version: 66.11
glider: 144
mission: 21
dive: 18
start: 10 28 113 15 42 51
data:
$ID,144
$MISSION,21
$DIVE,18
$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,13
$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,-57314.973
$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
$GPS1,281013,153053,4703.525,-12521.200,38,1.0,38,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.1
$GPS2,281013,154222,4703.562,-12521.390,4,1.0,4,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.179,-0.188
$KALMAN_X,762.0,0.0,0.0,-13072.9,76.9
$KALMAN_Y,3924.8,0.0,0.0,-6340.8,1633.7
$MHEAD_RNG_PITCHd_Wd,207.0,12720,-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,14,-0.78,-146.6,69,2355,1433,1332,0.0,0.0,0,70,0.00,0.00,-52.83,0.000,16386,0.000,0.000,67,2354,2988,2936,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.78,-146.6,67,2354,2938,3040,2.9,-4.1,5,100,13.98,2.55,-5.47,0.000,18692,0.418,0.093,2857,3814,3276,3200,3352,0,0,0,0,0,0,14.02,14.42,14.66
$GC,392,-0.78,-146.6,2857,3814,3210,3353,63.9,-13.7,37,396,0.00,2.38,0.00,0.000,1030,0.000,0.040,2857,2356,3282,3211,3353,0,0,0,0,0,0,28.83,14.62,28.83
$GC,697,-0.78,-146.6,2857,2356,3213,3356,103.5,-13.1,58,701,0.00,2.50,0.00,0.000,260,0.000,0.072,2855,3810,3284,3213,3356,0,0,0,0,0,0,28.83,14.65,28.83
$GC,726,-0.78,-146.6,2855,3810,3213,3356,105.7,-13.4,59,733,0.00,2.40,0.00,0.000,1030,0.000,0.039,2855,2364,3284,3213,3356,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1033,-0.78,-146.6,2855,2364,3214,3357,144.4,-10.9,75,1037,0.00,2.33,0.00,0.000,516,0.000,0.065,2855,969,3285,3214,3356,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1072,-0.78,-146.6,2855,969,3214,3356,148.4,-10.8,77,1076,0.00,2.38,0.00,0.000,1030,0.000,0.048,2855,2407,3285,3214,3356,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1403,-0.78,-146.6,2855,2407,3214,3356,184.8,-10.8,89,1408,0.00,2.38,0.00,0.000,260,0.000,0.074,2855,3807,3285,3214,3356,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1502,-0.78,-146.6,2855,3806,3214,3356,193.8,-10.6,92,1507,0.00,2.35,0.00,0.000,1030,0.000,0.039,2854,2350,3285,3214,3356,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1819,-0.78,-146.6,2854,2350,3214,3356,227.1,-10.1,103,1823,0.00,2.30,0.00,0.000,516,0.000,0.067,2854,965,3285,3214,3356,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1879,-0.78,-146.6,2854,965,3214,3356,233.3,-10.7,105,1884,0.00,2.42,0.00,0.000,1030,0.000,0.050,2855,2409,3285,3214,3356,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2209,-0.78,-146.6,2854,2408,3214,3356,270.4,-11.2,116,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2408,3285,3214,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2508,-0.78,-146.6,2855,2409,3214,3356,301.4,-10.2,126,2513,0.00,2.35,0.00,0.000,260,0.000,0.076,2855,3807,3285,3214,3356,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2545,-0.78,-146.6,2854,3807,3214,3356,301.4,-10.2,126,2549,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2357,3285,3214,3356,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2868,-0.78,-146.6,2855,2357,3214,3356,335.3,-9.3,132,2874,0.00,2.47,0.00,0.000,260,0.000,0.076,2855,3808,3285,3214,3356,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2900,-0.78,-146.6,2855,3808,3214,3356,335.3,-9.3,132,2904,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2357,3285,3214,3356,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3227,-0.78,-146.6,2854,2357,3214,3356,369.3,-9.4,138,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2357,3285,3214,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-0.78,-146.6,2855,2357,3213,3356,398.9,-9.9,143,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2357,3284