version: 66.11
glider: 150
mission: 10
dive: 7
start: 2 20 115 0 53 34
data:
$ID,150
$MISSION,10
$DIVE,7
$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,-91247.68
$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,1
$R_STBD_OVSHOOT,13
$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
$GPS1,200215,004531,4742.545,-12225.456,10,1.4,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-62.1
$GPS2,200215,005230,4742.569,-12225.446,14,1.4,31,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.095,0.177
$KALMAN_X,-1714.7,-74.1,-213.4,469.5,-681.6
$KALMAN_Y,-4834.5,-745.5,-348.4,5110.7,-1564.5
$MHEAD_RNG_PITCHd_Wd,10.1,3765,-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,13,begin dive
$GC,16,-1.44,-97.2,462,2015,1020,896,0.0,0.0,0,67,0.00,0.00,-48.55,0.000,16386,0.000,0.000,462,2015,2109,2214,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.44,-97.2,462,2015,2215,2007,3.3,-5.3,9,101,8.75,2.55,-11.25,0.000,18692,0.155,0.080,2110,3412,2551,2702,2401,0,0,0,0,0,0,24.11,24.18,24.51
$GC,477,-1.44,-97.2,2110,3413,2702,2402,59.2,-11.5,88,484,0.00,2.45,0.00,0.000,1030,0.000,0.053,2111,1977,2552,2702,2403,0,0,0,0,0,0,28.83,24.33,28.83
$GC,669,-1.44,-97.2,2110,1977,2702,2403,79.7,-10.6,125,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,1977,2552,2702,2403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-1.44,-97.2,2111,1978,2702,2403,98.0,-9.5,162,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1977,2553,2702,2404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1048,-1.44,-97.2,2110,1977,2702,2403,118.6,-10.7,199,1055,0.00,2.53,0.00,0.000,260,0.000,0.067,2110,3418,2553,2702,2404,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1139,-1.44,-97.2,2110,3418,2702,2403,128.4,-10.4,216,1145,0.00,2.42,0.00,0.000,1030,0.000,0.055,2111,1999,2552,2702,2403,0,0,0,0,0,0,28.83,24.40,28.83
$GC,1329,-1.44,-97.2,1280,1996,2652,2392,146.2,-9.3,253,1336,0.00,2.50,0.00,0.000,260,0.000,0.069,2110,3420,2552,2702,2403,0,0,0,0,0,0,28.83,24.36,28.83
$GC,1371,-1.44,-97.2,1248,3417,2648,2391,150.0,-10.0,260,1378,0.00,2.45,0.00,0.000,1030,0.000,0.056,2110,1992,2552,2702,2403,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1562,-1.44,-97.2,2110,1992,2702,2403,169.3,-10.4,297,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,1992,2552,2702,2403,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1671,begin apogee
$GC,1679,-0.37,0.0,2110,1992,2702,2403,180.3,-9.8,318,1767,1.08,0.00,81.28,0.773,10246,0.099,0.000,2341,1992,2161,2268,2054,0,0,0,0,0,0,24.39,28.83,23.37
$STATE,1768,end apogee,CONTROL_FINISHED_OK
$STATE,1768,begin climb
$GC,1771,1.44,97.2,2341,1992,2267,2054,183.3,0.0,334,1859,1.73,2.53,78.80,0.746,10756,0.067,0.071,2742,587,1773,1858,1689,0,0,0,0,0,0,23.99,23.83,23.34
$GC,1891,1.44,97.2,2742,588,1855,1687,175.3,9.8,355,1898,0.00,2.40,0.00,0.000,1030,0.000,0.044,2742,2017,1770,1854,1687,0,0,0,0,0,0,28.83,24.10,28.83
