version: 66.10
glider: 149
mission: 11
dive: 22
start: 12 13 112 17 33 2
data:
$ID,149
$MISSION,11
$DIVE,22
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$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,-5416.7769
$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,2400
$C_ROLL_CLIMB,2380
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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,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
$GPS1,131212,172454,4743.758,-12224.634,5,1.2,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.1
$GPS2,131212,173207,4743.819,-12224.656,11,1.2,11,18.2
$SPEED_LIMITS,0.183,0.330
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,-0.323
$KALMAN_X,-3656.5,-216.4,342.5,3232.5,187.1
$KALMAN_Y,565.2,-1805.4,1212.9,1972.2,21.3
$MHEAD_RNG_PITCHd_Wd,173.6,2079,-9.6,-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,15,begin dive
$GC,17,-1.00,-293.3,0.0,0.0,0,88,0.00,0.00,-68.15,0.000,2,0.000,0.000,430,1996,2513,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-1.00,-293.3,3.4,-5.9,9,125,12.38,1.12,-14.68,0.000,4,0.194,0.080,2553,1337,3296,0,0,0,0,0,0,24.03,24.18,24.47
$GC,209,-1.00,-293.3,24.7,-11.2,27,217,0.00,1.77,0.00,0.000,6,0.000,0.038,2553,2401,3296,0,0,0,0,0,0,28.83,24.25,28.83
$GC,290,-0.93,-293.3,32.7,-10.5,40,299,0.10,0.00,0.00,0.000,6,0.152,0.000,2570,2400,3296,0,0,0,0,0,0,24.24,28.83,28.83
$GC,371,-0.93,-293.3,41.1,-10.7,53,380,0.00,1.77,0.00,0.000,4,0.000,0.043,2570,1340,3297,0,0,0,0,0,0,28.83,24.28,28.83
$GC,412,-0.93,-293.3,45.5,-10.8,59,421,0.00,1.75,0.00,0.000,6,0.000,0.036,2570,2394,3297,0,0,0,0,0,0,28.83,24.29,28.83
$GC,491,-0.93,-293.3,54.1,-10.8,72,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2394,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,638,-0.93,-293.3,68.2,-8.2,97,645,0.00,1.73,0.00,0.000,4,0.000,0.041,2570,1337,3297,0,0,0,0,0,0,28.83,24.32,28.83
$GC,726,-0.93,-293.3,76.3,-9.7,112,734,0.00,1.77,0.00,0.000,6,0.000,0.036,2570,2400,3297,0,0,0,0,0,0,28.83,24.33,28.83
$GC,876,-0.93,-293.3,89.0,-8.2,137,883,0.00,1.73,0.00,0.000,4,0.000,0.041,2570,1334,3297,0,0,0,0,0,0,28.83,24.34,28.83
$GC,941,-0.93,-293.3,95.4,-9.9,148,950,0.00,1.75,0.00,0.000,6,0.000,0.036,2570,2384,3297,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1090,-0.93,-293.3,110.3,-10.5,173,1097,0.00,1.73,0.00,0.000,4,0.000,0.041,2570,1335,3297,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1142,-0.93,-293.3,115.2,-9.7,181,1149,0.00,1.70,0.00,0.000,6,0.000,0.036,2570,2384,3297,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1293,-0.93,-293.3,128.8,-9.1,206,1302,0.00,1.75,0.00,0.000,4,0.000,0.043,2570,1341,3297,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1318,-0.93,-293.3,130.6,-8.5,209,1325,0.00,1.67,0.00,0.000,6,0.000,0.037,2570,2379,3297,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1465,-0.93,-293.3,144.7,-9.4,234,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2379,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-0.93,-293.3,159.2,-9.3,259,1620,0.00,1.75,0.00,0.000,4,0.000,0.042,2570,1333,3297,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1663,-0.93,-293.3,164.0,-9.0,267,1670,0.00,1.70,0.00,0.000,6,0.000,0.036,2570,2379,3297,0,0,0,0,0,0,28.83,24.39,28.83
$STATE,1782,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1783,begin apogee
$GC,1788,-0.33,0.0,174.3,-9.7,288,2036,0.57,0.00,239.55,0.819,4,0.091,0.000,2696,2379,2098,0,0,0,0,0,0,24.34,28.83,23.31
