version: 66.11
glider: 144
mission: 21
dive: 3
start: 10 25 113 20 29 37
data:
$ID,144
$MISSION,21
$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,2
$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,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57264.281
$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,3180
$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,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$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,-50.012749
$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,10
$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
$DEVICE2,131
$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
$GPS1,251013,202511,4700.407,-12458.965,3,0.8,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.7
$GPS2,251013,202909,4700.399,-12458.921,4,2.0,4,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,252.3,39262,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-146.6,113,2277,1049,781,0.0,0.0,0,79,0.00,0.00,-62.10,0.000,16386,0.000,0.000,113,2276,2816,2752,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.72,-146.6,113,2275,2754,2881,2.3,-2.6,6,110,13.02,2.53,-10.02,0.000,18692,0.406,0.092,2938,3726,3273,3165,3381,0,0,0,0,0,0,14.47,14.69,14.89
$GC,251,-0.72,-146.6,2938,3726,3173,3381,26.5,-13.5,23,255,0.00,2.35,0.00,0.000,1030,0.000,0.046,2938,2275,3277,3173,3381,0,0,0,0,0,0,28.83,14.75,28.83
$GC,556,-0.72,-146.6,2938,2275,3176,3381,60.1,-13.1,53,561,0.00,2.33,0.00,0.000,516,0.000,0.068,2938,880,3278,3176,3381,0,0,0,0,0,0,28.83,14.76,28.83
$GC,615,-0.72,-146.6,1960,878,3144,3377,67.3,-12.7,58,623,0.00,2.40,0.00,0.000,1030,0.000,0.049,2938,2312,3279,3177,3381,0,0,0,0,0,0,28.83,14.72,28.83
$GC,923,-0.72,-146.6,2938,2312,3178,3381,96.1,-9.8,80,927,0.00,2.35,0.00,0.000,260,0.000,0.070,2938,3721,3279,3178,3381,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1019,-0.72,-146.6,2938,3721,3178,3381,105.5,-9.6,85,1023,0.00,2.33,0.00,0.000,1030,0.000,0.043,2938,2268,3279,3178,3381,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1336,-0.72,-146.6,2938,2268,3178,3381,130.2,-7.8,101,1342,0.00,2.28,0.00,0.000,516,0.000,0.067,2938,880,3279,3178,3381,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1398,-0.72,-146.6,2938,880,3178,3381,134.6,-7.4,104,1402,0.00,2.35,0.00,0.000,1030,0.000,0.050,2938,2318,3279,3178,3381,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,1634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1634,begin apogee
$GC,1638,-0.20,0.0,2938,2429,3178,3381,151.0,-6.7,116,1759,0.57,0.03,115.45,1.390,10246,0.227,0.112,3105,2381,2671,2621,2722,0,0,0,0,0,0,14.70,14.12,13.64
$STATE,1760,end apogee,CONTROL_FINISHED_OK
$STATE,1760,begin climb
$GC,1761,0.72,146.6,3105,2381,2620,2721,154.0,0.0,120,1889,0.98,2.58,119.30,1.340,10500,0.161,0.066,3403,3812,2072,2086,2059,0,0,0,0,0,0,14.19,14.09,13.52
$GC,1906,0.72,191.7,3403,3812,2084,2057,145.0,7.9,126,1950,0.00,2.45,37.88,1.291,9222,0.000,0.045,3410,2373,1890,1912,1868,0,0,0,0,0,0,28.83,14.23,13.55
$GC,2261,0.72,191.7,3410,2373,1894,1868,103.3,12.1,144,2265,0.00,2.35,0.00,0.000,516,0.000,0.069,3420,980,1881,1894,1868,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2400,0.72,191.7,2496,980,1840,1860,87.6,11.4,151,2404,0.00,2.42,0.00,0.000,1030,0.000,0.049,3420,2419,1880,1892,1868,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2707,0.72,191.7,3419,2419,1888,1868,54.0,10.5,178,2711,0.00,2.35,0.00,0.000,260,0.000,0.070,3420,3819,1878,1888,1868,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2745,0.72,191.7,2512,3819,1838,1860,49.9,11.2,181,2753,0.00,2.40,0.00,0.000,1030,0.000,0.049,3423,2390,1878,1888,1868,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3053,0.72,246.5,3423,2390,1886,1868,20.2,7.5,212,3105,0.00,2.47,45.38,1.276,8708,0.000,0.072,3431,981,1665,1694,1636,0,0,0,0,0,0,28.83,14.49,13.93
$STATE,3255,end climb,SURFACE_DEPTH_REACHED
$STATE,3255,begin surface coast
$FINISH,1.3,1.023684
$STATE,3266,end surface coast,CONTROL_FINISHED_OK
$STATE,3266,begin surface
$SM_CCo,3285,84.70,1.237,0,0,1245,350.04
$SM_GC,0.96,9.88,2.28,84.70,0.108,0.049,1.237,115,2327,1245,-9.53,-0.45,350.04,0,0,0,0,0,0,14.62,14.64,13.71
$IRIDIUM_FIX,4644.93,-12501.07,251013,202038
$TT8_MAMPS,0.023219,0.023219
$HUMID,64.17
$INTERNAL_PRESSURE,8.6065
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.5
$24V_AH,13.5,5.466
$10V_AH,13.1,1.534
$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,24.450,38.425,318.000,84.700,0.000,0.000,0.000,0.000,1.750,0.000,5.750,615.337,1787.549,424.821,569.352,29.080,0.000,781.747,0.000,562.076,0.000,12.070,0.000
$DEVICE_MAMPS,406.215,208.080,1390.005,1237.005,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.078,284.236,237.100,172.005,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313920
$DATA_FILE_SIZE,13679,233
$CAP_FILE_SIZE,61201,0
$CFSIZE,260165632,219234304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251013,212653,4700.706,-12459.190,40,0.8,40,16.6