version: 66.11
glider: 144
mission: 20
dive: 20
start: 10 10 113 14 0 44
data:
$ID,144
$MISSION,20
$DIVE,20
$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,-56594.934
$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
$GPS1,101013,135453,4743.872,-12225.096,39,1.0,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.5
$GPS2,101013,135944,4743.832,-12225.155,5,0.9,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.234
$KALMAN_X,-1935.0,101.9,-15.3,-263.4,-424.9
$KALMAN_Y,796.5,1176.9,224.7,-1834.1,-1683.3
$MHEAD_RNG_PITCHd_Wd,346.6,1483,-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,-0.72,-146.6,111,2337,1790,1610,0.0,0.0,0,63,0.00,0.00,-46.55,0.000,16386,0.000,0.000,111,2337,3131,3080,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.72,-146.6,111,2337,3082,3182,2.4,-6.0,8,97,14.43,2.35,-8.30,0.000,18692,0.421,0.091,3110,3725,3532,3447,3618,0,0,0,0,0,0,14.39,14.59,14.78
$GC,284,-0.26,-146.6,3110,3725,3454,3618,29.9,-13.3,43,294,0.55,2.35,0.00,0.000,3078,0.235,0.044,3261,2270,3536,3454,3618,0,0,0,0,0,0,14.57,14.69,28.83
$GC,415,-0.92,-146.6,3261,2270,3455,3618,37.8,-4.8,56,424,0.57,2.28,0.00,0.000,4612,0.088,0.061,3050,881,3536,3454,3618,0,0,0,0,0,0,14.71,14.66,28.83
$GC,457,-0.46,-146.6,3049,881,3454,3618,42.2,-10.7,60,467,0.57,2.35,0.00,0.000,3078,0.262,0.047,3198,2316,3536,3455,3618,0,0,0,0,0,0,14.59,14.73,28.83
$GC,587,-0.66,-146.6,3198,2315,3454,3618,51.0,-6.0,73,597,0.17,2.33,0.00,0.000,4356,0.135,0.063,3129,3721,3536,3454,3618,0,0,0,0,0,0,14.73,14.74,28.83
$GC,702,-0.43,-146.6,3129,3721,3454,3618,61.9,-10.2,84,710,0.30,2.35,0.00,0.000,3078,0.241,0.042,3209,2273,3536,3454,3618,0,0,0,0,0,0,14.64,14.78,28.83
$GC,830,-0.76,-146.6,3209,2273,3455,3618,70.0,-5.4,97,832,0.32,0.00,0.00,0.000,4102,0.106,0.000,3092,2273,3536,3455,3618,0,0,0,0,0,0,14.78,28.83,28.83
$GC,949,-0.27,-146.6,3092,2273,3455,3619,83.9,-12.8,109,952,0.62,0.00,0.00,0.000,2054,0.248,0.000,3261,2271,3536,3455,3618,0,0,0,0,0,0,14.67,28.83,28.83
$GC,1070,-1.04,-146.6,3262,2271,3455,3618,90.5,-4.7,121,1079,0.70,2.40,0.00,0.000,4356,0.101,0.063,3012,3725,3536,3455,3618,0,0,0,0,0,0,14.77,14.73,28.83
$GC,1182,0.01,-146.6,3012,3724,3455,3618,106.9,-16.3,132,1193,1.20,2.33,0.00,0.000,3078,0.263,0.044,3344,2270,3536,3455,3618,0,0,0,0,0,0,14.62,14.83,28.83
$GC,1313,-1.85,-146.6,3344,2270,3456,3618,111.7,-4.6,145,1321,1.88,0.00,0.00,0.000,4102,0.174,0.000,2761,2270,3537,3456,3618,0,0,0,0,0,0,14.75,28.83,28.83
$GC,1442,0.60,-146.6,2761,2268,3456,3618,138.4,-24.0,158,1455,3.15,0.00,0.00,0.000,2054,0.339,0.000,3532,2268,3537,3456,3618,0,0,0,0,0,0,14.65,28.83,28.83
$GC,1572,-1.73,-146.6,3533,2268,3458,3618,147.0,-9.3,171,1583,2.20,2.42,0.00,0.000,4356,0.142,0.064,2795,3726,3536,3457,3615,0,0,0,0,0,0,14.78,14.82,28.83
$GC,1625,0.33,-146.6,2795,3726,3457,3615,153.6,-13.8,176,1637,2.65,2.35,0.00,0.000,3078,0.341,0.044,3445,2269,3536,3458,3615,0,0,0,0,0,0,14.64,14.85,28.83
$GC,1755,-1.73,-146.6,3445,2268,3459,3615,157.9,-4.5,189,1765,1.95,2.47,0.00,0.000,4356,0.146,0.064,2793,3725,3537,3459,3615,0,0,0,0,0,0,14.78,14.81,28.83
