version: 66.11
glider: 144
mission: 20
dive: 22
start: 10 10 113 15 59 17
data:
$ID,144
$MISSION,20
$DIVE,22
$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,-56605.957
$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,0.0024600001
$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
$GPS1,101013,155332,4743.616,-12225.478,3,1.0,3,16.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.0
$GPS2,101013,155818,4743.624,-12225.454,6,1.0,6,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,0.178
$KALMAN_X,-2671.3,-111.7,25.6,267.9,-756.6
$KALMAN_Y,1324.4,-542.7,-1086.2,284.6,-892.5
$MHEAD_RNG_PITCHd_Wd,24.2,2011,-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,14,-0.90,-146.6,115,2341,1537,1444,0.0,0.0,0,63,0.00,0.00,-46.25,0.000,16386,0.000,0.000,116,2341,2898,2849,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.90,-146.6,116,2341,2852,2947,2.1,-4.3,8,102,14.52,2.38,-15.73,0.000,18692,0.438,0.086,3044,3722,3531,3448,3614,0,0,0,0,0,0,14.42,14.64,14.82
$GC,334,-0.90,-146.6,3044,3722,3455,3614,36.3,-17.2,50,338,0.00,2.35,0.00,0.000,1030,0.000,0.041,3044,2266,3534,3455,3614,0,0,0,0,0,0,28.83,14.73,28.83
$GC,459,-0.90,-146.6,3044,2266,3455,3614,57.3,-15.6,62,463,0.00,2.45,0.00,0.000,260,0.000,0.065,3043,3726,3534,3455,3614,0,0,0,0,0,0,28.83,14.73,28.83
$GC,605,-0.90,-146.6,3044,3726,3455,3614,78.0,-13.1,76,609,0.00,2.35,0.00,0.000,1030,0.000,0.041,3043,2256,3534,3455,3614,0,0,0,0,0,0,28.83,14.78,28.83
$GC,730,-0.90,-146.6,3044,2256,3454,3614,93.1,-11.5,88,731,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2256,3534,3455,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.90,-146.6,3044,2256,3455,3614,106.4,-11.3,100,860,0.00,2.42,0.00,0.000,260,0.000,0.063,3044,3721,3534,3455,3614,0,0,0,0,0,0,28.83,14.74,28.83
$GC,905,-0.90,-146.6,3043,3722,3455,3614,112.9,-12.6,105,912,0.00,2.38,0.00,0.000,1030,0.000,0.040,3044,2273,3534,3455,3614,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1032,-0.90,-146.6,3044,2272,3455,3614,126.4,-9.5,118,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2273,3534,3455,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1152,-0.90,-146.6,3043,2272,3454,3614,136.2,-6.5,130,1156,0.00,2.30,0.00,0.000,516,0.000,0.063,3043,867,3534,3455,3614,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1200,-0.90,-146.6,2048,867,3440,3612,139.9,-8.1,134,1209,0.00,2.42,0.00,0.000,1030,0.000,0.047,3043,2321,3534,3455,3614,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1328,-0.90,-146.6,3043,2321,3455,3614,149.2,-7.3,147,1333,0.00,2.33,0.00,0.000,260,0.000,0.065,3043,3730,3534,3455,3614,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1397,-0.90,-146.6,2048,3730,3440,3612,154.4,-8.0,153,1408,0.00,2.38,0.00,0.000,1030,0.000,0.036,3043,2273,3534,3455,3614,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1525,-0.90,-146.6,3043,2273,3455,3614,164.2,-7.7,166,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2273,3534,3455,3614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1645,-0.90,-146.6,3043,2273,3455,3614,175.2,-9.0,178,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2273,3534,3455,3614,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1704,begin apogee
$GC,1708,-0.20,0.0,3043,2433,3455,3614,180.6,-9.2,184,1826,0.82,0.08,113.38,1.379,10246,0.261,0.148,3273,2357,2930,2896,2965,0,0,0,0,0,0,14.71,14.21,13.61
$STATE,1828,end apogee,CONTROL_FINISHED_OK
$STATE,1828,begin climb
