version: 66.12
glider: 141
mission: 23
dive: 195
start: 10 1 115 5 54 3
data:
$ID,141
$MISSION,23
$DIVE,195
$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,360
$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,57
$R_STBD_OVSHOOT,32
$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
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$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
$GPS1,011015,002808,738.1165,8458.8672,301,99.0,301,-2.0,0.9,226.2,8,12.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-72.0
$GPS2,011015,055328,740.0237,8458.7441,114,1.1,150,-2.0,0.8,194.8,6,9.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HOLDING
$TGT_LATLONG,830.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,318.4,92585,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.10,-63.0,4,2619,924,1027,0.0,0.0,0,114,0.00,0.00,-87.35,0.000,16390,0.000,0.000,1,2620,3383,3447,3319,0,0,0,0,0,0,14.92,13.80,14.90
$GC,120,-1.10,-115.1,1,2620,3447,3320,5.4,-4.5,9,140,11.38,2.17,-3.47,0.000,18948,0.415,0.065,2353,1246,3597,3654,3541,0,0,0,0,0,0,14.32,13.88,14.55
$GC,222,-1.10,-115.1,2353,1245,3654,3543,44.7,-36.9,29,226,0.00,2.28,0.00,0.000,1030,0.000,0.055,2345,2656,3599,3654,3544,0,0,0,0,0,0,14.77,14.68,14.80
$GC,537,-1.10,-115.1,2345,2655,3654,3546,136.2,-20.6,46,542,0.00,2.28,0.00,0.000,260,0.000,0.072,2334,4042,3600,3654,3546,0,0,0,0,0,0,15.05,14.69,15.08
$GC,771,-1.10,-115.1,2334,4042,3655,3548,182.1,-20.1,93,777,0.00,2.17,0.00,0.000,1030,0.000,0.033,2334,2662,3602,3655,3549,0,0,0,0,0,0,14.78,14.78,14.81
$GC,1077,-1.10,-115.1,2334,2660,3655,3550,233.0,-16.2,109,1082,0.00,2.28,0.00,0.000,260,0.000,0.073,2324,4038,3602,3654,3550,0,0,0,0,0,0,15.11,14.76,15.14
$GC,1185,-1.10,-115.1,2324,4038,3654,3550,252.1,-17.9,130,1192,0.15,2.15,0.00,0.000,3078,0.330,0.033,2352,2640,3602,3654,3550,0,0,0,0,0,0,14.42,14.85,14.76
$GC,1504,-1.10,-115.1,2352,2639,3651,3550,301.7,-15.6,138,1509,0.00,2.33,0.00,0.000,260,0.000,0.076,2344,4042,3599,3649,3550,0,0,0,0,0,0,15.13,14.72,15.16
$GC,1572,-1.10,-115.1,2344,4042,3649,3550,314.2,-17.8,152,1579,0.00,2.15,0.00,0.000,1030,0.000,0.033,2344,2645,3599,3649,3550,0,0,0,0,0,0,14.92,14.86,14.95
$GC,1925,-1.10,-115.1,2343,2645,3642,3550,371.8,-16.2,167,1930,0.00,2.30,0.00,0.000,260,0.000,0.076,2334,4040,3595,3641,3550,0,0,0,0,0,0,15.14,14.72,15.17
$GC,1953,-1.10,-115.1,2333,4040,3641,3550,376.5,-15.7,173,1958,0.00,2.15,0.00,0.000,1030,0.000,0.033,2334,2646,3595,3641,3550,0,0,0,0,0,0,14.94,14.87,14.96
$GC,2289,-1.10,-115.1,2333,2646,3634,3550,427.3,-15.1,184,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2646,3592,3634,3550,0,0,0,0,0,0,15.15,15.19,15.18
$GC,2588,-1.10,-115.1,2333,2646,3628,3550,472.6,-14.9,189,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2646,3589,3628,3550,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2888,-1.10,-115.1,2333,2645,3623,3548,517.0,-14.9,194,2893,0.00,2.30,0.00,0.000,260,0.000,0.077,2324,4033,3585,3623,3548,0,0,0,0,0,0,15.16,14.71,15.19
$GC,2951,-1.10,-115.1,2323,4033,3623,3545,527.5,-16.3,207,2956,0.15,2.15,0.00,0.000,3078,0.325,0.034,2352,2645,3584,3623,3546,0,0,0,0,0,0,14.40,14.87,14.75
$GC,3307,-1.10,-115.1,2352,2645,3618,3545,579.3,-14.7,222,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2645,3581,3618,3545,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3606,-1.10,-115.1,2351,2645,3615,3543,622.9,-14.6,227,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2645,3579,3615,3543,0,0,0,0,0,0,15.16,15.20,15.20
