version: 66.11
glider: 150
mission: 10
dive: 8
start: 2 20 115 2 7 30
data:
$ID,150
$MISSION,10
$DIVE,8
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,500
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,75
$T_MISSION,85
$T_ABORT,1440
$T_TURN,540
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0292
$MASS,53682
$MASS_COMP,0
$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,270
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,34.5
$TGT_DEFAULT_LON,33
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,30
$N_GPS,40
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-91248.945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,459
$PITCH_MAX,3719
$C_PITCH,2428
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2002
$C_ROLL_CLIMB,2002
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,2161
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,92
$AH0_10V,97
$MINV_24V,18
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-84.104301
$PRESSURE_SLOPE,0.0001149594
$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,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,39
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004369304
$SEABIRD_T_H,0.00063699199
$SEABIRD_T_I,2.5745603e-05
$SEABIRD_T_J,2.8393902e-06
$SEABIRD_C_G,-10.003755
$SEABIRD_C_H,1.1300429
$SEABIRD_C_I,-0.0011255401
$SEABIRD_C_J,0.0001769348
$GPS1,200215,015925,4742.887,-12225.094,12,1.9,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.0
$GPS2,200215,020636,4742.941,-12225.039,17,1.2,55,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.076,0.186
$KALMAN_X,-1385.3,-231.1,-338.4,915.4,-285.9
$KALMAN_Y,-4449.3,-1011.3,-622.3,5938.6,-598.0
$MHEAD_RNG_PITCHd_Wd,4.0,2964,-17.8,-8.000,-21.73,1853
$D_GRID,180
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-97.2,452,2015,1021,894,0.0,0.0,0,68,0.00,0.00,-48.83,0.000,16386,0.000,0.000,452,2015,2114,2224,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.44,-97.2,452,2015,2224,2006,3.3,-5.7,9,102,9.00,2.50,-11.60,0.000,18692,0.164,0.081,2109,3397,2550,2702,2398,0,0,0,0,0,0,24.10,24.20,24.53
$GC,267,-1.44,-97.2,2109,3397,2701,2402,33.3,-13.4,46,274,0.00,2.40,0.00,0.000,1030,0.000,0.054,2109,2000,2551,2701,2402,0,0,0,0,0,0,28.83,24.30,28.83
$GC,397,-1.44,-97.2,2109,2000,2702,2402,50.4,-13.2,71,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2000,2552,2702,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-1.44,-97.2,1256,1998,2649,2391,71.2,-10.9,108,594,0.00,2.47,0.00,0.000,260,0.000,0.068,2109,3402,2552,2702,2402,0,0,0,0,0,0,28.83,24.29,28.83
$GC,687,-1.44,-97.2,1280,3401,2651,2391,81.7,-9.9,127,694,0.00,2.40,0.00,0.000,1030,0.000,0.057,2109,2000,2552,2702,2402,0,0,0,0,0,0,28.83,24.35,28.83
$GC,879,-1.44,-97.2,2109,1999,2702,2402,101.0,-9.8,164,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,1999,2552,2702,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1069,-1.44,-97.2,2109,1999,2702,2402,120.5,-10.8,201,1075,0.00,2.47,0.00,0.000,260,0.000,0.071,2109,3397,2552,2702,2402,0,0,0,0,0,0,28.83,24.33,28.83
$GC,1158,-1.44,-97.2,2109,3396,2702,2402,130.8,-11.8,218,1165,0.00,2.40,0.00,0.000,1030,0.000,0.056,2109,2002,2552,2702,2402,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1353,-1.44,-97.2,2109,2001,2702,2402,153.6,-11.7,255,1360,0.00,2.47,0.00,0.000,260,0.000,0.076,2109,3391,2552,2702,2402,0,0,0,0,0,0,28.83,24.35,28.83
$GC,1446,-1.44,-97.2,2109,3392,2702,2402,163.6,-10.6,272,1453,0.00,2.40,0.00,0.000,1030,0.000,0.057,2109,1997,2552,2702,2403,0,0,0,0,0,0,28.83,24.42,28.83
