version: 66.12
glider: 141
mission: 23
dive: 69
start: 9 2 115 11 58 57
data:
$ID,141
$MISSION,23
$DIVE,69
$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,47
$R_STBD_OVSHOOT,44
$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
$GPS1,020915,063721,824.4274,8527.0918,301,99.0,301,-1.9,1.3,96.4,6,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.02
$_SM_ANGLEo,-73.0
$GPS2,020915,115822,821.9737,8528.8486,82,1.5,122,-1.9,0.8,72.0,6,12.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,82.4,70143,-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,26,-1.10,-63.0,5,2676,1055,1125,0.0,0.0,0,118,0.00,0.00,-84.22,0.000,16390,0.000,0.000,4,2676,3385,3447,3324,0,0,0,0,0,0,14.95,13.69,14.98
$GC,124,-1.10,-103.1,5,2676,3447,3325,5.7,-5.7,9,147,11.50,2.25,-2.38,0.000,18692,0.431,0.088,2342,4026,3552,3608,3496,0,0,0,0,0,0,14.47,13.74,14.69
$GC,267,-1.10,-103.1,2341,4025,3608,3497,73.3,-43.2,36,274,0.00,2.17,0.00,0.000,1030,0.000,0.040,2342,2651,3553,3608,3498,0,0,0,0,0,0,14.87,14.81,14.89
$GC,573,-1.10,-103.1,2341,2650,3608,3498,179.5,-25.7,52,579,0.00,2.28,0.00,0.000,260,0.000,0.077,2332,4027,3553,3607,3499,0,0,0,0,0,0,15.07,14.81,15.10
$GC,811,-1.10,-103.1,2331,4027,3608,3502,230.2,-21.2,98,818,0.12,2.15,0.00,0.000,3078,0.340,0.034,2353,2632,3555,3608,3502,0,0,0,0,0,0,14.67,14.91,14.90
$GC,1132,-1.10,-103.1,2353,2632,3608,3502,280.8,-15.5,109,1137,0.00,2.17,0.00,0.000,516,0.000,0.050,2354,1244,3555,3608,3502,0,0,0,0,0,0,15.11,14.91,15.17
$GC,1167,-1.10,-103.1,2353,1241,3608,3502,287.3,-16.5,115,1173,0.00,2.22,0.00,0.000,1030,0.000,0.061,2346,2630,3555,3608,3502,0,0,0,0,0,0,14.98,14.89,15.00
$GC,1503,-1.10,-103.1,2346,2630,3605,3502,342.5,-16.5,126,1509,0.00,2.17,0.00,0.000,516,0.000,0.050,2346,1246,3553,3604,3502,0,0,0,0,0,0,15.14,14.93,15.18
$GC,1544,-1.10,-103.1,2346,1246,3604,3502,349.1,-15.7,133,1550,0.00,2.25,0.00,0.000,1030,0.000,0.053,2336,2667,3552,3603,3502,0,0,0,0,0,0,15.01,14.93,15.03
$GC,1876,-1.10,-103.1,2336,2667,3597,3502,403.5,-16.5,143,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2667,3550,3597,3503,0,0,0,0,0,0,15.14,15.19,15.18
$GC,2175,-1.10,-103.1,2335,2668,3591,3502,452.0,-16.2,148,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2667,3546,3591,3502,0,0,0,0,0,0,15.16,15.21,15.19
$GC,2475,-1.10,-103.1,2336,2667,3583,3502,500.7,-16.1,153,2481,0.00,2.28,0.00,0.000,260,0.000,0.080,2325,4049,3542,3582,3502,0,0,0,0,0,0,15.17,14.92,15.21
$GC,2495,-1.10,-103.1,2325,4048,3581,3503,504.1,-15.7,156,2502,0.15,2.15,0.00,0.000,3078,0.325,0.034,2354,2645,3542,3582,3503,0,0,0,0,0,0,14.73,14.98,14.97
$GC,2850,-1.10,-103.1,2354,2645,3577,3502,555.5,-14.5,170,2856,0.00,2.20,0.00,0.000,516,0.000,0.055,2355,1250,3539,3577,3502,0,0,0,0,0,0,15.16,14.94,15.20
$GC,2872,-1.10,-103.1,2354,1250,3577,3502,559.0,-14.4,173,2877,0.00,2.25,0.00,0.000,1030,0.000,0.060,2347,2647,3537,3575,3500,0,0,0,0,0,0,15.02,14.92,15.04
$GC,3223,-1.10,-103.1,2347,2647,3572,3499,612.9,-15.5,187,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3536,3572,3500,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3523,-1.10,-103.1,2347,2647,3576,3497,661.3,-16.1,192,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3532,3569,3496,0,0,0,0,0,0,15.18,15.21,15.21
