version: 66.11
glider: 144
mission: 21
dive: 6
start: 3 26 113 1 37 20
data:
$ID,144
$MISSION,21
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,990
$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,330
$T_MISSION,360
$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,-87349.016
$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,3150
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,30
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,61
$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
$GPS1,260313,013149,2435.203,-3759.019,17,0.8,17,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-79.9
$GPS2,260313,013619,2435.203,-3759.030,16,1.0,16,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,0.176
$KALMAN_X,-3045.5,-585.3,-335.0,2904.7,11.7
$KALMAN_Y,402.9,124.6,-84.6,3114.2,141.7
$MHEAD_RNG_PITCHd_Wd,56.0,30281,-19.5,-10.000,-22.76,2222
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.75,-146.6,41,2425,1202,1398,0.0,0.0,0,75,0.00,0.00,-50.78,0.000,16386,0.000,0.000,40,2425,2724,2787,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.75,-146.6,39,2425,2787,2665,2.3,-2.7,5,115,13.90,1.62,-15.73,0.000,19204,0.425,0.078,2975,1388,3327,3423,3231,0,0,0,0,0,0,14.68,14.88,15.07
$GC,346,-0.54,-146.6,2974,1384,3423,3234,51.9,-22.1,30,352,0.25,1.70,0.00,0.000,3078,0.317,0.069,3027,2422,3328,3423,3234,0,0,0,0,0,0,14.73,14.86,28.83
$GC,661,-0.39,-146.6,3031,2422,3423,3233,117.1,-19.2,46,666,0.12,1.62,0.00,0.000,2564,0.350,0.043,3059,1385,3328,3423,3234,0,0,0,0,0,0,14.80,14.95,28.83
$GC,894,-0.45,-146.6,3059,1381,3423,3234,144.9,-11.9,57,899,0.00,1.75,0.00,0.000,1030,0.000,0.071,3059,2450,3328,3423,3234,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1207,-0.45,-146.6,3059,2449,3423,3234,187.8,-13.3,73,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2449,3328,3423,3234,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1510,-0.45,-146.6,3059,2453,3425,3234,224.3,-11.4,88,1515,0.00,1.70,0.00,0.000,260,0.000,0.067,3059,3514,3329,3423,3235,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1583,-0.52,-146.6,3059,3514,3422,3235,230.8,-10.3,91,1588,0.00,1.70,0.00,0.000,1030,0.000,0.060,3058,2456,3330,3423,3238,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1896,-0.55,-146.6,3059,2452,3422,3235,263.6,-10.0,107,1902,0.12,1.67,0.00,0.000,4612,0.156,0.048,3007,1384,3328,3422,3235,0,0,0,0,0,0,14.96,14.99,28.83
$GC,1970,-0.55,-146.6,3007,1380,3422,3235,272.2,-12.7,110,1976,0.12,1.75,0.00,0.000,3078,0.311,0.072,3029,2449,3328,3422,3235,0,0,0,0,0,0,14.86,14.97,28.83
$GC,2304,-0.52,-146.6,3029,2449,3420,3235,315.9,-13.0,125,2309,0.00,1.70,0.00,0.000,260,0.000,0.070,3029,3515,3327,3420,3235,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2434,-0.57,-146.6,3029,3516,3418,3235,329.8,-11.1,129,2440,0.00,1.73,0.00,0.000,1030,0.000,0.062,3030,2444,3326,3418,3235,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2765,-0.57,-146.6,3030,2440,3417,3235,374.1,-13.4,140,2770,0.00,1.65,0.00,0.000,516,0.000,0.053,3026,1382,3326,3417,3235,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2859,-0.62,-146.6,3030,1378,3417,3235,385.4,-12.2,143,2864,0.00,1.75,0.00,0.000,1030,0.000,0.076,3030,2450,3325,3416,3235,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3195,-0.62,-146.6,3030,2450,3414,3235,425.9,-11.9,154,3200,0.00,1.70,0.00,0.000,260,0.000,0.072,3029,3514,3324,3414,3235,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3278,-0.66,-146.6,3030,3515,3412,3235,432.9,-11.5,156,3284,0.10,1.73,0.00,0.000,5126,0.178,0.063,2992,2444,3322,3410,3235,0,0,0,0,0,0,15.01,15.02,28.83
