version: 66.12
glider: 141
mission: 23
dive: 63
start: 9 1 115 5 42 50
data:
$ID,141
$MISSION,23
$DIVE,63
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$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,350
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$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,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,010915,002134,831.4261,8515.7031,301,99.0,301,-1.9,1.3,34.9,8,11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-72.8
$GPS2,010915,054215,830.2832,8517.6348,147,1.5,187,-1.9,0.3,52.4,5,10.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,82.7,95824,-27.2,-10.000,-30.00,965
$D_GRID,1000
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-1.10,-63.0,11,2675,759,861,0.0,0.0,0,122,0.00,0.00,-92.78,0.000,16390,0.000,0.000,6,2675,3384,3442,3327,0,0,0,0,0,0,14.97,13.75,15.00
$GC,128,-1.10,-134.6,10,2675,3443,3327,4.1,-2.4,9,151,11.35,2.30,-4.72,0.000,18692,0.428,0.093,2342,4038,3678,3732,3624,0,0,0,0,0,0,14.52,13.76,14.81
$GC,385,-1.10,-134.6,2341,4038,3728,3627,119.3,-43.4,58,390,0.00,2.17,0.00,0.000,1030,0.000,0.041,2342,2649,3678,3731,3626,0,0,0,0,0,0,14.91,14.84,14.92
$GC,706,-1.10,-134.6,2341,2648,3731,3629,206.7,-21.4,76,712,0.00,2.30,0.00,0.000,260,0.000,0.076,2331,4042,3683,3731,3635,0,0,0,0,0,0,15.09,14.87,15.13
$GC,945,-1.10,-134.6,2331,4042,3731,3636,256.5,-19.4,122,950,0.00,2.15,0.00,0.000,1030,0.000,0.034,2331,2641,3680,3731,3630,0,0,0,0,0,0,14.99,14.93,15.00
$GC,1261,-1.10,-134.6,2331,2639,3731,3630,315.0,-18.5,129,1267,0.00,2.28,0.00,0.000,260,0.000,0.076,2321,4029,3680,3731,3630,0,0,0,0,0,0,15.13,14.90,15.16
$GC,1281,-1.10,-134.6,2321,4029,3732,3630,319.1,-18.3,132,1288,0.17,2.12,0.00,0.000,3078,0.328,0.034,2355,2643,3680,3731,3630,0,0,0,0,0,0,14.72,14.96,14.96
$GC,1637,-1.10,-134.6,2356,2643,3730,3630,379.3,-17.1,146,1642,0.00,2.17,0.00,0.000,516,0.000,0.053,2357,1254,3677,3724,3631,0,0,0,0,0,0,15.14,14.94,15.17
$GC,1692,-1.10,-134.6,2357,1254,3724,3630,390.0,-18.1,156,1698,0.00,2.20,0.00,0.000,1030,0.000,0.054,2349,2644,3676,3723,3630,0,0,0,0,0,0,15.01,14.93,15.04
$GC,2009,-1.10,-134.6,2349,2643,3716,3630,444.8,-17.2,163,2014,0.00,2.20,0.00,0.000,516,0.000,0.053,2349,1248,3672,3715,3630,0,0,0,0,0,0,15.15,14.94,15.19
$GC,2044,-1.10,-134.6,2348,1248,3716,3630,450.9,-16.7,169,2050,0.00,2.25,0.00,0.000,1030,0.000,0.055,2339,2657,3672,3715,3630,0,0,0,0,0,0,15.02,14.95,15.04
$GC,2380,-1.10,-134.6,2338,2657,3706,3630,509.4,-17.6,180,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2657,3668,3706,3630,0,0,0,0,0,0,15.16,15.21,15.19
$GC,2681,-1.10,-134.6,2338,2657,3702,3630,561.8,-17.5,185,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2658,3666,3702,3630,0,0,0,0,0,0,15.16,15.21,15.20
$GC,2981,-1.10,-134.6,2339,2657,3698,3627,611.2,-16.3,190,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2657,3662,3698,3627,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3280,-1.10,-134.6,2338,2657,3694,3625,660.1,-16.2,195,3286,0.00,2.22,0.00,0.000,516,0.000,0.055,2338,1254,3659,3693,3625,0,0,0,0,0,0,15.19,14.95,15.21
$GC,3316,-1.10,-134.6,2338,1254,3693,3625,665.9,-15.9,201,3322,0.12,2.25,0.00,0.000,3078,0.316,0.060,2352,2655,3659,3693,3625,0,0,0,0,0,0,14.76,14.94,15.00
