version: 66.12
glider: 141
mission: 23
dive: 202
start: 10 2 115 13 47 41
data:
$ID,141
$MISSION,23
$DIVE,202
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,021015,083155,744.3990,8457.3164,301,99.0,301,-2.0,0.2,59.7,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.29
$_SM_ANGLEo,-73.2
$GPS2,021015,134709,745.5108,8457.3916,163,2.1,203,-2.0,0.9,218.9,6,14.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,57.1,27257,-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,-63.0,23,2662,1012,1111,0.0,0.0,0,113,0.00,0.00,-84.68,0.000,16390,0.000,0.000,21,2663,3384,3451,3318,0,0,0,0,0,0,14.92,13.82,14.93
$GC,123,-1.10,-98.0,22,2663,3451,3318,6.2,-6.3,9,144,11.05,2.30,-2.05,0.000,18692,0.407,0.086,2344,4038,3529,3591,3468,0,0,0,0,0,0,14.34,13.50,14.71
$GC,329,-1.10,-98.0,2343,4038,3591,3472,90.4,-30.3,51,336,0.00,2.17,0.00,0.000,1030,0.000,0.034,2344,2644,3531,3591,3472,0,0,0,0,0,0,14.82,14.75,14.84
$GC,641,-1.10,-98.0,2343,2643,3591,3475,154.8,-17.1,68,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2643,3533,3591,3475,0,0,0,0,0,0,15.07,15.11,15.10
$GC,940,-1.10,-98.0,2343,2643,3591,3478,202.4,-15.5,83,945,0.00,2.28,0.00,0.000,260,0.000,0.074,2333,4029,3534,3591,3478,0,0,0,0,0,0,15.10,14.71,15.14
$GC,984,-1.10,-98.0,2333,4029,3591,3478,210.1,-16.5,92,991,0.00,2.12,0.00,0.000,1030,0.000,0.032,2333,2640,3534,3591,3478,0,0,0,0,0,0,14.91,14.85,14.93
$GC,1340,-1.10,-98.0,2333,2639,3590,3478,271.7,-17.4,108,1346,0.00,2.20,0.00,0.000,516,0.000,0.050,2333,1246,3534,3590,3478,0,0,0,0,0,0,15.13,14.81,15.16
$GC,1420,-1.10,-98.0,2333,1245,3589,3478,286.0,-17.5,124,1428,0.17,2.22,0.00,0.000,3078,0.324,0.050,2358,2645,3533,3588,3478,0,0,0,0,0,0,14.42,14.81,14.76
$GC,1765,-1.10,-98.0,2358,2645,3581,3478,340.3,-15.7,137,1769,0.00,2.30,0.00,0.000,260,0.000,0.076,2349,4037,3529,3581,3478,0,0,0,0,0,0,15.13,14.76,15.16
$GC,1817,-1.10,-98.0,2349,4038,3581,3479,349.5,-16.5,147,1824,0.00,2.15,0.00,0.000,1030,0.000,0.033,2350,2642,3529,3581,3478,0,0,0,0,0,0,14.93,14.87,14.95
$GC,2129,-1.10,-98.0,2349,2643,3575,3478,395.5,-14.7,154,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2643,3526,3575,3478,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2428,-1.10,-98.0,2349,2643,3569,3478,441.2,-15.4,159,2434,0.00,2.17,0.00,0.000,516,0.000,0.053,2349,1262,3523,3568,3478,0,0,0,0,0,0,15.16,14.76,15.19
$GC,2483,-1.10,-98.0,2349,1262,3568,3478,449.9,-16.2,170,2487,0.00,2.28,0.00,0.000,1030,0.000,0.053,2340,2649,3522,3566,3478,0,0,0,0,0,0,14.79,14.73,14.84
$GC,2788,-1.10,-98.0,2339,2649,3562,3478,498.8,-16.0,176,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2649,3520,3562,3478,0,0,0,0,0,0,15.16,15.20,15.20
$GC,3088,-1.10,-98.0,2339,2649,3559,3476,547.4,-16.1,181,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2649,3517,3559,3476,0,0,0,0,0,0,15.17,15.21,15.20
$GC,3389,-1.10,-98.0,2339,2649,3554,3474,593.2,-15.1,186,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2649,3514,3555,3474,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3688,-1.10,-98.0,2339,2649,3553,3472,634.6,-13.6,191,3694,0.00,2.22,0.00,0.000,516,0.000,0.055,2339,1258,3512,3552,3472,0,0,0,0,0,0,15.17,14.71,15.21
$GC,3717,-1.10,-98.0,2339,1257,3552,3472,638.4,-13.0,197,3723,0.12,2.28,0.00,0.000,3078,0.317,0.056,2353,2663,3512,3552,3472,0,0,0,0,0,0,14.42,14.78,14.74
