version: 66.11
glider: 150
mission: 10
dive: 12
start: 2 20 115 6 20 50
data:
$ID,150
$MISSION,10
$DIVE,12
$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,-91253.984
$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,22
$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,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
$GPS1,200215,061405,4744.916,-12224.834,38,1.2,38,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-60.2
$GPS2,200215,061955,4744.960,-12224.908,12,1.2,12,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.032,-0.198
$KALMAN_X,-1674.8,159.3,393.1,260.3,-102.7
$KALMAN_Y,-4539.6,410.1,675.2,7062.2,597.3
$MHEAD_RNG_PITCHd_Wd,152.6,3665,-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,-97.2,455,1947,1025,894,0.0,0.0,0,67,0.00,0.00,-48.83,0.000,16386,0.000,0.000,455,1947,2114,2224,2004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.44,-97.2,455,1947,2224,2005,3.4,-6.7,9,101,9.05,2.55,-10.82,0.000,18948,0.166,0.080,2111,545,2552,2702,2402,0,0,0,0,0,0,24.08,24.15,24.49
$GC,231,-1.44,-97.2,2111,544,2702,2403,26.8,-15.1,39,238,0.00,2.35,0.00,0.000,1030,0.000,0.047,2111,1954,2552,2702,2403,0,0,0,0,0,0,28.83,24.28,28.83
$GC,361,-1.44,-97.2,2111,1954,2702,2404,44.5,-11.5,64,367,0.00,2.47,0.00,0.000,516,0.000,0.067,2111,545,2553,2702,2404,0,0,0,0,0,0,28.83,24.23,28.83
$GC,426,-1.44,-97.2,2111,545,2702,2403,52.7,-13.3,76,433,0.00,2.35,0.00,0.000,1030,0.000,0.040,2111,1962,2552,2702,2403,0,0,0,0,0,0,28.83,24.31,28.83
$GC,617,-1.44,-97.2,1280,1962,2651,2392,69.5,-10.3,113,623,0.00,2.42,0.00,0.000,260,0.000,0.067,2111,3346,2553,2702,2404,0,0,0,0,0,0,28.83,24.25,28.83
$GC,652,-1.44,-97.2,2111,3346,2702,2404,73.4,-11.1,119,658,0.00,2.40,0.00,0.000,1030,0.000,0.053,2111,1945,2553,2702,2404,0,0,0,0,0,0,28.83,24.31,28.83
$GC,842,-1.44,-97.2,2111,1945,2702,2404,93.0,-8.9,156,849,0.00,2.45,0.00,0.000,516,0.000,0.067,2111,537,2553,2702,2404,0,0,0,0,0,0,28.83,24.29,28.83
$GC,937,-1.44,-97.2,1280,537,2652,2393,104.1,-11.9,174,944,0.00,2.35,0.00,0.000,1030,0.000,0.044,2111,1961,2553,2702,2404,0,0,0,0,0,0,28.83,24.37,28.83
$STATE,1082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1082,begin apogee
$GC,1089,-0.37,0.0,2111,1962,2702,2404,120.0,-11.4,201,1176,1.08,0.00,81.10,0.720,10246,0.099,0.000,2341,1962,2161,2276,2046,0,0,0,0,0,0,24.32,28.83,23.37
$STATE,1177,end apogee,CONTROL_FINISHED_OK
$STATE,1177,begin climb
$GC,1181,1.44,97.2,2341,1962,2275,2045,125.1,0.0,217,1271,1.75,2.58,78.65,0.704,10756,0.070,0.068,2742,546,1773,1862,1685,0,0,0,0,0,0,23.96,23.80,23.35
$GC,1421,1.44,97.2,2742,546,1857,1680,107.9,10.2,262,1428,0.00,2.35,0.00,0.000,1030,0.000,0.041,2742,1956,1769,1858,1680,0,0,0,0,0,0,28.83,24.20,28.83
$GC,1613,1.44,97.2,2742,1956,1859,1677,89.6,8.8,299,1620,0.00,2.50,0.00,0.000,516,0.000,0.068,2742,540,1768,1859,1677,0,0,0,0,0,0,28.83,24.19,28.83
$GC,1694,1.44,97.2,2742,540,1859,1677,82.4,10.1,314,1701,0.00,2.35,0.00,0.000,1030,0.000,0.044,2742,1960,1767,1858,1676,0,0,0,0,0,0,28.83,24.28,28.83
$GC,1885,1.44,97.2,1744,1958,1814,1668,63.6,10.2,351,1892,0.00,2.50,0.00,0.000,516,0.000,0.067,2742,539,1767,1859,1675,0,0,0,0,0,0,28.83,24.23,28.83
$GC,1946,1.44,97.2,2742,539,1859,1675,57.3,10.5,362,1953,0.00,2.35,0.00,0.000,1030,0.000,0.039,2742,1960,1766,1858,1675,0,0,0,0,0,0,28.83,24.32,28.83
$GC,2138,1.44,101.5,2742,1960,1858,1675,39.8,7.8,399,2147,0.00,2.45,4.35,0.467,8452,0.000,0.070,2741,3346,1755,1848,1663,0,0,0,0,0,0,28.83,24.18,23.76
$GC,2196,1.44,101.5,1728,3344,1802,1655,34.8,9.0,409,2203,0.00,2.40,0.00,0.000,1030,0.000,0.052,2742,1945,1754,1846,1662,0,0,0,0,0,0,28.83,24.27,28.83
$GC,2328,1.55,188.0,2742,1944,1846,1662,26.7,3.2,434,2407,0.10,2.60,70.82,0.653,10756,0.098,0.068,2770,536,1411,1491,1331,0,0,0,0,0,0,24.39,23.84,23.42
$GC,2528,1.55,188.0,2770,536,1486,1327,10.1,11.2,471,2535,0.00,2.35,0.00,0.000,1030,0.000,0.045,2770,1948,1406,1486,1327,0,0,0,0,0,0,28.83,24.22,28.83
$STATE,2610,end climb,SURFACE_DEPTH_REACHED
$STATE,2610,begin surface coast
$FINISH,0.5,1.020617
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2650,96.18,0.590,1,0,965,300.18
$SM_GC,1.40,9.90,0.00,96.18,0.045,0.000,0.590,456,1949,965,-9.00,-0.03,300.18,0,0,0,0,1,0,24.26,28.83,23.41
$IRIDIUM_FIX,4726.11,-12224.09,200215,050525
$TT8_MAMPS,0.028462,0.028462
$HUMID,38.65
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,19.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.0,10.8
$24V_AH,23.4,1.223
$10V_AH,10.5,0.802
$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,21.875,43.775,234.925,96.175,0.000,24.555,37.821,164.201,3.750,0.000,14.633,1073.639,505.997,404.937,949.332,175.929,33.231,820.264,0.000,714.438,0.000,11.437,0.000
$DEVICE_MAMPS,166.005,79.560,719.865,589.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.905,239.072,409.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323092
$DATA_FILE_SIZE,26920,490
$CAP_FILE_SIZE,51751,0
$CFSIZE,260165632,116338688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,070805,4745.009,-12224.902,11,1.2,39,18.2