$GC,3711,-1.10,-134.6,2352,2655,3688,3622,729.2,-16.0,212,3717,0.00,2.20,0.00,0.000,516,0.000,0.057,2352,1249,3655,3687,3623,0,0,0,0,0,0,15.20,14.92,15.21
$GC,3735,-1.10,-134.6,2353,1248,3687,3622,733.4,-17.2,217,3741,0.00,2.25,0.00,0.000,1030,0.000,0.059,2345,2656,3655,3687,3623,0,0,0,0,0,0,15.03,14.94,15.05
$GC,4431,-1.10,-134.6,2344,2656,3681,3617,846.1,-16.0,241,4437,0.00,2.30,0.00,0.000,260,0.000,0.089,2334,4042,3648,3679,3617,0,0,0,0,0,0,15.18,14.90,15.21
$GC,4475,-1.10,-134.6,2334,4042,3680,3616,853.7,-17.0,250,4482,0.00,2.17,0.00,0.000,1030,0.000,0.041,2334,2647,3648,3680,3616,0,0,0,0,0,0,15.04,14.97,15.06
$GC,5154,-1.10,-134.6,2334,2647,3673,3612,956.3,-15.0,270,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2647,3643,3673,3613,0,0,0,0,0,0,15.16,15.21,15.21
$STATE,5386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5387,begin apogee
$GC,5396,-0.20,0.0,2334,2459,3670,3611,991.9,-14.8,272,5499,1.15,0.00,98.47,2.047,10246,0.266,0.000,2647,2459,3126,3077,3176,0,0,0,0,0,0,14.70,14.28,13.57
$STATE,5501,end apogee,CONTROL_FINISHED_OK
$STATE,5501,begin climb
$GC,5505,1.10,134.6,2647,2459,3077,3172,991.9,0.0,272,5625,1.30,2.60,103.90,1.998,10500,0.128,0.094,3066,3869,2576,2513,2640,0,0,0,0,0,0,14.28,14.09,13.46
$GC,5655,1.10,134.6,3067,3869,2513,2637,976.5,22.2,314,5660,0.00,2.30,0.00,0.000,1030,0.000,0.057,3077,2504,2575,2514,2637,0,0,0,0,0,0,14.40,14.33,14.42
$GC,6290,1.10,134.6,3077,2504,2518,2622,846.0,20.4,325,6296,0.00,2.35,0.00,0.000,260,0.000,0.093,3077,3876,2572,2522,2622,0,0,0,0,0,0,14.97,14.72,15.00
$GC,6336,1.10,134.6,3076,3876,2523,2620,836.3,22.2,333,6341,0.00,2.30,0.00,0.000,1030,0.000,0.057,3087,2465,2571,2523,2620,0,0,0,0,0,0,14.85,14.78,14.87
$GC,7026,1.10,134.6,3086,2465,2523,2613,697.0,20.1,354,7031,0.00,2.42,0.00,0.000,260,0.000,0.093,3087,3875,2568,2523,2613,0,0,0,0,0,0,15.06,14.81,15.09
$GC,7184,1.10,134.6,3087,3876,2524,2611,661.5,21.4,384,7189,0.00,2.28,0.00,0.000,1030,0.000,0.057,3097,2470,2567,2523,2611,0,0,0,0,0,0,14.94,14.85,14.96
$GC,7520,1.10,134.6,3097,2470,2523,2608,590.2,21.2,395,7526,0.00,2.40,0.00,0.000,260,0.000,0.090,3097,3882,2566,2524,2608,0,0,0,0,0,0,15.09,14.83,15.13
$GC,7561,1.10,134.6,3097,3882,2524,2607,580.7,23.3,402,7567,0.17,2.28,0.00,0.000,5126,0.382,0.056,3076,2472,2565,2524,2607,0,0,0,0,0,0,14.62,14.88,14.91
$GC,7893,1.10,134.6,3076,2472,2524,2606,514.3,19.8,412,7898,0.00,2.38,0.00,0.000,260,0.000,0.090,3076,3873,2565,2524,2606,0,0,0,0,0,0,15.10,14.83,15.14
$GC,7928,1.10,134.6,3075,3873,2524,2606,506.9,21.1,418,7933,0.00,2.28,0.00,0.000,1030,0.000,0.055,3084,2466,2565,2524,2606,0,0,0,0,0,0,14.96,14.88,14.99
$GC,8264,1.10,134.6,3084,2466,2524,2605,441.0,19.6,429,8269,0.00,2.40,0.00,0.000,260,0.000,0.090,3084,3879,2564,2523,2606,0,0,0,0,0,0,15.10,14.83,15.14
$GC,8309,1.10,134.6,3084,3879,2524,2605,431.8,20.3,437,8314,0.00,2.28,0.00,0.000,1030,0.000,0.055,3094,2470,2565,2524,2606,0,0,0,0,0,0,14.97,14.88,14.99
$GC,8635,1.10,134.6,3094,2470,2524,2605,372.3,18.0,446,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2470,2564,2524,2605,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8935,1.10,134.6,3094,2470,2524,2605,315.0,19.3,451,8941,0.00,2.38,0.00,0.000,260,0.000,0.090,3094,3875,2564,2524,2605,0,0,0,0,0,0,15.12,14.85,15.16