$GC,3906,-1.10,-115.1,2351,2645,3611,3542,666.0,-14.3,232,3912,0.00,2.33,0.00,0.000,260,0.000,0.082,2344,4036,3576,3610,3542,0,0,0,0,0,0,15.16,14.67,15.19
$GC,3991,-1.10,-115.1,2343,4036,3610,3540,679.0,-15.5,249,3995,0.00,2.17,0.00,0.000,1030,0.000,0.037,2344,2647,3575,3610,3540,0,0,0,0,0,0,14.91,14.84,14.94
$GC,4390,-1.10,-115.1,2343,2647,3607,3539,734.8,-14.0,260,4396,0.00,2.35,0.00,0.000,260,0.000,0.083,2334,4042,3573,3607,3539,0,0,0,0,0,0,15.16,14.65,15.19
$GC,4430,-1.10,-115.1,2333,4042,3607,3537,740.8,-15.3,268,4436,0.00,2.20,0.00,0.000,1030,0.000,0.038,2333,2642,3572,3607,3537,0,0,0,0,0,0,14.90,14.83,14.93
$GC,5111,-1.10,-115.1,2333,2642,3602,3533,836.5,-14.0,289,5115,0.00,2.38,0.00,0.000,260,0.000,0.086,2323,4038,3567,3601,3533,0,0,0,0,0,0,15.16,14.67,15.19
$GC,5179,-1.10,-115.1,2323,4038,3601,3533,847.3,-16.6,302,5186,0.15,2.20,0.00,0.000,3078,0.318,0.041,2352,2646,3567,3601,3533,0,0,0,0,0,0,14.33,14.81,14.69
$GC,5837,-1.10,-115.1,2351,2646,3597,3531,936.8,-13.6,318,5842,0.00,2.35,0.00,0.000,260,0.000,0.091,2344,4026,3563,3596,3530,0,0,0,0,0,0,15.16,14.58,15.19
$GC,5945,-1.10,-115.1,2342,4026,3596,3529,953.6,-14.9,340,5954,0.00,2.20,0.00,0.000,1030,0.000,0.043,2344,2645,3562,3596,3529,0,0,0,0,0,0,14.87,14.78,14.90
$STATE,6314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6314,begin apogee
$GC,6324,-0.20,0.0,2344,2463,3593,3529,1004.3,-13.7,345,6413,1.15,0.00,85.38,2.040,10246,0.265,0.000,2648,2463,3126,3082,3170,0,0,0,0,0,0,14.42,14.29,13.48
$STATE,6415,end apogee,CONTROL_FINISHED_OK
$STATE,6415,begin climb
$GC,6419,1.10,115.1,2647,2463,3082,3168,1004.3,0.0,345,6518,1.33,0.00,91.88,1.994,10758,0.122,0.000,3070,2462,2655,2590,2721,0,0,0,0,0,0,14.28,13.95,13.36
$GC,7159,1.10,115.1,3069,2462,2598,2702,887.6,17.8,375,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2462,2650,2598,2702,0,0,0,0,0,0,14.95,14.98,14.98
$GC,7759,1.10,115.1,3069,2462,2598,2696,776.2,18.7,380,7764,0.00,2.42,0.00,0.000,260,0.000,0.090,3070,3875,2647,2599,2696,0,0,0,0,0,0,15.04,14.57,15.07
$GC,7789,1.10,115.1,3069,3875,2600,2694,770.1,20.1,386,7794,0.00,2.25,0.00,0.000,1030,0.000,0.055,3080,2496,2647,2600,2694,0,0,0,0,0,0,14.81,14.71,14.84
$GC,8424,1.10,115.1,3080,2497,2600,2691,652.9,18.0,410,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2496,2645,2600,2691,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8724,1.10,115.1,3080,2496,2600,2689,601.4,17.1,415,8729,0.00,2.38,0.00,0.000,516,0.000,0.076,3090,1071,2645,2602,2689,0,0,0,0,0,0,15.10,14.57,15.14
$GC,8753,1.10,115.1,3090,1071,2605,2687,596.0,17.5,421,8759,0.00,2.33,0.00,0.000,1030,0.000,0.065,3090,2469,2645,2605,2686,0,0,0,0,0,0,14.81,14.69,14.86
$GC,9085,1.10,115.1,3090,2468,2604,2685,540.1,16.9,432,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2469,2644,2604,2685,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9385,1.10,115.1,3090,2469,2605,2684,489.5,16.7,437,9391,0.00,2.40,0.00,0.000,260,0.000,0.091,3090,3879,2644,2605,2684,0,0,0,0,0,0,15.11,14.57,15.15
$GC,9424,1.10,115.1,3090,3879,2605,2684,482.0,19.1,445,9432,0.15,2.30,0.00,0.000,5126,0.363,0.054,3075,2466,2644,2605,2684,0,0,0,0,0,0,14.28,14.73,14.70
$GC,9747,1.10,115.1,3074,2466,2605,2684,429.1,16.5,454,9751,0.00,2.35,0.00,0.000,516,0.000,0.076,3083,1065,2644,2605,2684,0,0,0,0,0,0,15.12,14.64,15.15
