version: 66.11
glider: 150
mission: 10
dive: 16
start: 2 20 115 11 8 49
data:
$ID,150
$MISSION,10
$DIVE,16
$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,-91259.008
$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,2432
$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,24
$R_STBD_OVSHOOT,42
$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,0
$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
$GPS1,200215,105619,4743.262,-12224.674,10,1.0,10,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-59.9
$GPS2,200215,110754,4743.195,-12224.799,9,1.2,14,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.133,0.150
$KALMAN_X,-3316.2,533.6,-19.3,2077.1,-723.2
$KALMAN_Y,-6639.1,2456.2,337.3,4193.8,-1552.2
$MHEAD_RNG_PITCHd_Wd,23.3,2445,-17.8,-8.000,-21.73,1853
$D_GRID,177
$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,-97.2,457,1909,1016,898,0.0,0.0,0,67,0.00,0.00,-47.85,0.000,16386,0.000,0.000,457,1909,2068,2179,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.44,-97.2,457,1909,2179,1961,3.1,-6.0,9,101,9.00,2.42,-13.82,0.000,18692,0.164,0.070,2112,3295,2550,2698,2402,0,0,0,0,0,0,24.07,24.14,24.49
$GC,181,-1.44,-97.2,1264,3293,2645,2393,15.1,-12.1,29,187,0.00,2.40,0.00,0.000,1030,0.000,0.051,2112,1895,2550,2697,2404,0,0,0,0,0,0,28.83,24.22,28.83
$GC,311,-1.44,-97.2,2112,1896,2698,2404,32.3,-11.9,54,318,0.00,2.42,0.00,0.000,260,0.000,0.057,2113,3293,2550,2697,2404,0,0,0,0,0,0,28.83,24.21,28.83
$GC,351,-1.44,-97.2,2112,3293,2697,2404,36.6,-11.0,61,357,0.00,2.40,0.00,0.000,1030,0.000,0.054,2112,1892,2550,2697,2404,0,0,0,0,0,0,28.83,24.25,28.83
$GC,481,-1.44,-97.2,2112,1893,2697,2404,51.1,-11.5,86,488,0.00,2.42,0.00,0.000,260,0.000,0.060,2112,3285,2551,2698,2405,0,0,0,0,0,0,28.83,24.22,28.83
$GC,595,-1.44,-97.2,1288,3283,2647,2393,63.9,-10.6,108,602,0.00,2.38,0.00,0.000,1030,0.000,0.050,2112,1899,2551,2697,2405,0,0,0,0,0,0,28.83,24.29,28.83
$GC,786,-1.44,-97.2,2112,1899,2697,2404,84.7,-11.8,145,793,0.00,2.47,0.00,0.000,516,0.000,0.073,2113,487,2550,2697,2404,0,0,0,0,0,0,28.83,24.26,28.83
$GC,851,-1.44,-97.2,2112,487,2697,2404,93.1,-13.2,157,857,0.00,2.33,0.00,0.000,1030,0.000,0.037,2112,1900,2551,2698,2405,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1042,-1.44,-97.2,1280,1898,2646,2394,116.2,-12.2,194,1049,0.00,2.45,0.00,0.000,260,0.000,0.066,2112,3299,2551,2697,2405,0,0,0,0,0,0,28.83,24.27,28.83
$GC,1102,-1.44,-97.2,2112,3300,2697,2404,123.2,-11.6,205,1108,0.00,2.40,0.00,0.000,1030,0.000,0.057,2113,1900,2551,2697,2405,0,0,0,0,0,0,28.83,24.33,28.83
$GC,1292,-1.44,-97.2,2112,1900,2698,2405,144.8,-12.3,242,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1900,2551,2698,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1482,-1.44,-97.2,2112,1900,2698,2404,164.0,-10.2,279,1489,0.00,2.47,0.00,0.000,516,0.000,0.070,2113,490,2551,2697,2405,0,0,0,0,0,0,28.83,24.32,28.83
$GC,1528,-1.44,-97.2,2112,489,2697,2404,168.6,-10.4,287,1534,0.00,2.33,0.00,0.000,1030,0.000,0.039,2112,1897,2551,2697,2405,0,0,0,0,0,0,28.83,24.39,28.83
$STATE,1614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1620,-0.37,0.0,2112,1897,2698,2405,177.2,-9.6,304,1708,1.10,0.00,81.28,0.757,10246,0.099,0.000,2346,1896,2161,2277,2045,0,0,0,0,0,0,24.32,28.83,23.32
