version: 66.11
glider: 120
mission: 14
dive: 2
start: 2 27 113 19 36 2
data:
$ID,120
$MISSION,14
$DIVE,2
$N_DIVES,0
$D_SURF,1
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,0
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-38916.426
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,116
$PITCH_MAX,4069
$C_PITCH,2698
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1922
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2879
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-4.3698635
$PRESSURE_SLOPE,0.0001164831
$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,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270213,192333,4744.670,-12223.900,13,2.1,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-56.7
$GPS2,270213,193503,4744.799,-12223.865,8,3.0,28,18.2
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.223,-0.129
$KALMAN_X,183.8,183.8,183.8,384.4,260.2
$KALMAN_Y,668.8,668.8,668.8,552.6,946.9
$MHEAD_RNG_PITCHd_Wd,341.8,0,-37.9,-10.000,-40.00,513
$D_GRID,165
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.56,-33.6,131,1915,377,413,0.0,0.0,0,131,0.00,0.00,-103.82,0.000,16390,0.000,0.000,131,1916,3018,3114,2922,0,0,0,0,0,0,28.83,28.83,14.60
$GC,135,-1.59,-58.9,131,1916,3114,2922,2.8,-4.9,15,159,9.40,2.65,-2.83,0.000,18948,0.399,0.151,2192,514,3122,3232,3013,0,0,0,0,0,0,14.07,14.28,14.62
$GC,397,-1.59,-58.9,2192,514,3233,3017,44.2,-17.2,49,405,0.00,2.55,0.00,0.000,1030,0.000,0.098,2184,1926,3124,3232,3017,0,0,0,0,0,0,28.83,14.24,28.83
$GC,524,-1.59,-58.9,2184,1925,3233,3017,68.7,-19.1,62,530,0.00,2.67,0.00,0.000,516,0.000,0.132,2191,505,3124,3232,3017,0,0,0,0,0,0,28.83,14.20,28.83
$GC,774,-1.59,-58.9,2191,506,3232,3017,116.9,-19.5,85,780,0.00,2.58,0.00,0.000,1030,0.000,0.097,2183,1924,3124,3232,3017,0,0,0,0,0,0,28.83,14.24,28.83
$GC,910,-1.59,-58.9,2183,1924,3233,3016,141.9,-18.1,98,916,0.00,2.67,0.00,0.000,516,0.000,0.132,2188,503,3124,3232,3017,0,0,0,0,0,0,28.83,14.16,28.83
$STATE,951,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,960,-0.20,0.0,2180,1927,3232,3017,150.2,-19.0,102,1015,1.73,0.00,49.25,1.463,10246,0.285,0.000,2626,1927,2879,2957,2802,0,0,0,0,0,0,14.07,28.83,13.44
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,1.59,58.9,2626,1927,2953,2802,154.0,0.0,106,1086,1.70,2.62,51.62,1.424,10500,0.096,0.111,3208,3339,2634,2690,2579,0,0,0,0,0,0,14.19,13.89,13.29
$GC,1321,1.60,67.8,3208,3339,2686,2577,139.1,8.2,133,1335,0.00,2.65,6.88,1.162,9222,0.000,0.113,3217,1916,2601,2656,2547,0,0,0,0,0,0,28.83,14.09,13.43
$GC,1464,1.61,81.2,3217,1916,2657,2547,127.6,7.3,147,1489,0.00,2.72,13.68,1.329,8708,0.000,0.142,3228,514,2547,2599,2496,0,0,0,0,0,0,28.83,14.16,13.49
$GC,1727,1.61,81.2,3228,514,2599,2496,95.9,13.3,171,1736,0.00,2.58,0.00,0.000,1030,0.000,0.093,3227,1934,2547,2599,2496,0,0,0,0,0,0,28.83,14.18,28.83
$GC,1854,1.61,81.2,3228,1934,2599,2496,79.9,11.1,184,1860,0.00,2.72,0.00,0.000,516,0.000,0.134,3240,506,2547,2599,2496,0,0,0,0,0,0,28.83,14.20,28.83
$GC,1997,1.61,81.2,3239,506,2599,2497,64.3,11.4,197,2005,0.00,2.55,0.00,0.000,1030,0.000,0.093,3239,1919,2548,2599,2497,0,0,0,0,0,0,28.83,14.16,28.83
$GC,2124,1.61,81.2,3239,1918,2599,2497,50.0,10.0,210,2130,0.00,2.58,0.00,0.000,260,0.000,0.111,3239,3336,2547,2599,2496,0,0,0,0,0,0,28.83,14.27,28.83
$GC,2367,1.61,81.2,3239,3337,2599,2495,25.0,11.7,233,2373,0.17,2.62,0.00,0.000,5126,0.411,0.114,3220,1916,2547,2599,2495,0,0,0,0,0,0,13.89,14.18,28.83
$GC,2503,1.63,92.1,2144,1913,2536,2484,13.8,7.8,252,2520,0.00,2.67,10.73,1.199,8452,0.000,0.116,3220,3338,2502,2554,2451,0,0,0,0,0,0,28.83,14.28,13.62
$GC,2604,1.63,92.1,2128,3336,2488,2438,3.7,11.4,269,2612,0.00,2.62,0.00,0.000,1030,0.000,0.116,3228,1925,2500,2551,2450,0,0,0,0,0,0,28.83,14.21,28.83
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,0.7,1.022120
$STATE,2647,end surface coast,CONTROL_FINISHED_OK
$STATE,2647,begin surface
$SM_CCo,2670,182.98,1.235,0,0,1655,300.00
$SM_GC,1.49,10.55,0.00,182.98,0.203,0.000,1.235,131,1925,1655,-8.02,0.08,300.00,1,0,0,0,0,0,13.61,28.83,13.33
$IRIDIUM_FIX,4726.11,-12225.08,270213,191943
$TT8_MAMPS,0.023968,0.023968
$HUMID,35.82
$INTERNAL_PRESSURE,7.86407
$TCM_TEMP,18.60
$XPDR_PINGS,89
$ALTIM_TOP_PING,19.5,999.0
$ALTIM_BOTTOM_PING,136.2,37.9
$SC_FREEKB,4019040
$TM_FREEKB,7891936
$24V_AH,13.3,2.922
$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,23.550,42.125,132.150,182.975,0.000,0.000,0.000,0.000,26.000,0.000,30.065,1052.259,605.618,446.654,692.499,155.297,30.068,802.455,0.000,637.702,0.000,26.230,0.000
$DEVICE_MAMPS,410.805,150.705,1462.680,1235.475,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2624.000,2625.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,44.558,22.095,0.000,0.000
$MEM,323032
$DATA_FILE_SIZE,10121,276
$CAP_FILE_SIZE,217489,0
$CFSIZE,260165632,256569344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$GPS,270213,202430,4744.755,-12223.947,9,1.3,9,18.2