version: 66.11
glider: 150
mission: 10
dive: 9
start: 2 20 115 3 20 44
data:
$ID,150
$MISSION,10
$DIVE,9
$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,-91250.203
$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,1950
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,32
$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
$GPS1,200215,031305,4743.531,-12224.534,11,1.3,32,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-60.0
$GPS2,200215,031949,4743.577,-12224.465,12,1.5,12,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.104,0.172
$KALMAN_X,-774.0,-355.7,-457.2,1265.1,439.0
$KALMAN_Y,-3943.0,-1038.2,-763.8,6786.1,703.5
$MHEAD_RNG_PITCHd_Wd,310.5,1711,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.44,-97.2,454,1943,1018,897,0.0,0.0,0,72,0.00,0.00,-53.33,0.000,16386,0.000,0.000,453,1943,2214,2328,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.44,-97.2,453,1943,2328,2103,3.2,-4.6,10,102,9.02,2.50,-9.02,0.000,18692,0.164,0.075,2110,3350,2549,2700,2399,0,0,0,0,0,0,24.09,24.16,24.51
$GC,316,-1.44,-97.2,2110,3350,2701,2402,36.7,-11.7,56,323,0.00,2.40,0.00,0.000,1030,0.000,0.057,2110,1949,2552,2701,2403,0,0,0,0,0,0,28.83,24.29,28.83
$GC,447,-1.44,-97.2,2110,1947,2701,2403,50.2,-10.0,81,453,0.00,2.47,0.00,0.000,516,0.000,0.069,2110,542,2551,2701,2402,0,0,0,0,0,0,28.83,24.26,28.83
$GC,632,-1.44,-97.2,2110,542,2700,2402,72.5,-11.1,117,639,0.00,2.33,0.00,0.000,1030,0.000,0.039,2111,1952,2552,2701,2403,0,0,0,0,0,0,28.83,24.37,28.83
$GC,823,-1.44,-97.2,2110,1952,2701,2402,92.0,-10.7,154,830,0.00,2.45,0.00,0.000,260,0.000,0.069,2110,3350,2552,2701,2403,0,0,0,0,0,0,28.83,24.30,28.83
$GC,965,-1.44,-97.2,2110,3350,2701,2403,107.0,-10.7,181,971,0.00,2.40,0.00,0.000,1030,0.000,0.054,2110,1948,2552,2701,2403,0,0,0,0,0,0,28.83,24.37,28.83
$STATE,1082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1082,begin apogee
$GC,1088,-0.37,0.0,2110,1945,2701,2403,120.1,-11.5,203,1176,1.08,0.00,80.68,0.727,10246,0.100,0.000,2340,1944,2160,2271,2050,0,0,0,0,0,0,24.33,28.83,23.39
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1180,1.44,97.2,2340,1943,2271,2050,125.3,0.0,219,1269,1.75,0.00,78.53,0.704,10502,0.071,0.000,2742,1945,1773,1861,1686,0,0,0,0,0,0,23.99,28.83,23.37
$GC,1453,1.44,97.2,1744,1943,1814,1673,106.5,10.0,271,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1945,1769,1859,1679,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,1.44,97.2,2742,1945,1859,1677,86.8,10.0,308,1651,0.00,2.50,0.00,0.000,260,0.000,0.070,2742,3353,1768,1859,1677,0,0,0,0,0,0,28.83,24.20,28.83
$GC,1797,1.44,97.2,2742,3354,1857,1677,73.1,8.4,337,1804,0.00,2.42,0.00,0.000,1030,0.000,0.054,2742,1943,1766,1857,1676,0,0,0,0,0,0,28.83,24.28,28.83
$GC,1989,1.48,131.5,2742,1943,1857,1676,59.1,6.1,374,2023,0.00,2.60,28.25,0.662,8452,0.000,0.066,2742,3344,1636,1723,1549,0,0,0,0,0,0,28.83,23.90,23.48
$GC,2043,1.50,147.3,2741,3344,1721,1550,55.5,7.1,383,2066,0.00,2.42,14.52,0.623,9222,0.000,0.059,2742,1948,1572,1657,1488,0,0,0,0,0,0,28.83,24.13,23.49
$GC,2252,1.50,147.3,2742,1948,1655,1482,36.7,9.8,423,2259,0.00,2.47,0.00,0.000,516,0.000,0.070,2742,537,1568,1655,1482,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2495,1.56,199.0,2742,538,1654,1482,16.6,5.1,470,2548,0.12,2.35,42.35,0.642,11270,0.086,0.041,2774,1958,1367,1450,1284,0,0,0,0,0,0,24.33,24.34,23.46
$GC,2673,1.66,277.7,1760,1956,1421,1275,5.8,3.6,503,2746,0.00,2.55,63.45,0.632,8452,0.000,0.066,2774,3346,1054,1141,967,0,0,0,0,0,0,28.83,23.85,23.44
$STATE,2757,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.4,1.010676
$STATE,2785,end surface coast,CONTROL_FINISHED_OK
$STATE,2785,begin surface
$SM_CCo,2810,25.23,0.415,1,0,965,300.18
$SM_GC,1.03,9.98,2.50,25.23,0.045,0.058,0.415,452,1948,965,-9.03,0.54,300.18,0,0,0,0,1,0,24.17,24.12,23.50
$IRIDIUM_FIX,4722.92,-12225.08,200215,020217
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.09
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,20.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,120.1,10.8
$24V_AH,23.4,1.003
$10V_AH,10.5,0.654
$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,21.950,34.475,307.775,25.225,0.000,25.767,52.299,196.092,2.250,0.000,14.389,1111.290,530.574,381.871,1043.925,178.922,33.213,824.919,0.000,764.709,0.000,8.611,0.000
$DEVICE_MAMPS,164.475,106.335,726.750,414.630,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.236,258.367,441.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26960,523
$CAP_FILE_SIZE,50816,0
$CFSIZE,260165632,116461568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,040900,4744.043,-12224.593,7,1.6,12,18.2