version: 66.12
glider: 141
mission: 23
dive: 207
start: 10 3 115 15 43 57
data:
$ID,141
$MISSION,23
$DIVE,207
$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,28
$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
$GPS1,031015,101347,749.8815,8458.3574,301,99.0,301,-2.0,0.9,206.0,7,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-72.9
$GPS2,031015,154322,751.5172,8458.6582,93,1.4,133,-2.0,0.9,190.0,4,12.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,55.9,15902,-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,25,-1.10,-63.0,12,2661,698,832,0.0,0.0,0,123,0.00,0.00,-92.62,0.000,16390,0.000,0.000,11,2661,3385,3449,3321,0,0,0,0,0,0,14.92,13.23,14.93
$GC,129,-1.10,-129.9,11,2661,3449,3322,4.8,-2.9,9,150,11.35,2.30,-3.67,0.000,18692,0.419,0.086,2345,4050,3659,3719,3599,0,0,0,0,0,0,14.33,13.50,14.71
$GC,380,-1.10,-129.9,2345,4051,3719,3605,104.0,-29.1,61,385,0.00,2.20,0.00,0.000,1030,0.000,0.034,2345,2640,3662,3719,3606,0,0,0,0,0,0,14.83,14.76,14.85
$GC,699,-1.10,-129.9,2345,2639,3719,3609,172.4,-19.6,79,705,0.00,2.33,0.00,0.000,260,0.000,0.075,2335,4045,3664,3720,3609,0,0,0,0,0,0,15.08,14.70,15.11
$GC,774,-1.10,-129.9,2335,4045,3719,3609,188.0,-20.7,94,778,0.00,2.22,0.00,0.000,1030,0.000,0.033,2335,2637,3664,3719,3609,0,0,0,0,0,0,14.79,14.76,14.82
$GC,1080,-1.10,-129.9,2334,2637,3719,3609,250.2,-19.9,110,1085,0.00,2.30,0.00,0.000,260,0.000,0.074,2325,4041,3664,3719,3609,0,0,0,0,0,0,15.11,14.71,15.14
$GC,1140,-1.10,-129.9,2325,4040,3719,3609,262.4,-20.1,122,1146,0.12,2.12,0.00,0.000,3078,0.308,0.033,2354,2643,3664,3720,3609,0,0,0,0,0,0,14.40,14.82,14.62
$GC,1505,-1.10,-129.9,2353,2642,3714,3609,324.8,-17.4,139,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2642,3661,3714,3609,0,0,0,0,0,0,15.12,15.16,15.15
$GC,1800,-1.10,-129.9,2354,2642,3707,3609,378.0,-17.7,144,1806,0.00,2.17,0.00,0.000,516,0.000,0.052,2354,1260,3657,3706,3609,0,0,0,0,0,0,15.15,14.76,15.18
$GC,1861,-1.10,-129.9,2354,1260,3705,3609,388.7,-16.8,156,1867,0.00,2.20,0.00,0.000,1030,0.000,0.052,2346,2648,3657,3705,3609,0,0,0,0,0,0,14.83,14.78,14.87
$GC,2222,-1.10,-129.9,2346,2648,3698,3609,451.3,-17.4,173,2226,0.00,2.33,0.00,0.000,260,0.000,0.078,2336,4043,3653,3697,3609,0,0,0,0,0,0,15.15,14.75,15.19
$GC,2244,-1.10,-129.9,2335,4043,3697,3609,455.8,-18.4,177,2249,0.00,2.15,0.00,0.000,1030,0.000,0.034,2336,2653,3653,3697,3609,0,0,0,0,0,0,14.94,14.87,14.96
$GC,2589,-1.10,-129.9,2335,2653,3692,3609,518.8,-18.2,190,2594,0.00,2.20,0.00,0.000,516,0.000,0.053,2335,1261,3649,3690,3609,0,0,0,0,0,0,15.16,14.75,15.19
$GC,2628,-1.10,-129.9,2335,1261,3690,3609,525.7,-16.9,198,2634,0.10,2.20,0.00,0.000,3078,0.289,0.054,2350,2645,3649,3690,3609,0,0,0,0,0,0,14.40,14.78,14.61
$GC,2952,-1.10,-129.9,2350,2645,3684,3609,575.9,-15.5,207,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2645,3647,3685,3609,0,0,0,0,0,0,15.14,15.17,15.17
$GC,3249,-1.10,-129.9,2350,2645,3683,3607,620.4,-14.7,212,3256,0.00,2.33,0.00,0.000,260,0.000,0.081,2342,4040,3644,3682,3606,0,0,0,0,0,0,15.16,14.68,15.19
