135.2,64.1,11.7,554,3377,0.00,1.73,0.00,0.000,6,0.000,0.033,3058,2394,1542,0,0,0,0,0,0,28.83,24.32,28.83
$GC,3518,1.36,160.6,50.5,7.1,579,3548,0.00,0.00,22.30,0.737,6,0.000,0.000,3058,2394,1444,0,0,0,0,0,0,28.83,28.83,23.48
$GC,3621,1.39,186.9,43.1,7.0,595,3655,0.10,1.88,24.50,0.704,4,0.092,0.060,3088,3439,1335,0,0,0,0,0,0,24.30,23.89,23.44
$GC,3764,1.39,186.9,31.0,8.7,617,3773,0.00,1.73,0.00,0.000,6,0.000,0.032,3088,2399,1332,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3845,1.40,191.3,23.9,8.3,630,3855,0.00,1.88,4.85,0.582,4,0.000,0.061,3088,3443,1317,0,0,0,0,0,0,28.83,24.13,23.69
$GC,3887,1.40,191.4,20.3,8.5,636,3896,0.00,1.73,0.00,0.000,6,0.000,0.033,3088,2401,1317,0,0,0,0,0,0,28.83,24.25,28.83
$GC,3969,1.40,191.4,12.9,8.7,649,3978,0.00,1.83,0.00,0.000,4,0.000,0.063,3088,3437,1316,0,0,0,0,0,0,28.83,24.25,28.83
$GC,4039,1.40,195.4,7.5,8.3,660,4048,0.00,1.67,5.10,0.598,6,0.000,0.034,3088,2422,1300,0,0,0,0,0,0,28.83,24.33,23.67
$STATE,4101,end climb,SURFACE_DEPTH_REACHED
$STATE,4101,begin surface coast
$FINISH,0.3,1.015217
$STATE,4126,end surface coast,CONTROL_FINISHED_OK
$STATE,4129,begin surface
$SM_CCo,4150,59.20,0.620,1,0,956,280.13
$SM_GC,1.13,11.27,0.70,59.20,0.040,0.044,0.620,426,1994,956,-10.75,0.90,280.13,0,0,0,0,1,0,24.29,24.30,23.42
$IRIDIUM_FIX,4726.11,-12225.08,131212,111111
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.10
$INTERNAL_PRESSURE,8.94413
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.3,83.5
$24V_AH,23.3,1.682
$10V_AH,10.5,1.527
$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,26.200,46.900,264.025,59.200,0.000,31.251,29.738,227.322,1.250,0.000,14.055,1502.608,444.902,389.524,2111.038,171.238,33.208,1052.156,0.000,1827.834,0.000,8.843,0.000
$DEVICE_MAMPS,194.310,67.320,840.735,619.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.610,302.149,1338.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323152
$DATA_FILE_SIZE,36811,674
$CAP_FILE_SIZE,76117,0
$CFSIZE,260165632,206991360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131212,135605,4743.062,-12225.197,7,1.2,24,18.2