version: 66.11
glider: 144
mission: 20
dive: 13
start: 2 27 113 12 55 53
data:
$ID,144
$MISSION,20
$DIVE,13
$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,-86641.141
$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,17
$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
$GPS1,270213,124733,4742.445,-12224.990,4,1.1,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-80.5
$GPS2,270213,125453,4742.433,-12224.975,5,1.1,5,16.3
$SPEED_LIMITS,0.067,0.206
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,0.138
$KALMAN_X,-2018.1,-260.4,-300.7,2258.2,-664.0
$KALMAN_Y,-1275.4,-7.7,-756.8,-2603.1,-604.2
$MHEAD_RNG_PITCHd_Wd,31.7,1853,-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,-146.6,45,2021,1604,1788,0.0,0.0,0,73,0.00,0.00,-46.67,0.000,16386,0.000,0.000,45,2021,2842,2891,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.65,-146.6,45,2021,2889,2795,2.3,-2.7,4,121,16.25,2.50,-17.12,0.000,18948,0.477,0.109,3051,612,3531,3632,3431,0,0,1,0,0,0,14.31,14.45,14.69
$GC,359,-0.57,-146.6,3053,613,3631,3434,31.1,-8.8,30,366,0.10,2.45,0.00,0.000,3078,0.343,0.074,3070,2028,3532,3631,3434,0,0,0,0,0,0,14.45,14.55,28.83
$GC,686,-0.52,-146.6,3070,2029,3631,3434,56.7,-7.6,58,692,0.00,2.47,0.00,0.000,516,0.000,0.082,3070,602,3532,3631,3434,0,0,0,0,0,0,28.83,14.62,28.83
$GC,865,-0.52,-146.6,3070,601,3631,3434,72.9,-9.5,66,870,0.00,2.45,0.00,0.000,1030,0.000,0.075,3070,2030,3532,3631,3434,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1182,-0.46,-146.6,3071,2030,3631,3434,102.9,-10.5,82,1188,0.12,2.42,0.00,0.000,2308,0.323,0.084,3102,3438,3532,3631,3434,0,0,0,0,0,0,14.59,14.71,28.83
$GC,1406,-0.56,-146.6,3102,3441,3631,3435,127.4,-12.1,92,1412,0.10,2.42,0.00,0.000,5126,0.208,0.073,3074,2017,3533,3631,3435,0,0,0,0,0,0,14.69,14.72,28.83
$STATE,1598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1599,begin apogee
$GC,1605,-0.18,0.0,3074,2015,3631,3435,152.2,-11.4,102,1724,0.30,0.00,111.60,1.450,10246,0.271,0.000,3154,2014,2928,2956,2901,0,0,0,0,0,0,14.64,28.83,13.54
$STATE,1725,end apogee,CONTROL_FINISHED_OK
$STATE,1725,begin climb
$GC,1728,0.65,146.6,3154,2014,2956,2899,159.8,0.0,107,1853,0.65,2.62,114.50,1.408,10756,0.232,0.093,3335,615,2330,2325,2335,0,0,1,0,0,0,14.02,13.94,13.41
$GC,1954,0.58,146.6,3335,616,2317,2336,154.4,6.5,117,1962,0.00,2.47,0.00,0.000,1030,0.000,0.069,3335,2028,2327,2317,2338,0,0,0,0,0,0,28.83,14.28,28.83
$GC,2261,0.46,146.6,3334,2028,2317,2329,123.6,10.8,133,2263,0.15,0.00,0.00,0.000,4102,0.291,0.000,3302,2030,2323,2317,2329,0,0,0,0,0,0,14.43,28.83,28.83
$GC,2561,0.39,146.6,3306,2030,2315,2326,100.3,6.3,148,2567,0.00,2.40,0.00,0.000,260,0.000,0.076,3302,3440,2321,2317,2326,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2628,0.32,146.6,3302,3441,2316,2322,94.5,8.2,151,2635,0.15,2.45,0.00,0.000,5126,0.308,0.083,3269,2029,2319,2316,2323,0,0,0,0,0,0,14.54,14.64,28.83
$GC,2958,0.40,146.7,3269,2028,2316,2324,84.1,2.7,167,2964,0.00,2.40,0.00,0.000,260,0.000,0.076,3268,3439,2319,2316,2323,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3006,0.47,146.7,3269,3440,2316,2322,82.2,3.6,169,3012,0.12,2.45,0.00,0.000,3078,0.184,0.082,3309,2019,2319,2316,2322,0,0,0,0,0,0,14.71,14.71,28.83
$GC,3335,0.43,146.7,3310,2016,2316,2323,63.6,5.5,185,3340,0.00,2.42,0.00,0.000,260,0.000,0.076,3309,3442,2319,2316,2322,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3391,0.38,146.7,3309,3443,2316,2322,60.3,6.5,187,3398,0.12,2.45,0.00,0.000,5126,0.329,0.081,3285,2025,2319,2316,2322,0,0,0,0,0,0,14.64,14.73,28.83
$GC,3710,0.44,146.7,3285,2023,2316,2322,42.6,4.4,210,3715,0.00,2.45,0.00,0.000,516,0.000,0.093,3285,608,2319,2316,2323,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3820,0.57,146.8,3289,606,2316,2322,39.1,2.8,220,3827,0.15,2.40,0.00,0.000,3078,0.190,0.068,3330,2029,2319,2315,2323,0,0,0,0,0,0,14.69,14.71,28.83
$GC,4136,0.50,146.8,3330,2030,2321,2322,26.4,3.5,251,4142,0.00,2.40,0.00,0.000,260,0.000,0.078,3330,3443,2319,2316,2322,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4291,0.41,146.8,3330,3444,2316,2321,16.6,7.9,265,4297,0.17,2.45,0.00,0.000,5126,0.302,0.086,3294,2027,2318,2315,2321,0,0,0,0,0,0,14.60,14.71,28.83
$GC,4607,0.49,146.8,3291,2027,2315,2322,3.7,3.8,296,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2027,2319,2316,2322,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4656,end climb,SURFACE_DEPTH_REACHED
$STATE,4656,begin surface coast
$FINISH,0.5,1.012328
$STATE,4707,end surface coast,CONTROL_FINISHED_OK
$STATE,4707,begin surface
$SM_CCo,4728,87.72,1.293,0,0,1706,300.00
$SM_GC,1.38,9.70,0.00,87.72,0.117,0.000,1.293,46,2025,1706,-14.44,-0.03,300.00,0,0,0,0,0,0,14.69,28.83,13.76
$IRIDIUM_FIX,4726.11,-12225.08,270213,111121
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.66
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.0,19.4
$ALTIM_BOTTOM_PING,140.8,34.3
$SC_FREEKB,4014688
$TM_FREEKB,7830848
$24V_AH,13.4,23.284
$10V_AH,13.6,0.000
$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,28.100,44.100,226.100,87.725,0.000,28.950,35.201,173.750,4.250,0.000,6.868,1254.002,2257.421,378.841,1070.461,299.915,33.216,818.660,0.000,769.800,0.000,31.323,0.000
$DEVICE_MAMPS,476.595,108.630,1450.440,1292.850,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4719.000,604.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1591.205,12.552,0.000,0.000
$MEM,322888
$DATA_FILE_SIZE,10114,306
$CAP_FILE_SIZE,166505,0
$CFSIZE,260165632,252518400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270213,141734,4742.493,-12225.110,38,0.9,38,16.3