version: 66.12
glider: 141
mission: 23
dive: 216
start: 10 5 115 13 16 46
data:
$ID,141
$MISSION,23
$DIVE,216
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,051015,075312,755.9941,8504.7266,301,99.0,301,-2.0,1.3,167.9,5,13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-69.6
$GPS2,051015,131611,756.7185,8507.0762,219,1.8,259,-2.0,1.1,216.9,5,12.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,128.8,42479,-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,-63.0,0,2665,648,769,0.0,0.0,0,127,0.00,0.00,-96.60,0.000,16386,0.000,0.000,1,2665,3381,3447,3316,0,0,0,0,0,0,14.95,28.83,14.98
$GC,133,-1.10,-118.4,1,2665,3447,3318,5.3,-4.1,10,155,11.25,2.30,-3.40,0.000,18692,0.409,0.086,2340,4043,3614,3673,3555,0,0,0,0,0,0,14.31,13.46,14.57
$GC,388,-1.10,-118.4,2339,4045,3673,3559,112.1,-28.4,61,392,0.00,2.22,0.00,0.000,1030,0.000,0.036,2339,2653,3616,3673,3559,0,0,0,0,0,0,14.73,14.69,14.76
$GC,691,-1.10,-118.4,2339,2652,3673,3562,174.0,-16.7,77,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2652,3617,3673,3562,0,0,0,0,0,0,15.08,15.12,15.11
$GC,991,-1.10,-118.4,2339,2652,3672,3564,229.4,-17.2,92,996,0.00,2.20,0.00,0.000,516,0.000,0.049,2340,1246,3617,3672,3563,0,0,0,0,0,0,15.11,14.75,15.14
$GC,1066,-1.10,-118.4,2339,1245,3672,3563,240.1,-12.9,107,1071,0.08,2.30,0.00,0.000,3078,0.292,0.052,2357,2654,3617,3672,3563,0,0,0,0,0,0,14.43,14.72,14.74
$GC,1391,-1.10,-118.4,2357,2654,3668,3563,284.2,-14.0,116,1396,0.00,2.22,0.00,0.000,516,0.000,0.050,2358,1241,3615,3668,3563,0,0,0,0,0,0,15.13,14.75,15.16
$GC,1420,-1.10,-118.4,2357,1241,3668,3563,289.2,-17.6,122,1425,0.00,2.28,0.00,0.000,1030,0.000,0.052,2350,2655,3615,3667,3563,0,0,0,0,0,0,14.89,14.80,14.92
$GC,1754,-1.10,-118.4,2349,2654,3660,3563,347.9,-17.4,133,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2654,3611,3660,3563,0,0,0,0,0,0,15.14,15.19,15.18
$GC,2054,-1.10,-118.4,2349,2655,3655,3563,396.0,-16.0,138,2060,0.00,2.22,0.00,0.000,516,0.000,0.052,2349,1249,3608,3654,3563,0,0,0,0,0,0,15.15,14.75,15.19
$GC,2084,-1.10,-118.4,2350,1249,3654,3563,400.9,-16.5,143,2089,0.00,2.28,0.00,0.000,1030,0.000,0.053,2340,2661,3608,3654,3563,0,0,0,0,0,0,14.90,14.80,14.93
$GC,2420,-1.10,-118.4,2339,2661,3648,3563,457.9,-17.2,155,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2661,3605,3648,3563,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2719,-1.10,-118.4,2339,2661,3644,3562,510.7,-17.5,160,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2661,3603,3644,3562,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3019,-1.10,-118.4,2339,2661,3639,3560,558.8,-15.9,165,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2661,3599,3639,3560,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3319,-1.10,-118.4,2339,2661,3635,3558,605.8,-15.6,170,3324,0.00,2.30,0.00,0.000,260,0.000,0.080,2329,4036,3596,3634,3558,0,0,0,0,0,0,15.16,14.71,15.19
$GC,3342,-1.10,-118.4,2329,4036,3634,3557,609.8,-16.6,174,3347,0.12,2.17,0.00,0.000,3078,0.311,0.037,2352,2643,3595,3634,3557,0,0,0,0,0,0,14.41,14.84,14.73
$GC,3690,-1.10,-118.4,2351,2644,3632,3556,659.9,-14.6,187,3696,0.00,2.33,0.00,0.000,260,0.000,0.082,2344,4029,3593,3631,3555,0,0,0,0,0,0,15.14,14.64,15.17
