version: 66.11
glider: 144
mission: 20
dive: 5
start: 10 10 113 0 28 24
data:
$ID,144
$MISSION,20
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$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,50
$T_MISSION,60
$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,1
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56509.184
$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,100
$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
$GPS1,101013,002009,4744.154,-12222.996,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.3
$GPS2,101013,002723,4744.107,-12222.919,4,1.1,5,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.204,0.160
$KALMAN_X,1173.6,622.2,110.4,-260.1,329.6
$KALMAN_Y,-139.9,37.4,49.5,1877.4,-281.2
$MHEAD_RNG_PITCHd_Wd,291.8,1265,-17.5,-10.000,-21.09,2221
$D_GRID,150
$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,14,begin dive
$GC,15,-0.90,-146.6,119,2342,1779,1613,0.0,0.0,0,63,0.00,0.00,-46.00,0.000,16386,0.000,0.000,120,2343,3091,3038,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.90,-146.6,120,2343,3041,3145,2.3,-5.3,8,97,14.18,2.50,-10.02,0.000,18948,0.423,0.080,3053,871,3530,3440,3620,0,0,0,0,0,0,14.38,14.59,14.78
$GC,114,-0.90,-146.6,3053,871,3441,3621,7.7,-9.9,16,121,0.00,2.40,0.00,0.000,1030,0.000,0.047,3049,2323,3531,3443,3620,0,0,0,0,0,0,28.83,14.63,28.83
$GC,183,-0.90,-146.6,3049,2323,3445,3621,17.5,-15.8,29,190,0.00,2.35,0.00,0.000,260,0.000,0.065,3045,3725,3533,3445,3621,0,0,0,0,0,0,28.83,14.64,28.83
$GC,249,-0.90,-146.6,2048,3724,3430,3619,27.9,-16.6,37,257,0.00,2.40,0.00,0.000,1030,0.000,0.042,3045,2284,3533,3446,3621,0,0,0,0,0,0,28.83,14.64,28.83
$GC,377,-0.90,-146.6,3045,2283,3447,3621,40.3,-0.2,50,386,0.00,2.42,0.00,0.000,260,0.000,0.066,3045,3725,3534,3447,3621,0,0,0,0,0,0,28.83,14.71,28.83
$GC,678,-0.90,-146.6,3044,3726,3447,3621,40.4,-0.2,80,682,0.00,2.35,0.00,0.000,1030,0.000,0.042,3045,2263,3534,3447,3621,0,0,0,0,0,0,28.83,14.79,28.83
$GC,803,-0.90,-146.6,3045,2261,3447,3621,40.4,-0.3,92,812,0.00,2.45,0.00,0.000,260,0.000,0.065,3045,3726,3534,3447,3621,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1103,end dive,NO_VERTICAL_VELOCITY
$STATE,1103,begin apogee
$GC,1108,-0.20,0.0,3045,2366,3447,3621,40.3,0.0,122,1226,0.75,0.08,110.80,1.206,10246,0.172,0.164,3281,2423,2929,2892,2966,0,0,0,0,0,0,14.71,14.25,13.71
$STATE,1227,end apogee,CONTROL_FINISHED_OK
$STATE,1227,begin climb
$GC,1228,0.90,146.6,3281,2423,2890,2966,40.4,0.0,134,1356,1.15,2.55,113.57,1.170,10756,0.178,0.063,3636,978,2329,2322,2337,0,0,0,0,0,0,14.21,14.15,13.59
$GC,1390,0.90,146.6,2896,977,2254,2324,30.7,10.2,150,1398,0.00,2.47,0.00,0.000,1030,0.000,0.046,3636,2416,2326,2318,2334,0,0,0,0,0,0,28.83,14.29,28.83
$GC,1517,0.90,146.6,3636,2416,2314,2334,15.1,13.1,167,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2416,2324,2314,2334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,0.90,146.6,3636,2416,2313,2334,7.6,10.7,180,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2415,2323,2313,2334,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1627,end climb,SURFACE_DEPTH_REACHED
$STATE,1627,begin surface coast
$FINISH,0.1,1.022018
$STATE,1654,end surface coast,CONTROL_FINISHED_OK
$STATE,1654,begin surface
$SM_CCo,1671,110.47,1.144,0,0,1707,300.00
$SM_GC,1.09,10.27,0.22,110.47,0.089,0.086,1.144,120,2268,1707,-10.05,0.76,300.00,0,0,0,0,0,0,14.59,14.64,13.67
$IRIDIUM_FIX,4726.11,-12223.37,091013,232339
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.19
$INTERNAL_PRESSURE,8.69439
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.7
$24V_AH,13.6,1.669
$10V_AH,13.2,0.554
$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,26.350,24.550,224.375,110.475,0.000,22.396,44.464,294.141,0.250,0.000,5.955,463.830,547.169,378.999,802.003,34.962,33.209,661.311,0.000,429.771,0.000,2.646,0.000
$DEVICE_MAMPS,423.045,163.710,1206.405,1144.440,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.907,236.085,209.626,140.434,0.000,0.000,0.000,0.000,0.000,0.000
$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,10288,193
$CAP_FILE_SIZE,48785,0
$CFSIZE,260165632,218865664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,005835,4744.049,-12222.907,3,1.0,4,16.3