$STATE,1709,end apogee,CONTROL_FINISHED_OK
$STATE,1709,begin climb
$GC,1713,1.44,97.2,2347,1897,2277,2044,180.0,0.0,320,1802,1.73,2.62,79.15,0.740,10756,0.068,0.073,2745,496,1773,1861,1685,0,0,0,0,0,0,23.94,23.77,23.31
$GC,1836,1.44,97.2,2745,496,1858,1684,172.1,10.2,342,1842,0.00,2.35,0.00,0.000,1030,0.000,0.038,2745,1914,1770,1858,1683,0,0,1,0,0,0,28.83,24.07,28.83
$GC,2028,1.44,97.2,2745,1914,1858,1678,150.8,10.5,379,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1914,1768,1858,1678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2222,1.44,97.2,2745,1914,1858,1676,131.3,9.7,416,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1914,1767,1858,1676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,1.44,97.2,2745,1914,1858,1675,115.0,8.7,453,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1914,1766,1858,1675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,1.44,97.2,1744,1912,1814,1668,96.0,10.7,490,2610,0.00,2.53,0.00,0.000,516,0.000,0.073,2745,494,1766,1858,1674,0,0,0,0,0,0,28.83,24.23,28.83
$GC,2643,1.44,97.2,2745,494,1858,1675,90.7,13.5,497,2649,0.00,2.35,0.00,0.000,1030,0.000,0.042,2745,1917,1766,1858,1674,0,0,0,0,0,0,28.83,24.31,28.83
$GC,2836,1.44,97.2,2745,1918,1858,1673,66.7,10.8,534,2843,0.00,2.53,0.00,0.000,516,0.000,0.066,2745,487,1766,1858,1674,0,0,0,0,0,0,28.83,24.26,28.83
$GC,3036,1.44,97.2,2745,487,1858,1674,48.0,10.5,573,3043,0.00,2.35,0.00,0.000,1030,0.000,0.039,2745,1904,1765,1858,1673,0,0,0,0,0,0,28.83,24.35,28.83
$GC,3170,1.44,97.2,2745,1904,1858,1673,36.4,8.6,598,3177,0.00,2.45,0.00,0.000,260,0.000,0.064,2745,3289,1765,1858,1672,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3352,1.44,100.7,2745,3289,1857,1673,20.8,7.8,633,3359,0.00,2.38,0.00,0.000,1030,0.000,0.049,2745,1895,1765,1858,1672,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3486,1.51,152.9,2745,1895,1858,1672,11.7,5.1,658,3535,0.00,0.00,45.35,0.646,8454,0.000,0.000,2745,1894,1551,1638,1464,0,0,0,0,0,0,28.83,28.83,23.44
$STATE,3631,end climb,SURFACE_DEPTH_REACHED
$STATE,3631,begin surface coast
$FINISH,0.4,1.020497
$STATE,3667,end surface coast,CONTROL_FINISHED_OK
$STATE,3667,begin surface
$SM_CCo,3687,124.53,0.598,1,0,965,300.18
$SM_GC,1.66,9.85,0.00,124.53,0.047,0.000,0.598,453,1894,965,-9.04,-0.17,300.18,0,0,0,0,1,0,24.25,28.83,23.39
$IRIDIUM_FIX,4726.11,-12226.80,200215,101008
$TT8_MAMPS,0.028462,0.028462
$HUMID,38.30
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,20.00
$XPDR_PINGS,7
$24V_AH,23.3,1.588
$10V_AH,10.4,1.046
$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,21.675,48.450,205.775,124.525,0.000,47.269,78.857,377.769,1.750,0.000,16.787,1534.286,798.971,436.054,1456.365,289.972,33.213,982.194,0.000,1003.254,0.000,0.542,0.000
$DEVICE_MAMPS,163.710,73.440,757.350,598.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.130,325.836,543.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323128
$DATA_FILE_SIZE,36816,692
$CAP_FILE_SIZE,68358,0
$CFSIZE,260165632,116137984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$GPS,200215,121336,4742.976,-12224.863,28,1.8,28,18.2