version: 66.12
glider: 141
mission: 23
dive: 113
start: 9 11 115 0 25 58
data:
$ID,141
$MISSION,23
$DIVE,113
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,110915,001803,758.8709,8600.4453,76,2.5,116,-1.8,1.1,178.5,5,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.13
$_SM_ANGLEo,-70.3
$GPS2,110915,002521,758.6593,8600.4805,16,1.7,43,-1.8,1.4,203.8,7,8.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,332.9,2635,-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,-63.0,12,2684,443,556,0.0,0.0,0,137,0.00,0.00,-103.22,0.000,16390,0.000,0.000,10,2685,3384,3437,3332,0,0,0,0,0,0,14.90,13.50,14.94
$GC,143,-1.10,-96.3,10,2685,3437,3332,6.3,-6.5,11,166,11.20,2.22,-1.95,0.000,18692,0.415,0.083,2344,4026,3523,3572,3475,0,0,0,0,0,0,14.40,13.63,14.63
$GC,401,-1.10,-96.3,2344,4026,3573,3477,116.9,-28.1,60,406,0.00,2.15,0.00,0.000,1030,0.000,0.034,2344,2649,3524,3572,3477,0,0,0,0,0,0,14.85,14.79,14.87
$GC,722,-1.10,-96.3,2344,2647,3572,3480,190.0,-20.3,78,728,0.00,2.30,0.00,0.000,260,0.000,0.073,2334,4029,3526,3572,3480,0,0,0,0,0,0,15.04,14.79,15.07
$GC,946,-1.10,-96.3,2334,4029,3572,3481,236.2,-18.0,121,953,0.00,2.15,0.00,0.000,1030,0.000,0.032,2334,2634,3526,3572,3481,0,0,0,0,0,0,14.92,14.87,14.94
$GC,1272,-1.10,-96.3,2334,2634,3572,3481,285.3,-14.4,130,1277,0.00,2.30,0.00,0.000,260,0.000,0.074,2324,4025,3526,3572,3480,0,0,0,0,0,0,15.10,14.83,15.14
$GC,1425,-1.10,-96.3,2324,4029,3572,3481,309.0,-16.3,159,1432,0.15,2.15,0.00,0.000,3078,0.336,0.033,2352,2645,3526,3572,3481,0,0,0,0,0,0,14.57,14.90,14.85
$GC,1767,-1.10,-96.3,2352,2645,3567,3481,360.9,-15.2,171,1772,0.00,2.30,0.00,0.000,260,0.000,0.078,2344,4029,3523,3566,3481,0,0,0,0,0,0,15.11,14.84,15.15
$GC,1807,-1.10,-96.3,2344,4029,3566,3481,367.5,-17.3,178,1812,0.00,2.12,0.00,0.000,1030,0.000,0.034,2344,2649,3523,3566,3481,0,0,0,0,0,0,14.97,14.91,14.99
$GC,2140,-1.10,-96.3,2344,2649,3560,3480,419.8,-15.8,188,2146,0.00,2.30,0.00,0.000,260,0.000,0.076,2334,4035,3520,3559,3481,0,0,0,0,0,0,15.12,14.84,15.15
$GC,2170,-1.10,-96.3,2334,4034,3559,3481,425.7,-17.7,193,2177,0.00,2.15,0.00,0.000,1030,0.000,0.033,2334,2645,3520,3559,3481,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2516,-1.10,-96.3,2333,2645,3554,3480,484.9,-17.4,205,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2645,3516,3553,3480,0,0,0,0,0,0,15.13,15.17,15.16
$GC,2813,-1.10,-96.3,2334,2645,3549,3480,534.6,-16.5,210,2818,0.00,2.33,0.00,0.000,260,0.000,0.078,2323,4039,3513,3547,3479,0,0,0,0,0,0,15.14,14.83,15.17
