version: 66.11
glider: 120
mission: 16
dive: 13
start: 3 30 113 21 36 45
data:
$ID,120
$MISSION,16
$DIVE,13
$N_DIVES,0
$D_SURF,1
$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,-6
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$MASS_COMP,1128.8
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-40294.414
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,115
$PITCH_MAX,4069
$C_PITCH,2540
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2468
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$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,-5.6651554
$PRESSURE_SLOPE,0.0001164831
$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,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$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,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$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
$GPS1,300313,212035,2433.140,-3747.199,34,1.9,34,-15.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.8
$GPS2,300313,213543,2433.194,-3747.144,11,1.1,11,-15.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,SE
$TGT_LATLONG,2420.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.064,-0.249
$KALMAN_X,-10199.4,196.2,-113.5,14608.2,-1279.5
$KALMAN_Y,15874.8,-186.1,-503.8,-40053.1,2816.8
$MHEAD_RNG_PITCHd_Wd,195.1,23509,-17.6,-10.000,-21.21,2209
$D_GRID,1001
$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,-0.95,-146.6,131,1888,1463,1426,0.0,0.0,0,70,0.00,0.00,-45.92,0.000,16386,0.000,0.000,131,1888,2829,2916,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.95,-146.6,131,1888,2916,2743,2.0,-2.8,3,93,9.23,2.38,-5.32,0.000,18692,0.375,0.083,2217,3311,3066,3189,2943,0,0,0,0,0,0,14.24,14.53,14.76
$GC,323,-0.78,-146.6,1296,3308,3162,2937,37.8,-15.3,19,329,0.28,2.33,0.00,0.000,3078,0.243,0.054,2288,1908,3068,3193,2944,0,0,0,0,0,0,14.26,14.50,28.83
$GC,637,-0.69,-146.6,2288,1908,3193,2948,75.1,-11.8,40,643,0.00,2.35,0.00,0.000,260,0.000,0.065,2280,3317,3069,3193,2946,0,0,0,0,0,0,28.83,14.54,28.83
$GC,870,-0.62,-146.6,1376,3315,3163,2939,105.1,-13.4,55,876,0.22,2.35,0.00,0.000,3078,0.221,0.052,2340,1892,3070,3193,2947,0,0,0,0,0,0,14.33,14.57,28.83
$GC,1185,-0.62,-146.6,2340,1892,3193,2948,136.9,-8.8,76,1190,0.00,2.38,0.00,0.000,260,0.000,0.065,2332,3312,3070,3193,2948,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1308,-0.62,-146.6,2332,3313,3193,2948,146.7,-7.5,84,1314,0.00,2.33,0.00,0.000,1030,0.000,0.050,2332,1897,3070,3193,2948,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1627,-0.62,-146.6,2331,1897,3193,2950,171.6,-8.1,105,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1897,3071,3193,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1927,-0.62,-146.6,2332,1897,3193,2950,196.6,-8.5,125,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1897,3072,3193,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2227,-0.62,-146.6,2332,1897,3193,2951,220.5,-8.3,145,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1897,3072,3194,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2527,-0.62,-146.6,2331,1897,3193,2950,245.8,-8.1,165,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1897,3072,3194,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2829,-0.62,-146.6,2332,1897,3193,2951,270.6,-8.1,177,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1897,3072,3194,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.64,-146.6,2332,1897,3193,2951,295.1,-8.2,187,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1897,3072,3193,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-0.67,-146.6,2332,1897,3193,2951,319.7,-8.2,197,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,1897,3072,3193,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