version: 66.11
glider: 144
mission: 21
dive: 26
start: 10 30 113 2 49 23
data:
$ID,144
$MISSION,21
$DIVE,26
$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,-57325.047
$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
$GPS1,301013,024105,4704.062,-12542.072,27,1.1,27,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.5
$GPS2,301013,024855,4704.110,-12542.110,5,0.8,5,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4730.000,-12630.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.205,0.159
$KALMAN_X,-3.6,0.0,0.0,-38456.6,-495.6
$KALMAN_Y,13791.8,0.0,0.0,-15134.7,464.9
$MHEAD_RNG_PITCHd_Wd,291.1,76742,-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,-0.78,-146.6,111,2361,1582,1513,0.0,0.0,0,60,0.00,0.00,-42.28,0.000,16386,0.000,0.000,111,2361,2810,2764,2856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.78,-146.6,111,2361,2767,2856,2.6,-4.4,4,91,14.05,2.45,-9.70,0.000,18948,0.422,0.087,2849,964,3273,3191,3356,0,0,0,0,0,0,13.85,14.52,14.77
$GC,113,0.24,-146.6,2849,964,3197,3356,11.5,-16.0,9,123,1.27,2.42,0.00,0.000,3078,0.279,0.053,3175,2405,3277,3199,3356,0,0,0,0,0,0,14.19,14.54,28.83
$GC,423,-0.51,-146.6,3175,2405,3204,3359,29.4,-5.2,40,433,0.68,2.38,0.00,0.000,4356,0.129,0.069,2952,3807,3281,3204,3359,0,0,0,0,0,0,14.54,14.62,28.83
$GC,508,-0.46,-146.6,1952,3806,3173,3355,36.9,-10.2,48,515,0.00,2.42,0.00,0.000,1030,0.000,0.045,2952,2361,3281,3204,3359,0,0,0,0,0,0,28.83,14.64,28.83
$GC,816,-0.46,-146.6,2952,2360,3206,3359,66.1,-9.0,79,825,0.00,2.33,0.00,0.000,516,0.000,0.065,2952,971,3283,3207,3359,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1030,-0.46,-146.6,2952,970,3210,3359,84.6,-9.5,97,1037,0.00,2.38,0.00,0.000,1030,0.000,0.050,2952,2406,3284,3210,3359,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1337,-0.57,-146.6,2951,2406,3211,3361,114.1,-8.2,113,1343,0.00,2.38,0.00,0.000,260,0.000,0.073,2951,3807,3286,3211,3361,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1397,-0.68,-146.6,2952,3807,3212,3361,118.7,-7.9,116,1404,0.20,2.33,0.00,0.000,5126,0.129,0.041,2880,2361,3286,3212,3361,0,0,0,0,0,0,14.71,14.78,28.83
$GC,1717,-0.63,-146.6,2880,2358,3212,3361,147.9,-9.1,132,1723,0.00,2.45,0.00,0.000,260,0.000,0.069,2879,3808,3286,3212,3360,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1750,-0.59,-146.6,2879,3808,3212,3361,149.8,-9.1,133,1761,0.15,2.35,0.00,0.000,3078,0.282,0.037,2912,2351,3286,3212,3361,0,0,0,0,0,0,14.45,14.80,28.83
$GC,2057,-0.68,-146.6,2912,2351,3211,3360,177.8,-8.9,144,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2351,3286,3212,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2357,-0.79,-146.6,2912,2351,3212,3361,203.0,-8.2,154,2364,0.15,2.45,0.00,0.000,4356,0.145,0.067,2854,3808,3286,3212,3360,0,0,0,0,0,0,14.81,14.83,28.83
$GC,2430,-0.83,-146.6,2853,3808,3212,3360,209.0,-9.0,156,2434,0.00,2.33,0.00,0.000,1030,0.000,0.038,2854,2357,3286,3212,3361,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2744,-0.83,-146.6,2854,2357,3212,3360,242.4,-10.5,167,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2357,3286,3212,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3041,-0.83,-146.6,2854,2357,3212,3360,274.2,-10.5,177,3043,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2357,3286,3212,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,-0.83,-146.6,2854,2357,3212,3360,308.7,-10.6,187,3376,0.00,2.45,0.00,0.000,260,0.000,0.072,2853,3808,3286,3212,3360,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3447,-0.83,-146.6,2853,3808,3212,3360,314.7,-10.6,188,3451,0.00,2.33,0.00,0.000,1030,0.000,0.040,2853,2357,3286,3212,3360,