version: 66.11
glider: 150
mission: 10
dive: 19
start: 2 20 115 14 55 15
data:
$ID,150
$MISSION,10
$DIVE,19
$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,-91262.797
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,200215,144659,4742.988,-12224.805,8,0.9,42,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-59.8
$GPS2,200215,145413,4743.056,-12224.748,13,1.2,13,18.2
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.069,0.230
$KALMAN_X,-4135.2,152.5,-567.2,3879.4,-190.0
$KALMAN_Y,-5801.8,1125.1,-1359.1,6121.2,-25.5
$MHEAD_RNG_PITCHd_Wd,358.6,2692,-14.1,-8.000,-18.43,2768
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.22,-145.7,455,1904,1021,896,0.0,0.0,0,67,0.00,0.00,-47.95,0.000,16386,0.000,0.000,456,1902,2065,2173,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.22,-145.7,455,1902,2174,1960,3.2,-6.1,9,107,9.43,2.53,-18.52,0.000,18948,0.171,0.083,2159,492,2744,2906,2582,0,0,0,0,0,0,24.05,24.13,24.47
$GC,151,-1.22,-145.7,2159,492,2906,2584,12.9,-13.2,23,158,0.00,2.33,0.00,0.000,1030,0.000,0.038,2160,1896,2745,2906,2584,0,0,0,0,0,0,28.83,24.23,28.83
$GC,281,-1.22,-145.7,2159,1897,2906,2584,28.6,-11.4,48,286,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1897,2745,2906,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,410,-1.22,-145.7,2159,1897,2906,2584,43.9,-12.4,73,416,0.00,2.47,0.00,0.000,516,0.000,0.067,2160,488,2745,2906,2585,0,0,0,0,0,0,28.83,24.21,28.83
$GC,616,-1.22,-145.7,2159,488,2906,2584,67.9,-11.3,113,622,0.00,2.35,0.00,0.000,1030,0.000,0.038,2160,1910,2745,2906,2584,0,0,0,0,0,0,28.83,24.31,28.83
$GC,806,-1.22,-145.7,1312,1907,2864,2574,88.4,-10.0,150,813,0.00,2.42,0.00,0.000,260,0.000,0.065,2160,3300,2745,2906,2584,0,0,0,0,0,0,28.83,24.25,28.83
$GC,886,-1.22,-145.7,2159,3300,2906,2585,96.3,-10.2,165,892,0.00,2.40,0.00,0.000,1030,0.000,0.051,2160,1899,2745,2906,2584,0,0,0,0,0,0,28.83,24.30,28.83
$GC,1076,-1.22,-145.7,1312,1897,2864,2574,116.8,-11.0,202,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1899,2745,2906,2584,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-1.22,-145.7,2159,1899,2906,2585,135.3,-10.5,239,1273,0.00,2.45,0.00,0.000,260,0.000,0.065,2160,3293,2745,2906,2584,0,0,0,0,0,0,28.83,24.28,28.83
$GC,1371,-1.22,-145.7,2159,3293,2905,2584,146.0,-10.5,259,1378,0.00,2.40,0.00,0.000,1030,0.000,0.050,2160,1890,2745,2906,2584,0,0,0,0,0,0,28.83,24.34,28.83
$GC,1562,-1.22,-145.7,1312,1888,2864,2574,162.1,-9.0,296,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,1890,2745,2906,2584,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1730,begin apogee
$GC,1736,-0.37,0.0,2159,1890,2906,2585,177.5,-9.1,329,1862,0.88,0.00,119.40,0.757,10246,0.093,0.000,2348,1889,2160,2270,2050,0,0,0,0,0,0,24.34,28.83,23.30
$STATE,1863,end apogee,CONTROL_FINISHED_OK
$STATE,1866,begin climb
$GC,1868,1.22,145.7,2347,1889,2270,2050,181.4,0.0,352,1993,1.52,0.00,116.82,0.737,10502,0.067,0.000,2701,1890,1579,1646,1513,0,0,0,0,0,0,23.91,28.83,23.29
$GC,2179,1.22,145.7,2701,1889,1645,1501,157.5,9.4,411,2186,0.00,2.50,0.00,0.000,516,0.000,0.071,2701,486,1573,1645,1501,0,0,0,0,0,0,28.83,24.10,28.83
