version: 66.11
glider: 144
mission: 20
dive: 12
start: 10 10 113 5 17 20
data:
$ID,144
$MISSION,20
$DIVE,12
$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,-56584.621
$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
$GPS1,101013,051204,4744.160,-12224.070,25,0.9,25,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.1
$GPS2,101013,051619,4744.175,-12224.074,5,0.8,5,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.168,0.198
$KALMAN_X,35.3,29.4,24.6,-858.5,22.7
$KALMAN_Y,-57.0,-92.7,-89.3,1240.3,-42.9
$MHEAD_RNG_PITCHd_Wd,303.4,802,-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,14,begin dive
$GC,15,-0.90,-146.6,116,2343,1774,1624,0.0,0.0,0,63,0.00,0.00,-45.62,0.000,16386,0.000,0.000,116,2343,3087,3051,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.90,-146.6,116,2343,3053,3124,2.2,-5.3,8,97,14.23,2.33,-9.85,0.000,18692,0.425,0.086,3045,3721,3530,3460,3601,0,0,0,0,0,0,14.37,14.59,14.77
$GC,333,-0.90,-146.6,3045,3721,3467,3602,43.6,-16.2,46,337,0.00,2.38,0.00,0.000,1030,0.000,0.044,3045,2265,3534,3467,3602,0,0,0,0,0,0,28.83,14.65,28.83
$GC,459,-0.90,-146.6,3045,2264,3467,3602,61.0,-14.2,58,468,0.00,2.30,0.00,0.000,516,0.000,0.064,3045,877,3534,3467,3602,0,0,0,0,0,0,28.83,14.69,28.83
$GC,572,-0.90,-146.6,3045,877,3467,3602,78.7,-16.3,69,580,0.00,2.40,0.00,0.000,1030,0.000,0.048,3044,2309,3534,3467,3602,0,0,0,0,0,0,28.83,14.69,28.83
$GC,700,-0.90,-146.6,3044,2309,3467,3602,97.7,-14.3,82,709,0.00,2.35,0.00,0.000,260,0.000,0.067,3044,3719,3534,3467,3602,0,0,0,0,0,0,28.83,14.73,28.83
$GC,792,-0.90,-146.6,3044,3719,3467,3602,110.3,-13.1,91,801,0.00,2.35,0.00,0.000,1030,0.000,0.043,3044,2275,3534,3467,3602,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,870,begin apogee
$GC,874,-0.20,0.0,3044,2433,3467,3602,120.9,-13.3,99,993,0.88,0.08,112.72,1.305,10246,0.266,0.151,3274,2366,2929,2902,2957,0,0,0,0,0,0,14.22,14.20,13.59
$STATE,994,end apogee,CONTROL_FINISHED_OK
$STATE,995,begin climb
$GC,996,0.90,146.6,3275,2366,2899,2957,125.4,0.0,111,1123,1.20,2.47,114.72,1.266,10756,0.184,0.067,3636,985,2329,2332,2327,0,0,0,0,0,0,14.13,14.05,13.49
$GC,1145,0.90,146.6,3636,985,2330,2325,114.3,10.9,126,1149,0.00,2.42,0.00,0.000,1030,0.000,0.045,3636,2417,2327,2329,2325,0,0,0,0,0,0,28.83,14.26,28.83
$GC,1270,0.90,146.6,3636,2418,2323,2325,98.3,11.9,138,1279,0.00,2.38,0.00,0.000,260,0.000,0.063,3636,3821,2323,2323,2324,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1341,0.90,146.6,3636,3821,2323,2324,88.3,14.9,145,1345,0.00,2.40,0.00,0.000,1030,0.000,0.045,3644,2378,2323,2323,2324,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1466,0.90,146.6,3643,2378,2323,2324,71.1,14.4,157,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3643,2378,2323,2322,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,0.90,146.6,3644,2378,2322,2324,54.4,14.3,169,1590,0.00,2.38,0.00,0.000,516,0.000,0.067,3654,977,2323,2322,2324,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1682,0.90,146.6,3654,977,2322,2324,41.0,14.1,178,1686,0.00,2.35,0.00,0.000,1030,0.000,0.046,3654,2420,2323,2322,2324,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1807,0.90,146.6,3654,2420,2321,2324,24.8,12.0,190,1816,0.00,2.45,0.00,0.000,516,0.000,0.065,3664,973,2322,2321,2324,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1829,0.90,146.6,3664,973,2321,2324,22.3,11.8,192,1838,0.00,2.38,0.00,0.000,1030,0.000,0.046,3664,2428,2322,2321,2324,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1958,0.90,146.6,3664,2427,2320,2324,5.7,13.2,216,1965,0.00,2.35,0.00,0.000,260,0.000,0.064,3664,3830,2322,2320,2324,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,1980,end climb,SURFACE_DEPTH_REACHED
$STATE,1980,begin surface coast
$FINISH,-0.0,1.022272
$STATE,2001,end surface coast,CONTROL_FINISHED_OK
$STATE,2001,begin surface
$SM_CCo,2020,113.78,1.180,0,0,1707,300.00
$SM_GC,1.06,10.20,2.60,113.78,0.088,0.045,1.180,116,2281,1707,-10.06,0.65,300.00,0,0,0,0,0,0,14.73,14.77,13.70
$IRIDIUM_FIX,4726.11,-12225.08,101013,040412
$TT8_MAMPS,0.023219,0.023219
$HUMID,59.41
$INTERNAL_PRESSURE,8.69439
$TCM_TEMP,20.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,13.5,2.721
$10V_AH,13.5,0.764
$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,26.500,38.700,227.450,113.775,0.000,24.327,54.484,115.738,2.500,0.000,9.183,544.950,766.045,399.620,663.704,34.874,32.227,701.904,0.000,453.168,0.000,13.577,0.000
$DEVICE_MAMPS,424.575,150.705,1305.090,1180.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.055,276.612,243.639,163.166,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345744
$DATA_FILE_SIZE,10294,224
$CAP_FILE_SIZE,53091,0
$CFSIZE,260165632,218677248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,055323,4744.516,-12224.316,4,1.0,4,16.3