$GC,1871,0.56,-146.6,1792,3724,3443,3612,179.4,-27.2,200,1881,2.85,2.40,0.00,0.000,3078,0.334,0.044,3516,2267,3537,3459,3615,0,0,0,0,0,0,14.64,14.83,28.83
$STATE,1887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1887,begin apogee
$GC,1890,-0.20,0.0,3516,2429,3459,3615,183.3,-24.6,202,2011,0.77,0.05,114.10,1.379,12294,0.237,0.197,3296,2371,2930,2896,2964,0,0,0,0,0,0,14.68,14.17,13.57
$STATE,2012,end apogee,CONTROL_FINISHED_OK
$STATE,2012,begin climb
$GC,2013,0.72,146.6,3296,2371,2894,2964,184.5,0.0,214,2140,0.90,2.45,115.90,1.333,10756,0.144,0.069,3584,984,2331,2328,2334,0,0,0,0,0,0,14.15,14.08,13.45
$GC,2252,0.26,146.6,3584,984,2321,2332,166.2,8.9,238,2262,0.52,2.40,0.00,0.000,5126,0.220,0.045,3441,2419,2326,2320,2332,0,0,0,0,0,0,14.31,14.43,28.83
$GC,2382,0.89,248.5,3441,2420,2317,2332,160.4,3.9,251,2473,0.57,0.00,85.03,1.314,10246,0.089,0.000,3645,2420,1916,1947,1885,0,0,0,0,0,0,14.55,28.83,13.56
$GC,2592,0.05,248.5,3645,2420,1934,1884,123.7,19.1,272,2603,0.98,2.45,0.00,0.000,4612,0.244,0.064,3385,988,1907,1931,1884,0,0,0,0,0,0,14.31,14.40,28.83
$GC,2660,1.64,337.9,3385,988,1926,1884,119.6,4.4,278,2747,1.58,2.38,74.43,1.277,11270,0.151,0.044,3877,2428,1551,1605,1497,0,0,0,0,0,0,14.47,14.53,13.58
$GC,2865,-0.59,337.9,3877,2428,1595,1496,47.0,39.2,299,2876,2.83,2.35,0.00,0.000,4356,0.311,0.063,3168,3819,1544,1592,1496,0,0,0,0,0,0,14.29,14.45,28.83
$GC,2908,0.80,370.4,3168,3819,1589,1495,43.5,6.4,303,2942,1.50,2.38,26.77,1.166,11270,0.218,0.041,3598,2359,1419,1469,1370,0,0,0,0,0,0,14.37,14.52,13.78
$GC,3062,0.80,370.4,3598,2359,1461,1369,26.5,11.3,318,3066,0.00,2.50,0.00,0.000,260,0.000,0.064,3598,3825,1415,1461,1369,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3091,0.80,370.4,2816,3824,1429,1365,23.0,13.0,320,3098,0.00,2.45,0.00,0.000,1030,0.000,0.045,3601,2382,1414,1459,1369,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3218,0.80,370.4,3601,2381,1458,1369,5.2,12.7,344,3225,0.00,2.38,0.00,0.000,516,0.000,0.070,3600,976,1413,1458,1369,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3236,end climb,SURFACE_DEPTH_REACHED
$STATE,3236,begin surface coast
$FINISH,0.6,1.022139
$STATE,3257,end surface coast,CONTROL_FINISHED_OK
$STATE,3257,begin surface
$SM_CCo,3335,0.00,0.000,0,0,1408,373.35
$SM_GC,1.03,10.10,2.25,0.00,0.086,0.042,0.000,118,2326,1408,-10.05,-0.74,373.35,0,0,0,0,0,0,14.62,14.64,28.83
$IRIDIUM_FIX,4726.11,-12225.08,101013,121253
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.56
$INTERNAL_PRESSURE,8.64556
$TCM_TEMP,20.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,19.1
$24V_AH,13.5,3.959
$10V_AH,13.4,1.146
$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,53.875,52.750,416.225,0.000,0.000,29.059,47.270,147.609,5.250,0.000,6.737,824.069,1335.392,491.087,932.571,52.918,33.188,951.036,0.000,685.494,0.000,33.046,0.000
$DEVICE_MAMPS,420.750,197.370,1378.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.875,432.743,382.389,255.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345688
$DATA_FILE_SIZE,20276,351
$CAP_FILE_SIZE,84478,0
$CFSIZE,260165632,218349568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,145646,4743.736,-12225.382,3,1.0,3,16.3