version: 66.10
glider: 149
mission: 11
dive: 21
start: 12 13 112 16 23 15
data:
$ID,149
$MISSION,11
$DIVE,21
$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,-5415.519
$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,33
$R_STBD_OVSHOOT,28
$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,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,-19.018681
$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
$GPS1,131212,161024,4743.909,-12224.690,7,1.2,12,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.2
$GPS2,131212,162218,4744.017,-12224.568,10,1.3,15,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.075,-0.191
$KALMAN_X,-3538.8,-204.3,-34.7,3586.1,233.3
$KALMAN_Y,-284.6,-1190.4,885.2,2906.8,-125.7
$MHEAD_RNG_PITCHd_Wd,183.3,2456,-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,15,-1.38,-97.8,0.0,0.0,0,86,0.00,0.00,-68.70,0.000,6,0.000,0.000,424,1988,2498,0,0,0,0,0,0,28.83,28.83,24.53
$GC,89,-1.38,-97.8,3.1,-4.7,9,107,11.90,1.75,0.00,0.000,4,0.193,0.045,2470,947,2499,0,0,0,0,0,0,24.03,24.17,28.83
$GC,168,-1.33,-97.8,20.6,-16.0,21,177,0.00,1.75,0.00,0.000,6,0.000,0.033,2470,2020,2500,0,0,0,0,0,0,28.83,24.27,28.83
$GC,250,-1.28,-97.8,32.5,-14.1,34,259,0.12,1.73,0.00,0.000,4,0.161,0.049,2494,3041,2500,0,0,0,0,0,0,24.19,24.25,28.83
$GC,337,-1.28,-97.8,44.0,-12.2,48,346,0.00,1.70,0.00,0.000,6,0.000,0.034,2494,2008,2501,0,0,0,0,0,0,28.83,24.30,28.83
$GC,418,-1.28,-97.8,55.4,-14.7,61,425,0.00,1.75,0.00,0.000,4,0.000,0.047,2494,940,2500,0,0,0,0,0,0,28.83,24.28,28.83
$GC,456,-1.28,-97.8,61.0,-14.4,67,463,0.00,1.70,0.00,0.000,6,0.000,0.033,2494,2009,2500,0,0,0,0,0,0,28.83,24.32,28.83
$GC,600,-1.28,-97.8,78.0,-10.9,92,609,0.00,1.80,0.00,0.000,4,0.000,0.046,2494,948,2500,0,0,0,0,0,0,28.83,24.30,28.83
$GC,646,-1.28,-97.8,83.0,-11.7,99,653,0.00,1.67,0.00,0.000,6,0.000,0.033,2493,2001,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,793,-1.28,-97.8,100.8,-12.4,124,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2005,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-1.28,-97.8,118.3,-11.1,149,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2006,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1087,-1.28,-97.8,134.2,-10.3,174,1095,0.00,1.75,0.00,0.000,4,0.000,0.051,2494,3039,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1188,-1.28,-97.8,147.1,-12.9,191,1195,0.00,1.70,0.00,0.000,6,0.000,0.034,2494,1985,2500,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1334,-1.28,-97.8,164.4,-11.7,216,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1985,2500,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1422,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1422,begin apogee
$GC,1429,-0.33,0.0,174.3,-10.8,231,1523,1.00,0.00,86.38,0.829,4,0.116,0.000,2699,2394,2097,0,0,0,0,0,0,24.31,28.83,23.34
$STATE,1524,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1526,1.38,97.8,178.2,0.0,245,1620,1.65,0.00,85.88,0.799,6,0.072,0.000,3076,2394,1698,0,0,0,0,0,0,23.94,28.83,23.32
$GC,1759,1.40,113.3,164.4,7.6,283,1780,0.00,1.85,14.15,0.748,4,0.000,0.063,3076,3451,1635,0,0,0,0,0,0,28.83,23.89,23.43