,3213,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3827,-0.78,-146.6,2855,2357,3213,3354,429.0,-10.0,148,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2357,3284,3214,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4127,-0.78,-146.6,2854,2357,3214,3353,456.8,-9.2,153,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2357,3283,3214,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,-0.78,-146.6,2855,2357,3213,3352,482.5,-8.5,158,4434,0.00,2.47,0.00,0.000,260,0.000,0.079,2855,3805,3281,3213,3350,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4480,-0.78,-146.6,2855,3805,3213,3350,482.5,-8.5,158,4487,0.00,2.35,0.00,0.000,1030,0.000,0.043,2854,2348,3282,3214,3350,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4788,-0.78,-146.6,2854,2349,3213,3350,512.2,-8.2,164,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2349,3281,3213,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5087,-0.78,-146.6,2854,2349,3214,3348,537.7,-8.6,169,5093,0.00,2.47,0.00,0.000,260,0.000,0.079,2855,3805,3280,3213,3347,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5125,-0.78,-146.6,2855,3805,3213,3347,537.7,-8.6,169,5129,0.00,2.33,0.00,0.000,1030,0.000,0.043,2854,2357,3280,3213,3347,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5442,-0.78,-146.6,2855,2357,3213,3347,568.6,-8.7,175,5446,0.00,2.30,0.00,0.000,516,0.000,0.069,2855,963,3280,3213,3347,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5502,-0.78,-146.6,2855,963,3213,3346,573.6,-8.8,176,5506,0.00,2.40,0.00,0.000,1030,0.000,0.054,2854,2397,3279,3213,3346,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5862,-0.78,-146.6,2854,2397,3213,3346,604.9,-8.7,182,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2397,3279,3213,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,-0.78,-146.6,2855,2397,3212,3346,631.1,-8.7,187,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2397,3279,3212,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6460,-0.78,-146.6,2854,2397,3211,3346,655.8,-8.3,192,6465,0.00,2.38,0.00,0.000,260,0.000,0.080,2854,3806,3278,3211,3346,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6498,-0.78,-146.6,2854,3806,3210,3346,655.8,-8.3,192,6502,0.00,2.33,0.00,0.000,1030,0.000,0.043,2854,2362,3278,3210,3346,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6820,-0.78,-146.6,2854,2361,3210,3345,683.3,-7.6,198,6826,0.00,2.30,0.00,0.000,516,0.000,0.069,2854,969,3277,3210,3345,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6858,-0.78,-146.6,2854,968,3210,3345,683.3,-7.6,198,6862,0.00,2.38,0.00,0.000,1030,0.000,0.053,2854,2414,3277,3210,3345,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7175,-0.78,-146.6,2855,2414,3210,3344,711.1,-7.9,204,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2413,3277,3210,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7475,-0.78,-146.6,2854,2413,3210,3344,734.7,-7.8,209,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2413,3277,3210,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7775,-0.78,-146.6,2855,2414,3210,3344,758.0,-7.7,214,7781,0.00,2.35,0.00,0.000,260,0.000,0.081,2854,3807,3276,3210,3342,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7818,-0.78,-146.6,2855,3807,3210,3342,758.0,-7.7,214,7822,0.00,2.38,0.00,0.000,1030,0.000,0.044,2854,2365,3276,3210,3342,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8135,-0.78,-146.6,2855,2364,3210,3342,785.0,-7.5,220,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2364,3276,3210,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8435,-0.78,-146.6,2854,2364,3209,3342,808.2,-7.8,225,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2364,3275,3209,