version: 66.11
glider: 144
mission: 20
dive: 17
start: 10 10 113 10 4 38
data:
$ID,144
$MISSION,20
$DIVE,17
$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,-56591.168
$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
$GPS1,101013,095853,4745.076,-12225.379,4,0.9,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.0
$GPS2,101013,100339,4745.098,-12225.368,5,1.4,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.035,-0.231
$KALMAN_X,-828.8,133.2,-66.2,-1618.9,-443.2
$KALMAN_Y,3729.1,505.6,329.2,-1846.4,1393.0
$MHEAD_RNG_PITCHd_Wd,155.1,1548,-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,-146.6,117,2278,1773,1625,0.0,0.0,0,63,0.00,0.00,-45.80,0.000,16386,0.000,0.000,117,2279,3099,3065,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.72,-146.6,117,2279,3067,3134,2.4,-6.1,8,97,14.68,2.45,-9.20,0.000,18692,0.431,0.086,3109,3721,3531,3462,3601,0,0,0,0,0,0,14.39,14.59,14.78
$GC,189,-0.72,-146.6,3109,3720,3468,3601,17.3,-10.5,31,195,0.00,2.35,0.00,0.000,1030,0.000,0.040,3109,2277,3534,3468,3601,0,0,0,0,0,0,28.83,14.66,28.83
$GC,257,-0.72,-146.6,3109,2277,3468,3601,24.3,-9.8,40,258,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2278,3534,3468,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,377,-0.72,-146.6,3109,2277,3469,3601,35.9,-9.2,52,381,0.00,2.33,0.00,0.000,516,0.000,0.063,3109,873,3535,3469,3601,0,0,0,0,0,0,28.83,14.71,28.83
$GC,423,-0.72,-146.6,3109,873,3469,3601,40.4,-9.7,56,427,0.00,2.38,0.00,0.000,1030,0.000,0.049,3109,2318,3534,3468,3601,0,0,0,0,0,0,28.83,14.73,28.83
$GC,548,-0.72,-146.6,3109,2318,3469,3601,52.4,-9.0,68,549,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2318,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,668,-0.72,-146.6,3109,2318,3469,3601,63.7,-9.6,80,672,0.00,2.33,0.00,0.000,260,0.000,0.065,3109,3722,3535,3469,3601,0,0,0,0,0,0,28.83,14.76,28.83
$GC,723,-0.72,-146.6,3109,3722,3469,3601,69.1,-9.6,85,728,0.00,2.33,0.00,0.000,1030,0.000,0.040,3108,2276,3535,3470,3601,0,0,0,0,0,0,28.83,14.81,28.83
$GC,849,-0.72,-146.6,3109,2276,3469,3601,81.1,-9.7,97,850,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2276,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.72,-146.6,3109,2276,3470,3601,92.2,-9.9,109,970,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2276,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-0.72,-146.6,3109,2276,3469,3601,101.8,-7.4,121,1098,0.00,2.40,0.00,0.000,260,0.000,0.064,3109,3721,3535,3469,3601,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1170,-0.72,-146.6,3109,3721,3470,3601,107.9,-7.3,129,1174,0.00,2.33,0.00,0.000,1030,0.000,0.041,3108,2268,3535,3469,3601,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1296,-0.72,-146.6,3109,2268,3470,3601,117.3,-8.2,141,1305,0.00,2.40,0.00,0.000,260,0.000,0.067,3109,3712,3535,3470,3601,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1340,-0.72,-146.6,3109,3712,3470,3601,121.0,-8.8,145,1347,0.00,2.35,0.00,0.000,1030,0.000,0.041,3109,2281,3535,3470,3601,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1467,-0.72,-146.6,3109,2279,3470,3601,132.6,-9.1,158,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2279,3535,3469,3601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.72,-146.6,3109,2279,3470,3601,143.1,-8.5,170,1591,0.00,2.30,0.00,0.000,516,0.000,0.063,3109,876,3535,3470,3601,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1642,-0.72,-146.6,3109,875,3470,3601,148.1,-9.9,175,1647,0.00,2.35,0.00,0.000,1030,0.000,0.047,3109,2317,3535,3469,3601,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1767,-0.72,-146.6,3109,2317,3470,3601,159.5,-7.8,187,1772,0.00,2.33,0.00,0.000,260,0.000,0.065,3109,3726,3535,3470,3601,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1825,-0.72,-146.6,3109,3726,3470,3601,165.9,-11.1,192,1834,0.00,2.33,0.00,0.000,1030,0.000,0.041,3109,2275,3535,3470,3601,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1955,-0.72,-146.6,3109,2274,3470,3601,178.7,-11.5,205,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2274,3535,3470,3601,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1974,begin apogee
$GC,1978,-0.20,0.0,3109,2436,3470,3601,180.9,-11.4,207,2106,0.57,0.08,117.90,1.363,10246,0.237,0.148,3273,2363,2929,2905,2953,0,0,0,0,0,0,14.68,14.19,13.33
$STATE,2107,end apogee,CONTROL_FINISHED_OK
$STATE,2107,begin climb
$GC,2108,0.72,146.6,3273,2362,2903,2953,186.6,0.0,220,2230,1.02,0.00,116.45,1.333,10758,0.194,0.000,3571,2362,2332,2337,2327,0,0,0,0,0,0,14.14,28.83,13.40
