version: 66.11
glider: 150
mission: 10
dive: 14
start: 2 20 115 8 28 3
data:
$ID,150
$MISSION,10
$DIVE,14
$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,-6
$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,-91256.492
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,33
$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,0
$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
$GPS1,200215,081901,4744.804,-12224.736,12,1.3,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-58.8
$GPS2,200215,082707,4744.786,-12224.711,9,1.3,9,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.116,-0.164
$KALMAN_X,-2215.4,346.8,413.6,832.3,-470.6
$KALMAN_Y,-4768.1,1538.2,1146.9,5380.4,123.6
$MHEAD_RNG_PITCHd_Wd,126.7,3317,-17.8,-8.000,-21.73,1853
$D_GRID,186
$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,13,begin dive
$GC,16,-1.44,-97.2,456,1890,1020,897,0.0,0.0,0,72,0.00,0.00,-54.10,0.000,16386,0.000,0.000,456,1890,2197,2311,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.44,-97.2,456,1890,2311,2087,3.0,-4.5,10,101,9.07,2.55,-9.93,0.000,18948,0.168,0.085,2110,494,2550,2698,2402,0,0,0,0,0,0,24.07,24.13,24.47
$GC,316,-1.44,-97.2,2110,494,2698,2403,38.3,-12.8,56,323,0.00,2.30,0.00,0.000,1030,0.000,0.039,2110,1908,2551,2698,2404,0,0,2,0,0,0,28.83,24.29,28.83
$GC,447,-1.44,-97.2,2110,1908,2698,2404,52.8,-10.4,81,453,0.00,2.42,0.00,0.000,260,0.000,0.064,2110,3295,2551,2698,2404,0,0,0,0,0,0,28.83,24.22,28.83
$GC,516,-1.44,-97.2,2110,3295,2698,2404,60.1,-10.0,94,523,0.00,2.40,0.00,0.000,1030,0.000,0.050,2110,1893,2551,2698,2404,0,0,0,0,0,0,28.83,24.28,28.83
$GC,708,-1.44,-97.2,2110,1893,2698,2404,79.1,-9.3,131,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1893,2551,2698,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-1.44,-97.2,2110,1893,2698,2404,96.5,-9.3,168,904,0.00,2.45,0.00,0.000,516,0.000,0.073,2110,495,2551,2698,2404,0,0,0,0,0,0,28.83,24.28,28.83
$GC,923,-1.44,-97.2,1280,494,2647,2393,99.0,-9.8,172,929,0.00,2.30,0.00,0.000,1030,0.000,0.039,2111,1911,2551,2698,2404,0,0,2,0,0,0,28.83,24.35,28.83
$GC,1115,-1.44,-97.2,2110,1912,2698,2404,113.9,-7.6,209,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1912,2551,2698,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1311,-1.44,-97.2,1280,1911,2646,2393,132.9,-9.3,246,1318,0.00,2.50,0.00,0.000,516,0.000,0.068,2110,490,2551,2698,2404,0,0,0,0,0,0,28.83,24.31,28.83
$GC,1371,-1.44,-97.2,2110,490,2698,2404,139.5,-11.1,257,1382,0.00,2.33,0.00,0.000,1030,0.000,0.039,2110,1899,2551,2698,2404,0,0,0,0,0,0,28.83,24.39,28.83
$GC,1572,-1.44,-97.2,1264,1898,2646,2393,159.4,-8.9,294,1579,0.00,2.47,0.00,0.000,260,0.000,0.071,2110,3302,2551,2698,2404,0,0,0,0,0,0,28.83,24.32,28.83
$STATE,1762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1762,begin apogee
$GC,1771,-0.37,0.0,2110,1897,2698,2404,180.1,-10.9,331,1858,1.10,0.00,81.43,0.762,10246,0.103,0.000,2344,1897,2161,2276,2046,0,0,0,0,0,0,24.34,28.83,23.33
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1862,1.44,97.2,2343,1897,2275,2045,183.7,0.0,347,1951,1.73,2.55,78.82,0.744,10756,0.067,0.070,2743,492,1773,1861,1686,0,0,0,0,0,0,23.94,23.77,23.32
$GC,1968,1.44,99.8,2743,492,1858,1687,178.4,7.9,365,1981,0.00,2.38,3.80,0.447,9222,0.000,0.038,2743,1909,1762,1849,1676,0,0,0,0,0,0,28.83,24.03,23.48
$GC,2167,1.44,99.8,2743,1909,1849,1669,159.4,9.1,403,2173,0.00,2.47,0.00,0.000,260,0.000,0.070,2743,3300,1758,1848,1669,0,0,0,0,0,0,28.83,24.13,28.83
