version: 66.11
glider: 144
mission: 21
dive: 20
start: 10 28 113 22 44 4
data:
$ID,144
$MISSION,21
$DIVE,20
$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,390
$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,13
$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,250
$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,-57317.492
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3930
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,1
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3924
$ROLL_DEG,40
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2307
$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,0.039999999
$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,0
$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
$GPS1,281013,223917,4702.418,-12524.236,3,1.2,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,281013,224337,4702.419,-12524.170,5,1.2,5,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.178,-0.189
$KALMAN_X,3736.6,0.0,0.0,-19683.6,6264.4
$KALMAN_Y,9601.1,0.0,0.0,-14148.5,9930.8
$MHEAD_RNG_PITCHd_Wd,206.7,8620,-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,-6.64,-146.6,96,2413,1711,1572,0.0,0.0,0,50,0.00,0.00,-32.38,0.000,16386,0.000,0.000,96,2413,2573,2541,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,51,-6.64,-146.6,95,2413,2543,2605,2.0,-4.0,3,80,4.38,2.45,-17.98,0.000,18692,0.441,0.080,966,3826,3273,3215,3331,0,0,0,0,0,0,14.21,14.51,14.68
$GC,372,-6.64,-146.6,966,3826,3228,3331,138.3,-40.4,28,376,0.00,2.42,0.00,0.000,1030,0.000,0.042,966,2362,3279,3228,3331,0,0,0,0,0,0,28.83,14.63,28.83
$GC,705,-6.64,-146.6,966,2362,3232,3331,277.1,-42.2,40,712,0.00,2.42,0.00,0.000,260,0.000,0.054,956,3818,3282,3232,3332,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1002,-6.64,-146.6,956,3818,3235,3332,385.7,-44.8,45,1012,0.00,2.42,0.00,0.000,1030,0.000,0.044,956,2354,3283,3235,3331,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1310,-6.64,-146.6,956,2354,3235,3332,552.8,-46.7,51,1314,0.00,2.42,0.00,0.000,260,0.000,0.056,946,3822,3283,3235,3331,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1606,-6.64,-146.6,945,3822,3235,3331,668.9,-48.0,55,1617,0.15,2.42,0.00,0.000,3078,0.471,0.044,973,2338,3283,3235,3331,0,0,0,0,0,0,14.39,14.80,28.83
$GC,1914,-6.64,-146.6,973,2338,3235,3331,845.0,-48.8,61,1919,0.00,2.45,0.00,0.000,260,0.000,0.057,964,3825,3283,3235,3331,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2209,-6.64,-146.6,964,3825,3235,3331,965.7,-49.8,65,2218,0.00,2.42,0.00,0.000,1030,0.000,0.047,963,2365,3283,3235,3331,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,2277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2277,begin apogee
$GC,2281,-0.22,0.0,964,2283,3235,3331,1024.8,-49.4,67,2439,10.00,0.00,141.73,2.339,10246,0.402,0.000,3026,2282,2671,2631,2712,0,0,0,0,0,0,13.91,28.83,12.55
$STATE,2440,end apogee,CONTROL_FINISHED_OK
$STATE,2440,begin climb
$GC,2441,6.64,146.6,3027,2282,2629,2712,1035.5,0.0,69,2600,3.95,2.67,145.77,2.310,10756,0.343,0.096,3922,900,2073,2117,2030,3,0,0,0,0,0,13.14,13.65,12.45
$GC,2757,6.64,146.6,3922,900,2105,2027,943.8,35.3,75,2763,0.00,2.53,0.00,0.000,3078,0.000,0.069,3914,2309,2066,2105,2027,0,0,0,0,0,0,28.83,14.21,28.83
