version: 66.11
glider: 144
mission: 21
dive: 10
start: 10 26 113 19 33 50
data:
$ID,144
$MISSION,21
$DIVE,10
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,330
$T_MISSION,390
$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,0
$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,250
$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,-57304.352
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3128
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$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,2390
$C_ROLL_CLIMB,2307
$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,0
$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
$GPS1,261013,191723,4703.354,-12509.589,38,1.0,39,16.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-68.8
$GPS2,261013,193322,4703.342,-12509.352,4,1.0,5,16.6
$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,240.0,26804,-17.5,-10.000,-21.09,2221
$D_GRID,990
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.78,-146.6,103,2424,1346,1129,0.0,0.0,0,70,0.00,0.00,-52.70,0.000,16386,0.000,0.000,103,2426,2860,2802,2918,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-146.6,103,2425,2806,2918,2.7,-3.7,5,101,13.75,2.47,-8.18,0.000,18692,0.422,0.094,2858,3814,3274,3178,3370,0,0,0,0,0,0,14.08,14.41,14.65
$GC,235,-0.78,-146.6,1896,3813,3156,3367,33.0,-16.2,21,243,0.00,2.42,0.00,0.000,1030,0.000,0.040,2859,2369,3279,3188,3371,0,0,0,0,0,0,28.83,14.48,28.83
$GC,543,-0.78,-146.6,2858,2369,3192,3371,75.1,-13.3,52,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2369,3282,3193,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.78,-146.6,2858,2369,3195,3371,114.4,-13.2,69,847,0.00,2.50,0.00,0.000,260,0.000,0.072,2855,3817,3283,3196,3370,0,0,0,0,0,0,28.83,14.67,28.83
$GC,891,-0.78,-146.6,2855,3817,3195,3371,119.1,-13.1,71,902,0.00,2.42,0.00,0.000,1030,0.000,0.040,2855,2330,3283,3196,3370,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1218,-0.78,-146.6,2855,2329,3196,3371,158.7,-11.0,87,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2330,3283,3195,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1520,-0.78,-146.6,2855,2330,3195,3370,191.7,-11.3,97,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2330,3283,3195,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.78,-146.6,2855,2330,3196,3371,224.0,-10.5,107,1823,0.00,2.28,0.00,0.000,516,0.000,0.068,2855,962,3283,3195,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1876,-0.78,-146.6,1888,961,3165,3367,229.8,-10.4,109,1882,0.00,2.42,0.00,0.000,1030,0.000,0.054,2855,2404,3283,3195,3371,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2204,-0.78,-146.6,2855,2404,3195,3370,263.7,-10.4,120,2208,0.00,2.38,0.00,0.000,260,0.000,0.075,2855,3808,3282,3195,3370,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2283,-0.78,-146.6,2855,3808,3195,3370,269.7,-10.6,122,2292,0.00,2.38,0.00,0.000,1030,0.000,0.041,2855,2363,3282,3195,3370,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2620,-0.78,-146.6,2855,2364,3195,3370,307.2,-10.6,133,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3282,3195,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.78,-146.6,2855,2364,3195,3369,338.5,-10.4,138,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3282,3195,3369,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.78,-146.6,2855,2364,3195,3367,370.5,-10.7,143,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3281,3195,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,-0.78,-146.6,2855,2364,3195,3366,402.0,-10.5,148,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3280,3195,3366,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3823,-0.78,-146.6,2855,2363,3195,3365,431.1,-9.7,153,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3280,3195,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4120,-0.78,-146.6,2855,2363,3195,3364,459.5,-9.6,158,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2363,3279,3195,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4421,-0.78,-146.6,2855,2363,3195,3362,488.1,-9.5,163,4427,0.00,2.45,0.00,0.000,260,0.000,0.076,2855,3807,3278,3195,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4469,-0.78,-146.6,2855,3807,3196,3361,488.1,-9.5,163,4473,0.00,2.33,0.00,0.000,1030,0.000,0.042,2855,2358,3278,3195,3361,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4775,-0.78,-146.6,2855,2358,3195,3361,519.3,-8.5,168,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2358,3278,3195,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5075,-0.78,-146.6,2855,2358,3195,3360,546.5,-9.2,173,5080,0.00,2.30,0.00,0.000,516,0.000,0.070,2855,965,3277,3195,3360,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5150,-0.78,-146.6,2855,966,3195,3360,552.0,-9.4,174,5154,0.00,2.38,0.00,0.000,1030,0.000,0.053,2855,2411,3277,3195,3360,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5488,-0.78,-146.6,2855,2411,3195,3358,585.4,-9.5,180,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2411,3276,3195,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5788,-0.78,-146.6,2855,2411,3195,3357,614.6,-9.7,185,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2411,3276,3196,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6088,-0.78,-146.6,2855,2411,3195,3356,644.0,-9.8,190,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2411,3275,3195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,-0.78,-146.6,2855,2411,3195,3355,671.2,-9.0,195,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2411,3275,3195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.78,-146.6,2855,2411,3196,3354,694.9,-7.9,200,6693,0.00,2.35