version: 66.11
glider: 150
mission: 10
dive: 3
start: 2 19 115 20 7 7
data:
$ID,150
$MISSION,10
$DIVE,3
$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,150
$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,-91242.625
$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,14
$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,29
$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,25
$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
$GPS1,190215,200205,4743.208,-12224.346,10,2.0,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-58.2
$GPS2,190215,200606,4743.197,-12224.352,10,2.0,15,18.2
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.021,0.239
$KALMAN_X,42.7,52.1,57.3,-317.8,22.3
$KALMAN_Y,-200.9,-167.4,-144.3,871.5,-181.6
$MHEAD_RNG_PITCHd_Wd,336.8,2420,-14.1,-8.000,-18.43,2768
$D_GRID,176
$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,-1.18,-145.7,452,1993,1037,876,0.0,0.0,0,79,0.00,0.00,-59.12,0.000,16386,0.000,0.000,452,1993,2329,2443,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.18,-145.7,453,1993,2444,2218,3.2,-3.6,11,109,9.18,2.55,-10.35,0.000,18692,0.163,0.077,2165,3401,2744,2897,2592,0,0,0,0,0,0,24.27,24.35,24.72
$GC,323,-1.18,-145.7,1312,3400,2853,2585,33.2,-12.9,57,330,0.00,2.40,0.00,0.000,1030,0.000,0.054,2165,1995,2746,2897,2596,0,0,0,0,0,0,28.83,24.47,28.83
$GC,453,-1.18,-145.7,2164,1996,2897,2597,47.6,-10.1,82,459,0.00,2.42,0.00,0.000,516,0.000,0.070,2165,592,2747,2897,2597,0,0,0,0,0,0,28.83,24.44,28.83
$GC,528,-1.18,-145.7,2164,592,2897,2597,55.1,-9.9,96,535,0.00,2.33,0.00,0.000,1030,0.000,0.042,2164,2005,2747,2897,2597,0,0,0,0,0,0,28.83,24.51,28.83
$GC,719,-1.18,-145.7,2164,2004,2897,2597,74.7,-10.2,133,726,0.00,2.45,0.00,0.000,260,0.000,0.070,2165,3401,2746,2896,2596,0,0,0,0,0,0,28.83,24.45,28.83
$GC,872,-1.18,-145.7,2164,3401,2897,2597,88.9,-9.6,162,878,0.00,2.40,0.00,0.000,1030,0.000,0.057,2165,2000,2747,2897,2597,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1064,-1.18,-145.7,2164,2000,2897,2596,107.4,-9.4,199,1070,0.00,2.42,0.00,0.000,516,0.000,0.070,2165,593,2746,2897,2596,0,0,0,0,0,0,28.83,24.50,28.83
$GC,1099,-1.18,-145.7,2164,592,2897,2597,111.2,-10.6,205,1105,0.00,2.33,0.00,0.000,1030,0.000,0.042,2165,2005,2747,2897,2597,0,0,0,0,0,0,28.83,24.56,28.83
$GC,1293,-1.18,-145.7,2164,2003,2897,2597,130.4,-9.9,242,1299,0.00,2.45,0.00,0.000,260,0.000,0.073,2165,3403,2747,2897,2597,0,0,0,0,0,0,28.83,24.49,28.83
$GC,1347,-1.18,-145.7,1312,3401,2853,2586,136.0,-10.2,252,1354,0.00,2.40,0.00,0.000,1030,0.000,0.059,2165,2002,2746,2897,2596,0,0,0,0,0,0,28.83,24.55,28.83
$GC,1542,-1.18,-145.7,1312,2000,2853,2586,156.6,-10.3,289,1549,0.00,2.47,0.00,0.000,260,0.000,0.072,2165,3407,2746,2897,2596,0,0,0,0,0,0,28.83,24.50,28.83
$STATE,1585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1585,begin apogee
$GC,1594,-0.36,0.0,2165,2001,2898,2597,161.3,-10.8,297,1719,0.82,0.00,117.93,0.768,10246,0.093,0.000,2343,2001,2160,2266,2054,0,0,0,0,0,0,24.52,28.83,23.44
$STATE,1723,end apogee,CONTROL_FINISHED_OK
$STATE,1724,begin climb
$GC,1726,1.18,145.7,2343,2001,2265,2054,166.3,0.0,320,1847,1.50,0.00,114.70,0.738,10502,0.066,0.000,2685,2001,1579,1663,1496,0,0,0,0,0,0,24.08,28.83,23.42
