version: 66.11
glider: 144
mission: 20
dive: 21
start: 10 10 113 15 2 18
data:
$ID,144
$MISSION,20
$DIVE,21
$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,-56604.707
$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,0.1
$PITCH_ADJ_DBAND,2
$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
$GPS1,101013,145646,4743.736,-12225.382,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.5
$GPS2,101013,150118,4743.733,-12225.457,5,1.0,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,0.211
$KALMAN_X,-2357.2,24.7,47.8,-206.7,-652.5
$KALMAN_Y,1235.3,278.3,-606.3,-727.6,-1211.7
$MHEAD_RNG_PITCHd_Wd,9.3,1854,-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,-146.6,118,2326,1453,1358,0.0,0.0,0,69,0.00,0.00,-51.35,0.000,16386,0.000,0.000,118,2327,2968,2914,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.72,-146.6,118,2327,2915,3022,2.1,-4.4,9,107,14.40,2.35,-13.30,0.000,18692,0.423,0.090,3113,3723,3531,3445,3618,0,0,0,0,0,0,14.45,14.64,14.83
$GC,309,-0.25,-146.6,3113,3723,3451,3619,30.2,-13.6,48,320,0.55,2.35,0.00,0.000,3078,0.239,0.043,3262,2273,3535,3451,3619,0,0,0,0,0,0,14.59,14.72,28.83
$GC,440,-0.97,-146.6,3262,2273,3451,3619,38.1,-5.2,61,450,0.65,2.40,0.00,0.000,4356,0.100,0.061,3032,3716,3535,3451,3619,0,0,0,0,0,0,14.71,14.67,28.83
$GC,572,-0.00,-146.6,3032,3716,3451,3619,55.4,-13.0,74,583,1.15,2.33,0.00,0.000,3078,0.268,0.042,3341,2266,3535,3451,3619,0,0,0,0,0,0,14.62,14.77,28.83
$GC,703,-1.68,-146.6,3341,2266,3452,3619,60.4,-5.0,87,713,1.58,2.47,0.00,0.000,4356,0.138,0.063,2807,3723,3535,3452,3619,0,0,0,0,0,0,14.72,14.73,28.83
$GC,785,0.75,-146.6,2807,3724,3452,3618,77.0,-25.9,95,796,3.08,2.35,0.00,0.000,3078,0.329,0.045,3582,2268,3535,3452,3618,0,0,0,0,0,0,14.61,14.80,28.83
$GC,915,-2.05,-146.6,3582,2269,3454,3618,86.6,-9.3,108,926,2.92,2.30,0.00,0.000,4612,0.208,0.063,2698,867,3536,3454,3618,0,0,0,0,0,0,14.71,14.79,28.83
$GC,1011,0.77,-146.6,2698,867,3454,3617,106.6,-29.8,117,1020,3.55,2.40,0.00,0.000,3078,0.337,0.046,3588,2312,3535,3454,3617,0,0,0,0,0,0,14.62,14.78,28.83
$GC,1141,-2.24,-146.6,3588,2312,3455,3617,115.4,-7.9,130,1150,3.00,2.38,0.00,0.000,4612,0.181,0.059,2637,874,3536,3455,3617,0,0,0,0,0,0,14.71,14.80,28.83
$STATE,1388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1388,begin apogee
$GC,1394,-0.20,0.0,2628,2421,3455,3615,181.3,-30.2,154,1519,2.70,0.00,113.72,1.381,10246,0.369,0.000,3272,2421,2929,2893,2966,0,0,0,0,0,0,14.57,28.83,13.57
$STATE,1520,end apogee,CONTROL_FINISHED_OK
$STATE,1520,begin climb
$GC,1522,0.72,146.6,3272,2421,2891,2966,190.9,0.0,167,1643,1.02,0.00,116.35,1.340,10502,0.191,0.000,3573,2421,2332,2328,2337,0,0,0,0,0,0,14.16,28.83,13.45
