version: 66.12
glider: 141
mission: 23
dive: 85
start: 9 5 115 21 3 4
data:
$ID,141
$MISSION,23
$DIVE,85
$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,40
$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
$GPS1,050915,205441,759.7899,8559.1494,209,1.9,249,-1.8,0.6,207.6,5,12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.9
$GPS2,050915,210228,759.6767,8559.0918,34,1.3,38,-1.8,0.0,153.6,6,8.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,40.2,1770,-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,-63.0,13,2681,1063,1120,0.0,0.0,0,112,0.00,0.00,-83.10,0.000,16390,0.000,0.000,9,2679,3386,3446,3327,0,0,0,0,0,0,14.92,13.64,14.96
$GC,118,-1.10,-127.4,12,2682,3446,3327,4.3,-3.1,8,141,10.95,2.25,-4.18,0.000,18692,0.407,0.094,2343,4031,3650,3705,3596,0,0,0,0,0,0,14.47,13.69,14.67
$GC,338,-1.10,-127.4,2342,4031,3705,3599,104.9,-44.7,50,344,0.00,2.15,0.00,0.000,1030,0.000,0.036,2343,2650,3652,3705,3599,0,0,0,0,0,0,14.89,14.83,14.90
$GC,655,-1.10,-127.4,2343,2650,3700,3603,197.4,-22.7,67,661,0.00,2.30,0.00,0.000,260,0.000,0.083,2333,4029,3654,3705,3603,0,0,0,0,0,0,15.09,14.83,15.12
$GC,682,-1.10,-127.4,2333,4029,3705,3603,203.0,-21.3,71,687,0.00,2.15,0.00,0.000,1030,0.000,0.034,2330,2649,3654,3705,3603,0,0,0,0,0,0,14.96,14.90,14.98
$GC,1011,-1.10,-127.4,2332,2649,3705,3607,263.9,-18.6,88,1016,0.00,2.28,0.00,0.000,260,0.000,0.074,2323,4036,3655,3704,3607,0,0,0,0,0,0,15.11,14.88,15.15
$GC,1101,-1.10,-127.4,2322,4036,3712,3603,283.2,-20.3,105,1107,0.15,2.15,0.00,0.000,3078,0.330,0.033,2351,2632,3656,3705,3607,0,0,0,0,0,0,14.68,14.94,14.92
$GC,1442,-1.10,-127.4,2351,2632,3704,3607,346.6,-18.3,117,1448,0.00,2.30,0.00,0.000,260,0.000,0.076,2347,4030,3656,3703,3609,0,0,0,0,0,0,15.14,14.90,15.21
$GC,1482,-1.10,-127.4,2343,4030,3703,3607,353.5,-17.6,124,1487,0.00,2.12,0.00,0.000,1030,0.000,0.033,2343,2645,3655,3703,3607,0,0,0,0,0,0,15.02,14.96,15.03
$GC,1813,-1.10,-127.4,2343,2645,3697,3607,409.0,-17.0,134,1819,0.00,2.28,0.00,0.000,260,0.000,0.076,2333,4029,3651,3696,3607,0,0,0,0,0,0,15.14,14.88,15.18
$GC,1849,-1.10,-127.4,2333,4029,3696,3607,415.7,-18.3,140,1855,0.00,2.15,0.00,0.000,1030,0.000,0.034,2333,2642,3651,3696,3607,0,0,0,0,0,0,15.02,14.96,15.04
$GC,2186,-1.10,-127.4,2333,2642,3689,3607,474.9,-17.7,151,2191,0.00,2.30,0.00,0.000,260,0.000,0.076,2323,4036,3647,3688,3607,0,0,0,0,0,0,15.16,14.90,15.20
$GC,2211,-1.10,-127.4,2323,4036,3690,3607,479.4,-16.6,155,2218,0.15,2.15,0.00,0.000,3078,0.319,0.034,2353,2636,3647,3688,3607,0,0,0,0,0,0,14.71,14.97,14.96
$GC,2558,-1.10,-127.4,2352,2636,3683,3607,532.9,-15.2,168,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2636,3645,3683,3607,0,0,0,0,0,0,15.16,15.19,15.20
$GC,2859,-1.10,-127.4,2352,2636,3675,3607,578.6,-15.2,173,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2636,3641,3676,3606,0,0,0,0,0,0,15.16,15.20,15.20
$GC,3158,-1.10,-127.4,2352,2636,3672,3603,622.3,-14.5,178,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2636,3637,3672,3603,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3458,-1.10,-127.4,2352,2636,3668,3601,664.1,-13.9,183,3464,0.00,2.33,0.00,0.000,260,0.000,0.083,2344,4027,3633,3667,3600,0,0,0,0,0,0,15.16,14.88,15.20
