version: 66.11
glider: 120
mission: 14
dive: 4
start: 2 27 113 22 56 6
data:
$ID,120
$MISSION,14
$DIVE,4
$N_DIVES,0
$D_SURF,1
$D_FLARE,2
$D_TGT,144
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,0
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39128.91
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,116
$PITCH_MAX,4069
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1922
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2879
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-4.3698635
$PRESSURE_SLOPE,0.0001164831
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,223736,4744.137,-12223.474,12,1.4,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.4
$GPS2,270213,225505,4744.021,-12223.414,16,1.3,32,18.2
$SPEED_LIMITS,0.072,0.211
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.010,0.211
$KALMAN_X,334.3,271.6,141.8,760.0,-119.3
$KALMAN_Y,822.3,707.5,414.7,-739.0,-657.9
$MHEAD_RNG_PITCHd_Wd,316.5,980,-10.6,-6.000,-16.38,3298
$D_GRID,155
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.59,-135.0,129,1927,371,411,0.0,0.0,0,125,0.00,0.00,-101.03,0.000,16386,0.000,0.000,129,1927,3000,3094,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.60,-146.6,129,1928,3094,2907,2.5,-3.7,14,162,10.45,2.65,-11.65,0.000,19204,0.403,0.150,2397,510,3478,3607,3349,0,0,0,0,0,0,14.06,14.22,14.61
$GC,397,-0.60,-146.6,2397,510,3607,3361,34.3,-12.0,50,406,0.00,2.55,0.00,0.000,1030,0.000,0.097,2389,1920,3484,3607,3361,0,0,0,0,0,0,28.83,14.23,28.83
$GC,524,-0.60,-146.6,2389,1920,3606,3361,48.6,-11.1,63,530,0.00,2.67,0.00,0.000,516,0.000,0.135,2389,507,3484,3607,3361,0,0,0,0,0,0,28.83,14.17,28.83
$GC,770,-0.60,-146.6,2388,507,3605,3363,77.7,-12.5,86,776,0.00,2.55,0.00,0.000,1030,0.000,0.096,2378,1931,3485,3607,3363,0,0,0,0,0,0,28.83,14.33,28.83
$GC,905,-0.60,-146.6,2378,1930,3606,3363,93.4,-11.5,99,911,0.00,2.70,0.00,0.000,516,0.000,0.136,2379,503,3484,3607,3362,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1116,-0.60,-146.6,2378,503,3606,3362,119.6,-13.3,118,1122,0.15,2.58,0.00,0.000,3078,0.242,0.099,2405,1926,3484,3606,3362,0,0,0,0,0,0,14.21,14.33,28.83
$GC,1251,-0.60,-146.6,2405,1927,3607,3363,133.5,-9.5,131,1257,0.00,2.58,0.00,0.000,260,0.000,0.127,2397,3331,3485,3607,3363,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1294,-0.60,-146.6,2396,3331,3606,3362,137.3,-10.0,134,1302,0.00,2.58,0.00,0.000,1030,0.000,0.112,2396,1919,3484,3607,3362,0,0,0,0,0,0,28.83,14.28,28.83
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1374,-0.20,0.0,2396,1919,3606,3363,144.8,-9.1,142,1500,0.45,0.00,118.68,1.430,10246,0.194,0.000,2527,1919,2877,2939,2815,0,0,0,0,0,0,14.08,28.83,13.28
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1506,0.60,146.6,2527,1919,2939,2815,149.2,0.0,152,1641,0.82,2.85,125.12,1.369,10756,0.150,0.146,2796,512,2280,2343,2217,0,0,0,0,0,0,13.96,13.77,13.21
$GC,1707,0.60,146.6,2796,511,2342,2214,141.3,7.4,169,1713,0.00,2.60,0.00,0.000,1030,0.000,0.100,2796,1918,2277,2342,2213,0,0,0,0,0,0,28.83,14.02,28.83
$GC,1842,0.60,146.6,2796,1918,2341,2212,128.9,8.3,182,1848,0.00,2.62,0.00,0.000,260,0.000,0.118,2796,3341,2275,2341,2209,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1972,0.60,146.6,2796,3341,2337,2209,117.9,8.7,194,1978,0.00,2.65,0.00,0.000,1030,0.000,0.116,2805,1914,2273,2337,2209,0,0,0,0,0,0,28.83,14.15,28.83