$GC,3594,-0.56,-146.6,2991,2440,3411,3235,480.5,-15.1,167,3596,0.15,0.00,0.00,0.000,2054,0.311,0.000,3024,2440,3323,3411,3235,0,0,0,0,0,0,14.89,28.83,28.83
$GC,3892,-0.56,-146.6,3024,2440,3407,3235,513.6,-10.8,177,3897,0.00,1.75,0.00,0.000,260,0.000,0.073,3024,3518,3321,3408,3235,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4007,-0.63,-146.6,3024,3519,3406,3235,521.8,-9.2,180,4012,0.00,1.75,0.00,0.000,1030,0.000,0.064,3024,2462,3321,3406,3236,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4323,-0.66,-146.6,3024,2458,3405,3235,556.7,-10.9,191,4328,0.00,1.70,0.00,0.000,516,0.000,0.057,3024,1374,3319,3404,3235,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4459,-0.75,-146.6,3024,1371,3404,3235,569.5,-10.0,195,4464,0.15,1.77,0.00,0.000,5126,0.142,0.078,2970,2449,3319,3403,3235,0,0,0,0,0,0,15.03,15.02,28.83
$GC,4785,-0.62,-146.6,2971,2449,3399,3235,629.2,-18.6,206,4791,0.15,1.73,0.00,0.000,2308,0.320,0.071,3004,3516,3317,3399,3235,0,0,0,0,0,0,14.88,15.03,28.83
$GC,4869,-0.57,-146.6,3003,3518,3397,3235,639.6,-17.4,208,4875,0.10,1.73,0.00,0.000,3078,0.290,0.067,3024,2448,3316,3398,3235,0,0,0,0,0,0,14.91,15.03,28.83
$GC,5186,-0.62,-146.6,3024,2444,3397,3235,679.1,-11.8,219,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2444,3315,3396,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5483,-0.68,-146.6,3024,2444,3394,3235,714.3,-11.7,229,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2444,3314,3394,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5784,-0.75,-146.6,3024,2444,3389,3235,747.9,-10.9,239,5786,0.15,0.00,0.00,0.000,4102,0.148,0.000,2972,2444,3312,3390,3234,0,0,0,0,0,0,15.03,28.83,28.83
$GC,6083,-0.67,-146.6,2972,2444,3388,3235,794.4,-15.3,249,6089,0.12,1.75,0.00,0.000,2308,0.315,0.076,3002,3512,3311,3387,3235,0,0,0,0,0,0,14.88,15.04,28.83
$GC,6162,-0.67,-146.6,3002,3514,3386,3235,801.7,-13.3,251,6167,0.00,1.73,0.00,0.000,1030,0.000,0.070,3003,2451,3310,3386,3235,0,0,0,0,0,0,28.83,15.02,28.83
$GC,6483,-0.70,-146.6,3002,2447,3383,3235,832.5,-9.0,262,6489,0.00,1.67,0.00,0.000,516,0.000,0.059,3002,1386,3309,3383,3235,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6551,-0.76,-146.6,1936,1380,3369,3230,837.7,-8.3,264,6557,0.00,1.77,0.00,0.000,1030,0.000,0.083,3002,2448,3309,3383,3235,0,0,0,0,0,0,28.83,15.00,28.83
$GC,6882,-0.80,-146.6,3002,2448,3381,3234,867.5,-9.7,275,6888,0.12,1.75,0.00,0.000,4356,0.174,0.079,2955,3517,3307,3381,3234,0,0,0,0,0,0,14.99,15.01,28.83
$GC,6941,-0.83,-146.6,2956,3518,3379,3234,872.0,-10.3,276,6948,0.00,1.80,0.00,0.000,1030,0.000,0.072,2955,2449,3306,3379,3234,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7249,-0.71,-146.6,2955,2445,3375,3233,927.2,-18.0,287,7251,0.17,0.00,0.00,0.000,2054,0.311,0.000,2993,2445,3305,3378,3233,0,0,0,0,0,0,14.85,28.83,28.83
$GC,7547,-0.74,-146.6,2993,2445,3378,3231,968.3,-13.6,297,7552,0.00,1.77,0.00,0.000,260,0.000,0.083,2993,3516,3304,3377,3231,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7630,-0.81,-146.6,2993,3517,3376,3231,976.5,-13.4,299,7635,0.00,1.75,0.00,0.000,1030,0.000,0.070,2993,2449,3303,3375,3231,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,7730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7730,begin apogee
$GC,7738,-0.15,0.0,2993,2211,3376,3231,992.2,-12.9,303,7869,0.43,0.08,120.22,2.302,10246,0.248,0.173,3115,2258,2726,2772,2680,0,0,0,0,0,0,14.87,14.14,13.35
$STATE,7870,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7873,0.75,146.6,3115,2258,2771,2678,999.0,0.0,307,8017,0.62,1.83,133.32,2.329,10756,0.155,0.073,3314,1236,2128,2104,2152,0,0,1,0,0,0,14.20,14.08,13.26
