version: 66.11
glider: 144
mission: 21
dive: 21
start: 10 29 113 0 24 37
data:
$ID,144
$MISSION,21
$DIVE,21
$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,-57318.754
$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,0.039999999
$PITCH_ADJ_DBAND,1
$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
$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
$GPS1,291013,001951,4702.401,-12524.675,3,1.8,3,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,291013,002410,4702.367,-12524.664,7,0.8,7,16.6
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_A
$TGT_LATLONG,4700.000,-12530.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.177,-0.190
$KALMAN_X,6020.6,0.0,0.0,-22450.1,11371.9
$KALMAN_Y,11921.9,0.0,0.0,-16449.7,14994.4
$MHEAD_RNG_PITCHd_Wd,206.4,8040,-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,14,-0.78,-146.6,86,2425,1710,1572,0.0,0.0,0,49,0.00,0.00,-32.10,0.000,16386,0.000,0.000,85,2425,2576,2551,2601,0,0,0,0,0,0,28.83,28.83,28.83
$GC,50,-0.78,-146.6,85,2425,2551,2603,2.3,-5.0,3,89,13.75,2.40,-17.05,0.000,19204,0.434,0.092,2840,3808,3274,3192,3356,0,0,0,0,0,0,14.21,14.47,14.68
$GC,381,-0.47,-146.6,2840,3808,3203,3357,57.5,-16.2,36,392,0.45,2.38,0.00,0.000,3078,0.295,0.042,2950,2356,3280,3204,3356,0,0,0,0,0,0,14.42,14.63,28.83
$GC,692,-0.51,-146.6,2950,2355,3209,3356,87.2,-8.8,63,698,0.00,2.33,0.00,0.000,516,0.000,0.066,2950,970,3282,3209,3356,0,0,0,0,0,0,28.83,14.66,28.83
$GC,772,-0.57,-146.6,2950,969,3210,3357,94.6,-9.3,67,777,0.00,2.38,0.00,0.000,1030,0.000,0.050,2950,2407,3283,3210,3357,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1093,-0.69,-146.6,2950,2407,3211,3358,121.2,-7.5,83,1099,0.17,2.35,0.00,0.000,4356,0.141,0.072,2883,3806,3284,3210,3358,0,0,0,0,0,0,14.71,14.71,28.83
$GC,1256,-0.65,-146.6,2883,3806,3211,3358,137.8,-10.4,91,1260,0.00,2.35,0.00,0.000,1030,0.000,0.041,2882,2364,3284,3210,3358,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1584,-0.65,-146.6,2882,2364,3210,3358,171.8,-9.9,104,1590,0.00,2.30,0.00,0.000,516,0.000,0.066,2883,970,3284,3210,3358,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1655,-0.65,-146.6,2882,970,3210,3358,178.4,-10.2,106,1660,0.00,2.35,0.00,0.000,1030,0.000,0.050,2882,2406,3284,3211,3358,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1973,-0.65,-146.6,2882,2405,3211,3358,209.0,-9.2,117,1979,0.00,2.38,0.00,0.000,260,0.000,0.074,2882,3811,3284,3210,3358,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2041,-0.65,-146.6,2882,3811,3211,3358,215.0,-9.8,119,2045,0.00,2.35,0.00,0.000,1030,0.000,0.041,2882,2357,3284,3211,3358,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2359,-0.69,-146.6,2882,2356,3210,3358,245.8,-9.4,130,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2356,3284,3211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2659,-0.76,-146.6,2882,2355,3211,3358,272.2,-8.5,140,2665,0.00,2.45,0.00,0.000,260,0.000,0.075,2882,3804,3284,3211,3358,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2780,-0.82,-146.6,2882,3804,3211,3358,282.3,-8.4,144,2786,0.08,2.30,0.00,0.000,5126,0.116,0.041,2845,2365,3284,3211,3358,0,0,0,0,0,0,14.81,14.85,28.83
