version: 66.11
glider: 144
mission: 20
dive: 3
start: 10 9 113 21 49 46
data:
$ID,144
$MISSION,20
$DIVE,3
$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,590
$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,-56422.738
$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
$GPS1,091013,214456,4744.193,-12223.739,3,0.8,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-69.5
$GPS2,091013,214848,4744.196,-12223.706,4,1.1,4,16.3
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12223.750
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.044,0.146
$KALMAN_X,210.5,154.9,137.3,171.0,80.3
$KALMAN_Y,339.7,255.9,228.7,1150.1,130.4
$MHEAD_RNG_PITCHd_Wd,327.0,566,-30.7,-10.000,-33.28,762
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.32,-49.9,120,2278,595,439,0.0,0.0,0,107,0.00,0.00,-88.93,0.000,16390,0.000,0.000,120,2279,3136,3080,3193,0,0,0,0,0,0,28.83,28.83,14.97
$GC,109,-1.37,-93.3,120,2279,3081,3192,2.1,-4.2,16,135,13.30,2.33,-4.10,0.000,18948,0.420,0.082,2902,875,3314,3237,3392,0,0,0,0,0,0,14.42,14.72,14.94
$GC,421,-1.37,-93.3,2902,875,3240,3391,52.5,-18.4,59,426,0.00,2.35,0.00,0.000,1030,0.000,0.047,2895,2318,3315,3240,3391,0,0,0,0,0,0,28.83,14.78,28.83
$GC,548,-1.37,-93.3,2895,2318,3240,3391,77.2,-18.7,71,557,0.00,2.33,0.00,0.000,260,0.000,0.065,2895,3725,3315,3240,3391,0,0,0,0,0,0,28.83,14.78,28.83
$GC,850,-1.37,-93.3,2895,3725,3240,3391,139.4,-21.3,101,855,0.00,2.35,0.00,0.000,1030,0.000,0.044,2895,2271,3315,3240,3391,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,915,begin apogee
$GC,919,-0.20,0.0,2895,2427,3240,3391,150.2,-15.7,107,999,1.48,0.00,74.68,1.310,10246,0.308,0.000,3272,2427,2930,2888,2972,0,0,0,0,0,0,14.55,28.83,13.53
$STATE,999,end apogee,CONTROL_FINISHED_OK
$STATE,1000,begin climb
$GC,1001,1.37,93.3,3272,2427,2886,2971,156.2,0.0,115,1087,1.65,2.47,77.47,1.278,10500,0.170,0.062,3786,3822,2547,2523,2572,0,0,0,0,0,0,14.29,14.20,13.38
$GC,1111,1.37,93.3,3136,3821,2456,2559,146.9,12.4,126,1119,0.00,2.47,0.00,0.000,1030,0.000,0.044,3796,2382,2544,2519,2569,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1239,1.37,93.3,3796,2382,2512,2568,122.9,18.7,139,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,3796,2381,2540,2512,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1359,1.37,93.3,3796,2382,2510,2568,99.8,19.4,151,1363,0.00,2.38,0.00,0.000,516,0.000,0.066,3807,972,2539,2510,2568,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1505,1.37,93.3,3806,971,2508,2567,73.1,16.6,165,1514,0.00,2.38,0.00,0.000,1030,0.000,0.047,3807,2424,2537,2508,2567,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1635,1.37,93.3,3807,2423,2507,2567,53.4,15.0,178,1639,0.00,2.33,0.00,0.000,260,0.000,0.062,3807,3825,2537,2507,2567,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1701,1.37,93.3,3806,3825,2506,2566,42.5,16.7,184,1705,0.00,2.35,0.00,0.000,1030,0.000,0.045,3817,2384,2536,2507,2566,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1826,1.37,93.3,3817,2384,2506,2566,21.4,16.3,196,1830,0.00,2.35,0.00,0.000,516,0.000,0.066,3827,976,2536,2506,2566,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1883,1.37,93.3,3827,976,2505,2565,11.7,17.4,205,1890,0.15,2.35,0.00,0.000,5126,0.331,0.047,3797,2422,2535,2506,2565,0,0,0,0,0,0,14.59,14.79,28.83
$STATE,1941,end climb,SURFACE_DEPTH_REACHED
$STATE,1941,begin surface coast
$FINISH,0.4,1.021759
$STATE,1957,end surface coast,CONTROL_FINISHED_OK
$STATE,1957,begin surface
$SM_CCo,1975,416.45,1.101,7,0,523,590.19
$SM_GC,0.89,10.70,0.25,416.45,0.099,0.081,1.101,119,2241,523,-10.05,0.42,590.19,0,0,0,0,7,0,14.76,14.81,13.22
$IRIDIUM_FIX,4726.11,-12225.08,091013,212123
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.30
$INTERNAL_PRESSURE,8.59673
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,18.1
$ALTIM_BOTTOM_PING,145.4,29.3
$24V_AH,13.2,1.309
$10V_AH,13.7,0.463
$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,27.275,28.925,152.150,416.450,0.000,0.000,0.000,0.000,3.000,0.000,5.880,542.403,758.192,696.738,460.820,24.348,31.308,973.831,0.000,454.085,0.000,21.639,0.000
$DEVICE_MAMPS,419.985,84.915,1309.680,1100.835,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2FLVMG,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,150.607,266.381,222.626,160.580,0.000,0.000,0.000,0.000,0.000,0.000
$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,10289,219
$CAP_FILE_SIZE,69047,0
$CFSIZE,260165632,218910720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,091013,223103,4744.314,-12223.676,24,0.9,24,16.3