version: 66.11
glider: 144
mission: 21
dive: 11
start: 3 27 113 4 18 5
data:
$ID,144
$MISSION,21
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$MASS_COMP,1141.9
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-87370.727
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,15
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2550
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.062218
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$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,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270313,040532,2442.713,-3752.066,16,0.8,16,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-81.1
$GPS2,270313,041704,2442.706,-3752.139,30,0.8,30,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.232,0.056
$KALMAN_X,-11956.9,-226.5,119.4,22598.7,-2804.4
$KALMAN_Y,2306.3,-288.5,-159.2,15596.4,765.5
$MHEAD_RNG_PITCHd_Wd,90.0,12204,-19.5,-10.000,-22.76,2222
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.75,-146.6,33,2459,983,1250,0.0,0.0,0,85,0.00,0.00,-60.50,0.000,16386,0.000,0.000,33,2459,2849,2912,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.75,-146.6,34,2459,2912,2789,2.6,-3.0,4,113,13.60,0.88,-6.55,0.000,18948,0.409,0.111,2963,1886,3148,3230,3066,0,0,1,0,0,0,14.54,14.73,14.90
$GC,343,-0.75,-146.6,2963,1882,3231,3071,60.4,-24.2,20,350,0.00,0.93,0.00,0.000,1030,0.000,0.066,2962,2445,3151,3231,3072,0,0,0,0,0,0,28.83,14.77,28.83
$GC,648,-0.75,-146.6,2962,2445,3231,3073,138.5,-24.4,41,653,0.00,0.85,0.00,0.000,516,0.000,0.046,2962,1881,3152,3232,3073,0,0,0,0,0,0,28.83,14.86,28.83
$GC,851,-0.75,-146.6,2962,1878,3232,3075,181.6,-22.1,54,856,0.00,0.93,0.00,0.000,1030,0.000,0.067,2960,2447,3153,3232,3074,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1180,-0.75,-146.6,2960,2447,3232,3075,257.2,-23.0,75,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2447,3153,3232,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1480,-0.75,-146.6,2960,2451,3232,3076,324.4,-22.2,85,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2447,3154,3232,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1780,-0.75,-146.6,2960,2447,3232,3076,391.8,-21.9,95,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2447,3154,3232,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2080,-0.75,-146.6,2960,2447,3232,3076,457.3,-22.1,105,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2447,3154,3232,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2380,-0.75,-146.6,2960,2447,3232,3076,522.2,-21.4,115,2385,0.00,0.85,0.00,0.000,260,0.000,0.067,2960,2982,3154,3232,3076,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2443,-0.75,-146.6,2960,2982,3231,3076,535.7,-21.7,117,2448,0.00,0.88,0.00,0.000,1030,0.000,0.057,2962,2430,3153,3231,3076,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2779,-0.75,-146.6,2960,2427,3231,3076,605.6,-21.9,128,2784,0.00,0.90,0.00,0.000,260,0.000,0.067,2959,2982,3153,3230,3076,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2861,-0.75,-146.6,2960,2982,3229,3076,619.1,-21.3,130,2866,0.00,0.85,0.00,0.000,1030,0.000,0.057,2960,2446,3152,3228,3076,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3175,-0.75,-146.6,2960,2443,3226,3076,684.6,-19.7,141,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2443,3151,3226,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3475,-0.75,-146.6,2960,2443,3223,3076,743.1,-19.3,151,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2442,3149,3223,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.75,-146.6,2960,2443,3219,3076,798.1,-17.7,161,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2443,3147,3219,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.75,-146.6,2960,2443,3216,3076,851.3,-18.0,171,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2443,3146,3216,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.75,-146.6,2959,2442,3213,3076,902.9,-17.1,181,4379,0.00,0.88,0.00,0.000,260,0.000,0.073,2961,2976,3144,3212,3077,0,0,0,0,0,0,28.83,15.03,28.83
$GC,4427,-0.75,-146.6,2960,2978,3212,3076,908.5,-17.1,182,4432,0.00,0.85,0.00,0.000,1030,0.000,0.063,2960,2450,3143,3211,3075,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4740,-0.75,-146.6,2959,2447,3208,3076,964.7,-16.8,193,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2447,3142,3208,3076,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4917,begin apogee
$GC,4924,-0.15,0.0,2960,2227,3206,3076,994.2,-16.4,199,5059,0.50,0.00,124.90,2.289,10246,0.284,0.000,3094,2225,2549,2585,2514,0,0,0,0,0,0,14.90,28.83,13.31
$STATE,5061,end apogee,CONTROL_FINISHED_OK
$STATE,5061,begin climb
$GC,5064,0.75,146.6,3094,2225,2584,2513,1000.2,0.0,203,5210,0.68,0.80,135.00,2.276,10756,0.195,0.069,3292,1752,1951,1919,1983,0,0,1,0,0,0,14.12,14.02,13.23