$GC,8156,0.50,146.6,3314,1233,2095,2149,990.7,11.4,317,8162,0.25,1.73,0.00,0.000,5126,0.342,0.076,3261,2245,2121,2094,2148,0,0,0,0,0,0,14.42,14.57,28.83
$GC,8491,0.32,146.6,3261,2246,2095,2137,956.2,10.5,328,8496,0.15,1.77,0.00,0.000,4356,0.353,0.073,3224,3317,2116,2095,2137,0,0,0,0,0,0,14.67,14.81,28.83
$GC,8549,0.15,146.6,3224,3319,2092,2135,952.5,10.6,329,8557,0.20,1.73,0.00,0.000,5126,0.316,0.081,3183,2291,2114,2093,2135,0,0,0,0,0,0,14.70,14.81,28.83
$GC,8858,0.25,146.7,3183,2290,2093,2131,933.9,5.2,340,8863,0.00,1.80,0.00,0.000,516,0.000,0.070,3189,1185,2112,2093,2131,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8930,0.38,146.7,3189,1180,2093,2132,930.3,5.4,342,8936,0.15,1.80,0.00,0.000,3078,0.152,0.081,3245,2253,2112,2093,2131,0,0,0,0,0,0,14.88,14.88,28.83
$GC,9257,0.25,146.7,3246,2253,2093,2130,896.6,10.9,353,9263,0.15,1.75,0.00,0.000,4356,0.300,0.075,3208,3318,2111,2093,2130,0,0,0,0,0,0,14.81,14.93,28.83
$GC,9331,0.17,146.7,3208,3319,2091,2129,890.2,10.3,355,9336,0.00,1.80,0.00,0.000,1030,0.000,0.080,3208,2248,2110,2092,2129,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9656,0.17,146.7,3208,2244,2091,2128,865.7,7.1,366,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2244,2109,2091,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9955,0.19,146.8,3208,2244,2091,2126,846.0,6.4,376,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2244,2108,2091,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10255,0.22,146.8,3208,2244,2092,2125,829.0,5.3,386,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2244,2108,2091,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10555,0.24,146.9,3209,2244,2091,2124,813.2,5.2,396,10560,0.00,1.73,0.00,0.000,516,0.000,0.072,3208,1179,2107,2091,2124,0,0,0,0,0,0,28.83,14.98,28.83
$GC,10643,0.32,146.9,3208,1175,2091,2124,809.9,5.2,398,10650,0.00,1.80,0.00,0.000,1030,0.000,0.082,3208,2255,2108,2092,2124,0,0,0,0,0,0,28.83,14.98,28.83
$GC,10951,0.36,147.0,3208,2255,2091,2123,789.2,7.1,409,10957,0.10,1.73,0.00,0.000,2308,0.194,0.076,3241,3314,2107,2092,2123,0,0,0,0,0,0,14.98,14.99,28.83
$GC,11016,0.34,147.0,3242,3316,2091,2123,782.3,8.6,411,11021,0.00,1.83,0.00,0.000,1030,0.000,0.082,3245,2236,2107,2091,2123,0,0,0,0,0,0,28.83,14.97,28.83
$GC,11352,0.24,147.0,3245,2234,2091,2123,744.6,11.1,422,11358,0.15,1.77,0.00,0.000,4356,0.321,0.070,3212,3314,2107,2091,2123,0,0,0,0,0,0,14.86,15.00,28.83
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$STATE,21590,end climb,SURFACE_DEPTH_REACHED
$STATE,21591,begin surface coast
$FINISH,0.3,1.023357
$STATE,21612,end surface coast,CONTROL_FINISHED_OK
$STATE,21612,begin surface
$SM_CCo,21635,96.00,1.109,0,0,1298,350.04
$SM_GC,1.23,9.10,0.35,96.00,0.076,0.081,1.109,45,2471,1298,-14.21,-0.59,350.04,0,0,1,0,0,0,14.81,14.84,13.96
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$TT8_MAMPS,0.026964,0.026964
$HUMID,35.15
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,23.70
$XPDR_PINGS,2
$SC_FREEKB,4017824
$TM_FREEKB,7884896
$24V_AH,13.3,1.891
$10V_AH,13.7,0.000
$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,28.575,123.025,253.550,96.000,0.000,0.000,0.000,0.000,0.500,0.000,17.200,2867.264,15803.377,514.239,2256.899,374.174,33.242,1683.654,0.000,2170.891,0.000,0.549,0.000
$DEVICE_MAMPS,424.575,172.890,2328.660,1109.250,0.000,0.000,0.000,0.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21585.000,4960.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.214,13.350,0.000,0.000
$MEM,353624
$DATA_FILE_SIZE,30008,855
$CAP_FILE_SIZE,320543,1
$CFSIZE,260165632,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,260313,074053,2437.317,-3758.276,36,1.1,36,-13.7