version: 66.11
glider: 144
mission: 20
dive: 15
start: 10 10 113 7 50 42
data:
$ID,144
$MISSION,20
$DIVE,15
$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,-56588.652
$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
$GPS1,101013,074307,4744.900,-12224.846,5,0.8,5,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-73.6
$GPS2,101013,074942,4744.978,-12224.874,6,1.5,6,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.002,-0.234
$KALMAN_X,-340.0,104.8,145.9,-1671.6,-269.2
$KALMAN_Y,2393.0,-22.9,-308.0,419.0,1618.2
$MHEAD_RNG_PITCHd_Wd,163.3,1000,-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,15,-0.72,-146.6,111,2338,1772,1624,0.0,0.0,0,63,0.00,0.00,-46.55,0.000,16386,0.000,0.000,112,2338,3117,3082,3153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.72,-146.6,111,2338,3085,3153,2.4,-6.1,8,97,14.55,2.33,-9.00,0.000,18692,0.426,0.086,3109,3719,3531,3462,3600,0,0,0,0,0,0,14.39,14.60,14.79
$GC,124,-0.72,-146.6,3109,3719,3466,3601,10.0,-11.7,18,130,0.00,2.38,0.00,0.000,1030,0.000,0.044,3109,2263,3533,3466,3601,0,0,0,0,0,0,28.83,14.64,28.83
$GC,192,-0.72,-146.6,2048,2259,3451,3598,17.6,-10.7,31,198,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2262,3534,3468,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,259,-0.72,-146.6,3109,2263,3468,3601,25.3,-11.7,40,260,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2262,3534,3468,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,379,-0.72,-146.6,3109,2262,3469,3601,39.9,-11.4,52,380,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2262,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.72,-146.6,3109,2262,3469,3601,53.2,-10.5,64,503,0.00,2.45,0.00,0.000,260,0.000,0.066,3109,3722,3535,3469,3601,0,0,0,0,0,0,28.83,14.73,28.83
$GC,575,-0.72,-146.6,3109,3722,3469,3601,61.5,-10.7,71,579,0.00,2.35,0.00,0.000,1030,0.000,0.044,3109,2265,3535,3469,3601,0,0,0,0,0,0,28.83,14.77,28.83
$GC,700,-0.72,-146.6,3109,2265,3469,3601,74.2,-10.2,83,701,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2265,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,820,-0.72,-146.6,3109,2265,3470,3600,86.4,-10.2,95,821,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2265,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.72,-146.6,3109,2264,3468,3601,99.6,-11.3,107,944,0.00,2.30,0.00,0.000,516,0.000,0.064,3109,868,3535,3469,3601,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1017,-0.72,-146.6,3109,869,3469,3601,107.7,-10.2,114,1021,0.00,2.38,0.00,0.000,1030,0.000,0.048,3109,2318,3535,3469,3601,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1142,-0.72,-146.6,3109,2318,3469,3601,119.9,-9.6,126,1146,0.00,2.33,0.00,0.000,260,0.000,0.067,3109,3723,3535,3469,3601,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1219,-0.72,-146.6,3109,3723,3470,3601,128.9,-11.1,133,1224,0.00,2.35,0.00,0.000,1030,0.000,0.041,3109,2268,3535,3470,3601,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1344,-0.72,-146.6,3109,2267,3470,3601,143.3,-11.0,145,1348,0.00,2.42,0.00,0.000,260,0.000,0.065,3109,3724,3535,3470,3601,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1422,-0.72,-146.6,3109,3723,3470,3601,152.5,-11.9,152,1426,0.00,2.33,0.00,0.000,1030,0.000,0.038,3109,2260,3535,3470,3601,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1547,-0.72,-146.6,3109,2258,3470,3601,163.8,-8.4,164,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2258,3535,3470,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1667,-0.72,-146.6,3109,2258,3470,3601,173.7,-7.6,176,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2258,3535,3470,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1758,begin apogee
$GC,1762,-0.20,0.0,3109,2439,3470,3601,180.5,-7.3,185,1889,0.60,0.05,117.15,1.365,10246,0.239,0.078,3278,2364,2928,2904,2953,0,0,0,0,0,0,14.63,14.12,13.35
$STATE,1890,end apogee,CONTROL_FINISHED_OK
