version: 66.12
glider: 141
mission: 23
dive: 84
start: 9 5 115 17 15 55
data:
$ID,141
$MISSION,23
$DIVE,84
$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,37
$R_STBD_OVSHOOT,34
$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
$GPS1,050915,170315,801.3271,8557.8164,156,1.9,196,-1.8,0.5,181.7,5,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-70.9
$GPS2,050915,171522,801.1911,8557.7490,31,1.6,41,-1.8,0.8,242.1,6,8.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,132.6,4680,-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,-63.0,11,2662,882,986,0.0,0.0,0,117,0.00,0.00,-87.60,0.000,16390,0.000,0.000,10,2663,3383,3436,3330,0,0,0,0,0,0,14.86,13.63,14.90
$GC,123,-1.10,-118.0,10,2663,3441,3331,5.1,-4.1,9,146,11.10,2.28,-3.50,0.000,18692,0.411,0.083,2343,4043,3611,3665,3557,0,0,0,0,0,0,14.42,14.03,14.63
$GC,314,-1.10,-118.0,2342,4043,3664,3559,89.2,-45.5,45,319,0.00,2.20,0.00,0.000,1030,0.000,0.039,2342,2649,3612,3665,3559,0,0,0,0,0,0,14.83,14.76,14.85
$GC,639,-1.10,-118.0,2342,2648,3665,3560,192.2,-22.2,64,646,0.00,2.22,0.00,0.000,516,0.000,0.050,2343,1235,3612,3665,3560,0,0,0,0,0,0,15.06,14.84,15.09
$GC,675,-1.10,-118.0,2342,1235,3665,3560,200.8,-23.7,70,681,0.12,2.25,0.00,0.000,3078,0.342,0.053,2354,2653,3613,3665,3561,0,0,0,0,0,0,14.64,14.85,14.88
$GC,1031,-1.10,-118.0,2354,2653,3665,3564,259.1,-15.0,87,1037,0.00,2.22,0.00,0.000,516,0.000,0.048,2355,1236,3614,3665,3564,0,0,0,0,0,0,15.10,14.89,15.14
$GC,1127,-1.10,-118.0,2354,1236,3665,3564,274.3,-15.4,105,1132,0.00,2.25,0.00,0.000,1030,0.000,0.051,2346,2660,3614,3665,3564,0,0,0,0,0,0,14.97,14.90,15.00
$GC,1463,-1.10,-118.0,2346,2661,3663,3564,333.6,-18.1,116,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2660,3613,3663,3564,0,0,0,0,0,0,15.12,15.17,15.16
$GC,1763,-1.10,-118.0,2346,2660,3656,3564,379.3,-14.5,121,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2660,3610,3656,3564,0,0,0,0,0,0,15.15,15.20,15.19
$GC,2062,-1.10,-118.0,2350,2660,3650,3564,421.9,-14.4,126,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2661,3607,3650,3564,0,0,0,0,0,0,15.16,15.20,15.19
$GC,2362,-1.10,-118.0,2346,2660,3642,3564,472.8,-17.3,131,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2660,3603,3642,3564,0,0,0,0,0,0,15.16,15.21,15.20
$GC,2663,-1.10,-118.0,2346,2660,3638,3563,524.4,-17.0,136,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2660,3600,3638,3563,0,0,0,0,0,0,15.16,15.21,15.20
$GC,2963,-1.10,-118.0,2346,2660,3633,3561,564.7,-13.2,141,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2661,3597,3633,3561,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3263,-1.10,-118.0,2346,2660,3629,3558,607.7,-14.5,146,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2660,3597,3637,3558,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3563,-1.10,-118.0,2346,2660,3625,3556,656.8,-16.5,151,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2661,3591,3625,3557,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3862,-1.10,-118.0,2346,2660,3622,3554,703.8,-15.5,156,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2665,3585,3617,3554,0,0,0,0,0,0,15.18,15.22,15.21
