version: 66.12
glider: 141
mission: 23
dive: 93
start: 9 7 115 8 57 25
data:
$ID,141
$MISSION,23
$DIVE,93
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,070915,084215,759.8208,8600.2793,83,1.3,123,-1.8,0.5,130.5,7,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-71.4
$GPS2,070915,085652,759.6521,8600.3545,28,1.4,44,-1.8,0.4,107.2,6,9.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,286.5,915,-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,-63.0,8,2687,886,993,0.0,0.0,0,118,0.00,0.00,-88.65,0.000,16390,0.000,0.000,7,2688,3384,3447,3321,0,0,0,0,0,0,14.85,13.57,14.89
$GC,125,-1.10,-121.7,7,2688,3447,3322,4.7,-3.7,9,147,11.25,2.33,-3.83,0.000,18948,0.416,0.069,2350,1237,3627,3683,3571,0,0,0,0,0,0,14.40,13.76,14.61
$GC,244,-1.10,-121.7,2350,1237,3683,3573,55.9,-42.3,31,250,0.00,2.22,0.00,0.000,1030,0.000,0.053,2342,2629,3628,3683,3573,0,0,0,0,0,0,14.81,14.72,14.82
$GC,561,-1.10,-121.7,2342,2629,3683,3574,169.6,-28.4,48,566,0.00,2.30,0.00,0.000,260,0.000,0.073,2331,4040,3628,3683,3573,0,0,0,0,0,0,15.03,14.79,15.07
$GC,724,-1.10,-121.7,2331,4040,3683,3575,208.9,-23.7,79,732,0.00,2.15,0.00,0.000,1030,0.000,0.034,2331,2645,3629,3683,3575,0,0,0,0,0,0,14.91,14.85,14.92
$GC,1054,-1.10,-121.7,2331,2645,3683,3578,270.8,-17.4,92,1059,0.00,2.30,0.00,0.000,260,0.000,0.076,2321,4046,3630,3683,3577,0,0,0,0,0,0,15.09,14.84,15.13
$GC,1128,-1.10,-121.7,2321,4046,3683,3578,285.3,-17.5,106,1135,0.17,2.15,0.00,0.000,3078,0.330,0.033,2352,2643,3630,3682,3578,0,0,0,0,0,0,14.62,14.91,14.90
$GC,1489,-1.10,-121.7,2355,2640,3682,3577,335.5,-13.6,121,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2643,3628,3679,3578,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1785,-1.10,-121.7,2356,2643,3673,3578,378.5,-14.5,126,1791,0.00,2.30,0.00,0.000,260,0.000,0.079,2348,4038,3625,3673,3578,0,0,0,0,0,0,15.14,14.88,15.18
$GC,1861,-1.10,-121.7,2348,4037,3673,3577,391.0,-16.8,140,1866,0.00,2.12,0.00,0.000,1030,0.000,0.034,2348,2649,3625,3673,3578,0,0,0,0,0,0,15.00,14.94,15.02
$GC,2217,-1.10,-121.7,2348,2649,3664,3577,449.3,-16.5,155,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2649,3620,3664,3577,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2517,-1.10,-121.7,2347,2649,3657,3578,505.2,-18.9,160,2523,0.00,2.20,0.00,0.000,516,0.000,0.054,2348,1255,3617,3656,3578,0,0,0,0,0,0,15.15,14.90,15.18
$GC,2553,-1.10,-121.7,2348,1255,3656,3577,512.2,-18.8,166,2558,0.00,2.22,0.00,0.000,1030,0.000,0.055,2338,2659,3616,3656,3577,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2888,-1.10,-121.7,2338,2658,3652,3576,572.2,-17.4,177,2894,0.00,2.28,0.00,0.000,260,0.000,0.080,2327,4045,3613,3651,3575,0,0,0,0,0,0,15.15,14.87,15.19
$GC,2929,-1.10,-121.7,2327,4043,3650,3574,579.2,-17.3,184,2935,0.15,2.15,0.00,0.000,3078,0.320,0.036,2357,2646,3612,3651,3574,0,0,0,0,0,0,14.64,14.95,14.92
$GC,3261,-1.10,-121.7,2362,2646,3646,3573,629.3,-15.0,194,3266,0.00,2.20,0.00,0.000,516,0.000,0.056,2357,1255,3609,3645,3573,0,0,0,0,0,0,15.15,14.90,15.19
$GC,3286,-1.10,-121.7,2356,1255,3645,3573,633.5,-16.1,198,3291,0.00,2.22,0.00,0.000,1030,0.000,0.058,2349,2646,3609,3645,3573,0,0,0,0,0,0,14.98,14.89,15.01
