version: 66.10
glider: 149
mission: 12
dive: 13
start: 2 6 114 6 42 12
data:
$ID,149
$MISSION,12
$DIVE,13
$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,80
$T_MISSION,85
$T_ABORT,720
$T_TURN,600
$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,60
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,-11037.588
$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,13.8
$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,1900
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,38
$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,4
$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,120
$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
$GPS1,060214,063445,4742.584,-12224.529,16,1.5,16,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.6
$GPS2,060214,064116,4742.598,-12224.581,4,1.5,4,16.3
$SPEED_LIMITS,0.063,0.157
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.096
$KALMAN_X,1311.1,69.7,40.8,-610.8,642.2
$KALMAN_Y,1271.4,47.1,-144.6,-1509.9,-493.1
$MHEAD_RNG_PITCHd_Wd,291.5,332,-20.9,-7.500
$D_GRID,180
$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,-1.59,-58.6,0.0,0.0,0,79,0.00,0.00,-59.12,0.000,6,0.000,0.000,430,1914,2268,0,0,0,0,0,0,28.83,28.83,24.53
$GC,82,-1.59,-58.6,1.8,-1.3,8,99,11.38,1.85,0.00,0.000,4,0.187,0.051,2419,844,2270,0,0,0,0,0,0,24.04,24.16,28.83
$GC,108,-0.87,-58.6,5.9,-11.6,11,118,0.80,1.75,0.00,0.000,6,0.142,0.034,2574,1920,2272,0,0,0,0,0,0,24.09,24.24,28.83
$GC,191,-0.98,-58.6,11.7,-6.6,24,200,0.00,1.73,0.00,0.000,4,0.000,0.056,2573,2929,2273,0,0,0,0,0,0,28.83,24.23,28.83
$GC,755,-1.10,-58.6,46.7,-6.5,121,764,0.17,1.75,0.00,0.000,6,0.042,0.041,2519,1890,2273,0,0,0,0,0,0,24.38,24.34,28.83
$GC,835,-1.15,-58.6,52.6,-6.9,134,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1890,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,982,-1.19,-58.6,63.8,-7.0,159,989,0.00,1.75,0.00,0.000,4,0.000,0.054,2519,844,2272,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1022,-1.19,-58.6,66.9,-7.8,165,1028,0.00,1.67,0.00,0.000,6,0.000,0.037,2519,1902,2272,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1169,-1.25,-58.6,78.5,-6.5,190,1178,0.00,1.73,0.00,0.000,4,0.000,0.053,2518,2922,2273,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1231,-1.30,-58.6,83.6,-8.1,200,1240,0.10,1.73,0.00,0.000,6,0.050,0.039,2482,1892,2273,0,0,0,0,0,0,24.39,24.38,28.83
$GC,1382,-1.30,-58.6,97.4,-9.9,225,1389,0.00,1.73,0.00,0.000,4,0.000,0.053,2481,844,2272,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1603,-1.30,-58.6,117.0,-8.7,264,1612,0.00,1.70,0.00,0.000,6,0.000,0.037,2481,1892,2271,0,0,0,0,0,0,28.83,24.44,28.83
$GC,1753,-1.30,-58.6,129.1,-8.8,289,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1893,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1897,-1.30,-58.6,142.6,-9.1,314,1906,0.00,1.80,0.00,0.000,4,0.000,0.053,2481,839,2272,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1949,-1.30,-58.6,147.1,-8.9,322,1957,0.00,1.70,0.00,0.000,6,0.000,0.036,2482,1889,2272,0,0,0,0,0,0,28.83,24.46,28.83
$GC,2099,-1.30,-58.6,159.9,-8.5,347,2106,0.00,1.70,0.00,0.000,4,0.000,0.054,2481,2923,2272,0,0,0,0,0,0,28.83,24.40,28.83
$GC,2137,-1.30,-58.6,163.0,-7.6,353,2144,0.00,1.70,0.00,0.000,6,0.000,0.039,2481,1877,2272,0,0,0,0,0,0,28.83,24.43,28.83
$STATE,2177,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2177,begin apogee
$GC,2183,-0.36,0.0,166.1,-7.3,360,2245,0.98,0.00,54.45,0.780,4,0.109,0.000,2685,2285,2027,0,0,0,0,0,0,24.35,28.83,23.37
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2246,begin climb