$GC,4057,-1.10,-98.0,2352,2664,3548,3470,675.0,-10.6,208,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2663,3508,3548,3469,0,0,0,0,0,0,15.14,15.19,15.18
$GC,4352,-1.10,-99.1,2352,2663,3545,3468,704.9,-9.9,213,4357,0.00,2.28,0.00,0.000,516,0.000,0.057,2353,1252,3507,3546,3468,0,0,0,0,0,0,15.16,14.75,15.19
$GC,4390,-1.10,-99.1,2353,1252,3545,3468,709.1,-10.9,220,4397,0.00,2.28,0.00,0.000,1030,0.000,0.057,2345,2657,3506,3545,3468,0,0,0,0,0,0,14.88,14.76,14.91
$GC,5076,-1.10,-99.1,2345,2656,3540,3464,791.2,-12.5,242,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2657,3502,3540,3464,0,0,0,0,0,0,15.16,15.20,15.19
$GC,5676,-1.10,-99.1,2344,2657,3536,3463,867.3,-12.6,247,5681,0.00,2.25,0.00,0.000,516,0.000,0.060,2345,1268,3499,3535,3463,0,0,0,0,0,0,15.16,14.65,15.19
$GC,5745,-1.10,-99.1,2345,1268,3535,3462,875.3,-11.2,261,5750,0.00,2.28,0.00,0.000,1030,0.000,0.062,2335,2651,3498,3534,3462,0,0,0,0,0,0,14.83,14.71,14.88
$GC,6399,-1.10,-99.1,2335,2651,3531,3458,949.0,-11.3,276,6405,0.00,2.35,0.00,0.000,260,0.000,0.090,2325,4032,3494,3531,3457,0,0,0,0,0,0,15.16,14.55,15.19
$GC,6470,-1.10,-99.1,2324,4033,3530,3456,957.7,-12.3,290,6476,0.12,2.15,0.00,0.000,3078,0.300,0.043,2353,2670,3494,3531,3457,0,0,0,0,0,0,14.23,14.71,14.45
$STATE,6757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6757,begin apogee
$GC,6767,-0.20,0.0,2354,2465,3529,3456,991.2,-11.4,302,6844,1.10,0.00,72.72,2.057,10246,0.261,0.000,2647,2465,3125,3091,3160,0,0,0,0,0,0,14.40,14.35,13.52
$STATE,6845,end apogee,CONTROL_FINISHED_OK
$STATE,6846,begin climb
$GC,6850,1.10,99.1,2648,2465,3091,3158,991.2,0.0,302,6934,1.33,0.00,80.95,1.992,10246,0.121,0.000,3072,2464,2721,2665,2777,0,0,0,0,0,0,14.33,14.12,13.35
$GC,7484,1.10,99.1,3072,2464,2674,2754,898.2,16.5,308,7491,0.00,2.45,0.00,0.000,260,0.000,0.090,3072,3879,2714,2675,2753,0,0,0,0,0,0,14.90,14.49,14.94
$GC,7589,1.10,99.1,3072,3879,2675,2752,877.5,19.2,329,7593,0.00,2.30,0.00,0.000,1030,0.000,0.055,3083,2482,2713,2675,2752,0,0,0,0,0,0,14.72,14.63,14.76
$GC,8208,1.10,99.1,3082,2483,2676,2746,766.4,18.0,337,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2483,2711,2676,2746,0,0,0,0,0,0,15.04,15.09,15.08
$GC,8808,1.10,99.1,3082,2483,2676,2743,657.3,18.1,343,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2483,2709,2676,2743,0,0,0,0,0,0,15.09,15.12,15.12
$GC,9108,1.10,99.1,3082,2483,2676,2742,605.4,17.2,348,9114,0.00,2.40,0.00,0.000,260,0.000,0.089,3083,3879,2709,2677,2741,0,0,0,0,0,0,15.10,14.53,15.14
$GC,9143,1.10,99.1,3082,3879,2677,2741,599.1,18.8,355,9148,0.00,2.28,0.00,0.000,1030,0.000,0.054,3093,2473,2709,2678,2741,0,0,0,0,0,0,14.71,14.66,14.75
$GC,9468,1.10,99.1,3093,2473,2678,2740,544.8,16.5,365,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2473,2709,2678,2740,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9768,1.10,99.1,3093,2473,2678,2739,494.5,16.9,370,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2473,2708,2678,2739,0,0,0,0,0,0,15.11,15.15,15.15
$GC,10068,1.10,99.1,3093,2473,2678,2739,443.9,16.9,375,10073,0.00,2.40,0.00,0.000,260,0.000,0.088,3093,3873,2708,2679,2738,0,0,0,0,0,0,15.12,14.53,15.15
$GC,10107,1.10,99.1,3093,3873,2679,2738,436.5,18.5,383,10114,0.17,2.28,0.00,0.000,5126,0.355,0.054,3071,2472,2708,2679,2738,0,0,0,0,0,0,14.23,14.72,14.67
$GC,10432,1.10,99.1,3071,2472,2679,2738,385.2,15.8,392,10433,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2472,2708,2679,2738,0,0,0,0,0,0,15.09,15.14,15.13
