version: 66.11
glider: 144
mission: 21
dive: 5
start: 3 25 113 20 51 14
data:
$ID,144
$MISSION,21
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,200
$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,200
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$MASS_COMP,1141.9
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-87154.82
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,30
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2380
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2727
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.062218
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250313,204612,2434.128,-3758.839,1,1.0,2,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-75.7
$GPS2,250313,205014,2434.186,-3758.913,4,1.0,4,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.168,0.169
$KALMAN_X,-1035.5,-515.7,-306.6,996.9,-259.7
$KALMAN_Y,348.9,138.3,73.8,1105.9,167.9
$MHEAD_RNG_PITCHd_Wd,58.6,31599,-19.5,-10.000,-22.76,2222
$D_GRID,600
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.75,-146.6,42,2464,409,554,0.0,0.0,0,115,0.00,0.00,-90.43,0.000,16386,0.000,0.000,40,2465,2995,3055,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.75,-146.6,40,2465,3055,2939,2.7,-3.5,9,145,13.80,1.65,-6.93,0.000,18948,0.412,0.071,3029,1406,3326,3411,3242,0,0,0,0,0,0,14.71,14.92,15.07
$GC,374,-0.75,-146.6,3030,1402,3411,3245,43.8,-15.2,34,379,0.00,1.67,0.00,0.000,1030,0.000,0.069,3029,2428,3328,3411,3245,0,0,0,0,0,0,28.83,14.88,28.83
$GC,697,-0.75,-146.6,3029,2428,3411,3245,100.8,-18.3,52,702,0.00,1.60,0.00,0.000,516,0.000,0.048,3029,1406,3328,3411,3245,0,0,0,0,0,0,28.83,14.97,28.83
$GC,930,-0.75,-146.6,3029,1401,3411,3245,132.5,-14.0,63,935,0.00,1.70,0.00,0.000,1030,0.000,0.069,3030,2451,3328,3411,3245,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1243,-0.75,-146.6,3029,2451,3411,3245,180.7,-14.9,79,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2451,3328,3411,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-0.75,-146.6,3030,2451,3411,3245,225.7,-14.7,94,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2452,3328,3411,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1845,-0.75,-146.6,3030,2451,3411,3245,268.9,-13.9,109,1850,0.00,1.73,0.00,0.000,260,0.000,0.067,3029,3507,3327,3410,3245,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1922,-0.75,-146.6,3030,3508,3408,3245,277.0,-12.8,112,1929,0.00,1.65,0.00,0.000,1030,0.000,0.061,3029,2479,3326,3408,3245,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2230,-0.75,-146.6,3030,2476,3408,3245,315.4,-12.0,126,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2476,3326,3408,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2528,-0.75,-146.6,3030,2476,3406,3245,350.0,-11.2,136,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2475,3325,3406,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-0.75,-146.6,3030,2476,3402,3245,383.2,-10.8,146,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2475,3324,3404,3245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3128,-0.75,-146.6,3030,2475,3402,3245,416.2,-10.9,156,3133,0.00,1.73,0.00,0.000,516,0.000,0.057,3029,1377,3323,3402,3245,0,0,0,0,0,0,28.83,15.06,28.83
$GC,3254,-0.75,-146.6,3030,1374,3399,3245,428.0,-9.5,160,3259,0.00,1.83,0.00,0.000,1030,0.000,0.074,3029,2450,3322,3400,3245,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3589,-0.75,-146.6,3029,2451,3397,3245,463.5,-10.6,171,3594,0.00,1.70,0.00,0.000,260,0.000,0.072,3029,3516,3320,3396,3245,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3642,-0.75,-146.6,3030,3517,3396,3245,467.2,-10.5,172,3647,0.00,1.73,0.00,0.000,1030,0.000,0.066,3030,2448,3320,3395,3245,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3955,-0.75,-146.6,3029,2444,3394,3245,502.7,-11.5,183,3960,0.00,1.67,0.00,0.000,516,0.000,0.057,3029,1378,3319,3394,3245,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4022,-0.75,-146.6,2048,1374,3381,3241,509.8,-11.4,185,4027,0.00,1.77,0.00,0.000,1030,0.000,0.076,3029,2454,3319,3394,3245,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4352,-0.75,-146.6,3029,2454,3390,3245,550.3,-12.4,196,4357,0.00,1.70,0.00,0.000,260,0.000,0.074,3029,3513,3317,3389,3245,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4454,-0.75,-146.6,3030,3514,3388,3245,560.8,-11.5,199,4460,0.00,1.77,0.00,0.000,1030,0.000,0.067,3029,2450,3316,3388,3245,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4780,-0.75,-146.6,3029,2445,3386,3245,599.1,-11.3,210,4785,0.00,1.67,0.00,0.000,516,0.000,0.058,3029,1379,3315,3386,3245,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,4811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4811,begin apogee