$GC,5370,0.75,146.6,3292,1750,1915,1975,969.4,15.2,213,5376,0.00,0.82,0.00,0.000,1030,0.000,0.071,3292,2241,1945,1915,1975,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5674,0.75,146.6,3292,2241,1915,1968,917.4,15.7,224,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2240,1941,1915,1968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,0.75,146.6,3292,2240,1915,1963,871.1,15.2,234,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2240,1939,1916,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6273,0.75,146.6,3293,2241,1915,1961,826.0,15.0,244,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2241,1938,1915,1961,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6573,0.75,146.6,3293,2241,1914,1959,777.7,16.4,254,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2241,1936,1914,1959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6873,0.75,146.6,3293,2241,1913,1957,729.0,15.9,264,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2241,1935,1913,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7174,0.75,146.6,3293,2241,1912,1955,681.9,15.8,274,7179,0.00,0.77,0.00,0.000,516,0.000,0.067,3294,1753,1934,1913,1955,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7293,0.75,146.6,3294,1751,1912,1955,668.2,15.0,277,7300,0.00,0.80,0.00,0.000,1030,0.000,0.072,3294,2243,1934,1912,1956,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7597,0.75,146.6,3294,2243,1912,1954,619.9,14.5,288,7598,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2243,1933,1913,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7897,0.75,146.6,3295,2243,1912,1953,579.8,13.0,298,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2243,1932,1912,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,0.75,146.6,3294,2243,1912,1952,540.0,13.9,308,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2243,1932,1912,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,0.75,146.6,3294,2243,1912,1951,498.0,14.6,318,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2243,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8798,0.75,146.6,3294,2243,1912,1951,454.3,14.4,328,8803,0.00,0.88,0.00,0.000,260,0.000,0.070,3294,2785,1931,1912,1951,0,0,0,0,0,0,28.83,15.00,28.83
$GC,8840,0.75,146.6,3294,2785,1912,1951,449.0,14.8,329,8845,0.00,0.85,0.00,0.000,1030,0.000,0.076,3296,2281,1931,1912,1951,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9165,0.75,146.6,3295,2281,1911,1951,401.5,14.2,340,9170,0.00,0.90,0.00,0.000,516,0.000,0.070,3297,1712,1931,1912,1951,0,0,0,0,0,0,28.83,14.99,28.83
$GC,9238,0.75,146.6,3298,1712,1912,1949,393.0,13.6,342,9243,0.00,0.88,0.00,0.000,1030,0.000,0.069,3298,2248,1931,1912,1951,0,0,0,0,0,0,28.83,14.97,28.83
$GC,9563,0.75,146.6,3298,2248,1912,1951,347.2,13.0,353,9564,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2248,1931,1911,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,0.75,146.6,3298,2248,1912,1951,311.8,11.6,363,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2248,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10161,0.75,146.6,3298,2248,1912,1951,276.2,12.2,373,10166,0.00,0.85,0.00,0.000,260,0.000,0.067,3298,2779,1931,1912,1951,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10244,0.75,146.6,3299,2779,1912,1951,267.8,13.0,375,10249,0.00,0.88,0.00,0.000,1030,0.000,0.073,3299,2260,1931,1911,1951,0,0,0,0,0,0,28.83,15.00,28.83
$GC,10557,0.75,146.6,3299,2259,1911,1951,225.6,12.9,392,10563,0.00,0.85,0.00,0.000,516,0.000,0.068,3299,1716,1931,1912,1951,0,0,0,0,0,0,28.83,14.97,28.83
$GC,10639,0.75,146.6,2368,1714,1873,1943,216.2,11.7,397,10644,0.00,0.88,0.00,0.000,1030,0.000,0.067,3299,2253,1931,1912,1951,0,0,0,0,0,0,28.83,14.96,28.83
$GC,10953,0.75,146.6,3298,2257,1911,1950,176.5,12.8,418,10958,0.00,0.85,0.00,0.000,260,0.000,0.067,3299,2781,1931,1912,1951,0,0,0,0,0,0,28.83,14.94,28.83
$GC,11052,0.75,146.6,3299,2781,1909,1951,163.7,14.3,424,11057,0.00,0.90,0.00,0.000,1030,0.000,0.071,3299,2248,1931,1912,1951,0,0,0,0,0,0,28.83,14.93,28.83
$GC,11366,0.75,146.6,3300,2247,1912,1951,124.8,10.9,445,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2247,1932,1913,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11666,0.75,146.6,3299,2246,1912,1951,93.1,10.6,465,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2247,1931,1912,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11966,0.75,146.6,3299,2247,1914,1951,62.1,10.1,485,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2247,1932,1913,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12266,0.75,146.6,3300,2247,1916,1951,31.6,10.3,505,12271,0.00,0.82,0.00,0.000,516,0.000,0.062,3300,1714,1933,1916,1951,0,0,0,0,0,0,28.83,14.90,28.83
$GC,12339,0.75,146.6,3299,1713,1916,1951,25.7,9.4,509,12346,0.00,0.88,0.00,0.000,1030,0.000,0.065,3299,2248,1933,1916,1951,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,12581,end climb,SURFACE_DEPTH_REACHED
$STATE,12581,begin surface coast
$FINISH,0.3,1.025704
$STATE,12597,end surface coast,CONTROL_FINISHED_OK
$STATE,12597,begin surface
$SM_CCo,12620,90.62,1.127,0,0,1122,350.04
$SM_GC,1.16,9.20,0.32,90.62,0.083,0.083,1.127,39,2456,1122,-14.17,-1.10,350.04,0,0,0,0,0,0,14.88,14.92,14.02
$IRIDIUM_FIX,2432.32,-3752.92,270313,000032
$TT8_MAMPS,0.027713,0.027713
$HUMID,35.27
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,23.50
$XPDR_PINGS,0
$SC_FREEKB,4015584
$TM_FREEKB,7853056
$24V_AH,13.2,3.675
$10V_AH,13.6,0.000
$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,23.975,23.000,259.900,90.625,0.000,30.560,41.168,340.303,0.000,0.000,31.765,1606.532,9335.814,423.446,1725.696,315.523,33.250,1084.256,0.000,1194.021,0.000,0.548,0.000
$DEVICE_MAMPS,408.510,110.925,2288.880,1126.845,0.000,31.360,160.000,223.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12617.000,3392.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.311,13.310,0.000,0.000
$MEM,353696
$DATA_FILE_SIZE,20026,527
$CAP_FILE_SIZE,126785,0
$CFSIZE,260165632,254623744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$GPS,270313,075056,2443.254,-3750.591,15,0.9,15,-13.7