$STATE,1589,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1589,begin apogee
$GC,1595,-0.37,0.0,2109,1996,2702,2402,177.0,-8.6,299,1683,1.10,0.00,81.15,0.760,10246,0.101,0.000,2344,1996,2161,2269,2053,0,0,0,0,0,0,24.38,28.83,23.39
$STATE,1684,end apogee,CONTROL_FINISHED_OK
$STATE,1684,begin climb
$GC,1688,1.44,97.2,2344,1996,2269,2053,179.7,0.0,315,1775,1.70,0.00,79.07,0.741,10246,0.067,0.000,2740,1996,1773,1858,1688,0,0,0,0,0,0,24.00,28.83,23.36
$GC,1960,1.44,97.2,2740,1996,1855,1681,157.3,10.1,367,1967,0.00,2.53,0.00,0.000,260,0.000,0.074,2740,3396,1767,1855,1680,0,0,0,0,0,0,28.83,24.15,28.83
$GC,2011,1.44,97.2,2740,3397,1853,1680,152.0,10.3,376,2018,0.00,2.45,0.00,0.000,1030,0.000,0.058,2740,1992,1767,1854,1680,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2204,1.44,97.2,1712,1989,1808,1672,133.4,9.4,413,2210,0.00,2.53,0.00,0.000,260,0.000,0.076,2740,3395,1766,1854,1679,0,0,0,0,0,0,28.83,24.20,28.83
$GC,2330,1.44,97.2,2740,3395,1853,1679,121.6,9.5,437,2336,0.00,2.42,0.00,0.000,1030,0.000,0.060,2740,1995,1765,1853,1678,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2521,1.44,97.2,2740,1995,1853,1677,102.7,11.2,474,2528,0.00,2.45,0.00,0.000,516,0.000,0.069,2740,597,1765,1854,1677,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2641,1.44,97.2,2740,596,1853,1677,89.2,10.6,497,2647,0.00,2.33,0.00,0.000,1030,0.000,0.042,2740,2000,1765,1853,1677,0,0,0,0,0,0,28.83,24.35,28.83
$GC,2834,1.45,105.2,2740,2000,1853,1676,72.3,7.6,534,2847,0.00,2.50,6.72,0.579,8452,0.000,0.070,2740,3402,1741,1831,1652,0,0,0,0,0,0,28.83,24.17,23.74
$GC,3027,1.47,125.6,2739,3403,1829,1652,58.9,6.9,571,3051,0.00,2.42,18.27,0.659,9222,0.000,0.053,2740,1990,1660,1747,1574,0,0,0,0,0,0,28.83,24.36,23.55
$GC,3237,1.47,125.6,2740,1989,1744,1570,36.1,11.9,611,3244,0.00,2.42,0.00,0.000,516,0.000,0.073,2740,595,1657,1744,1570,0,0,0,0,0,0,28.83,24.28,28.83
$GC,3307,1.47,125.6,2740,596,1744,1570,29.2,9.0,624,3314,0.00,2.33,0.00,0.000,1030,0.000,0.041,2740,2005,1656,1744,1569,0,0,0,0,0,0,28.83,24.36,28.83
$GC,3441,1.49,137.8,2740,2005,1744,1569,19.0,7.3,649,3459,0.00,2.50,11.30,0.611,8708,0.000,0.066,2740,595,1610,1697,1524,0,0,0,0,0,0,28.83,24.10,23.67
$GC,3551,1.52,159.5,2740,595,1695,1523,11.0,6.8,669,3575,0.00,2.33,18.75,0.630,9222,0.000,0.041,2740,2003,1525,1610,1441,0,0,0,0,0,0,28.83,24.33,23.53
$STATE,3681,end climb,SURFACE_DEPTH_REACHED
$STATE,3681,begin surface coast
$FINISH,0.4,1.019840
$STATE,3713,end surface coast,CONTROL_FINISHED_OK
$STATE,3713,begin surface
$SM_CCo,3733,119.43,0.602,1,0,966,300.18
$SM_GC,1.73,9.82,0.00,119.43,0.049,0.000,0.602,454,2004,966,-9.02,0.06,300.18,0,0,0,0,1,0,24.31,28.83,23.44
$IRIDIUM_FIX,4722.92,-12225.08,200215,000023
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.52
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,19.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,170.3,21.7
$24V_AH,23.4,0.926
$10V_AH,10.5,0.606
$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,21.625,48.725,215.275,119.425,0.000,26.219,38.903,194.229,5.000,0.000,57.680,1555.452,764.181,429.497,1333.981,209.665,33.226,976.751,0.000,1013.254,0.000,22.193,0.000
$DEVICE_MAMPS,164.475,81.090,760.410,602.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.850,314.727,532.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323124
$DATA_FILE_SIZE,36807,700
$CAP_FILE_SIZE,66452,0
$CFSIZE,260165632,116477952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,031305,4743.531,-12224.534,11,1.3,32,18.2