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3789,-0.83,-146.6,2853,2356,3212,3360,349.0,-9.3,194,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2356,3286,3212,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4089,-0.83,-146.6,2853,2356,3212,3360,377.2,-9.5,199,4093,0.00,2.30,0.00,0.000,516,0.000,0.065,2853,963,3286,3212,3360,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4146,-0.83,-146.6,2853,963,3211,3360,383.0,-9.8,200,4152,0.00,2.38,0.00,0.000,1030,0.000,0.052,2853,2406,3286,3212,3360,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4506,-0.87,-146.6,2853,2406,3211,3359,416.6,-9.3,206,4512,0.00,2.38,0.00,0.000,260,0.000,0.077,2853,3812,3285,3212,3359,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4549,-0.92,-146.6,2853,3813,3212,3357,416.6,-9.3,206,4554,0.12,2.35,0.00,0.000,5126,0.153,0.044,2809,2362,3284,3211,3358,0,0,0,0,0,0,14.75,14.85,28.83
$GC,4862,-0.86,-146.6,2809,2361,3211,3357,454.9,-11.0,212,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2361,3284,3211,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5161,-0.82,-146.6,2809,2361,3211,3356,487.9,-10.9,217,5163,0.15,0.00,0.00,0.000,2054,0.295,0.000,2841,2360,3283,3211,3356,0,0,0,0,0,0,14.61,28.83,28.83
$GC,5462,-0.88,-146.6,2841,2360,3211,3355,514.4,-8.7,222,5468,0.00,2.42,0.00,0.000,260,0.000,0.076,2841,3805,3283,3211,3355,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5539,-0.94,-146.6,2841,3805,3211,3354,519.6,-8.6,223,5543,0.00,2.33,0.00,0.000,1030,0.000,0.042,2841,2359,3283,3212,3354,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5876,-1.00,-146.6,2841,2359,3211,3353,548.6,-8.1,229,5883,0.15,2.30,0.00,0.000,4612,0.152,0.064,2783,968,3282,3211,3353,0,0,0,0,0,0,14.85,14.85,28.83
$GC,5929,-1.07,-146.6,2783,967,3211,3352,548.6,-8.1,229,5939,0.00,2.38,0.00,0.000,1030,0.000,0.056,2780,2403,3281,3211,3352,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6236,-0.98,-146.6,2780,2402,3211,3351,586.9,-10.7,235,6242,0.00,2.35,0.00,0.000,260,0.000,0.076,2780,3807,3281,3211,3351,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6269,-0.88,-146.6,2780,3807,3211,3350,586.9,-10.7,235,6274,0.17,2.33,0.00,0.000,3078,0.297,0.041,2818,2356,3281,3212,3350,0,0,0,0,0,0,14.68,14.92,28.83
$GC,6592,-0.88,-146.6,2819,2356,3211,3350,620.7,-9.3,241,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2355,3281,3211,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,-0.88,-146.6,2819,2356,3211,3350,650.9,-10.1,246,6897,0.00,2.30,0.00,0.000,516,0.000,0.068,2819,963,3280,3211,3350,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6954,-0.88,-146.6,2819,962,3211,3349,656.9,-10.1,247,6958,0.00,2.38,0.00,0.000,1030,0.000,0.054,2819,2406,3280,3211,3349,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7307,-1.01,-146.6,2819,2406,3211,3348,686.6,-8.1,253,7313,0.12,2.35,0.00,0.000,4356,0.177,0.073,2773,3822,3279,3211,3347,0,0,0,0,0,0,14.85,14.87,28.83
$GC,7609,-1.01,-146.6,2773,3822,3211,3346,715.0,-9.5,258,7614,0.00,2.35,0.00,0.000,1030,0.000,0.044,2773,2362,3278,3211,3346,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7967,-1.01,-146.6,2773,2362,3211,3345,748.2,-9.3,264,7973,0.00,2.33,0.00,0.000,516,0.000,0.072,2773,965,3278,3211,3345,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8136,-1.01,-146.6,2773,965,3211,3345,760.1,-9.6,266,8140,0.00,2.38,0.00,0.000,1030,0.000,0.050,2773,2417,3278,3211,3345,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8444,-1.01,-146.6,2773,2417,3211,3344,794.6,-9.7,271,8450,0.00,2.33,0.00,0.000,260,0.000,0.075,2773,3807,3277,3211,3343,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