version: 66.11
glider: 144
mission: 21
dive: 28
start: 10 30 113 13 34 26
data:
$ID,144
$MISSION,21
$DIVE,28
$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,-57327.57
$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,3110
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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
$GPS1,301013,132835,4707.669,-12548.415,23,0.9,23,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.8
$GPS2,301013,133358,4707.650,-12548.450,4,0.8,4,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4730.000,-12630.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.210,0.153
$KALMAN_X,387.4,0.0,0.0,-46829.0,-97.2
$KALMAN_Y,14371.8,0.0,0.0,-9173.1,328.8
$MHEAD_RNG_PITCHd_Wd,289.4,66452,-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,-146.6,116,2364,1542,1474,0.0,0.0,0,60,0.00,0.00,-42.50,0.000,16386,0.000,0.000,116,2364,2780,2736,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,116,2364,2739,2825,2.7,-4.6,4,92,13.52,2.42,-11.12,0.000,18948,0.430,0.086,2853,969,3274,3192,3357,0,0,0,0,0,0,14.26,14.51,14.75
$GC,202,-0.45,-146.6,1864,968,3170,3353,26.1,-18.9,18,210,0.38,2.45,0.00,0.000,3078,0.278,0.050,2959,2402,3278,3200,3357,0,0,0,0,0,0,14.38,14.57,28.83
$GC,510,-0.45,-146.6,2959,2402,3205,3358,61.8,-9.2,49,514,0.00,2.40,0.00,0.000,260,0.000,0.073,2959,3807,3281,3204,3358,0,0,0,0,0,0,28.83,14.64,28.83
$GC,619,-0.45,-146.6,2959,3807,3207,3358,71.7,-9.6,59,626,0.00,2.35,0.00,0.000,1030,0.000,0.038,2960,2361,3282,3207,3358,0,0,0,0,0,0,28.83,14.70,28.83
$GC,926,-0.52,-146.6,2959,2360,3210,3359,97.8,-6.3,79,932,0.00,2.47,0.00,0.000,260,0.000,0.069,2959,3811,3285,3210,3360,0,0,0,0,0,0,28.83,14.71,28.83
$GC,979,-0.60,-146.6,2959,3811,3210,3360,100.1,-5.9,81,987,0.15,2.35,0.00,0.000,5126,0.137,0.037,2906,2356,3285,3210,3360,0,0,0,0,0,0,14.72,14.77,28.83
$GC,1287,-0.60,-146.6,2906,2354,3211,3360,128.4,-9.4,97,1292,0.00,2.30,0.00,0.000,516,0.000,0.062,2906,969,3285,3211,3360,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1475,-0.60,-146.6,2905,969,3211,3360,146.8,-10.0,106,1479,0.00,2.40,0.00,0.000,1030,0.000,0.051,2905,2425,3285,3211,3360,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1808,-0.60,-146.6,2905,2425,3212,3360,175.7,-7.8,118,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2425,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2108,-0.67,-146.6,2905,2425,3211,3360,197.7,-7.6,128,2114,0.00,2.35,0.00,0.000,260,0.000,0.074,2905,3815,3285,3211,3360,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2191,-0.74,-146.6,2905,3815,3211,3360,202.5,-7.7,130,2199,0.12,2.35,0.00,0.000,5126,0.151,0.041,2858,2358,3285,3211,3360,0,0,0,0,0,0,14.80,14.85,28.83
$GC,2497,-0.74,-146.6,2858,2357,3211,3360,235.4,-10.0,141,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2357,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2798,-0.74,-146.6,2858,2357,3211,3360,265.7,-9.9,151,2803,0.00,2.30,0.00,0.000,516,0.000,0.066,2858,971,3285,3211,3360,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2846,-0.74,-146.6,2858,970,3211,3360,268.6,-9.8,152,2850,0.00,2.35,0.00,0.000,1030,0.000,0.050,2855,2405,3285,3211,3360,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3153,-0.74,-146.6,2856,2404,3211,3360,299.7,-9.5,162,3159,0.00,2.38,0.00,0.000,260,0.000,0.076,2855,3810,3285,3211,3360,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3213,-0.74,-146.6,2855,3810,3211,3360,305.4,-9.4,164,3217,0.00,2.35,0.00,0.000,1030,0.000,0.043,2855,2365,3285,3211,3360,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3569,-0.74,-146.6,2855,2365,3211,3360,335.3,-8.2,170,3575,0.00,2