,0.00,0.000,260,0.000,0.079,2855,3811,3274,3195,3353,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6725,-0.78,-146.6,2855,3811,3195,3352,694.9,-7.9,200,6729,0.00,2.33,0.00,0.000,1030,0.000,0.044,2855,2364,3274,3195,3353,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7043,-0.78,-146.6,2855,2364,3195,3352,721.5,-7.5,206,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3274,3195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,-0.78,-146.6,2855,2364,3195,3352,744.8,-7.8,211,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3273,3195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7642,-0.78,-146.6,2855,2364,3195,3351,768.1,-7.8,216,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3273,3195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7942,-0.78,-146.6,2855,2364,3195,3351,789.5,-7.0,221,7943,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3273,3195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8243,-0.78,-146.6,2855,2364,3195,3350,810.9,-7.2,226,8249,0.00,2.45,0.00,0.000,260,0.000,0.080,2855,3808,3271,3195,3348,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8302,-0.78,-146.6,2855,3808,3195,3348,815.2,-7.3,227,8306,0.00,2.35,0.00,0.000,1030,0.000,0.044,2855,2352,3271,3195,3348,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8659,-0.78,-146.6,2855,2352,3195,3348,842.0,-7.7,233,8665,0.00,2.25,0.00,0.000,516,0.000,0.070,2855,974,3272,3196,3348,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8691,-0.78,-146.6,2855,974,3195,3348,842.0,-7.7,233,8695,0.00,2.35,0.00,0.000,1030,0.000,0.056,2855,2404,3271,3195,3348,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9019,-0.78,-146.6,2855,2404,3195,3347,871.1,-8.0,239,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2404,3271,3195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9318,-0.78,-146.6,2855,2404,3196,3347,895.6,-8.3,244,9319,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2404,3271,3195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9618,-0.78,-146.6,2855,2404,3195,3346,919.0,-7.8,249,9624,0.00,2.35,0.00,0.000,260,0.000,0.080,2855,3805,3270,3195,3345,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9656,-0.78,-146.6,2855,3805,3195,3345,919.0,-7.8,249,9660,0.00,2.33,0.00,0.000,1030,0.000,0.045,2855,2364,3270,3195,3345,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9978,-0.78,-146.6,2855,2363,3195,3345,944.0,-6.7,255,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2363,3270,3195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10279,-0.78,-146.6,2855,2363,3195,3345,962.1,-6.0,260,10285,0.00,2.30,0.00,0.000,516,0.000,0.070,2855,972,3270,3195,3345,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10311,-0.78,-146.6,2855,973,3195,3345,962.1,-6.0,260,10315,0.00,2.35,0.00,0.000,1030,0.000,0.054,2855,2403,3270,3195,3345,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10633,-0.78,-146.6,2855,2404,3195,3344,985.4,-6.7,266,10639,0.00,2.38,0.00,0.000,260,0.000,0.080,2854,3814,3269,3195,3344,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10676,-0.78,-146.6,2854,3814,3195,3343,985.4,-6.7,266,10680,0.00,2.35,0.00,0.000,1030,0.000,0.044,2855,2361,3269,3195,3343,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,10747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10747,begin apogee
$GC,10751,-0.22,0.0,2855,2275,3195,3343,993.4,-6.8,268,10896,0.68,0.08,139.57,2.354,10246,0.227,0.158,3048,2323,2672,2630,2714,0,0,0,0,0,0,14.69,13.81,12.64
$STATE,10897,end apogee,CONTROL_FINISHED_OK
$STATE,10898,begin climb
$GC,10899,0.78,146.6,3048,2323,2628,2713,997.6,0.0,270,11053,1.05,2.65,144.77,2.333,10756,0.143,0.073,3378,892,2073,2101,2045,0,0,0,0,0,0,13.85,13.71,12.45
$GC,11082,0.78,146.6,3378,892,2096,2043,992.2,5.4,273,11087,0.00,2.55,0.00,0.000,1030,0.000,0.051,3378,2317,2069,2096,2043,0,0,0,0,0,0,28.83,13.95,28.83
$GC,11404,0.78,146.6,3378,2317,2084,2043,943.8,13.8,279,11409,0.00,2.42,0.00,0.000,260,0.000,0.070,3378,3725,2063,2084,2043,0,0,0,0,0,0,28.83,14.40,28.83
$GC,11453,0.78,146.6,3378,3725,2084,2042,943.8,13.8,279,11461,0.00,2.42,0.00,0.000,1030,0.000,0.047,3386,2282,2063,2084,2042,0,0,0,0,0,0,28.83,14.47,28.83
$GC,11760,0.78,146.6,3386,2282,2080,2042,892.2,14.4,285,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2282,2061,2080,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12060,0.78,146.6,3386,2282,2078,2042,846.6,15.3,290,12061,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2281,2060,2078,2042,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18773,end climb,SURFACE_DEPTH_REACHED
$STATE,18773,begin surface coast
$FINISH,0.3,1.023795
$STATE,18803,end surface coast,CONTROL_FINISHED_OK
$STATE,18803,begin surface
$SM_CCo,18879,0.00,0.000,0,0,1375,318.15
$SM_GC,1.02,9.62,0.20,0.00,0.082,0.095,0.000,111,2416,1375,-9.36,-0.79,318.15,0,0,0,0,0,0,14.42,14.42,28.83
$IRIDIUM_FIX,4648.08,-12511.69,261013,191950
$TT8_MAMPS,0.023219,0.023219
$HUMID,65.59
$INTERNAL_PRESSURE,8.55767
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,12.5,7.100
$10V_AH,13.0,2.028
$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,25.675,134.550,434.575,0.000,0.000,80.501,141.935,532.830,22.500,0.000,5.484,1555.481,15476.238,492.553,2211.111,103.553,0.000,1363.406,0.000,1375.352,0.000,142.385,0.000
$DEVICE_MAMPS,422.280,157.590,2353.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.297,632.424,530.164,421.794,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313916
$DATA_FILE_SIZE,33605,520
$CAP_FILE_SIZE,150785,0
$CFSIZE,260165632,218783744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,004929,4703.495,-12512.548,35,1.0,35,16.6