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2039,1.00,293.3,185.0,0.0,325,2293,1.38,1.77,241.70,0.796,4,0.076,0.043,2993,1316,902,0,0,0,0,0,0,23.91,23.94,23.30
$GC,2376,1.00,293.3,161.4,10.7,377,2383,0.00,1.75,0.00,0.000,6,0.000,0.041,2993,2377,898,0,0,0,0,0,0,28.83,24.09,28.83
$GC,2523,0.95,293.3,146.1,10.7,402,2531,0.00,1.77,0.00,0.000,4,0.000,0.043,2993,1327,896,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2650,0.90,293.3,132.6,9.9,423,2657,0.00,1.75,0.00,0.000,6,0.000,0.040,2993,2388,895,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2798,0.90,330.0,119.1,7.8,448,2834,0.00,1.90,31.23,0.764,4,0.000,0.065,2993,3436,752,0,0,0,0,0,0,28.83,23.84,23.39
$GC,2895,0.93,351.3,111.4,8.1,463,2923,0.00,1.73,18.62,0.718,6,0.000,0.031,2993,2383,667,0,0,0,0,0,0,28.83,24.18,23.43
$GC,3064,0.93,351.3,97.1,8.8,491,3071,0.00,1.85,0.00,0.000,4,0.000,0.061,2993,3454,665,0,0,0,0,0,0,28.83,24.17,28.83
$GC,3103,0.93,351.3,93.8,9.3,497,3110,0.00,1.73,0.00,0.000,6,0.000,0.032,2994,2401,665,0,0,0,0,0,0,28.83,24.23,28.83
$GC,3247,0.93,351.3,80.1,9.9,522,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2401,664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3396,0.93,351.3,66.1,9.3,547,3403,0.00,1.77,0.00,0.000,4,0.000,0.061,2994,3435,664,0,0,0,0,0,0,28.83,24.23,28.83
$GC,3434,0.93,351.3,62.4,8.8,553,3441,0.00,1.67,0.00,0.000,6,0.000,0.031,2993,2394,664,0,0,0,0,0,0,28.83,24.29,28.83
$GC,3580,1.08,478.9,52.8,6.0,578,3620,0.00,0.00,34.90,0.737,6,0.000,0.000,2994,2395,500,0,0,0,0,0,0,28.83,28.83,23.42
$GC,3765,1.14,526.4,40.4,7.6,608,3775,0.12,1.83,0.00,0.000,4,0.080,0.057,3039,3435,496,0,0,0,0,0,0,24.32,24.21,28.83
$GC,3801,1.08,526.4,37.0,9.4,613,3810,0.08,1.70,0.00,0.000,6,0.094,0.032,3019,2406,496,0,0,0,0,0,0,24.21,24.27,28.83
$GC,3884,1.08,526.4,29.6,9.2,626,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2406,496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3965,1.13,561.3,22.8,7.9,639,3973,0.00,1.80,0.00,0.000,4,0.000,0.060,3019,3435,495,0,0,0,0,0,0,28.83,24.25,28.83
$GC,3988,1.13,561.3,20.7,9.1,642,3996,0.00,1.67,0.00,0.000,6,0.000,0.032,3019,2418,495,0,0,0,0,0,0,28.83,24.30,28.83
$GC,4071,1.25,659.1,14.1,6.6,655,4079,0.12,0.00,0.00,0.000,6,0.075,0.000,3063,2418,495,0,0,0,0,0,0,24.35,28.83,28.83
$GC,4153,1.18,659.1,6.1,11.6,668,4163,0.12,1.77,0.00,0.000,4,0.111,0.058,3034,3432,495,0,0,0,0,0,0,24.30,24.27,28.83
$STATE,4204,end climb,SURFACE_DEPTH_REACHED
$STATE,4204,begin surface coast
$FINISH,0.3,1.010803
$STATE,4234,end surface coast,CONTROL_FINISHED_OK
$STATE,4235,begin surface
$SM_CCo,4318,0.00,0.000,0,0,495,393.22
$SM_GC,1.18,10.90,1.75,0.00,0.034,0.036,0.000,429,2394,495,-10.73,0.76,393.22,0,0,0,0,0,0,24.32,24.32,28.83
$IRIDIUM_FIX,4726.11,-12225.08,131212,161623
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.69
$INTERNAL_PRESSURE,8.91483
$TCM_TEMP,13.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.2,69.0
$24V_AH,23.3,2.083
$10V_AH,10.5,1.871
$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,25.775,51.925,566.000,0.000,0.000,28.587,29.551,268.612,1.250,0.000,13.252,1407.350,436.880,541.019,2185.493,185.747,33.223,1313.079,0.000,1872.183,0.000,10.134,0.000
$DEVICE_MAMPS,193.545,80.325,818.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.486,311.706,1394.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,36935,681
$CAP_FILE_SIZE,79503,0
$CFSIZE,260165632,206827520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131212,184606,4743.326,-12224.805,29,1.7,30,18.2