version: 66.10
glider: 149
mission: 11
dive: 19
start: 12 13 112 14 3 53
data:
$ID,149
$MISSION,11
$DIVE,19
$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,-5413.0049
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,131212,135605,4743.062,-12225.197,7,1.2,24,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.9
$GPS2,131212,140255,4743.133,-12225.147,12,1.2,12,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,0.173
$KALMAN_X,-3925.3,182.0,-450.4,3275.9,-352.9
$KALMAN_Y,-654.3,266.3,-523.7,1588.6,-268.7
$MHEAD_RNG_PITCHd_Wd,14.5,1485,-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,-68.18,0.000,6,0.000,0.000,426,1992,2498,0,0,0,0,0,0,28.83,28.83,24.52
$GC,90,-1.38,-97.8,3.4,-5.4,9,108,12.00,1.80,0.00,0.000,4,0.196,0.050,2470,3046,2499,0,0,0,0,0,0,24.01,24.15,28.83
$GC,297,-1.38,-97.8,32.9,-9.0,43,306,0.00,1.73,0.00,0.000,6,0.000,0.035,2469,2005,2500,0,0,0,0,0,0,28.83,24.29,28.83
$GC,378,-1.38,-97.8,40.5,-9.7,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2005,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,458,-1.38,-97.8,49.8,-12.7,69,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2005,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,536,-1.33,-97.8,58.7,-10.5,82,545,0.00,1.77,0.00,0.000,4,0.000,0.048,2469,951,2500,0,0,0,0,0,0,28.83,24.30,28.83
$GC,586,-1.29,-97.8,64.1,-10.5,90,595,0.10,1.73,0.00,0.000,6,0.146,0.033,2490,2010,2500,0,0,0,0,0,0,24.21,24.34,28.83
$GC,736,-1.29,-97.8,81.2,-11.7,115,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2011,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.29,-97.8,98.9,-11.5,140,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2013,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-1.29,-97.8,115.4,-9.5,165,1037,0.00,1.67,0.00,0.000,4,0.000,0.048,2489,3039,2500,0,0,0,0,0,0,28.83,24.33,28.83
$GC,1048,-1.29,-97.8,117.1,-8.4,167,1055,0.00,1.70,0.00,0.000,6,0.000,0.032,2490,1981,2500,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1194,-1.29,-97.8,130.8,-9.5,192,1203,0.00,1.73,0.00,0.000,4,0.000,0.047,2490,951,2499,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1266,-1.29,-97.8,138.5,-11.4,204,1275,0.00,1.70,0.00,0.000,6,0.000,0.033,2490,2000,2500,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1416,-1.29,-97.8,154.4,-9.8,229,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2002,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-1.29,-97.8,170.7,-11.2,254,1567,0.00,1.77,0.00,0.000,4,0.000,0.046,2490,949,2500,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1654,-1.29,-97.8,181.4,-11.5,270,1663,0.00,1.70,0.00,0.000,6,0.000,0.034,2490,1995,2499,0,0,0,0,0,0,28.83,24.42,28.83
$STATE,1690,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1690,begin apogee
$GC,1696,-0.33,0.0,185.6,-11.0,276,1789,1.02,0.00,86.32,0.835,4,0.119,0.000,2699,2390,2097,0,0,0,0,0,0,24.32,28.83,23.34
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1793,1.38,97.8,189.5,0.0,290,1888,1.70,0.00,85.97,0.803,6,0.078,0.000,3073,2389,1698,0,0,0,0,0,0,23.94,28.83,23.31
$GC,2024,1.38,97.8,173.6,8.8,328,2033,0.00,1.85,0.00,0.000,4,0.000,0.067,3073,3435,1693,0,0,0,0,0,0,28.83,24.13,28.83
$GC,2071,1.38,97.8,169.7,8.8,335,2077,0.00,1.67,0.00,0.000,6,0.000,0.033,3073,2400,1692,0,0,0,0,0,0,28.83,24.21,28.83
