version: 66.11
glider: 144
mission: 21
dive: 3
start: 3 25 113 17 40 17
data:
$ID,144
$MISSION,21
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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
$MASS_COMP,1141.9
$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,450
$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,-87066.906
$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,34
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,30
$C_ROLL_DIVE,2026
$C_ROLL_CLIMB,2026
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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,2727
$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,-47.062218
$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,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,173513,2433.365,-3758.580,1,1.5,2,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.0
$GPS2,250313,173919,2433.370,-3758.578,4,1.5,4,-13.8
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.181,0.155
$KALMAN_X,-106.3,-106.3,-106.3,18.9,-205.0
$KALMAN_Y,-3.2,-3.2,-3.2,171.0,-6.2
$MHEAD_RNG_PITCHd_Wd,63.2,32455,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.75,-146.6,37,2004,426,579,0.0,0.0,0,114,0.00,0.00,-90.22,0.000,16386,0.000,0.000,37,2004,2964,3033,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.75,-146.6,37,2004,3033,2896,2.4,-3.3,9,150,14.15,1.73,-8.00,0.000,19204,0.423,0.086,3027,958,3327,3422,3232,0,0,0,0,0,0,14.70,14.90,15.08
$GC,156,-0.75,-146.6,3026,955,3423,3233,7.1,-12.4,12,163,0.00,1.77,0.00,0.000,1030,0.000,0.066,3022,2036,3328,3423,3234,0,0,0,0,0,0,28.83,14.90,28.83
$GC,473,-0.75,-146.6,3022,2039,3423,3234,66.9,-19.0,40,478,0.00,1.73,0.00,0.000,516,0.000,0.050,3022,952,3328,3423,3234,0,0,0,0,0,0,28.83,14.92,28.83
$GC,706,-0.75,-146.6,3024,948,3423,3234,100.9,-14.4,51,711,0.00,1.83,0.00,0.000,1030,0.000,0.073,3017,2037,3328,3423,3233,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1005,-0.15,0.0,3017,2038,3422,3234,153.0,-16.8,66,1119,0.52,0.00,108.35,1.244,10246,0.273,0.000,3161,2038,2726,2767,2685,0,0,0,0,0,0,14.82,28.83,13.97
$STATE,1125,end apogee,CONTROL_FINISHED_OK
$STATE,1126,begin climb
$GC,1128,0.75,146.6,3161,2038,2767,2683,160.4,0.0,72,1251,0.65,1.85,113.05,1.234,10756,0.184,0.061,3364,971,2128,2115,2141,0,0,1,0,0,0,14.49,14.40,13.91
$GC,1338,0.75,146.6,3364,967,2107,2142,142.1,13.5,82,1344,0.00,1.80,0.00,0.000,1030,0.000,0.065,3364,2035,2123,2107,2140,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1644,0.75,146.6,3364,2035,2107,2131,94.4,13.7,98,1649,0.00,1.67,0.00,0.000,260,0.000,0.061,3364,3090,2119,2107,2131,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1807,0.75,146.6,3364,3091,2104,2129,67.6,16.3,106,1813,0.00,1.73,0.00,0.000,1030,0.000,0.067,3367,2028,2116,2104,2129,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2121,0.75,146.6,3367,2027,2104,2126,19.3,16.2,131,2126,0.00,1.70,0.00,0.000,260,0.000,0.060,3367,3091,2116,2104,2128,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2188,0.75,146.6,3367,3091,2103,2126,8.4,17.5,137,2195,0.00,1.75,0.00,0.000,1030,0.000,0.071,3368,2024,2114,2103,2126,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,2231,end climb,SURFACE_DEPTH_REACHED
$STATE,2231,begin surface coast
$FINISH,0.2,1.010430
$STATE,2242,end surface coast,CONTROL_FINISHED_OK
$STATE,2242,begin surface
$SM_CCo,2263,128.65,1.102,0,0,890,450.13
$SM_GC,0.97,9.30,0.00,128.65,0.083,0.000,1.102,46,2019,890,-14.44,-0.23,450.13,0,0,0,0,0,0,14.93,28.83,14.04
$IRIDIUM_FIX,2422.84,-3800.39,250313,171738
$TT8_MAMPS,0.026964,0.026964
$HUMID,34.13
$INTERNAL_PRESSURE,8.22297
$TCM_TEMP,23.70
$XPDR_PINGS,242
$SC_FREEKB,4019168
$TM_FREEKB,7899648
$24V_AH,13.9,0.767
$10V_AH,14.1,0.000
$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,24.625,17.550,221.400,128.650,0.000,0.000,0.000,0.000,60.500,0.000,5.493,470.692,1093.707,397.930,440.935,61.540,30.072,678.168,0.000,420.035,0.000,0.550,0.000
$DEVICE_MAMPS,423.045,85.680,1243.890,1102.365,0.000,0.000,0.000,0.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2210.000,1112.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.955,13.465,0.000,0.000
$MEM,353608
$DATA_FILE_SIZE,3491,143
$CAP_FILE_SIZE,81465,0
$CFSIZE,260165632,255459328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,250313,182055,2433.688,-3758.735,2,1.5,2,-13.8