version: 66.11
glider: 144
mission: 20
dive: 4
start: 2 27 113 0 8 12
data:
$ID,144
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,2
$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,0
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86616.312
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,40
$C_ROLL_DIVE,2026
$C_ROLL_CLIMB,2026
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$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,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$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,-46.800083
$PRESSURE_SLOPE,0.00011159377
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$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
$GPS1,270213,000314,4744.322,-12224.268,2,0.8,2,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-74.0
$GPS2,270213,000713,4744.324,-12224.268,5,0.8,5,16.3
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.204,0.124
$KALMAN_X,18.0,9.1,6.2,511.1,6.6
$KALMAN_Y,-220.0,-99.5,-61.3,-746.0,-80.9
$MHEAD_RNG_PITCHd_Wd,42.5,722,-19.5,-10.000,-22.76,2222
$D_GRID,150
$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,-0.88,-146.6,37,2008,424,609,0.0,0.0,0,133,0.00,0.00,-108.35,0.000,16386,0.000,0.000,38,2009,3105,3186,3024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-0.88,-146.6,37,2009,3186,3029,2.6,-4.5,15,171,15.23,2.53,-9.18,0.000,18692,0.461,0.106,2989,3437,3531,3643,3420,0,0,1,0,0,0,14.40,14.57,14.78
$GC,408,-0.76,-146.6,2989,3438,3640,3426,48.6,-16.6,48,415,0.20,2.50,0.00,0.000,3078,0.330,0.093,3030,2028,3532,3640,3425,0,0,0,0,0,0,14.45,14.55,28.83
$GC,544,-0.76,-146.6,3031,2025,3640,3426,67.8,-13.4,61,550,0.00,2.47,0.00,0.000,260,0.000,0.085,3030,3442,3532,3640,3425,0,0,0,0,0,0,28.83,14.61,28.83
$GC,796,-0.76,-146.6,3031,3442,3638,3425,102.7,-13.4,84,802,0.00,2.53,0.00,0.000,1030,0.000,0.096,3031,2019,3532,3638,3426,0,0,0,0,0,0,28.83,14.61,28.83
$GC,931,-0.76,-146.6,3031,2017,3638,3426,121.8,-14.0,97,936,0.00,2.45,0.00,0.000,260,0.000,0.083,3031,3437,3532,3638,3426,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1182,-0.18,0.0,3031,2025,3637,3426,150.1,-10.5,119,1303,0.47,0.00,112.40,1.442,10246,0.271,0.000,3157,2023,2928,2965,2891,0,0,0,0,0,0,14.56,28.83,13.51
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1310,0.88,146.6,3157,2023,2965,2890,155.1,0.0,129,1438,0.80,2.70,114.75,1.392,10756,0.211,0.112,3384,614,2329,2338,2321,0,0,1,0,0,0,14.05,13.96,13.45
$GC,1496,0.80,146.6,3384,614,2331,2322,143.4,10.1,146,1501,0.00,2.50,0.00,0.000,1030,0.000,0.070,3384,2027,2325,2331,2320,0,0,0,0,0,0,28.83,14.21,28.83
$GC,1631,0.66,146.6,3384,2028,2331,2314,129.8,9.5,159,1639,0.20,0.00,0.00,0.000,4102,0.315,0.000,3342,2028,2322,2331,2314,0,0,0,0,0,0,14.28,28.83,28.83
$GC,1761,0.63,146.7,3342,2028,2330,2311,121.3,6.4,172,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2028,2320,2330,2311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,0.61,146.7,3342,2028,2330,2309,111.0,8.0,185,1897,0.00,2.45,0.00,0.000,260,0.000,0.079,3342,3438,2319,2330,2309,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1962,0.54,146.7,3342,3440,2328,2309,104.8,9.8,191,1971,0.12,2.55,0.00,0.000,5126,0.347,0.101,3318,2021,2319,2329,2309,0,0,0,0,0,0,14.45,14.54,28.83
$GC,2091,0.58,146.7,3318,2021,2328,2308,97.4,4.6,204,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2020,2317,2327,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2221,0.63,146.8,3318,2020,2328,2308,90.2,6.4,217,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2020,2318,2328,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2351,0.68,146.8,3319,2020,2328,2306,82.5,6.2,230,2359,0.12,0.00,0.00,0.000,2054,0.181,0.000,3356,2020,2316,2325,2307,0,0,0,0,0,0,14.62,28.83,28.83
$GC,2480,0.63,146.8,3356,2020,2328,2306,70.9,9.7,243,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2020,2317,2328,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2613,0.59,146.8,3356,2020,2328,2306,58.7,9.0,256,2619,0.12,2.42,0.00,0.000,4356,0.295,0.076,3325,3439,2315,2325,2306,0,0,0,0,0,0,14.54,14.66,28.83
$GC,2674,0.59,146.8,3326,3443,2326,2306,53.3,8.9,261,2682,0.00,2.50,0.00,0.000,1030,0.000,0.099,3326,2028,2316,2326,2306,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2802,0.64,146.8,3325,2028,2326,2306,42.3,8.7,274,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2028,2316,2326,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,0.69,146.9,3326,2028,2326,2306,31.4,7.1,287,2940,0.10,0.00,0.00,0.000,2054,0.210,0.000,3357,2027,2315,2326,2305,0,0,0,0,0,0,14.62,28.83,28.83
$GC,3062,0.66,146.9,3357,2027,2326,2306,19.3,10.6,300,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2027,2316,2326,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3136,0.66,146.9,2376,2024,2277,2294,12.7,8.5,313,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2027,2316,2326,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,0.66,146.9,3357,2027,2327,2306,6.7,8.4,326,3220,0.00,2.42,0.00,0.000,260,0.000,0.079,3357,3439,2316,2326,2306,0,0,0,0,0,0,28.83,14.59,28.83
$STATE,3263,end climb,SURFACE_DEPTH_REACHED
$STATE,3263,begin surface coast
$FINISH,1.3,1.022541
$STATE,3272,end surface coast,CONTROL_FINISHED_OK
$STATE,3272,begin surface
$SM_CCo,3298,81.45,1.282,0,0,1707,300.00
$SM_GC,1.27,9.82,2.50,81.45,0.103,0.070,1.282,44,2015,1707,-14.46,0.45,300.00,0,0,0,0,0,0,14.59,14.62,13.74
$IRIDIUM_FIX,4726.11,-12227.78,260213,232354
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.31
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,19.5
$ALTIM_BOTTOM_PING,145.5,36.1
$SC_FREEKB,4018720
$TM_FREEKB,7880320
$24V_AH,13.4,4.524
$10V_AH,13.5,0.000
$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,27.200,35.050,227.150,81.450,0.000,0.000,0.000,0.000,4.750,0.000,5.932,1127.931,958.444,458.026,704.032,204.992,31.308,864.939,0.000,678.117,0.000,31.674,0.000
$DEVICE_MAMPS,460.530,112.455,1442.025,1282.140,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3251.000,3250.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1597.558,21.962,0.000,0.000
$MEM,322712
$DATA_FILE_SIZE,10124,336
$CAP_FILE_SIZE,211839,0
$CFSIZE,260165632,253341696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,270213,010520,4744.111,-12223.753,2,0.9,2,16.3