$GC,2202,1.44,99.8,2743,3300,1847,1668,156.0,9.7,409,2208,0.00,2.42,0.00,0.000,1030,0.000,0.057,2743,1896,1758,1847,1669,0,0,0,0,0,0,28.83,24.20,28.83
$GC,2394,1.44,99.8,2743,1896,1847,1668,137.6,9.7,446,2400,0.00,2.50,0.00,0.000,260,0.000,0.073,2743,3302,1757,1847,1668,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2418,1.44,99.8,2743,3301,1847,1668,134.7,10.7,450,2425,0.00,2.42,0.00,0.000,1030,0.000,0.054,2743,1899,1757,1847,1668,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2612,1.44,99.8,2743,1899,1847,1667,115.1,9.6,487,2618,0.00,2.47,0.00,0.000,516,0.000,0.071,2743,494,1757,1847,1668,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2686,1.44,99.8,2743,494,1847,1668,108.1,8.8,501,2693,0.00,2.35,0.00,0.000,1030,0.000,0.040,2743,1912,1757,1847,1667,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2879,1.44,99.8,1728,1910,1803,1660,91.7,8.9,538,2886,0.00,2.50,0.00,0.000,516,0.000,0.069,2744,495,1757,1847,1667,0,0,0,0,0,0,28.83,24.25,28.83
$GC,2939,1.44,99.8,2743,495,1847,1667,85.3,11.0,549,2946,0.00,2.33,0.00,0.000,1030,0.000,0.038,2743,1907,1756,1847,1666,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3134,1.44,99.8,2743,1908,1847,1666,65.2,10.8,586,3140,0.00,2.42,0.00,0.000,260,0.000,0.064,2743,3295,1756,1847,1666,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3218,1.44,99.8,2743,3295,1847,1666,56.0,10.1,602,3225,0.00,2.40,0.00,0.000,1030,0.000,0.050,2743,1892,1756,1847,1665,0,0,0,0,0,0,28.83,24.33,28.83
$GC,3410,1.44,99.8,1744,1890,1804,1658,36.7,9.4,639,3417,0.00,2.45,0.00,0.000,260,0.000,0.062,2744,3294,1756,1847,1665,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3461,1.44,99.8,2743,3294,1847,1665,32.5,8.2,648,3468,0.00,2.42,0.00,0.000,1030,0.000,0.053,2743,1887,1756,1847,1665,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3594,1.44,99.8,2743,1888,1847,1665,21.7,8.3,673,3601,0.00,2.42,0.00,0.000,516,0.000,0.067,2744,496,1755,1846,1665,0,0,0,0,0,0,28.83,24.32,28.83
$GC,3728,1.50,143.0,2743,495,1847,1665,12.8,5.6,698,3773,0.00,2.33,35.58,0.646,9222,0.000,0.038,2744,1920,1590,1677,1503,0,0,0,0,0,0,28.83,24.41,23.45
$GC,3898,1.56,194.0,1736,1918,1638,1494,2.3,5.2,730,3906,0.10,0.00,5.20,0.076,10754,0.098,0.000,2771,1920,1578,1666,1490,0,0,0,0,0,0,24.32,28.83,28.83
$STATE,3907,end climb,SURFACE_DEPTH_REACHED
$STATE,3907,begin surface coast
$FINISH,0.6,1.020663
$STATE,3948,end surface coast,CONTROL_FINISHED_OK
$STATE,3948,begin surface
$SM_CCo,3969,130.45,0.604,1,0,966,300.18
$SM_GC,1.48,10.12,0.00,130.45,0.057,0.000,0.604,456,1920,966,-9.01,0.57,300.18,0,0,0,0,1,0,24.28,28.83,23.40
$IRIDIUM_FIX,4729.30,-12225.81,200215,070756
$TT8_MAMPS,0.028462,0.028462
$HUMID,38.34
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,18.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,150.0,42.8
$24V_AH,23.3,1.394
$10V_AH,10.5,0.923
$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,22.125,63.050,204.825,130.450,0.000,22.539,38.529,299.312,4.750,0.000,11.516,1656.077,799.806,460.465,1410.799,269.215,33.212,1047.276,0.000,1071.222,0.000,22.085,0.000
$DEVICE_MAMPS,167.535,84.915,761.940,603.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.047,334.642,568.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323136
$DATA_FILE_SIZE,40231,739
$CAP_FILE_SIZE,74245,0
$CFSIZE,260165632,116215808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0,0
$GPS,200215,093753,4744.155,-12224.542,12,1.1,41,18.2