$GC,2839,-1.10,-96.3,2323,4039,3547,3479,539.0,-16.8,214,2845,0.15,2.15,0.00,0.000,3078,0.323,0.035,2353,2645,3513,3547,3479,0,0,0,0,0,0,14.58,14.92,14.88
$GC,3185,-1.10,-96.3,2352,2648,3543,3477,588.8,-14.1,227,3190,0.00,2.20,0.00,0.000,516,0.000,0.056,2353,1265,3509,3542,3477,0,0,0,0,0,0,15.14,14.85,15.17
$GC,3240,-1.10,-96.3,2353,1266,3542,3477,596.4,-13.5,237,3246,0.00,2.22,0.00,0.000,1030,0.000,0.056,2345,2646,3508,3540,3477,0,0,0,0,0,0,14.95,14.85,15.01
$GC,3560,-1.10,-96.3,2345,2645,3538,3475,638.8,-13.3,244,3561,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2645,3506,3538,3474,0,0,0,0,0,0,15.13,15.17,15.16
$GC,3857,-1.10,-96.3,2345,2646,3536,3473,676.6,-12.6,249,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2645,3503,3535,3472,0,0,0,0,0,0,15.13,15.17,15.16
$GC,4217,-1.10,-96.3,2345,2645,3531,3470,720.2,-12.1,254,4222,0.00,2.22,0.00,0.000,516,0.000,0.058,2346,1262,3500,3531,3470,0,0,0,0,0,0,15.14,14.85,15.17
$GC,4262,-1.10,-96.3,2345,1262,3531,3469,725.6,-11.3,262,4267,0.00,2.25,0.00,0.000,1030,0.000,0.058,2336,2653,3502,3530,3474,0,0,0,0,0,0,14.95,14.85,14.97
$GC,4946,-1.10,-96.3,2336,2653,3526,3466,810.6,-12.6,283,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2653,3496,3526,3466,0,0,0,0,0,0,15.14,15.19,15.19
$GC,5546,-1.10,-96.3,2335,2652,3522,3463,893.8,-14.1,288,5552,0.00,2.28,0.00,0.000,516,0.000,0.061,2336,1255,3492,3521,3463,0,0,0,0,0,0,15.15,14.83,15.19
$GC,5601,-1.10,-96.3,2335,1255,3519,3463,901.6,-14.2,299,5608,0.15,2.30,0.00,0.000,3078,0.308,0.063,2356,2650,3491,3520,3463,0,0,0,0,0,0,14.54,14.83,14.84
$GC,6267,-1.10,-96.3,2355,2650,3517,3460,989.1,-13.0,317,6273,0.00,2.25,0.00,0.000,516,0.000,0.063,2356,1267,3490,3522,3459,0,0,0,0,0,0,15.15,14.81,15.18
$STATE,6277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6277,begin apogee
$GC,6289,-0.20,0.0,2349,2472,3516,3460,991.1,-12.9,320,6363,1.10,0.00,70.00,2.023,10246,0.264,0.000,2645,2472,3126,3088,3164,0,0,0,0,0,0,14.57,14.39,13.63
$STATE,6366,end apogee,CONTROL_FINISHED_OK
$STATE,6366,begin climb
$GC,6370,1.10,96.3,2645,2472,3088,3160,991.1,0.0,320,6458,1.30,2.53,74.78,1.968,10500,0.129,0.099,3067,3875,2731,2673,2790,0,0,0,0,0,0,14.38,14.14,13.45
$GC,6490,1.10,96.3,3067,3875,2674,2787,983.3,17.2,356,6496,0.00,2.33,0.00,0.000,1030,0.000,0.057,3077,2496,2730,2674,2787,0,0,0,0,0,0,14.41,14.34,14.43
$GC,7158,1.10,96.3,3077,2497,2683,2771,866.7,17.5,373,7164,0.00,2.40,0.00,0.000,516,0.000,0.079,3088,1062,2726,2683,2769,0,0,0,0,0,0,14.95,14.63,14.98
