version: 66.12
glider: 141
mission: 23
dive: 111
start: 9 10 115 15 7 39
data:
$ID,141
$MISSION,23
$DIVE,111
$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,36
$R_STBD_OVSHOOT,48
$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
$GPS1,100915,145931,758.9960,8600.0967,160,1.2,200,-1.8,0.6,161.5,6,12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.96
$_SM_ANGLEo,-68.9
$GPS2,100915,150703,758.7742,8600.1357,13,1.1,46,-1.8,1.1,175.1,8,7.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,341.8,2284,-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,23,begin dive
$GC,27,-1.10,-63.0,17,2681,348,379,0.0,0.0,0,140,0.00,0.00,-107.15,0.000,16390,0.000,0.000,12,2681,3384,3439,3329,0,0,0,0,0,0,14.90,13.98,14.92
$GC,146,-1.10,-113.2,12,2681,3439,3331,5.3,-4.7,11,169,11.23,2.33,-3.08,0.000,18948,0.418,0.071,2353,1229,3593,3647,3539,0,0,0,0,0,0,14.42,13.64,14.75
$GC,277,-1.10,-113.2,2353,1229,3647,3540,61.2,-36.8,35,282,0.00,2.25,0.00,0.000,1030,0.000,0.055,2345,2633,3593,3646,3540,0,0,0,0,0,0,14.83,14.73,14.84
$GC,607,-1.10,-113.2,2345,2633,3646,3540,168.0,-24.2,54,612,0.00,2.33,0.00,0.000,260,0.000,0.075,2335,4046,3592,3646,3539,0,0,0,0,0,0,15.03,14.78,15.06
$GC,656,-1.10,-113.2,2334,4046,3646,3540,181.7,-25.7,63,662,0.00,2.17,0.00,0.000,1030,0.000,0.033,2334,2637,3593,3647,3540,0,0,0,0,0,0,14.92,14.85,14.93
$GC,977,-1.10,-113.2,2334,2636,3646,3537,240.8,-17.3,81,983,0.00,2.33,0.00,0.000,260,0.000,0.075,2324,4045,3593,3647,3540,0,0,0,0,0,0,15.08,14.83,15.11
$GC,1211,-1.10,-113.2,2324,4045,3647,3541,283.0,-18.6,126,1217,0.15,2.15,0.00,0.000,3078,0.340,0.032,2352,2643,3593,3646,3541,0,0,0,0,0,0,14.59,14.91,14.88
$GC,1536,-1.10,-113.2,2352,2643,3643,3541,332.7,-15.0,134,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2643,3591,3642,3541,0,0,0,0,0,0,15.14,15.16,15.15
$GC,1832,-1.10,-113.2,2352,2643,3637,3540,375.9,-14.5,139,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2643,3589,3637,3541,0,0,0,0,0,0,15.12,15.16,15.16
$GC,2133,-1.10,-113.2,2352,2643,3630,3540,421.2,-15.2,144,2138,0.00,2.33,0.00,0.000,260,0.000,0.078,2344,4039,3584,3628,3541,0,0,0,0,0,0,15.14,14.87,15.18
$GC,2177,-1.10,-113.2,2344,4039,3628,3547,428.8,-16.6,152,2183,0.00,2.15,0.00,0.000,1030,0.000,0.034,2344,2642,3585,3629,3541,0,0,0,0,0,0,15.00,14.94,15.02
$GC,2507,-1.10,-113.2,2343,2642,3622,3541,479.6,-15.7,161,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2642,3581,3621,3541,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2804,-1.10,-113.2,2347,2642,3615,3540,524.4,-14.9,166,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2642,3577,3615,3540,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3103,-1.10,-113.2,2344,2641,3610,3538,570.3,-15.4,171,3109,0.00,2.20,0.00,0.000,516,0.000,0.054,2344,1249,3574,3610,3538,0,0,0,0,0,0,15.15,14.89,15.19
$GC,3158,-1.10,-113.2,2344,1250,3609,3537,579.3,-15.9,181,3164,0.00,2.25,0.00,0.000,1030,0.000,0.054,2334,2658,3573,3609,3537,0,0,0,0,0,0,14.99,14.89,15.01
$GC,3478,-1.10,-113.2,2334,2658,3607,3534,630.9,-16.5,188,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2658,3571,3607,3535,0,0,0,0,0,0,15.13,15.17,15.16
$GC,3775,-1.10,-113.2,2333,2658,3603,3532,678.1,-15.6,193,3781,0.00,2.25,0.00,0.000,516,0.000,0.056,2333,1250,3567,3602,3532,0,0,0,0,0,0,15.15,14.87,15.18
