version: 66.11
glider: 144
mission: 20
dive: 16
start: 10 10 113 9 0 27
data:
$ID,144
$MISSION,20
$DIVE,16
$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,-56589.91
$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
$GPS1,101013,085234,4745.070,-12225.109,37,1.0,37,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-73.6
$GPS2,101013,085928,4745.137,-12225.087,5,0.8,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,-0.234
$KALMAN_X,-562.7,132.6,63.4,-1663.4,-380.2
$KALMAN_Y,3401.8,68.0,22.6,-707.8,1663.7
$MHEAD_RNG_PITCHd_Wd,161.4,1387,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-146.6,117,2272,1773,1624,0.0,0.0,0,64,0.00,0.00,-46.15,0.000,16386,0.000,0.000,117,2273,3117,3083,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.72,-146.6,117,2273,3086,3151,2.5,-6.7,8,97,14.65,2.47,-8.57,0.000,18692,0.421,0.084,3111,3725,3531,3462,3600,0,0,0,0,0,0,14.28,14.59,14.80
$GC,306,-0.72,-146.6,2144,3724,3454,3598,33.2,-11.7,44,314,0.00,2.40,0.00,0.000,1030,0.000,0.043,3111,2280,3534,3469,3600,0,0,0,0,0,0,28.83,14.64,28.83
$GC,434,-0.72,-146.6,3111,2280,3469,3600,46.2,-9.7,57,438,0.00,2.33,0.00,0.000,516,0.000,0.064,3111,878,3534,3469,3600,0,0,0,0,0,0,28.83,14.71,28.83
$GC,500,-0.72,-146.6,3111,877,3469,3600,52.7,-9.8,63,504,0.00,2.35,0.00,0.000,1030,0.000,0.047,3111,2317,3534,3469,3600,0,0,0,0,0,0,28.83,14.74,28.83
$GC,625,-0.72,-146.6,3111,2317,3469,3600,63.6,-8.1,75,629,0.00,2.33,0.00,0.000,260,0.000,0.066,3111,3720,3534,3469,3600,0,0,0,0,0,0,28.83,14.74,28.83
$GC,704,-0.72,-146.6,3111,3721,3469,3600,68.9,-7.0,82,711,0.00,2.35,0.00,0.000,1030,0.000,0.041,3111,2270,3534,3469,3600,0,0,0,0,0,0,28.83,14.77,28.83
$GC,831,-0.72,-146.6,3111,2270,3469,3600,79.6,-9.0,95,835,0.00,2.30,0.00,0.000,516,0.000,0.063,3111,874,3534,3469,3600,0,0,0,0,0,0,28.83,14.76,28.83
$GC,906,-0.72,-146.6,3111,874,3469,3600,86.5,-9.0,102,910,0.00,2.35,0.00,0.000,1030,0.000,0.047,3111,2316,3534,3469,3600,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1033,-0.72,-146.6,3111,2316,3469,3600,97.6,-9.8,114,1042,0.00,2.33,0.00,0.000,260,0.000,0.067,3111,3721,3534,3469,3600,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1103,-0.72,-146.6,3111,3720,3469,3600,104.8,-10.8,121,1107,0.00,2.35,0.00,0.000,1030,0.000,0.043,3111,2271,3534,3469,3600,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1228,-0.72,-146.6,3111,2270,3470,3600,119.4,-11.3,133,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2270,3534,3469,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1348,-0.72,-146.6,3111,2270,3469,3600,132.2,-10.3,145,1353,0.00,2.42,0.00,0.000,260,0.000,0.067,3111,3722,3535,3470,3600,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1397,-0.72,-146.6,3111,3723,3470,3601,136.3,-9.0,149,1405,0.00,2.38,0.00,0.000,1030,0.000,0.043,3111,2250,3534,3469,3600,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1526,-0.72,-146.6,3111,2248,3469,3600,149.6,-12.0,162,1536,0.00,2.25,0.00,0.000,516,0.000,0.064,3111,877,3535,3470,3600,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1580,-0.72,-146.6,3111,876,3470,3600,156.1,-12.3,167,1588,0.00,2.40,0.00,0.000,1030,0.000,0.048,3111,2317,3534,3469,3600,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1707,-0.72,-146.6,3111,2317,3469,3600,176.9,-12.8,180,1711,0.00,2.33,0.00,0.000,260,0.000,0.067,3111,3723,3534,3469,3600,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,1733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1733,begin apogee
$GC,1738,-0.20,0.0,3111,2371,3470,3600,180.6,-13.7,182,1857,0.57,0.08,114.15,1.380,10246,0.246,0.159,3272,2420,2930,2907,2953,0,0,0,0,0,0,14.68,14.19,13.52
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1859,begin climb
