version: 66.10
glider: 149
mission: 12
dive: 3
start: 2 5 114 20 47 23
data:
$ID,149
$MISSION,12
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,600
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.0232
$MASS,51948
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0022942999
$HD_B,0.0094744004
$HD_C,1.33228e-05
$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,230
$N_FILEKB,4
$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,3
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11025.017
$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,2770
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,49
$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,2028
$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,-19.366322
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.2
$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,0.0043684109
$SEABIRD_T_H,0.00063666329
$SEABIRD_T_I,2.5353003e-05
$SEABIRD_T_J,2.8093739e-06
$SEABIRD_C_G,-9.7066507
$SEABIRD_C_H,1.0813919
$SEABIRD_C_I,-0.0015058771
$SEABIRD_C_J,0.00018903616
$GPS1,050214,204326,4744.045,-12224.794,1,1.1,1,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.0
$GPS2,050214,204627,4744.086,-12224.804,4,1.1,4,16.3
$SPEED_LIMITS,0.119,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.015,-0.238
$KALMAN_X,47.6,56.3,49.9,376.1,60.1
$KALMAN_Y,408.4,476.2,426.5,1094.8,505.0
$MHEAD_RNG_PITCHd_Wd,167.3,346,-18.4,-10.000
$D_GRID,176
$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,-1.46,-119.0,0.0,0.0,0,93,0.00,0.00,-68.12,0.000,6,0.000,0.000,431,2126,2514,0,0,0,0,0,0,28.83,28.83,24.59
$GC,96,-1.49,-146.6,3.9,-7.8,10,122,11.25,1.88,-2.38,0.000,4,0.181,0.070,2438,1042,2629,0,0,0,0,0,0,24.09,24.24,24.50
$GC,280,-1.45,-146.6,37.0,-15.3,40,289,0.00,1.73,0.00,0.000,6,0.000,0.038,2438,2091,2630,0,0,0,0,0,0,28.83,24.35,28.83
$GC,362,-1.40,-146.6,48.1,-13.3,53,371,0.12,1.80,0.00,0.000,4,0.150,0.060,2463,3135,2630,0,0,0,0,0,0,24.28,24.31,28.83
$GC,395,-1.40,-146.6,52.6,-11.8,58,403,0.00,1.75,0.00,0.000,6,0.000,0.037,2463,2090,2629,0,0,0,0,0,0,28.83,24.36,28.83
$GC,544,-1.40,-146.6,69.0,-10.9,83,551,0.00,1.73,0.00,0.000,4,0.000,0.052,2463,1042,2630,0,0,0,0,0,0,28.83,24.36,28.83
$GC,587,-1.40,-146.6,74.3,-11.6,90,595,0.00,1.75,0.00,0.000,6,0.000,0.038,2463,2098,2629,0,0,0,0,0,0,28.83,24.39,28.83
$GC,736,-1.40,-146.6,90.8,-10.9,115,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2099,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,880,-1.40,-146.6,107.1,-12.1,140,888,0.00,1.77,0.00,0.000,4,0.000,0.050,2463,1052,2630,0,0,0,0,0,0,28.83,24.39,28.83
$GC,971,-1.40,-146.6,117.9,-11.4,155,977,0.00,1.67,0.00,0.000,6,0.000,0.037,2464,2097,2630,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1116,-1.40,-146.6,134.7,-12.0,180,1125,0.00,1.77,0.00,0.000,4,0.000,0.051,2463,1045,2630,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1139,-1.40,-146.6,137.4,-11.8,183,1146,0.00,1.70,0.00,0.000,6,0.000,0.037,2463,2105,2630,0,0,0,0,0,0,28.83,24.42,28.83
$GC,1286,-1.40,-146.6,155.4,-12.2,208,1294,0.00,1.80,0.00,0.000,4,0.000,0.050,2463,1045,2630,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1320,-1.40,-146.6,159.9,-13.2,213,1329,0.00,1.67,0.00,0.000,6,0.000,0.037,2463,2090,2630,0,0,0,0,0,0,28.83,24.44,28.83
