version: 66.11
glider: 144
mission: 20
dive: 10
start: 10 10 113 3 57 45
data:
$ID,144
$MISSION,20
$DIVE,10
$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,-56573.547
$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
$GPS1,101013,034742,4743.728,-12223.609,3,1.0,3,16.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-72.6
$GPS2,101013,035648,4743.698,-12223.651,5,1.1,5,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.123,0.228
$KALMAN_X,12.7,12.7,12.7,-281.2,30.3
$KALMAN_Y,-59.8,-59.8,-59.8,302.9,-142.8
$MHEAD_RNG_PITCHd_Wd,315.4,1823,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-146.6,114,2272,1774,1621,0.0,0.0,0,63,0.00,0.00,-45.95,0.000,16386,0.000,0.000,114,2272,3092,3052,3132,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.90,-146.6,114,2272,3054,3131,2.3,-5.5,8,97,14.50,2.45,-9.68,0.000,18692,0.432,0.084,3045,3720,3530,3456,3605,0,0,0,0,0,0,14.38,14.62,14.81
$GC,381,-0.90,-146.6,3045,3721,3464,3605,46.1,-13.3,51,389,0.00,2.35,0.00,0.000,1030,0.000,0.044,3045,2273,3534,3464,3605,0,0,0,0,0,0,28.83,14.73,28.83
$GC,508,-0.90,-146.6,3045,2273,3464,3605,61.5,-10.8,64,513,0.00,2.33,0.00,0.000,516,0.000,0.064,3045,868,3534,3464,3605,0,0,0,0,0,0,28.83,14.74,28.83
$GC,545,-0.90,-146.6,3045,868,3464,3605,65.4,-11.0,67,554,0.00,2.38,0.00,0.000,1030,0.000,0.048,3044,2321,3534,3464,3605,0,0,0,0,0,0,28.83,14.77,28.83
$GC,676,-0.90,-146.6,3044,2321,3464,3605,78.8,-10.6,80,685,0.00,2.33,0.00,0.000,260,0.000,0.067,3044,3724,3534,3464,3605,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,766,begin apogee
$GC,771,-0.20,0.0,3044,2374,3464,3605,90.6,-13.4,89,897,0.85,0.00,115.62,1.265,10246,0.266,0.000,3276,2373,2928,2898,2959,0,0,0,0,0,0,14.61,28.83,13.43
$STATE,898,end apogee,CONTROL_FINISHED_OK
$STATE,898,begin climb
$GC,899,0.90,146.6,3276,2373,2897,2959,97.4,0.0,102,1027,1.20,0.00,118.72,1.220,10246,0.188,0.000,3629,2373,2329,2329,2330,0,0,0,0,0,0,14.13,28.83,12.82
$GC,1147,0.90,146.6,3629,2373,2321,2328,76.5,13.4,127,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,2373,2324,2321,2328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,0.90,146.6,3629,2372,2320,2327,61.2,11.9,139,1271,0.00,2.47,0.00,0.000,260,0.000,0.064,3629,3825,2323,2320,2327,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1336,0.90,146.6,2816,3825,2249,2314,52.4,13.8,145,1343,0.00,2.40,0.00,0.000,1030,0.000,0.044,3639,2373,2322,2319,2326,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1462,0.90,146.6,3639,2373,2319,2325,37.3,10.5,158,1466,0.00,2.35,0.00,0.000,516,0.000,0.069,3642,981,2322,2319,2326,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1520,0.90,146.6,2896,980,2254,2315,31.4,11.1,163,1529,0.00,2.42,0.00,0.000,1030,0.000,0.046,3642,2422,2322,2319,2325,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1650,0.90,146.6,3642,2422,2318,2326,16.5,11.6,179,1656,0.00,2.35,0.00,0.000,260,0.000,0.064,3642,3828,2322,2318,2326,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1688,0.90,146.6,3642,3828,2318,2325,11.2,13.9,186,1695,0.00,2.38,0.00,0.000,1030,0.000,0.045,3650,2377,2321,2318,2325,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,1755,end climb,SURFACE_DEPTH_REACHED
$STATE,1755,begin surface coast
$FINISH,0.0,1.010441
$STATE,1782,end surface coast,CONTROL_FINISHED_OK
$STATE,1782,begin surface
$SM_CCo,1799,111.93,1.174,0,0,1707,300.00
$SM_GC,1.02,10.18,0.15,111.93,0.086,0.106,1.174,120,2254,1707,-10.05,0.51,300.00,0,0,0,0,0,0,14.68,14.71,13.73
$IRIDIUM_FIX,4726.11,-12225.08,101013,030300
$TT8_MAMPS,0.023219,0.023219
$HUMID,58.82
$INTERNAL_PRESSURE,8.69439
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.5
$24V_AH,12.8,2.458
$10V_AH,13.6,0.702
$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,26.725,28.575,234.350,111.925,0.000,87.963,146.275,125.849,2.500,0.000,6.826,491.828,770.167,407.653,774.732,29.835,30.074,668.326,0.000,395.179,0.000,16.343,0.000
$DEVICE_MAMPS,432.225,106.335,1265.310,1174.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,140.448,247.831,207.424,148.366,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345732
$DATA_FILE_SIZE,10239,204
$CAP_FILE_SIZE,37766,0
$CFSIZE,260165632,218750976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,043011,4743.879,-12223.802,9,0.8,9,16.3