version: 66.10
glider: 149
mission: 11
dive: 6
start: 12 12 112 22 44 16
data:
$ID,149
$MISSION,11
$DIVE,6
$N_DIVES,25
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,80
$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,-5395.0078
$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,2350
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$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,6
$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,95
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,121212,223621,4743.016,-12225.495,8,2.3,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.0
$GPS2,121212,224319,4742.988,-12225.436,9,1.9,9,18.2
$SPEED_LIMITS,0.072,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,0.112
$KALMAN_X,-1108.3,-122.5,54.8,-92.8,-773.6
$KALMAN_Y,-1537.2,-691.7,-105.6,2748.0,-456.7
$MHEAD_RNG_PITCHd_Wd,38.7,1866,-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,-67.25,0.000,6,0.000,0.000,430,2330,2497,0,0,0,0,0,0,28.83,28.83,24.52
$GC,89,-1.38,-97.8,4.0,-7.2,9,106,11.38,1.67,0.00,0.000,4,0.174,0.047,2469,1310,2499,0,0,0,0,0,0,24.06,24.18,28.83
$GC,368,-1.38,-97.8,51.1,-13.4,56,377,0.00,1.73,0.00,0.000,6,0.000,0.036,2469,2357,2500,0,0,0,0,0,0,28.83,24.29,28.83
$GC,517,-1.38,-97.8,70.3,-13.5,81,523,0.00,1.75,0.00,0.000,4,0.000,0.043,2469,1314,2499,0,0,0,0,0,0,28.83,24.30,28.83
$GC,782,-1.38,-97.8,104.8,-11.7,127,792,0.00,1.67,0.00,0.000,6,0.000,0.034,2469,2358,2500,0,0,0,0,0,0,28.83,24.34,28.83
$GC,932,-1.38,-97.8,122.3,-11.6,152,941,0.00,1.75,0.00,0.000,4,0.000,0.042,2469,1310,2499,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1201,-1.38,-97.8,154.5,-11.4,198,1210,0.00,1.70,0.00,0.000,6,0.000,0.034,2469,2342,2499,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1350,-1.38,-97.8,170.8,-11.4,223,1357,0.00,1.67,0.00,0.000,4,0.000,0.043,2470,1308,2500,0,0,0,0,0,0,28.83,24.37,28.83
$GC,1457,-1.38,-97.8,183.3,-10.9,241,1463,0.00,1.65,0.00,0.000,6,0.000,0.034,2470,2344,2499,0,0,0,0,0,0,28.83,24.38,28.83
$STATE,1554,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1554,begin apogee
$GC,1559,-0.33,0.0,194.4,-10.8,258,1652,1.10,0.00,87.22,0.851,4,0.105,0.000,2701,2344,2098,0,0,0,0,0,0,24.32,28.83,23.35
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1656,1.38,97.8,198.0,0.0,272,1750,1.65,1.88,86.40,0.812,4,0.065,0.065,3080,3394,1699,0,0,0,0,0,0,23.96,23.95,23.32
$GC,1794,1.33,97.8,190.5,9.3,293,1801,0.00,1.67,0.00,0.000,6,0.000,0.037,3081,2368,1695,0,0,0,0,0,0,28.83,24.10,28.83
$GC,1941,1.29,97.8,176.5,9.4,318,1949,0.12,0.00,0.00,0.000,6,0.128,0.000,3054,2368,1694,0,0,0,0,0,0,24.15,28.83,28.83
$GC,2090,1.30,104.9,164.1,8.1,343,2105,0.00,1.83,7.05,0.716,4,0.000,0.062,3054,3394,1669,0,0,0,0,0,0,28.83,24.04,23.53
$GC,2334,1.30,106.9,143.5,8.4,385,2341,0.00,1.67,0.00,0.000,6,0.000,0.034,3054,2354,1667,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2479,1.30,106.9,131.2,9.1,410,2488,0.00,1.83,0.00,0.000,4,0.000,0.063,3054,3392,1667,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2537,1.33,133.4,126.5,7.0,419,2571,0.00,1.67,26.52,0.822,6,0.000,0.035,3054,2358,1553,0,0,0,0,0,0,28.83,24.29,23.38
$GC,2711,1.33,133.4,110.1,9.8,448,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2358,1551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,1.33,133.4,94.1,9.6,473,2865,0.00,1.75,0.00,0.000,4,0.000,0.052,3054,1297,1551,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2889,1.33,133.4,90.8,10.4,478,2898,0.00,1.77,0.00,0.000,6,0.000,0.041,3054,2350,1552,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3038,1.33,133.4,76.9,10.0,503,3045,0.00,1.77,0.00,0.000,4,0.000,0.064,3054,3398,1550,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3178,1.33,133.4,63.9,9.3,527,3185,0.00,1.67,0.00,0.000,6,0.000,0.033,3054,2356,1550,0,0,0,0,0,0,28.83,24.33,28.83
$GC,3324,1.33,134.2,51.1,8.5,552,3333,0.00,1.83,0.00,0.000,4,0.000,0.063,3054,3396,1550,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3405,1.34,137.7,44.0,8.3,565,3415,0.00,1.67,4.85,0.597,6,0.000,0.034,3054,2374,1536,0,0,0,0,0,0,28.83,24.35,23.70
$GC,3487,1.35,151.1,37.2,7.8,578,3512,0.00,1.80,13.68,0.754,4,0.000,0.063,3054,3395,1481,0,0,1,0,0,0,28.83,24.00,23.51
$GC,3556,1.35,151.1,31.5,8.9,588,3565,0.00,1.67,0.00,0.000,6,0.000,0.033,3054,2378,1481,0,0,0,0,0,0,28.83,24.26,28.83
$GC,3638,1.37,165.7,25.4,7.7,601,3663,0.10,1.80,14.15,0.746,4,0.093,0.064,3083,3389,1421,0,0,1,0,0,0,24.36,23.98,23.51
$GC,3730,1.38,176.5,17.7,7.9,615,3748,0.00,1.67,10.98,0.718,6,0.000,0.034,3083,2380,1377,0,0,0,0,0,0,28.83,24.27,23.53
$GC,3820,1.44,223.1,12.0,5.8,629,3868,0.00,1.80,41.03,0.744,4,0.000,0.061,3083,3399,1187,0,0,0,0,0,0,28.83,23.87,23.45
$STATE,3950,end climb,SURFACE_DEPTH_REACHED
$STATE,3950,begin surface coast
$FINISH,1.0,1.021643
$STATE,3959,end surface coast,CONTROL_FINISHED_OK
$STATE,3959,begin surface
$SM_CCo,3981,41.33,0.587,1,0,956,280.13
$SM_GC,1.34,11.25,1.77,41.33,0.039,0.035,0.587,429,2346,956,-10.74,0.85,280.13,0,0,0,0,1,0,24.22,24.22,23.44
$IRIDIUM_FIX,4722.92,-12227.78,121212,212128
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.49
$INTERNAL_PRESSURE,8.94413
$TCM_TEMP,14.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.5,69.0
$24V_AH,23.3,0.668
$10V_AH,10.3,0.516
$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,25.600,45.150,291.875,41.325,0.000,28.484,31.719,250.385,3.000,0.000,13.123,1437.837,403.877,372.378,2092.064,147.816,33.221,1012.407,0.000,1781.349,0.000,19.707,0.000
$DEVICE_MAMPS,173.655,65.025,851.445,586.755,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.575,296.598,1321.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,33599,650
$CAP_FILE_SIZE,72201,0
$CFSIZE,260165632,207474688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$GPS,121212,235232,4743.290,-12225.252,8,4.3,28,18.2