version: 66.11
glider: 144
mission: 21
dive: 9
start: 3 26 113 20 50 13
data:
$ID,144
$MISSION,21
$DIVE,9
$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,-87368.203
$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,3135
$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,15
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2550
$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
$GPS1,260313,203659,2440.558,-3755.132,36,1.1,36,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-82.6
$GPS2,260313,204912,2440.495,-3755.127,4,1.1,4,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.206,0.119
$KALMAN_X,-8862.5,202.7,0.8,14161.0,-1528.5
$KALMAN_Y,1918.8,109.7,-83.8,11411.6,111.6
$MHEAD_RNG_PITCHd_Wd,73.7,18647,-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,-146.6,33,2486,1181,1402,0.0,0.0,0,75,0.00,0.00,-50.75,0.000,16386,0.000,0.000,33,2486,2733,2785,2681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.75,-146.6,34,2484,2785,2683,2.3,-2.3,5,110,14.02,0.88,-9.68,0.000,18948,0.422,0.099,2962,1882,3149,3235,3063,0,0,0,0,0,0,14.50,14.73,14.87
$GC,340,-0.75,-146.6,1936,1877,3216,3062,57.9,-23.5,29,345,0.00,0.90,0.00,0.000,1030,0.000,0.065,2960,2426,3151,3235,3067,0,0,0,0,0,0,28.83,14.73,28.83
$GC,658,-0.75,-146.6,2961,2427,3235,3066,134.4,-22.7,45,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2426,3150,3234,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,960,-0.75,-146.6,2961,2427,3235,3069,199.2,-20.7,60,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2427,3152,3235,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.75,-146.6,2960,2427,3235,3070,262.2,-21.7,75,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2427,3151,3233,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-0.75,-146.6,2961,2427,3234,3070,327.0,-20.1,89,1585,0.00,0.88,0.00,0.000,260,0.000,0.062,2957,2984,3152,3235,3070,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1723,-0.75,-146.6,2957,2985,3235,3070,353.0,-20.8,93,1728,0.00,0.88,0.00,0.000,1030,0.000,0.056,2957,2433,3152,3234,3070,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2036,-0.75,-146.6,2957,2430,3235,3070,425.4,-21.7,104,2041,0.00,0.77,0.00,0.000,516,0.000,0.050,2957,1907,3152,3235,3070,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2133,-0.75,-146.6,2957,1904,3234,3070,445.6,-21.7,107,2138,0.00,0.90,0.00,0.000,1030,0.000,0.070,2953,2452,3152,3234,3070,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2464,-0.75,-146.6,2954,2454,3233,3070,518.5,-21.9,118,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2454,3151,3233,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-0.75,-146.6,2954,2454,3230,3070,586.2,-22.3,128,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2454,3151,3233,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3062,-0.75,-146.6,2954,2454,3228,3070,651.8,-21.5,138,3067,0.00,0.85,0.00,0.000,260,0.000,0.069,2951,2988,3149,3228,3070,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3134,-0.75,-146.6,2951,2988,3226,3069,665.6,-21.6,140,3139,0.00,0.85,0.00,0.000,1030,0.000,0.059,2951,2457,3148,3226,3070,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3459,-0.75,-146.6,2951,2454,3223,3070,732.1,-19.5,151,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2454,3147,3224,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3757,-0.75,-146.6,2951,2454,3220,3070,786.1,-17.7,161,3762,0.00,0.85,0.00,0.000,260,0.000,0.070,2951,2978,3144,3219,3070,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3821,-0.75,-146.6,2951,2978,3219,3070,796.9,-17.6,163,3826,0.00,0.85,0.00,0.000,1030,0.000,0.062,2951,2446,3144,3219,3070,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4156,-0.75,-146.6,2951,2442,3215,3070,852.5,-16.7,174,4161,0.00,0.88,0.00,0.000,260,0.000,0.072,2950,2979,3142,3215,3070,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4253,-0.75,-146.6,2951,2980,3214,3069,868.1,-16.3,177,4259,0.00,0.85,0.00,0.000,1030,0.000,0.063,2951,2452,3142,3214,3070,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4584,-0.75,-146.6,2951,2449,3209,3069,923.1,-17.1,188,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2449,3140,3210,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4882,-0.75,-146.6,2951,2449,3205,3069,972.6,-16.4,198,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2449,3138,3206,3070,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5006,-0.15,0.0,2951,2224,3205,3070,992.4,-16.5,202,5137,0.55,0.00,124.47,2.315,10246,0.298,0.000,3095,2222,2550,2584,2516,0,0,0,0,0,0,14.88,28.83,13.30
$STATE,5139,end apogee,CONTROL_FINISHED_OK
$STATE,5139,begin climb
$GC,5142,0.75,146.6,3095,2222,2582,2514,997.4,0.0,206,5282,0.68,0.00,137.15,2.297,10246,0.198,0.000,3292,2222,1952,1919,1986,0,0,0,0,0,0,14.08,28.83,13.22
