version: 66.11
glider: 144
mission: 20
dive: 9
start: 10 10 113 3 17 32
data:
$ID,144
$MISSION,20
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,90
$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,30
$T_MISSION,45
$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,-56572.199
$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,50
$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
$GPS1,101013,031230,4743.639,-12223.439,3,0.9,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.6
$GPS2,101013,031636,4743.634,-12223.457,5,1.0,5,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.201
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,304.7,2063,-17.5,-10.000,-21.09,2221
$D_GRID,90
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.90,-146.6,116,2261,1776,1621,0.0,0.0,0,62,0.00,0.00,-45.65,0.000,16386,0.000,0.000,116,2262,3076,3034,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.90,-146.6,116,2261,3037,3119,2.2,-5.2,8,96,14.23,2.53,-10.40,0.000,19204,0.430,0.086,3044,3721,3531,3455,3607,0,0,0,0,0,0,14.47,14.69,14.88
$GC,386,-0.90,-146.6,3044,3721,3462,3607,47.7,-14.3,52,393,0.00,2.35,0.00,0.000,1030,0.000,0.043,3044,2278,3535,3462,3608,0,0,0,0,0,0,28.83,14.77,28.83
$GC,515,-0.90,-146.6,3044,2278,3462,3607,65.4,-12.8,65,523,0.00,2.40,0.00,0.000,260,0.000,0.067,3044,3718,3535,3462,3608,0,0,0,0,0,0,28.83,14.71,28.83
$GC,609,-0.90,-146.6,2048,3717,3447,3605,77.1,-12.7,74,617,0.00,2.38,0.00,0.000,1030,0.000,0.042,3044,2277,3535,3462,3608,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,707,begin apogee
$GC,711,-0.20,0.0,3044,2435,3462,3608,90.4,-13.1,84,838,0.85,0.08,116.85,1.254,10246,0.275,0.149,3274,2369,2928,2896,2961,0,0,0,0,0,0,14.61,14.05,12.95
$STATE,839,end apogee,CONTROL_FINISHED_OK
$STATE,839,begin climb
$GC,841,0.90,146.6,3274,2369,2895,2961,96.5,0.0,97,968,1.23,2.45,116.32,1.226,10756,0.187,0.067,3637,978,2330,2329,2331,0,0,0,0,0,0,14.02,14.12,13.38
$GC,1010,0.90,146.6,3637,978,2326,2327,82.9,12.6,114,1014,0.00,2.42,0.00,0.000,1030,0.000,0.046,3636,2418,2326,2326,2327,0,0,0,0,0,0,28.83,14.33,28.83
$GC,1135,0.90,146.6,3636,2418,2321,2327,63.3,14.9,126,1139,0.00,2.38,0.00,0.000,260,0.000,0.063,3637,3821,2323,2321,2326,0,0,0,0,0,0,28.83,14.51,28.83
$GC,1231,0.90,146.6,3637,3821,2320,2325,48.4,15.6,135,1235,0.00,2.38,0.00,0.000,1030,0.000,0.046,3642,2384,2322,2320,2325,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1356,0.90,146.6,3642,2384,2320,2325,33.5,10.9,147,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,2384,2322,2319,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1477,0.90,146.6,3642,2384,2319,2325,20.4,11.3,159,1487,0.00,2.38,0.00,0.000,516,0.000,0.070,3641,978,2322,2319,2325,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1525,0.90,146.6,3642,978,2319,2325,14.6,11.9,167,1532,0.00,2.38,0.00,0.000,1030,0.000,0.047,3642,2426,2322,2319,2325,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1595,0.90,146.6,3642,2426,2318,2325,6.5,11.0,180,1601,0.00,2.35,0.00,0.000,260,0.000,0.064,3642,3829,2321,2318,2325,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1622,end climb,SURFACE_DEPTH_REACHED
$STATE,1622,begin surface coast
$FINISH,0.0,1.022241
$STATE,1643,end surface coast,CONTROL_FINISHED_OK
$STATE,1643,begin surface
$SM_CCo,1662,118.47,1.153,0,0,1707,300.00
$SM_GC,0.95,10.20,2.62,118.47,0.089,0.045,1.153,114,2274,1707,-10.07,0.45,300.00,0,0,0,0,0,0,14.69,14.67,13.52
$IRIDIUM_FIX,4726.11,-12230.48,101013,030346
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.58
$INTERNAL_PRESSURE,8.69439
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,18.6
$24V_AH,12.9,2.321
$10V_AH,13.2,0.671
$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,26.500,29.425,233.175,118.475,0.000,0.000,0.000,0.000,2.750,0.000,6.737,453.626,578.467,392.677,391.694,21.617,29.129,655.174,0.000,387.614,0.000,16.333,0.000
$DEVICE_MAMPS,429.930,149.175,1253.835,1152.855,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,129.489,229.605,192.303,137.574,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345788
$DATA_FILE_SIZE,10318,189
$CAP_FILE_SIZE,45720,0
$CFSIZE,260165632,218771456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,034742,4743.728,-12223.609,3,1.0,3,16.3