version: 66.11
glider: 144
mission: 21
dive: 11
start: 10 27 113 0 56 7
data:
$ID,144
$MISSION,21
$DIVE,11
$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,-57305.703
$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
$GPS1,271013,004929,4703.495,-12512.548,35,1.0,35,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.9
$GPS2,271013,005510,4703.449,-12512.545,5,1.0,5,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.243,0.091
$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,273.9,22953,-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,-146.6,103,2359,1436,1307,0.0,0.0,0,60,0.00,0.00,-42.67,0.000,16386,0.000,0.000,103,2359,2664,2612,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,103,2359,2614,2718,2.4,-4.4,4,100,13.90,2.55,-13.65,0.000,18692,0.421,0.089,2858,3817,3274,3177,3371,0,0,0,0,0,0,14.02,14.42,14.69
$GC,271,-0.78,-146.6,2858,3817,3185,3371,38.4,-14.4,25,275,0.00,2.38,0.00,0.000,1030,0.000,0.040,2858,2362,3278,3185,3371,0,0,0,0,0,0,28.83,14.59,28.83
$GC,576,-0.78,-146.6,2858,2360,3189,3371,79.9,-14.4,55,580,0.00,2.35,0.00,0.000,516,0.000,0.063,2858,961,3280,3190,3371,0,0,0,0,0,0,28.83,14.62,28.83
$GC,725,-0.78,-146.6,2858,961,3191,3371,100.5,-14.8,62,732,0.00,2.45,0.00,0.000,1030,0.000,0.050,2855,2405,3281,3191,3371,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1034,-0.78,-146.6,2855,2405,3193,3371,140.8,-11.2,78,1040,0.00,2.38,0.00,0.000,260,0.000,0.073,2855,3810,3282,3193,3371,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1125,-0.78,-146.6,2855,3810,3194,3371,149.7,-11.2,82,1133,0.00,2.35,0.00,0.000,1030,0.000,0.039,2855,2359,3282,3194,3371,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1433,-0.78,-146.6,2855,2359,3193,3371,182.6,-10.4,93,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2359,3282,3193,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1732,-0.78,-146.6,2855,2359,3194,3371,217.9,-12.3,103,1736,0.00,2.47,0.00,0.000,260,0.000,0.073,2855,3812,3282,3193,3371,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1781,-0.78,-146.6,2855,3812,3194,3371,221.3,-12.4,104,1788,0.00,2.35,0.00,0.000,1030,0.000,0.040,2855,2350,3282,3194,3371,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2088,-0.78,-146.6,2855,2350,3193,3371,259.3,-11.0,115,2092,0.00,2.50,0.00,0.000,260,0.000,0.073,2854,3816,3282,3193,3371,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2137,-0.78,-146.6,2855,3816,3194,3371,262.4,-11.0,116,2144,0.00,2.40,0.00,0.000,1030,0.000,0.041,2855,2329,3282,3193,3371,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2445,-0.78,-146.6,2854,2329,3194,3371,295.5,-9.6,127,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2329,3282,3194,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,-0.78,-146.6,2854,2329,3194,3371,325.0,-9.9,133,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2329,3282,3193,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3047,-0.78,-146.6,2855,2330,3193,3371,354.6,-9.9,138,3052,0.00,2.50,0.00,0.000,260,0.000,0.074,2855,3805,3282,3193,3371,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3097,-0.78,-146.6,2855,3805,3193,3371,354.6,-9.9,138,3108,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2359,3282,3194,3371,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3405,-0.78,-146.6,2855,2360,3193,3371,391.2,-10.0,144,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2359,3282,3194,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.78,-146.6,2855,2359,3193,3371,419.7,-9.4,149,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2359,3282,3193,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4004,-0.78,-146.6,2854,2359,3193,3371,446.4,-8.8,154,4011,0.00,2.47,0.00,0.000,260,0.000,0.076,2855,3813,3282,3194,3370,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4042,-0.78,-146.6,2855,3813,3193,3370,446.4,-8.8,154,4047,0.00,2.33,0.00,0.000,1030,0.000,0.042,2855,2361,3281,3193,3370,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4360,-0.78,-146.6,2855,2360,3194,3370,475.7,-8.1,160,4366,0.00,2.30,0.00,0.000,516,0.000,0.069,2854,971,3281,3193,3370,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4432,-0.78,-146.6,2855,972,3194,3370,480.7,-8.2,161,4437,0.00,2.35,0.00,0.000,1030,0.000,0.052,2854,2407,3281,3193,3370,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4775,-0.78,-146.6,2854,2407,3193,3368,512.0,-9.1,167,4781,0.00,2.35,0.00,0.000,260,0.000,0.076,2855,3809,3280,3193,3368,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4817,-0.78,-146.6,2855,3809,3193,3367,512.0,-9.1,167,4821,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2364,3280,3194,3367,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5134,-0.78,-146.6,2855,2364,3193,3367,548.2,-9.9,173,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2364,3280,3193,3367,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5435,-0.78,-146.6,2855,2364,3194,3366,576.5,-9.3,178,5441,0.00,2.45,0.00,0.000,260,0.000,0.077,2855,3810,3279,3193,3366,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5487,-0.78,-146.6,2855,3810,3193,3365,576.5,-9.3,178,5496,0.00,2.35,0.00,0.000,1030,0.000,0.042,2854,2356,3279,3193,3365,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5795,-0.78,-146.6,2855,2356,3193,3365,608.2,-8.7,184,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2356,3279,3193,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6095,-0.78,-146.6,2854,2356,3193,3365,634.2,-8.7,189,