$GC,3138,-0.82,-146.6,2845,2365,3211,3358,319.6,-10.6,153,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2365,3284,3210,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.82,-146.6,2845,2365,3211,3357,349.9,-10.0,158,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2365,3284,3211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3738,-0.82,-146.6,2845,2365,3211,3358,378.8,-9.7,163,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2365,3284,3211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-0.82,-146.6,2844,2365,3211,3358,409.3,-10.2,168,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2365,3284,3210,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4338,-0.82,-146.6,2844,2365,3211,3358,440.4,-10.4,173,4344,0.00,2.45,0.00,0.000,260,0.000,0.078,2843,3807,3284,3210,3358,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4436,-0.82,-146.6,2843,3807,3210,3358,446.8,-10.4,174,4440,0.00,2.38,0.00,0.000,1030,0.000,0.043,2843,2359,3284,3210,3358,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4761,-0.86,-146.6,2843,2359,3211,3358,482.2,-9.7,180,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2359,3284,3210,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5059,-0.92,-146.6,2843,2359,3210,3358,510.5,-9.3,185,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2359,3284,3210,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.98,-146.6,2843,2359,3211,3358,538.5,-9.4,190,5365,0.12,2.30,0.00,0.000,4612,0.164,0.068,2793,968,3284,3210,3358,0,0,0,0,0,0,14.88,14.89,28.83
$GC,5406,-1.05,-146.6,2793,968,3210,3357,538.5,-9.4,190,5411,0.00,2.35,0.00,0.000,1030,0.000,0.054,2792,2403,3283,3210,3357,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5713,-0.99,-146.6,2792,2404,3210,3356,579.5,-11.4,195,5719,0.00,2.35,0.00,0.000,260,0.000,0.079,2792,3805,3283,3210,3356,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5761,-0.94,-146.6,2792,3805,3211,3356,579.5,-11.4,195,5765,0.00,2.33,0.00,0.000,1030,0.000,0.044,2792,2358,3283,3211,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6068,-0.89,-146.6,2792,2358,3210,3356,618.0,-10.7,200,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2358,3282,3210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6368,-0.89,-146.6,2792,2358,3210,3354,649.7,-10.5,205,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2358,3282,3210,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6669,-0.89,-146.6,2792,2358,3210,3354,680.6,-10.2,210,6675,0.00,2.47,0.00,0.000,260,0.000,0.080,2792,3814,3281,3210,3353,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6716,-0.89,-146.6,2792,3814,3210,3352,680.6,-10.2,210,6720,0.00,2.38,0.00,0.000,1030,0.000,0.044,2792,2334,3281,3210,3352,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7028,-0.89,-146.6,2792,2334,3210,3352,716.3,-9.9,216,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2334,3281,3210,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7328,-0.89,-146.6,2792,2334,3210,3352,748.1,-10.8,221,7332,0.00,2.50,0.00,0.000,260,0.000,0.080,2792,3805,3281,3210,3352,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7403,-0.89,-146.6,2792,3805,3210,3350,754.5,-11.0,222,7408,0.00,2.38,0.00,0.000,1030,0.000,0.044,2792,2360,3280,3210,3351,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7746,-0.89,-146.6,2792,2359,3210,3351,794.8,-11.1,228,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2359,3280,3210,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8048,-0.89,-146.6,2792,2360,3210,3350,826.3,-10.5,233,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2359,3280,3210,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,-0.89,-146.6,2792,2359,3210,3349,856.0,-9.9,238,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2359,3280,3211,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8647,-0.89,-146.6,2792,2359,3210,3349,884.4,-9.4,243,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2359,3279,3210,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8948,-0.94,-146.6,2792,2359,3210,3348,912.8,-9.5,248,8954,