version: 66.11
glider: 144
mission: 20
dive: 8
start: 2 27 113 5 43 19
data:
$ID,144
$MISSION,20
$DIVE,8
$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,60
$T_MISSION,75
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86634.883
$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,27
$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
$GPS1,270213,053052,4744.327,-12224.050,39,1.1,39,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-77.5
$GPS2,270213,054219,4744.490,-12223.974,5,1.1,5,16.3
$SPEED_LIMITS,0.083,0.224
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.022,-0.223
$KALMAN_X,40.5,47.1,-23.4,853.9,-37.4
$KALMAN_Y,238.8,-229.7,203.2,-1077.3,389.6
$MHEAD_RNG_PITCHd_Wd,158.1,2774,-16.5,-8.333,-20.39,2655
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.77,-146.6,38,2018,1612,1784,0.0,0.0,0,75,0.00,0.00,-50.62,0.000,16386,0.000,0.000,38,2018,2943,3004,2882,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.77,-146.6,41,2018,3008,2883,2.3,-3.3,7,119,16.62,2.47,-13.43,0.000,18692,0.487,0.099,3017,3438,3528,3633,3424,0,0,0,0,0,0,14.26,14.47,14.66
$GC,237,-0.64,-146.6,3017,3440,3632,3430,24.0,-14.4,31,246,0.17,2.47,0.00,0.000,3078,0.314,0.083,3053,2025,3531,3632,3430,0,0,0,0,0,0,14.36,14.47,28.83
$GC,365,-0.59,-146.6,3053,2023,3633,3430,40.9,-12.1,44,366,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2022,3531,3632,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,488,-0.56,-146.6,3054,2023,3632,3434,54.1,-11.1,56,494,0.10,2.47,0.00,0.000,2308,0.335,0.081,3071,3437,3531,3632,3430,0,0,0,0,0,0,14.45,14.54,28.83
$GC,597,-0.62,-146.6,3071,3438,3631,3430,65.5,-9.9,66,603,0.00,2.45,0.00,0.000,1030,0.000,0.080,3071,2025,3531,3632,3431,0,0,0,0,0,0,28.83,14.54,28.83
$GC,732,-0.65,-146.6,3071,2022,3631,3431,79.0,-10.1,79,738,0.00,2.45,0.00,0.000,260,0.000,0.084,3071,3434,3531,3632,3431,0,0,0,0,0,0,28.83,14.60,28.83
$GC,889,-0.71,-146.6,3070,3435,3631,3430,93.7,-9.1,93,898,0.10,2.45,0.00,0.000,5126,0.209,0.079,3042,2021,3531,3631,3431,0,0,0,0,0,0,14.57,14.59,28.83
$GC,1017,-0.67,-146.6,3041,2018,3631,3431,108.2,-11.3,106,1023,0.00,2.45,0.00,0.000,260,0.000,0.080,3038,3439,3531,3631,3431,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1146,-0.67,-146.6,3038,3440,3631,3431,121.8,-10.4,117,1154,0.00,2.42,0.00,0.000,1030,0.000,0.076,3039,2024,3531,3631,3431,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1276,-0.63,-146.6,3038,2021,3631,3431,135.7,-10.1,130,1282,0.10,2.45,0.00,0.000,2308,0.335,0.081,3055,3438,3531,3631,3431,0,0,0,0,0,0,14.52,14.64,28.83
$GC,1374,-0.69,-146.6,3056,3438,3631,3431,144.5,-8.5,138,1382,0.00,2.45,0.00,0.000,1030,0.000,0.079,3056,2021,3531,3631,3431,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1438,begin apogee
$GC,1444,-0.18,0.0,3058,2018,3630,3431,150.6,-8.5,145,1566,0.38,0.00,112.30,1.427,10246,0.272,0.000,3154,2018,2927,2960,2894,0,0,0,0,0,0,14.52,28.83,13.52
$STATE,1570,end apogee,CONTROL_FINISHED_OK
$STATE,1570,begin climb
$GC,1573,0.77,146.6,3154,2017,2960,2893,154.4,0.0,155,1701,0.75,2.62,114.57,1.384,10756,0.226,0.096,3368,620,2329,2326,2333,0,0,1,0,0,0,14.02,13.93,13.40
$GC,1792,0.68,146.6,3368,620,2320,2334,137.9,10.7,173,1800,0.00,2.47,0.00,0.000,1030,0.000,0.069,3367,2029,2326,2320,2332,0,0,0,0,0,0,28.83,14.24,28.83
$GC,1920,0.53,146.6,3368,2028,2320,2328,125.1,9.4,186,1928,0.22,0.00,0.00,0.000,4102,0.297,0.000,3318,2030,2323,2320,2327,0,0,0,0,0,0,14.30,28.83,28.83
