version: 66.11
glider: 150
mission: 10
dive: 15
start: 2 20 115 9 52 51
data:
$ID,150
$MISSION,10
$DIVE,15
$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,-91257.75
$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,25
$R_STBD_OVSHOOT,41
$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
$GPS1,200215,093753,4744.155,-12224.542,12,1.1,41,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.5
$GPS2,200215,095155,4744.032,-12224.677,13,1.7,13,18.2
$SPEED_LIMITS,0.114,0.201
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.168,-0.111
$KALMAN_X,-2570.9,423.0,218.8,1352.5,-551.5
$KALMAN_Y,-6082.2,2231.4,1084.4,4674.9,-1067.8
$MHEAD_RNG_PITCHd_Wd,105.2,1924,-17.8,-8.000,-21.73,1853
$D_GRID,174
$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,-97.2,455,1919,1017,897,0.0,0.0,0,72,0.00,0.00,-53.85,0.000,16386,0.000,0.000,455,1920,2209,2324,2095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.44,-97.2,455,1920,2324,2097,3.2,-4.9,10,101,9.10,2.60,-9.40,0.000,18948,0.168,0.080,2112,498,2549,2697,2402,0,0,0,0,0,0,24.06,24.14,24.47
$GC,251,-1.44,-97.2,2111,497,2698,2404,29.0,-17.6,43,258,0.00,2.30,0.00,0.000,1030,0.000,0.044,2112,1898,2550,2697,2404,0,0,1,0,0,0,28.83,24.28,28.83
$GC,381,-1.44,-97.2,2111,1899,2697,2404,45.9,-13.4,68,387,0.00,2.47,0.00,0.000,516,0.000,0.067,2112,490,2550,2697,2404,0,0,0,0,0,0,28.83,24.22,28.83
$GC,465,-1.44,-97.2,1280,489,2646,2393,57.7,-14.3,84,472,0.00,2.35,0.00,0.000,1030,0.000,0.038,2112,1913,2551,2698,2405,0,0,0,0,0,0,28.83,24.31,28.83
$GC,656,-1.44,-97.2,2112,1913,2697,2404,78.9,-12.5,121,663,0.00,2.42,0.00,0.000,260,0.000,0.065,2111,3302,2551,2698,2404,0,0,0,0,0,0,28.83,24.25,28.83
$GC,893,-1.44,-97.2,2111,3302,2698,2404,106.6,-11.2,167,899,0.00,2.40,0.00,0.000,1030,0.000,0.052,2112,1900,2551,2698,2405,0,0,0,0,0,0,28.83,24.32,28.83
$GC,1084,-1.44,-97.2,2112,1900,2698,2405,126.6,-9.1,204,1091,0.00,2.47,0.00,0.000,516,0.000,0.070,2112,492,2551,2697,2405,0,0,0,0,0,0,28.83,24.27,28.83
$GC,1246,-1.44,-97.2,2111,492,2698,2405,143.7,-11.0,235,1253,0.00,2.33,0.00,0.000,1030,0.000,0.037,2112,1905,2551,2698,2405,0,0,0,0,0,0,28.83,24.38,28.83
$GC,1438,-1.44,-97.2,2111,1905,2698,2404,162.5,-10.3,272,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,1905,2551,2698,2405,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1544,begin apogee
$GC,1550,-0.37,0.0,2112,1905,2697,2405,174.6,-11.1,293,1639,1.10,0.00,81.32,0.757,10246,0.098,0.000,2347,1905,2160,2277,2044,0,0,0,0,0,0,24.34,28.83,23.32
$STATE,1640,end apogee,CONTROL_FINISHED_OK
$STATE,1640,begin climb
$GC,1644,1.44,97.2,2347,1905,2276,2044,177.4,0.0,309,1731,1.73,0.00,79.12,0.737,10758,0.066,0.000,2747,1906,1772,1861,1684,0,0,0,0,0,0,23.95,28.83,23.31
$GC,1916,1.44,97.2,1728,1905,1814,1669,153.6,11.5,361,1923,0.00,2.53,0.00,0.000,516,0.000,0.071,2747,490,1768,1860,1676,0,0,0,0,0,0,28.83,24.13,28.83
