version: 66.11
glider: 144
mission: 20
dive: 19
start: 10 10 113 12 49 33
data:
$ID,144
$MISSION,20
$DIVE,19
$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,-56593.676
$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
$GPS1,101013,124149,4744.011,-12224.812,18,0.7,18,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-68.5
$GPS2,101013,124833,4743.907,-12224.752,10,0.7,10,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.234
$KALMAN_X,-1066.3,0.8,-214.6,-331.1,-146.5
$KALMAN_Y,654.6,1907.9,906.4,-2951.3,-1430.8
$MHEAD_RNG_PITCHd_Wd,346.6,1141,-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,-146.6,115,2325,578,413,0.0,0.0,0,102,0.00,0.00,-84.30,0.000,16386,0.000,0.000,115,2325,3067,3008,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.72,-146.6,115,2325,3011,3126,2.2,-5.1,15,136,14.68,2.42,-10.10,0.000,18692,0.429,0.089,3112,3721,3531,3437,3626,0,0,0,0,0,0,14.39,14.58,14.77
$GC,252,-0.72,-146.6,3112,3721,3455,3626,21.9,-12.0,42,256,0.00,2.35,0.00,0.000,1030,0.000,0.039,3112,2264,3540,3455,3626,0,0,0,0,0,0,28.83,14.67,28.83
$GC,377,-0.72,-146.6,3112,2264,3457,3626,36.2,-12.6,54,378,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2264,3542,3457,3627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.72,-146.6,3112,2264,3458,3626,52.4,-13.2,66,508,0.00,2.45,0.00,0.000,260,0.000,0.065,3112,3725,3542,3458,3626,0,0,0,0,0,0,28.83,14.68,28.83
$GC,562,-0.72,-146.6,2128,3724,3443,3624,59.4,-11.1,72,570,0.00,2.40,0.00,0.000,1030,0.000,0.040,3112,2269,3542,3458,3626,0,0,0,0,0,0,28.83,14.71,28.83
$GC,691,-0.72,-146.6,3112,2269,3458,3626,72.9,-10.4,85,699,0.00,2.30,0.00,0.000,516,0.000,0.063,3112,876,3542,3458,3626,0,0,0,0,0,0,28.83,14.76,28.83
$GC,731,-0.72,-146.6,3112,876,3458,3626,77.0,-9.9,89,735,0.00,2.35,0.00,0.000,1030,0.000,0.045,3112,2318,3542,3458,3626,0,0,0,0,0,0,28.83,14.78,28.83
$GC,856,-0.72,-146.6,3112,2318,3458,3627,89.8,-10.2,101,857,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2318,3541,3457,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.72,-146.6,3112,2318,3457,3626,101.5,-9.8,113,985,0.00,2.33,0.00,0.000,260,0.000,0.065,3112,3721,3541,3457,3626,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1069,-0.72,-146.6,3112,3721,3458,3626,110.5,-10.3,122,1078,0.00,2.33,0.00,0.000,1030,0.000,0.041,3112,2276,3542,3458,3627,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1200,-0.72,-146.6,3112,2275,3458,3626,121.1,-7.6,135,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2275,3542,3458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.72,-146.6,3112,2275,3458,3626,130.1,-8.4,147,1329,0.00,2.40,0.00,0.000,260,0.000,0.066,3112,3718,3542,3458,3626,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1434,-0.72,-146.6,3112,3718,3458,3626,142.0,-11.7,158,1441,0.00,2.33,0.00,0.000,1030,0.000,0.041,3112,2265,3542,3458,3627,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1562,-0.72,-146.6,3112,2264,3458,3626,155.7,-11.7,171,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2264,3542,3458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1681,-0.72,-146.6,3112,2264,3458,3626,167.9,-10.1,183,1685,0.00,2.45,0.00,0.000,260,0.000,0.067,3112,3721,3542,3458,3626,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1689,-0.72,-146.6,3112,3720,3458,3626,167.9,-10.1,183,1697,0.00,2.35,0.00,0.000,1030,0.000,0.037,3112,2252,3542,3458,3626,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1817,-0.72,-146.6,3112,2252,3458,3626,178.7,-8.5,196,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2252,3542,3458,3626,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1836,begin apogee
$GC,1840,-0.20,0.0,3112,2430,3458,3626,180.8,-10.0,198,1959,0.57,0.08,112.82,1.369,10246,0.243,0.151,3275,2365,2930,2895,2965,0,0,0,0,0,0,14.72,14.21,13.57