3727,-0.70,-146.6,2331,1897,3193,2952,346.2,-8.9,207,3732,0.00,2.38,0.00,0.000,516,0.000,0.081,2331,492,3071,3192,2951,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3870,-0.70,-146.6,2332,492,3192,2951,358.3,-9.7,211,3875,0.00,2.30,0.00,0.000,1030,0.000,0.045,2321,1921,3071,3192,2951,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4186,-0.73,-146.6,2321,1921,3191,2951,390.3,-9.7,222,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1921,3071,3191,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4484,-0.76,-146.6,2321,1921,3190,2951,417.4,-8.7,232,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1921,3070,3190,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.79,-146.6,2321,1921,3189,2951,440.0,-7.1,242,4786,0.10,0.00,0.00,0.000,4102,0.151,0.000,2266,1921,3069,3188,2950,0,0,0,0,0,0,14.76,28.83,28.83
$GC,5086,-0.75,-146.6,2266,1921,3187,2950,468.0,-9.5,252,5088,0.12,0.00,0.00,0.000,2054,0.246,0.000,2295,1921,3069,3187,2951,0,0,0,0,0,0,14.47,28.83,28.83
$GC,5384,-0.75,-146.6,2296,1921,3186,2951,494.9,-9.2,262,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1921,3068,3186,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,-0.75,-146.6,2296,1921,3185,2950,523.4,-9.6,272,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,1921,3067,3184,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5984,-0.75,-146.6,2296,1921,3182,2950,552.0,-9.7,282,5989,0.00,2.45,0.00,0.000,516,0.000,0.083,2295,493,3066,3181,2951,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6112,-0.75,-146.6,2296,493,3180,2951,565.0,-10.5,286,6118,0.00,2.28,0.00,0.000,1030,0.000,0.048,2287,1899,3066,3181,2951,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6443,-0.75,-146.6,2287,1899,3180,2951,598.4,-9.7,297,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3065,3180,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6741,-0.75,-146.6,2287,1899,3178,2951,625.5,-9.0,307,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,1899,3064,3178,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7041,-0.75,-146.6,2287,1899,3176,2950,652.6,-9.3,317,7046,0.00,2.42,0.00,0.000,516,0.000,0.085,2287,497,3062,3175,2950,0,0,0,0,0,0,28.83,14.55,28.83
$GC,7170,-0.75,-146.6,1348,496,3143,2943,665.0,-10.0,321,7175,0.00,2.28,0.00,0.000,1030,0.000,0.050,2278,1897,3063,3175,2952,0,0,0,0,0,0,28.83,14.67,28.83
$GC,7500,-0.75,-146.6,2278,1898,3173,2950,695.4,-8.6,332,7505,0.00,2.35,0.00,0.000,260,0.000,0.074,2269,3305,3061,3172,2950,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7578,-0.75,-146.6,2269,3305,3172,2951,701.1,-8.5,334,7583,0.00,2.30,0.00,0.000,1030,0.000,0.057,2269,1902,3061,3172,2950,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7899,-0.75,-146.6,2268,1902,3171,2951,730.3,-9.0,345,7901,0.12,0.00,0.00,0.000,2054,0.243,0.000,2299,1902,3060,3171,2950,0,0,0,0,0,0,14.43,28.83,28.83
$GC,8199,-0.79,-146.6,2299,1902,3170,2950,755.5,-8.8,355,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,1902,3060,3170,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,-0.83,-146.6,2299,1902,3168,2950,785.1,-10.2,365,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,1902,3059,3168,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8797,-0.88,-146.6,2299,1902,3167,2950,813.6,-9.1,375,8799,0.15,0.00,0.00,0.000,4102,0.126,0.000,2232,1902,3058,3166,2950,0,0,0,0,0,0,14.68,28.83,28.83
$GC,9097,-0.84,-146.6,2232,1902,3164,2951,846.3,-10.6,385,9099,0.15,0.00,0.00,0.000,2054,0.243,0.000,2269,1902,3057,3164,2950,0,0,0,0,0,0,14.33,28.83,28.83
