version: 66.11
glider: 144
mission: 20
dive: 14
start: 2 27 113 14 26 34
data:
$ID,144
$MISSION,20
$DIVE,14
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,180
$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,90
$T_MISSION,105
$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,-86642.398
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,270213,141734,4742.493,-12225.110,38,0.9,38,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-81.0
$GPS2,270213,142532,4742.546,-12225.096,5,0.9,5,16.3
$SPEED_LIMITS,0.067,0.206
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.196,0.065
$KALMAN_X,-2701.3,-363.6,-357.0,2939.6,-703.1
$KALMAN_Y,-1490.5,-70.7,-910.9,-1972.6,-172.6
$MHEAD_RNG_PITCHd_Wd,55.3,1875,-13.0,-6.667,-17.89,3292
$D_GRID,180
$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,-146.6,44,2022,1606,1784,0.0,0.0,0,73,0.00,0.00,-46.45,0.000,16386,0.000,0.000,44,2024,2836,2884,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.65,-146.6,44,2023,2884,2792,2.2,-2.3,4,121,16.33,2.50,-17.05,0.000,18948,0.478,0.107,3051,609,3531,3631,3432,0,0,1,0,0,0,14.32,14.48,14.69
$GC,359,-0.55,-146.6,3051,608,3632,3435,38.8,-12.2,30,366,0.12,2.45,0.00,0.000,3078,0.321,0.076,3077,2022,3533,3631,3435,0,0,0,0,0,0,14.45,14.55,28.83
$GC,685,-0.53,-146.6,3077,2024,3631,3435,67.7,-8.7,52,691,0.00,2.45,0.00,0.000,516,0.000,0.087,3078,612,3533,3632,3435,0,0,0,0,0,0,28.83,14.64,28.83
$GC,928,-0.53,-146.6,3078,610,3631,3435,86.1,-8.3,63,934,0.00,2.42,0.00,0.000,1030,0.000,0.075,3077,2027,3533,3631,3435,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1245,-0.53,-146.6,3077,2028,3632,3435,112.9,-9.8,79,1251,0.00,2.42,0.00,0.000,260,0.000,0.086,3081,3443,3533,3631,3435,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1475,-0.53,-146.6,3077,3444,3631,3437,129.1,-7.9,89,1486,0.00,2.40,0.00,0.000,1030,0.000,0.068,3078,2022,3534,3631,3437,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1783,-0.53,-146.6,3077,2020,3631,3436,158.0,-8.4,105,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2020,3534,3631,3437,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1998,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1998,begin apogee
$GC,2005,-0.18,0.0,3077,2020,3631,3437,178.1,-9.9,116,2125,0.28,0.00,111.82,1.483,10246,0.276,0.000,3152,2020,2930,2956,2904,0,0,0,0,0,0,14.66,28.83,13.54
$STATE,2126,end apogee,CONTROL_FINISHED_OK
$STATE,2126,begin climb
$GC,2129,0.65,146.6,3152,2020,2956,2901,183.8,0.0,121,2249,0.65,0.00,115.80,1.435,10758,0.226,0.000,3333,2019,2332,2319,2345,0,0,0,0,0,0,14.04,28.83,13.40
$GC,2541,0.37,146.6,3333,2019,2317,2329,140.6,13.0,143,2548,0.20,2.45,0.00,0.000,4612,0.325,0.083,3295,614,2323,2317,2329,0,0,0,0,0,0,14.34,14.47,28.83
$GC,2635,0.34,146.6,3295,614,2315,2329,134.3,7.1,147,2641,0.00,2.42,0.00,0.000,1030,0.000,0.070,3295,2030,2322,2315,2329,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2957,0.30,146.6,3295,2031,2315,2327,116.4,5.0,163,2964,0.12,2.40,0.00,0.000,4356,0.276,0.076,3262,3439,2320,2315,2326,0,0,0,0,0,0,14.57,14.62,28.83
$GC,3037,0.30,146.6,3261,3440,2314,2323,112.4,5.7,166,3045,0.00,2.45,0.00,0.000,1030,0.000,0.082,3262,2026,2318,2314,2323,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3344,0.37,146.7,3261,2026,2315,2323,97.4,5.5,182,3350,0.00,2.40,0.00,0.000,260,0.000,0.076,3262,3441,2319,2315,2323,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3412,0.42,146.7,3262,3442,2314,2322,92.8,6.6,185,3418,0.12,2.45,0.00,0.000,3078,0.181,0.082,3303,2025,2318,2315,2322,0,0,0,0,0,0,14.70,14.70,28.83
$GC,3741,0.38,146.7,3303,2022,2314,2322,68.2,7.3,201,3747,0.00,2.40,0.00,0.000,260,0.000,0.073,3303,3445,2318,2315,2322,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3818,0.31,146.7,3302,3443,2314,2322,62.4,7.6,204,3825,0.15,2.45,0.00,0.000,5126,0.311,0.083,3270,2023,2318,2314,2322,0,0,0,0,0,0,14.62,14.71,28.83
$GC,4135,0.37,146.7,3270,2022,2314,2322,47.8,3.9,223,4141,0.00,2.40,0.00,0.000,260,0.000,0.074,3270,3441,2318,2314,2322,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4239,0.41,146.7,3270,3443,2314,2321,42.1,6.2,232,4247,0.00,2.45,0.00,0.000,1030,0.000,0.080,3270,2019,2317,2314,2321,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4548,0.48,146.7,3270,2018,2314,2322,25.5,6.2,263,4554,0.12,2.42,0.00,0.000,2564,0.192,0.089,3315,611,2318,2314,2322,0,0,0,0,0,0,14.68,14.67,28.83
$GC,4630,0.52,146.7,3316,610,2314,2322,19.2,7.8,270,4636,0.00,2.40,0.00,0.000,1030,0.000,0.067,3316,2031,2318,2314,2322,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,4903,end climb,SURFACE_DEPTH_REACHED
$STATE,4903,begin surface coast
$FINISH,0.4,1.020842
$STATE,4944,end surface coast,CONTROL_FINISHED_OK
$STATE,4944,begin surface
$SM_CCo,4965,88.25,1.291,0,0,1706,300.00
$SM_GC,1.28,9.88,0.00,88.25,0.124,0.000,1.291,44,2031,1706,-14.46,0.14,300.00,0,0,0,0,0,0,14.69,28.83,13.76
$IRIDIUM_FIX,4729.30,-12308.55,270213,121253
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.46
$INTERNAL_PRESSURE,7.79327
$TCM_TEMP,18.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.2,19.4
$ALTIM_BOTTOM_PING,170.2,16.7
$SC_FREEKB,4014240
$TM_FREEKB,7829984
$24V_AH,13.4,25.656
$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,27.975,43.750,227.625,88.250,0.000,33.226,29.078,207.112,5.750,0.000,6.737,1246.098,2498.338,393.685,1096.081,303.461,33.233,820.652,0.000,754.232,0.000,38.376,0.000
$DEVICE_MAMPS,478.125,107.100,1483.335,1290.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4961.000,482.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1588.692,12.463,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,10160,301
$CAP_FILE_SIZE,165063,0
$CFSIZE,260165632,252444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,270213,155139,4742.778,-12224.918,4,1.0,4,16.3