$GC,2083,1.44,97.2,1736,2015,1810,1674,153.6,12.0,392,2090,0.00,2.53,0.00,0.000,516,0.000,0.071,2742,585,1767,1854,1681,0,0,0,0,0,0,28.83,24.18,28.83
$GC,2143,1.44,97.2,2741,585,1854,1681,146.0,13.3,403,2149,0.00,2.38,0.00,0.000,1030,0.000,0.042,2742,2014,1767,1853,1681,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2336,1.44,97.2,2742,2014,1855,1680,124.0,11.7,440,2343,0.00,2.47,0.00,0.000,260,0.000,0.074,2742,3408,1767,1854,1680,0,0,0,0,0,0,28.83,24.22,28.83
$GC,2462,1.44,97.2,2741,3408,1853,1679,110.4,10.4,464,2469,0.00,2.45,0.00,0.000,1030,0.000,0.057,2742,1988,1766,1853,1679,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2656,1.44,97.2,2741,1988,1853,1679,89.3,11.2,501,2662,0.00,2.53,0.00,0.000,260,0.000,0.069,2741,3408,1766,1853,1679,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2721,1.44,97.2,1712,3406,1807,1671,81.9,11.1,513,2728,0.00,2.42,0.00,0.000,1030,0.000,0.054,2742,1998,1765,1853,1678,0,0,0,0,0,0,28.83,24.34,28.83
$GC,2914,1.44,97.2,1736,1996,1809,1670,59.1,10.5,550,2921,0.00,2.45,0.00,0.000,516,0.000,0.069,2742,592,1765,1853,1677,0,0,0,0,0,0,28.83,24.32,28.83
$GC,3014,1.44,97.2,2742,592,1853,1677,48.5,9.4,569,3020,0.00,2.33,0.00,0.000,1030,0.000,0.041,2742,2009,1765,1854,1677,0,0,0,0,0,0,28.83,24.40,28.83
$GC,3148,1.47,120.5,2742,2009,1853,1677,39.4,6.7,594,3173,0.00,2.55,19.00,0.652,8452,0.000,0.068,2742,3394,1680,1768,1593,0,0,0,0,0,0,28.83,24.01,23.57
$GC,3251,1.50,150.3,1728,3393,1724,1586,32.3,6.3,613,3284,0.00,2.40,25.55,0.651,9222,0.000,0.057,2742,1994,1561,1645,1478,0,0,0,0,0,0,28.83,24.30,23.49
$GC,3411,1.50,150.3,2742,1994,1643,1473,21.6,8.1,643,3417,0.00,2.45,0.00,0.000,516,0.000,0.073,2742,587,1557,1642,1473,0,0,0,0,0,0,28.83,24.24,28.83
$GC,3664,1.57,201.3,2742,587,1641,1472,4.1,5.2,692,3715,0.12,2.35,40.95,0.643,11270,0.087,0.041,2776,2013,1358,1441,1275,0,0,0,0,0,0,24.37,24.37,23.49
$STATE,3720,end climb,SURFACE_DEPTH_REACHED
$STATE,3720,begin surface coast
$FINISH,0.3,1.020003
$STATE,3783,end surface coast,CONTROL_FINISHED_OK
$STATE,3783,begin surface
$SM_CCo,3805,85.80,0.584,1,0,966,300.18
$SM_GC,1.44,10.05,0.00,85.80,0.051,0.000,0.584,453,2013,966,-9.02,0.31,300.18,0,0,0,0,1,0,24.25,28.83,23.45
$IRIDIUM_FIX,4722.92,-12241.04,190215,232345
$TT8_MAMPS,0.028462,0.028462
$HUMID,39.48
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,20.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,170.6,33.5
$24V_AH,23.3,0.846
$10V_AH,10.5,0.547
$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,21.725,57.375,245.575,85.800,0.000,26.844,40.981,198.537,4.000,0.000,33.480,1570.361,767.733,430.795,1339.939,217.272,33.232,995.731,0.000,1035.500,0.000,19.418,0.000
$DEVICE_MAMPS,154.530,354.960,773.415,583.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.031,334.262,565.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,40215,714
$CAP_FILE_SIZE,66985,0
$CFSIZE,260165632,116518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,015925,4742.887,-12225.094,12,1.9,12,18.2