$GC,5572,0.75,146.6,3292,2222,1918,1970,941.6,15.7,221,5577,0.00,0.75,0.00,0.000,516,0.000,0.067,3292,1751,1943,1917,1970,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5649,0.75,146.6,3292,1748,1916,1969,932.3,15.3,223,5654,0.00,0.82,0.00,0.000,1030,0.000,0.071,3292,2243,1942,1916,1969,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5967,0.75,146.6,3292,2245,1916,1964,885.6,14.1,234,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2245,1940,1916,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6267,0.75,146.6,3292,2245,1915,1962,843.6,14.1,244,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2245,1938,1915,1962,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6567,0.75,146.6,3292,2245,1914,1960,799.1,15.2,254,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2245,1937,1914,1960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6868,0.75,146.6,3292,2245,1913,1958,752.8,15.5,264,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2244,1935,1913,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7167,0.75,146.6,3292,2245,1912,1956,704.2,16.4,274,7173,0.00,0.88,0.00,0.000,260,0.000,0.070,3292,2785,1934,1912,1956,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7225,0.75,146.6,3293,2785,1911,1956,698.5,16.4,275,7232,0.00,0.85,0.00,0.000,1030,0.000,0.076,3292,2282,1933,1911,1956,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7531,0.75,146.6,3292,2282,1912,1955,645.8,15.7,286,7536,0.00,0.90,0.00,0.000,516,0.000,0.069,3294,1714,1933,1911,1955,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7674,0.75,146.6,3294,1712,1911,1955,628.2,14.2,290,7679,0.00,0.88,0.00,0.000,1030,0.000,0.070,3294,2245,1932,1911,1954,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7988,0.75,146.6,3294,2245,1911,1953,581.1,13.7,301,7993,0.00,0.88,0.00,0.000,260,0.000,0.071,3294,2783,1932,1911,1953,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8131,0.75,146.6,3294,2784,1911,1954,563.0,14.7,305,8136,0.00,0.90,0.00,0.000,1030,0.000,0.075,3297,2250,1931,1910,1953,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8444,0.75,146.6,3297,2250,1911,1953,517.1,13.1,316,8449,0.00,0.82,0.00,0.000,516,0.000,0.067,3298,1721,1932,1911,1953,0,0,0,0,0,0,28.83,14.98,28.83
$GC,8573,0.75,146.6,3298,1720,1911,1953,500.7,13.3,320,8578,0.00,0.88,0.00,0.000,1030,0.000,0.070,3299,2253,1931,1910,1953,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8904,0.75,146.6,3299,2253,1910,1952,452.6,14.2,331,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2254,1931,1911,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9201,0.75,146.6,3299,2253,1911,1952,410.7,14.0,341,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2253,1931,1911,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9501,0.75,146.6,3299,2253,1911,1952,370.5,13.3,351,9506,0.00,0.88,0.00,0.000,516,0.000,0.063,3301,1717,1931,1911,1952,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9584,0.75,146.6,3300,1716,1910,1952,362.8,12.5,353,9589,0.00,0.88,0.00,0.000,1030,0.000,0.070,3300,2250,1931,1910,1952,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9897,0.75,146.6,3300,2250,1911,1952,321.1,12.4,364,9902,0.00,0.88,0.00,0.000,260,0.000,0.070,3300,2783,1931,1910,1952,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9991,0.75,146.6,3300,2784,1910,1952,308.5,13.3,367,9996,0.00,0.90,0.00,0.000,1030,0.000,0.073,3301,2249,1931,1910,1952,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10304,0.75,146.6,3301,2249,1911,1952,270.2,11.4,381,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2249,1931,1911,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10604,0.75,146.6,3301,2249,1911,1952,235.3,12.1,396,10609,0.00,0.82,0.00,0.000,516,0.000,0.064,3301,1719,1931,1911,1952,0,0,0,0,0,0,28.83,14.95,28.83
$GC,10691,0.75,146.6,3301,1717,1910,1952,225.3,12.0,400,10696,0.00,0.88,0.00,0.000,1030,0.000,0.067,3301,2255,1931,1911,1952,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11009,0.75,146.6,3301,2255,1911,1952,186.7,12.4,416,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2255,1931,1910,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11312,0.75,146.6,3301,2255,1911,1952,147.1,13.6,431,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2255,1931,1911,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11612,0.75,146.6,3301,2259,1911,1952,109.2,11.1,446,11617,0.00,0.85,0.00,0.000,260,0.000,0.069,3301,2779,1931,1910,1952,0,0,0,0,0,0,28.83,14.89,28.83
$GC,11659,0.75,146.6,3301,2780,1911,1953,104.1,11.2,448,11664,0.00,0.90,0.00,0.000,1030,0.000,0.070,3301,2243,1931,1910,1952,0,0,0,0,0,0,28.83,14.88,28.83
$GC,11978,0.75,146.6,3302,2243,1912,1952,70.0,10.1,464,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2243,1931,1911,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12278,0.75,146.6,3301,2243,1913,1952,40.3,9.9,483,12279,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2243,1932,1913,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12578,0.75,146.6,3302,2243,1915,1952,10.4,10.4,513,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2243,1933,1915,1952,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12655,end climb,SURFACE_DEPTH_REACHED
$STATE,12655,begin surface coast
$FINISH,1.0,1.025641
$STATE,12666,end surface coast,CONTROL_FINISHED_OK
$STATE,12666,begin surface
$SM_CCo,12691,92.93,1.117,0,0,1122,350.04
$SM_GC,1.25,9.27,0.32,92.93,0.086,0.076,1.117,46,2460,1122,-14.14,-1.16,350.04,0,0,1,0,0,0,14.81,14.86,13.98
$IRIDIUM_FIX,2429.95,-3754.79,260313,141457
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.27
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4016480
$TM_FREEKB,7863872
$24V_AH,13.2,3.057
$10V_AH,13.6,0.000
$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,24.525,26.475,261.625,92.925,0.000,27.467,36.398,373.182,0.000,0.000,5.488,1669.909,9252.662,443.076,1811.053,333.116,33.231,1120.093,0.000,1241.900,0.000,0.549,0.000
$DEVICE_MAMPS,421.515,98.685,2314.890,1116.900,0.000,31.360,160.000,223.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12695.000,3434.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,13.486,13.258,0.000,0.000
$MEM,353620
$DATA_FILE_SIZE,16803,522
$CAP_FILE_SIZE,132201,0
$CFSIZE,260165632,254787584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$GPS,270313,002422,2441.856,-3753.595,18,0.8,18,-13.7