.33,0.00,0.000,516,0.000,0.067,2855,968,3285,3211,3360,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3602,-0.74,-146.6,2855,968,3211,3360,335.3,-8.2,170,3606,0.00,2.35,0.00,0.000,1030,0.000,0.052,2855,2404,3285,3211,3360,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3923,-0.74,-146.6,2855,2404,3211,3360,369.6,-10.1,176,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2404,3285,3211,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4226,-0.74,-146.6,2855,2404,3211,3360,400.3,-10.1,181,4231,0.00,2.38,0.00,0.000,516,0.000,0.067,2855,977,3285,3211,3360,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4271,-0.74,-146.6,2855,977,3211,3360,400.3,-10.1,181,4276,0.00,2.38,0.00,0.000,1030,0.000,0.052,2855,2423,3285,3211,3360,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4585,-0.80,-146.6,2855,2423,3211,3360,435.2,-9.6,187,4591,0.00,2.33,0.00,0.000,260,0.000,0.076,2855,3811,3285,3211,3360,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4622,-0.85,-146.6,2855,3811,3211,3359,435.2,-9.6,187,4626,0.00,2.33,0.00,0.000,1030,0.000,0.041,2855,2357,3285,3211,3359,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4939,-0.91,-146.6,2855,2357,3211,3359,468.4,-9.3,193,4941,0.12,0.00,0.00,0.000,4102,0.159,0.000,2811,2357,3285,3211,3359,0,0,0,0,0,0,14.87,28.83,28.83
$GC,5239,-0.87,-146.6,2811,2357,3211,3357,499.1,-10.2,198,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2357,3284,3211,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.87,-146.6,2811,2357,3211,3356,528.6,-9.7,203,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2357,3283,3211,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5839,-0.87,-146.6,2811,2356,3211,3356,556.4,-9.3,208,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2357,3283,3211,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.87,-146.6,2811,2357,3211,3355,585.1,-9.5,213,6145,0.00,2.47,0.00,0.000,260,0.000,0.078,2809,3813,3282,3211,3353,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6203,-0.87,-146.6,2810,3813,3211,3353,590.7,-9.4,214,6207,0.00,2.38,0.00,0.000,1030,0.000,0.042,2809,2358,3282,3211,3353,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6561,-0.87,-146.6,2809,2358,3211,3353,623.6,-9.1,220,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2358,3282,3211,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6861,-0.87,-146.6,2809,2358,3211,3352,654.5,-10.4,225,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2358,3281,3211,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7160,-0.87,-146.6,2810,2358,3211,3351,686.6,-10.6,230,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2358,3281,3211,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7461,-0.87,-146.6,2809,2358,3211,3350,715.4,-9.5,235,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2358,3280,3211,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7761,-0.87,-146.6,2810,2358,3211,3349,742.3,-8.9,240,7767,0.00,2.30,0.00,0.000,516,0.000,0.071,2810,972,3280,3211,3349,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7798,-0.87,-146.6,2809,972,3211,3348,742.3,-8.9,240,7802,0.00,2.38,0.00,0.000,1030,0.000,0.058,2809,2409,3279,3211,3348,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8118,-0.92,-146.6,2809,2408,3211,3347,773.4,-8.7,246,8119,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2408,3279,3211,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8418,-0.96,-146.6,2809,2409,3211,3347,801.9,-9.6,251,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2408,3279,3211,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8718,-1.02,-146.6,2809,2408,3211,3346,832.8,-10.3,256,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2408,3278,3210,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-1.08,-146.6,2809,2408,3211,3345,864.1,-10.4,261,9018,0.15,0.00,0.00,0.000,4102,0.166,0.000,2760,2408,3278,3211,3345,0,0,0,0,0,0,14.88,28.83,28.83