$GC,8975,1.10,134.6,3094,3875,2525,2605,305.7,22.4,458,8982,0.17,2.25,0.00,0.000,5126,0.371,0.053,3073,2470,2565,2525,2605,0,0,0,0,0,0,14.62,14.90,14.93
$GC,9308,1.10,134.6,3072,2470,2524,2604,245.2,18.0,468,9313,0.00,2.40,0.00,0.000,260,0.000,0.093,3072,3879,2568,2525,2611,0,0,0,0,0,0,15.13,14.83,15.16
$GC,9334,1.10,134.6,3072,3879,2525,2602,240.7,16.9,472,9340,0.00,2.25,0.00,0.000,1030,0.000,0.053,3080,2475,2565,2525,2605,0,0,0,0,0,0,14.98,14.92,15.01
$GC,9660,1.10,134.6,3080,2475,2525,2605,196.1,12.0,491,9666,0.00,2.38,0.00,0.000,260,0.000,0.090,3080,3874,2565,2525,2605,0,0,0,0,0,0,15.11,14.84,15.16
$GC,9721,1.10,134.6,3079,3875,2525,2604,188.0,12.3,502,9728,0.00,2.25,0.00,0.000,1030,0.000,0.050,3090,2463,2565,2525,2605,0,0,0,0,0,0,14.95,14.87,14.97
$GC,10027,1.11,174.8,3090,2463,2525,2604,164.3,5.7,518,10059,0.00,2.35,26.00,1.028,8708,0.000,0.071,3101,1070,2412,2372,2453,0,0,0,0,0,0,15.12,14.78,14.34
$GC,10118,1.11,197.7,3101,1070,2377,2449,158.3,7.6,534,10143,0.15,2.33,17.20,1.004,13318,0.324,0.062,3072,2477,2317,2268,2366,0,0,0,0,0,0,14.62,14.78,14.28
$GC,10465,1.11,205.8,3072,2478,2271,2363,125.7,9.1,557,10480,0.00,2.40,6.82,0.920,8452,0.000,0.088,3072,3875,2285,2239,2331,0,0,0,0,0,0,14.99,14.72,14.31
$GC,10562,1.11,205.8,3072,3875,2241,2329,115.5,11.3,575,10568,0.00,2.22,0.00,0.000,1030,0.000,0.046,3080,2476,2285,2241,2329,0,0,0,0,0,0,14.87,14.80,14.88
$GC,10880,1.12,264.9,3080,2476,2245,2328,97.0,3.7,592,10927,0.00,2.30,40.58,0.954,8708,0.000,0.067,3090,1076,2044,1964,2124,0,0,0,0,0,0,15.03,14.67,14.25
$GC,11026,1.12,289.5,3090,1075,1969,2121,88.5,7.4,620,11051,0.00,2.28,17.95,0.952,9222,0.000,0.056,3090,2476,1943,1845,2041,0,0,0,0,0,0,14.79,14.71,14.22
$GC,11371,1.12,289.5,3090,2476,1851,2040,51.0,12.5,643,11377,0.00,2.35,0.00,0.000,260,0.000,0.082,3090,3884,1945,1851,2040,0,0,0,0,0,0,14.97,14.73,15.00
$GC,11481,1.12,289.5,3090,3887,1858,2034,36.0,14.5,663,11487,0.00,2.22,0.00,0.000,1030,0.000,0.042,3101,2476,1946,1858,2034,0,0,0,0,0,0,14.88,14.82,14.90
$STATE,11743,end climb,SURFACE_DEPTH_REACHED
$STATE,11743,begin surface coast
$FINISH,2.3,1.017890
$STATE,11765,end surface coast,CONTROL_FINISHED_OK
$STATE,11765,begin surface
$SM_CCo,11790,83.85,0.051,0,0,1086,500.17
$SM_GC,3.19,8.57,0.30,83.85,0.070,0.099,0.051,37,2672,1086,-8.30,-0.82,500.17,0,0,0,0,0,0,14.84,14.85,14.85
$IRIDIUM_FIX,828.67,8518.35,010915,001641
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.18
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4003456
$24V_AH,13.46,26.814
$10V_AH,13.37,0.000
$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,23.175,96.700,310.925,83.850,0.000,0.000,0.000,244.975,0.000,0.000,189.537,1290.997,8756.616,525.916,1446.840,462.012,0.000,1399.221,0.000,1031.529,0.000,0.544,0.000
$DEVICE_MAMPS,428.400,99.450,2047.140,51.255,0.000,0.000,0.000,226.440,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11764.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.335,0.000,0.000,0.000
$MEM,261040
$DATA_FILE_SIZE,23408,692
$CAP_FILE_SIZE,106981,0
$CFSIZE,260034560,243351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,101.74,1
$GPS,010915,090348,830.569,8519.332,93,1.4,133,-1.9,1.1,66.8,5,12.1