version: 66.11
glider: 144
mission: 21
dive: 31
start: 10 31 113 5 6 31
data:
$ID,144
$MISSION,21
$DIVE,31
$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,-57338.797
$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
$GPS1,311013,050105,4711.080,-12600.472,40,0.9,40,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.5
$GPS2,311013,050604,4711.055,-12600.489,4,0.8,4,16.7
$SPEED_LIMITS,0.084,0.259
$TGT_NAME,SEARCH_B
$TGT_LATLONG,4721.000,-12645.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.246,0.083
$KALMAN_X,-817.6,0.0,0.0,-60826.4,-342.5
$KALMAN_Y,14722.7,0.0,0.0,-3214.6,70.1
$MHEAD_RNG_PITCHd_Wd,271.9,58809,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.78,-146.6,88,2378,1678,1620,0.0,0.0,0,56,0.00,0.00,-37.67,0.000,16386,0.000,0.000,86,2378,2769,2725,2814,0,0,0,0,0,0,28.83,28.83,28.83
$GC,57,-0.78,-146.6,86,2378,2727,2814,2.6,-4.6,4,89,13.10,2.42,-11.25,0.000,18948,0.424,0.088,2850,976,3274,3191,3357,0,0,0,0,0,0,14.45,14.62,14.83
$GC,176,-0.46,-146.6,2851,975,3199,3357,22.8,-18.9,16,186,0.45,2.40,0.00,0.000,3078,0.277,0.054,2957,2402,3278,3199,3357,0,0,0,0,0,0,14.53,14.66,28.83
$GC,486,-0.46,-146.6,2957,2402,3204,3358,55.3,-9.0,47,490,0.00,2.40,0.00,0.000,260,0.000,0.076,2957,3808,3281,3204,3358,0,0,0,0,0,0,28.83,14.71,28.83
$GC,655,-0.46,-146.6,2957,3808,3207,3359,70.8,-9.2,63,662,0.00,2.35,0.00,0.000,1030,0.000,0.039,2957,2352,3283,3207,3359,0,0,0,0,0,0,28.83,14.75,28.83
$GC,962,-0.53,-146.6,2957,2352,3210,3361,98.9,-8.6,84,968,0.00,2.33,0.00,0.000,516,0.000,0.068,2957,966,3286,3211,3361,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1110,-0.61,-146.6,2957,966,3210,3361,109.8,-7.8,91,1115,0.15,2.40,0.00,0.000,5126,0.150,0.052,2906,2412,3286,3211,3361,0,0,0,0,0,0,14.77,14.78,28.83
$GC,1417,-0.61,-146.6,2906,2412,3211,3361,139.0,-9.8,106,1423,0.00,2.42,0.00,0.000,516,0.000,0.067,2906,971,3286,3211,3361,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1485,-0.61,-146.6,2906,971,3211,3361,145.0,-10.0,109,1489,0.00,2.38,0.00,0.000,1030,0.000,0.053,2903,2402,3286,3211,3361,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1802,-0.61,-146.6,2903,2402,3212,3362,176.1,-9.4,120,1808,0.00,2.38,0.00,0.000,260,0.000,0.076,2903,3806,3286,3211,3361,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1855,-0.65,-146.6,2903,3807,3211,3361,178.8,-9.3,121,1863,0.00,2.35,0.00,0.000,1030,0.000,0.044,2903,2360,3286,3211,3361,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2162,-0.72,-146.6,2903,2360,3211,3361,207.0,-9.0,132,2168,0.00,2.47,0.00,0.000,260,0.000,0.073,2903,3815,3286,3211,3361,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2205,-0.80,-146.6,2903,3815,3211,3361,209.9,-9.2,133,2210,0.15,2.35,0.00,0.000,5126,0.142,0.038,2848,2348,3286,3211,3361,0,0,0,0,0,0,14.85,14.87,28.83
$GC,2518,-0.75,-146.6,2848,2349,3211,3361,243.7,-9.7,144,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2348,3286,3211,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.70,-146.6,2849,2349,3211,3361,272.1,-9.5,154,2825,0.12,2.25,0.00,0.000,2564,0.288,0.062,2879,973,3286,3211,3361,0,0,0,0,0,0,14.74,14.86,28.83
$GC,2890,-0.70,-146.6,2879,972,3212,3361,277.4,-9.4,156,2895,0.00,2.35,0.00,0.000,1030,0.000,0.053,2879,2404,3286,3211,3361,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3203,-0.75,-146.6,2880,2404,3212,3361,305.4,-8.5,166,3208,0.00,2.38,0.00,0.000,260,0.000,0.076,2879,3814,3286,3211,3361,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3267,-0.81,-146.6,2879,3814,3211,3361,310.9,-8.7,167,3271,0.00,2.33,0.00,0.000,1030,0.000,0.039,2879,2359,3286,3211,3361,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3625,-0.90,-146.6,2880,2359,3211,3361,340.7,-8.1,173,3627,0.17,0.00,0.00,0.000,4102,0.133,0.000,2818,2358,3286,3211,3361,0,0,0,0,0,0,14.88,28.83,28.83
