version: 66.11
glider: 144
mission: 20
dive: 18
start: 10 10 113 11 30 21
data:
$ID,144
$MISSION,20
$DIVE,18
$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,600.98499
$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,-56592.418
$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
$GPS1,101013,111609,4744.571,-12225.446,4,1.0,4,16.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.6
$GPS2,101013,112921,4744.514,-12225.399,5,1.0,6,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.234,-0.008
$KALMAN_X,-671.4,-69.0,-226.6,-1455.0,-179.6
$KALMAN_Y,2282.0,1577.2,713.6,-2930.6,4.5
$MHEAD_RNG_PITCHd_Wd,75.6,1121,-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,-146.6,118,2274,1773,1623,0.0,0.0,0,63,0.00,0.00,-45.70,0.000,16386,0.000,0.000,118,2274,3090,3056,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.72,-146.6,118,2275,3058,3124,2.4,-6.1,8,96,14.32,2.33,-9.23,0.000,18948,0.423,0.086,3111,878,3531,3463,3600,0,0,0,0,0,0,14.49,14.68,14.87
$GC,268,-0.72,-146.6,3111,878,3468,3600,32.1,-11.4,37,272,0.00,2.35,0.00,0.000,1030,0.000,0.047,3111,2316,3534,3468,3600,0,0,0,0,0,0,28.83,14.74,28.83
$GC,393,-0.72,-146.6,3111,2316,3468,3600,45.7,-9.8,49,397,0.00,2.33,0.00,0.000,260,0.000,0.065,3111,3722,3534,3468,3600,0,0,0,0,0,0,28.83,14.75,28.83
$GC,519,-0.72,-146.6,3111,3722,3469,3600,58.0,-9.2,61,523,0.00,2.33,0.00,0.000,1030,0.000,0.037,3111,2266,3534,3469,3600,0,0,0,0,0,0,28.83,14.81,28.83
$GC,644,-0.72,-146.6,3111,2265,3469,3600,68.4,-8.3,73,648,0.00,2.42,0.00,0.000,260,0.000,0.063,3111,3721,3534,3469,3600,0,0,0,0,0,0,28.83,14.78,28.83
$GC,704,-0.72,-146.6,3111,3721,3469,3600,73.1,-8.7,78,711,0.00,2.33,0.00,0.000,1030,0.000,0.037,3111,2260,3534,3469,3600,0,0,0,0,0,0,28.83,14.81,28.83
$GC,830,-0.72,-146.6,3111,2260,3469,3600,82.0,-7.0,91,831,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2260,3534,3469,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,952,-0.72,-146.6,3111,2260,3469,3600,90.1,-6.6,103,961,0.00,2.42,0.00,0.000,260,0.000,0.063,3111,3724,3534,3469,3600,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1036,-0.72,-146.6,3111,3724,3469,3600,96.2,-7.1,111,1043,0.00,2.35,0.00,0.000,1030,0.000,0.037,3112,2264,3534,3469,3600,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1163,-0.72,-146.6,3111,2264,3469,3600,106.6,-8.5,124,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2264,3534,3469,3600,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1282,-0.72,-146.6,3111,2264,3469,3600,117.3,-10.1,136,1287,0.00,2.42,0.00,0.000,260,0.000,0.064,3111,3721,3534,3469,3600,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1401,-0.72,-146.6,3111,3721,3469,3600,130.8,-12.2,147,1409,0.00,2.38,0.00,0.000,1030,0.000,0.038,3111,2267,3534,3469,3600,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1530,-0.72,-146.6,3111,2265,3469,3600,144.5,-11.1,160,1540,0.00,2.28,0.00,0.000,516,0.000,0.062,3111,875,3535,3470,3600,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1582,-0.72,-146.6,3111,874,3469,3600,150.0,-10.4,165,1586,0.00,2.35,0.00,0.000,1030,0.000,0.045,3111,2321,3534,3469,3600,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1708,-0.72,-146.6,3111,2322,3469,3600,163.3,-9.9,177,1717,0.00,2.40,0.00,0.000,516,0.000,0.065,3111,867,3535,3470,3600,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1749,-0.72,-146.6,3111,867,3470,3600,167.3,-9.5,181,1753,0.00,2.38,0.00,0.000,1030,0.000,0.047,3111,2325,3535,3470,3600,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1874,-0.72,-146.6,3111,2325,3469,3600,179.2,-10.8,193,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2325,3534,3469,3600,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1884,begin apogee
$GC,1887,-0.20,0.0,3111,2437,3469,3600,180.2,-11.0,194,2008,0.57,0.10,114.07,1.380,10246,0.238,0.125,3274,2354,2929,2906,2953,0,0,0,0,0,0,14.73,14.23,13.57
