version: 66.11
glider: 144
mission: 20
dive: 11
start: 10 10 113 4 35 19
data:
$ID,144
$MISSION,20
$DIVE,11
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,120
$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,40
$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,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,-56574.805
$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,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
$GPS1,101013,043011,4743.879,-12223.802,9,0.8,9,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-73.9
$GPS2,101013,043419,4743.925,-12223.828,9,0.8,9,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.213
$KALMAN_X,14.8,14.6,14.5,-505.3,19.8
$KALMAN_Y,-63.2,-64.6,-64.3,727.0,-85.5
$MHEAD_RNG_PITCHd_Wd,309.0,1355,-17.5,-10.000,-21.09,2221
$D_GRID,120
$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,-146.6,119,2335,1775,1623,0.0,0.0,0,63,0.00,0.00,-45.80,0.000,16386,0.000,0.000,119,2335,3092,3054,3130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.90,-146.6,119,2335,3056,3129,2.2,-5.0,8,96,14.32,2.35,-9.85,0.000,18692,0.428,0.086,3050,3728,3529,3458,3601,0,0,0,0,0,0,14.38,14.59,14.77
$GC,303,-0.90,-146.6,3050,3728,3466,3602,39.8,-17.9,43,307,0.00,2.38,0.00,0.000,1030,0.000,0.044,3050,2275,3533,3465,3602,0,0,0,0,0,0,28.83,14.70,28.83
$GC,428,-0.90,-146.6,3050,2275,3465,3602,61.5,-17.0,55,433,0.00,2.33,0.00,0.000,516,0.000,0.063,3050,872,3533,3465,3602,0,0,0,0,0,0,28.83,14.72,28.83
$GC,534,-0.90,-146.6,3050,872,3465,3602,76.9,-13.3,65,538,0.00,2.38,0.00,0.000,1030,0.000,0.048,3050,2325,3533,3465,3602,0,0,0,0,0,0,28.83,14.76,28.83
$GC,659,-0.90,-146.6,3050,2324,3465,3602,92.9,-12.9,77,663,0.00,2.33,0.00,0.000,260,0.000,0.066,3050,3726,3533,3465,3602,0,0,0,0,0,0,28.83,14.76,28.83
$GC,736,-0.90,-146.6,3050,3726,3465,3602,102.4,-12.2,84,745,0.00,2.35,0.00,0.000,1030,0.000,0.041,3050,2275,3534,3466,3602,0,0,0,0,0,0,28.83,14.81,28.83
$GC,865,-0.90,-146.6,3050,2275,3465,3602,117.5,-12.4,97,866,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2275,3533,3465,3602,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,885,begin apogee
$GC,888,-0.20,0.0,3050,2435,3466,3602,120.2,-13.1,99,1007,0.82,0.08,112.10,1.307,10246,0.262,0.149,3273,2363,2929,2901,2958,0,0,0,0,0,0,14.26,14.21,13.65
$STATE,1008,end apogee,CONTROL_FINISHED_OK
$STATE,1009,begin climb
$GC,1010,0.90,146.6,3273,2363,2899,2958,124.8,0.0,111,1136,1.23,0.00,118.32,1.253,10246,0.186,0.000,3631,2362,2330,2332,2329,0,0,0,0,0,0,14.16,28.83,13.36
$GC,1255,0.90,146.6,3631,2362,2323,2326,100.9,13.7,136,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,2362,2324,2322,2326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1375,0.90,146.6,3631,2362,2321,2326,84.9,13.4,148,1379,0.00,2.50,0.00,0.000,260,0.000,0.063,3631,3829,2323,2320,2326,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1445,0.90,146.6,3631,3829,2321,2325,74.9,15.6,154,1452,0.00,2.40,0.00,0.000,1030,0.000,0.043,3640,2368,2322,2320,2325,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1571,0.90,146.6,3640,2369,2320,2324,56.1,13.2,167,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,3640,2368,2322,2320,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1692,0.90,146.6,3640,2368,2320,2324,42.2,11.0,179,1701,0.00,2.33,0.00,0.000,516,0.000,0.066,3650,980,2322,2319,2325,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1776,0.90,146.6,3650,979,2319,2325,33.1,11.2,187,1783,0.00,2.38,0.00,0.000,1030,0.000,0.046,3650,2427,2322,2320,2325,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1904,0.90,146.6,3650,2426,2319,2324,16.5,13.2,202,1911,0.00,2.33,0.00,0.000,260,0.000,0.065,3650,3821,2321,2319,2324,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1984,0.90,146.6,3650,3821,2318,2324,5.6,14.0,217,1991,0.00,2.35,0.00,0.000,1030,0.000,0.045,3660,2380,2321,2318,2324,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,2001,end climb,SURFACE_DEPTH_REACHED
$STATE,2001,begin surface coast
$FINISH,0.5,1.022281
$STATE,2023,end surface coast,CONTROL_FINISHED_OK
$STATE,2023,begin surface
$SM_CCo,2039,114.47,1.182,0,0,1707,300.00
$SM_GC,1.05,10.20,0.15,114.47,0.090,0.106,1.182,116,2259,1707,-10.06,0.57,300.00,0,0,0,0,0,0,14.73,14.78,13.69
$IRIDIUM_FIX,4726.11,-12223.37,101013,030324
$TT8_MAMPS,0.023968,0.023968
$HUMID,58.93
$INTERNAL_PRESSURE,8.68462
$TCM_TEMP,20.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,13.4,2.590
$10V_AH,13.5,0.732
$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,26.575,28.950,230.425,114.475,0.000,30.533,43.026,107.865,2.500,0.000,10.743,553.694,809.049,402.427,623.177,31.367,31.302,677.443,0.000,425.650,0.000,13.580,0.000
$DEVICE_MAMPS,428.400,149.175,1306.620,1181.925,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.838,273.138,227.865,164.700,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345708
$DATA_FILE_SIZE,13645,224
$CAP_FILE_SIZE,39911,0
$CFSIZE,260165632,218714112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,051204,4744.160,-12224.070,25,0.9,25,16.3