version: 66.11
glider: 144
mission: 21
dive: 30
start: 10 30 113 23 44 36
data:
$ID,144
$MISSION,21
$DIVE,30
$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,-57337.438
$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
$GPS1,301013,233805,4710.232,-12556.396,40,1.2,40,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.4
$GPS2,301013,234406,4710.251,-12556.341,4,1.2,4,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4721.000,-12645.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.248,0.076
$KALMAN_X,-503.2,0.0,0.0,-55914.9,-356.0
$KALMAN_Y,14748.4,0.0,0.0,-4728.6,203.5
$MHEAD_RNG_PITCHd_Wd,270.3,64219,-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,-146.6,94,2356,1465,1383,0.0,0.0,0,60,0.00,0.00,-42.85,0.000,16386,0.000,0.000,94,2357,2689,2642,2736,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,94,2357,2643,2738,2.3,-3.5,4,100,14.30,2.42,-13.80,0.000,18948,0.425,0.088,2848,970,3274,3190,3359,0,0,0,0,0,0,13.83,14.57,14.81
$GC,312,-0.47,-146.6,2848,971,3199,3359,45.4,-18.7,29,322,0.45,2.40,0.00,0.000,3078,0.287,0.053,2950,2402,3279,3199,3359,0,0,0,0,0,0,14.26,14.62,28.83
$GC,622,-0.47,-146.6,2950,2402,3204,3360,71.3,-8.0,60,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2402,3282,3204,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,922,-0.52,-146.6,2950,2400,3207,3362,97.7,-8.5,80,928,0.00,2.42,0.00,0.000,260,0.000,0.076,2950,3812,3284,3207,3362,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1031,-0.59,-146.6,2950,3812,3209,3362,106.7,-9.1,85,1035,0.00,2.35,0.00,0.000,1030,0.000,0.041,2950,2358,3285,3209,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1338,-0.72,-146.6,2950,2359,3210,3362,129.0,-7.8,100,1344,0.20,2.33,0.00,0.000,4612,0.125,0.063,2873,960,3286,3210,3362,0,0,0,0,0,0,14.76,14.76,28.83
$GC,1391,-0.76,-146.6,2873,961,3210,3362,133.5,-9.6,102,1397,0.00,2.40,0.00,0.000,1030,0.000,0.052,2869,2404,3286,3210,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1697,-0.70,-146.6,2869,2404,3210,3362,169.9,-10.3,115,1703,0.00,2.42,0.00,0.000,516,0.000,0.067,2869,969,3286,3210,3362,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1796,-0.64,-146.6,2869,969,3210,3362,179.0,-10.1,118,1801,0.15,2.38,0.00,0.000,3078,0.308,0.053,2901,2403,3286,3210,3362,0,0,0,0,0,0,14.53,14.79,28.83
$GC,2114,-0.70,-146.6,2901,2403,3210,3362,206.9,-8.5,129,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2403,3286,3210,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-0.78,-146.6,2901,2403,3210,3362,231.4,-7.9,139,2416,0.15,0.00,0.00,0.000,4102,0.160,0.000,2851,2403,3286,3210,3362,0,0,0,0,0,0,14.81,28.83,28.83
$GC,2715,-0.78,-146.6,2851,2403,3210,3362,260.2,-9.6,149,2720,0.00,2.35,0.00,0.000,260,0.000,0.077,2848,3801,3286,3210,3362,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2842,-0.72,-146.6,2848,3801,3210,3361,272.8,-10.5,153,2847,0.00,2.33,0.00,0.000,1030,0.000,0.043,2848,2362,3286,3210,3362,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3159,-0.72,-146.6,2848,2362,3210,3362,306.7,-10.2,163,3163,0.00,2.35,0.00,0.000,516,0.000,0.070,2848,963,3286,3210,3362,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3266,-0.72,-146.6,2847,962,3210,3362,312.3,-10.1,164,3270,0.00,2.40,0.00,0.000,1030,0.000,0.055,2847,2410,3286,3210,3362,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3572,-0.72,-146.6,2847,2410,3210,3362,346.6,-9.5,169,3578,0.00,2.38,0.00,0.000,260,0.000,0.078,2847,3808,3286,3210,3362,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3605,-0.72,-146.6,2847,3808,3210,3362,346.6,-9.5,169,3609,0.00,2.35,0.00,0.000