$GC,3823,-1.10,-103.1,2347,2647,3566,3496,706.6,-15.0,197,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3529,3566,3493,0,0,0,0,0,0,15.17,15.22,15.21
$GC,4421,-1.10,-103.1,2346,2647,3560,3491,781.9,-12.3,202,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3525,3560,3491,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5021,-1.10,-103.1,2347,2647,3555,3488,859.6,-13.0,207,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2647,3521,3555,3488,0,0,0,0,0,0,15.17,15.24,15.21
$GC,5621,-1.10,-103.1,2347,2647,3552,3486,930.4,-11.6,212,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2648,3518,3551,3486,0,0,0,0,0,0,15.17,15.21,15.20
$STATE,6217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6217,begin apogee
$GC,6227,-0.20,0.0,2347,2470,3546,3482,994.6,-10.6,217,6307,1.10,0.00,76.00,2.056,10246,0.272,0.000,2642,2470,3126,3088,3165,0,0,0,0,0,0,14.66,14.37,13.64
$STATE,6309,end apogee,CONTROL_FINISHED_OK
$STATE,6309,begin climb
$GC,6313,1.10,103.1,2643,2469,3088,3162,994.6,0.0,217,6401,1.35,0.00,83.68,2.006,10246,0.133,0.000,3070,2468,2706,2652,2760,0,0,0,0,0,0,14.35,14.15,13.50
$GC,6942,1.10,103.1,3070,2468,2662,2738,884.3,19.0,223,6947,0.00,2.40,0.00,0.000,260,0.000,0.096,3070,3872,2699,2662,2737,0,0,0,0,0,0,14.92,14.65,14.96
$GC,6991,1.10,103.1,3070,3872,2662,2736,874.3,20.7,233,6997,0.00,2.25,0.00,0.000,1030,0.000,0.056,3080,2492,2699,2662,2736,0,0,0,0,0,0,14.81,14.73,14.83
$GC,7666,1.10,103.1,3080,2492,2662,2730,751.3,18.1,252,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2492,2696,2662,2730,0,0,0,0,0,0,15.06,15.08,15.08
$GC,8261,1.10,103.1,3079,2492,2662,2727,646.3,17.5,259,8266,0.00,2.35,0.00,0.000,260,0.000,0.094,3080,3876,2695,2664,2726,0,0,0,0,0,0,15.09,14.78,15.12
$GC,8320,1.10,103.1,3080,3876,2664,2726,635.4,19.2,270,8326,0.00,2.28,0.00,0.000,1030,0.000,0.056,3091,2468,2695,2665,2726,0,0,0,0,0,0,14.97,14.85,14.97
$GC,8689,1.10,103.1,3090,2467,2664,2724,571.3,17.4,288,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2467,2694,2664,2724,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8985,1.10,103.1,3090,2467,2664,2723,519.5,17.3,293,8991,0.00,2.40,0.00,0.000,260,0.000,0.090,3089,3882,2694,2665,2723,0,0,0,0,0,0,15.11,14.82,15.15
$GC,9040,1.10,103.1,3090,3882,2664,2723,509.2,19.5,304,9045,0.15,2.28,0.00,0.000,5126,0.383,0.055,3078,2475,2694,2665,2723,0,0,0,0,0,0,14.57,14.88,14.90
$GC,9345,1.10,103.1,3075,2474,2665,2721,458.9,16.2,310,9351,0.00,2.38,0.00,0.000,260,0.000,0.090,3074,3886,2693,2665,2722,0,0,0,0,0,0,15.11,14.80,15.14
$GC,9420,1.10,103.1,3074,3886,2665,2722,446.1,17.6,325,9426,0.00,2.28,0.00,0.000,1030,0.000,0.054,3082,2475,2694,2666,2722,0,0,0,0,0,0,14.95,14.88,14.98
$GC,9765,1.10,103.1,3082,2475,2665,2721,390.9,15.8,339,9766,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2475,2693,2665,2721,0,0,0,0,0,0,15.11,15.15,15.14
$GC,10065,1.10,103.1,3082,2475,2665,2721,349.5,13.4,344,10071,0.00,2.40,0.00,0.000,260,0.000,0.093,3082,3886,2693,2666,2721,0,0,0,0,0,0,15.12,14.81,15.15
$GC,10100,1.10,103.1,3082,3886,2662,2720,344.2,15.2,351,10106,0.00,2.28,0.00,0.000,1030,0.000,0.053,3092,2470,2693,2666,2720,0,0,0,0,0,0,14.96,14.88,14.99
$GC,10425,1.10,103.1,3092,2470,2665,2721,294.9,15.4,361,10429,0.00,2.40,0.00,0.000,260,0.000,0.089,3092,3882,2693,2666,2720,0,0,0,0,0,0,15.13,14.82,15.16
