version: 66.12
glider: 141
mission: 23
dive: 201
start: 10 2 115 8 32 25
data:
$ID,141
$MISSION,23
$DIVE,201
$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,8
$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,44
$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,49
$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
$GPS1,021015,082604,744.5126,8457.3545,103,1.2,133,-2.0,1.1,193.8,7,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-73.2
$GPS2,021015,083155,744.3990,8457.3164,10,1.5,12,-2.0,0.2,59.7,6,8.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,3.8,29309,-14.9,-10.000,-18.74,2959
$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,21,begin dive
$GC,25,-0.62,-194.6,28,2670,881,999,0.0,0.0,0,114,0.00,0.00,-86.18,0.000,16386,0.000,0.000,26,2670,3323,3387,3259,0,0,0,0,0,0,14.85,28.83,14.89
$GC,123,-0.62,-194.6,26,2670,3388,3261,5.7,-5.2,9,149,11.77,2.28,-8.70,0.000,19204,0.407,0.071,2505,1238,3924,3996,3853,0,0,0,0,0,0,14.28,13.40,14.53
$GC,265,-0.62,-194.6,2505,1239,3996,3857,52.2,-24.8,38,271,0.00,2.25,0.00,0.000,1030,0.000,0.056,2497,2631,3927,3996,3858,0,0,0,0,0,0,14.66,14.61,14.70
$GC,575,-0.62,-194.6,2496,2631,3996,3860,124.6,-16.9,55,580,0.00,2.33,0.00,0.000,260,0.000,0.080,2486,4036,3928,3996,3860,0,0,0,0,0,0,15.04,14.62,15.07
$GC,664,-0.62,-194.6,2486,4036,3996,3860,138.8,-15.9,73,669,0.12,2.17,0.00,0.000,3078,0.269,0.033,2512,2626,3928,3996,3861,0,0,0,0,0,0,14.50,14.79,14.75
$GC,980,-0.62,-194.6,2512,2626,3996,3864,176.3,-11.3,90,985,0.00,2.35,0.00,0.000,260,0.000,0.080,2504,4038,3930,3996,3864,0,0,0,0,0,0,15.09,14.69,15.12
$GC,1053,-0.62,-194.6,2504,4038,3996,3864,185.1,-11.8,105,1058,0.00,2.17,0.00,0.000,1030,0.000,0.031,2504,2653,3930,3996,3864,0,0,0,0,0,0,14.81,14.77,14.83
$GC,1359,-0.62,-194.6,2504,2652,3996,3864,219.2,-11.8,121,1364,0.00,2.33,0.00,0.000,260,0.000,0.080,2494,4042,3930,3996,3864,0,0,0,0,0,0,15.11,14.73,15.14
$GC,1397,-0.62,-194.6,2493,4042,3997,3864,224.0,-12.9,128,1401,0.00,2.20,0.00,0.000,1030,0.000,0.031,2494,2644,3930,3996,3864,0,0,0,0,0,0,14.81,14.78,14.83
$GC,1743,-0.62,-194.6,2493,2644,3991,3864,267.8,-12.7,142,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2644,3927,3991,3864,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2043,-0.62,-194.6,2493,2644,3986,3864,306.2,-13.0,147,2048,0.00,2.17,0.00,0.000,516,0.000,0.052,2494,1261,3924,3985,3864,0,0,0,0,0,0,15.15,14.76,15.19
$GC,2078,-0.62,-194.6,2494,1261,3985,3864,310.9,-12.7,154,2084,0.00,2.22,0.00,0.000,1030,0.000,0.054,2488,2658,3924,3984,3864,0,0,0,0,0,0,14.82,14.76,14.85
$GC,2403,-0.62,-194.6,2488,2658,3979,3864,348.7,-11.4,164,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2658,3921,3979,3864,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2704,-0.62,-194.6,2487,2658,3974,3864,378.0,-9.6,169,2708,0.00,2.30,0.00,0.000,260,0.000,0.083,2477,4038,3919,3974,3864,0,0,0,0,0,0,15.16,14.73,15.19
$GC,2737,-0.62,-194.6,2477,4038,3974,3862,381.4,-10.3,175,2743,0.15,2.15,0.00,0.000,3078,0.238,0.034,2513,2646,3918,3974,3862,0,0,0,0,0,0,14.57,14.87,14.81
$GC,3072,-0.62,-194.6,2513,2646,3968,3861,408.5,-8.2,186,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2646,3915,3969,3861,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3368,-0.62,-194.6,2513,2646,3965,3860,436.8,-9.5,191,3374,0.00,2.20,0.00,0.000,516,0.000,0.055,2513,1261,3912,3965,3860,0,0,0,0,0,0,15.16,14.73,15.20
