version: 66.11
glider: 144
mission: 20
dive: 4
start: 10 9 113 23 49 14
data:
$ID,144
$MISSION,20
$DIVE,4
$N_DIVES,0
$D_SURF,3
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-56499.164
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.4
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.408302
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,091013,234400,4744.171,-12223.005,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-68.5
$GPS2,091013,234814,4744.147,-12222.974,6,1.2,6,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.200,0.166
$KALMAN_X,695.7,460.0,216.7,196.6,-22.3
$KALMAN_Y,142.7,123.5,155.8,1482.0,-77.8
$MHEAD_RNG_PITCHd_Wd,293.4,1167,-17.5,-10.000,-21.09,2221
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-146.6,118,2269,593,440,0.0,0.0,0,107,0.00,0.00,-89.97,0.000,16386,0.000,0.000,118,2269,3185,3126,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.90,-146.6,118,2270,3128,3244,2.2,-5.5,16,141,14.00,2.38,-7.78,0.000,18948,0.423,0.085,3053,872,3532,3434,3630,0,0,0,0,0,0,14.50,14.67,14.92
$GC,167,-0.90,-146.6,3053,873,3436,3630,10.5,-15.1,26,174,0.00,2.40,0.00,0.000,1030,0.000,0.047,3048,2328,3533,3436,3631,0,0,0,0,0,0,28.83,14.75,28.83
$GC,236,-0.90,-146.6,3049,2327,3439,3630,22.2,-16.0,38,237,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2327,3534,3438,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,357,-0.90,-146.6,3048,2328,3439,3630,41.1,-14.5,50,366,0.00,2.30,0.00,0.000,260,0.000,0.064,3048,3722,3535,3440,3630,0,0,0,0,0,0,28.83,14.77,28.83
$GC,658,-0.90,-146.6,3048,3722,3440,3630,41.1,0.1,80,662,0.00,2.33,0.00,0.000,1030,0.000,0.043,3048,2271,3535,3440,3630,0,0,0,0,0,0,28.83,14.83,28.83
$GC,783,-0.90,-146.6,3048,2270,3440,3630,41.2,0.1,92,792,0.00,2.42,0.00,0.000,260,0.000,0.064,3048,3725,3535,3440,3630,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1084,-0.90,-146.6,3049,3725,3440,3630,41.2,-0.1,122,1088,0.00,2.33,0.00,0.000,1030,0.000,0.043,3048,2273,3535,3440,3630,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,1117,end dive,NO_VERTICAL_VELOCITY
$STATE,1118,begin apogee
$GC,1121,-0.20,0.0,3048,2432,3440,3630,41.3,0.0,125,1241,0.70,0.08,113.62,1.199,10246,0.140,0.152,3283,2364,2929,2890,2969,0,0,0,0,0,0,14.76,14.24,13.45
$STATE,1242,end apogee,CONTROL_FINISHED_OK
$STATE,1242,begin climb
$GC,1243,0.90,146.6,3283,2364,2888,2969,41.2,0.0,137,1371,1.12,2.50,118.53,1.151,10756,0.162,0.065,3636,979,2331,2319,2343,0,0,0,0,0,0,14.21,14.08,13.08
$GC,1436,0.90,151.2,2880,979,2246,2329,29.1,9.8,156,1446,0.00,2.47,4.45,0.785,9222,0.000,0.045,3636,2423,2313,2301,2325,0,0,0,0,0,0,28.83,14.33,13.78
$GC,1568,0.90,151.2,2816,2420,2222,2313,14.5,10.8,174,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2423,2309,2295,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1635,0.90,151.2,3636,2423,2294,2324,7.1,10.3,187,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,3636,2423,2308,2293,2324,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1677,end climb,SURFACE_DEPTH_REACHED
$STATE,1677,begin surface coast
$FINISH,0.1,1.011808
$STATE,1703,end surface coast,CONTROL_FINISHED_OK
$STATE,1703,begin surface
$SM_CCo,1720,106.00,1.144,0,0,1707,300.00
$SM_GC,0.97,10.23,0.25,106.00,0.086,0.077,1.144,120,2238,1707,-10.05,0.45,300.00,0,0,0,0,0,0,14.61,14.66,13.69
$IRIDIUM_FIX,4726.11,-12220.67,091013,232326
$TT8_MAMPS,0.023219,0.023219
$HUMID,57.79
$INTERNAL_PRESSURE,8.70416
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,19.1
$24V_AH,13.1,1.536
$10V_AH,13.2,0.523
$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,26.050,19.800,236.600,106.000,0.000,0.000,0.000,0.000,0.250,0.000,6.932,460.220,560.304,403.434,435.547,24.405,32.230,690.399,0.000,435.961,0.000,2.647,0.000
$DEVICE_MAMPS,423.045,152.235,1198.755,1143.675,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,137.587,243.404,203.535,147.451,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,345784
$DATA_FILE_SIZE,10266,200
$CAP_FILE_SIZE,84379,0
$CFSIZE,260165632,218861568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101013,002009,4744.154,-12222.996,3,0.9,3,16.3