version: 66.11
glider: 144
mission: 21
dive: 15
start: 3 27 113 14 19 41
data:
$ID,144
$MISSION,21
$DIVE,15
$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,300
$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,-87374.516
$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,0.1
$PITCH_ADJ_DBAND,2
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,270313,140955,2444.096,-3750.521,17,1.2,17,-13.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.1
$GPS2,270313,141842,2444.142,-3750.523,20,1.3,20,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.160,0.176
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,56.0,8406,-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,-146.6,33,2460,448,610,0.0,0.0,0,99,0.00,0.00,-74.97,0.000,16386,0.000,0.000,33,2459,2646,2702,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.75,-146.6,33,2459,2702,2592,2.2,-1.7,5,137,13.98,0.82,-13.45,0.000,19204,0.429,0.111,2961,1893,3148,3247,3050,0,0,0,0,0,0,14.62,14.82,15.00
$GC,368,1.23,-146.6,2961,1890,3248,3059,59.9,-25.5,22,374,1.70,0.90,0.00,0.000,3078,0.335,0.067,3395,2440,3153,3248,3059,0,0,0,0,0,0,14.70,14.84,28.83
$GC,682,1.23,-146.6,3394,2442,3249,3058,88.2,-11.4,43,687,0.00,0.85,0.00,0.000,260,0.000,0.060,3395,2983,3154,3249,3060,0,0,0,0,0,0,28.83,14.88,28.83
$GC,797,1.23,-146.6,3395,2988,3248,3061,100.1,-13.1,50,802,0.00,0.90,0.00,0.000,1030,0.000,0.069,3398,2441,3154,3248,3061,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1111,1.23,-146.6,3397,2436,3248,3061,136.2,-11.6,71,1116,0.00,0.80,0.00,0.000,516,0.000,0.053,3401,1908,3154,3248,3061,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1239,1.23,-146.6,3402,1902,3248,3065,150.2,-11.0,79,1244,0.00,0.90,0.00,0.000,1030,0.000,0.071,3401,2449,3154,3248,3060,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1552,1.23,-146.6,3402,2452,3250,3061,189.6,-12.0,100,1557,0.00,0.85,0.00,0.000,516,0.000,0.054,3402,1908,3154,3247,3061,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1640,1.23,-146.6,3402,1902,3248,3062,197.5,-11.5,105,1647,0.00,0.90,0.00,0.000,1030,0.000,0.070,3402,2451,3155,3249,3061,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1946,1.23,-146.6,3402,2453,3247,3061,238.4,-14.0,126,1951,0.00,0.85,0.00,0.000,516,0.000,0.054,3402,1908,3154,3247,3062,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2025,1.23,-146.6,3402,1902,3247,3062,247.1,-12.5,131,2030,0.00,0.88,0.00,0.000,1030,0.000,0.060,3402,2452,3154,3247,3062,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2346,-2.60,-146.6,3402,2457,3243,3065,293.5,-16.4,142,2355,3.17,0.85,0.00,0.000,4612,0.324,0.054,2578,1905,3154,3243,3065,0,0,0,0,0,0,14.83,15.00,28.83
$GC,2584,1.69,-146.6,2578,1900,3241,3065,368.1,-42.3,149,2592,4.15,0.88,0.00,0.000,3078,0.412,0.057,3495,2459,3153,3241,3065,0,0,0,0,0,0,14.80,14.98,28.83
$GC,2892,1.69,-146.6,3496,2464,3235,3070,432.1,-19.3,160,2897,0.00,0.80,0.00,0.000,260,0.000,0.057,3496,2982,3153,3236,3070,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2997,1.69,-146.6,3496,2988,3231,3074,449.6,-18.5,163,3002,0.00,0.90,0.00,0.000,1030,0.000,0.090,3500,2459,3153,3232,3074,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3323,1.69,-146.6,3501,2454,3230,3074,511.7,-18.1,174,3328,0.00,0.85,0.00,0.000,516,0.000,0.044,3506,1880,3151,3230,3073,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3351,1.69,-146.6,3506,1875,3229,3073,511.7,-18.1,174,3358,0.00,0.90,0.00,0.000,1030,0.000,0.074,3506,2426,3152,3230,3074,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3659,1.69,-146.6,3507,2431,3227,3074,573.8,-18.1,185,3664,0.00,0.85,0.00,0.000,516,0.000,0.073,3510,1906,3150,3227,3074,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3671,1.69,-146.6,3511,1906,3227,3074,573.8,-18.1,185,3676,0.00,0.88,0.00,0.000,1030,0.000,0.052,3510,2465,3150,3227,3074,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3998,-2.23,-146.6,3512,2470,3224,3070,640.5,-19.3,196,4008,4.18,0.90,0.00,0.000,4612,0.460,0.054,2658,1894,3148,3223,3074,0,0,0,0,0,0,14.83,15.03,28.83
$GC,4032,-2.23,-146.6,2658,1891,3223,3074,645.9,-17.8,197,4037,0.00,0.90,0.00,0.000,1030,0.000,0.067,2656,2443,3147,3222,3073,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4369,1.70,-146.6,2656,2444,3223,3074,774.3,-40.0,208,4379,3.67,0.85,0.00,0.000,2564,0.402,0.047,3498,1874,3148,3223,3073,0,0,0,0,0,0,14.85,15.05,28.83