$GC,3117,6.64,146.6,3914,2308,2098,2027,808.9,37.3,81,3118,0.00,0.00,0.00,0.000,2054,0.000,0.000,3914,2308,2062,2098,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3417,6.64,146.6,3914,2308,2096,2026,699.0,36.6,86,3418,0.00,0.00,0.00,0.000,2054,0.000,0.000,3914,2309,2061,2096,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3717,6.64,146.6,3914,2309,2094,2026,590.9,36.1,91,3721,0.00,2.42,0.00,0.000,2308,0.000,0.076,3903,3727,2060,2094,2026,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3776,6.64,146.6,3903,3727,2094,2025,570.1,36.3,92,3781,0.10,2.45,0.00,0.000,3078,0.281,0.062,3920,2288,2059,2094,2025,0,0,0,0,0,0,14.53,14.71,28.83
$GC,4133,6.64,146.6,3920,2288,2094,2025,444.0,35.0,98,4139,0.00,2.42,0.00,0.000,2564,0.000,0.094,3930,887,2059,2094,2025,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4166,6.64,146.6,3930,886,2093,2025,444.0,35.0,98,4170,0.00,2.42,0.00,0.000,3078,0.000,0.063,3922,2316,2059,2094,2025,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4488,6.64,146.6,3922,2316,2092,2025,318.6,35.3,104,4492,0.00,2.38,0.00,0.000,2308,0.000,0.078,3911,3723,2057,2091,2024,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4502,6.64,146.6,3911,3723,2091,2023,318.6,35.3,104,4507,0.05,2.42,0.00,0.000,3078,0.293,0.063,3921,2288,2057,2091,2023,0,0,0,0,0,0,14.70,14.79,28.83
$GC,4814,6.64,146.6,3921,2288,2090,2023,206.1,34.3,114,4818,0.00,2.47,0.00,0.000,2308,0.000,0.079,3912,3730,2056,2090,2023,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4858,6.64,146.6,3912,3730,2090,2023,197.3,34.2,115,4863,0.03,2.45,0.00,0.000,3078,0.207,0.063,3921,2300,2056,2090,2023,0,0,0,0,0,0,14.70,14.80,28.83
$GC,5170,6.64,146.6,3921,2300,2089,2023,86.3,31.0,129,5174,0.00,2.42,0.00,0.000,2308,0.000,0.077,3913,3723,2056,2089,2023,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5193,6.64,146.6,3913,3723,2089,2022,81.7,30.3,130,5198,0.00,2.42,0.00,0.000,3078,0.000,0.055,3913,2290,2055,2089,2022,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5505,6.64,146.6,3913,2289,2086,2022,17.8,10.9,161,5510,0.00,2.45,0.00,0.000,2308,0.000,0.072,3913,3730,2054,2086,2022,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,5600,end climb,SURFACE_DEPTH_REACHED
$STATE,5600,begin surface coast
$FINISH,0.5,1.023858
$STATE,5612,end surface coast,CONTROL_FINISHED_OK
$STATE,5612,begin surface
$SM_CCo,5631,85.93,1.281,0,0,1651,250.21
$SM_GC,1.22,11.07,2.28,85.93,0.095,0.044,1.281,109,2359,1651,-9.31,0.65,250.21,0,0,0,0,0,0,14.81,14.83,13.29
$IRIDIUM_FIX,4644.93,-12525.65,281013,202037
$TT8_MAMPS,0.023219,0.023219
$HUMID,66.85
$INTERNAL_PRESSURE,8.5772
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,12.4,9.650
$10V_AH,13.1,2.799
$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,29.725,53.775,287.500,85.925,0.000,31.140,44.008,116.093,22.250,0.000,6.524,628.107,3856.833,397.769,1064.285,43.469,0.386,878.064,0.000,792.081,0.000,141.231,0.000
$DEVICE_MAMPS,471.240,140.760,2339.370,1280.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,119.402,207.928,174.040,134.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313744
$DATA_FILE_SIZE,10344,171
$CAP_FILE_SIZE,66484,0
$CFSIZE,260165632,218312704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,1,0
$GPS,291013,001951,4702.401,-12524.675,3,1.8,3,16.6