$GC,3925,-0.83,-146.6,2818,2358,3211,3361,371.5,-10.3,178,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2358,3286,3211,3361,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4225,-0.76,-146.6,2818,2358,3211,3361,403.2,-10.6,183,4231,0.15,2.45,0.00,0.000,2308,0.288,0.073,2855,3805,3286,3211,3361,0,0,0,0,0,0,14.77,14.90,28.83
$GC,4301,-0.76,-146.6,2855,3805,3211,3361,409.1,-10.5,184,4306,0.00,2.38,0.00,0.000,1030,0.000,0.040,2855,2351,3286,3211,3361,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4645,-0.82,-146.6,2855,2351,3211,3361,441.5,-9.0,190,4651,0.00,2.28,0.00,0.000,516,0.000,0.066,2855,969,3286,3211,3361,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4694,-0.88,-146.6,2855,969,3211,3361,441.5,-9.0,190,4703,0.00,2.38,0.00,0.000,1030,0.000,0.055,2855,2410,3286,3211,3361,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5005,-0.94,-146.6,2855,2410,3211,3360,474.0,-8.9,196,5011,0.12,2.33,0.00,0.000,4356,0.174,0.076,2807,3804,3285,3211,3360,0,0,0,0,0,0,14.88,14.89,28.83
$GC,5057,-1.01,-146.6,2807,3804,3211,3359,474.0,-8.9,196,5067,0.00,2.33,0.00,0.000,1030,0.000,0.044,2807,2362,3285,3211,3359,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5365,-0.96,-146.6,2807,2362,3211,3359,511.8,-10.4,202,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2362,3285,3211,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5664,-0.96,-146.6,2807,2362,3211,3358,543.4,-10.6,207,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2362,3284,3211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5964,-0.96,-146.6,2807,2362,3211,3357,575.9,-10.9,212,5970,0.00,2.45,0.00,0.000,260,0.000,0.078,2807,3805,3283,3211,3356,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6001,-0.96,-146.6,2807,3805,3211,3356,575.9,-10.9,212,6006,0.00,2.33,0.00,0.000,1030,0.000,0.041,2807,2354,3283,3211,3356,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6326,-0.96,-146.6,2807,2354,3211,3356,615.0,-10.8,218,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2354,3283,3211,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6626,-0.96,-146.6,2807,2354,3211,3355,646.1,-10.3,223,6631,0.00,2.28,0.00,0.000,516,0.000,0.072,2807,974,3283,3211,3355,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6691,-0.96,-146.6,2807,973,3211,3354,652.5,-10.4,224,6696,0.00,2.35,0.00,0.000,1030,0.000,0.054,2807,2402,3282,3211,3354,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7043,-0.96,-146.6,2807,2402,3211,3353,689.0,-10.3,230,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3282,3211,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7346,-0.96,-146.6,2807,2402,3211,3352,721.4,-10.8,235,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3281,3211,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7646,-0.96,-146.6,2807,2402,3211,3352,753.7,-10.7,240,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3281,3211,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,-0.96,-146.6,2807,2402,3211,3351,783.8,-10.0,245,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3281,3211,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,-0.96,-146.6,2807,2402,3211,3350,811.6,-9.2,250,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3280,3211,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8545,-1.01,-146.6,2807,2402,3211,3349,840.2,-9.6,255,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2402,3280,3211,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8845,-1.06,-146.6,2806,2402,3211,3348,871.5,-10.6,260,8847,0.12,0.00,0.00,0.000,4102,0.190,0.000,2768,2402,3279,3211,3348,0,0,0,0,0,0,14.91,28.83,28.83