$GC,4432,1.70,-146.6,3498,1871,3223,3073,781.5,-25.2,210,4438,0.00,0.95,0.00,0.000,1030,0.000,0.063,3501,2455,3148,3223,3073,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4768,1.70,-146.6,3499,2459,3217,3074,850.6,-20.6,221,4773,0.00,0.80,0.00,0.000,260,0.000,0.058,3498,2979,3145,3217,3074,0,0,0,0,0,0,28.83,15.04,28.83
$GC,4946,1.70,-146.6,3499,2981,3214,3074,884.4,-21.5,226,4953,0.00,0.90,0.00,0.000,1030,0.000,0.091,3503,2448,3144,3215,3074,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5255,1.70,-146.6,3504,2443,3212,3074,953.7,-20.3,237,5260,0.00,0.82,0.00,0.000,516,0.000,0.051,3508,1887,3143,3212,3074,0,0,0,0,0,0,28.83,15.05,28.83
$GC,5312,1.70,-146.6,3509,1886,3211,3074,961.5,-20.7,238,5319,0.00,0.90,0.00,0.000,1030,0.000,0.057,3509,2457,3142,3211,3073,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,5435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5435,begin apogee
$GC,5442,-0.15,0.0,3509,2222,3210,3074,995.4,-22.5,243,5590,1.85,0.00,131.62,2.147,12294,0.438,0.000,3108,2220,2550,2578,2523,0,0,0,0,1,0,14.81,28.83,13.35
$STATE,5591,end apogee,CONTROL_FINISHED_OK
$STATE,5591,begin climb
$GC,5594,0.75,146.6,3108,2220,2578,2522,1005.9,0.0,248,5737,0.57,0.77,134.85,2.278,10756,0.123,0.059,3303,1733,1951,1908,1995,0,0,0,0,0,0,14.19,14.06,13.25
$GC,5935,-0.71,146.6,3304,1727,1909,1983,968.4,17.7,259,5941,1.20,0.85,0.00,0.000,5126,0.314,0.067,2985,2241,1946,1910,1983,0,0,0,0,0,0,14.47,14.61,28.83
$GC,6257,2.96,146.7,2985,2242,1905,1967,945.0,6.2,270,6263,2.88,0.85,0.00,0.000,2564,0.282,0.060,3777,1717,1936,1906,1967,0,0,0,0,0,0,14.71,14.82,28.83
$GC,6492,2.96,146.7,3777,1715,1904,1976,879.3,36.1,277,6497,0.00,0.88,0.00,0.000,1030,0.000,0.063,3777,2257,1940,1904,1976,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6807,2.96,146.7,3777,2257,1901,1975,760.8,35.6,288,6812,0.00,0.85,0.00,0.000,260,0.000,0.064,3776,2784,1939,1902,1976,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7041,2.96,146.7,3777,2784,1900,1976,684.2,35.3,295,7046,0.00,0.88,0.00,0.000,1030,0.000,0.081,3779,2269,1938,1900,1976,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7356,2.96,146.7,3780,2269,1898,1976,564.9,36.1,306,7361,0.00,0.82,0.00,0.000,260,0.000,0.063,3780,2781,1937,1898,1976,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7404,2.96,146.7,3780,2780,1898,1976,552.0,36.0,307,7409,0.00,0.90,0.00,0.000,1030,0.000,0.078,3783,2246,1937,1898,1976,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7725,2.96,146.7,3783,2246,1897,1976,432.8,36.2,318,7730,0.00,0.82,0.00,0.000,516,0.000,0.073,3787,1722,1936,1897,1976,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7959,2.96,146.7,3787,1722,1896,1976,356.1,35.0,325,7964,0.00,0.85,0.00,0.000,1030,0.000,0.067,3787,2247,1936,1896,1976,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8276,2.96,146.7,3787,2247,1895,1976,230.1,39.0,337,8281,0.00,0.85,0.00,0.000,516,0.000,0.072,3790,1723,1935,1895,1976,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8508,2.96,146.7,3200,1721,1854,1968,141.6,38.4,352,8513,0.00,0.85,0.00,0.000,1030,0.000,0.065,3790,2251,1935,1895,1976,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8822,2.96,146.7,3790,2250,1895,1976,24.9,37.9,373,8827,0.00,0.85,0.00,0.000,516,0.000,0.070,3793,1723,1935,1895,1976,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,8883,end climb,SURFACE_DEPTH_REACHED
$STATE,8883,begin surface coast
$FINISH,0.3,1.025616
$STATE,8887,end surface coast,CONTROL_FINISHED_OK
$STATE,8887,begin surface
$SM_CCo,8917,74.07,1.161,0,0,1326,300.00
$SM_GC,0.87,12.00,1.23,74.07,0.184,0.065,1.161,41,2446,1326,-14.15,-1.07,300.00,0,0,0,0,0,0,14.90,14.93,14.09
$IRIDIUM_FIX,2437.06,-3545.77,270313,111120
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.52
$INTERNAL_PRESSURE,8.11555
$TCM_TEMP,22.00
$XPDR_PINGS,9
$SC_FREEKB,4014656
$TM_FREEKB,7840480
$24V_AH,13.2,4.352
$10V_AH,13.7,0.000
$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,49.350,35.200,266.475,74.075,0.000,29.474,51.774,282.237,2.250,0.000,21.320,1516.794,5579.639,444.583,1716.643,277.745,29.147,1169.860,0.000,1291.840,0.000,0.546,0.000
$DEVICE_MAMPS,459.765,110.925,2278.170,1160.505,0.000,31.360,160.000,223.000,420.000,0.000,20.970,13.960,2.190,13.960,34.180,43.920,50.660,16.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8854.000,2685.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.492,13.353,0.000,0.000
$MEM,354148
$DATA_FILE_SIZE,13470,377
$CAP_FILE_SIZE,120391,0
$CFSIZE,260165632,254414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,270313,165058,2444.201,-3750.512,36,1.0,40,-13.7