$GC,3820,-1.10,-113.2,2334,1249,3602,3532,685.2,-15.1,201,3827,0.15,2.25,0.00,0.000,3078,0.316,0.057,2353,2650,3567,3602,3532,0,0,0,0,0,0,14.59,14.88,14.88
$GC,4212,-1.10,-113.2,2353,2650,3597,3531,740.3,-14.2,209,4218,0.00,2.33,0.00,0.000,260,0.000,0.086,2345,4042,3563,3596,3530,0,0,0,0,0,0,15.14,14.82,15.16
$GC,4243,-1.10,-113.2,2345,4042,3597,3529,745.9,-15.0,214,4249,0.00,2.17,0.00,0.000,1030,0.000,0.038,2345,2653,3564,3597,3531,0,0,0,0,0,0,14.98,14.91,15.00
$GC,4943,-1.10,-113.2,2345,2653,3591,3526,850.6,-14.9,238,4949,0.00,2.22,0.00,0.000,516,0.000,0.060,2345,1256,3558,3590,3526,0,0,0,0,0,0,15.14,14.81,15.18
$GC,5013,-1.10,-113.2,2345,1256,3590,3526,860.8,-14.7,252,5019,0.00,2.28,0.00,0.000,1030,0.000,0.062,2335,2652,3557,3589,3526,0,0,0,0,0,0,14.95,14.84,14.98
$GC,5666,-1.10,-113.2,2334,2652,3584,3522,955.2,-14.5,267,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2652,3553,3585,3521,0,0,0,0,0,0,15.13,15.17,15.16
$STATE,6018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6029,-0.20,0.0,2335,2459,3581,3520,1004.9,-13.9,270,6115,1.15,0.00,82.70,2.105,10246,0.269,0.000,2642,2460,3126,3082,3171,0,0,0,0,0,0,14.55,14.31,13.56
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6118,begin climb
$GC,6122,1.10,113.2,2642,2460,3082,3169,1004.9,0.0,270,6223,1.33,2.55,88.65,2.039,10500,0.132,0.090,3067,3882,2662,2598,2727,0,0,0,0,0,0,14.28,14.01,13.43
$GC,6258,1.10,113.2,3066,3882,2598,2724,991.6,20.2,310,6264,0.00,2.35,0.00,0.000,1030,0.000,0.057,3077,2493,2661,2599,2724,0,0,0,0,0,0,14.40,14.33,14.42
$GC,6908,1.10,113.2,3077,2493,2606,2708,868.4,18.9,323,6913,0.00,2.40,0.00,0.000,260,0.000,0.091,3077,3880,2657,2608,2707,0,0,0,0,0,0,14.95,14.66,14.99
$GC,6933,1.10,113.2,3077,3880,2608,2707,862.6,19.3,327,6938,0.00,2.33,0.00,0.000,1030,0.000,0.057,3087,2462,2657,2608,2707,0,0,0,0,0,0,14.81,14.72,14.84
$GC,7639,1.10,113.2,3087,2462,2608,2701,729.7,18.9,352,7645,0.00,2.42,0.00,0.000,260,0.000,0.091,3088,3878,2655,2610,2700,0,0,0,0,0,0,15.04,14.73,15.08
$GC,7679,1.10,113.2,3087,3879,2610,2699,721.2,20.8,359,7685,0.00,2.30,0.00,0.000,1030,0.000,0.057,3098,2466,2654,2610,2699,0,0,0,0,0,0,14.88,14.79,14.91
$GC,8309,1.10,113.2,3098,2467,2610,2695,604.0,18.1,384,8314,0.00,2.40,0.00,0.000,260,0.000,0.090,3098,3877,2653,2611,2695,0,0,0,0,0,0,15.07,14.71,15.11
$GC,8363,1.10,113.2,3098,3877,2610,2695,593.0,21.0,395,8370,0.17,2.28,0.00,0.000,5126,0.368,0.056,3076,2477,2653,2611,2695,0,0,0,0,0,0,14.46,14.81,14.83
$GC,8728,1.10,113.2,3076,2477,2611,2693,527.3,18.0,413,8734,0.00,2.33,0.00,0.000,516,0.000,0.079,3085,1073,2653,2613,2693,0,0,0,0,0,0,15.09,14.73,15.12
$GC,8748,1.10,113.2,3085,1073,2613,2691,523.7,17.9,417,8754,0.00,2.33,0.00,0.000,1030,0.000,0.066,3084,2482,2652,2614,2691,0,0,0,0,0,0,14.90,14.79,14.93
$GC,9092,1.10,113.2,3085,2482,2614,2690,463.0,17.6,430,9097,0.00,2.35,0.00,0.000,260,0.000,0.093,3085,3870,2652,2614,2690,0,0,0,0,0,0,15.08,14.71,15.12
$GC,9162,1.10,113.2,3084,3870,2614,2690,449.7,18.6,444,9168,0.00,2.25,0.00,0.000,1030,0.000,0.054,3094,2470,2652,2614,2690,0,0,0,0,0,0,14.83,14.78,14.88
$GC,9514,1.10,113.2,3094,2470,2614,2689,387.8,17.7,459,9520,0.00,2.40,0.00,0.000,260,0.000,0.093,3094,3878,2651,2614,2689,0,0,0,0,0,0,15.09,14.70,15.13