$GC,9820,1.10,115.1,3083,1065,2607,2681,416.6,16.9,468,9826,0.00,2.35,0.00,0.000,1030,0.000,0.065,3083,2482,2644,2607,2681,0,0,0,0,0,0,14.81,14.69,14.86
$GC,10172,1.10,115.1,3083,2482,2607,2681,356.3,17.2,483,10177,0.00,2.38,0.00,0.000,260,0.000,0.090,3084,3876,2643,2606,2681,0,0,0,0,0,0,15.12,14.57,15.15
$GC,10233,1.10,115.1,3083,3876,2607,2681,345.1,18.7,495,10238,0.00,2.25,0.00,0.000,1030,0.000,0.054,3093,2481,2644,2607,2681,0,0,0,0,0,0,14.74,14.69,14.78
$GC,10593,1.10,115.1,3093,2481,2607,2681,283.1,17.0,512,10598,0.00,2.40,0.00,0.000,260,0.000,0.090,3093,3878,2644,2607,2681,0,0,0,0,0,0,15.12,14.59,15.16
$GC,10653,1.10,115.1,3093,3878,2608,2681,272.1,18.9,524,10659,0.12,2.28,0.00,0.000,5126,0.337,0.053,3077,2470,2644,2607,2681,0,0,0,0,0,0,14.25,14.69,14.50
$GC,10975,1.10,115.1,3076,2469,2607,2681,223.5,13.8,545,10981,0.00,2.42,0.00,0.000,260,0.000,0.088,3076,3879,2644,2608,2681,0,0,0,0,0,0,15.12,14.57,15.15
$GC,11065,1.10,115.1,3076,3879,2608,2681,210.2,14.0,563,11072,0.00,2.30,0.00,0.000,1030,0.000,0.051,3084,2462,2645,2609,2681,0,0,0,0,0,0,14.83,14.74,14.87
$GC,11376,1.10,115.1,3084,2462,2608,2681,174.0,10.3,580,11382,0.00,2.42,0.00,0.000,260,0.000,0.087,3084,3877,2644,2608,2681,0,0,0,0,0,0,15.12,14.55,15.15
$GC,11557,1.10,115.1,3084,3877,2609,2681,152.8,10.0,616,11563,0.00,2.25,0.00,0.000,1030,0.000,0.049,3094,2469,2645,2609,2681,0,0,0,0,0,0,14.73,14.69,14.78
$GC,11879,1.11,168.7,3094,2469,2610,2681,131.4,4.3,635,11920,0.00,2.40,35.60,1.002,8452,0.000,0.084,3095,3885,2436,2388,2484,0,0,0,0,0,0,15.11,14.62,14.20
$GC,12009,1.11,180.8,3094,3885,2388,2483,122.8,8.7,661,12026,0.12,2.33,9.70,0.936,13318,0.311,0.048,3076,2481,2387,2338,2436,0,0,0,0,0,0,14.23,14.57,14.13
$GC,12337,1.11,240.0,3076,2481,2340,2434,100.4,3.7,681,12383,0.00,2.38,40.85,0.965,8452,0.000,0.082,3077,3880,2145,2061,2230,0,0,0,0,0,0,15.00,14.52,14.14
$GC,12612,1.12,265.4,3076,3880,2065,2222,80.6,7.3,736,12637,0.00,2.33,18.50,0.934,9222,0.000,0.043,3085,2461,2041,1943,2139,0,0,0,0,0,0,14.63,14.59,14.10
$GC,12938,1.12,265.4,3084,2461,1946,2137,50.7,10.4,756,12943,0.00,2.38,0.00,0.000,260,0.000,0.077,3084,3880,2042,1947,2137,0,0,0,0,0,0,14.97,14.58,15.00
$GC,13172,1.12,265.4,3084,3880,1956,2130,18.9,14.0,803,13177,0.00,2.28,0.00,0.000,1030,0.000,0.041,3094,2479,2043,1956,2130,0,0,0,0,0,0,14.71,14.66,14.73
$STATE,13304,end climb,SURFACE_DEPTH_REACHED
$STATE,13304,begin surface coast
$STATE,13325,end surface coast,CONTROL_FINISHED_OK
$STATE,13325,begin surface
$SM_CCo,13349,94.07,0.054,0,0,1088,500.17
$SM_GC,3.47,8.60,0.30,94.07,0.064,0.086,0.054,47,2676,1088,-8.29,-0.68,500.17,0,0,0,0,0,0,14.70,14.76,14.74
$IRIDIUM_FIX,736.40,8459.37,011015,054455
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.23
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.36,63.045
$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,23.300,96.975,281.900,94.075,0.000,0.000,0.000,314.375,0.250,0.000,153.078,520.958,10524.603,438.365,2238.568,366.667,0.000,1501.014,0.000,1173.222,0.000,0.544,0.000
$DEVICE_MAMPS,415.395,91.800,2040.255,54.315,0.000,0.000,0.000,231.795,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260212
$DATA_FILE_SIZE,36795,819
$CAP_FILE_SIZE,59656,0
$CFSIZE,260034560,235339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,190.08,1
$GPS,011015,094204,739.951,8457.650,160,0.8,189,-2.0,1.3,202.8,9,7.1