version: 66.11
glider: 144
mission: 20
dive: 23
start: 10 10 113 17 4 16
data:
$ID,144
$MISSION,20
$DIVE,23
$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,-56607.215
$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
$GPS1,101013,165821,4743.749,-12225.132,38,1.0,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.5
$GPS2,101013,170317,4743.782,-12225.103,5,0.8,5,16.3
$SPEED_LIMITS,0.063,0.234
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.164
$KALMAN_X,-2668.3,-301.5,-40.8,956.0,-506.6
$KALMAN_Y,1910.1,-1429.8,-1320.2,1110.1,-267.3
$MHEAD_RNG_PITCHd_Wd,29.2,1526,-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,-0.90,-146.6,116,2274,1777,1619,0.0,0.0,0,63,0.00,0.00,-45.80,0.000,16386,0.000,0.000,117,2274,3110,3066,3154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.90,-146.6,116,2274,3069,3154,2.5,-6.3,8,96,14.48,2.45,-8.62,0.000,18692,0.433,0.085,3045,3721,3532,3453,3611,0,0,0,0,0,0,14.38,14.58,14.78
$GC,389,-0.90,-146.6,3045,3721,3459,3611,56.1,-15.0,49,398,0.00,2.35,0.00,0.000,1030,0.000,0.042,3045,2273,3535,3459,3611,0,0,0,0,0,0,28.83,14.73,28.83
$GC,519,-0.90,-146.6,3044,2273,3459,3611,75.8,-15.5,62,528,0.00,2.42,0.00,0.000,260,0.000,0.065,3045,3721,3535,3459,3611,0,0,0,0,0,0,28.83,14.73,28.83
$GC,713,-0.90,-146.6,2048,3720,3445,3609,104.7,-13.3,81,723,0.00,2.38,0.00,0.000,1030,0.000,0.042,3045,2280,3535,3460,3611,0,0,0,0,0,0,28.83,14.73,28.83
$GC,842,-0.90,-146.6,3045,2279,3460,3611,121.2,-11.1,94,851,0.00,2.33,0.00,0.000,516,0.000,0.064,3045,869,3535,3460,3611,0,0,0,0,0,0,28.83,14.78,28.83
$GC,892,-0.90,-146.6,3045,869,3460,3611,128.3,-13.8,99,896,0.00,2.38,0.00,0.000,1030,0.000,0.047,3044,2318,3535,3460,3611,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1017,-0.90,-146.6,3045,2318,3460,3611,143.1,-11.1,111,1021,0.00,2.33,0.00,0.000,260,0.000,0.067,3044,3722,3535,3459,3611,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1065,-0.90,-146.6,2048,3721,3445,3609,148.0,-10.7,115,1074,0.00,2.38,0.00,0.000,1030,0.000,0.040,3044,2278,3535,3460,3611,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1194,-0.90,-146.6,3044,2276,3460,3611,160.7,-9.9,128,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2276,3535,3460,3611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1313,-0.90,-146.6,3044,2275,3460,3611,173.4,-11.7,140,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2276,3535,3460,3611,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1380,-0.20,0.0,3045,2438,3460,3611,180.5,-11.6,146,1499,0.82,0.08,113.90,1.374,10246,0.265,0.150,3272,2369,2930,2899,2961,0,0,0,0,0,0,14.69,14.21,13.59
$STATE,1500,end apogee,CONTROL_FINISHED_OK
$STATE,1500,begin climb
$GC,1502,0.90,146.6,3272,2369,2897,2961,185.7,0.0,158,1630,1.23,2.50,115.97,1.333,11012,0.184,0.067,3640,978,2330,2332,2329,0,0,0,0,0,0,14.14,14.04,13.47
$GC,1732,0.90,146.6,3640,979,2327,2325,157.2,17.2,181,1736,0.00,2.42,0.00,0.000,1030,0.000,0.045,3640,2421,2326,2327,2325,0,0,0,0,0,0,28.83,14.42,28.83
$GC,1857,0.90,146.6,3640,2421,2323,2325,133.6,18.3,193,1866,0.00,2.38,0.00,0.000,260,0.000,0.066,3640,3824,2324,2323,2325,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1908,0.90,146.6,3640,3824,2322,2324,123.0,21.4,198,1912,0.00,2.38,0.00,0.000,1030,0.000,0.044,3651,2378,2323,2322,2324,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2033,0.90,146.6,3650,2378,2322,2324,100.2,17.4,210,2042,0.00,2.35,0.00,0.000,516,0.000,0.067,3661,979,2323,2322,2324,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2124,0.90,146.6,3661,979,2322,2324,86.1,14.8,219,2133,0.00,2.35,0.00,0.000,1030,0.000,0.045,3661,2420,2323,2322,2324,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2254,0.90,146.6,3661,2420,2321,2324,66.7,14.9,232,2263,0.00,2.35,0.00,0.000,260,0.000,0.064,3661,3829,2322,2321,2324,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2315,0.90,146.6,3661,3829,2321,2324,56.8,16.6,238,2320,0.12,2.38,0.00,0.000,5126,0.311,0.044,3645,2367,2322,2321,2324,0,0,0,0,0,0,14.59,14.73,28.83
$GC,2440,0.90,146.6,3645,2366,2321,2324,40.8,12.2,250,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3645,2366,2322,2321,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,0.90,146.6,3645,2366,2320,2324,26.7,11.2,262,2564,0.00,2.30,0.00,0.000,516,0.000,0.066,3655,980,2322,2320,2324,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2641,0.90,146.6,3654,980,2321,2324,16.9,13.1,271,2647,0.00,2.35,0.00,0.000,1030,0.000,0.046,3655,2426,2322,2320,2324,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2709,0.90,146.6,3655,2426,2320,2324,8.2,11.6,284,2716,0.00,2.33,0.00,0.000,260,0.000,0.065,3654,3825,2322,2320,2324,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2742,0.90,146.6,3654,3825,2320,2324,4.7,10.7,290,2749,0.00,2.35,0.00,0.000,1030,0.000,0.044,3665,2371,2322,2320,2324,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,2764,end climb,SURFACE_DEPTH_REACHED
$STATE,2764,begin surface coast
$FINISH,0.5,1.021526
$STATE,2803,end surface coast,CONTROL_FINISHED_OK
$STATE,2803,begin surface
$SM_CCo,2820,123.07,1.188,0,0,1706,300.00
$SM_GC,0.99,10.32,0.12,123.07,0.099,0.125,1.188,114,2257,1706,-10.06,0.76,300.00,0,0,0,0,0,0,14.78,14.79,13.69
$IRIDIUM_FIX,4726.11,-12223.37,101013,151541
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.49
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,18.9,18.4
$24V_AH,13.5,4.406
$10V_AH,13.0,1.275
$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,26.975,47.875,229.875,123.075,0.000,29.310,51.387,148.601,6.000,0.000,6.700,748.548,1155.103,424.991,875.451,47.629,33.206,813.652,0.000,617.455,0.000,40.804,0.000
$DEVICE_MAMPS,432.990,149.940,1373.940,1188.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,206.205,369.919,327.525,220.955,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345720
$DATA_FILE_SIZE,17041,301
$CAP_FILE_SIZE,69927,0
$CFSIZE,260165632,218251264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,175349,4743.892,-12224.716,3,1.0,3,16.3