$GC,9397,-0.84,-146.6,2269,1902,3162,2950,871.6,-8.0,395,9402,0.00,2.45,0.00,0.000,516,0.000,0.092,2269,489,3055,3161,2950,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9589,-0.84,-146.6,2269,489,3160,2950,887.7,-8.8,401,9595,0.00,2.33,0.00,0.000,1030,0.000,0.053,2261,1902,3055,3160,2950,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9915,-0.84,-146.6,2260,1902,3159,2950,916.2,-8.9,412,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1902,3054,3159,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10213,-0.84,-146.6,2261,1902,3157,2950,945.6,-9.9,422,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1902,3053,3157,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10513,-0.84,-146.6,2260,1902,3156,2950,976.5,-10.4,432,10514,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,1903,3053,3156,2951,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10660,begin apogee
$GC,10667,-0.22,0.0,2259,2112,3154,2950,992.7,-10.8,437,10814,0.68,0.00,137.18,2.474,10246,0.187,0.000,2464,2112,2467,2535,2399,0,0,0,0,0,0,14.38,28.83,12.88
$STATE,10816,end apogee,CONTROL_FINISHED_OK
$STATE,10816,begin climb
$GC,10818,0.95,146.6,2464,2112,2535,2398,997.4,0.0,442,10976,1.17,0.00,153.40,2.437,10246,0.122,0.000,2841,2112,1869,1884,1854,0,0,0,0,0,0,14.00,28.83,12.76
$GC,11264,0.82,146.6,2841,2112,1879,1847,948.2,14.3,457,11269,0.12,2.40,0.00,0.000,4356,0.294,0.084,2810,3495,1863,1879,1847,0,0,0,0,0,0,14.10,14.35,28.83
$GC,11482,0.71,146.6,2811,3496,1879,1841,918.0,14.1,464,11488,0.20,2.35,0.00,0.000,5126,0.274,0.066,2771,2100,1860,1879,1841,0,0,0,0,0,0,14.22,14.47,28.83
$GC,11813,0.68,146.6,2771,2100,1879,1839,879.3,11.1,475,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2101,1859,1879,1839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12111,0.65,146.6,2771,2100,1879,1835,847.9,10.1,485,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2101,1857,1880,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12412,0.67,180.4,2771,2101,1879,1832,821.4,8.4,495,12447,0.00,0.00,33.05,2.222,8198,0.000,0.000,2771,2101,1732,1750,1714,0,0,0,0,0,0,28.83,28.83,13.40
$GC,12743,0.69,193.8,2771,2100,1747,1710,791.1,9.4,506,12759,0.00,0.00,14.48,2.053,8198,0.000,0.000,2771,2100,1676,1694,1659,0,0,0,0,0,0,28.83,28.83,13.45
$GC,13041,0.69,195.0,2771,2100,1693,1654,761.8,9.9,516,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2100,1673,1693,1654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13341,0.70,203.4,2771,2101,1693,1651,732.3,9.6,526,13359,0.00,2.45,10.32,1.894,8452,0.000,0.089,2771,3489,1637,1657,1617,0,0,0,0,0,0,28.83,14.57,13.57
$GC,13448,0.68,203.4,2771,3489,1658,1617,722.5,10.5,529,13454,0.00,2.35,0.00,0.000,1030,0.000,0.067,2779,2094,1636,1656,1617,0,0,0,0,0,0,28.83,14.50,28.83
$GC,13768,0.68,203.4,2778,2094,1657,1614,687.1,10.9,540,13773,0.00,2.40,0.00,0.000,260,0.000,0.085,2779,3495,1635,1657,1614,0,0,0,0,0,0,28.83,14.54,28.83
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$STATE,19772,end climb,SURFACE_DEPTH_REACHED
$STATE,19772,begin surface coast
$FINISH,-0.1,1.011884
$STATE,19788,end surface coast,CONTROL_FINISHED_OK
$STATE,19790,begin surface
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$IRIDIUM_FIX,2422.84,-3748.55,300313,212146
$TT8_MAMPS,0.023219,0.023219
$HUMID,39.21
$INTERNAL_PRESSURE,8.3133
$TCM_TEMP,23.60
$XPDR_PINGS,153
$SC_FREEKB,4014112
$TM_FREEKB,7815924
$24V_AH,12.8,9.098
$10V_AH,13.2,0.000
$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
$DEVICE_SECS,21.575,90.450,380.075,0.000,0.000,60.037,82.924,406.727,38.250,0.000,12.382,2529.769,14859.424,483.372,2543.569,358.753,33.237,1444.325,0.000,1826.061,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.592,12.753,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,30069,811
$CAP_FILE_SIZE,198532,0
$CFSIZE,260165632,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$GPS,310313,030925,2431.594,-3747.000,26,2.8,45,-15.0