version: 66.11
glider: 120
mission: 14
dive: 3
start: 2 27 113 21 20 54
data:
$ID,120
$MISSION,14
$DIVE,3
$N_DIVES,0
$D_SURF,1
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39003.504
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,116
$PITCH_MAX,4069
$C_PITCH,2698
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1922
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2879
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-4.3698635
$PRESSURE_SLOPE,0.0001164831
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,210305,4744.812,-12223.677,9,1.8,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-54.2
$GPS2,270213,211954,4744.762,-12223.529,11,2.0,16,18.2
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,-0.235
$KALMAN_X,129.7,141.0,127.0,984.6,33.0
$KALMAN_Y,1067.2,759.5,656.1,86.9,195.9
$MHEAD_RNG_PITCHd_Wd,191.3,558,-23.6,-10.000,-26.64,1277
$D_GRID,140
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.05,-84.2,131,1923,374,412,0.0,0.0,0,126,0.00,0.00,-101.40,0.000,16386,0.000,0.000,131,1924,2979,3076,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.12,-146.6,131,1923,3076,2882,2.3,-2.9,14,163,10.25,2.67,-12.65,0.000,18692,0.406,0.139,2318,3335,3478,3607,3350,0,0,0,0,0,0,14.04,14.22,14.52
$GC,254,-1.12,-146.6,1376,3333,3600,3354,19.8,-15.7,35,263,0.00,2.58,0.00,0.000,1030,0.000,0.107,2319,1920,3482,3606,3358,0,0,0,0,0,0,28.83,14.21,28.83
$GC,321,-1.12,-146.6,2318,1920,3606,3360,29.9,-15.5,42,327,0.00,2.65,0.00,0.000,260,0.000,0.123,2311,3334,3483,3606,3360,0,0,0,0,0,0,28.83,14.19,28.83
$GC,369,-1.12,-146.6,1392,3332,3597,3357,36.2,-14.6,46,377,0.00,2.58,0.00,0.000,1030,0.000,0.110,2309,1922,3483,3605,3361,0,0,0,0,0,0,28.83,14.20,28.83
$GC,496,-1.12,-146.6,2309,1922,3606,3363,55.6,-15.1,59,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,1922,3484,3606,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,618,-1.12,-146.6,2309,1922,3606,3363,73.7,-14.5,71,624,0.00,2.60,0.00,0.000,260,0.000,0.121,2300,3331,3484,3606,3363,0,0,0,0,0,0,28.83,14.22,28.83
$GC,722,-1.12,-146.6,2301,3331,3606,3363,88.3,-14.3,80,730,0.15,2.58,0.00,0.000,3078,0.256,0.108,2335,1916,3485,3606,3364,0,0,0,0,0,0,14.07,14.13,28.83
$GC,849,-1.12,-146.6,2334,1916,3606,3364,104.6,-12.6,93,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1916,3485,3606,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-1.12,-146.6,2334,1916,3606,3364,120.6,-13.2,105,975,0.00,2.62,0.00,0.000,260,0.000,0.122,2326,3331,3486,3606,3366,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,1111,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1112,begin apogee
$GC,1120,-0.20,0.0,2326,1920,3606,3364,140.6,-12.3,118,1246,1.08,0.00,119.15,1.418,10246,0.222,0.000,2628,1920,2879,2940,2818,0,0,0,0,0,0,14.08,28.83,13.29
$STATE,1250,end apogee,CONTROL_FINISHED_OK
$STATE,1250,begin climb
$GC,1253,1.12,146.6,2627,1920,2939,2816,146.3,0.0,128,1388,1.25,2.78,125.45,1.383,10756,0.086,0.142,3070,511,2279,2329,2230,0,0,0,0,0,0,14.00,13.76,13.19
$GC,1422,1.12,146.6,3070,511,2327,2229,142.9,13.8,144,1430,0.00,2.62,0.00,0.000,1030,0.000,0.098,3070,1924,2276,2327,2226,0,0,0,0,0,0,28.83,13.93,28.83
$GC,1549,1.12,146.6,3070,1925,2327,2223,118.5,19.8,157,1555,0.00,2.62,0.00,0.000,260,0.000,0.116,3070,3344,2275,2328,2222,0,0,0,0,0,0,28.83,14.04,28.83
$GC,1609,1.12,146.6,3070,3344,2324,2222,106.5,21.4,162,1617,0.00,2.67,0.00,0.000,1030,0.000,0.117,3081,1914,2273,2324,2222,0,0,0,0,0,0,28.83,14.07,28.83
$GC,1736,1.12,146.6,3081,1914,2324,2222,78.7,21.8,175,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,1914,2273,2324,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,1.12,146.6,3081,1914,2324,2222,53.5,20.2,187,1864,0.00,2.67,0.00,0.000,516,0.000,0.143,3092,509,2274,2324,2225,0,0,0,0,0,0,28.83,14.14,28.83
$GC,1949,1.12,146.6,2048,508,2262,2211,34.2,23.0,195,1958,0.15,2.58,0.00,0.000,5126,0.366,0.098,3065,1926,2273,2324,2222,0,0,0,0,0,0,13.96,14.19,28.83
$GC,2081,1.12,146.6,1984,1923,2260,2210,8.8,18.5,213,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1926,2273,2324,2222,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2125,end climb,SURFACE_DEPTH_REACHED
$STATE,2125,begin surface coast
$FINISH,0.6,1.022287
$STATE,2132,end surface coast,CONTROL_FINISHED_OK
$STATE,2132,begin surface
$SM_CCo,2153,133.68,1.226,0,0,1655,300.00
$SM_GC,1.50,9.02,0.00,133.68,0.125,0.000,1.226,132,1926,1655,-8.02,0.11,300.00,1,0,0,0,0,0,13.59,28.83,13.38
$IRIDIUM_FIX,4726.11,-12220.67,270213,202022
$TT8_MAMPS,0.023968,0.023968
$HUMID,36.13
$INTERNAL_PRESSURE,7.87383
$TCM_TEMP,18.70
$XPDR_PINGS,29
$ALTIM_TOP_PING,18.5,17.2
$SC_FREEKB,4018592
$TM_FREEKB,7885504
$24V_AH,13.2,3.323
$10V_AH,13.3,0.000
$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,21.900,36.850,244.600,133.675,0.000,0.000,0.000,0.000,11.750,0.000,17.355,730.036,548.169,477.983,491.095,125.150,31.306,779.380,0.000,434.782,0.000,32.812,0.000
$DEVICE_MAMPS,406.215,143.055,1417.545,1225.530,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2109.000,2109.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,43.891,22.100,0.000,0.000
$MEM,322756
$DATA_FILE_SIZE,6836,222
$CAP_FILE_SIZE,155058,0
$CFSIZE,260165632,256495616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$GPS,270213,220015,4744.364,-12223.673,9,2.1,28,18.2