$GC,1860,0.72,146.6,3272,2424,2905,2953,187.8,0.0,194,1985,1.00,2.62,116.12,1.333,10756,0.178,0.067,3575,980,2330,2335,2326,0,0,0,0,0,0,14.13,14.09,13.40
$GC,2018,0.72,146.6,3576,980,2332,2323,176.3,11.8,210,2022,0.00,2.45,0.00,0.000,1030,0.000,0.047,3575,2419,2327,2331,2323,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2143,0.72,146.6,3576,2420,2325,2323,162.7,8.3,222,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2420,2324,2326,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,0.80,216.4,3576,2420,2324,2323,157.9,5.1,234,2328,0.10,2.42,58.58,1.310,10500,0.171,0.064,3611,3827,2046,2070,2022,0,0,0,0,0,0,14.57,14.27,13.63
$GC,2392,0.80,216.4,3610,3826,2063,2022,142.8,13.6,246,2400,0.00,2.45,0.00,0.000,1030,0.000,0.044,3620,2359,2042,2063,2022,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2519,0.80,216.4,3620,2360,2059,2022,126.3,13.3,259,2524,0.00,2.33,0.00,0.000,516,0.000,0.068,3630,981,2040,2059,2022,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2565,0.80,216.4,3630,980,2058,2021,120.7,12.1,263,2569,0.00,2.40,0.00,0.000,1030,0.000,0.046,3630,2428,2039,2058,2021,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2690,0.80,216.4,3630,2428,2056,2021,103.3,14.5,275,2694,0.00,2.33,0.00,0.000,260,0.000,0.064,3630,3819,2038,2056,2021,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2718,0.80,216.4,2864,3819,1998,2011,99.2,15.3,277,2727,0.08,2.40,0.00,0.000,5126,0.277,0.044,3619,2389,2038,2056,2021,0,0,0,0,0,0,14.49,14.63,28.83
$GC,2846,0.80,216.4,3619,2389,2055,2021,80.0,15.0,290,2850,0.00,2.38,0.00,0.000,516,0.000,0.068,3628,976,2038,2055,2021,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2892,0.80,216.4,3628,975,2055,2020,72.4,16.8,294,2896,0.00,2.38,0.00,0.000,1030,0.000,0.046,3628,2421,2037,2055,2020,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3017,0.80,216.4,3628,2421,2054,2020,52.2,15.4,306,3021,0.00,2.33,0.00,0.000,260,0.000,0.064,3628,3819,2037,2054,2020,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3085,0.80,216.4,3628,3819,2054,2020,40.9,17.1,312,3093,0.00,2.40,0.00,0.000,1030,0.000,0.045,3637,2379,2037,2054,2020,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3213,0.80,216.4,3637,2379,2054,2020,20.7,13.2,325,3217,0.00,2.35,0.00,0.000,516,0.000,0.069,3641,974,2037,2054,2020,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3284,0.80,216.4,3641,974,2053,2020,11.8,12.1,337,3291,0.12,2.35,0.00,0.000,5126,0.257,0.046,3612,2420,2036,2053,2020,0,0,0,0,0,0,14.66,14.78,28.83
$GC,3352,0.80,216.4,3612,2420,2052,2020,4.0,11.1,350,3359,0.00,2.33,0.00,0.000,260,0.000,0.064,3611,3819,2036,2052,2020,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,3364,end climb,SURFACE_DEPTH_REACHED
$STATE,3364,begin surface coast
$FINISH,-0.2,1.021743
$STATE,3391,end surface coast,CONTROL_FINISHED_OK
$STATE,3391,begin surface
$SM_CCo,3409,66.72,1.193,0,0,1706,300.00
$SM_GC,1.06,10.02,2.58,66.72,0.087,0.045,1.193,117,2280,1706,-10.06,0.68,300.00,0,0,0,0,0,0,14.76,14.79,13.84
$IRIDIUM_FIX,4726.11,-12226.80,101013,080840
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.76
$INTERNAL_PRESSURE,8.67486
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.7,17.9
$24V_AH,13.4,3.265
$10V_AH,13.5,0.939
$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,26.550,76.100,288.850,66.725,0.000,60.992,91.257,132.210,5.250,0.000,6.766,894.908,1517.820,420.556,1021.141,46.822,33.218,875.326,0.000,710.457,0.000,32.319,0.000
$DEVICE_MAMPS,420.750,159.120,1380.060,1193.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.147,435.214,363.183,264.997,0.000,0.000,0.000,0.000,0.000,0.000
$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,20268,357
$CAP_FILE_SIZE,67340,0
$CFSIZE,260165632,218521600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,095853,4745.076,-12225.379,4,0.9,4,16.3