$GC,3632,-1.10,-121.7,2349,2646,3641,3571,691.2,-16.9,211,3638,0.00,2.30,0.00,0.000,260,0.000,0.085,2338,4037,3604,3639,3570,0,0,0,0,0,0,15.14,14.84,15.18
$GC,3652,-1.10,-121.7,2338,4037,3640,3570,695.0,-16.8,214,3658,0.00,2.15,0.00,0.000,1030,0.000,0.037,2338,2646,3604,3639,3570,0,0,0,0,0,0,15.00,14.93,15.02
$GC,4062,-1.10,-121.7,2338,2646,3636,3567,760.5,-15.9,226,4068,0.00,2.20,0.00,0.000,516,0.000,0.057,2338,1255,3601,3635,3567,0,0,0,0,0,0,15.16,14.88,15.19
$GC,4092,-1.10,-121.7,2338,1255,3637,3567,765.0,-15.4,232,4099,0.12,2.25,0.00,0.000,3078,0.316,0.060,2352,2652,3601,3635,3567,0,0,0,0,0,0,14.64,14.88,14.91
$GC,4782,-1.10,-121.7,2350,2655,3630,3562,853.4,-12.6,255,4788,0.00,2.25,0.00,0.000,516,0.000,0.060,2352,1248,3595,3628,3562,0,0,0,0,0,0,15.16,14.87,15.20
$GC,4857,-1.10,-121.7,2352,1248,3627,3562,862.9,-12.6,270,4861,0.00,2.28,0.00,0.000,1030,0.000,0.061,2344,2655,3594,3627,3562,0,0,0,0,0,0,14.97,14.87,15.00
$GC,5505,-1.10,-121.7,2344,2656,3623,3560,950.5,-13.7,284,5511,0.00,2.33,0.00,0.000,260,0.000,0.092,2334,4043,3590,3622,3559,0,0,0,0,0,0,15.16,14.81,15.19
$GC,5535,-1.10,-121.7,2333,4043,3622,3558,954.9,-14.7,290,5539,0.00,2.20,0.00,0.000,1030,0.000,0.043,2334,2647,3590,3622,3558,0,0,0,0,0,0,14.97,14.90,15.00
$STATE,5863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5863,begin apogee
$GC,5876,-0.20,0.0,2334,2463,3620,3557,1000.8,-13.6,310,5969,1.15,0.00,89.12,2.065,10246,0.261,0.000,2645,2463,3127,3081,3173,0,0,0,0,0,0,14.60,14.30,13.57
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5976,1.10,121.7,2645,2463,3081,3171,1000.8,0.0,310,6077,1.33,0.00,97.25,2.004,10246,0.128,0.000,3067,2461,2629,2566,2692,0,0,0,0,0,0,14.29,14.14,13.44
$GC,6588,1.10,121.7,3067,2461,2575,2671,894.0,19.4,316,6594,0.00,2.40,0.00,0.000,260,0.000,0.091,3067,3877,2624,2576,2672,0,0,0,0,0,0,14.92,14.63,14.95
$GC,6682,1.10,121.7,3067,3877,2577,2670,875.2,19.8,335,6688,0.00,2.25,0.00,0.000,1030,0.000,0.057,3077,2495,2623,2576,2670,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7308,1.10,121.7,3077,2496,2576,2664,757.6,18.9,345,7314,0.00,2.35,0.00,0.000,516,0.000,0.078,3088,1066,2621,2579,2663,0,0,0,0,0,0,15.04,14.75,15.08
$GC,7332,1.10,121.7,3088,1066,2581,2660,752.7,19.6,350,7339,0.00,2.33,0.00,0.000,1030,0.000,0.069,3088,2473,2621,2581,2661,0,0,0,0,0,0,14.88,14.78,14.92
$GC,7968,1.10,121.7,3087,2473,2581,2655,631.0,18.8,376,7974,0.00,2.40,0.00,0.000,260,0.000,0.097,3088,3895,2618,2582,2655,0,0,0,0,0,0,15.09,14.73,15.13
$GC,8067,1.10,121.7,3088,3895,2582,2655,609.4,22.4,396,8074,0.00,2.30,0.00,0.000,1030,0.000,0.056,3099,2468,2618,2582,2655,0,0,0,0,0,0,14.91,14.83,14.94
$GC,8388,1.10,121.7,3098,2469,2582,2654,540.8,21.5,405,8394,0.00,2.42,0.00,0.000,260,0.000,0.092,3099,3890,2618,2582,2654,0,0,0,0,0,0,15.09,14.76,15.12
$GC,8418,1.10,121.7,3098,3890,2582,2654,533.8,23.7,411,8424,0.20,2.28,0.00,0.000,5126,0.373,0.055,3071,2475,2618,2582,2654,0,0,0,0,0,0,14.50,14.83,14.81
$GC,8748,1.10,121.7,3071,2474,2582,2653,470.5,18.6,422,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2474,2617,2581,2653,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9048,1.10,121.7,3071,2474,2582,2652,419.4,16.9,427,9054,0.00,2.40,0.00,0.000,260,0.000,0.090,3070,3885,2617,2582,2653,0,0,0,0,0,0,15.11,14.77,15.15