$GC,1961,1.44,97.2,2747,489,1859,1676,147.8,13.0,369,1967,0.00,2.35,0.00,0.000,1030,0.000,0.044,2747,1914,1767,1859,1675,0,0,1,0,0,0,28.83,24.21,28.83
$GC,2152,1.44,97.2,2747,1914,1859,1674,125.5,10.6,406,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1914,1766,1859,1674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,1.44,97.2,2747,1914,1859,1673,106.1,11.0,443,2350,0.00,2.53,0.00,0.000,516,0.000,0.070,2747,495,1767,1860,1674,0,0,0,0,0,0,28.83,24.21,28.83
$GC,2444,1.44,97.2,2747,495,1859,1673,93.7,12.4,462,2451,0.00,2.35,0.00,0.000,1030,0.000,0.039,2747,1918,1766,1859,1673,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2636,1.44,97.2,2747,1918,1859,1672,73.0,10.3,499,2643,0.00,2.42,0.00,0.000,260,0.000,0.065,2747,3295,1765,1859,1671,0,0,0,0,0,0,28.83,24.24,28.83
$GC,2682,1.44,97.2,2747,3295,1859,1672,68.9,9.1,507,2689,0.00,2.40,0.00,0.000,1030,0.000,0.050,2748,1889,1765,1859,1671,0,0,0,0,0,0,28.83,24.30,28.83
$GC,2875,1.44,97.2,2747,1889,1859,1671,53.5,9.9,544,2881,0.00,2.47,0.00,0.000,260,0.000,0.063,2747,3295,1765,1859,1671,0,0,0,0,0,0,28.83,24.26,28.83
$GC,2976,1.44,97.2,2747,3295,1858,1671,43.7,9.8,563,2983,0.00,2.38,0.00,0.000,1030,0.000,0.050,2746,1900,1765,1859,1671,0,0,0,0,0,0,28.83,24.32,28.83
$GC,3107,1.44,97.2,1704,1898,1812,1664,32.3,8.8,588,3114,0.00,2.47,0.00,0.000,516,0.000,0.072,2747,492,1764,1858,1671,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3270,1.45,105.1,2747,492,1859,1671,16.6,7.6,619,3283,0.00,2.28,6.60,0.549,9222,0.000,0.038,2747,1905,1742,1836,1648,0,0,2,0,0,0,28.83,24.39,23.75
$GC,3410,1.50,145.8,2747,1905,1836,1646,7.8,5.7,645,3450,0.00,2.62,34.75,0.641,8708,0.000,0.065,2747,485,1579,1668,1491,0,0,0,0,0,0,28.83,23.89,23.46
$STATE,3533,end climb,SURFACE_DEPTH_REACHED
$STATE,3533,begin surface coast
$FINISH,0.5,1.020445
$STATE,3594,end surface coast,CONTROL_FINISHED_OK
$STATE,3594,begin surface
$SM_CCo,3618,130.20,0.604,1,0,966,300.18
$SM_GC,1.67,10.00,2.40,130.20,0.056,0.037,0.604,457,1907,966,-9.03,-1.16,300.18,0,0,0,0,1,0,24.26,24.29,23.39
$IRIDIUM_FIX,4722.92,-12225.08,200215,090946
$TT8_MAMPS,0.027713,0.027713
$HUMID,39.05
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,19.90
$XPDR_PINGS,4
$24V_AH,23.3,1.496
$10V_AH,10.4,0.985
$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,21.925,48.550,201.800,130.200,0.000,48.373,80.759,523.892,1.000,0.000,16.037,1510.782,787.965,430.614,1582.052,286.543,33.218,964.319,0.000,988.589,0.000,0.543,0.000
$DEVICE_MAMPS,168.300,80.325,757.350,604.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,464.266,316.658,533.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323204
$DATA_FILE_SIZE,36945,680
$CAP_FILE_SIZE,66899,0
$CFSIZE,260165632,116178944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,1,0,0
$GPS,200215,105619,4743.262,-12224.674,10,1.0,10,18.2