$GC,3724,-1.10,-118.4,2343,4029,3631,3554,666.1,-16.3,194,3728,0.00,2.15,0.00,0.000,1030,0.000,0.037,2343,2651,3592,3631,3554,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4113,-1.10,-118.4,2343,2651,3626,3553,727.3,-15.8,204,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2651,3589,3626,3553,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4713,-1.10,-118.4,2343,2651,3621,3550,817.3,-14.9,209,4720,0.00,2.25,0.00,0.000,516,0.000,0.060,2344,1251,3585,3621,3549,0,0,0,0,0,0,15.16,14.66,15.20
$GC,4749,-1.10,-118.4,2343,1251,3621,3549,822.5,-13.7,216,4754,0.00,2.30,0.00,0.000,1030,0.000,0.060,2334,2658,3584,3620,3549,0,0,0,0,0,0,14.85,14.73,14.88
$GC,5435,-1.10,-118.4,2333,2658,3614,3545,914.7,-13.3,238,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2658,3580,3615,3545,0,0,0,0,0,0,15.15,15.19,15.19
$STATE,6031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6031,begin apogee
$GC,6041,-0.20,0.0,2334,2467,3610,3543,999.2,-14.2,243,6136,1.17,0.00,90.70,2.106,10246,0.257,0.000,2644,2467,3126,3081,3171,0,0,0,0,0,0,14.36,14.26,13.44
$STATE,6137,end apogee,CONTROL_FINISHED_OK
$STATE,6138,begin climb
$GC,6142,1.10,118.4,2644,2467,3080,3170,999.2,0.0,243,6247,1.30,2.55,94.88,2.046,10500,0.121,0.092,3064,3875,2640,2571,2710,0,0,0,0,0,0,14.24,14.07,13.31
$GC,6280,1.10,118.4,3064,3874,2571,2707,987.2,19.1,292,6286,0.00,2.35,0.00,0.000,1030,0.000,0.056,3074,2488,2639,2572,2706,0,0,0,0,0,0,14.33,14.26,14.35
$GC,6992,1.10,118.4,3074,2488,2579,2691,854.8,18.4,319,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2488,2635,2579,2691,0,0,0,0,0,0,14.97,15.01,15.01
$GC,7591,1.10,118.4,3074,2488,2579,2686,743.0,18.6,324,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2488,2633,2579,2687,0,0,0,0,0,0,15.06,15.10,15.09
$GC,8195,1.10,118.4,3074,2488,2579,2683,628.0,19.2,332,8200,0.00,2.38,0.00,0.000,260,0.000,0.089,3074,3873,2631,2581,2682,0,0,0,0,0,0,15.07,14.54,15.11
$GC,8289,1.10,118.4,3074,3873,2582,2681,607.6,20.7,351,8295,0.00,2.30,0.00,0.000,1030,0.000,0.054,3085,2464,2631,2582,2681,0,0,0,0,0,0,14.81,14.71,14.85
$GC,8615,1.10,118.4,3084,2463,2582,2680,545.3,19.2,361,8621,0.00,2.42,0.00,0.000,260,0.000,0.088,3084,3877,2631,2582,2680,0,0,0,0,0,0,15.10,14.54,15.14
$GC,8638,1.10,118.4,3084,3877,2583,2679,540.3,20.5,366,8643,0.00,2.30,0.00,0.000,1030,0.000,0.054,3095,2466,2631,2582,2680,0,0,0,0,0,0,14.82,14.72,14.86
$GC,8977,1.10,118.4,3094,2466,2582,2679,472.3,20.1,378,8982,0.00,2.45,0.00,0.000,260,0.000,0.090,3095,3883,2631,2583,2679,0,0,0,0,0,0,15.11,14.59,15.15
$GC,9020,1.10,118.4,3094,3883,2582,2679,463.1,21.7,386,9025,0.17,2.30,0.00,0.000,5126,0.352,0.054,3073,2472,2630,2583,2678,0,0,0,0,0,0,14.24,14.72,14.66
$GC,9349,1.10,118.4,3072,2472,2583,2678,400.0,19.3,395,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2472,2630,2583,2678,0,0,0,0,0,0,15.09,15.13,15.12
$GC,9644,1.10,118.4,3072,2472,2583,2677,352.2,15.5,400,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2472,2629,2582,2677,0,0,0,0,0,0,15.13,15.16,15.16
$GC,9945,1.10,118.4,3073,2472,2583,2677,305.5,15.5,405,9951,0.00,2.40,0.00,0.000,260,0.000,0.086,3073,3875,2629,2582,2676,0,0,0,0,0,0,15.13,14.54,15.16