$STATE,1960,end apogee,CONTROL_FINISHED_OK
$STATE,1960,begin climb
$GC,1962,0.72,146.6,3275,2365,2894,2965,185.3,0.0,210,2088,1.00,0.00,117.07,1.333,10246,0.179,0.000,3572,2365,2331,2324,2339,0,0,0,0,0,0,14.15,28.83,13.44
$GC,2207,0.72,146.6,3572,2365,2320,2338,167.6,9.9,235,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2365,2329,2320,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2327,0.72,146.6,3572,2365,2318,2338,152.6,11.9,247,2331,0.00,2.47,0.00,0.000,260,0.000,0.064,3572,3827,2328,2318,2338,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2386,0.72,146.6,3572,3826,2317,2338,144.1,15.3,252,2393,0.00,2.40,0.00,0.000,1030,0.000,0.044,3581,2371,2327,2317,2338,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2513,0.72,146.6,3581,2371,2316,2338,130.6,10.6,265,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2371,2327,2316,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2633,0.75,170.7,3581,2371,2315,2338,121.0,6.7,277,2655,0.00,0.00,19.95,1.239,8198,0.000,0.000,3581,2371,2234,2234,2235,0,0,0,0,0,0,28.83,28.83,13.93
$GC,2773,0.75,170.7,3581,2371,2229,2235,107.3,11.1,291,2777,0.00,2.33,0.00,0.000,516,0.000,0.068,3591,980,2231,2229,2234,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2933,0.75,170.7,3591,980,2229,2234,89.3,12.6,306,2940,0.00,2.35,0.00,0.000,1030,0.000,0.046,3591,2419,2231,2228,2234,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3059,0.75,170.7,3591,2419,2228,2234,73.0,12.5,319,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2419,2230,2227,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,0.75,170.7,3591,2419,2227,2234,58.3,11.7,331,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3591,2419,2230,2227,2234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3298,0.75,170.7,3591,2419,2227,2234,45.1,10.5,343,3303,0.00,2.33,0.00,0.000,260,0.000,0.066,3591,3825,2230,2227,2234,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3357,0.75,170.7,3591,3825,2227,2233,38.6,11.9,348,3365,0.00,2.35,0.00,0.000,1030,0.000,0.044,3597,2378,2230,2227,2234,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3484,0.75,170.7,3598,2378,2226,2233,25.8,10.0,361,3488,0.00,2.33,0.00,0.000,516,0.000,0.069,3601,976,2230,2227,2233,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3540,0.75,170.7,3601,976,2226,2233,20.1,10.2,366,3544,0.00,2.35,0.00,0.000,1030,0.000,0.047,3601,2423,2230,2227,2233,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3665,0.75,170.7,3601,2423,2226,2233,7.9,10.2,389,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2423,2229,2226,2233,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3712,end climb,SURFACE_DEPTH_REACHED
$STATE,3712,begin surface coast
$FINISH,0.6,1.022190
$STATE,3738,end surface coast,CONTROL_FINISHED_OK
$STATE,3738,begin surface
$SM_CCo,3754,101.25,1.196,0,0,1707,300.00
$SM_GC,1.00,9.90,0.25,101.25,0.079,0.088,1.196,114,2255,1707,-10.06,0.48,300.00,0,0,0,0,0,0,14.79,14.81,13.74
$IRIDIUM_FIX,4726.11,-12232.20,101013,111104
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.21
$INTERNAL_PRESSURE,8.67486
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,18.6
$24V_AH,13.4,3.789
$10V_AH,13.4,1.099
$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,26.150,47.950,249.850,101.250,0.000,24.503,47.435,258.005,5.250,0.000,11.803,978.747,1696.396,468.998,1076.171,49.782,33.200,907.643,0.000,715.953,0.000,35.198,0.000
$DEVICE_MAMPS,429.165,151.470,1368.585,1196.460,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.414,490.486,409.872,299.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345736
$DATA_FILE_SIZE,23702,403
$CAP_FILE_SIZE,66457,0
$CFSIZE,260165632,218398720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,135453,4743.872,-12225.096,39,1.0,39,16.3