$GC,2031,1.18,145.7,1664,1999,1624,1477,144.1,8.6,378,2038,0.00,2.53,0.00,0.000,260,0.000,0.071,2684,3404,1572,1662,1482,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2106,1.18,145.7,2684,3404,1661,1481,137.3,8.6,392,2113,0.00,2.45,0.00,0.000,1030,0.000,0.057,2684,1994,1571,1662,1481,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2299,1.18,145.7,2684,1994,1661,1480,119.4,10.6,429,2306,0.00,2.45,0.00,0.000,516,0.000,0.069,2684,596,1570,1661,1480,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2379,1.18,145.7,2684,596,1662,1480,110.8,9.9,444,2386,0.00,2.35,0.00,0.000,1030,0.000,0.043,2685,2007,1571,1662,1480,0,0,0,0,0,0,28.83,24.34,28.83
$GC,2573,1.20,158.0,2684,2008,1662,1479,94.0,7.5,481,2585,0.00,0.00,9.93,0.639,8198,0.000,0.000,2685,2008,1531,1625,1437,0,0,0,0,0,0,28.83,28.83,23.67
$GC,2771,1.21,163.2,1664,2006,1588,1428,77.7,7.8,519,2782,0.00,0.00,5.75,0.555,8198,0.000,0.000,2684,2008,1509,1606,1413,0,0,0,0,0,0,28.83,28.83,23.77
$GC,2967,1.21,163.2,1696,2006,1572,1407,61.0,8.1,557,2973,0.00,2.47,0.00,0.000,516,0.000,0.069,2685,595,1509,1606,1412,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3028,1.21,163.2,2684,596,1605,1411,55.7,9.2,568,3034,0.00,2.35,0.00,0.000,1030,0.000,0.043,2685,2012,1508,1605,1411,0,0,0,0,0,0,28.83,24.41,28.83
$GC,3220,1.21,163.2,2684,2012,1605,1411,39.3,8.6,605,3227,0.00,2.45,0.00,0.000,260,0.000,0.070,2685,3408,1508,1605,1411,0,0,0,0,0,0,28.83,24.37,28.83
$GC,3306,1.21,163.2,2685,3408,1605,1411,31.4,9.3,621,3313,0.00,2.42,0.00,0.000,1030,0.000,0.060,2684,1997,1508,1605,1411,0,0,0,0,0,0,28.83,24.44,28.83
$GC,3439,1.22,178.2,2684,1997,1606,1411,20.9,7.4,646,3458,0.00,2.55,13.38,0.641,8708,0.000,0.069,2685,593,1450,1549,1352,0,0,0,0,0,0,28.83,24.15,23.70
$GC,3538,1.24,188.1,2684,593,1547,1351,12.9,7.6,664,3556,0.00,2.35,9.50,0.605,9222,0.000,0.042,2685,2016,1412,1511,1313,0,0,0,0,0,0,28.83,24.39,23.71
$GC,3680,1.35,283.2,2684,2016,1509,1310,4.1,4.5,691,3710,0.12,0.00,26.48,0.646,10754,0.083,0.000,2726,2016,1285,1385,1185,0,0,0,0,0,0,24.45,28.83,28.83
$STATE,3712,end climb,SURFACE_DEPTH_REACHED
$STATE,3712,begin surface coast
$FINISH,0.3,1.019468
$STATE,3738,end surface coast,CONTROL_FINISHED_OK
$STATE,3738,begin surface
$SM_CCo,3760,71.07,0.575,1,0,965,300.18
$SM_GC,1.69,9.68,0.00,71.07,0.043,0.000,0.575,454,2017,965,-9.02,0.42,300.18,0,0,0,0,1,0,24.28,28.83,23.51
$IRIDIUM_FIX,4722.92,-12220.67,190215,191957
$TT8_MAMPS,0.029211,0.029211
$HUMID,40.51
$INTERNAL_PRESSURE,9.01249
$TCM_TEMP,19.90
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,150.5,35.5
$24V_AH,23.4,0.477
$10V_AH,10.5,0.310
$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,21.300,53.475,297.650,71.075,0.000,0.000,0.000,0.000,4.000,0.000,18.074,1528.667,734.760,450.965,1038.836,165.848,31.303,1011.677,0.000,1015.286,0.000,19.094,0.000
$DEVICE_MAMPS,162.945,77.265,768.060,575.280,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.141,324.993,548.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323188
$DATA_FILE_SIZE,40304,701
$CAP_FILE_SIZE,84321,0
$CFSIZE,260165632,116678656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190215,211155,4743.325,-12224.595,9,1.5,9,18.2