version: 66.11
glider: 144
mission: 20
dive: 11
start: 2 27 113 10 11 18
data:
$ID,144
$MISSION,20
$DIVE,11
$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,75
$T_MISSION,90
$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,-86638.641
$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,26
$R_STBD_OVSHOOT,23
$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,50.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,100221,4743.006,-12224.093,37,1.3,37,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.2
$GPS2,270213,101018,4742.984,-12224.123,4,1.4,4,16.3
$SPEED_LIMITS,0.067,0.206
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.130,0.127
$KALMAN_X,-399.7,-53.7,-69.6,1253.4,-126.3
$KALMAN_Y,-118.3,85.3,238.1,-3823.4,-552.7
$MHEAD_RNG_PITCHd_Wd,29.5,466,-15.7,-6.667,-20.16,2452
$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,-0.69,-108.7,43,2015,1607,1787,0.0,0.0,0,73,0.00,0.00,-46.60,0.000,16386,0.000,0.000,43,2015,2832,2885,2779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.69,-108.7,43,2015,2884,2781,2.2,-2.3,4,116,16.40,2.47,-13.12,0.000,18948,0.480,0.109,3045,614,3376,3473,3279,0,0,0,0,0,0,14.33,14.50,14.69
$GC,353,-0.60,-108.7,3045,613,3473,3282,36.1,-12.4,29,362,0.10,2.45,0.00,0.000,3078,0.350,0.074,3064,2031,3377,3472,3282,0,0,0,0,0,0,14.43,14.54,28.83
$GC,673,-0.55,-108.7,3064,2031,3472,3282,68.1,-9.3,52,679,0.00,2.47,0.00,0.000,516,0.000,0.088,3064,612,3377,3472,3282,0,0,0,0,0,0,28.83,14.62,28.83
$GC,791,-0.55,-108.7,3064,610,3472,3282,79.2,-10.0,57,796,0.00,2.42,0.00,0.000,1030,0.000,0.076,3064,2026,3377,3473,3282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1110,-0.52,-108.7,3064,2027,3473,3279,105.3,-7.9,73,1117,0.10,2.42,0.00,0.000,2308,0.365,0.083,3082,3443,3377,3472,3282,0,0,0,0,0,0,14.59,14.71,28.83
$GC,1242,-0.58,-108.7,3082,3439,3472,3283,114.0,-6.4,79,1248,0.00,2.42,0.00,0.000,1030,0.000,0.078,3082,2030,3378,3472,3284,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1567,-0.61,-108.7,3083,2027,3472,3283,141.1,-9.1,95,1573,0.00,2.42,0.00,0.000,260,0.000,0.083,3083,3441,3378,3472,3284,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,1672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1672,begin apogee
$GC,1681,-0.18,0.0,3083,2017,3472,3283,150.4,-8.0,100,1767,0.28,0.00,81.62,1.458,10246,0.282,0.000,3156,2014,2929,2964,2895,0,0,0,0,0,0,14.64,28.83,13.68
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1771,begin climb
$GC,1774,0.69,108.7,3156,2014,2964,2893,155.1,0.0,104,1871,0.68,2.58,85.03,1.403,10756,0.226,0.094,3350,615,2485,2497,2473,0,0,0,0,0,0,14.14,13.99,13.46
$GC,1899,0.52,108.7,3350,614,2492,2474,151.8,3.9,109,1906,0.15,2.50,0.00,0.000,5126,0.277,0.069,3317,2027,2481,2490,2473,0,0,0,0,0,0,14.04,14.15,28.83
$GC,2219,0.45,108.7,3317,2029,2491,2465,138.3,3.4,125,2225,0.00,2.42,0.00,0.000,260,0.000,0.077,3317,3440,2477,2491,2464,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2275,0.36,108.7,3317,3441,2490,2463,135.6,4.7,127,2282,0.17,2.50,0.00,0.000,5126,0.340,0.096,3281,2033,2476,2489,2463,0,0,0,0,0,0,14.43,14.54,28.83
$GC,2595,0.42,108.7,3281,2030,2489,2463,115.7,7.8,143,2601,0.00,2.47,0.00,0.000,516,0.000,0.095,3281,609,2475,2489,2461,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2694,0.50,108.7,3281,609,2489,2463,110.6,5.6,147,2700,0.10,2.42,0.00,0.000,3078,0.215,0.070,3309,2031,2475,2488,2462,0,0,0,0,0,0,14.63,14.68,28.83
$GC,3012,0.45,108.7,3309,2033,2488,2462,92.3,6.8,163,3018,0.00,2.42,0.00,0.000,260,0.000,0.080,3309,3440,2474,2489,2460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3144,0.36,108.7,3309,3441,2488,2460,84.4,5.9,169,3150,0.15,2.45,0.00,0.000,5126,0.319,0.083,3278,2022,2474,2488,2460,0,0,0,0,0,0,14.62,14.72,28.83
$GC,3469,0.43,108.8,3278,2021,2488,2460,70.6,4.0,185,3475,0.00,2.42,0.00,0.000,260,0.000,0.076,3278,3448,2474,2488,2460,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3567,0.46,108.8,3278,3448,2488,2459,64.8,6.5,189,3574,0.10,2.47,0.00,0.000,3078,0.210,0.083,3308,2025,2474,2488,2460,0,0,0,0,0,0,14.71,14.72,28.83
$GC,3884,0.46,108.8,3308,2024,2488,2459,42.9,7.2,210,3890,0.00,2.40,0.00,0.000,260,0.000,0.076,3308,3442,2474,2488,2460,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3994,0.40,108.8,3308,3442,2488,2459,35.0,6.7,220,4000,0.10,2.45,0.00,0.000,5126,0.344,0.082,3291,2024,2473,2488,2459,0,0,0,0,0,0,14.62,14.72,28.83
$GC,4310,0.45,108.8,3291,2023,2488,2460,23.4,4.0,251,4316,0.00,2.45,0.00,0.000,516,0.000,0.093,3291,609,2474,2488,2460,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4473,0.57,108.8,3291,609,2488,2460,16.8,4.5,266,4480,0.12,2.42,0.00,0.000,3078,0.182,0.068,3331,2040,2474,2488,2460,0,0,0,0,0,0,14.67,14.69,28.83
$STATE,4736,end climb,SURFACE_DEPTH_REACHED
$STATE,4736,begin surface coast
$FINISH,0.4,1.010370
$STATE,4777,end surface coast,CONTROL_FINISHED_OK
$STATE,4777,begin surface
$SM_CCo,4798,112.75,1.286,0,0,1707,300.00
$SM_GC,1.46,9.70,0.00,112.75,0.106,0.000,1.286,48,2041,1707,-14.43,0.42,300.00,0,0,0,0,0,0,14.69,28.83,13.68
$IRIDIUM_FIX,4726.11,-12213.55,270213,080836
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.35
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,20.1
$ALTIM_BOTTOM_PING,141.1,34.3
$SC_FREEKB,4015584
$TM_FREEKB,7832768
$24V_AH,13.5,19.196
$10V_AH,13.7,0.000
$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,28.150,53.975,166.650,112.750,0.000,29.879,31.693,212.741,4.500,0.000,5.872,1263.983,2352.421,365.582,1102.292,307.814,33.217,790.480,0.000,756.906,0.000,34.926,0.000
$DEVICE_MAMPS,480.420,108.630,1458.090,1285.965,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4781.000,488.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1589.731,12.472,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,10163,296
$CAP_FILE_SIZE,166342,0
$CFSIZE,260165632,252657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,270213,113359,4742.770,-12224.387,4,1.2,4,16.3