version: 66.11
glider: 144
mission: 21
dive: 4
start: 10 25 113 21 55 12
data:
$ID,144
$MISSION,21
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,300
$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,100
$T_MISSION,120
$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,350
$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,-57282.016
$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,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$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
$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
$GPS1,251013,215059,4700.664,-12458.937,1,0.8,1,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.6
$GPS2,251013,215445,4700.651,-12458.896,3,0.8,3,16.6
$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,251.6,39304,-17.5,-10.000,-21.09,2221
$D_GRID,300
$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,15,-0.76,-146.6,114,2272,1334,1145,0.0,0.0,0,70,0.00,0.00,-52.67,0.000,16386,0.000,0.000,114,2273,2848,2783,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.76,-146.6,114,2272,2785,2913,2.4,-3.3,5,101,13.07,2.53,-9.05,0.000,18692,0.412,0.090,2925,3725,3273,3170,3377,0,0,0,0,0,0,14.47,14.68,14.88
$GC,245,-0.76,-146.6,2925,3725,3178,3378,27.3,-14.1,22,253,0.00,2.40,0.00,0.000,1030,0.000,0.044,2925,2273,3277,3178,3377,0,0,0,0,0,0,28.83,14.73,28.83
$GC,554,-0.76,-146.6,2925,2273,3181,3378,60.6,-10.9,53,563,0.00,2.42,0.00,0.000,260,0.000,0.068,2925,3719,3279,3181,3378,0,0,0,0,0,0,28.83,14.67,28.83
$GC,667,-0.76,-146.6,1936,3718,3149,3373,73.4,-11.4,64,675,0.00,2.38,0.00,0.000,1030,0.000,0.043,2925,2276,3279,3182,3377,0,0,0,0,0,0,28.83,14.74,28.83
$GC,985,-0.76,-146.6,2925,2276,3183,3378,104.8,-8.5,83,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2276,3281,3184,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1289,-0.76,-146.6,2925,2276,3184,3377,130.9,-8.2,98,1294,0.00,2.42,0.00,0.000,260,0.000,0.070,2925,3723,3281,3184,3378,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1354,-0.76,-146.6,2925,3723,3184,3378,136.2,-8.3,101,1358,0.00,2.33,0.00,0.000,1030,0.000,0.044,2925,2270,3280,3183,3378,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1676,-0.76,-146.6,2925,2271,3184,3377,163.0,-7.8,115,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2271,3280,3184,3377,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1795,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1795,begin apogee
$GC,1798,-0.22,0.0,2925,2431,3184,3378,172.0,-7.6,119,1920,0.62,0.03,116.35,1.413,10246,0.230,0.050,3104,2369,2672,2621,2723,0,0,0,0,0,0,14.72,14.19,13.62
$STATE,1921,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1923,0.76,146.6,3104,2369,2620,2722,173.0,0.0,123,2047,1.02,0.00,120.12,1.363,10246,0.159,0.000,3417,2368,2074,2091,2058,0,0,0,0,0,0,14.16,28.83,13.49
$GC,2346,0.76,146.6,3417,2368,2071,2056,128.2,12.0,140,2352,0.00,2.50,0.00,0.000,260,0.000,0.068,3417,3828,2063,2071,2056,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2439,0.76,146.6,3417,3828,2071,2054,118.2,12.5,144,2446,0.00,2.45,0.00,0.000,1030,0.000,0.047,3427,2350,2062,2071,2054,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2746,0.76,146.6,3426,2350,2068,2054,81.1,11.1,160,2750,0.00,2.50,0.00,0.000,260,0.000,0.067,3426,3824,2061,2069,2054,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3035,0.76,156.6,3426,3824,2068,2053,48.6,9.5,188,3053,0.00,2.38,7.85,1.106,9222,0.000,0.047,3436,2376,2032,2041,2024,0,0,0,0,0,0,28.83,14.77,14.11
$GC,3352,0.76,242.0,3436,2376,2035,2025,21.9,6.1,220,3433,0.00,2.53,71.80,1.281,8452,0.000,0.067,3436,3819,1685,1717,1653,0,0,0,0,0,0,28.83,14.35,13.79
$GC,3537,0.76,242.0,3436,3819,1711,1649,5.9,11.1,238,3545,0.00,2.45,0.00,0.000,1030,0.000,0.047,3438,2384,1680,1711,1649,0,0,0,0,0,0,28.83,14.50,28.83
$STATE,3573,end climb,SURFACE_DEPTH_REACHED
$STATE,3573,begin surface coast
$FINISH,0.1,1.010644
$STATE,3605,end surface coast,CONTROL_FINISHED_OK
$STATE,3605,begin surface
$SM_CCo,3621,90.70,1.206,1,0,1245,350.04
$SM_GC,1.00,9.73,0.15,90.70,0.088,0.103,1.206,111,2279,1245,-9.53,0.71,350.04,0,0,0,0,1,0,14.57,14.59,13.66
$IRIDIUM_FIX,4644.93,-12501.07,251013,212132
$TT8_MAMPS,0.023219,0.023219
$HUMID,64.25
$INTERNAL_PRESSURE,8.6065
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.0
$ALTIM_BOTTOM_PING,141.2,39.8
$24V_AH,13.5,5.661
$10V_AH,13.1,1.580
$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,24.450,29.700,316.125,90.700,0.000,0.000,0.000,0.000,2.000,0.000,4.721,634.933,2091.384,448.599,569.675,26.876,0.000,794.786,0.000,560.152,0.000,16.339,0.000
$DEVICE_MAMPS,412.335,102.510,1412.955,1205.640,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.222,297.699,249.322,182.055,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313872
$DATA_FILE_SIZE,13690,245
$CAP_FILE_SIZE,63628,0
$CFSIZE,260165632,219197440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,251013,225736,4700.931,-12459.185,2,1.0,3,16.6