$STATE,1890,begin climb
$GC,1891,0.72,146.6,3278,2364,2903,2953,181.7,0.0,198,2019,1.00,2.50,118.80,1.317,10756,0.184,0.065,3577,980,2331,2335,2327,0,0,0,0,0,0,14.16,14.04,12.83
$GC,2033,0.72,146.6,2768,979,2268,2314,169.2,11.7,212,2041,0.00,2.50,0.00,0.000,1030,0.000,0.044,3577,2416,2327,2331,2324,0,0,0,0,0,0,28.83,14.10,28.83
$GC,2161,0.72,146.6,3577,2416,2325,2324,151.5,14.6,225,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2416,2324,2325,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2281,0.72,146.6,3577,2416,2323,2324,136.3,11.8,237,2285,0.00,2.47,0.00,0.000,516,0.000,0.068,3585,977,2323,2323,2324,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2310,0.72,146.6,3585,977,2323,2324,133.2,12.0,239,2317,0.00,2.45,0.00,0.000,1030,0.000,0.046,3585,2420,2323,2323,2324,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2437,0.72,146.6,3585,2420,2322,2324,120.1,9.7,252,2441,0.00,2.35,0.00,0.000,260,0.000,0.064,3585,3821,2323,2322,2324,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2565,0.72,146.6,2784,3820,2258,2313,102.6,13.6,264,2573,0.00,2.40,0.00,0.000,1030,0.000,0.044,3593,2385,2322,2322,2323,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2693,0.72,146.6,3593,2385,2321,2324,86.8,11.3,277,2698,0.00,2.38,0.00,0.000,516,0.000,0.067,3601,980,2322,2321,2323,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2749,0.72,146.6,3601,980,2321,2323,80.7,11.1,282,2754,0.00,2.35,0.00,0.000,1030,0.000,0.046,3601,2420,2322,2321,2323,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2875,0.72,146.6,3601,2420,2321,2323,66.4,11.1,294,2884,0.00,2.42,0.00,0.000,516,0.000,0.067,3605,980,2322,2321,2323,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2969,0.72,146.6,3605,980,2321,2323,55.8,11.8,303,2976,0.00,2.35,0.00,0.000,1030,0.000,0.046,3605,2421,2322,2321,2323,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3096,0.72,146.6,3605,2421,2321,2323,41.2,11.7,316,3100,0.00,2.33,0.00,0.000,260,0.000,0.067,3605,3819,2322,2321,2323,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3164,0.72,146.6,3605,3819,2320,2323,33.2,12.6,322,3172,0.12,2.35,0.00,0.000,5126,0.295,0.045,3586,2376,2321,2320,2323,0,0,0,0,0,0,14.51,14.76,28.83
$GC,3291,0.72,146.6,3587,2376,2321,2323,20.1,9.6,335,3296,0.00,2.35,0.00,0.000,516,0.000,0.066,3596,974,2321,2320,2323,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3387,0.72,146.6,3596,974,2320,2323,11.3,8.1,352,3394,0.00,2.35,0.00,0.000,1030,0.000,0.046,3596,2420,2322,2321,2323,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3456,0.72,146.6,3596,2420,2320,2323,5.7,7.9,365,3462,0.00,2.35,0.00,0.000,260,0.000,0.065,3596,3829,2321,2320,2323,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,3483,end climb,SURFACE_DEPTH_REACHED
$STATE,3483,begin surface coast
$FINISH,0.4,1.022123
$STATE,3509,end surface coast,CONTROL_FINISHED_OK
$STATE,3509,begin surface
$SM_CCo,3527,120.15,1.189,0,0,1707,300.00
$SM_GC,1.00,9.98,2.60,120.15,0.087,0.044,1.189,117,2274,1707,-10.05,0.51,300.00,0,0,0,0,0,0,14.78,14.78,13.57
$IRIDIUM_FIX,4726.11,-12225.08,101013,060605
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.29
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.5,18.2
$24V_AH,12.8,3.116
$10V_AH,13.2,0.892
$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,26.250,62.525,235.950,120.150,0.000,64.036,52.290,145.584,5.500,0.000,7.984,936.924,1635.635,424.942,1000.859,55.059,33.213,870.570,0.000,708.273,0.000,35.192,0.000
$DEVICE_MAMPS,426.105,133.875,1364.760,1188.810,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,257.530,462.821,407.086,274.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345728
$DATA_FILE_SIZE,20202,375
$CAP_FILE_SIZE,86942,0
$CFSIZE,260165632,218537984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,085234,4745.070,-12225.109,37,1.0,37,16.3