version: 66.11
glider: 144
mission: 20
dive: 15
start: 2 27 113 16 0 37
data:
$ID,144
$MISSION,20
$DIVE,15
$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,-86643.648
$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,19
$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
$GPS1,270213,155139,4742.778,-12224.918,4,1.0,4,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-79.3
$GPS2,270213,155935,4742.868,-12224.896,6,1.0,6,16.3
$SPEED_LIMITS,0.067,0.206
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,-0.071
$KALMAN_X,-3369.4,-521.3,-337.9,3994.0,-425.4
$KALMAN_Y,-1413.1,-190.2,-641.3,-1606.7,494.6
$MHEAD_RNG_PITCHd_Wd,93.9,1448,-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,-146.6,42,2032,1607,1785,0.0,0.0,0,72,0.00,0.00,-45.92,0.000,16386,0.000,0.000,44,2032,2839,2885,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.65,-146.6,44,2032,2885,2795,2.5,-3.1,4,120,16.45,2.45,-18.10,0.000,18692,0.480,0.106,3053,3435,3532,3632,3433,1,0,0,0,0,0,14.28,14.50,14.69
$GC,359,-0.58,-146.6,3053,3436,3627,3438,34.4,-11.3,30,365,0.00,2.45,0.00,0.000,1030,0.000,0.076,3053,2023,3533,3628,3438,0,0,0,0,0,0,28.83,14.54,28.83
$GC,686,-0.46,-146.6,3053,2020,3627,3438,69.6,-9.9,53,693,0.17,2.40,0.00,0.000,2308,0.312,0.070,3098,3437,3532,3627,3438,0,0,0,0,0,0,14.53,14.65,28.83
$GC,930,-0.49,-146.6,3098,3439,3627,3438,87.2,-6.2,64,936,0.00,2.40,0.00,0.000,1030,0.000,0.068,3098,2022,3531,3624,3438,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1250,-0.52,-146.6,3098,2020,3628,3438,105.9,-5.3,80,1256,0.00,2.42,0.00,0.000,260,0.000,0.082,3098,3436,3533,3627,3439,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1494,-0.59,-146.6,3098,3436,3627,3439,118.4,-5.1,91,1501,0.12,2.42,0.00,0.000,5126,0.191,0.074,3061,2021,3532,3627,3438,0,0,0,0,0,0,14.70,14.72,28.83
$GC,1811,-0.53,-146.6,3060,2018,3627,3439,147.4,-8.5,107,1817,0.10,2.45,0.00,0.000,2308,0.328,0.084,3080,3438,3532,3627,3438,0,0,0,0,0,0,14.64,14.74,28.83
$GC,1933,-0.57,-146.6,3079,3439,3628,3438,156.3,-8.2,112,1939,0.00,2.40,0.00,0.000,1030,0.000,0.074,3079,2024,3532,3627,3438,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,2186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2186,begin apogee
$GC,2192,-0.18,0.0,3080,2021,3628,3438,175.7,-6.5,125,2308,0.28,0.00,111.57,1.480,10246,0.270,0.000,3154,2022,2930,2954,2907,0,0,0,0,0,0,14.66,28.83,13.55
$STATE,2310,end apogee,CONTROL_FINISHED_OK
$STATE,2310,begin climb
$GC,2313,0.65,146.6,3154,2022,2953,2903,178.7,0.0,130,2435,0.65,2.65,114.62,1.429,10756,0.233,0.092,3337,614,2331,2325,2337,0,0,1,0,0,0,14.02,13.93,13.40
$GC,2564,0.57,146.6,3337,613,2315,2338,162.8,8.9,141,2572,0.00,2.47,0.00,0.000,1030,0.000,0.070,3337,2026,2325,2315,2336,0,0,0,0,0,0,28.83,14.32,28.83
$GC,2869,0.42,146.6,3335,2028,2315,2332,120.0,15.3,157,2871,0.20,0.00,0.00,0.000,4102,0.297,0.000,3293,2028,2323,2315,2332,0,0,0,0,0,0,14.41,28.83,28.83
$GC,3168,0.45,146.6,3293,2028,2315,2329,87.3,7.0,172,3174,0.00,2.40,0.00,0.000,260,0.000,0.079,3292,3437,2321,2313,2329,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3224,0.45,146.6,3292,3438,2315,2326,83.4,7.5,174,3230,0.00,2.45,0.00,0.000,1030,0.000,0.083,3292,2028,2320,2315,2326,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3539,0.45,146.6,3293,2025,2315,2326,66.3,6.3,190,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2024,2321,2315,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3839,0.45,146.7,3293,2025,2315,2326,50.3,3.9,205,3845,0.00,2.40,0.00,0.000,260,0.000,0.076,3292,3437,2320,2315,2326,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4033,0.45,146.7,3293,3438,2315,2324,43.2,5.7,222,4041,0.00,2.45,0.00,0.000,1030,0.000,0.080,3292,2020,2319,2315,2324,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4345,0.48,146.7,3292,2018,2315,2323,29.1,4.7,253,4351,0.00,2.42,0.00,0.000,516,0.000,0.090,3292,607,2320,2315,2325,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4468,0.62,146.7,3293,607,2315,2324,24.7,3.3,264,4474,0.15,2.40,0.00,0.000,3078,0.188,0.068,3337,2026,2319,2314,2324,0,0,0,0,0,0,14.66,14.70,28.83
$GC,4784,0.54,146.7,3337,2027,2315,2324,4.1,6.1,295,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2028,2319,2315,2324,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4833,end climb,SURFACE_DEPTH_REACHED
$STATE,4833,begin surface coast
$FINISH,0.4,1.021878
$STATE,4884,end surface coast,CONTROL_FINISHED_OK
$STATE,4885,begin surface
$SM_CCo,4905,91.45,1.291,0,0,1706,300.00
$SM_GC,1.53,9.98,0.00,91.45,0.127,0.000,1.291,46,2028,1706,-14.44,0.03,300.00,0,0,0,0,0,0,14.67,28.83,13.74
$IRIDIUM_FIX,4726.11,-12227.78,270213,141400
$TT8_MAMPS,0.027713,0.027713
$HUMID,36.10
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.5
$ALTIM_BOTTOM_PING,160.9,24.5
$SC_FREEKB,4013792
$TM_FREEKB,7829088
$24V_AH,13.4,28.000
$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,28.100,39.050,226.200,91.450,0.000,27.040,29.245,204.966,5.250,0.000,7.715,1280.388,2382.560,374.805,1128.603,311.896,33.243,820.913,0.000,788.951,0.000,36.235,0.000
$DEVICE_MAMPS,480.420,105.570,1479.510,1290.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4897.000,501.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1589.781,12.433,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,10121,305
$CAP_FILE_SIZE,168503,0
$CFSIZE,260165632,252366848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,1,0,1,0
$GPS,270213,172453,4742.899,-12224.196,12,1.1,12,16.3