,1030,0.000,0.043,2847,2354,3286,3210,3362,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3927,-0.72,-146.6,2847,2354,3210,3362,379.3,-9.2,175,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2355,3286,3210,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,-0.72,-146.6,2847,2354,3210,3362,408.4,-9.9,180,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2355,3286,3210,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.72,-146.6,2847,2354,3209,3361,438.3,-10.0,185,4533,0.00,2.50,0.00,0.000,260,0.000,0.078,2847,3805,3285,3210,3360,0,0,0,0,0,0,28.83,14.72,28.83
$GC,4570,-0.72,-146.6,2847,3805,3209,3360,438.3,-10.0,185,4574,0.00,2.38,0.00,0.000,1030,0.000,0.044,2847,2360,3285,3210,3360,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4883,-0.77,-146.6,2847,2361,3209,3359,472.3,-9.4,191,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2361,3284,3209,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,-0.83,-146.6,2847,2361,3209,3358,498.9,-8.7,196,5188,0.00,2.33,0.00,0.000,516,0.000,0.072,2847,971,3283,3209,3358,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5262,-0.89,-146.6,2847,971,3209,3358,504.4,-8.8,197,5266,0.00,2.38,0.00,0.000,1030,0.000,0.057,2847,2408,3283,3209,3358,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5599,-0.95,-146.6,2847,2408,3209,3357,535.5,-8.5,203,5606,0.12,2.35,0.00,0.000,4356,0.177,0.074,2798,3805,3283,3210,3356,0,0,0,0,0,0,14.81,14.82,28.83
$GC,5668,-0.95,-146.6,2799,3805,3209,3355,541.5,-8.7,204,5672,0.00,2.33,0.00,0.000,1030,0.000,0.041,2799,2360,3282,3210,3355,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6016,-0.91,-146.6,2799,2361,3209,3355,580.4,-11.1,210,6022,0.00,2.30,0.00,0.000,516,0.000,0.070,2799,972,3282,3209,3355,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6063,-0.86,-146.6,2799,973,3209,3354,580.4,-11.1,210,6068,0.12,2.38,0.00,0.000,3078,0.332,0.057,2824,2402,3281,3209,3354,0,0,0,0,0,0,14.35,14.81,28.83
$GC,6370,-0.86,-146.6,2824,2401,3209,3354,619.6,-10.8,215,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2401,3281,3209,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6673,-0.90,-146.6,2824,2402,3209,3353,651.6,-10.6,220,6678,0.00,2.35,0.00,0.000,260,0.000,0.079,2824,3805,3280,3209,3352,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6743,-0.95,-146.6,2824,3805,3209,3352,657.7,-10.5,221,6747,0.00,2.35,0.00,0.000,1030,0.000,0.041,2825,2363,3280,3209,3351,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7093,-1.01,-146.6,2825,2363,3209,3351,691.4,-9.2,227,7099,0.12,2.33,0.00,0.000,4612,0.160,0.069,2777,970,3280,3209,3351,0,0,0,0,0,0,14.75,14.71,28.83
$GC,7171,-1.01,-146.6,2777,970,3209,3350,698.2,-9.6,228,7175,0.00,2.38,0.00,0.000,1030,0.000,0.057,2774,2402,3279,3209,3350,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7507,-0.95,-146.6,2774,2402,3209,3350,739.0,-11.4,234,7509,0.12,0.00,0.00,0.000,2054,0.337,0.000,2797,2401,3280,3210,3350,0,0,0,0,0,0,14.30,28.83,28.83
$GC,7807,-0.95,-146.6,2797,2401,3209,3349,769.5,-10.2,239,7811,0.00,2.38,0.00,0.000,260,0.000,0.082,2797,3808,3279,3209,3349,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7865,-0.95,-146.6,2797,3808,3209,3347,775.5,-10.3,240,7870,0.00,2.38,0.00,0.000,1030,0.000,0.048,2798,2378,3278,3209,3347,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8224,-0.95,-146.6,2798,2378,3209,3347,811.7,-9.9,246,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2378,3278,3209,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8524,-0.95,-146.6,2798,2378,3209,3347,841.4,-9.9,251,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