$GC,1763,0.08,146.6,3573,2421,2318,2334,173.1,15.8,191,1774,0.68,2.38,0.00,0.000,4356,0.226,0.063,3384,3818,2324,2316,2333,0,0,0,0,0,0,14.31,14.42,28.83
$GC,1798,0.08,146.6,3384,3818,2315,2332,169.5,12.2,194,1806,0.00,2.40,0.00,0.000,1030,0.000,0.041,3384,2369,2323,2315,2332,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1926,1.32,203.7,3384,2369,2314,2332,161.8,5.5,207,1986,1.20,2.40,47.72,1.309,10756,0.146,0.068,3776,974,2098,2117,2079,0,0,0,0,0,0,14.52,14.31,13.69
$GC,2178,-0.38,203.7,3777,974,2108,2076,106.4,23.4,232,2189,2.05,2.40,0.00,0.000,5126,0.285,0.045,3240,2424,2091,2106,2076,0,0,0,0,0,0,14.38,14.59,28.83
$GC,2309,1.41,285.9,3241,2424,2100,2075,101.8,4.6,245,2382,1.77,0.00,68.68,1.266,10502,0.151,0.000,3800,2424,1764,1799,1729,0,0,0,0,0,0,14.59,28.83,13.70
$GC,2499,-0.36,285.9,3800,2424,1787,1728,57.3,27.7,264,2503,2.17,0.00,0.00,0.000,4102,0.282,0.000,3239,2424,1757,1787,1728,0,0,0,0,0,0,14.35,28.83,28.83
$GC,2621,1.29,348.9,3239,2424,1779,1728,52.9,5.3,276,2682,1.62,2.47,52.72,1.209,10500,0.143,0.063,3763,3828,1506,1553,1460,0,0,0,0,0,0,14.54,14.33,13.76
$GC,2707,-0.23,348.9,3762,3829,1552,1458,40.5,21.0,284,2715,1.92,2.42,0.00,0.000,5126,0.282,0.046,3281,2384,1504,1551,1458,0,0,0,0,0,0,14.25,14.40,28.83
$GC,2834,1.33,348.9,3281,2382,1541,1458,32.1,8.0,297,2845,1.52,2.45,0.00,0.000,2308,0.141,0.060,3771,3826,1500,1542,1458,0,0,0,0,0,0,14.49,14.47,28.83
$GC,2870,1.33,348.9,3771,3826,1542,1458,27.6,12.6,300,2877,0.00,2.45,0.00,0.000,1030,0.000,0.046,3781,2381,1500,1542,1458,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,2957,end climb,SURFACE_DEPTH_REACHED
$STATE,2957,begin surface coast
$FINISH,0.1,1.021833
$STATE,2968,end surface coast,CONTROL_FINISHED_OK
$STATE,2968,begin surface
$SM_CCo,3046,0.00,0.000,0,0,1494,352.25
$SM_GC,0.99,10.68,0.15,0.00,0.090,0.103,0.000,116,2264,1494,-10.06,0.62,352.25,0,0,0,0,0,0,14.60,14.64,28.83
$IRIDIUM_FIX,4729.30,-12222.38,101013,131302
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.21
$INTERNAL_PRESSURE,8.65533
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.9
$24V_AH,13.5,4.122
$10V_AH,13.1,1.188
$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,58.225,43.425,399.200,0.000,0.000,25.979,42.402,137.160,5.250,0.000,9.150,738.348,1195.250,467.173,879.326,48.629,33.211,893.858,0.000,652.631,0.000,32.328,0.000
$DEVICE_MAMPS,423.045,103.275,1380.825,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.332,394.908,347.448,231.221,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345744
$DATA_FILE_SIZE,16993,317
$CAP_FILE_SIZE,74313,0
$CFSIZE,260165632,218316800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,155332,4743.616,-12225.478,3,1.0,3,16.3