$GC,4461,-1.10,-118.0,2346,2660,3616,3550,788.7,-14.1,161,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2660,3583,3616,3550,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5061,-1.10,-118.0,2346,2660,3610,3546,878.1,-15.0,166,5067,0.00,2.30,0.00,0.000,260,0.000,0.090,2336,4033,3577,3609,3546,0,0,0,0,0,0,15.16,14.86,15.21
$GC,5111,-1.10,-118.0,2336,4033,3610,3545,885.8,-15.4,176,5117,0.00,2.17,0.00,0.000,1030,0.000,0.041,2336,2645,3577,3610,3545,0,0,0,0,0,0,15.02,14.95,15.04
$GC,5784,-1.10,-118.0,2336,2645,3606,3543,979.4,-13.7,195,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2645,3575,3606,3544,0,0,0,0,0,0,15.16,15.20,15.19
$STATE,5897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5897,begin apogee
$GC,5907,-0.20,0.0,2336,2457,3603,3543,995.7,-13.7,196,5997,1.15,0.00,86.18,2.047,10246,0.270,0.000,2645,2461,3125,3079,3172,0,0,0,0,0,0,14.63,14.33,13.61
$STATE,5999,end apogee,CONTROL_FINISHED_OK
$STATE,5999,begin climb
$GC,6003,1.10,118.0,2645,2461,3079,3170,995.7,0.0,196,6106,1.30,0.00,92.35,1.998,10758,0.132,0.000,3064,2458,2643,2579,2708,0,0,0,0,0,0,14.32,14.14,13.45
$GC,6786,1.10,118.0,3064,2455,2587,2688,863.5,18.8,249,6792,0.00,2.42,0.00,0.000,260,0.000,0.088,3064,3876,2637,2587,2687,0,0,0,0,0,0,14.97,14.71,15.00
$GC,6897,1.10,118.0,3064,3876,2588,2689,840.0,22.0,270,6902,0.00,2.25,0.00,0.000,1030,0.000,0.054,3074,2490,2638,2588,2688,0,0,0,0,0,0,14.85,14.77,14.88
$GC,7517,1.10,118.0,3074,2491,2588,2680,723.2,18.5,278,7523,0.00,2.35,0.00,0.000,260,0.000,0.087,3074,3872,2634,2589,2679,0,0,0,0,0,0,15.07,14.78,15.11
$GC,7577,1.10,118.0,3074,3873,2589,2679,710.9,20.8,289,7583,0.00,2.25,0.00,0.000,1030,0.000,0.054,3084,2476,2634,2589,2679,0,0,0,0,0,0,14.92,14.84,14.95
$GC,8188,1.10,118.0,3084,2476,2589,2675,587.2,20.2,311,8194,0.00,2.38,0.00,0.000,260,0.000,0.088,3084,3873,2632,2590,2675,0,0,0,0,0,0,15.10,14.80,15.14
$GC,8259,1.10,118.0,3084,3873,2590,2674,571.7,22.2,324,8265,0.00,2.28,0.00,0.000,1030,0.000,0.054,3095,2475,2631,2589,2674,0,0,0,0,0,0,14.94,14.85,14.97
$GC,8621,1.10,118.0,3094,2475,2584,2673,498.1,20.4,340,8627,0.00,2.38,0.00,0.000,260,0.000,0.087,3095,3878,2631,2590,2673,0,0,0,0,0,0,15.10,14.81,15.14
$GC,8672,1.10,118.0,3095,3879,2590,2673,487.4,21.0,349,8678,0.17,2.28,0.00,0.000,5126,0.364,0.054,3072,2467,2631,2590,2672,0,0,0,0,0,0,14.56,14.86,14.88
$GC,8994,1.10,118.0,3072,2467,2590,2672,430.3,17.4,357,9000,0.00,2.40,0.00,0.000,260,0.000,0.087,3072,3872,2631,2591,2671,0,0,0,0,0,0,15.10,14.80,15.14
$GC,9035,1.10,118.0,3071,3872,2591,2671,422.6,19.2,364,9040,0.00,2.25,0.00,0.000,1030,0.000,0.053,3080,2471,2633,2590,2677,0,0,0,0,0,0,14.95,14.87,14.97
$GC,9365,1.10,118.0,3079,2472,2591,2671,363.1,17.9,374,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2471,2630,2591,2670,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9666,1.10,118.0,3080,2471,2590,2670,311.1,17.1,379,9672,0.00,2.38,0.00,0.000,260,0.000,0.086,3080,3873,2631,2592,2671,0,0,0,0,0,0,15.11,14.80,15.14