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8737,-0.78,-146.6,2855,2364,3207,3342,830.7,-7.5,230,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3275,3208,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9035,-0.78,-146.6,2855,2364,3207,3341,854.2,-7.9,235,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2364,3274,3207,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,-0.78,-146.6,2854,2364,3207,3341,877.4,-7.7,240,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2364,3274,3207,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9635,-0.78,-146.6,2855,2364,3207,3341,899.1,-7.1,245,9641,0.00,2.47,0.00,0.000,260,0.000,0.082,2855,3810,3273,3207,3340,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9688,-0.78,-146.6,2855,3810,3207,3340,899.1,-7.1,245,9698,0.00,2.35,0.00,0.000,1030,0.000,0.044,2854,2356,3273,3207,3340,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9995,-0.78,-146.6,2854,2356,3206,3339,924.1,-6.9,251,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2356,3273,3207,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10295,-0.78,-146.6,2854,2355,3206,3340,945.8,-7.3,256,10296,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2355,3273,3206,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10595,-0.78,-146.6,2854,2355,3206,3340,968.0,-7.4,261,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2356,3272,3206,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10895,-0.78,-146.6,2854,2356,3206,3339,989.3,-7.1,266,10901,0.00,2.47,0.00,0.000,260,0.000,0.083,2854,3804,3273,3206,3340,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10948,-0.78,-146.6,2855,3804,3205,3339,989.3,-7.1,266,10958,0.00,2.33,0.00,0.000,1030,0.000,0.044,2855,2362,3272,3205,3339,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,11013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11013,begin apogee
$GC,11017,-0.22,0.0,2855,2276,3205,3339,997.5,-6.9,268,11165,0.68,0.08,141.95,2.328,10246,0.221,0.156,3048,2323,2672,2631,2713,0,0,0,0,0,0,14.63,13.83,12.39
$STATE,11166,end apogee,CONTROL_FINISHED_OK
$STATE,11166,begin climb
$GC,11167,0.78,146.6,3048,2323,2629,2712,1000.3,0.0,270,11323,1.05,2.70,146.32,2.303,10756,0.136,0.074,3380,892,2073,2103,2044,0,0,0,0,0,0,13.82,13.72,12.43
$GC,11370,0.78,146.6,3380,891,2095,2042,983.7,9.5,274,11374,0.00,2.53,0.00,0.000,1030,0.000,0.050,3380,2318,2068,2094,2042,0,0,0,0,0,0,28.83,14.03,28.83
$GC,11726,0.78,146.6,3380,2317,2083,2042,928.2,15.6,280,11730,0.00,2.42,0.00,0.000,260,0.000,0.071,3380,3723,2062,2083,2042,0,0,0,0,0,0,28.83,14.43,28.83
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$STATE,18773,end climb,SURFACE_DEPTH_REACHED
$STATE,18773,begin surface coast
$FINISH,0.2,1.023857
$STATE,18794,end surface coast,CONTROL_FINISHED_OK
$STATE,18794,begin surface
$SM_CCo,18872,0.00,0.000,0,0,1322,331.15
$SM_GC,1.10,9.70,2.65,0.00,0.080,0.050,0.000,109,2400,1322,-9.37,-0.65,331.15,0,0,0,0,0,0,14.34,14.34,28.83
$IRIDIUM_FIX,4644.93,-12509.87,281013,090944
$TT8_MAMPS,0.023219,0.023219
$HUMID,64.01
$INTERNAL_PRESSURE,8.5479
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.4,9.180
$10V_AH,12.9,2.722
$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
$DEVICE_SECS,25.950,154.225,453.800,0.000,0.000,31.261,43.560,532.111,22.500,0.000,5.471,1578.064,15225.744,516.351,2134.614,105.832,0.390,1425.653,0.000,1451.323,0.000,142.376,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.274,631.030,527.895,417.125,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313868
$DATA_FILE_SIZE,33730,518
$CAP_FILE_SIZE,155121,0
$CFSIZE,260165632,218288128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,281013,205823,4702.630,-12524.335,35,0.9,35,16.6