$GC,1829,0.90,146.6,3273,2356,2894,2965,181.3,0.0,196,1954,1.20,0.00,116.22,1.330,10246,0.171,0.000,3632,2355,2330,2328,2333,0,0,0,0,0,0,14.15,28.83,13.48
$GC,2075,0.90,146.6,3631,2355,2320,2330,149.5,15.8,221,2084,0.00,2.35,0.00,0.000,516,0.000,0.066,3641,974,2325,2320,2330,0,0,0,0,0,0,28.83,14.42,28.83
$GC,2130,0.90,146.6,3641,974,2320,2329,141.6,15.4,226,2137,0.00,2.40,0.00,0.000,1030,0.000,0.044,3641,2419,2325,2320,2330,0,0,0,0,0,0,28.83,14.51,28.83
$GC,2255,0.90,146.6,3641,2419,2319,2329,124.3,12.3,239,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2419,2324,2319,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,0.90,146.6,3641,2419,2318,2329,109.6,11.3,251,2386,0.00,2.42,0.00,0.000,516,0.000,0.068,3642,983,2323,2318,2329,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2417,0.90,146.6,3641,983,2318,2329,104.8,11.6,255,2422,0.00,2.38,0.00,0.000,1030,0.000,0.045,3642,2420,2323,2318,2329,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2542,0.90,146.6,3642,2420,2317,2329,89.9,11.8,267,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2420,2323,2317,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2662,0.90,146.6,3642,2420,2316,2329,76.5,10.8,279,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2420,2322,2316,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2782,0.90,146.6,3642,2420,2315,2329,63.7,10.2,291,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3641,2420,2322,2315,2329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2903,0.90,146.6,3641,2420,2315,2329,51.7,10.0,303,2907,0.00,2.33,0.00,0.000,260,0.000,0.065,3641,3821,2322,2315,2329,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2958,0.90,146.6,3641,3821,2315,2327,45.4,11.4,308,2963,0.00,2.33,0.00,0.000,1030,0.000,0.042,3650,2376,2321,2315,2327,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3083,0.90,146.6,3651,2376,2314,2327,32.4,11.0,320,3087,0.00,2.33,0.00,0.000,516,0.000,0.067,3659,977,2321,2315,2327,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3162,0.90,146.6,2944,976,2251,2317,23.7,12.1,327,3169,0.00,2.40,0.00,0.000,1030,0.000,0.045,3659,2422,2321,2315,2327,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3290,0.90,146.6,3659,2422,2315,2327,6.4,13.5,350,3297,0.00,2.35,0.00,0.000,260,0.000,0.066,3659,3827,2320,2314,2327,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,3317,end climb,SURFACE_DEPTH_REACHED
$STATE,3317,begin surface coast
$FINISH,0.4,1.022027
$STATE,3338,end surface coast,CONTROL_FINISHED_OK
$STATE,3338,begin surface
$SM_CCo,3357,122.18,1.193,0,0,1707,300.00
$SM_GC,0.90,10.18,2.58,122.18,0.090,0.042,1.193,117,2277,1707,-10.05,0.65,300.00,0,0,0,0,0,0,14.79,14.82,13.71
$IRIDIUM_FIX,4726.11,-12227.78,101013,141448
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.05
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.3
$24V_AH,13.5,4.263
$10V_AH,13.5,1.233
$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,26.725,48.000,229.600,122.175,0.000,31.344,47.450,132.461,5.000,0.000,6.729,883.358,1512.833,440.019,894.272,47.381,33.204,838.457,0.000,653.895,0.000,32.304,0.000
$DEVICE_MAMPS,437.580,159.120,1378.530,1193.400,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.335,439.258,365.321,264.786,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345760
$DATA_FILE_SIZE,20315,359
$CAP_FILE_SIZE,59444,0
$CFSIZE,260165632,218296320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,165821,4743.749,-12225.132,38,1.0,39,16.3