$GC,9701,1.10,118.0,3079,3873,2592,2670,304.9,17.0,385,9707,0.00,2.25,0.00,0.000,1030,0.000,0.050,3090,2467,2631,2592,2671,0,0,0,0,0,0,14.95,14.87,14.97
$GC,10038,1.10,118.0,3090,2467,2592,2670,255.1,14.7,396,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2467,2631,2592,2670,0,0,0,0,0,0,15.11,15.15,15.15
$GC,10338,1.10,118.0,3090,2467,2591,2670,215.6,10.6,409,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2467,2630,2591,2669,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10641,1.10,129.8,3090,2467,2592,2670,189.5,8.7,424,10656,0.00,2.30,7.78,1.021,8708,0.000,0.072,3101,1064,2595,2556,2634,0,0,0,0,0,0,15.09,14.86,14.35
$GC,10681,1.10,141.1,3101,1064,2557,2633,185.6,8.8,431,10700,0.15,2.28,9.40,1.024,13318,0.328,0.058,3072,2470,2549,2505,2593,0,0,0,0,0,0,14.66,14.87,14.34
$GC,11016,1.11,176.1,3072,2469,2505,2592,158.7,6.3,451,11047,0.00,2.33,24.80,1.030,8708,0.000,0.068,3080,1071,2406,2360,2453,0,0,0,0,0,0,15.05,14.73,14.28
$GC,11168,1.11,200.1,3080,1071,2365,2447,146.9,7.4,478,11193,0.00,2.30,17.75,1.004,9222,0.000,0.058,3080,2472,2307,2251,2364,0,0,0,0,0,0,14.83,14.74,14.22
$GC,11504,1.11,232.5,3079,2473,2257,2359,122.2,6.6,499,11529,0.00,0.00,22.95,0.988,8710,0.000,0.000,3080,2472,2176,2109,2244,0,0,0,0,0,0,14.97,14.69,14.23
$GC,11850,1.12,274.5,3080,2472,2109,2244,94.0,5.5,522,11889,0.00,2.40,29.75,0.969,8452,0.000,0.083,3080,3875,2004,1911,2098,0,0,0,0,0,0,14.97,14.62,14.21
$GC,12007,1.12,288.9,3080,3875,1915,2095,82.7,8.5,552,12023,0.00,2.22,11.27,0.933,9222,0.000,0.041,3090,2470,1948,1846,2051,0,0,0,0,0,0,14.79,14.72,14.21
$GC,12334,1.12,288.9,3090,2473,1851,2048,45.9,12.2,574,12340,0.00,2.35,0.00,0.000,260,0.000,0.075,3090,3885,1949,1851,2048,0,0,0,0,0,0,14.97,14.74,15.01
$GC,12391,1.12,288.9,3090,3885,1856,2044,37.6,14.8,584,12396,0.00,2.22,0.00,0.000,1030,0.000,0.040,3101,2471,1950,1856,2045,0,0,0,0,0,0,14.87,14.81,14.88
$STATE,12693,end climb,SURFACE_DEPTH_REACHED
$STATE,12693,begin surface coast
$FINISH,2.4,1.021928
$STATE,12718,end surface coast,CONTROL_FINISHED_OK
$STATE,12718,begin surface
$SM_CCo,12742,84.20,0.051,0,0,1087,500.17
$SM_GC,3.23,8.50,0.32,84.20,0.062,0.096,0.051,44,2677,1087,-8.30,-0.51,500.17,0,0,0,0,0,0,14.80,14.84,14.85
$IRIDIUM_FIX,758.17,8555.79,050915,114743
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.97
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4000672
$24V_AH,13.45,33.032
$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,22.500,64.725,302.225,84.200,0.000,0.000,0.000,508.075,0.000,0.000,44.359,1223.205,9955.576,482.712,1391.806,498.625,0.000,1548.510,0.000,925.424,0.000,0.544,0.000
$DEVICE_MAMPS,410.805,96.390,2047.140,51.255,0.000,0.000,0.000,248.625,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.235,0.000,0.000,0.000
$MEM,261028
$DATA_FILE_SIZE,23371,617
$CAP_FILE_SIZE,102170,0
$CFSIZE,260034560,241946624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,155.89,1
$GPS,050915,205441,759.790,8559.149,209,1.9,249,-1.8,0.6,207.6,5,12.5