version: 66.11
glider: 144
mission: 21
dive: 2
start: 10 25 113 19 19 57
data:
$ID,144
$MISSION,21
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,290
$T_TURN_SAMPINT,5
$T_NO_W,720
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,59412
$MASS_COMP,4370
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0030066001
$HD_B,0.0099999998
$HD_C,1.176e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,430
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,5
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-57239.898
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3262
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.4
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024600001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.012749
$PRESSURE_SLOPE,0.0001182519
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,4
$XPDR_INHIBIT,95
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,131
$DEVICE3,53
$DEVICE4,20
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$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,-9.7093372
$SEABIRD_C_H,1.1118598
$SEABIRD_C_I,-0.0010979992
$SEABIRD_C_J,0.00015928292
$GPS1,251013,191514,4700.223,-12458.970,2,1.3,2,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.8
$GPS2,251013,191929,4700.224,-12458.938,6,1.3,6,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,252.8,39236,-17.5,-10.000,-21.09,2221
$D_GRID,150
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.08,-146.6,113,2346,570,427,0.0,0.0,0,99,0.00,0.00,-81.65,0.000,16386,0.000,0.000,113,2347,2967,2896,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-1.08,-146.6,113,2347,2898,3039,2.4,-2.8,8,129,12.70,2.33,-6.72,0.000,18692,0.398,0.093,2909,3727,3274,3172,3377,0,0,0,0,0,0,14.48,14.70,14.92
$GC,274,-1.08,-146.6,2909,3726,3187,3377,29.9,-15.5,25,281,0.00,2.40,0.00,0.000,1030,0.000,0.044,2909,2276,3282,3187,3377,0,0,0,0,0,0,28.83,14.73,28.83
$GC,581,-1.08,-146.6,2909,2276,3190,3377,64.7,-12.3,56,590,0.00,2.33,0.00,0.000,516,0.000,0.066,2909,872,3283,3190,3377,0,0,0,0,0,0,28.83,14.77,28.83
$GC,615,-1.08,-146.6,2909,872,3190,3377,68.4,-11.9,59,622,0.00,2.40,0.00,0.000,1030,0.000,0.048,2909,2311,3283,3190,3377,0,0,0,0,0,0,28.83,14.76,28.83
$GC,933,-1.08,-146.6,2909,2310,3191,3377,100.7,-10.8,81,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2310,3284,3192,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-1.08,-146.6,2909,2310,3192,3377,133.8,-9.2,96,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2311,3284,3192,3377,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1452,begin apogee
$GC,1455,-0.20,0.0,2909,2432,3191,3377,151.4,-8.5,107,1574,0.95,0.08,113.28,1.363,10246,0.223,0.151,3186,2374,2672,2623,2722,0,0,0,0,0,0,14.66,14.24,13.67
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1577,1.08,146.6,3186,2375,2622,2722,153.2,0.0,111,1701,1.25,2.50,114.35,1.356,10756,0.103,0.068,3616,980,2074,2095,2053,0,0,0,0,0,0,14.26,14.11,13.54
$GC,1736,1.08,146.6,3616,980,2089,2052,133.1,19.1,118,1740,0.00,2.45,0.00,0.000,1030,0.000,0.047,3616,2425,2070,2089,2051,0,0,0,0,0,0,28.83,14.31,28.83
$GC,2043,1.08,146.6,3616,2425,2077,2051,61.9,19.7,137,2047,0.00,2.45,0.00,0.000,516,0.000,0.067,3626,980,2064,2077,2051,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2082,1.08,146.6,3626,980,2077,2051,55.2,18.4,140,2089,0.00,2.42,0.00,0.000,1030,0.000,0.048,3626,2449,2064,2077,2051,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2390,1.08,146.6,3626,2449,2072,2049,11.3,10.4,171,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,2449,2060,2072,2049,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2467,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,0.2,1.023729
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2505,225.62,1.215,0,0,919,430.01
$SM_GC,1.20,10.10,0.30,225.62,0.086,0.076,1.215,115,2253,919,-9.77,0.40,430.01,0,0,0,0,0,0,14.74,14.78,13.61
$IRIDIUM_FIX,4644.93,-12458.49,251013,191948
$TT8_MAMPS,0.023968,0.023968
$HUMID,60.47
$INTERNAL_PRESSURE,8.59673
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,13.5,5.284
$10V_AH,13.1,1.492
$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,25.000,19.925,227.625,225.625,0.000,0.000,0.000,0.000,1.750,0.000,7.685,474.459,1395.741,496.059,400.240,22.935,0.000,764.673,0.000,393.043,0.000,12.079,0.000
$DEVICE_MAMPS,397.800,150.705,1363.230,1214.820,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,125.187,221.225,184.081,131.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313904
$DATA_FILE_SIZE,10340,181
$CAP_FILE_SIZE,80513,0
$CFSIZE,260165632,219250688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251013,200557,4700.380,-12459.228,4,1.0,4,16.6