$GC,2259,1.22,145.7,2701,486,1645,1500,148.2,12.1,426,2266,0.00,2.38,0.00,0.000,1030,0.000,0.038,2701,1912,1572,1645,1500,0,0,0,0,0,0,28.83,24.19,28.83
$GC,2451,1.22,145.7,2701,1912,1645,1499,128.9,9.3,463,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1912,1571,1645,1498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2643,1.22,145.7,1688,1910,1610,1492,110.8,10.2,500,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1912,1572,1646,1498,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,1.22,145.7,2701,1912,1646,1496,92.0,8.7,537,2840,0.00,2.53,0.00,0.000,516,0.000,0.069,2701,492,1571,1646,1496,0,0,0,0,0,0,28.83,24.20,28.83
$GC,2883,1.22,145.7,2702,493,1647,1496,87.0,10.1,546,2889,0.00,2.35,0.00,0.000,1030,0.000,0.044,2701,1913,1571,1647,1496,0,0,0,0,0,0,28.83,24.29,28.83
$GC,3074,1.27,185.5,1696,1912,1611,1490,71.6,6.5,583,3116,0.00,2.47,32.45,0.669,8452,0.000,0.063,2701,3295,1421,1505,1337,0,0,0,0,0,0,28.83,23.84,23.41
$GC,3160,1.27,185.5,2701,3295,1502,1337,64.5,9.6,598,3167,0.00,2.42,0.00,0.000,1030,0.000,0.050,2702,1899,1419,1502,1336,0,0,0,0,0,0,28.83,24.13,28.83
$GC,3352,1.27,185.5,2701,1899,1502,1335,45.3,10.7,635,3358,0.00,2.47,0.00,0.000,516,0.000,0.068,2702,491,1418,1502,1334,0,0,0,0,0,0,28.83,24.20,28.83
$GC,3392,1.27,185.5,1684,491,1472,1330,41.1,10.8,642,3399,0.00,2.35,0.00,0.000,1030,0.000,0.041,2702,1912,1418,1502,1334,0,0,0,0,0,0,28.83,24.27,28.83
$GC,3524,1.27,185.5,2701,1913,1502,1333,28.5,9.7,667,3531,0.00,2.53,0.00,0.000,516,0.000,0.069,2701,484,1417,1501,1333,0,0,0,0,0,0,28.83,24.22,28.83
$GC,3588,1.27,185.5,1704,484,1473,1329,21.3,11.4,679,3595,0.00,2.35,0.00,0.000,1030,0.000,0.037,2701,1909,1417,1501,1333,0,0,0,0,0,0,28.83,24.30,28.83
$GC,3721,1.30,213.0,2701,1909,1501,1332,10.1,7.0,704,3751,0.00,2.55,23.00,0.628,8708,0.000,0.067,2702,494,1314,1400,1228,0,0,0,0,0,0,28.83,23.91,23.49
$GC,3796,1.30,213.0,2701,494,1398,1227,3.8,9.1,717,3802,0.00,2.35,0.00,0.000,1030,0.000,0.043,2702,1909,1312,1398,1227,0,0,0,0,0,0,28.83,24.18,28.83
$STATE,3818,end climb,SURFACE_DEPTH_REACHED
$STATE,3818,begin surface coast
$FINISH,0.3,1.009959
$STATE,3839,end surface coast,CONTROL_FINISHED_OK
$STATE,3839,begin surface
$SM_CCo,3860,77.78,0.581,1,0,966,300.18
$SM_GC,1.51,9.55,0.00,77.78,0.041,0.000,0.581,457,1911,966,-9.02,0.31,300.18,0,0,0,0,1,0,24.22,28.83,23.37
$IRIDIUM_FIX,4722.92,-12225.08,200215,131352
$TT8_MAMPS,0.028462,0.028462
$HUMID,38.54
$INTERNAL_PRESSURE,9.00272
$TCM_TEMP,19.90
$XPDR_PINGS,6
$24V_AH,23.3,1.860
$10V_AH,10.5,1.230
$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,21.375,48.600,291.675,77.775,0.000,24.590,42.758,237.204,1.500,0.000,15.435,1578.130,772.409,458.706,1343.409,232.724,33.194,1044.991,0.000,1047.693,0.000,0.542,0.000
$DEVICE_MAMPS,170.595,83.385,756.585,581.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FLVMG,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,494.761,326.928,548.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323172
$DATA_FILE_SIZE,40267,725
$CAP_FILE_SIZE,68118,0
$CFSIZE,260165632,115998720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200215,160205,4743.597,-12224.554,9,1.8,25,18.2