$GC,10728,1.10,99.1,3071,2473,2679,2738,342.9,14.0,397,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2472,2708,2679,2738,0,0,0,0,0,0,15.13,15.16,15.16
$GC,11028,1.10,99.1,3071,2473,2679,2738,299.6,14.5,402,11034,0.00,2.40,0.00,0.000,260,0.000,0.087,3072,3876,2709,2681,2738,0,0,0,0,0,0,15.14,14.54,15.16
$GC,11048,1.10,99.1,3071,3876,2681,2737,296.6,15.3,406,11054,0.00,2.25,0.00,0.000,1030,0.000,0.051,3079,2473,2709,2681,2738,0,0,0,0,0,0,14.74,14.67,14.78
$GC,11388,1.10,99.1,3079,2473,2681,2738,247.1,14.2,419,11393,0.00,2.40,0.00,0.000,260,0.000,0.088,3079,3874,2709,2681,2738,0,0,0,0,0,0,15.14,14.55,15.16
$GC,11472,1.10,99.1,3079,3874,2681,2737,234.1,15.0,436,11479,0.00,2.28,0.00,0.000,1030,0.000,0.050,3090,2466,2709,2681,2737,0,0,0,0,0,0,14.83,14.73,14.87
$GC,11789,1.10,99.1,3089,2467,2681,2737,193.5,12.0,454,11794,0.00,2.30,0.00,0.000,516,0.000,0.072,3100,1080,2709,2682,2737,0,0,0,0,0,0,15.13,14.57,15.16
$GC,11843,1.10,99.1,3100,1080,2683,2734,187.0,11.7,465,11848,0.15,2.35,0.00,0.000,5126,0.334,0.062,3073,2470,2709,2683,2735,0,0,0,0,0,0,14.27,14.64,14.69
$GC,12149,1.10,99.1,3073,2470,2683,2734,155.4,11.7,481,12153,0.00,2.42,0.00,0.000,260,0.000,0.088,3073,3887,2709,2684,2735,0,0,0,0,0,0,15.12,14.60,15.16
$GC,12383,1.10,122.1,3073,3887,2683,2735,135.3,7.6,527,12405,0.00,2.28,15.60,1.024,9222,0.000,0.047,3081,2469,2626,2590,2662,0,0,0,0,0,0,14.82,14.73,14.19
$GC,12719,1.11,156.3,3081,2469,2591,2661,112.6,6.4,548,12751,0.00,2.45,24.55,1.014,8452,0.000,0.085,3081,3879,2486,2438,2534,0,0,0,0,0,0,15.05,14.68,14.19
$GC,12844,1.11,168.8,3081,3879,2438,2532,101.4,8.7,573,12859,0.00,2.25,10.02,0.961,9222,0.000,0.045,3092,2474,2435,2389,2481,0,0,0,0,0,0,14.76,14.68,14.11
$GC,13184,1.11,206.6,3091,2474,2395,2475,80.5,6.0,595,13215,0.00,2.30,26.42,0.958,8964,0.000,0.063,3102,1068,2281,2221,2341,0,0,0,0,0,0,14.98,14.57,14.17
$GC,13447,1.11,234.4,3102,1068,2226,2336,65.4,7.0,648,13475,0.10,2.28,20.00,0.897,13318,0.278,0.052,3077,2479,2169,2094,2244,0,0,0,0,0,0,14.32,14.61,14.14
$GC,13777,1.12,272.6,3077,2479,2098,2241,45.7,5.9,672,13809,0.00,2.30,27.02,0.893,8708,0.000,0.060,3085,1077,2012,1908,2116,0,0,0,0,0,0,14.98,14.54,14.18
$GC,14040,1.12,288.0,3085,1077,1914,2111,22.6,8.4,724,14054,0.00,2.30,8.40,0.789,9222,0.000,0.050,3085,2472,1950,1838,2063,0,0,0,0,0,0,14.69,14.63,14.18
$STATE,14240,end climb,SURFACE_DEPTH_REACHED
$STATE,14240,begin surface coast
$STATE,14260,end surface coast,CONTROL_FINISHED_OK
$STATE,14260,begin surface
$SM_CCo,14283,84.82,0.053,0,0,1087,500.17
$SM_GC,3.50,8.57,0.28,84.82,0.063,0.098,0.053,40,2655,1087,-8.30,-1.05,500.17,0,0,0,0,0,0,14.69,14.72,14.73
$IRIDIUM_FIX,740.75,8457.01,021015,082805
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.58
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,13.35,64.831
$10V_AH,12.99,0.000
$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,22.900,87.500,285.700,84.825,0.000,0.000,0.000,236.150,0.250,0.000,205.652,503.323,11681.927,450.469,1815.541,467.523,0.000,1366.983,0.000,1084.496,0.000,0.544,0.000
$DEVICE_MAMPS,406.980,97.920,2057.085,52.785,0.000,0.000,0.000,232.560,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260532
$DATA_FILE_SIZE,33485,748
$CAP_FILE_SIZE,127335,0
$CFSIZE,260034560,234917888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,169.56,1
$GPS,021015,175239,745.636,8458.568,241,99.0,281,-2.0,0.0,204.5,3,-1.0