$GC,3417,-0.62,-194.6,2513,1260,3965,3860,442.1,-10.7,201,3421,0.00,2.25,0.00,0.000,1030,0.000,0.057,2513,2655,3912,3964,3860,0,0,0,0,0,0,14.89,14.78,14.92
$GC,3730,-0.62,-194.6,2513,2655,3960,3859,474.8,-10.5,208,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2655,3910,3961,3859,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4031,-0.62,-194.6,2513,2655,3959,3856,503.7,-9.5,213,4036,0.00,2.33,0.00,0.000,260,0.000,0.085,2503,4039,3907,3959,3856,0,0,0,0,0,0,15.16,14.70,15.20
$GC,4059,-0.62,-194.6,2502,4039,3958,3854,506.3,-9.2,218,4065,0.00,2.17,0.00,0.000,1030,0.000,0.034,2503,2651,3906,3959,3854,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4396,-0.62,-194.6,2502,2651,3956,3853,538.6,-9.8,230,4402,0.00,2.22,0.00,0.000,516,0.000,0.057,2503,1266,3904,3955,3853,0,0,0,0,0,0,15.16,14.74,15.19
$GC,4430,-0.62,-194.6,2502,1266,3956,3853,542.2,-10.4,237,4434,0.00,2.25,0.00,0.000,1030,0.000,0.058,2500,2652,3904,3956,3853,0,0,0,0,0,0,14.88,14.76,14.91
$GC,4759,-0.62,-194.6,2499,2653,3951,3851,575.4,-10.0,247,4764,0.00,2.33,0.00,0.000,260,0.000,0.087,2489,4038,3901,3951,3851,0,0,0,0,0,0,15.16,14.64,15.20
$GC,4787,-0.62,-194.6,2488,4037,3951,3850,578.4,-11.2,253,4792,0.00,2.17,0.00,0.000,1030,0.000,0.037,2489,2648,3900,3951,3850,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5122,-0.62,-194.6,2488,2648,3949,3849,612.2,-10.1,264,5128,0.00,2.22,0.00,0.000,516,0.000,0.060,2489,1256,3899,3949,3849,0,0,0,0,0,0,15.16,14.69,15.19
$GC,5172,-0.62,-194.6,2489,1256,3949,3849,617.3,-9.8,274,5179,0.10,2.28,0.00,0.000,3078,0.209,0.060,2514,2660,3899,3949,3849,0,0,0,0,0,0,14.48,14.71,14.62
$GC,5486,-0.62,-194.6,2513,2660,3947,3848,643.0,-8.2,281,5491,0.00,2.35,0.00,0.000,260,0.000,0.090,2505,4037,3897,3947,3848,0,0,0,0,0,0,15.14,14.67,15.16
$GC,5530,-0.62,-194.6,2505,4037,3947,3847,647.1,-8.3,289,5535,0.00,2.17,0.00,0.000,1030,0.000,0.037,2506,2652,3897,3947,3847,0,0,0,0,0,0,14.90,14.82,14.92
$GC,5858,-0.62,-194.6,2505,2653,3945,3846,675.1,-8.6,298,5864,0.00,2.25,0.00,0.000,516,0.000,0.061,2506,1256,3895,3945,3846,0,0,0,0,0,0,15.13,14.66,15.16
$GC,5899,-0.62,-194.6,2505,1256,3944,3846,679.1,-8.9,306,5904,0.00,2.28,0.00,0.000,1030,0.000,0.061,2499,2655,3895,3944,3846,0,0,0,0,0,0,14.75,14.69,14.81
$GC,6282,-0.62,-194.6,2499,2656,3942,3845,711.2,-8.4,315,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2655,3893,3941,3845,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6879,-0.62,-194.6,2499,2655,3939,3843,762.5,-8.6,320,6885,0.00,2.28,0.00,0.000,516,0.000,0.062,2500,1257,3890,3938,3843,0,0,0,0,0,0,15.16,14.63,15.19
$GC,6909,-0.62,-194.6,2499,1257,3939,3843,765.3,-9.5,326,6915,0.00,2.28,0.00,0.000,1030,0.000,0.064,2494,2649,3890,3938,3843,0,0,0,0,0,0,14.73,14.67,14.79
$GC,7603,-0.62,-194.6,2494,2649,3936,3840,824.2,-8.3,349,7607,0.00,2.40,0.00,0.000,260,0.000,0.095,2484,4045,3887,3936,3839,0,0,0,0,0,0,15.13,14.59,15.16
$GC,7632,-0.62,-194.6,2483,4045,3936,3839,826.7,-8.0,354,7638,0.10,2.20,0.00,0.000,3078,0.187,0.041,2514,2647,3888,3937,3839,0,0,0,0,0,0,14.47,14.72,14.60
$GC,8331,-0.62,-194.6,2514,2647,3932,3839,872.7,-6.7,378,8336,0.00,2.28,0.00,0.000,516,0.000,0.067,2514,1255,3884,3931,3838,0,0,0,0,0,0,15.13,14.59,15.16
$GC,8391,-0.62,-194.6,2514,1255,3932,3839,877.7,-8.4,390,8396,0.00,2.30,0.00,0.000,1030,0.000,0.067,2514,2648,3885,3932,3838,0,0,0,0,0,0,14.70,14.63,14.75