$STATE,2010,end apogee,CONTROL_FINISHED_OK
$STATE,2010,begin climb
$GC,2011,0.72,146.6,3275,2354,2904,2953,187.1,0.0,206,2135,1.00,0.00,116.03,1.340,10502,0.177,0.000,3572,2354,2331,2336,2326,0,0,0,0,0,0,14.15,28.83,13.44
$GC,2254,0.72,146.6,3572,2354,2326,2325,171.4,8.7,231,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2354,2325,2326,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2374,0.72,146.6,3573,2354,2323,2324,159.8,11.3,243,2378,0.00,2.50,0.00,0.000,260,0.000,0.063,3572,3822,2323,2323,2324,0,0,0,0,0,0,28.83,14.55,28.83
$GC,2400,0.72,146.6,3572,3822,2323,2324,156.5,12.3,245,2404,0.00,2.38,0.00,0.000,1030,0.000,0.041,3581,2372,2323,2323,2324,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2525,0.72,146.6,3581,2371,2322,2324,141.9,11.6,257,2529,0.00,2.35,0.00,0.000,516,0.000,0.068,3585,977,2323,2323,2324,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2621,0.72,146.6,3585,977,2322,2324,130.3,11.8,266,2625,0.00,2.38,0.00,0.000,1030,0.000,0.045,3585,2428,2323,2322,2324,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2746,0.72,146.6,3584,2428,2322,2324,116.8,11.5,278,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2428,2322,2322,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,0.72,146.6,3584,2428,2321,2324,103.5,10.9,290,2870,0.00,2.45,0.00,0.000,516,0.000,0.067,3591,977,2322,2321,2324,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2902,0.72,146.6,3591,977,2321,2324,99.4,11.5,293,2906,0.00,2.38,0.00,0.000,1030,0.000,0.045,3591,2428,2322,2321,2323,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3027,0.72,146.6,3591,2428,2321,2323,82.5,13.5,305,3031,0.00,2.33,0.00,0.000,260,0.000,0.066,3591,3827,2322,2321,2324,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3073,0.72,146.6,3591,3827,2321,2323,75.8,14.6,309,3077,0.00,2.35,0.00,0.000,1030,0.000,0.044,3598,2376,2321,2320,2323,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3198,0.72,146.6,3598,2375,2320,2323,60.4,12.5,321,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2375,2322,2321,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,0.72,146.6,3598,2375,2321,2323,46.2,11.8,333,3322,0.00,2.42,0.00,0.000,260,0.000,0.064,3598,3822,2321,2320,2323,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3424,0.72,146.6,3598,3822,2320,2323,34.2,10.3,343,3428,0.00,2.35,0.00,0.000,1030,0.000,0.045,3604,2368,2321,2320,2323,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3549,0.72,146.6,3604,2368,2320,2323,22.0,10.6,355,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,2368,2321,2320,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,0.72,146.6,3604,2367,2320,2323,12.2,7.9,377,3677,0.00,2.30,0.00,0.000,516,0.000,0.064,3613,979,2321,2320,2323,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,3778,end climb,SURFACE_DEPTH_REACHED
$STATE,3778,begin surface coast
$FINISH,0.1,1.022116
$STATE,3809,end surface coast,CONTROL_FINISHED_OK
$STATE,3809,begin surface
$SM_CCo,3826,382.52,1.131,7,0,479,600.98
$SM_GC,0.88,10.02,2.25,382.52,0.086,0.046,1.131,115,2320,479,-10.06,-0.42,600.98,0,0,0,0,7,0,14.81,14.83,13.55
$IRIDIUM_FIX,4729.30,-12222.38,101013,111104
$TT8_MAMPS,0.023219,0.023219
$HUMID,55.51
$INTERNAL_PRESSURE,8.5772
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.7
$24V_AH,13.4,3.640
$10V_AH,13.2,1.048
$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,25.925,61.725,230.100,382.525,0.000,147.755,201.425,98.324,5.000,0.000,6.792,1017.937,1982.246,718.862,1264.115,62.191,33.198,1181.192,0.000,767.199,0.000,32.320,0.000
$DEVICE_MAMPS,423.045,124.695,1380.060,1131.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.676,491.791,411.078,299.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345740
$DATA_FILE_SIZE,23592,404
$CAP_FILE_SIZE,71769,0
$CFSIZE,260165632,218423296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,101013,124149,4744.011,-12224.812,18,0.7,18,16.3