$GC,9103,1.10,121.7,3071,3885,2582,2648,409.7,17.7,438,9107,0.00,2.30,0.00,0.000,1030,0.000,0.054,3080,2464,2617,2582,2653,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9410,1.10,121.7,3079,2464,2582,2652,361.0,15.8,444,9416,0.00,2.40,0.00,0.000,260,0.000,0.090,3080,3888,2617,2582,2652,0,0,0,0,0,0,15.11,14.75,15.14
$GC,9525,1.10,121.7,3079,3887,2582,2652,339.5,19.6,467,9531,0.00,2.25,0.00,0.000,1030,0.000,0.053,3090,2469,2617,2582,2653,0,0,0,0,0,0,14.86,14.82,14.88
$GC,9893,1.10,121.7,3090,2468,2582,2652,272.0,18.2,485,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2469,2617,2583,2652,0,0,0,0,0,0,15.09,15.14,15.13
$GC,10190,1.10,121.7,3090,2469,2582,2652,228.7,14.4,494,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2469,2617,2583,2652,0,0,0,0,0,0,15.11,15.15,15.14
$GC,10493,1.10,131.8,3089,2469,2582,2651,194.1,8.9,509,10506,0.00,2.45,6.55,1.000,8452,0.000,0.086,3090,3901,2587,2551,2624,0,0,0,0,0,0,15.11,14.88,14.33
$GC,10740,1.11,179.2,3090,3901,2551,2624,176.9,5.0,558,10779,0.00,2.28,33.35,1.060,9222,0.000,0.048,3101,2467,2393,2347,2440,0,0,0,0,0,0,14.93,14.85,14.27
$GC,11093,1.11,193.7,3101,2467,2353,2430,147.0,8.5,584,11109,0.00,2.45,11.12,0.990,8452,0.000,0.085,3101,3889,2333,2288,2378,0,0,0,0,0,0,15.00,14.72,14.26
$GC,11343,1.11,207.4,3101,3888,2290,2378,119.9,8.5,633,11362,0.12,2.22,10.88,0.960,13318,0.326,0.044,3082,2477,2280,2228,2332,0,0,0,0,0,0,14.50,14.77,14.28
$GC,11675,1.12,265.3,3082,2476,2232,2328,101.2,3.8,655,11723,0.00,2.42,39.97,0.970,8452,0.000,0.079,3082,3886,2043,1957,2129,0,0,0,0,0,0,15.01,14.63,14.22
$GC,11953,1.12,265.3,3082,3886,1966,2120,76.8,10.4,710,11961,0.00,2.22,0.00,0.000,1030,0.000,0.040,3091,2470,2043,1966,2120,0,0,0,0,0,0,14.81,14.76,14.83
$GC,12270,1.12,265.3,3090,2470,1973,2119,42.7,10.4,732,12276,0.00,2.35,0.00,0.000,260,0.000,0.077,3090,3883,2046,1973,2119,0,0,0,0,0,0,15.02,14.76,15.05
$GC,12506,1.12,265.3,3096,3883,1979,2117,11.2,13.2,779,12510,0.00,2.20,0.00,0.000,1030,0.000,0.039,3101,2473,2049,1980,2118,0,0,0,0,0,0,14.92,14.86,14.94
$STATE,12565,end climb,SURFACE_DEPTH_REACHED
$STATE,12565,begin surface coast
$FINISH,2.2,0.000000
$STATE,12588,end surface coast,CONTROL_FINISHED_OK
$STATE,12588,begin surface
$SM_CCo,12613,93.32,0.051,0,0,1087,500.17
$SM_GC,3.25,8.43,0.30,93.32,0.054,0.084,0.051,38,2678,1087,-8.30,-0.76,500.17,0,0,0,0,0,0,14.83,14.87,14.85
$IRIDIUM_FIX,753.81,8600.29,070915,032545
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.42
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3999360
$24V_AH,13.44,35.280
$10V_AH,13.55,0.000
$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,22.925,96.325,288.250,93.325,0.000,0.000,0.000,650.875,0.000,0.000,50.014,834.361,9891.059,527.841,1736.476,590.870,0.000,1847.677,0.000,1165.443,0.000,0.547,0.000
$DEVICE_MAMPS,416.160,97.155,2064.735,51.255,0.000,0.000,0.000,252.450,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12583.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.255,0.000,0.000,0.000
$MEM,260916
$DATA_FILE_SIZE,26766,788
$CAP_FILE_SIZE,117242,0
$CFSIZE,260034560,241324032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,17.845,294.10,1
$GPS,070915,085652,759.652,8600.354,301,99.0,301,-1.8,0.4,107.2,6,9.2