version: 66.11
glider: 144
mission: 21
dive: 5
start: 10 25 113 23 15 15
data:
$ID,144
$MISSION,21
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$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,330
$T_MISSION,360
$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,-57291.441
$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
$GPS1,251013,230840,4700.884,-12459.129,1,1.0,1,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.4
$GPS2,251013,231448,4700.842,-12459.090,3,2.0,3,16.6
$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,251.1,39072,-17.5,-10.000,-21.09,2221
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.76,-146.6,109,2275,1335,1143,0.0,0.0,0,70,0.00,0.00,-52.60,0.000,16386,0.000,0.000,109,2276,2829,2765,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.76,-146.6,109,2276,2768,2893,2.4,-3.4,5,101,13.30,2.53,-9.30,0.000,18692,0.420,0.095,2925,3718,3273,3170,3377,0,0,0,0,0,0,14.43,14.64,14.85
$GC,385,-0.76,-146.6,2925,3718,3179,3378,42.2,-11.0,36,393,0.00,2.40,0.00,0.000,1030,0.000,0.047,2925,2281,3278,3179,3378,0,0,0,0,0,0,28.83,14.73,28.83
$GC,693,-0.76,-146.6,2925,2281,3182,3377,77.5,-11.6,67,697,0.00,2.35,0.00,0.000,516,0.000,0.067,2925,869,3280,3182,3378,0,0,0,0,0,0,28.83,14.76,28.83
$GC,797,-0.76,-146.6,2925,869,3183,3378,88.4,-11.6,73,801,0.00,2.38,0.00,0.000,1030,0.000,0.050,2925,2321,3280,3182,3378,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1109,-0.76,-146.6,2925,2321,3183,3378,122.2,-10.2,89,1113,0.00,2.35,0.00,0.000,260,0.000,0.069,2925,3728,3280,3183,3378,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1168,-0.76,-146.6,2925,3728,3183,3377,127.2,-9.2,92,1172,0.00,2.35,0.00,0.000,1030,0.000,0.041,2925,2263,3280,3183,3378,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1482,-0.76,-146.6,2925,2263,3183,3378,151.3,-7.7,108,1488,0.00,2.42,0.00,0.000,260,0.000,0.067,2924,3722,3280,3183,3378,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1553,-0.76,-146.6,2925,3722,3183,3378,156.3,-8.2,110,1557,0.00,2.33,0.00,0.000,1030,0.000,0.041,2925,2268,3280,3183,3377,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1865,-0.76,-146.6,2925,2267,3183,3377,183.7,-9.0,121,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2268,3280,3183,3377,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1953,begin apogee
$GC,1957,-0.22,0.0,2925,2428,3183,3377,192.6,-9.8,124,2083,0.62,0.00,119.07,1.439,10246,0.230,0.000,3103,2427,2671,2621,2722,0,0,0,0,0,0,14.73,28.83,13.58
$STATE,2084,end apogee,CONTROL_FINISHED_OK
$STATE,2084,begin climb
$GC,2085,0.76,146.6,3103,2427,2619,2722,195.9,0.0,128,2214,1.02,2.62,119.55,1.398,10756,0.161,0.069,3426,986,2073,2091,2055,0,0,0,0,0,0,14.14,14.04,13.46
$GC,2248,0.76,220.2,3426,986,2084,2054,187.9,6.6,133,2319,0.00,2.47,63.25,1.356,9222,0.000,0.049,3426,2422,1774,1806,1742,0,0,0,0,0,0,28.83,14.24,13.49
$GC,2625,0.76,220.2,3426,2422,1789,1741,132.6,14.2,148,2630,0.00,2.38,0.00,0.000,260,0.000,0.070,3426,3818,1765,1789,1741,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2689,0.76,220.2,3426,3818,1788,1741,123.3,16.1,151,2693,0.00,2.40,0.00,0.000,1030,0.000,0.049,3436,2375,1765,1789,1741,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3001,0.76,220.2,3435,2374,1787,1741,76.5,13.4,168,3005,0.00,2.35,0.00,0.000,516,0.000,0.074,3445,983,1763,1786,1741,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3050,0.76,220.2,3445,982,1785,1741,69.6,14.9,172,3059,0.00,2.35,0.00,0.000,1030,0.000,0.050,3445,2416,1763,1785,1741,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3359,0.76,220.2,3445,2416,1783,1741,27.8,11.6,203,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2416,1762,1783,1741,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3636,end climb,SURFACE_DEPTH_REACHED
$STATE,3636,begin surface coast
$FINISH,0.4,1.023822
$STATE,3667,end surface coast,CONTROL_FINISHED_OK
$STATE,3667,begin surface
$SM_CCo,3683,106.68,1.260,0,0,1245,350.04
$SM_GC,0.91,9.57,0.22,106.68,0.086,0.091,1.260,112,2271,1245,-9.53,0.74,350.04,0,0,0,0,0,0,14.78,14.81,13.70
$IRIDIUM_FIX,4644.93,-12458.49,251013,232322
$TT8_MAMPS,0.023968,0.023968
$HUMID,65.19
$INTERNAL_PRESSURE,8.58696
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,170.4,31.0
$24V_AH,13.5,5.845
$10V_AH,13.4,1.619
$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,24.525,34.150,301.875,106.675,0.000,0.000,0.000,0.000,2.750,0.000,4.745,635.717,2178.208,413.327,588.982,28.246,0.000,780.358,0.000,575.748,0.000,21.020,0.000
$DEVICE_MAMPS,419.985,94.860,1438.965,1259.955,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.026,285.702,238.255,173.723,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313908
$DATA_FILE_SIZE,13658,234
$CAP_FILE_SIZE,56883,0
$CFSIZE,260165632,219168768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,3051.03,0x235a20,1,24
$GPS,261013,001852,4701.040,-12459.550,1,1.9,2,16.6