$GC,10493,1.10,103.1,3092,3882,2666,2720,283.2,17.2,374,10499,0.17,2.28,0.00,0.000,5126,0.369,0.053,3070,2467,2693,2666,2720,0,0,0,0,0,0,14.57,14.88,14.90
$GC,10812,1.10,103.1,3070,2467,2666,2720,243.6,12.0,390,10818,0.00,2.28,0.00,0.000,516,0.000,0.073,3079,1076,2693,2667,2720,0,0,0,0,0,0,15.14,14.81,15.14
$GC,10826,1.10,103.1,3079,1076,2668,2720,241.7,11.4,393,10830,0.00,2.30,0.00,0.000,1030,0.000,0.063,3079,2487,2694,2668,2720,0,0,0,0,0,0,14.95,14.86,14.99
$GC,11149,1.10,126.1,3079,2487,2668,2719,211.8,7.6,412,11171,0.00,2.38,15.57,1.061,8708,0.000,0.071,3088,1079,2611,2577,2645,0,0,0,0,0,0,15.12,14.83,14.35
$GC,11219,1.10,126.1,3088,1078,2578,2644,205.1,10.9,426,11225,0.00,2.28,0.00,0.000,1030,0.000,0.062,3088,2471,2611,2579,2644,0,0,0,0,0,0,14.92,14.83,14.93
$GC,11530,1.11,155.0,3088,2471,2579,2644,178.1,6.9,443,11556,0.00,2.33,21.55,1.021,8708,0.000,0.070,3098,1067,2491,2448,2535,0,0,0,0,0,0,15.07,14.76,14.32
$GC,11575,1.11,200.5,3098,1067,2451,2531,175.8,5.2,452,11612,0.00,2.33,31.83,1.005,9222,0.000,0.063,3098,2481,2308,2252,2365,0,0,0,0,0,0,14.85,14.77,14.19
$GC,11926,1.11,218.4,3098,2481,2256,2355,135.0,8.1,477,11945,0.00,2.38,13.48,0.942,8452,0.000,0.089,3098,3879,2235,2180,2291,0,0,0,0,0,0,14.95,14.62,14.25
$GC,12160,1.11,218.4,3098,3879,2185,2283,108.2,12.8,523,12165,0.17,2.25,0.00,0.000,5126,0.337,0.044,3074,2469,2234,2185,2283,0,0,0,0,0,0,14.54,14.77,14.78
$GC,12465,1.12,286.7,3074,2469,2190,2283,99.5,2.7,539,12518,0.00,2.28,47.50,0.946,8708,0.000,0.063,3082,1079,1956,1854,2058,0,0,0,0,0,0,15.02,14.55,14.21
$GC,12578,1.12,286.7,3082,1079,1856,2054,91.4,10.3,561,12582,0.00,2.30,0.00,0.000,1030,0.000,0.057,3082,2475,1955,1857,2054,0,0,0,0,0,0,14.74,14.66,14.76
$GC,12883,1.12,286.7,3082,2474,1862,2053,53.9,13.0,577,12887,0.00,2.35,0.00,0.000,260,0.000,0.082,3082,3879,1958,1863,2054,0,0,0,0,0,0,14.96,14.74,15.01
$GC,12955,1.12,286.7,3082,3879,1869,2048,43.0,15.6,591,12961,0.00,2.22,0.00,0.000,1030,0.000,0.042,3091,2474,1959,1870,2048,0,0,0,0,0,0,14.87,14.81,14.88
$GC,13265,1.12,286.7,3086,2474,1876,2048,4.5,12.7,623,13271,0.00,2.35,0.00,0.000,260,0.000,0.081,3091,3886,1962,1876,2048,0,0,0,0,0,0,15.05,14.80,15.08
$STATE,13275,end climb,SURFACE_DEPTH_REACHED
$STATE,13276,begin surface coast
$FINISH,2.2,0.000000
$STATE,13296,end surface coast,CONTROL_FINISHED_OK
$STATE,13296,begin surface
$SM_CCo,13323,85.03,0.052,0,0,1086,500.17
$SM_GC,3.05,8.57,2.00,85.03,0.072,0.035,0.052,45,2641,1086,-8.30,1.02,500.17,0,0,0,0,0,0,14.80,14.88,14.85
$IRIDIUM_FIX,819.95,8527.22,020915,063250
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.42
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.60
$XPDR_PINGS,1
$SC_FREEKB,4002688
$24V_AH,13.50,28.579
$10V_AH,13.90,0.000
$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,23.300,86.750,289.600,85.025,0.000,0.000,0.000,215.875,0.250,0.000,125.042,742.572,10955.734,503.412,1279.449,442.372,0.000,1286.294,0.000,939.145,0.000,0.544,0.000
$DEVICE_MAMPS,430.695,95.625,2055.555,52.020,0.000,0.000,0.000,222.615,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.210,0.000,0.000,0.000
$MEM,260932
$DATA_FILE_SIZE,23397,630
$CAP_FILE_SIZE,106181,0
$CFSIZE,260034560,242946048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,67.34,1
$GPS,020915,154416,822.411,8530.313,21,2.6,61,-1.9,0.5,30.4,5,18.0