$GC,9144,-1.06,-146.6,2768,2402,3211,3347,906.7,-11.8,265,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2402,3279,3211,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9443,-1.06,-146.6,2768,2402,3211,3346,939.9,-10.9,270,9448,0.00,2.38,0.00,0.000,260,0.000,0.082,2765,3810,3278,3211,3346,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9477,-1.06,-146.6,2765,3810,3211,3345,939.9,-10.9,270,9481,0.00,2.38,0.00,0.000,1030,0.000,0.043,2765,2324,3278,3211,3345,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9799,-1.06,-146.6,2765,2323,3211,3345,978.2,-10.7,276,9804,0.00,2.53,0.00,0.000,260,0.000,0.080,2765,3807,3278,3211,3345,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9843,-1.06,-146.6,2765,3807,3211,3344,978.2,-10.7,276,9848,0.00,2.35,0.00,0.000,1030,0.000,0.043,2765,2360,3277,3211,3344,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,9915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9915,begin apogee
$GC,9919,-0.22,0.0,2765,2270,3211,3344,990.5,-10.6,278,10064,0.95,0.08,139.35,2.318,10246,0.262,0.162,3029,2321,2672,2632,2712,0,0,0,0,0,0,14.78,13.87,12.54
$STATE,10065,end apogee,CONTROL_FINISHED_OK
$STATE,10066,begin climb
$GC,10067,0.78,146.6,3029,2321,2630,2712,992.3,0.0,280,10218,1.10,0.00,146.02,2.290,10758,0.166,0.000,3352,2321,2074,2100,2049,0,0,0,0,0,0,13.71,28.83,12.31
$GC,10516,0.57,146.6,3352,2321,2081,2044,937.3,14.7,288,10522,0.20,2.45,0.00,0.000,4356,0.272,0.072,3300,3727,2062,2080,2044,0,0,0,0,0,0,14.28,14.39,28.83
$GC,10549,0.36,146.6,3300,3727,2080,2044,937.3,14.7,288,10554,0.32,2.45,0.00,0.000,5126,0.271,0.049,3228,2281,2062,2080,2044,0,0,0,0,0,0,14.31,14.43,28.83
$GC,10871,0.49,175.7,3228,2281,2074,2044,904.1,8.7,294,10901,0.12,0.00,27.20,2.180,10246,0.159,0.000,3271,2281,1955,1975,1936,0,0,0,0,0,0,14.59,28.83,13.45
$GC,11171,0.49,175.7,3271,2281,1961,1935,872.6,10.6,299,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2281,1948,1961,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11471,0.49,175.7,3271,2281,1959,1935,841.7,10.3,304,11477,0.00,2.50,0.00,0.000,260,0.000,0.073,3271,3727,1947,1959,1935,0,0,0,0,0,0,28.83,14.65,28.83
$GC,11514,0.49,175.7,3271,3727,1959,1935,841.7,10.3,304,11518,0.00,2.40,0.00,0.000,1030,0.000,0.047,3271,2287,1947,1959,1935,0,0,0,0,0,0,28.83,14.67,28.83
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$STATE,18461,end climb,SURFACE_DEPTH_REACHED
$STATE,18461,begin surface coast
$FINISH,0.1,1.023205
$STATE,18482,end surface coast,CONTROL_FINISHED_OK
$STATE,18482,begin surface
$SM_CCo,18560,0.00,0.000,0,0,1356,322.81
$SM_GC,1.21,9.57,2.30,0.00,0.079,0.044,0.000,116,2352,1356,-9.30,0.74,322.81,0,0,0,0,0,0,14.61,14.64,28.83
$IRIDIUM_FIX,4654.38,-12555.82,301013,232326
$TT8_MAMPS,0.023219,0.023219
$HUMID,65.23
$INTERNAL_PRESSURE,8.56743
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,12.3,12.674
$10V_AH,13.0,3.635
$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
$DEVICE_SECS,28.275,162.075,449.325,0.000,0.000,31.456,34.827,155.874,22.500,0.000,5.612,1630.290,14829.902,534.413,1766.780,97.122,0.388,1455.858,0.000,1454.530,0.000,142.380,0.000
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$SENSORS,SBE_CT,WL_BB2F,AA3830,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.785,189.744,529.625,424.444,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,313792
$DATA_FILE_SIZE,33536,520
$CAP_FILE_SIZE,159582,0
$CFSIZE,260165632,217526272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311013,101653,4711.914,-12604.640,36,0.8,36,16.7