$STATE,1452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1458,-0.36,0.0,176.5,-13.4,235,1592,1.08,0.00,126.25,0.789,4,0.109,0.000,2688,2026,2028,0,0,0,0,0,0,24.35,28.83,23.37
$STATE,1593,end apogee,CONTROL_FINISHED_OK
$STATE,1593,begin climb
$GC,1595,1.49,146.6,183.4,0.0,255,1727,1.77,0.00,122.47,0.760,6,0.074,0.000,3092,2026,1429,0,0,0,0,0,0,23.96,28.83,23.36
$GC,1868,1.45,146.6,160.3,12.5,299,1874,0.00,1.85,0.00,0.000,4,0.000,0.072,3092,3085,1423,0,0,0,0,0,0,28.83,24.17,28.83
$GC,2124,1.39,146.6,128.0,10.2,344,2133,0.00,1.73,0.00,0.000,6,0.000,0.043,3092,2075,1421,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2275,1.33,146.6,111.8,11.7,369,2282,0.12,1.75,0.00,0.000,4,0.128,0.064,3065,3085,1421,0,0,0,0,0,0,24.28,24.27,28.83
$GC,2364,1.33,146.6,101.5,11.1,384,2372,0.00,1.75,0.00,0.000,6,0.000,0.044,3065,2061,1421,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2513,1.33,146.6,83.3,11.7,409,2520,0.00,1.77,0.00,0.000,4,0.000,0.067,3065,3089,1421,0,0,0,0,0,0,28.83,24.29,28.83
$GC,2641,1.33,146.6,69.0,10.8,431,2648,0.00,1.70,0.00,0.000,6,0.000,0.044,3065,2065,1420,0,0,0,0,0,0,28.83,24.35,28.83
$GC,2785,1.33,146.6,52.2,11.5,456,2793,0.00,1.80,0.00,0.000,4,0.000,0.067,3065,3085,1420,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2860,1.33,146.6,44.2,10.5,468,2868,0.00,1.73,0.00,0.000,6,0.000,0.044,3065,2074,1420,0,0,0,0,0,0,28.83,24.37,28.83
$GC,2941,1.37,172.3,36.6,8.5,481,2973,0.00,1.83,22.15,0.697,4,0.000,0.065,3065,3085,1324,0,0,0,0,0,0,28.83,23.98,23.54
$GC,3000,1.37,172.3,30.9,10.1,489,3008,0.00,1.67,0.00,0.000,6,0.000,0.044,3065,2098,1323,0,0,0,0,0,0,28.83,24.22,28.83
$GC,3081,1.37,172.3,22.8,10.5,502,3090,0.00,1.75,0.00,0.000,4,0.000,0.065,3065,3087,1322,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3116,1.37,172.3,19.0,10.4,507,3124,0.00,1.65,0.00,0.000,6,0.000,0.044,3065,2111,1322,0,0,0,0,0,0,28.83,24.33,28.83
$GC,3196,1.37,172.3,9.8,11.3,520,3205,0.00,1.92,0.00,0.000,4,0.000,0.060,3064,994,1322,0,0,0,0,0,0,28.83,24.33,28.83
$GC,3225,1.37,172.3,6.3,12.1,524,3234,0.00,1.85,0.00,0.000,6,0.000,0.044,3065,2087,1322,0,0,0,0,0,0,28.83,24.35,28.83
$STATE,3265,end climb,SURFACE_DEPTH_REACHED
$STATE,3265,begin surface coast
$FINISH,0.3,0.999887
$STATE,3284,end surface coast,CONTROL_FINISHED_OK
$STATE,3284,begin surface
$SM_CCo,3303,39.08,0.653,0,0,1090,230.09
$SM_GC,1.00,11.05,0.00,39.08,0.037,0.000,0.653,430,2091,1090,-10.71,-0.25,230.09,0,0,0,0,0,0,24.39,28.83,23.50
$IRIDIUM_FIX,4726.11,-12220.67,050214,202056
$TT8_MAMPS,0.026215,0.026215
$HUMID,34.44
$INTERNAL_PRESSURE,8.78085
$TCM_TEMP,12.40
$XPDR_PINGS,96
$ALTIM_BOTTOM_PING,160.9,35.3
$24V_AH,23.4,0.475
$10V_AH,10.4,0.220
$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,25.400,45.850,270.875,39.075,0.000,0.000,0.000,0.000,26.000,0.000,5.075,1169.420,313.406,371.157,1445.570,108.187,31.299,938.553,0.000,1448.519,0.000,14.935,0.000
$DEVICE_MAMPS,180.540,116.280,789.480,652.545,0.000,0.000,0.000,0.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.221,236.988,1093.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,26996,533
$CAP_FILE_SIZE,77280,0
$CFSIZE,260165632,202739712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050214,214427,4743.992,-12224.728,39,1.7,42,16.3