$GC,2050,0.53,146.6,3318,2030,2320,2325,115.0,7.1,199,2055,0.00,2.45,0.00,0.000,260,0.000,0.077,3318,3443,2322,2320,2324,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2133,0.47,146.6,3318,3444,2318,2325,108.0,9.4,206,2141,0.00,2.50,0.00,0.000,1030,0.000,0.086,3318,2027,2320,2319,2322,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2260,0.47,146.6,3318,2027,2316,2323,97.1,7.7,219,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2027,2321,2319,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,0.47,146.6,3318,2027,2319,2322,87.9,7.7,231,2388,0.00,2.45,0.00,0.000,260,0.000,0.075,3318,3444,2320,2319,2322,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2450,0.43,146.6,3318,3445,2319,2321,81.9,9.0,237,2457,0.12,2.47,0.00,0.000,5126,0.335,0.086,3293,2026,2320,2319,2321,0,0,0,0,0,0,14.48,14.58,28.83
$GC,2587,0.49,146.7,3293,2026,2319,2321,74.1,5.3,250,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2029,2318,2319,2317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2716,0.56,146.7,3293,2026,2319,2321,68.1,4.2,263,2723,0.12,2.42,0.00,0.000,2308,0.191,0.073,3337,3440,2320,2319,2321,0,0,0,0,0,0,14.60,14.61,28.83
$GC,2775,0.47,146.7,3337,3441,2319,2320,63.9,7.9,268,2781,0.15,2.47,0.00,0.000,5126,0.324,0.086,3306,2025,2319,2318,2321,0,0,0,0,0,0,14.52,14.62,28.83
$GC,2911,0.51,146.7,3306,2025,2316,2320,56.1,5.1,281,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2025,2320,2319,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,0.55,146.8,3306,2025,2318,2321,50.6,4.2,294,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2025,2320,2319,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3171,0.59,146.8,3307,2025,2319,2320,45.1,4.0,307,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2025,2319,2318,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3301,0.62,146.9,3307,2025,2319,2321,39.3,4.7,320,3309,0.12,0.00,0.00,0.000,2054,0.186,0.000,3344,2024,2319,2319,2320,0,0,0,0,0,0,14.60,28.83,28.83
$GC,3431,0.58,146.9,3344,2025,2319,2321,29.4,7.6,333,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2024,2319,2317,2321,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3561,0.53,146.9,3344,2024,2319,2321,21.6,4.4,346,3568,0.12,2.45,0.00,0.000,4356,0.282,0.076,3313,3446,2320,2319,2321,0,0,0,0,0,0,14.50,14.60,28.83
$GC,3790,0.56,146.9,2304,3446,2268,2310,7.3,7.1,385,3798,0.00,2.50,0.00,0.000,1030,0.000,0.086,3313,2023,2318,2318,2319,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3865,0.63,146.9,2304,2021,2269,2310,3.0,5.7,398,3873,0.10,0.00,0.00,0.000,2054,0.210,0.000,3344,2022,2319,2318,2320,0,0,0,0,0,0,14.56,28.83,28.83
$STATE,3879,end climb,SURFACE_DEPTH_REACHED
$STATE,3879,begin surface coast
$FINISH,0.4,1.022585
$STATE,3914,end surface coast,CONTROL_FINISHED_OK
$STATE,3914,begin surface
$SM_CCo,3938,84.55,1.273,0,0,1706,300.00
$SM_GC,1.39,9.90,0.00,84.55,0.112,0.000,1.273,46,2020,1706,-14.44,-0.17,300.00,0,0,0,0,0,0,14.59,28.83,13.71
$IRIDIUM_FIX,4726.11,-12223.37,270213,040431
$TT8_MAMPS,0.027713,0.027713
$HUMID,34.87
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,14.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$ALTIM_BOTTOM_PING,140.6,35.5
$SC_FREEKB,4016928
$TM_FREEKB,7835520
$24V_AH,13.4,12.329
$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,29.100,49.375,226.875,84.550,0.000,26.598,31.085,351.056,4.500,0.000,5.882,1392.129,1201.079,440.394,1304.850,369.307,33.224,906.433,0.000,793.484,0.000,33.002,0.000
$DEVICE_MAMPS,486.540,98.685,1426.725,1272.960,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3937.000,3935.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1597.228,21.711,0.000,0.000
$MEM,322696
$DATA_FILE_SIZE,13474,406
$CAP_FILE_SIZE,199377,0
$CFSIZE,260165632,252866560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,270213,065110,4744.296,-12223.983,3,1.1,3,16.3