version: 66.11
glider: 144
mission: 20
dive: 12
start: 2 27 113 11 42 45
data:
$ID,144
$MISSION,20
$DIVE,12
$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,-86639.891
$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,50.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,113359,4742.770,-12224.387,4,1.2,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-78.7
$GPS2,270213,114143,4742.710,-12224.400,5,1.2,5,16.3
$SPEED_LIMITS,0.067,0.206
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.123,0.166
$KALMAN_X,-1100.1,-134.5,-146.5,1773.7,-391.4
$KALMAN_Y,-612.5,61.8,-281.8,-3297.7,-636.2
$MHEAD_RNG_PITCHd_Wd,20.4,971,-13.0,-6.667,-17.89,3292
$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,-0.65,-146.6,49,2041,1605,1788,0.0,0.0,0,73,0.00,0.00,-46.53,0.000,16386,0.000,0.000,48,2041,2843,2892,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.65,-146.6,48,2041,2892,2796,2.3,-2.9,4,121,16.23,2.50,-16.45,0.000,19204,0.475,0.106,3053,3434,3531,3635,3428,0,0,0,0,0,0,14.28,14.47,14.69
$GC,359,-0.57,-146.6,3053,3435,3634,3433,34.9,-12.6,30,366,0.10,2.45,0.00,0.000,3078,0.326,0.076,3072,2023,3533,3634,3433,0,0,0,0,0,0,14.44,14.54,28.83
$GC,675,-0.51,-146.6,3073,2019,3634,3433,70.2,-9.6,52,681,0.00,2.42,0.00,0.000,516,0.000,0.086,3072,613,3533,3634,3433,0,0,0,0,0,0,28.83,14.63,28.83
$GC,921,-0.48,-146.6,3072,612,3634,3433,85.5,-5.4,63,927,0.10,2.42,0.00,0.000,3078,0.324,0.076,3092,2021,3533,3634,3433,0,0,0,0,0,0,14.57,14.65,28.83
$STATE,1216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1216,begin apogee
$GC,1222,-0.18,0.0,3092,2022,3634,3433,115.0,-10.7,78,1337,0.22,0.00,111.25,1.409,10246,0.290,0.000,3152,2023,2931,2960,2903,0,0,0,0,0,0,14.59,28.83,13.57
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1342,0.65,146.6,3152,2022,2960,2897,122.8,0.0,83,1465,0.68,2.55,114.30,1.362,10500,0.252,0.072,3332,3443,2330,2327,2333,0,0,0,0,0,0,14.01,13.96,13.43
$GC,1639,0.50,146.6,3333,3444,2319,2327,96.5,11.5,97,1646,0.12,2.53,0.00,0.000,5126,0.339,0.083,3309,2022,2323,2319,2327,0,0,0,0,0,0,14.26,14.38,28.83
$GC,1969,0.44,146.6,3310,2020,2320,2324,71.1,7.2,113,1975,0.00,2.45,0.00,0.000,260,0.000,0.075,3309,3442,2321,2320,2323,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2045,0.38,146.6,3310,3443,2319,2323,66.8,6.2,116,2052,0.12,2.47,0.00,0.000,5126,0.322,0.083,3284,2025,2320,2319,2322,0,0,0,0,0,0,14.48,14.56,28.83
$GC,2364,0.41,146.7,3284,2023,2319,2322,55.9,3.6,132,2370,0.00,2.47,0.00,0.000,516,0.000,0.093,3284,603,2320,2319,2322,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2412,0.47,146.7,3284,602,2319,2323,54.3,3.5,134,2418,0.00,2.42,0.00,0.000,1030,0.000,0.069,3283,2034,2320,2318,2323,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2728,0.53,146.7,3283,2034,2318,2321,38.9,4.6,159,2734,0.12,2.38,0.00,0.000,2308,0.194,0.075,3328,3437,2320,2319,2321,0,0,0,0,0,0,14.64,14.69,28.83
$GC,2830,0.42,146.7,3328,3438,2318,2320,30.9,8.4,168,2839,0.15,2.45,0.00,0.000,5126,0.317,0.084,3295,2025,2319,2318,2321,0,0,0,0,0,0,14.56,14.69,28.83
$GC,3139,0.46,146.8,3296,2025,2318,2320,19.6,2.1,199,3145,0.00,2.42,0.00,0.000,260,0.000,0.076,3296,3444,2320,2319,2321,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3196,0.46,146.8,3296,3445,2318,2320,17.6,3.9,204,3202,0.00,2.47,0.00,0.000,1030,0.000,0.083,3296,2025,2319,2319,2319,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3514,0.50,146.8,3296,2024,2318,2320,8.4,3.3,235,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2024,2319,2319,2320,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3679,end climb,SURFACE_DEPTH_REACHED
$STATE,3679,begin surface coast
$FINISH,0.4,1.018761
$STATE,3730,end surface coast,CONTROL_FINISHED_OK
$STATE,3730,begin surface
$SM_CCo,3751,87.78,1.287,0,0,1706,300.00
$SM_GC,1.36,9.65,0.00,87.78,0.110,0.000,1.287,45,2023,1706,-14.45,-0.08,300.00,0,0,0,0,0,0,14.67,28.83,13.76
$IRIDIUM_FIX,4726.11,-12227.78,270213,101038
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.31
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,20.5
$ALTIM_BOTTOM_PING,91.3,33.5
$SC_FREEKB,4015136
$TM_FREEKB,7831904
$24V_AH,13.4,21.022
$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,27.500,34.425,225.550,87.775,0.000,30.063,29.675,196.343,1.500,0.000,5.871,1041.547,1673.533,362.216,962.293,266.847,33.220,743.324,0.000,650.720,0.000,13.709,0.000
$DEVICE_MAMPS,475.065,105.570,1409.130,1286.730,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3741.000,492.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1593.414,12.403,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,6801,257
$CAP_FILE_SIZE,140524,0
$CFSIZE,260165632,252612608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270213,124733,4742.445,-12224.990,4,1.1,4,16.3