$GC,2248,1.59,58.6,167.6,0.0,369,2308,1.88,0.00,53.58,0.747,6,0.074,0.000,3113,2285,1788,0,0,0,0,0,0,23.98,28.83,23.34
$GC,2445,1.53,58.6,152.7,8.7,402,2454,0.00,1.88,0.00,0.000,4,0.000,0.073,3113,3338,1782,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2491,1.47,58.6,148.7,9.0,409,2499,0.12,1.73,0.00,0.000,6,0.138,0.040,3092,2305,1782,0,0,0,0,0,0,24.18,24.25,28.83
$GC,2639,1.47,58.6,135.7,8.3,434,2648,0.00,1.85,0.00,0.000,4,0.000,0.069,3092,3342,1781,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2685,1.47,58.6,132.1,8.0,441,2692,0.00,1.70,0.00,0.000,6,0.000,0.041,3091,2307,1781,0,0,0,0,0,0,28.83,24.29,28.83
$GC,2832,1.47,58.6,121.1,7.5,466,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2307,1780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2979,1.47,58.6,110.6,8.6,491,2985,0.00,1.77,0.00,0.000,4,0.000,0.061,3091,1246,1780,0,0,0,0,0,0,28.83,24.31,28.83
$GC,3175,1.47,58.6,94.0,8.2,525,3181,0.00,1.75,0.00,0.000,6,0.000,0.044,3092,2305,1780,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3321,1.47,58.6,81.3,8.6,550,3329,0.00,1.85,0.00,0.000,4,0.000,0.079,3091,3342,1779,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3501,1.47,58.6,65.9,8.3,581,3508,0.00,1.70,0.00,0.000,6,0.000,0.040,3092,2304,1779,0,0,0,0,0,0,28.83,24.38,28.83
$GC,3644,1.47,58.6,53.7,9.1,606,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2303,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,1.47,58.6,40.9,8.9,631,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2304,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,1.47,58.6,33.9,8.6,644,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2303,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,1.49,70.3,27.8,6.5,657,3970,0.00,0.00,10.30,0.697,6,0.000,0.000,3092,2303,1741,0,0,0,0,0,0,28.83,28.83,23.67
$GC,4043,1.49,70.3,20.7,8.4,671,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2303,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4122,1.49,70.3,13.9,8.8,684,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2303,1741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,1.49,70.3,7.2,7.9,697,4210,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2303,1740,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4280,end climb,SURFACE_DEPTH_REACHED
$STATE,4280,begin surface coast
$FINISH,0.3,1.003581
$STATE,4317,end surface coast,CONTROL_FINISHED_OK
$STATE,4317,begin surface
$SM_CCo,4339,107.45,0.660,0,0,1090,230.09
$SM_GC,1.12,11.25,0.68,107.45,0.042,0.054,0.660,430,1901,1090,-10.70,0.90,230.09,0,0,0,0,0,0,24.40,24.40,23.43
$IRIDIUM_FIX,4722.92,-12223.37,060214,050502
$TT8_MAMPS,0.025466,0.025466
$HUMID,34.05
$INTERNAL_PRESSURE,8.79062
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.1,60.7
$24V_AH,23.3,1.350
$10V_AH,10.4,0.744
$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,26.675,39.825,118.325,107.450,0.000,26.983,53.564,212.403,0.500,0.000,5.066,1639.740,391.805,352.061,2294.906,171.566,33.228,993.229,0.000,2006.039,0.000,5.598,0.000
$DEVICE_MAMPS,186.660,78.795,779.535,660.195,0.000,58.140,160.000,223.000,420.000,0.000,27.710,10.960,2.190,10.960,37.180,42.420,60.400,16.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,493.665,350.951,1566.407,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,70.410,5.990,39.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323192
$DATA_FILE_SIZE,43612,716
$CAP_FILE_SIZE,76590,0
$CFSIZE,260165632,202375168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060214,075734,4742.810,-12225.126,36,0.9,36,16.3