$GC,2346,0.72,146.6,3571,2362,2325,2325,165.0,11.4,244,2351,0.00,2.50,0.00,0.000,260,0.000,0.062,3571,3827,2325,2325,2325,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2402,0.72,146.6,3570,3827,2324,2324,157.3,13.6,249,2406,0.00,2.40,0.00,0.000,1030,0.000,0.044,3574,2382,2324,2324,2324,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2527,0.72,146.6,3574,2382,2323,2324,141.1,12.9,261,2531,0.00,2.38,0.00,0.000,516,0.000,0.069,3574,980,2323,2323,2324,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2593,0.72,146.6,3574,980,2323,2323,133.9,10.5,267,2597,0.00,2.38,0.00,0.000,1030,0.000,0.045,3574,2420,2323,2323,2323,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2718,0.72,146.6,3573,2420,2321,2324,122.8,10.1,279,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2420,2322,2321,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,0.72,146.6,3573,2420,2321,2324,110.1,10.7,291,2848,0.00,2.35,0.00,0.000,260,0.000,0.066,3574,3825,2322,2321,2323,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2873,0.72,146.6,3574,3825,2321,2323,106.8,10.3,294,2880,0.00,2.40,0.00,0.000,1030,0.000,0.045,3573,2386,2322,2321,2323,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3000,0.72,146.6,3574,2386,2321,2323,95.0,8.8,307,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2387,2322,2321,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,0.72,146.6,3574,2386,2320,2323,84.3,9.6,319,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2386,2322,2321,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3241,0.72,146.6,3574,2386,2320,2323,72.8,9.0,331,3250,0.00,2.35,0.00,0.000,516,0.000,0.069,3573,978,2321,2320,2323,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3292,0.72,146.6,3574,978,2320,2323,68.6,8.0,336,3296,0.00,2.35,0.00,0.000,1030,0.000,0.046,3574,2424,2321,2320,2323,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3417,0.72,146.6,3574,2424,2320,2323,59.1,8.0,348,3421,0.00,2.33,0.00,0.000,260,0.000,0.065,3573,3827,2321,2320,2323,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3452,0.72,146.6,3574,3827,2320,2323,55.6,9.5,351,3457,0.00,2.35,0.00,0.000,1030,0.000,0.045,3574,2375,2321,2320,2323,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3578,0.73,158.3,3574,2374,2320,2323,45.5,7.1,363,3593,0.00,2.33,9.73,1.106,8708,0.000,0.067,3574,977,2283,2286,2280,0,0,0,0,0,0,28.83,14.75,14.07
$GC,3617,0.77,190.5,3574,977,2285,2278,43.2,6.4,366,3655,0.00,2.38,28.40,1.197,9222,0.000,0.045,3574,2429,2152,2167,2138,0,0,0,0,0,0,28.83,14.78,13.80
$GC,3774,0.77,190.5,3573,2429,2158,2138,32.2,7.6,382,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2429,2148,2158,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3894,0.77,190.5,3574,2429,2156,2138,22.9,7.8,394,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2429,2147,2157,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,0.77,190.5,3573,2429,2155,2138,13.1,9.0,414,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2429,2146,2155,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4082,0.80,212.3,3574,2429,2155,2138,8.1,6.7,427,4106,0.00,2.40,18.95,1.147,8452,0.000,0.065,3574,3821,2064,2082,2046,0,0,0,0,0,0,28.83,14.63,14.00
$GC,4132,0.80,212.3,2688,3820,2014,2035,3.6,9.9,436,4140,0.10,2.38,0.00,0.000,3078,0.174,0.044,3611,2370,2061,2078,2045,0,0,0,0,0,0,14.63,14.66,28.83
$STATE,4145,end climb,SURFACE_DEPTH_REACHED
$STATE,4145,begin surface coast
$FINISH,-0.1,1.009283
$STATE,4172,end surface coast,CONTROL_FINISHED_OK
$STATE,4172,begin surface
$SM_CCo,4188,72.32,1.181,0,0,1707,300.00
$SM_GC,0.99,10.15,0.12,72.32,0.087,0.116,1.181,117,2274,1707,-10.05,0.71,300.00,0,0,0,0,0,0,14.64,14.69,13.74
$IRIDIUM_FIX,4729.30,-12226.80,101013,080800
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.56
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,19.4
$24V_AH,13.3,3.410
$10V_AH,13.2,0.992
$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,26.525,66.625,291.425,72.325,0.000,28.671,45.895,142.544,5.000,0.000,6.771,1095.700,1939.620,434.710,1035.562,52.093,33.209,934.289,0.000,790.747,0.000,32.337,0.000
$DEVICE_MAMPS,430.695,147.645,1363.230,1181.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,305.643,539.981,450.558,325.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345708
$DATA_FILE_SIZE,23641,443
$CAP_FILE_SIZE,76051,0
$CFSIZE,260165632,218476544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,111609,4744.571,-12225.446,4,1.0,4,16.3