version: 66.11
glider: 144
mission: 20
dive: 14
start: 10 10 113 6 36 15
data:
$ID,144
$MISSION,20
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,100
$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,0
$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,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56587.125
$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,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.4
$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,2300
$C_ROLL_CLIMB,2400
$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,90
$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
$GPS1,101013,063103,4744.725,-12224.498,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-73.7
$GPS2,101013,063515,4744.774,-12224.489,5,1.2,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,-0.232
$KALMAN_X,179.3,57.5,16.9,-1539.8,141.0
$KALMAN_Y,689.8,16.9,-166.7,1562.3,734.3
$MHEAD_RNG_PITCHd_Wd,171.4,508,-13.1,-7.500,-17.78,2936
$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,14,-0.72,-146.6,115,2341,1774,1624,0.0,0.0,0,58,0.00,0.00,-41.25,0.000,16386,0.000,0.000,115,2341,2959,2926,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,60,-0.72,-146.6,115,2341,2927,2992,2.0,-4.3,7,97,14.73,2.35,-13.55,0.000,18692,0.431,0.091,3109,3721,3531,3459,3604,0,0,0,0,0,0,14.37,14.57,14.76
$GC,119,-0.72,-146.6,3109,3721,3462,3604,7.9,-9.8,17,125,0.00,2.38,0.00,0.000,1030,0.000,0.043,3109,2273,3533,3462,3604,0,0,0,0,0,0,28.83,14.61,28.83
$GC,187,-0.72,-146.6,3109,2273,3464,3604,15.8,-12.1,30,194,0.00,2.33,0.00,0.000,516,0.000,0.064,3109,879,3534,3464,3604,0,0,0,0,0,0,28.83,14.62,28.83
$GC,323,-0.72,-146.6,3109,878,3465,3604,31.8,-11.7,47,331,0.00,2.42,0.00,0.000,1030,0.000,0.047,3109,2315,3534,3465,3604,0,0,0,0,0,0,28.83,14.66,28.83
$GC,451,-0.72,-146.6,3109,2315,3465,3604,46.6,-10.8,60,460,0.00,2.35,0.00,0.000,260,0.000,0.067,3109,3719,3534,3465,3604,0,0,0,0,0,0,28.83,14.71,28.83
$GC,545,-0.72,-146.6,3109,3719,3466,3604,56.3,-10.9,69,552,0.00,2.35,0.00,0.000,1030,0.000,0.043,3109,2271,3534,3465,3604,0,0,0,0,0,0,28.83,14.75,28.83
$GC,672,-0.72,-146.6,3109,2270,3466,3604,70.1,-10.6,82,673,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2270,3534,3465,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-0.72,-146.6,3109,2270,3466,3605,83.6,-11.8,94,793,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2270,3535,3466,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,912,-0.72,-146.6,3109,2270,3466,3605,97.3,-11.1,106,913,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2270,3535,3466,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.72,-146.6,3109,2270,3466,3604,110.5,-11.3,118,1043,0.00,2.42,0.00,0.000,260,0.000,0.066,3109,3721,3535,3466,3604,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1098,-0.72,-146.6,3109,3721,3466,3604,117.6,-11.4,124,1105,0.00,2.35,0.00,0.000,1030,0.000,0.043,3109,2268,3535,3466,3604,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1225,-0.72,-146.6,3109,2268,3466,3604,131.0,-10.2,137,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2269,3535,3466,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.72,-146.6,3108,2269,3465,3605,143.1,-10.2,149,1354,0.00,2.42,0.00,0.000,260,0.000,0.067,3109,3723,3535,3466,3605,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1429,-0.72,-146.6,3109,3723,3467,3604,151.8,-10.3,157,1434,0.00,2.33,0.00,0.000,1030,0.000,0.044,3109,2273,3535,3466,3604,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1554,-0.72,-146.6,3109,2272,3466,3604,164.2,-10.1,169,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2272,3535,3466,3604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-0.72,-146.6,3109,2272,3466,3604,175.9,-9.1,181,1684,0.00,2.42,0.00,0.000,260,0.000,0.067,3109,3724,3535,3466,3604,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,1724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1725,begin apogee
$GC,1730,-0.20,0.0,3109,2378,3466,3605,181.0,-10.1,186,1850,0.60,0.00,113.72,1.374,10246,0.238,0.000,3278,2375,2930,2905,2955,0,0,0,0,0,0,14.59,28.83,13.59
$STATE,1851,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1852,0.72,146.6,3278,2376,2903,2955,186.1,0.0,198,1978,1.00,2.45,115.90,1.336,10756,0.182,0.067,3573,980,2330,2334,2326,0,0,0,0,0,0,14.14,14.09,13.44