0.00,2.45,0.00,0.000,260,0.000,0.082,2792,3803,3279,3210,3348,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8999,-0.98,-146.6,2792,3803,3210,3347,912.8,-9.5,248,9006,0.00,2.33,0.00,0.000,1030,0.000,0.045,2792,2364,3278,3210,3347,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9306,-1.03,-146.6,2792,2364,3210,3347,947.5,-9.7,254,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2364,3278,3210,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9606,-1.09,-146.6,2792,2364,3211,3347,976.3,-9.6,259,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2364,3278,3210,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9785,begin apogee
$GC,9789,-0.22,0.0,2792,2284,3210,3346,993.7,-9.7,262,9933,0.85,0.00,139.02,2.330,10246,0.249,0.000,3030,2282,2671,2633,2710,0,0,0,0,0,0,14.76,28.83,12.71
$STATE,9935,end apogee,CONTROL_FINISHED_OK
$STATE,9935,begin climb
$GC,9936,0.78,146.6,3030,2282,2632,2710,996.2,0.0,264,10090,1.08,2.58,145.43,2.300,10756,0.157,0.077,3356,887,2074,2104,2044,0,0,0,0,0,0,13.89,13.74,12.40
$GC,10142,0.78,146.6,3356,887,2096,2040,979.0,9.7,268,10147,0.00,2.50,0.00,0.000,1030,0.000,0.050,3356,2319,2068,2096,2040,0,0,0,0,0,0,28.83,14.06,28.83
$GC,10499,0.54,146.6,3356,2319,2084,2040,928.5,14.2,274,10505,0.25,2.42,0.00,0.000,4356,0.282,0.069,3293,3729,2062,2084,2040,0,0,0,0,0,0,14.31,14.46,28.83
$GC,10559,0.32,146.6,3293,3729,2084,2039,920.7,14.0,275,10566,0.32,2.42,0.00,0.000,5126,0.277,0.049,3219,2292,2061,2084,2039,0,0,0,0,0,0,14.35,14.51,28.83
$GC,10919,0.48,207.0,3218,2292,2079,2039,893.5,7.2,281,10986,0.12,2.58,59.05,2.201,10756,0.170,0.076,3271,889,1827,1850,1804,0,0,0,0,0,0,14.61,14.06,12.75
$GC,11027,0.61,262.4,3272,889,1845,1802,888.3,7.4,282,11092,0.12,2.45,58.42,2.163,11270,0.165,0.050,3312,2319,1602,1640,1564,0,0,0,0,0,0,14.20,14.23,12.55
$GC,11399,0.61,262.4,3312,2319,1624,1562,836.0,13.1,289,11405,0.00,2.42,0.00,0.000,260,0.000,0.071,3312,3723,1593,1624,1562,0,0,0,0,0,0,28.83,14.44,28.83
$GC,11458,0.61,262.4,3312,3723,1624,1562,826.8,13.6,290,11463,0.00,2.45,0.00,0.000,1030,0.000,0.051,3312,2287,1593,1624,1562,0,0,0,0,0,0,28.83,14.50,28.83
$GC,11814,0.61,262.4,3312,2287,1621,1562,777.5,13.8,296,11819,0.00,2.40,0.00,0.000,516,0.000,0.078,3315,890,1591,1621,1562,0,0,0,0,0,0,28.83,14.60,28.83
$GC,11870,0.61,262.4,3315,890,1620,1561,770.1,13.6,297,11874,0.00,2.40,0.00,0.000,1030,0.000,0.051,3315,2325,1590,1620,1561,0,0,0,0,0,0,28.83,14.64,28.83
$GC,12226,0.61,262.4,3315,2324,1619,1561,720.8,14.0,303,12230,0.00,2.38,0.00,0.000,260,0.000,0.073,3315,3724,1590,1619,1561,0,0,0,0,0,0,28.83,14.69,28.83
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$STATE,17675,end climb,SURFACE_DEPTH_REACHED
$STATE,17675,begin surface coast
$FINISH,0.1,1.023770
$STATE,17703,end surface coast,CONTROL_FINISHED_OK
$STATE,17703,begin surface
$SM_CCo,17779,0.00,0.000,0,0,1440,302.21
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$IRIDIUM_FIX,4644.93,-12521.25,281013,222221
$TT8_MAMPS,0.023219,0.023219
$HUMID,66.18
$INTERNAL_PRESSURE,8.55767
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.4,9.933
$10V_AH,13.1,2.879
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.625,148.075,436.200,0.000,0.000,31.269,44.553,113.770,22.500,0.000,7.578,1573.620,14129.594,471.471,1782.698,92.556,0.385,1410.007,0.000,1498.036,0.000,142.395,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313772
$DATA_FILE_SIZE,30321,487
$CAP_FILE_SIZE,150605,0
$CFSIZE,260165632,218169344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2784.37,0x212c5c,0,24
$GPS,291013,052200,4701.457,-12527.878,38,1.0,39,16.6