version: 66.11
glider: 144
mission: 21
dive: 10
start: 3 27 113 0 38 8
data:
$ID,144
$MISSION,21
$DIVE,10
$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,-87369.469
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,270313,002422,2441.856,-3753.595,18,0.8,18,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-81.8
$GPS2,270313,003705,2441.860,-3753.685,41,0.7,41,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.220,0.092
$KALMAN_X,-10171.7,-53.8,-87.4,18246.1,-1843.9
$KALMAN_Y,2294.9,-156.8,-27.1,13772.9,560.3
$MHEAD_RNG_PITCHd_Wd,81.0,15147,-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,-146.6,34,2466,984,1245,0.0,0.0,0,85,0.00,0.00,-60.65,0.000,16386,0.000,0.000,34,2465,2857,2918,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.75,-146.6,34,2466,2919,2797,2.6,-3.1,4,113,14.00,0.90,-6.18,0.000,19204,0.424,0.103,2962,1866,3150,3234,3067,0,0,0,0,0,0,14.53,14.77,14.90
$GC,344,-0.75,-146.6,2962,1864,3234,3072,61.5,-25.7,20,350,0.00,0.93,0.00,0.000,1030,0.000,0.066,2961,2429,3153,3235,3071,0,0,0,0,0,0,28.83,14.76,28.83
$GC,648,-0.75,-146.6,2960,2430,3235,3072,140.2,-22.4,41,653,0.00,0.80,0.00,0.000,516,0.000,0.049,2958,1899,3153,3235,3072,0,0,0,0,0,0,28.83,14.86,28.83
$GC,811,-0.75,-146.6,2960,1896,3235,3073,173.2,-21.6,51,818,0.00,0.90,0.00,0.000,1030,0.000,0.065,2956,2448,3154,3235,3073,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1117,-0.75,-146.6,2957,2448,3235,3075,242.9,-21.5,72,1122,0.00,0.85,0.00,0.000,260,0.000,0.062,2953,2989,3155,3235,3075,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1237,-0.75,-146.6,2954,2990,3235,3075,263.6,-22.1,76,1244,0.00,0.88,0.00,0.000,1030,0.000,0.055,2953,2438,3155,3236,3075,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1541,-0.75,-146.6,2953,2435,3235,3075,338.4,-22.9,87,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2435,3154,3234,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1841,-0.75,-146.6,2954,2435,3235,3075,406.0,-21.9,97,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2436,3155,3235,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,-0.75,-146.6,2953,2435,3235,3075,468.4,-20.8,107,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2435,3155,3235,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2442,-0.75,-146.6,2953,2435,3235,3075,528.2,-20.3,117,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2435,3155,3235,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-0.75,-146.6,2953,2435,3232,3075,588.9,-20.7,127,2747,0.00,0.88,0.00,0.000,260,0.000,0.067,2951,2978,3153,3232,3074,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2904,-0.75,-146.6,2951,2979,3230,3075,620.6,-20.6,132,2909,0.00,0.82,0.00,0.000,1030,0.000,0.060,2951,2458,3152,3230,3075,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3229,-0.75,-146.6,2951,2455,3228,3075,687.3,-20.2,143,3235,0.00,0.82,0.00,0.000,516,0.000,0.056,2951,1910,3151,3228,3075,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3367,-0.75,-146.6,2951,1907,3227,3075,711.6,-19.3,147,3372,0.00,0.88,0.00,0.000,1030,0.000,0.073,2950,2439,3151,3227,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3685,-0.75,-146.6,2954,2439,3223,3075,776.8,-19.5,158,3690,0.00,0.88,0.00,0.000,260,0.000,0.071,2951,2984,3149,3223,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3792,-0.75,-146.6,2951,2985,3221,3075,794.0,-18.4,161,3798,0.00,0.85,0.00,0.000,1030,0.000,0.060,2951,2455,3148,3221,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4113,-0.75,-146.6,2951,2452,3218,3075,854.8,-18.3,172,4118,0.00,0.85,0.00,0.000,260,0.000,0.071,2951,2974,3146,3218,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4196,-0.75,-146.6,2951,2974,3216,3074,866.3,-17.7,174,4201,0.00,0.85,0.00,0.000,1030,0.000,0.063,2951,2443,3145,3216,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4509,-0.75,-146.6,2951,2440,3214,3075,925.0,-17.8,185,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2440,3144,3214,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4809,-0.75,-146.6,2951,2441,3210,3075,975.9,-16.8,195,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2441,3142,3210,3075,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4896,begin apogee
$GC,4903,-0.15,0.0,2950,2224,3208,3075,991.4,-17.2,198,5039,0.55,0.00,125.28,2.290,10246,0.292,0.000,3096,2222,2549,2585,2513,0,0,0,0,0,0,14.89,28.83,13.31
$STATE,5040,end apogee,CONTROL_FINISHED_OK
$STATE,5040,begin climb
$GC,5043,0.75,146.6,3096,2222,2584,2511,996.9,0.0,202,5188,0.68,0.80,135.82,2.284,10756,0.194,0.066,3294,1749,1951,1919,1983,0,0,1,0,0,0,14.12,14.02,13.23