$GC,3280,-1.10,-129.9,2342,4040,3683,3605,625.2,-15.6,218,3286,0.00,2.17,0.00,0.000,1030,0.000,0.036,2342,2645,3643,3682,3605,0,0,0,0,0,0,14.92,14.85,14.95
$GC,3611,-1.10,-129.9,2342,2645,3677,3603,669.5,-13.0,229,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2645,3640,3677,3603,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3972,-1.10,-129.9,2342,2645,3673,3601,716.5,-13.1,234,3977,0.00,2.22,0.00,0.000,516,0.000,0.058,2342,1252,3636,3673,3600,0,0,0,0,0,0,15.16,14.71,15.19
$GC,4030,-1.10,-129.9,2342,1252,3673,3600,725.2,-14.8,246,4036,0.00,2.28,0.00,0.000,1030,0.000,0.057,2332,2654,3636,3672,3600,0,0,0,0,0,0,14.88,14.76,14.91
$GC,4691,-1.10,-129.9,2332,2654,3666,3597,834.9,-17.1,263,4696,0.00,2.30,0.00,0.000,260,0.000,0.085,2321,4027,3631,3666,3597,0,0,0,0,0,0,15.16,14.62,15.19
$GC,4740,-1.10,-129.9,2321,4028,3665,3595,844.0,-18.8,273,4745,0.17,2.17,0.00,0.000,3078,0.305,0.040,2357,2648,3630,3666,3594,0,0,0,0,0,0,14.34,14.81,14.69
$GC,5418,-1.10,-129.9,2357,2648,3659,3593,937.2,-13.3,292,5424,0.00,2.35,0.00,0.000,260,0.000,0.089,2349,4027,3625,3658,3593,0,0,0,0,0,0,15.14,14.59,15.16
$GC,5468,-1.10,-129.9,2349,4028,3659,3592,944.7,-14.4,302,5473,0.00,2.20,0.00,0.000,1030,0.000,0.042,2349,2644,3625,3659,3592,0,0,0,0,0,0,14.88,14.78,14.90
$STATE,5894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5894,begin apogee
$GC,5904,-0.20,0.0,2350,2463,3655,3591,1001.6,-13.2,319,6007,1.10,0.00,98.68,2.098,10246,0.257,0.000,2644,2463,3126,3078,3174,0,0,0,0,0,0,14.41,14.23,13.43
$STATE,6009,end apogee,CONTROL_FINISHED_OK
$STATE,6009,begin climb
$GC,6013,1.10,129.9,2644,2463,3078,3170,1001.6,0.0,319,6126,1.33,2.55,103.10,2.025,10500,0.124,0.090,3070,3871,2593,2523,2664,0,0,0,0,0,0,14.21,14.05,13.30
$GC,6164,1.10,129.9,3070,3872,2524,2661,983.1,22.8,372,6171,0.00,2.33,0.00,0.000,1030,0.000,0.057,3081,2501,2592,2524,2661,0,0,0,0,0,0,14.33,14.25,14.35
$GC,6856,1.10,129.9,3080,2501,2531,2645,833.4,21.7,395,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2501,2588,2531,2645,0,0,0,0,0,0,14.96,15.00,15.00
$GC,7456,1.10,129.9,3080,2500,2531,2640,703.0,21.6,400,7457,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2501,2585,2531,2640,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8059,1.10,129.9,3080,2500,2531,2636,582.2,20.1,409,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2500,2583,2531,2636,0,0,0,0,0,0,15.07,15.11,15.11
$GC,8356,1.10,129.9,3080,2500,2531,2635,525.6,18.7,414,8362,0.00,2.38,0.00,0.000,260,0.000,0.090,3080,3874,2583,2532,2634,0,0,0,0,0,0,15.11,14.57,15.14
$GC,8396,1.10,129.9,3080,3874,2532,2634,517.8,19.6,422,8402,0.00,2.28,0.00,0.000,1030,0.000,0.054,3090,2470,2583,2532,2634,0,0,0,0,0,0,14.73,14.68,14.78
$GC,8716,1.10,129.9,3090,2471,2532,2632,458.0,18.8,431,8721,0.00,2.33,0.00,0.000,516,0.000,0.076,3101,1074,2583,2533,2633,0,0,0,0,0,0,15.11,14.59,15.14
$GC,8765,1.10,129.9,3101,1074,2538,2627,447.9,20.2,441,8770,0.15,2.33,0.00,0.000,5126,0.331,0.064,3074,2474,2582,2538,2627,0,0,0,0,0,0,14.27,14.69,14.69
$GC,9083,1.10,129.9,3073,2474,2538,2627,387.6,19.1,448,9089,0.00,2.40,0.00,0.000,260,0.000,0.093,3074,3878,2582,2538,2626,0,0,0,0,0,0,15.09,14.57,15.13