$GC,2215,1.38,97.8,156.6,8.9,360,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2400,1692,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2363,1.38,101.2,143.7,8.3,385,2369,0.00,1.80,0.00,0.000,4,0.000,0.063,3072,3452,1691,0,0,0,0,0,0,28.83,24.21,28.83
$GC,2451,1.36,119.1,137.3,7.5,400,2479,0.00,1.73,19.25,0.781,6,0.000,0.032,3073,2405,1610,0,0,0,0,0,0,28.83,24.28,23.44
$GC,2621,1.36,119.1,121.4,10.0,428,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2405,1608,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2768,1.36,119.1,109.7,9.5,453,2775,0.00,1.80,0.00,0.000,4,0.000,0.063,3073,3446,1607,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2874,1.36,119.1,100.6,9.0,471,2881,0.00,1.67,0.00,0.000,6,0.000,0.032,3072,2402,1607,0,0,0,0,0,0,28.83,24.31,28.83
$GC,3021,1.36,119.1,87.7,9.5,496,3030,0.00,1.83,0.00,0.000,4,0.000,0.061,3073,3442,1607,0,0,0,0,0,0,28.83,24.28,28.83
$GC,3078,1.36,119.1,81.8,9.9,505,3085,0.00,1.67,0.00,0.000,6,0.000,0.033,3072,2402,1607,0,0,0,0,0,0,28.83,24.33,28.83
$GC,3224,1.36,119.1,67.0,9.8,530,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2402,1607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,1.36,119.1,53.5,8.8,555,3377,0.00,1.80,0.00,0.000,4,0.000,0.062,3073,3443,1607,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3596,1.38,138.7,34.5,7.4,593,3621,0.00,1.70,18.05,0.741,6,0.000,0.032,3073,2414,1531,0,0,0,0,0,0,28.83,24.38,23.52
$GC,3695,1.43,174.7,28.6,6.4,608,3734,0.00,1.80,32.30,0.706,4,0.000,0.060,3073,3444,1383,0,0,0,0,0,0,28.83,23.88,23.43
$GC,3762,1.43,177.5,23.5,8.4,617,3771,0.00,1.70,3.47,0.424,6,0.000,0.037,3073,2418,1374,0,0,0,0,0,0,28.83,24.16,23.62
$GC,3844,1.43,177.5,16.1,9.1,630,3852,0.00,1.80,0.00,0.000,4,0.000,0.050,3073,1356,1373,0,0,0,0,0,0,28.83,24.23,28.83
$GC,3873,1.44,187.9,13.8,7.9,634,3890,0.00,1.75,10.60,0.646,6,0.000,0.041,3073,2398,1330,0,0,0,0,0,0,28.83,24.25,23.58
$GC,3964,1.46,197.7,7.1,8.0,648,3981,0.10,1.83,9.93,0.632,4,0.089,0.063,3104,3453,1290,0,0,0,0,0,0,24.30,24.02,23.59
$STATE,4024,end climb,SURFACE_DEPTH_REACHED
$STATE,4024,begin surface coast
$FINISH,0.2,1.021898
$STATE,4050,end surface coast,CONTROL_FINISHED_OK
$STATE,4050,begin surface
$SM_CCo,4073,58.03,0.608,1,0,956,280.13
$SM_GC,1.13,11.38,2.45,58.03,0.041,0.034,0.608,432,1993,956,-10.73,0.82,280.13,0,0,0,0,1,0,24.25,24.25,23.42
$IRIDIUM_FIX,4726.11,-12225.08,131212,121252
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.74
$INTERNAL_PRESSURE,8.94413
$TCM_TEMP,14.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,115.4,84.9
$24V_AH,23.3,1.767
$10V_AH,10.5,1.621
$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,26.300,46.775,265.900,58.025,0.000,29.418,30.026,240.952,1.000,0.000,14.342,1466.626,399.322,396.136,2127.595,166.308,33.203,1062.753,0.000,1833.507,0.000,5.672,0.000
$DEVICE_MAMPS,195.840,67.320,834.615,608.175,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,450.161,309.598,1374.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323148
$DATA_FILE_SIZE,33599,661
$CAP_FILE_SIZE,75073,0
$CFSIZE,260165632,206950400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131212,151342,4743.551,-12224.738,7,2.0,13,18.2