version: 66.11
glider: 144
mission: 21
dive: 19
start: 10 28 113 21 4 25
data:
$ID,144
$MISSION,21
$DIVE,19
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,330
$T_MISSION,390
$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,13
$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,250
$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,-57316.234
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,1
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2307
$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,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.039999999
$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,-50.012749
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$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
$DEVICE2,131
$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
$GPS1,281013,205823,4702.630,-12524.335,35,0.9,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.6
$GPS2,281013,210358,4702.679,-12524.290,4,0.9,4,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.155,-0.208
$KALMAN_X,637.2,0.0,0.0,-16619.6,-48.6
$KALMAN_Y,6016.4,0.0,0.0,-10044.8,1966.6
$MHEAD_RNG_PITCHd_Wd,200.2,8754,-17.5,-10.000,-21.09,2221
$D_GRID,990
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-6.64,-146.6,81,2408,1384,1250,0.0,0.0,0,70,0.00,0.00,-52.03,0.000,16386,0.000,0.000,76,2408,2878,2824,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-6.64,-146.6,76,2409,2827,2932,2.8,-4.1,5,92,4.88,2.47,-9.02,0.000,18948,0.457,0.080,974,967,3274,3213,3336,0,0,0,0,0,0,13.83,14.45,14.69
$GC,384,-6.64,-146.6,975,967,3226,3337,142.3,-42.2,29,388,0.00,2.45,0.00,0.000,1030,0.000,0.048,966,2418,3282,3227,3337,0,0,0,0,0,0,28.83,14.56,28.83
$GC,702,-6.64,-146.6,966,2418,3229,3338,270.5,-41.8,40,706,0.00,2.45,0.00,0.000,516,0.000,0.057,966,958,3283,3229,3338,0,0,0,0,0,0,28.83,14.60,28.83
$GC,998,-6.64,-146.6,966,958,3230,3338,375.4,-43.6,46,1009,0.00,2.42,0.00,0.000,1030,0.000,0.047,957,2410,3284,3230,3338,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1306,-6.64,-146.6,956,2410,3230,3338,540.8,-46.0,52,1310,0.00,2.40,0.00,0.000,516,0.000,0.057,956,960,3284,3230,3338,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1602,-6.64,-146.6,956,961,3230,3338,655.5,-47.4,56,1613,0.17,2.40,0.00,0.000,3078,0.474,0.048,973,2419,3284,3230,3339,0,0,0,0,0,0,14.10,14.72,28.83
$GC,1910,-6.64,-146.6,973,2419,3230,3339,832.1,-48.8,62,1914,0.00,2.42,0.00,0.000,516,0.000,0.060,977,960,3284,3230,3338,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2205,-6.64,-146.6,978,961,3230,3338,952.8,-49.9,66,2213,0.00,2.42,0.00,0.000,1030,0.000,0.050,969,2410,3284,3230,3338,0,0,0,0,0,0,28.83,14.77,28.83
$STATE,2273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2273,begin apogee
$GC,2277,-0.22,0.0,969,2279,3230,3338,1012.7,-50.1,68,2441,9.43,0.08,147.38,2.304,10246,0.405,0.161,3027,2325,2672,2628,2716,0,0,0,0,0,0,14.38,13.83,12.66
$STATE,2442,end apogee,CONTROL_FINISHED_OK
$STATE,2442,begin climb
$GC,2443,6.64,146.6,3027,2325,2627,2715,1024.7,0.0,70,2602,4.18,2.62,146.50,2.300,10500,0.381,0.086,3903,3723,2073,2115,2031,4,0,0,0,0,0,13.43,13.75,12.52
$GC,2776,6.64,146.6,3904,3723,2106,2026,940.7,33.6,76,2781,0.05,2.55,0.00,0.000,3078,0.619,0.073,3916,2300,2066,2106,2026,0,0,0,0,0,0,13.91,14.27,28.83
$GC,3108,6.64,146.6,3916,2300,2100,2026,808.9,36.4,82,3109,0.00,0.00,0.00,0.000,2054,0.000,0.000,3916,2300,2063,2100,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,6.64,146.6,3916,2300,2097,2026,700.6,36.1,87,3409,0.00,0.00,0.00,0.000,2054,0.000,0.000,3916,2300,2061,2097,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3708,6.64,146.6,3916,2300,2094,2026,589.7,37.0,92,3713,0.00,2.47,0.00,0.000,2308,0.000,0.077,3907,3727,2060,2094,2026,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3833,6.64,146.6,3907,3727,2094,2024,544.5,38.1,94,3838,0.05,2.45,0.00,0.000,3078,0.374,0.067,3919,2298,2059,2094,2024,0,0,0,0,0,0,14.59,14.71,28.83
$GC,4179,6.64,146.6,3919,2298,2093,2024,414.1,36.8,100,4180,0.00,0.00,0.00,0.000,2054,0.000,0.000,3919,2299,2058,2093,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4479,6.64,146.6,3919,2298,2090,2024,306.5,35.7,105,4480,0.00,0.00,0.00,0.000,2054,0.000,0.000,3919,2298,2057,2090,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4779,6.64,146.6,3919,2298,2089,2024,202.8,34.4,114,4783,0.00,2.42,0.00,0.000,2308,0.000,0.080,3910,3723,2056,2089,2023,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4913,6.64,146.6,3910,3723,2089,2022,160.3,36.9,118,4918,0.05,2.40,0.00,0.000,3078,0.284,0.058,3922,2297,2055,2089,2022,0,0,0,0,0,0,14.74,14.82,28.83
$GC,5220,6.64,146.6,3922,2297,2087,2022,59.7,27.3,136,5225,0.00,2.45,0.00,0.000,2308,0.000,0.078,3916,3727,2054,2087,2022,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5516,6.64,146.6,3916,3727,2086,2019,8.7,17.9,165,5520,0.00,2.40,0.00,0.000,3078,0.000,0.054,3915,2285,2052,2086,2019,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,5550,end climb,SURFACE_DEPTH_REACHED
$STATE,5550,begin surface coast
$FINISH,0.4,1.023944
$STATE,5563,end surface coast,CONTROL_FINISHED_OK
$STATE,5563,begin surface
$SM_CCo,5580,82.85,1.300,0,0,1652,250.21
$SM_GC,1.17,11.23,0.20,82.85,0.108,0.086,1.300,110,2406,1652,-9.31,-0.74,250.21,0,0,0,0,0,0,14.81,14.83,13.59
$IRIDIUM_FIX,4644.93,-12523.08,281013,151510
$TT8_MAMPS,0.023968,0.023968
$HUMID,67.48
$INTERNAL_PRESSURE,8.5772
$TCM_TEMP,18.60
$XPDR_PINGS,1
$24V_AH,12.5,9.418
$10V_AH,13.1,2.762
$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,30.025,39.700,293.875,82.850,0.000,27.553,41.969,185.727,22.250,0.000,5.486,625.591,3782.042,395.271,1151.119,44.797,0.390,879.431,0.000,816.127,0.000,139.218,0.000
$DEVICE_MAMPS,618.885,160.650,2304.180,1300.500,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,117.845,205.395,172.076,134.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313800
$DATA_FILE_SIZE,10359,169
$CAP_FILE_SIZE,66039,0
$CFSIZE,260165632,218345472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,0,1,0
$GPS,281013,223917,4702.418,-12524.236,3,1.2,3,16.6