$GC,2010,0.72,146.6,3573,980,2331,2324,176.5,9.3,214,2014,0.00,2.45,0.00,0.000,1030,0.000,0.046,3573,2422,2327,2330,2324,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2135,0.72,146.6,3573,2421,2325,2323,162.3,11.0,226,2144,0.00,2.38,0.00,0.000,260,0.000,0.065,3573,3820,2324,2325,2324,0,0,0,0,0,0,28.83,14.48,28.83
$GC,2178,0.72,146.6,2768,3819,2261,2313,157.1,12.7,230,2186,0.00,2.42,0.00,0.000,1030,0.000,0.044,3573,2387,2323,2324,2323,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2306,0.72,146.6,3574,2387,2323,2323,142.4,10.6,243,2310,0.00,2.38,0.00,0.000,516,0.000,0.068,3573,980,2323,2323,2323,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2352,0.72,146.6,3574,980,2323,2323,137.8,10.0,247,2356,0.00,2.38,0.00,0.000,1030,0.000,0.046,3573,2419,2323,2323,2323,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2477,0.72,146.6,3573,2420,2322,2323,126.2,9.6,259,2482,0.00,2.35,0.00,0.000,260,0.000,0.065,3573,3825,2322,2322,2323,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2523,0.72,146.6,3573,3825,2321,2323,120.7,11.7,263,2527,0.00,2.38,0.00,0.000,1030,0.000,0.045,3574,2379,2322,2321,2323,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2649,0.72,146.6,3574,2379,2321,2323,108.7,9.0,275,2658,0.00,2.35,0.00,0.000,516,0.000,0.069,3573,977,2322,2321,2323,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2704,0.72,146.6,3573,977,2321,2323,103.6,9.6,280,2711,0.00,2.38,0.00,0.000,1030,0.000,0.046,3574,2428,2322,2321,2323,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2830,0.72,146.6,3573,2428,2321,2323,90.4,10.3,293,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2428,2322,2321,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,0.72,146.6,3573,2428,2321,2323,77.3,10.6,305,2954,0.00,2.45,0.00,0.000,516,0.000,0.067,3573,975,2322,2321,2323,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3036,0.72,146.6,3573,975,2321,2323,69.1,9.1,313,3045,0.00,2.35,0.00,0.000,1030,0.000,0.046,3573,2421,2322,2321,2323,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3166,0.72,146.6,3573,2421,2320,2323,58.8,7.7,326,3170,0.00,2.33,0.00,0.000,260,0.000,0.065,3573,3825,2321,2320,2323,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3231,0.72,146.6,3573,3825,2320,2323,52.4,9.8,332,3236,0.00,2.35,0.00,0.000,1030,0.000,0.046,3573,2374,2321,2320,2323,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3357,0.72,146.6,3573,2374,2320,2323,41.3,8.8,344,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2374,2321,2320,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3477,0.72,146.6,3573,2374,2320,2323,30.7,10.0,356,3481,0.00,2.33,0.00,0.000,516,0.000,0.068,3573,975,2321,2320,2323,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3522,0.72,146.6,3573,976,2320,2322,26.5,9.2,360,3526,0.00,2.35,0.00,0.000,1030,0.000,0.046,3574,2426,2321,2320,2323,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3648,0.73,156.8,3574,2426,2319,2323,16.3,7.1,376,3661,0.00,2.50,8.25,1.050,8708,0.000,0.067,3573,978,2289,2291,2288,0,0,0,0,0,0,28.83,14.78,14.16
$GC,3702,0.73,156.8,2688,978,2219,2275,12.1,8.0,386,3709,0.00,2.35,0.00,0.000,1030,0.000,0.046,3573,2423,2288,2290,2287,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3771,0.73,156.8,3573,2423,2289,2287,6.5,8.3,399,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2423,2288,2289,2287,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3817,end climb,SURFACE_DEPTH_REACHED
$STATE,3817,begin surface coast
$FINISH,-0.1,1.021908
$STATE,3854,end surface coast,CONTROL_FINISHED_OK
$STATE,3854,begin surface
$SM_CCo,3870,110.28,1.195,0,0,1707,300.00
$SM_GC,0.98,9.90,0.25,110.28,0.085,0.082,1.195,112,2250,1707,-10.07,0.42,300.00,0,0,0,0,0,0,14.78,14.82,13.71
$IRIDIUM_FIX,4726.11,-12225.08,101013,050524
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.60
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.3,18.9
$ALTIM_BOTTOM_PING,170.3,30.3
$24V_AH,13.4,2.972
$10V_AH,13.5,0.843
$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,26.225,71.625,237.875,110.275,0.000,30.278,45.461,107.612,5.750,0.000,6.755,1026.982,1726.104,439.752,997.985,58.701,33.218,928.383,0.000,777.482,0.000,37.905,0.000
$DEVICE_MAMPS,430.695,116.280,1373.940,1194.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.063,510.622,450.483,303.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345716
$DATA_FILE_SIZE,23579,415
$CAP_FILE_SIZE,92860,0
$CFSIZE,260165632,218570752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,074307,4744.900,-12224.846,5,0.8,5,16.3