$GC,4819,-0.15,0.0,3030,2383,3386,3245,603.1,-11.3,211,4937,0.45,0.00,113.22,1.802,10246,0.210,0.000,3168,2383,2727,2763,2691,0,0,0,0,0,0,14.93,28.83,13.67
$STATE,4941,end apogee,CONTROL_FINISHED_OK
$STATE,4941,begin climb
$GC,4944,0.75,146.6,3168,2384,2763,2689,607.6,0.0,215,5078,0.57,1.88,122.03,1.796,10756,0.105,0.067,3374,1325,2128,2102,2155,0,0,1,0,0,0,14.40,14.26,13.59
$GC,5306,0.75,146.6,3374,1323,2094,2150,568.0,18.3,227,5311,0.00,1.77,0.00,0.000,1030,0.000,0.069,3374,2390,2122,2095,2150,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5633,0.75,146.6,3374,2390,2094,2143,500.6,20.5,238,5638,0.00,1.77,0.00,0.000,516,0.000,0.067,3381,1314,2118,2094,2143,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5866,0.75,146.6,3381,1311,2092,2143,460.9,17.7,245,5871,0.00,1.80,0.00,0.000,1030,0.000,0.069,3380,2376,2118,2093,2143,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6180,0.75,146.6,3380,2377,2092,2139,401.4,17.9,256,6185,0.00,1.73,0.00,0.000,516,0.000,0.068,3381,1320,2115,2092,2139,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6292,0.75,146.6,3381,1319,2092,2140,385.3,17.3,259,6298,0.00,1.75,0.00,0.000,1030,0.000,0.070,3381,2388,2115,2091,2139,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6606,0.75,146.6,3385,2387,2091,2137,322.7,18.1,270,6611,0.00,1.75,0.00,0.000,516,0.000,0.068,3381,1324,2114,2091,2137,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6633,0.75,146.6,3381,1320,2091,2137,322.7,18.1,270,6640,0.00,1.73,0.00,0.000,1030,0.000,0.067,3381,2381,2114,2091,2137,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6942,0.75,146.6,3381,2380,2092,2135,259.2,20.2,284,6947,0.00,1.73,0.00,0.000,516,0.000,0.069,3381,1324,2113,2091,2135,0,0,0,0,0,0,28.83,15.01,28.83
$GC,7044,0.75,146.6,3381,1322,2091,2136,243.5,17.5,288,7051,0.00,1.77,0.00,0.000,1030,0.000,0.068,3381,2378,2113,2091,2136,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7348,0.75,146.6,3381,2377,2091,2134,185.4,18.2,304,7353,0.00,1.73,0.00,0.000,516,0.000,0.067,3381,1319,2112,2090,2134,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7420,0.75,146.6,3381,1317,2091,2134,174.4,17.9,307,7426,0.00,1.75,0.00,0.000,1030,0.000,0.069,3380,2383,2113,2091,2135,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7734,0.75,146.6,3381,2384,2090,2133,116.0,17.6,323,7739,0.00,1.75,0.00,0.000,516,0.000,0.067,3384,1316,2111,2090,2133,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7853,0.75,146.6,3384,1313,2090,2133,99.9,15.0,328,7860,0.00,1.75,0.00,0.000,1030,0.000,0.070,3384,2382,2110,2087,2133,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8157,0.75,146.6,3384,2382,2091,2133,45.8,18.2,345,8162,0.00,1.73,0.00,0.000,516,0.000,0.063,3387,1319,2111,2090,2132,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8204,0.75,146.6,2464,1315,2047,2124,38.3,17.4,349,8211,0.12,1.75,0.00,0.000,5126,0.344,0.068,3364,2379,2111,2090,2132,0,0,0,0,0,0,14.76,14.90,28.83
$STATE,8428,end climb,SURFACE_DEPTH_REACHED
$STATE,8428,begin surface coast
$FINISH,-0.1,1.024006
$STATE,8439,end surface coast,CONTROL_FINISHED_OK
$STATE,8439,begin surface
$SM_CCo,8461,95.65,1.128,0,0,1300,350.04
$SM_GC,0.84,9.38,0.12,95.65,0.083,0.119,1.128,44,2493,1300,-14.46,-0.62,350.04,0,0,0,0,0,0,14.88,14.93,14.04
$IRIDIUM_FIX,2427.58,-3758.52,250313,202047
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.01
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,4018272
$TM_FREEKB,7892800
$24V_AH,13.6,1.338
$10V_AH,13.9,0.000
$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,24.325,55.550,235.250,95.650,0.000,0.000,0.000,0.000,0.250,0.000,5.457,1322.517,5591.345,423.591,1128.312,164.227,32.230,1038.221,0.000,1085.861,0.000,0.549,0.000
$DEVICE_MAMPS,411.570,119.340,1801.575,1128.375,0.000,0.000,0.000,0.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8405.000,3145.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.934,13.349,0.000,0.000
$MEM,353644
$DATA_FILE_SIZE,13468,373
$CAP_FILE_SIZE,132647,0
$CFSIZE,260165632,255287296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,250313,231505,2435.162,-3758.611,28,1.0,28,-13.7