$GC,9055,-0.62,-194.6,2513,2647,3929,3836,933.4,-8.6,407,9060,0.00,2.40,0.00,0.000,260,0.000,0.099,2504,4036,3883,3929,3837,0,0,0,0,0,0,15.11,14.50,15.15
$GC,9099,-0.62,-194.6,2503,4036,3930,3836,937.7,-9.2,416,9105,0.00,2.22,0.00,0.000,1030,0.000,0.044,2503,2647,3882,3929,3835,0,0,0,0,0,0,14.83,14.74,14.87
$STATE,9770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9771,begin apogee
$GC,9781,-0.20,0.0,2503,2462,3926,3835,990.4,-7.4,436,9933,0.50,0.00,149.10,2.009,10246,0.186,0.000,2646,2462,3126,3059,3193,0,0,0,0,0,0,14.50,14.12,13.32
$STATE,9935,end apogee,CONTROL_FINISHED_OK
$STATE,9935,begin climb
$GC,9939,0.62,194.6,2646,2462,3059,3189,993.4,0.0,437,10105,0.82,2.53,155.32,1.961,10756,0.122,0.080,2920,1084,2329,2243,2416,0,0,0,0,0,0,14.12,13.91,13.19
$GC,10145,0.62,194.6,2920,1084,2246,2409,974.9,13.7,487,10150,0.00,2.40,0.00,0.000,1030,0.000,0.067,2920,2468,2327,2246,2409,0,0,0,0,0,0,14.14,14.09,14.17
$GC,10855,0.62,194.6,2920,2467,2253,2395,873.9,14.1,514,10859,0.00,2.47,0.00,0.000,260,0.000,0.098,2920,3887,2324,2253,2395,0,0,0,0,0,0,14.92,14.51,14.96
$GC,10978,0.62,194.6,2920,3887,2262,2385,854.9,15.9,538,10982,0.00,2.33,0.00,0.000,1030,0.000,0.057,2931,2486,2324,2263,2385,0,0,0,0,0,0,14.72,14.62,14.76
$GC,11702,0.62,194.6,2930,2486,2262,2384,741.1,16.1,567,11708,0.00,2.40,0.00,0.000,516,0.000,0.083,2940,1064,2323,2263,2384,0,0,0,0,0,0,15.04,14.54,15.07
$GC,11742,0.62,194.6,2940,1064,2263,2382,734.2,16.6,575,11747,0.00,2.35,0.00,0.000,1030,0.000,0.070,2940,2468,2323,2264,2382,0,0,0,0,0,0,14.66,14.59,14.71
$GC,12362,0.62,194.6,2940,2468,2263,2382,628.7,16.7,599,12368,0.00,2.45,0.00,0.000,260,0.000,0.099,2940,3883,2322,2263,2381,0,0,0,0,0,0,15.07,14.51,15.11
$GC,12423,0.62,194.6,2940,3883,2268,2376,618.2,17.6,611,12429,0.12,2.30,0.00,0.000,5126,0.261,0.057,2919,2478,2321,2267,2376,0,0,0,0,0,0,14.31,14.64,14.52
$GC,12787,0.62,194.6,2918,2478,2267,2376,568.6,13.4,628,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2478,2321,2267,2376,0,0,0,0,0,0,15.06,15.10,15.09
$GC,13083,0.62,194.6,2918,2478,2268,2376,528.8,13.3,633,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2478,2321,2267,2376,0,0,0,0,0,0,15.09,15.14,15.13
$GC,13383,0.62,194.6,2918,2478,2268,2376,489.9,12.9,638,13387,0.00,2.40,0.00,0.000,516,0.000,0.080,2928,1057,2322,2269,2376,0,0,0,0,0,0,15.11,14.60,15.14
$GC,13416,0.62,194.6,2927,1057,2269,2376,485.8,12.8,644,13422,0.00,2.38,0.00,0.000,1030,0.000,0.067,2928,2477,2322,2269,2375,0,0,0,0,0,0,14.79,14.66,14.84
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$STATE,17890,end climb,SURFACE_DEPTH_REACHED
$STATE,17890,begin surface coast
$STATE,17910,end surface coast,CONTROL_FINISHED_OK
$STATE,17910,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.59
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.60
$XPDR_PINGS,1
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$10V_AH,12.92,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,138.675,518.425,0.000,0.000,0.000,0.000,227.400,0.250,0.000,14.663,620.703,14629.720,548.133,1975.382,562.418,0.000,1691.792,0.000,1387.864,0.000,0.544,0.000
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$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260532
$DATA_FILE_SIZE,40033,963
$CAP_FILE_SIZE,152694,0
$CFSIZE,260034560,234946560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9955.22,0x23402a,1,24
$CURRENT,106.919,0.55,1
$GPS,021015,083155,744.399,8457.316,301,99.0,301,-2.0,0.2,59.7,6,8.3