$GC,3499,-1.10,-127.4,2344,4027,3667,3599,670.2,-15.1,190,3505,0.00,2.12,0.00,0.000,1030,0.000,0.036,2344,2653,3633,3667,3600,0,0,0,0,0,0,15.02,14.96,15.04
$GC,3890,-1.10,-127.4,2344,2653,3663,3598,725.7,-14.2,200,3892,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2653,3630,3663,3598,0,0,0,0,0,0,15.17,15.21,15.20
$GC,4490,-1.10,-127.4,2344,2653,3657,3594,812.9,-14.6,205,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2653,3626,3657,3595,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5091,-1.10,-127.4,2344,2653,3654,3592,897.5,-14.1,210,5097,0.00,2.22,0.00,0.000,516,0.000,0.061,2345,1257,3622,3653,3592,0,0,0,0,0,0,15.16,14.89,15.20
$GC,5122,-1.10,-127.4,2344,1257,3653,3592,901.9,-14.8,215,5127,0.00,2.25,0.00,0.000,1030,0.000,0.061,2335,2647,3622,3653,3591,0,0,0,0,0,0,15.00,14.90,15.02
$STATE,5818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5818,begin apogee
$GC,5828,-0.20,0.0,2335,2465,3646,3588,999.1,-13.8,239,5926,1.15,0.00,94.57,2.069,10246,0.263,0.000,2647,2465,3127,3078,3177,0,0,0,0,0,0,14.63,14.28,13.56
$STATE,5928,end apogee,CONTROL_FINISHED_OK
$STATE,5929,begin climb
$GC,5933,1.10,127.4,2647,2466,3078,3175,999.1,0.0,239,6046,1.30,2.38,99.55,2.021,10756,0.127,0.072,3074,1100,2606,2539,2674,0,0,0,0,0,0,14.28,14.01,13.44
$GC,6071,1.10,127.4,3074,1100,2542,2669,985.2,20.0,278,6077,0.00,2.35,0.00,0.000,1030,0.000,0.064,3073,2472,2605,2542,2668,0,0,0,0,0,0,14.38,14.30,14.40
$GC,6722,1.10,127.4,3074,2472,2552,2650,862.1,18.5,292,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2472,2601,2552,2651,0,0,0,0,0,0,14.97,15.02,15.01
$GC,7322,1.10,127.4,3074,2472,2551,2645,750.1,19.0,297,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2472,2598,2551,2645,0,0,0,0,0,0,15.06,15.09,15.09
$GC,7923,1.10,127.4,3074,2472,2552,2641,634.4,18.9,304,7928,0.00,2.38,0.00,0.000,260,0.000,0.090,3074,3882,2596,2552,2641,0,0,0,0,0,0,15.09,14.80,15.13
$GC,7993,1.10,127.4,3074,3882,2553,2640,620.1,20.2,317,7998,0.00,2.22,0.00,0.000,1030,0.000,0.054,3084,2500,2596,2551,2641,0,0,0,0,0,0,14.94,14.86,14.96
$GC,8354,1.10,127.4,3084,2500,2553,2639,552.5,18.6,333,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2500,2596,2553,2639,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8654,1.10,127.4,3083,2501,2553,2637,495.5,19.0,338,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2500,2595,2553,2637,0,0,0,0,0,0,15.11,15.16,15.15
$GC,8954,1.10,127.4,3084,2499,2548,2637,438.1,19.0,343,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2500,2595,2553,2637,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9254,1.10,127.4,3084,2500,2553,2636,386.3,17.1,348,9260,0.00,2.35,0.00,0.000,260,0.000,0.090,3084,3879,2594,2553,2636,0,0,0,0,0,0,15.11,14.77,15.15
$GC,9304,1.10,127.4,3084,3880,2554,2636,377.4,17.5,357,9310,0.00,2.28,0.00,0.000,1030,0.000,0.052,3093,2469,2595,2554,2636,0,0,0,0,0,0,14.95,14.87,14.98
$GC,9625,1.10,127.4,3094,2469,2550,2635,320.9,18.1,365,9631,0.00,2.40,0.00,0.000,260,0.000,0.090,3095,3881,2594,2554,2635,0,0,0,0,0,0,15.11,14.79,15.15
