version: 66.11
glider: 144
mission: 20
dive: 3
start: 2 26 113 22 14 26
data:
$ID,144
$MISSION,20
$DIVE,3
$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,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,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,591
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-86567.43
$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,3230
$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,26
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260213,220703,4745.062,-12224.600,4,0.8,5,16.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.3
$GPS2,260213,221327,4745.146,-12224.589,13,0.8,13,16.3
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.211
$KALMAN_X,-7.4,-7.4,-7.4,168.9,-16.7
$KALMAN_Y,120.7,120.7,120.7,-1.4,271.8
$MHEAD_RNG_PITCHd_Wd,135.8,1588,-19.5,-10.000,-22.76,2222
$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,-0.88,-146.6,41,2015,423,610,0.0,0.0,0,133,0.00,0.00,-107.93,0.000,16386,0.000,0.000,41,2016,3065,3156,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-0.88,-146.6,41,2016,3156,2980,2.3,-3.1,15,170,15.23,2.55,-10.75,0.000,18692,0.454,0.107,3030,3440,3528,3647,3410,0,0,0,0,0,0,14.41,14.57,14.79
$GC,357,-0.85,-146.6,3030,3440,3643,3420,32.6,-13.4,45,363,0.00,2.50,0.00,0.000,1030,0.000,0.097,3030,2026,3532,3643,3421,0,0,0,0,0,0,28.83,14.56,28.83
$GC,492,-0.80,-146.6,3030,2026,3643,3421,50.7,-12.5,58,500,0.12,0.00,0.00,0.000,2054,0.334,0.000,3054,2027,3531,3643,3420,0,0,0,0,0,0,14.47,28.83,28.83
$GC,622,-0.83,-146.6,3054,2026,3643,3421,65.6,-11.7,71,628,0.00,2.42,0.00,0.000,260,0.000,0.083,3054,3435,3532,3644,3420,0,0,0,0,0,0,28.83,14.62,28.83
$GC,843,-0.92,-146.6,3054,3436,3642,3421,90.2,-11.0,91,849,0.10,2.50,0.00,0.000,5126,0.197,0.097,3024,2028,3531,3642,3421,0,0,0,0,0,0,14.61,14.60,28.83
$GC,979,-0.89,-146.6,3024,2026,3642,3421,108.9,-13.9,104,984,0.00,2.42,0.00,0.000,260,0.000,0.079,3019,3437,3531,3641,3421,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1063,-0.89,-146.6,3019,3437,3636,3422,118.9,-12.3,111,1072,0.00,2.50,0.00,0.000,1030,0.000,0.096,3019,2025,3531,3640,3422,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1192,-0.86,-146.6,3019,2022,3640,3421,135.7,-12.3,124,1199,0.10,2.42,0.00,0.000,2308,0.349,0.076,3031,3437,3531,3640,3422,0,0,0,0,0,0,14.53,14.65,28.83
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$GC,1332,-0.18,0.0,3031,2025,3640,3422,150.6,-11.0,136,1454,0.57,0.00,112.80,1.449,10246,0.276,0.000,3184,2023,2926,2964,2888,0,0,0,0,0,0,14.55,28.83,13.54
$STATE,1457,end apogee,CONTROL_FINISHED_OK
$STATE,1458,begin climb
$GC,1461,0.88,146.6,3184,2023,2967,2887,155.1,0.0,146,1589,0.80,2.70,114.95,1.404,10756,0.185,0.113,3429,615,2329,2335,2323,0,0,1,0,0,0,14.08,13.97,13.44
$GC,1624,0.65,146.6,3429,615,2328,2324,141.2,16.0,159,1631,0.25,2.50,0.00,0.000,5126,0.315,0.067,3375,2024,2325,2328,2323,0,0,0,0,0,0,14.06,14.18,28.83
$GC,1760,0.53,146.6,3376,2025,2328,2314,123.0,13.3,172,1767,0.12,2.45,0.00,0.000,4356,0.350,0.073,3347,3438,2321,2328,2314,0,0,0,0,0,0,14.29,14.40,28.83
$GC,1844,0.44,146.6,3347,3440,2326,2313,112.3,13.4,179,1853,0.15,2.58,0.00,0.000,5126,0.340,0.106,3325,2020,2319,2326,2312,0,0,0,0,0,0,14.36,14.44,28.83
$GC,1973,0.46,146.6,3325,2020,2326,2311,99.7,8.6,192,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2020,2318,2326,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2102,0.49,146.6,3322,2020,2326,2309,88.1,9.0,205,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2020,2317,2326,2309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2232,0.52,146.6,3325,2020,2326,2309,76.1,9.2,218,2238,0.00,2.55,0.00,0.000,516,0.000,0.115,3328,616,2317,2326,2309,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2273,0.58,146.6,3326,615,2325,2309,72.6,9.6,221,2282,0.10,2.42,0.00,0.000,3078,0.196,0.070,3361,2034,2317,2326,2309,0,0,0,0,0,0,14.61,14.63,28.83
$GC,2401,0.52,146.6,3361,2033,2326,2308,57.8,11.4,234,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2035,2317,2326,2308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,0.46,146.6,3361,2035,2326,2307,44.1,10.3,247,2538,0.12,2.40,0.00,0.000,4356,0.300,0.076,3330,3439,2315,2325,2306,0,0,0,0,0,0,14.50,14.59,28.83
$GC,2615,0.46,146.6,3330,3440,2325,2306,35.9,10.1,254,2623,0.00,2.53,0.00,0.000,1030,0.000,0.106,3330,2031,2315,2325,2306,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2743,0.51,146.7,3330,2030,2325,2306,25.1,8.3,267,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2030,2315,2325,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2878,0.57,146.7,3330,2030,2325,2305,15.1,8.1,286,2885,0.10,0.00,0.00,0.000,2054,0.199,0.000,3360,2029,2315,2325,2306,0,0,0,0,0,0,14.59,28.83,28.83
$GC,2953,0.57,146.7,3359,2029,2325,2305,8.7,8.5,299,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2030,2315,2325,2306,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,0.57,146.7,3360,2028,2325,2306,2.9,7.9,312,3035,0.00,2.42,0.00,0.000,260,0.000,0.078,3360,3437,2315,2325,2306,0,0,0,0,0,0,28.83,14.55,28.83
$STATE,3041,end climb,SURFACE_DEPTH_REACHED
$STATE,3041,begin surface coast
$FINISH,0.4,1.022540
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3065,begin surface
$SM_CCo,3090,232.20,1.281,0,0,519,591.17
$SM_GC,1.21,9.68,2.53,232.20,0.090,0.083,1.281,47,2014,519,-14.57,0.28,591.17,0,0,1,0,0,0,14.60,14.59,13.54
$IRIDIUM_FIX,4732.49,-12022.08,260213,222213
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.24
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,18.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,21.5
$SC_FREEKB,4019168
$TM_FREEKB,7890176
$24V_AH,13.4,2.771
$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,27.450,44.925,227.750,232.200,0.000,0.000,0.000,0.000,4.500,0.000,14.268,1074.265,843.259,608.426,677.111,201.857,30.074,1006.466,0.000,637.949,0.000,29.254,0.000
$DEVICE_MAMPS,454.410,114.750,1448.910,1281.375,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3038.000,3037.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1599.790,21.973,0.000,0.000
$MEM,322744
$DATA_FILE_SIZE,10103,318
$CAP_FILE_SIZE,190690,0
$CFSIZE,260165632,253521920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$GPS,260213,231104,4744.410,-12224.287,29,1.1,29,16.3