$GC,9989,1.10,118.4,3073,3874,2583,2676,297.8,17.4,414,9993,0.00,2.28,0.00,0.000,1030,0.000,0.052,3081,2468,2629,2583,2676,0,0,0,0,0,0,14.83,14.73,14.87
$GC,10308,1.10,118.4,3081,2468,2583,2676,249.8,15.4,422,10312,0.00,2.42,0.00,0.000,260,0.000,0.086,3081,3877,2630,2584,2676,0,0,0,0,0,0,15.13,14.59,15.16
$GC,10381,1.10,118.4,3081,3877,2584,2676,237.4,16.8,436,10386,0.00,2.25,0.00,0.000,1030,0.000,0.051,3091,2481,2630,2584,2676,0,0,0,0,0,0,14.73,14.69,14.78
$GC,10695,1.10,118.4,3091,2481,2584,2676,188.4,15.9,453,10702,0.00,2.35,0.00,0.000,516,0.000,0.070,3102,1075,2630,2586,2675,0,0,0,0,0,0,15.11,14.59,15.16
$GC,10882,1.10,118.4,3101,1075,2590,2671,158.9,12.3,490,10887,0.15,2.33,0.00,0.000,5126,0.317,0.060,3074,2484,2630,2590,2671,0,0,0,0,0,0,14.25,14.67,14.65
$GC,11201,1.11,167.8,3074,2484,2589,2671,130.2,4.7,508,11241,0.00,2.35,33.20,1.077,8708,0.000,0.066,3082,1068,2439,2389,2489,0,0,0,0,0,0,15.12,14.59,14.12
$GC,11378,1.11,172.4,3081,1068,2396,2482,116.9,9.5,543,11388,0.00,2.38,3.85,0.799,9222,0.000,0.057,3082,2491,2424,2380,2469,0,0,0,0,0,0,14.71,14.59,13.93
$GC,11708,1.11,207.2,3082,2491,2386,2468,91.5,6.3,563,11740,0.00,2.38,25.90,1.021,8452,0.000,0.084,3082,3876,2279,2217,2341,0,0,0,0,0,0,15.00,14.66,14.16
$GC,11817,1.11,217.8,3082,3876,2218,2340,83.3,8.9,582,11831,0.00,2.28,8.68,0.922,9222,0.000,0.045,3092,2461,2239,2173,2305,0,0,0,0,0,0,14.73,14.65,14.08
$GC,12151,1.12,284.9,3092,2461,2176,2299,72.1,2.9,603,12203,0.00,2.28,45.95,0.972,8708,0.000,0.060,3103,1077,1964,1847,2081,0,0,0,0,0,0,14.97,14.48,14.10
$GC,12299,1.12,300.4,3102,1077,1852,2074,61.2,8.3,633,12316,0.00,2.28,12.27,0.894,9222,0.000,0.050,3103,2476,1901,1779,2023,0,0,0,0,0,0,14.68,14.59,14.05
$GC,12629,1.12,300.4,3102,2477,1788,2015,19.1,11.4,664,12635,0.00,2.30,0.00,0.000,260,0.000,0.077,3103,3871,1902,1789,2015,0,0,0,0,0,0,14.95,14.57,14.98
$GC,12694,1.12,300.4,3103,3872,1798,2005,9.2,17.1,677,12698,0.10,2.25,0.00,0.000,5126,0.277,0.037,3081,2477,1901,1798,2004,0,0,0,0,0,0,14.39,14.65,14.67
$STATE,12735,end climb,SURFACE_DEPTH_REACHED
$STATE,12735,begin surface coast
$STATE,12755,end surface coast,CONTROL_FINISHED_OK
$STATE,12755,begin surface
$SM_CCo,12780,80.25,0.053,0,0,1086,500.17
$SM_GC,3.48,8.43,0.30,80.25,0.050,0.090,0.053,46,2668,1086,-8.28,-0.82,500.17,0,0,0,0,0,0,14.69,14.72,14.71
$IRIDIUM_FIX,749.46,8505.68,051015,074814
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.45
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,13.31,68.953
$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,22.775,83.650,315.425,80.250,0.000,0.000,0.000,202.025,0.250,0.000,261.857,449.346,10412.347,423.783,1727.255,423.337,0.000,1290.227,0.000,994.033,0.000,0.544,0.000
$DEVICE_MAMPS,409.275,91.800,2106.045,52.785,0.000,0.000,0.000,234.090,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260284
$DATA_FILE_SIZE,30172,684
$CAP_FILE_SIZE,113837,0
$CFSIZE,260034560,234110976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6211.68,0x23402a,1,24
$CURRENT,0.087,171.01,1
$GPS,051015,165415,755.282,8508.430,100,99.0,140,-2.0,1.0,196.8,3,-1.0