$GC,5300,0.75,146.6,3294,1747,1916,1976,970.3,15.0,211,5305,0.00,0.85,0.00,0.000,1030,0.000,0.070,3294,2247,1945,1916,1975,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5626,0.75,146.6,3294,2247,1916,1967,917.7,15.3,222,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2247,1941,1916,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5924,0.75,146.6,3294,2247,1916,1963,872.8,14.9,232,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2247,1939,1916,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6224,0.75,146.6,3294,2247,1915,1960,827.4,14.9,242,6229,0.00,0.88,0.00,0.000,260,0.000,0.072,3294,2777,1937,1915,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6271,0.75,146.6,3294,2777,1914,1960,821.9,15.3,243,6276,0.00,0.85,0.00,0.000,1030,0.000,0.077,3294,2281,1937,1914,1960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6592,0.75,146.6,3295,2280,1913,1958,767.0,16.5,254,6597,0.00,0.90,0.00,0.000,516,0.000,0.069,3296,1714,1938,1913,1963,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6694,0.75,146.6,3296,1711,1913,1958,751.8,16.0,257,6700,0.00,0.88,0.00,0.000,1030,0.000,0.070,3296,2245,1935,1913,1958,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7020,0.75,146.6,3296,2245,1912,1955,696.9,16.5,268,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2245,1933,1912,1955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,0.75,146.6,3296,2245,1912,1954,647.3,16.2,278,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2245,1933,1912,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,0.75,146.6,3296,2245,1912,1952,601.7,14.8,288,7623,0.00,0.85,0.00,0.000,516,0.000,0.064,3298,1714,1932,1912,1952,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7685,0.75,146.6,2368,1711,1873,1945,593.0,14.1,290,7690,0.00,0.88,0.00,0.000,1030,0.000,0.072,3299,2246,1932,1912,1953,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8015,0.75,146.6,3299,2246,1912,1952,548.2,13.9,301,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1932,1912,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8314,0.75,146.6,3299,2246,1912,1951,505.5,13.7,311,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2246,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8613,0.75,146.6,3299,2246,1912,1951,461.9,14.4,321,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1929,1908,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8914,0.75,146.6,3299,2246,1911,1950,417.5,15.3,331,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2246,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9214,0.75,146.6,3299,2246,1912,1953,371.2,15.7,341,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9513,0.75,146.6,3298,2246,1912,1950,325.4,14.8,351,9514,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2246,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,0.75,146.6,3299,2246,1911,1950,282.7,13.8,361,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2246,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10113,0.75,146.6,3298,2248,1912,1951,244.5,12.5,372,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10413,0.75,146.6,3298,2246,1912,1950,208.1,12.3,392,10414,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2247,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10713,0.75,146.6,3299,2246,1912,1950,170.5,12.4,412,10715,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2246,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11013,0.75,146.6,3299,2246,1912,1950,133.5,12.8,432,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2246,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11313,0.75,146.6,3299,2246,1912,1950,98.4,11.6,452,11314,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1931,1912,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11613,0.75,146.6,3298,2246,1912,1951,65.5,10.7,472,11619,0.00,0.88,0.00,0.000,260,0.000,0.068,3299,2786,1931,1912,1950,0,0,0,0,0,0,28.83,14.91,28.83
$GC,11692,0.75,146.6,3299,2786,1912,1947,56.8,11.3,477,11697,0.00,0.90,0.00,0.000,1030,0.000,0.070,3299,2246,1931,1912,1951,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12010,0.75,146.6,3299,2246,1914,1951,25.9,9.5,498,12012,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,1934,1914,1955,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12250,end climb,SURFACE_DEPTH_REACHED
$STATE,12250,begin surface coast
$FINISH,0.5,1.025700
$STATE,12264,end surface coast,CONTROL_FINISHED_OK
$STATE,12264,begin surface
$SM_CCo,12287,94.80,1.121,0,0,1123,350.04
$SM_GC,1.05,9.23,0.32,94.80,0.086,0.082,1.121,44,2455,1123,-14.15,-1.10,350.04,0,0,1,0,0,0,14.89,14.92,14.01
$IRIDIUM_FIX,2429.95,-3752.92,260313,202045
$TT8_MAMPS,0.026964,0.026964
$HUMID,35.43
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,23.30
$XPDR_PINGS,1
$SC_FREEKB,4016032
$TM_FREEKB,7858496
$24V_AH,13.2,3.369
$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,24.450,21.350,261.100,94.800,0.000,29.221,40.782,395.227,0.250,0.000,42.576,1599.975,8998.173,437.690,1790.187,324.700,33.240,1083.122,0.000,1193.308,0.000,0.549,0.000
$DEVICE_MAMPS,423.810,103.275,2290.410,1121.490,0.000,31.360,160.000,223.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12286.000,3358.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.341,13.251,0.000,0.000
$MEM,353656
$DATA_FILE_SIZE,16807,515
$CAP_FILE_SIZE,125015,0
$CFSIZE,260165632,254705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270313,040532,2442.713,-3752.066,16,0.8,16,-13.7