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2356,3279,3194,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6394,-0.78,-146.6,2854,2356,3193,3364,659.6,-8.4,194,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2356,3279,3194,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6695,-0.78,-146.6,2854,2356,3193,3363,682.8,-7.6,199,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2356,3278,3193,3363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6994,-0.78,-146.6,2855,2356,3194,3362,706.3,-7.9,204,7000,0.00,2.47,0.00,0.000,260,0.000,0.079,2854,3807,3277,3193,3362,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7042,-0.78,-146.6,2855,3807,3194,3361,706.3,-7.9,204,7046,0.00,2.33,0.00,0.000,1030,0.000,0.043,2854,2360,3277,3193,3361,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7355,-0.78,-146.6,2855,2360,3194,3361,735.9,-8.2,210,7360,0.00,2.30,0.00,0.000,516,0.000,0.070,2854,967,3277,3193,3361,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7397,-0.78,-146.6,2855,967,3193,3361,735.9,-8.2,210,7402,0.00,2.35,0.00,0.000,1030,0.000,0.054,2854,2403,3277,3193,3361,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7709,-0.78,-146.6,2855,2403,3193,3361,766.4,-8.7,216,7715,0.00,2.38,0.00,0.000,260,0.000,0.079,2854,3813,3276,3193,3360,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7763,-0.78,-146.6,2854,3813,3193,3359,766.4,-8.7,216,7771,0.00,2.35,0.00,0.000,1030,0.000,0.044,2855,2367,3276,3193,3359,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8069,-0.78,-146.6,2854,2366,3193,3360,798.3,-8.8,222,8074,0.00,2.30,0.00,0.000,516,0.000,0.069,2854,972,3276,3193,3360,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8108,-0.78,-146.6,2855,971,3193,3359,798.3,-8.8,222,8113,0.00,2.35,0.00,0.000,1030,0.000,0.052,2855,2405,3276,3193,3359,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8421,-0.78,-146.6,2854,2406,3193,3359,828.0,-8.4,228,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2406,3276,3193,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8721,-0.78,-146.6,2854,2406,3193,3359,852.7,-8.3,233,8727,0.00,2.35,0.00,0.000,260,0.000,0.079,2854,3805,3275,3193,3358,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8764,-0.78,-146.6,2854,3806,3193,3357,852.7,-8.3,233,8768,0.00,2.33,0.00,0.000,1030,0.000,0.044,2854,2365,3275,3193,3357,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9076,-0.78,-146.6,2855,2364,3193,3357,879.8,-7.4,239,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2364,3275,3193,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,-0.78,-146.6,2854,2364,3193,3357,899.2,-6.4,244,9381,0.00,2.45,0.00,0.000,260,0.000,0.080,2855,3806,3275,3193,3357,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9414,-0.78,-146.6,2854,3806,3193,3356,899.2,-6.4,244,9418,0.00,2.33,0.00,0.000,1030,0.000,0.044,2854,2362,3274,3193,3356,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9731,-0.78,-146.6,2855,2361,3193,3356,921.4,-6.2,250,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2361,3274,3193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10031,-0.78,-146.6,2854,2361,3193,3356,940.9,-6.6,255,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2361,3274,3193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.78,-146.6,2855,2361,3193,3356,961.4,-6.9,260,10333,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2361,3274,3193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10631,-0.78,-146.6,2855,2361,3193,3355,982.9,-7.2,265,10638,0.00,2.47,0.00,0.000,260,0.000,0.080,2854,3814,3273,3193,3354,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10668,-0.78,-146.6,2854,3814,3193,3354,982.9,-7.2,265,10673,0.00,2.35,0.00,0.000,1030,0.000,0.044,2855,2360,3273,3193,3354,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,10745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10745,begin apogee
$GC,10749,-0.22,0.0,2855,2277,3193,3354,991.0,-7.1,267,10894,0.68,0.08,139.50,2.349,10246,0.223,0.155,3048,2324,2672,2626,2718,0,0,0,0,0,0,14.63,13.84,12.75
$STATE,10895,end apogee,CONTROL_FINISHED_OK
$STATE,10895,begin climb
$GC,10896,0.78,146.6,3048,2324,2624,2717,994.6,0.0,269,11050,1.05,2.70,143.20,2.328,10756,0.142,0.074,3377,889,2073,2102,2044,0,0,0,0,0,0,13.88,13.74,12.71
$GC,11079,0.78,146.6,3377,889,2096,2042,987.7,6.5,272,11084,0.00,2.55,0.00,0.000,1030,0.000,0.049,3377,2317,2069,2096,2042,0,0,0,0,0,0,28.83,13.97,28.83
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$STATE,18890,end climb,SURFACE_DEPTH_REACHED
$STATE,18890,begin surface coast
$FINISH,1.8,1.023669
$STATE,18901,end surface coast,CONTROL_FINISHED_OK
$STATE,18901,begin surface
$SM_CCo,18980,0.00,0.000,0,0,1541,277.43
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$IRIDIUM_FIX,4648.08,-12509.10,261013,191911
$TT8_MAMPS,0.021721,0.021721
$HUMID,65.23
$INTERNAL_PRESSURE,8.56743
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.7,7.347
$10V_AH,12.9,2.111
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.050,148.375,397.725,0.000,0.000,30.439,43.126,187.454,22.500,0.000,5.620,1580.063,15400.756,475.148,1767.504,97.273,29.125,1370.153,0.000,1424.907,0.000,142.362,0.000
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$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313820
$DATA_FILE_SIZE,33572,521
$CAP_FILE_SIZE,147902,0
$CFSIZE,260165632,218722304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,271013,061329,4704.669,-12515.537,37,1.0,37,16.6