$GC,2107,0.60,146.6,2805,1915,2337,2209,107.0,7.9,207,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1915,2273,2338,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2230,0.60,146.6,2805,1915,2337,2209,97.9,7.5,219,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1915,2273,2337,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,0.60,146.6,2805,1915,2337,2209,88.1,6.8,232,2363,0.00,2.62,0.00,0.000,260,0.000,0.123,2805,3339,2272,2336,2209,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2424,0.60,146.6,2805,3339,2337,2208,83.1,7.5,238,2430,0.00,2.60,0.00,0.000,1030,0.000,0.118,2815,1924,2272,2337,2208,0,0,0,0,0,0,28.83,14.30,28.83
$GC,2558,0.60,146.6,2817,1923,2337,2208,73.4,7.1,251,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1924,2273,2337,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2680,0.60,146.6,2815,1924,2337,2208,65.2,6.5,263,2686,0.00,2.70,0.00,0.000,516,0.000,0.149,2823,509,2273,2337,2209,0,0,0,0,0,0,28.83,14.12,28.83
$GC,2720,0.60,146.6,2823,509,2337,2209,62.7,6.7,266,2728,0.00,2.55,0.00,0.000,1030,0.000,0.103,2826,1924,2273,2337,2209,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2847,0.60,146.6,2823,1924,2337,2209,53.6,6.9,279,2853,0.00,2.60,0.00,0.000,260,0.000,0.127,2823,3335,2273,2337,2209,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2934,0.60,146.6,1792,3333,2277,2197,46.2,8.8,287,2941,0.15,2.62,0.00,0.000,5126,0.295,0.124,2801,1912,2272,2337,2208,0,0,0,0,0,0,14.17,14.30,28.83
$GC,3070,0.60,146.6,2801,1912,2337,2208,36.1,7.5,300,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1912,2272,2337,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3193,0.60,146.6,2801,1912,2337,2208,26.7,7.9,312,3199,0.00,2.67,0.00,0.000,516,0.000,0.148,2809,510,2272,2336,2208,0,0,0,0,0,0,28.83,14.17,28.83
$GC,3239,0.60,146.6,2809,509,2337,2208,22.5,8.3,316,3245,0.00,2.55,0.00,0.000,1030,0.000,0.102,2809,1922,2274,2340,2209,0,0,0,0,0,0,28.83,14.32,28.83
$GC,3375,0.60,146.6,2809,1922,2337,2208,12.3,7.8,338,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1921,2272,2337,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,0.60,146.6,1736,1919,2275,2197,6.4,8.3,351,3457,0.00,2.72,0.00,0.000,516,0.000,0.148,2818,507,2273,2337,2209,0,0,0,0,0,0,28.83,14.23,28.83
$STATE,3526,end climb,SURFACE_DEPTH_REACHED
$STATE,3526,begin surface coast
$FINISH,0.7,1.022355
$STATE,3540,end surface coast,CONTROL_FINISHED_OK
$STATE,3540,begin surface
$SM_CCo,3564,134.02,1.245,0,0,1656,300.00
$SM_GC,1.53,8.48,2.62,134.02,0.148,0.103,1.245,131,1922,1656,-7.72,-0.51,300.00,1,0,0,0,0,0,13.60,14.32,13.41
$IRIDIUM_FIX,4707.04,-12224.61,270213,222203
$TT8_MAMPS,0.023968,0.023968
$HUMID,36.76
$INTERNAL_PRESSURE,7.86407
$TCM_TEMP,18.60
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,18.8
$SC_FREEKB,4018144
$TM_FREEKB,7879808
$24V_AH,13.2,3.740
$10V_AH,13.3,0.000
$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,20.500,57.850,243.800,134.025,0.000,0.000,0.000,0.000,11.750,0.000,33.241,1285.727,987.892,500.089,828.218,197.671,32.229,949.473,0.000,759.990,0.000,35.680,0.000
$DEVICE_MAMPS,403.155,149.940,1429.785,1244.655,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3519.000,3519.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.272,12.788,0.000,0.000
$MEM,322696
$DATA_FILE_SIZE,13453,367
$CAP_FILE_SIZE,218456,0
$CFSIZE,260165632,256299008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$GPS,270213,235843,4743.817,-12223.706,14,1.4,14,18.2