version: 66.11
glider: 144
mission: 20
dive: 2
start: 10 9 113 20 5 16
data:
$ID,144
$MISSION,20
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,590
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56371.863
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26.946545
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2294
$C_ROLL_CLIMB,2294
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2930
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.408302
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,091013,200030,4743.500,-12224.015,3,1.1,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-62.4
$GPS2,091013,200419,4743.519,-12223.986,4,1.1,4,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,0.259
$KALMAN_X,66.6,66.6,66.6,122.1,140.8
$KALMAN_Y,121.5,121.5,121.5,348.2,256.9
$MHEAD_RNG_PITCHd_Wd,345.9,1841,-17.5,-10.000,-21.09,2221
$D_GRID,150
$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,15,-0.83,-146.6,115,2311,592,442,0.0,0.0,0,107,0.00,0.00,-89.80,0.000,16386,0.000,0.000,115,2312,3189,3132,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.83,-146.6,115,2312,3133,3246,2.1,-4.7,16,141,13.60,2.42,-8.60,0.000,18948,0.396,0.085,3124,863,3530,3435,3626,0,0,0,0,0,0,14.52,14.75,14.96
$GC,232,-0.83,-146.6,2048,862,3420,3624,12.5,-9.1,39,239,0.00,2.38,0.00,0.000,1030,0.000,0.048,3122,2316,3533,3440,3626,0,0,0,0,0,0,28.83,14.78,28.83
$GC,300,-0.83,-146.6,3122,2316,3440,3627,19.6,-10.2,52,307,0.00,2.35,0.00,0.000,260,0.000,0.066,3122,3723,3533,3440,3626,0,0,0,0,0,0,28.83,14.76,28.83
$GC,433,-0.83,-146.6,3122,3724,3440,3626,35.1,-11.8,66,437,0.00,2.35,0.00,0.000,1030,0.000,0.044,3122,2266,3533,3440,3626,0,0,0,0,0,0,28.83,14.81,28.83
$GC,558,-0.83,-146.6,3122,2264,3441,3626,47.6,-11.3,78,559,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2264,3533,3440,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,678,-0.83,-146.6,3122,2265,3441,3626,60.2,-10.8,90,679,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2265,3533,3440,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.83,-146.6,3122,2265,3440,3626,73.1,-10.7,102,809,0.00,2.42,0.00,0.000,260,0.000,0.067,3121,3717,3533,3440,3626,0,0,0,0,0,0,28.83,14.83,28.83
$GC,830,-0.83,-146.6,3121,3716,3440,3626,76.5,-10.6,105,834,0.00,2.33,0.00,0.000,1030,0.000,0.043,3122,2270,3533,3440,3626,0,0,0,0,0,0,28.83,14.85,28.83
$GC,955,-0.83,-146.6,3121,2270,3440,3626,90.0,-10.6,117,956,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2270,3533,3440,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1075,-0.83,-146.6,3121,2270,3441,3626,102.7,-10.7,129,1080,0.00,2.42,0.00,0.000,260,0.000,0.067,3121,3722,3533,3440,3626,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1181,-0.83,-146.6,3122,3722,3441,3625,113.9,-10.6,139,1185,0.00,2.35,0.00,0.000,1030,0.000,0.044,3121,2266,3532,3440,3625,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1306,-0.83,-146.6,3121,2266,3440,3625,126.7,-8.6,151,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2266,3533,3441,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1427,-0.83,-146.6,3121,2266,3440,3625,135.6,-7.8,163,1436,0.00,2.42,0.00,0.000,260,0.000,0.067,3122,3715,3533,3440,3626,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1478,-0.83,-146.6,3122,3715,3440,3625,139.8,-8.3,168,1482,0.00,2.35,0.00,0.000,1030,0.000,0.044,3122,2258,3532,3440,3625,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,1601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1601,begin apogee
$GC,1605,-0.19,0.0,3121,2316,3440,3625,150.8,-8.8,180,1723,0.70,0.00,111.82,1.323,10246,0.216,0.000,3329,2316,2930,2890,2970,0,0,0,0,0,0,14.69,28.83,13.59
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1726,0.83,146.6,3329,2316,2888,2970,152.5,0.0,192,1852,1.05,0.00,117.30,1.281,10246,0.138,0.000,3662,2316,2330,2320,2340,0,0,0,0,0,0,14.22,28.83,13.47
$GC,1973,0.83,146.6,3662,2316,2311,2338,126.6,14.4,217,1982,0.00,2.50,0.00,0.000,516,0.000,0.068,3670,867,2324,2311,2338,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2006,0.83,146.6,3671,866,2310,2338,121.7,15.7,220,2014,0.00,2.40,0.00,0.000,1030,0.000,0.046,3671,2314,2323,2310,2337,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2133,0.83,146.6,3671,2314,2308,2337,100.0,17.0,233,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,3671,2314,2322,2308,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2253,0.83,146.6,3671,2314,2306,2338,81.3,14.6,245,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3671,2314,2321,2306,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,0.83,146.6,3671,2314,2305,2337,64.7,13.8,257,2384,0.00,2.33,0.00,0.000,260,0.000,0.063,3671,3716,2321,2306,2336,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2509,0.83,146.6,3671,3716,2306,2335,46.3,15.4,270,2516,0.00,2.38,0.00,0.000,1030,0.000,0.049,3680,2277,2320,2305,2335,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2636,0.83,146.6,3679,2276,2305,2334,29.4,11.7,283,2640,0.00,2.35,0.00,0.000,516,0.000,0.070,3681,870,2320,2305,2335,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2691,0.83,146.6,3682,870,2305,2334,22.1,13.2,288,2696,0.00,2.38,0.00,0.000,1030,0.000,0.047,3681,2317,2319,2305,2334,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2818,0.83,146.6,3682,2317,2304,2334,5.5,12.1,310,2825,0.00,2.33,0.00,0.000,260,0.000,0.063,3682,3726,2319,2304,2334,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2836,end climb,SURFACE_DEPTH_REACHED
$STATE,2836,begin surface coast
$FINISH,0.1,1.022223
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2876,362.73,1.108,8,0,524,590.19
$SM_GC,0.95,10.20,2.42,362.73,0.087,0.047,1.108,120,2281,524,-10.20,0.76,590.19,0,0,0,0,8,0,14.77,14.81,13.21
$IRIDIUM_FIX,4726.11,-12236.62,091013,191905
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.63
$INTERNAL_PRESSURE,8.59673
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.5,18.1
$24V_AH,13.2,1.057
$10V_AH,13.4,0.411
$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,25.550,42.950,229.125,362.725,0.000,0.000,0.000,0.000,0.250,0.000,5.893,749.210,1240.871,741.843,570.459,32.518,30.072,1100.597,0.000,570.958,0.000,2.644,0.000
$DEVICE_MAMPS,396.270,153.000,1323.450,1108.485,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.203,385.263,322.322,230.968,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345776
$DATA_FILE_SIZE,16894,317
$CAP_FILE_SIZE,78578,0
$CFSIZE,260165632,218923008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,091013,210024,4744.011,-12224.003,3,1.0,3,16.3