$GC,1975,1.40,113.3,146.0,9.0,320,1984,0.00,1.75,0.00,0.000,6,0.000,0.033,3077,2404,1632,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2125,1.40,113.3,133.4,9.1,345,2132,0.00,1.80,0.00,0.000,4,0.000,0.062,3077,3449,1632,0,0,0,0,0,0,28.83,24.21,28.83
$GC,2243,1.40,113.3,122.1,10.1,365,2250,0.00,1.67,0.00,0.000,6,0.000,0.032,3076,2411,1631,0,0,0,0,0,0,28.83,24.29,28.83
$GC,2389,1.40,113.3,108.0,9.3,390,2398,0.00,1.83,0.00,0.000,4,0.000,0.063,3076,3445,1631,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2447,1.40,113.3,102.3,10.1,399,2454,0.00,1.65,0.00,0.000,6,0.000,0.032,3076,2419,1631,0,0,0,0,0,0,28.83,24.31,28.83
$GC,2595,1.40,113.3,86.9,11.0,424,2604,0.00,1.80,0.00,0.000,4,0.000,0.061,3077,3444,1631,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2630,1.40,113.3,83.0,11.3,429,2636,0.00,1.62,0.00,0.000,6,0.000,0.032,3076,2424,1631,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2774,1.40,113.3,67.5,10.0,454,2783,0.00,1.80,0.00,0.000,4,0.000,0.062,3076,3450,1631,0,0,0,0,0,0,28.83,24.29,28.83
$GC,2823,1.40,113.3,62.7,9.0,462,2832,0.00,1.67,0.00,0.000,6,0.000,0.032,3076,2435,1631,0,0,0,0,0,0,28.83,24.34,28.83
$GC,2975,1.45,154.3,52.8,6.1,487,3016,0.00,1.90,36.38,0.747,4,0.000,0.049,3076,1348,1469,0,0,0,0,0,0,28.83,23.90,23.42
$GC,3037,1.47,169.5,48.5,7.6,496,3062,0.00,1.80,14.65,0.680,6,0.000,0.043,3077,2408,1405,0,0,0,0,0,0,28.83,24.10,23.46
$GC,3135,1.47,171.5,40.7,8.4,511,3144,0.00,1.83,0.00,0.000,4,0.000,0.063,3076,3453,1403,0,0,0,0,0,0,28.83,24.18,28.83
$GC,3245,1.47,172.7,31.3,8.5,529,3254,0.00,1.67,0.00,0.000,6,0.000,0.032,3076,2435,1402,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3326,1.48,181.0,24.3,8.1,542,3345,0.10,1.77,10.80,0.683,4,0.090,0.059,3108,3456,1359,0,0,0,0,0,0,24.34,24.03,23.60
$GC,3395,1.48,181.0,17.9,9.7,552,3404,0.00,1.67,0.00,0.000,6,0.000,0.032,3108,2440,1358,0,0,0,0,0,0,28.83,24.25,28.83
$GC,3477,1.48,181.0,9.0,11.8,565,3485,0.00,1.77,0.00,0.000,4,0.000,0.063,3107,3449,1357,0,0,0,0,0,0,28.83,24.24,28.83
$GC,3517,1.48,181.0,3.8,13.6,571,3525,0.00,1.62,0.00,0.000,6,0.000,0.033,3108,2464,1357,0,0,0,0,0,0,28.83,24.31,28.83
$STATE,3532,end climb,SURFACE_DEPTH_REACHED
$STATE,3532,begin surface coast
$FINISH,0.4,1.021478
$STATE,3552,end surface coast,CONTROL_FINISHED_OK
$STATE,3552,begin surface
$SM_CCo,3574,69.47,0.612,1,0,956,280.13
$SM_GC,1.37,11.30,0.77,69.47,0.038,0.047,0.612,430,2001,956,-10.73,0.93,280.13,0,0,0,0,1,0,24.30,24.30,23.41
$IRIDIUM_FIX,4742.09,-12242.57,131212,161619
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.21
$INTERNAL_PRESSURE,8.94413
$TCM_TEMP,13.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,115.0,73.9
$24V_AH,23.3,1.937
$10V_AH,10.4,1.774
$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,26.075,50.225,248.225,69.475,0.000,78.502,109.627,262.104,0.750,0.000,17.221,1285.084,471.191,395.473,2059.121,164.979,33.221,994.284,0.000,1583.179,0.000,5.640,0.000
$DEVICE_MAMPS,192.780,63.495,829.260,612.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.824,263.413,1176.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323276
$DATA_FILE_SIZE,30199,576
$CAP_FILE_SIZE,72585,0
$CFSIZE,260165632,206884864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,131212,172454,4743.758,-12224.634,5,1.2,10,18.2