$GC,9681,1.10,127.4,3094,3880,2554,2635,309.2,21.0,375,9687,0.17,2.25,0.00,0.000,5126,0.366,0.053,3072,2477,2595,2554,2636,0,0,0,0,0,0,14.54,14.87,14.88
$GC,9998,1.10,127.4,3072,2477,2554,2635,255.0,16.3,382,10004,0.00,2.33,0.00,0.000,516,0.000,0.075,3081,1069,2595,2555,2635,0,0,0,0,0,0,15.12,14.81,15.15
$GC,10044,1.10,127.4,3080,1069,2557,2634,248.5,13.9,390,10050,0.00,2.33,0.00,0.000,1030,0.000,0.066,3081,2481,2595,2557,2634,0,0,0,0,0,0,14.93,14.83,14.97
$GC,10371,1.10,133.9,3081,2481,2557,2633,207.2,9.3,409,10382,0.00,2.38,3.75,0.797,8452,0.000,0.091,3081,3886,2581,2542,2621,0,0,0,0,0,0,15.11,14.85,14.19
$GC,10614,1.10,133.9,3081,3885,2546,2622,180.0,11.0,456,10620,0.00,2.25,0.00,0.000,1030,0.000,0.047,3091,2470,2582,2544,2621,0,0,0,0,0,0,14.94,14.86,14.96
$GC,10920,1.11,192.6,3091,2470,2546,2621,155.6,3.7,472,10968,0.00,2.42,41.30,1.049,8452,0.000,0.088,3091,3887,2339,2286,2393,0,0,0,0,0,0,15.09,14.68,14.24
$GC,11203,1.11,202.8,3091,3887,2286,2392,131.4,8.9,527,11219,0.00,2.25,8.62,0.969,9222,0.000,0.044,3102,2477,2297,2245,2350,0,0,0,0,0,0,14.82,14.76,14.23
$GC,11536,1.12,285.4,3101,2471,2250,2346,109.9,1.2,547,11599,0.00,2.33,56.40,0.995,8964,0.000,0.063,3112,1063,1961,1854,2069,0,0,0,0,0,0,15.00,14.50,14.14
$GC,11834,1.12,285.4,3112,1063,1861,2063,81.8,12.5,605,11840,0.17,2.33,0.00,0.000,5126,0.290,0.055,3075,2489,1962,1862,2063,0,0,0,0,0,0,14.50,14.67,14.71
$GC,12151,1.12,304.5,3075,2489,1868,2062,51.1,8.0,622,12172,0.00,2.38,15.05,0.953,8708,0.000,0.060,3083,1072,1882,1773,1992,0,0,0,0,0,0,15.00,14.73,14.28
$GC,12212,1.12,304.5,3083,1072,1775,1990,44.0,12.4,633,12219,0.00,2.28,0.00,0.000,1030,0.000,0.050,3083,2490,1882,1775,1990,0,0,0,0,0,0,14.83,14.75,14.87
$GC,12519,1.12,304.5,3083,2490,1782,1995,3.5,13.6,664,12525,0.00,2.30,0.00,0.000,260,0.000,0.087,3083,3870,1885,1782,1989,0,0,0,0,0,0,15.02,14.73,15.04
$STATE,12531,end climb,SURFACE_DEPTH_REACHED
$STATE,12531,begin surface coast
$FINISH,2.2,1.021839
$STATE,12552,end surface coast,CONTROL_FINISHED_OK
$STATE,12552,begin surface
$SM_CCo,12578,77.75,0.053,0,0,1087,500.17
$SM_GC,3.12,8.48,1.98,77.75,0.064,0.035,0.053,46,2649,1087,-8.29,1.13,500.17,0,0,0,0,0,0,14.80,14.85,14.83
$IRIDIUM_FIX,755.99,8600.29,050915,170614
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.85
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,4000448
$24V_AH,13.44,33.245
$10V_AH,13.35,0.000
$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,22.525,81.875,319.250,77.750,0.000,0.000,0.000,248.625,0.000,0.000,40.510,1332.362,9569.919,503.798,1301.607,424.311,0.000,1354.173,0.000,999.541,0.000,0.547,0.000
$DEVICE_MAMPS,406.980,94.095,2068.560,52.785,0.000,0.000,0.000,224.910,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12562.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.237,0.000,0.000,0.000
$MEM,260924
$DATA_FILE_SIZE,23426,670
$CAP_FILE_SIZE,103890,0
$CFSIZE,260034560,241885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,184.49,1
$GPS,060915,003644,800.371,8559.962,74,2.3,114,-1.8,0.9,227.5,5,14.0