$GC,9316,-1.02,-146.6,2760,2408,3211,3344,900.4,-12.1,266,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2408,3277,3211,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9615,-0.98,-146.6,2760,2408,3211,3343,937.5,-12.3,271,9622,0.12,2.42,0.00,0.000,2564,0.304,0.073,2789,972,3277,3211,3343,0,0,0,0,0,0,14.64,14.88,28.83
$GC,9668,-0.93,-146.6,2789,972,3211,3343,937.5,-12.3,271,9679,0.00,2.38,0.00,0.000,1030,0.000,0.060,2789,2402,3277,3211,3343,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9976,-0.97,-146.6,2790,2402,3210,3342,975.9,-10.3,277,9977,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2402,3276,3210,3342,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10154,begin apogee
$GC,10158,-0.22,0.0,2789,2271,3210,3342,992.7,-9.5,280,10304,0.85,0.08,139.40,2.327,10246,0.252,0.161,3027,2320,2672,2632,2712,0,0,0,0,0,0,14.71,13.86,12.43
$STATE,10305,end apogee,CONTROL_FINISHED_OK
$STATE,10305,begin climb
$GC,10306,0.78,146.6,3027,2320,2630,2711,994.6,0.0,282,10460,1.10,2.70,143.00,2.299,10756,0.164,0.082,3356,902,2072,2098,2047,0,0,0,0,0,0,13.88,13.67,12.48
$GC,10484,0.78,146.6,3356,902,2095,2043,983.4,8.8,285,10489,0.00,2.62,0.00,0.000,1030,0.000,0.053,3356,2313,2069,2094,2044,0,0,0,0,0,0,28.83,13.33,28.83
$GC,10817,0.54,146.6,3356,2313,2081,2043,930.4,14.8,291,10824,0.25,2.47,0.00,0.000,4356,0.270,0.074,3293,3723,2062,2081,2043,0,0,0,0,0,0,14.18,14.39,28.83
$GC,10885,0.32,146.6,3293,3723,2079,2043,922.3,14.4,292,10890,0.32,2.42,0.00,0.000,5126,0.269,0.054,3219,2291,2061,2079,2043,0,0,0,0,0,0,14.22,14.45,28.83
$GC,11233,0.46,202.1,3219,2291,2074,2042,894.7,7.4,298,11294,0.12,2.55,53.30,2.200,10756,0.165,0.078,3271,896,1845,1863,1828,0,0,0,0,0,0,14.57,12.97,12.69
$GC,11325,0.58,250.2,3271,896,1860,1826,889.2,7.8,299,11380,0.00,2.47,49.28,2.179,9222,0.000,0.054,3271,2321,1653,1681,1625,0,0,0,0,0,0,28.83,14.21,12.59
$GC,11712,0.67,250.2,3271,2321,1664,1622,842.4,11.5,306,11719,0.12,2.45,0.00,0.000,2308,0.171,0.073,3321,3730,1643,1664,1622,0,0,0,0,0,0,14.42,14.43,28.83
$GC,11774,0.67,250.2,3321,3730,1663,1622,833.1,12.3,307,11779,0.00,2.42,0.00,0.000,1030,0.000,0.050,3328,2296,1643,1664,1622,0,0,0,0,0,0,28.83,14.51,28.83
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$STATE,17850,end climb,SURFACE_DEPTH_REACHED
$STATE,17851,begin surface coast
$FINISH,0.2,1.017509
$STATE,17872,end surface coast,CONTROL_FINISHED_OK
$STATE,17872,begin surface
$SM_CCo,17948,0.00,0.000,0,0,1454,298.78
$SM_GC,1.08,9.60,0.12,0.00,0.085,0.127,0.000,107,2428,1454,-9.32,-0.51,298.78,0,0,0,0,0,0,14.81,14.81,28.83
$IRIDIUM_FIX,4648.08,-12538.87,301013,080848
$TT8_MAMPS,0.023219,0.023219
$HUMID,67.44
$INTERNAL_PRESSURE,8.56743
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,12.4,11.839
$10V_AH,13.0,3.424
$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
$DEVICE_SECS,27.900,144.400,430.950,0.000,0.000,27.806,40.406,176.042,22.500,0.000,5.509,1573.771,14379.414,474.526,1754.647,89.675,0.389,1373.790,0.000,1417.807,0.000,142.392,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.559,178.114,506.194,406.198,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313788
$DATA_FILE_SIZE,33574,497
$CAP_FILE_SIZE,149994,0
$CFSIZE,260165632,217722880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,301013,183435,4709.384,-12552.205,35,1.1,35,16.7