$GC,9137,1.10,129.9,3074,3878,2538,2627,376.7,18.5,459,9142,0.00,2.33,0.00,0.000,1030,0.000,0.053,3082,2481,2582,2538,2627,0,0,0,0,0,0,14.73,14.67,14.87
$GC,9443,1.10,129.9,3081,2481,2538,2626,329.5,15.2,465,9448,0.00,2.38,0.00,0.000,516,0.000,0.074,3092,1060,2582,2538,2627,0,0,0,0,0,0,15.12,14.64,15.16
$GC,9497,1.10,129.9,3092,1060,2542,2625,320.6,17.0,475,9503,0.00,2.35,0.00,0.000,1030,0.000,0.063,3092,2478,2583,2542,2625,0,0,0,0,0,0,14.82,14.69,14.87
$GC,9808,1.10,129.9,3092,2478,2541,2625,256.6,21.1,482,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2478,2583,2541,2625,0,0,0,0,0,0,15.12,15.16,15.16
$GC,10107,1.10,129.9,3092,2478,2541,2624,200.5,16.5,495,10113,0.00,2.38,0.00,0.000,260,0.000,0.090,3093,3874,2582,2541,2624,0,0,0,0,0,0,15.13,14.57,15.16
$GC,10142,1.10,129.9,3092,3874,2541,2624,194.9,16.4,502,10147,0.10,2.33,0.00,0.000,5126,0.306,0.050,3071,2469,2582,2541,2624,0,0,0,0,0,0,14.29,14.69,14.71
$GC,10448,1.10,129.9,3070,2469,2541,2624,158.4,10.4,518,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2469,2582,2541,2624,0,0,0,0,0,0,15.13,15.16,15.16
$GC,10748,1.10,139.2,3071,2469,2541,2624,128.3,9.0,533,10759,0.00,2.40,6.22,0.992,8452,0.000,0.087,3071,3887,2557,2513,2601,0,0,0,0,0,0,15.13,14.82,14.19
$GC,10989,1.11,191.1,3071,3887,2514,2600,108.9,4.5,581,11032,0.00,2.28,36.08,1.065,9222,0.000,0.046,3080,2462,2343,2286,2401,0,0,0,0,0,0,14.84,14.76,14.16
$GC,11351,1.11,227.0,3079,2462,2292,2394,81.0,6.2,607,11383,0.00,2.45,25.45,1.009,8452,0.000,0.083,3079,3878,2198,2127,2269,0,0,0,0,0,0,14.98,14.64,14.14
$GC,11613,1.11,227.0,3079,3878,2131,2263,53.0,11.9,660,11620,0.00,2.25,0.00,0.000,1030,0.000,0.042,3090,2470,2197,2132,2262,0,0,0,0,0,0,14.75,14.67,14.77
$GC,11933,1.12,283.8,3089,2470,2137,2262,35.6,4.0,692,11977,0.00,2.28,38.45,0.947,8964,0.000,0.060,3100,1078,1969,1858,2081,0,0,0,0,0,0,15.00,14.53,14.16
$GC,12214,1.12,296.5,3100,1078,1867,2074,17.0,8.6,747,12225,0.00,2.33,5.50,0.099,9222,0.000,0.050,3100,2482,1918,1804,2033,0,0,0,0,0,0,14.76,14.62,14.54
$STATE,12346,end climb,SURFACE_DEPTH_REACHED
$STATE,12346,begin surface coast
$STATE,12367,end surface coast,CONTROL_FINISHED_OK
$STATE,12367,begin surface
$SM_CCo,12391,82.25,0.054,0,0,1087,500.17
$SM_GC,3.57,8.60,0.28,82.25,0.061,0.094,0.054,44,2666,1087,-8.29,-0.74,500.17,0,0,0,0,0,0,14.66,14.71,14.71
$IRIDIUM_FIX,745.10,8454.84,031015,100938
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.10
$XPDR_PINGS,2
$24V_AH,13.23,66.276
$10V_AH,13.02,0.000
$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,23.025,87.575,313.475,82.250,0.000,0.000,0.000,195.025,0.500,0.000,135.883,476.115,9875.933,422.472,1719.014,423.302,0.000,1334.008,0.000,1107.099,0.000,0.545,0.000
$DEVICE_MAMPS,419.220,94.095,2097.630,54.315,0.000,0.000,0.000,237.150,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260304
$DATA_FILE_SIZE,33445,764
$CAP_FILE_SIZE,114795,0
$CFSIZE,260034560,234631168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,165.11,1
$GPS,031015,191741,751.684,8500.010,264,99.0,301,-2.0,0.4,266.0,3,-1.0