$GC,9594,1.10,113.2,3094,3877,2614,2689,371.4,19.9,475,9600,0.17,2.30,0.00,0.000,5126,0.361,0.054,3072,2469,2651,2614,2689,0,0,0,0,0,0,14.47,14.82,14.80
$GC,9934,1.10,113.2,3072,2464,2619,2689,316.8,15.6,488,9940,0.00,2.42,0.00,0.000,260,0.000,0.090,3071,3881,2651,2614,2689,0,0,0,0,0,0,15.11,14.74,15.14
$GC,10004,1.10,113.2,3072,3881,2614,2689,305.7,15.3,502,10010,0.00,2.28,0.00,0.000,1030,0.000,0.052,3080,2469,2651,2614,2689,0,0,0,0,0,0,14.93,14.83,14.95
$GC,10357,1.10,113.2,3080,2468,2614,2689,258.1,13.4,517,10362,0.00,2.38,0.00,0.000,260,0.000,0.090,3081,3872,2651,2614,2689,0,0,0,0,0,0,15.09,14.71,15.16
$GC,10480,1.10,113.2,3080,3872,2614,2689,238.3,15.8,541,10485,0.00,2.22,0.00,0.000,1030,0.000,0.051,3091,2477,2651,2614,2689,0,0,0,0,0,0,14.83,14.77,14.87
$GC,10802,1.10,113.2,3090,2477,2614,2689,197.5,10.7,560,10808,0.00,2.40,0.00,0.000,260,0.000,0.088,3090,3879,2651,2614,2689,0,0,0,0,0,0,15.08,14.72,15.11
$GC,11041,1.11,162.3,3090,3879,2614,2689,180.6,4.8,607,11080,0.10,2.22,32.20,1.084,13318,0.340,0.048,3079,2474,2463,2413,2513,0,0,0,0,0,0,14.42,14.79,14.24
$GC,11383,1.11,163.1,3078,2474,2418,2506,149.6,9.9,631,11389,0.00,2.38,0.00,0.000,260,0.000,0.084,3079,3879,2462,2419,2506,0,0,0,0,0,0,14.99,14.69,15.02
$GC,11423,1.11,163.1,3078,3882,2419,2506,145.0,11.6,639,11429,0.00,2.25,0.00,0.000,1030,0.000,0.045,3086,2467,2462,2419,2506,0,0,0,0,0,0,14.84,14.78,14.86
$GC,11747,1.11,196.3,3086,2467,2422,2506,120.9,6.5,658,11776,0.00,2.40,24.27,0.993,8452,0.000,0.080,3087,3889,2323,2266,2381,0,0,0,0,0,0,15.03,14.66,14.28
$GC,12007,1.12,276.2,3082,3889,2268,2380,106.3,1.5,710,12069,0.00,2.25,54.45,0.967,9222,0.000,0.042,3098,2466,1998,1890,2107,0,0,0,0,0,0,14.83,14.76,14.13
$GC,12382,1.12,276.2,3097,2467,1897,2103,78.7,10.1,740,12388,0.00,2.28,0.00,0.000,516,0.000,0.065,3108,1084,2000,1898,2102,0,0,0,0,0,0,14.93,14.68,14.97
$GC,12621,1.12,276.2,3108,1084,1905,2098,51.8,11.1,787,12627,0.10,2.22,0.00,0.000,5126,0.271,0.051,3082,2478,2002,1905,2099,0,0,0,0,0,0,14.52,14.73,14.68
$GC,12936,1.12,276.2,3082,2478,1911,2098,14.9,11.3,821,12942,0.00,2.30,0.00,0.000,516,0.000,0.060,3090,1073,2004,1911,2098,0,0,0,0,0,0,15.04,14.78,15.08
$STATE,13034,end climb,SURFACE_DEPTH_REACHED
$STATE,13034,begin surface coast
$FINISH,2.4,0.000000
$STATE,13067,end surface coast,CONTROL_FINISHED_OK
$STATE,13068,begin surface
$SM_CCo,13094,89.55,0.052,0,0,1087,500.17
$SM_GC,3.11,8.57,2.60,89.55,0.070,0.054,0.052,43,2658,1087,-8.30,-0.79,500.17,0,0,0,0,0,0,14.79,14.81,14.83
$IRIDIUM_FIX,753.81,8602.46,100915,094840
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.95
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.50
$XPDR_PINGS,1
$SC_FREEKB,3996960
$24V_AH,13.43,39.475
$10V_AH,13.29,0.000
$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,23.125,101.825,282.275,89.550,0.000,0.000,0.000,221.825,0.250,0.000,49.344,872.566,10159.560,483.619,1579.797,540.307,0.000,1446.540,0.000,1362.045,0.000,0.545,0.000
$DEVICE_MAMPS,417.690,93.330,2104.515,52.020,0.000,0.000,0.000,224.145,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.274,0.000,0.000,0.000
$MEM,260948
$DATA_FILE_SIZE,30071,847
$CAP_FILE_SIZE,145125,0
$CFSIZE,260034560,239828992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,172.26,1
$GPS,100915,185315,758.267,8559.941,261,99.0,301,-1.8,0.9,130.8,3,-1.0