$GC,7187,1.10,96.3,3087,1062,2689,2765,860.9,17.0,379,7193,0.00,2.38,0.00,0.000,1030,0.000,0.067,3087,2475,2727,2689,2765,0,0,0,0,0,0,14.79,14.69,14.82
$GC,7877,1.10,96.3,3087,2475,2689,2759,730.2,19.1,402,7883,0.00,2.40,0.00,0.000,260,0.000,0.095,3087,3882,2724,2690,2759,0,0,0,0,0,0,15.05,14.70,15.09
$GC,7907,1.10,96.3,3089,3879,2690,2759,724.0,19.6,408,7913,0.00,2.33,0.00,0.000,1030,0.000,0.056,3097,2462,2724,2690,2758,0,0,0,0,0,0,14.87,14.78,14.90
$GC,8538,1.10,96.3,3098,2463,2690,2755,602.7,19.0,434,8544,0.12,2.40,0.00,0.000,4356,0.386,0.090,3073,3873,2723,2690,2756,0,0,0,0,0,0,14.41,14.69,14.63
$GC,8588,1.10,96.3,3073,3873,2691,2755,593.1,19.2,444,8593,0.00,2.25,0.00,0.000,1030,0.000,0.056,3081,2478,2722,2690,2755,0,0,0,0,0,0,14.83,14.77,14.86
$GC,8905,1.10,96.3,3081,2478,2690,2754,541.3,16.2,451,8906,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2477,2722,2690,2754,0,0,0,0,0,0,15.07,15.11,15.11
$GC,9202,1.10,96.3,3081,2478,2690,2753,494.3,15.7,456,9208,0.00,2.38,0.00,0.000,260,0.000,0.091,3082,3873,2721,2690,2753,0,0,0,0,0,0,15.08,14.69,15.11
$GC,9221,1.10,96.3,3082,3873,2690,2753,490.9,16.5,460,9227,0.00,2.28,0.00,0.000,1030,0.000,0.054,3092,2467,2721,2690,2753,0,0,0,0,0,0,14.90,14.81,14.93
$GC,9565,1.10,96.3,3091,2467,2690,2753,435.4,16.1,473,9570,0.00,2.42,0.00,0.000,260,0.000,0.093,3092,3881,2721,2690,2753,0,0,0,0,0,0,15.09,14.68,15.12
$GC,9614,1.10,96.3,3091,3881,2690,2752,426.7,16.5,483,9621,0.15,2.28,0.00,0.000,5126,0.376,0.054,3075,2473,2721,2691,2752,0,0,0,0,0,0,14.44,14.81,14.82
$GC,9927,1.10,96.3,3075,2474,2691,2752,381.8,14.4,490,9928,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2473,2721,2690,2752,0,0,0,0,0,0,15.07,15.11,15.11
$GC,10225,1.10,96.3,3079,2473,2691,2752,333.7,16.1,495,10231,0.00,2.40,0.00,0.000,260,0.000,0.090,3075,3879,2721,2690,2753,0,0,0,0,0,0,15.10,14.70,15.13
$GC,10334,1.10,96.3,3075,3880,2691,2752,314.6,16.8,517,10340,0.00,2.28,0.00,0.000,1030,0.000,0.053,3083,2473,2721,2691,2752,0,0,0,0,0,0,14.90,14.81,14.94
$GC,10648,1.10,96.3,3080,2473,2691,2752,272.1,13.1,524,10654,0.00,2.40,0.00,0.000,260,0.000,0.089,3083,3877,2721,2691,2752,0,0,0,0,0,0,15.08,14.69,15.11
$GC,10717,1.10,96.3,3083,3882,2691,2752,263.8,10.6,538,10723,0.00,2.28,0.00,0.000,1030,0.000,0.053,3093,2470,2721,2691,2752,0,0,0,0,0,0,14.90,14.81,14.93
$GC,11027,1.10,96.3,3093,2470,2691,2752,234.7,11.1,557,11033,0.00,2.42,0.00,0.000,260,0.000,0.090,3094,3885,2721,2691,2752,0,0,0,0,0,0,15.11,14.72,15.14
$GC,11267,1.10,96.3,3093,3885,2692,2752,206.9,10.9,604,11273,0.12,2.25,0.00,0.000,5126,0.343,0.050,3076,2475,2721,2691,2751,0,0,0,0,0,0,14.39,14.76,14.62