8745,-1.01,-146.6,2773,3806,3211,3342,825.7,-10.2,276,8751,0.00,2.35,0.00,0.000,1030,0.000,0.044,2773,2354,3277,3211,3343,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9107,-1.01,-146.6,2773,2354,3211,3342,860.7,-9.7,282,9112,0.00,2.28,0.00,0.000,516,0.000,0.072,2773,978,3276,3210,3342,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9243,-1.01,-146.6,2773,977,3210,3342,872.7,-9.9,284,9247,0.00,2.35,0.00,0.000,1030,0.000,0.050,2773,2416,3276,3210,3342,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9580,-1.01,-146.6,2773,2416,3210,3342,905.4,-9.2,290,9586,0.00,2.35,0.00,0.000,260,0.000,0.076,2773,3815,3276,3210,3342,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9882,-1.01,-146.6,2773,3815,3209,3342,934.8,-9.8,295,9887,0.00,2.35,0.00,0.000,1030,0.000,0.045,2773,2359,3275,3209,3342,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10240,-1.01,-146.6,2773,2360,3208,3342,965.3,-8.3,301,10246,0.00,2.33,0.00,0.000,516,0.000,0.073,2773,965,3275,3208,3342,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10351,-1.01,-146.6,2773,965,3208,3342,970.6,-8.4,302,10355,0.00,2.35,0.00,0.000,1030,0.000,0.050,2773,2406,3274,3208,3341,0,0,0,0,0,0,28.83,14.86,28.83
$STATE,10535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10535,begin apogee
$GC,10539,-0.22,0.0,2773,2277,3207,3341,990.2,-8.4,305,10685,0.95,0.05,138.68,2.332,10246,0.261,0.087,3031,2318,2671,2631,2712,0,0,0,0,0,0,14.60,13.81,12.47
$STATE,10686,end apogee,CONTROL_FINISHED_OK
$STATE,10686,begin climb
$GC,10687,0.78,146.6,3031,2317,2630,2711,994.2,0.0,307,10841,1.08,2.65,145.07,2.304,10756,0.164,0.071,3356,886,2073,2100,2047,0,0,0,0,0,0,13.85,13.74,12.28
$GC,11087,0.59,146.6,3356,885,2086,2041,957.2,11.7,314,11092,0.22,2.47,0.00,0.000,5126,0.269,0.050,3305,2322,2063,2086,2041,0,0,0,0,0,0,14.09,14.33,28.83
$GC,11429,0.55,163.0,3305,2322,2079,2041,923.2,9.2,320,11451,0.00,2.55,15.43,2.062,8708,0.000,0.072,3313,899,2006,2027,1986,0,0,0,0,0,0,28.83,14.35,12.78
$GC,11572,0.49,180.9,3313,899,2023,1983,912.1,9.2,322,11597,0.17,2.42,19.30,2.097,13318,0.244,0.055,3271,2319,1934,1957,1912,0,0,0,0,0,0,14.18,14.45,12.71
$GC,11905,0.57,237.5,3272,2318,1943,1911,884.7,7.4,328,11966,0.00,0.00,59.20,2.201,8198,0.000,0.000,3271,2319,1703,1727,1679,0,0,0,0,0,0,28.83,28.83,12.54
$GC,12265,0.82,283.6,3272,2319,1711,1678,856.5,7.9,334,12325,0.28,2.65,48.67,2.166,10756,0.118,0.073,3378,890,1514,1551,1477,0,0,0,0,0,0,14.36,14.03,12.54
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$STATE,18497,end climb,SURFACE_DEPTH_REACHED
$STATE,18498,begin surface coast
$FINISH,0.2,1.013747
$STATE,18519,end surface coast,CONTROL_FINISHED_OK
$STATE,18519,begin surface
$SM_CCo,18595,0.00,0.000,0,0,1473,294.11
$SM_GC,1.21,9.65,0.10,0.00,0.085,0.150,0.000,118,2422,1473,-9.30,-0.51,294.11,0,0,0,0,0,0,14.77,14.69,28.83
$IRIDIUM_FIX,4644.93,-12541.44,301013,020222
$TT8_MAMPS,0.023219,0.023219
$HUMID,66.49
$INTERNAL_PRESSURE,8.56743
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.3,11.282
$10V_AH,13.1,3.284
$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
$DEVICE_SECS,31.100,158.100,433.400,0.000,0.000,59.163,96.315,173.061,22.500,0.000,5.469,1741.895,14370.559,517.803,2327.896,107.248,0.389,1627.040,0.000,1888.298,0.000,142.386,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.005,196.677,539.223,429.513,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313788
$DATA_FILE_SIZE,33620,529
$CAP_FILE_SIZE,170645,0
$CFSIZE,260165632,217833472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,7972.11,0x212c64,0,24
$GPS,301013,080011,4705.949,-12544.896,22,1.0,29,16.7