2378,3278,3209,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,-0.95,-146.6,2798,2378,3209,3346,870.5,-9.6,256,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2378,3277,3209,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9124,-1.00,-146.6,2798,2377,3209,3345,899.3,-9.6,261,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2377,3277,3209,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9424,-1.06,-146.6,2797,2377,3209,3345,926.1,-8.9,266,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2377,3277,3209,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9724,-1.12,-146.6,2798,2377,3209,3344,950.7,-8.2,271,9726,0.15,0.00,0.00,0.000,4102,0.151,0.000,2749,2377,3276,3209,3344,0,0,0,0,0,0,14.79,28.83,28.83
$GC,10024,-1.06,-146.6,2750,2377,3209,3342,983.2,-11.0,276,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2377,3275,3209,3342,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10082,begin apogee
$GC,10086,-0.22,0.0,2750,2288,3209,3342,990.1,-11.3,277,10231,1.05,0.00,137.35,2.318,10246,0.262,0.000,3029,2288,2671,2629,2713,0,0,0,0,0,0,14.50,28.83,12.56
$STATE,10232,end apogee,CONTROL_FINISHED_OK
$STATE,10232,begin climb
$GC,10233,0.78,146.6,3030,2288,2628,2713,993.0,0.0,279,10387,1.12,0.00,143.98,2.253,10758,0.164,0.000,3352,2288,2074,2102,2046,0,0,0,0,1,0,13.30,28.83,12.65
$GC,10683,0.56,146.6,3351,2288,2082,2042,942.7,14.0,287,10690,0.20,2.53,0.00,0.000,4356,0.272,0.073,3299,3723,2062,2082,2042,0,0,0,0,0,0,14.26,14.38,28.83
$GC,10721,0.34,146.6,3299,3723,2081,2042,942.7,14.0,287,10727,0.32,2.45,0.00,0.000,5126,0.275,0.050,3226,2281,2061,2081,2042,0,0,0,0,0,0,14.31,14.44,28.83
$GC,11039,0.47,178.3,3226,2281,2075,2042,909.5,8.5,293,11071,0.12,0.00,29.20,2.176,10246,0.155,0.000,3270,2281,1945,1967,1923,0,0,0,0,0,0,14.59,28.83,13.40
$GC,11338,0.47,178.3,3270,2281,1952,1922,879.6,10.1,298,11339,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2281,1937,1952,1922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11640,0.47,182.0,3270,2281,1949,1922,850.2,9.8,303,11645,0.00,2.47,0.00,0.000,260,0.000,0.073,3270,3725,1936,1949,1923,0,0,0,0,0,0,28.83,14.63,28.83
$GC,11681,0.47,185.6,3270,3726,1950,1922,850.2,9.8,303,11693,0.00,2.40,6.93,1.724,9222,0.000,0.050,3271,2289,1915,1930,1901,0,0,0,0,0,0,28.83,14.66,13.71
$GC,11993,0.47,185.6,3271,2289,1925,1900,813.6,10.2,308,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2289,1913,1925,1901,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18891,end climb,SURFACE_DEPTH_REACHED
$STATE,18891,begin surface coast
$FINISH,1.5,1.023836
$STATE,18905,end surface coast,CONTROL_FINISHED_OK
$STATE,18905,begin surface
$SM_CCo,18923,0.00,0.000,0,0,1651,250.21
$SM_GC,1.70,9.43,2.30,0.00,0.077,0.051,0.000,116,2384,1651,-9.30,0.54,250.21,0,0,0,0,0,0,14.82,14.83,28.83
$IRIDIUM_FIX,4651.23,-12552.11,301013,181829
$TT8_MAMPS,0.023219,0.023219
$HUMID,67.52
$INTERNAL_PRESSURE,8.5772
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,12.6,12.395
$10V_AH,13.2,3.564
$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
$DEVICE_SECS,29.850,143.175,381.725,0.000,0.000,31.354,46.907,203.311,22.500,0.000,7.977,1661.461,15183.637,475.419,1866.354,102.359,0.389,1392.925,0.000,1491.706,0.000,142.410,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.352,186.686,528.136,426.374,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313784
$DATA_FILE_SIZE,33593,517
$CAP_FILE_SIZE,159968,0
$CFSIZE,260165632,217587712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,311013,050105,4711.080,-12600.472,40,0.9,40,16.7