$GC,11591,1.11,158.8,3076,2474,2692,2752,187.4,3.4,624,11638,0.00,2.45,41.60,1.055,8452,0.000,0.088,3076,3890,2475,2422,2529,0,0,0,0,0,0,15.09,14.68,14.23
$GC,11869,1.11,158.8,3076,3890,2423,2528,164.6,10.4,679,11875,0.00,2.30,0.00,0.000,1030,0.000,0.047,3085,2462,2475,2423,2528,0,0,0,0,0,0,14.78,14.71,14.81
$GC,12197,1.11,189.0,3084,2462,2427,2524,134.8,6.8,699,12225,0.00,2.33,21.23,0.977,8708,0.000,0.070,3095,1077,2353,2298,2409,0,0,0,0,0,0,15.00,14.71,14.26
$GC,12456,1.11,205.3,3094,1077,2305,2402,111.3,8.3,751,12474,0.00,2.28,12.88,0.925,9222,0.000,0.054,3095,2483,2287,2228,2347,0,0,0,0,0,0,14.76,14.70,14.25
$GC,12793,1.11,240.8,3094,2483,2231,2342,98.3,6.2,773,12825,0.00,2.35,25.15,0.929,8708,0.000,0.063,3105,1072,2141,2063,2220,0,0,0,0,0,0,15.00,14.68,14.26
$GC,13056,1.12,287.3,3105,1072,2070,2216,73.0,5.0,825,13094,0.15,2.28,32.15,0.919,13318,0.296,0.050,3074,2477,1953,1840,2066,0,0,0,0,0,0,14.50,14.73,14.21
$GC,13403,1.12,287.3,3074,2477,1848,2061,37.7,11.0,855,13409,0.00,2.28,0.00,0.000,516,0.000,0.061,3082,1076,1953,1845,2061,0,0,0,0,0,0,14.96,14.70,15.00
$GC,13580,1.12,287.3,3082,1076,1854,2059,20.2,12.5,890,13586,0.00,2.25,0.00,0.000,1030,0.000,0.050,3083,2481,1957,1855,2059,0,0,0,0,0,0,14.85,14.78,14.88
$STATE,13721,end climb,SURFACE_DEPTH_REACHED
$STATE,13722,begin surface coast
$FINISH,2.3,0.000000
$STATE,13745,end surface coast,CONTROL_FINISHED_OK
$STATE,13745,begin surface
$SM_CCo,13770,85.12,0.052,0,0,1087,500.17
$SM_GC,2.97,8.43,0.25,85.12,0.057,0.094,0.052,43,2658,1087,-8.29,-1.16,500.17,0,0,0,0,0,0,14.80,14.83,14.81
$IRIDIUM_FIX,753.81,8602.46,100915,190532
$TT8_MAMPS,0.023219,0.023219
$HUMID,42.99
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.10
$XPDR_PINGS,1
$SC_FREEKB,3996704
$24V_AH,13.45,40.003
$10V_AH,13.30,0.000
$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,23.025,105.525,277.775,85.125,0.000,0.000,0.000,211.975,0.250,0.000,45.685,878.256,10727.194,470.386,1658.224,560.424,0.000,1469.851,0.000,1458.360,0.000,0.546,0.000
$DEVICE_MAMPS,415.395,98.685,2023.425,52.020,0.000,0.000,0.000,227.970,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13745.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.244,0.000,0.000,0.000
$MEM,260940
$DATA_FILE_SIZE,33309,908
$CAP_FILE_SIZE,152320,0
$CFSIZE,260034560,239689728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,181.02,1
$GPS,110915,042045,757.954,8600.260,140,99.0,180,-1.8,1.0,173.3,4,-1.0