version: 66.12
glider: 141
mission: 23
dive: 334
start: 11 1 115 0 20 7
data:
$ID,141
$MISSION,23
$DIVE,334
$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,-2
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,011115,001345,750.8985,8204.7676,109,1.5,149,-2.3,0.3,231.8,5,14.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-73.2
$GPS2,011115,001933,750.8859,8204.7637,14,1.4,41,-2.3,0.2,136.2,9,7.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,44.3,321822,-14.9,-10.000,-18.74,2959
$D_GRID,3217
$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,-0.62,-194.6,26,2661,667,815,0.0,0.0,0,127,0.00,0.00,-96.38,0.000,16386,0.000,0.000,25,2661,3480,3554,3406,0,0,0,0,0,0,14.90,28.83,14.94
$GC,133,-0.62,-194.6,25,2661,3555,3408,7.0,-8.0,10,156,12.12,2.33,-5.40,0.000,18692,0.409,0.096,2498,4039,3922,3999,3846,0,0,0,0,0,0,14.16,13.74,14.44
$GC,388,-0.62,-194.6,2498,4039,3999,3850,93.0,-22.5,61,394,0.00,2.17,0.00,0.000,1030,0.000,0.034,2498,2648,3925,3999,3851,0,0,0,0,0,0,14.81,14.73,14.82
$GC,708,-0.62,-194.6,2498,2647,3999,3855,147.1,-13.8,80,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2647,3926,3999,3854,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1009,-0.62,-194.6,2498,2647,3999,3857,183.3,-11.8,95,1014,0.00,2.33,0.00,0.000,260,0.000,0.080,2488,4036,3928,3999,3857,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1078,-0.62,-194.6,2487,4036,3998,3857,191.3,-10.7,109,1085,0.00,2.15,0.00,0.000,1030,0.000,0.031,2487,2624,3927,3998,3856,0,0,0,0,0,0,14.84,14.80,14.84
$GC,1388,-0.62,-194.6,2487,2624,3998,3857,225.1,-10.2,126,1393,0.00,2.38,0.00,0.000,260,0.000,0.080,2477,4039,3927,3997,3857,0,0,0,0,0,0,15.12,14.70,15.16
$GC,1427,-0.62,-194.6,2476,4039,3997,3857,229.1,-10.9,133,1431,0.10,2.17,0.00,0.000,3078,0.210,0.031,2507,2656,3927,3997,3857,0,0,0,0,0,0,14.47,14.78,14.62
$GC,1733,-0.62,-194.6,2507,2656,3992,3857,257.4,-9.8,147,1739,0.00,2.30,0.00,0.000,260,0.000,0.082,2499,4030,3924,3992,3857,0,0,0,0,0,0,15.13,14.65,15.16
$GC,1769,-0.62,-194.6,2499,4030,3991,3857,260.9,-9.7,154,1773,0.00,2.12,0.00,0.000,1030,0.000,0.031,2500,2649,3924,3991,3857,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2098,-0.62,-194.6,2499,2649,3987,3857,290.6,-9.1,164,2103,0.00,2.20,0.00,0.000,516,0.000,0.052,2499,1264,3922,3987,3857,0,0,0,0,0,0,15.14,14.73,15.18
$GC,2127,-0.62,-194.6,2499,1264,3987,3857,293.5,-9.8,170,2132,0.00,2.25,0.00,0.000,1030,0.000,0.054,2493,2657,3922,3987,3857,0,0,0,0,0,0,14.86,14.76,14.89
$GC,2461,-0.62,-194.6,2493,2657,3981,3857,328.1,-10.6,181,2467,0.00,2.30,0.00,0.000,260,0.000,0.083,2483,4033,3919,3981,3857,0,0,0,0,0,0,15.15,14.64,15.19
$GC,2531,-0.62,-194.6,2482,4033,3981,3857,336.6,-12.3,195,2537,0.12,2.15,0.00,0.000,3078,0.236,0.032,2512,2647,3919,3981,3857,0,0,0,0,0,0,14.54,14.83,14.76
$GC,2886,-0.62,-194.6,2511,2647,3974,3857,372.4,-10.0,210,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2647,3915,3975,3856,0,0,0,0,0,0,15.12,15.16,15.16
$GC,3182,-0.62,-194.6,2511,2647,3971,3856,400.6,-9.2,215,3188,0.00,2.20,0.00,0.000,516,0.000,0.054,2512,1269,3913,3970,3856,0,0,0,0,0,0,15.15,14.69,15.19
$GC,3212,-0.62,-194.6,2512,1269,3969,3856,403.5,-9.7,221,3218,0.00,2.22,0.00,0.000,1030,0.000,0.056,2512,2648,3912,3970,3855,0,0,0,0,0,0,14.74,14.68,14.78
$GC,3546,-0.62,-194.6,2512,2648,3966,3853,430.8,-8.0,232,3551,0.00,2.33,0.00,0.000,260,0.000,0.085,2502,4037,3909,3966,3853,0,0,0,0,0,0,15.12,14.59,15.15
$GC,3590,-0.62,-194.6,2501,4038,3965,3852,434.7,-7.8,241,3597,0.00,2.15,0.00,0.000,1030,0.000,0.034,2502,2656,3909,3966,3852,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3910,-0.62,-194.6,2502,2656,3961,3851,460.8,-8.3,249,3916,0.00,2.25,0.00,0.000,516,0.000,0.055,2502,1250,3906,3961,3851,0,0,0,0,0,0,15.12,14.66,15.15
$GC,3965,-0.62,-194.6,2501,1250,3961,3851,466.0,-8.6,260,3969,0.00,2.35,0.00,0.000,1030,0.000,0.057,2498,2653,3906,3961,3851,0,0,0,0,0,0,14.82,14.63,14.85
$GC,4272,-0.62,-194.6,2498,2653,3959,3848,492.5,-8.7,266,4276,0.00,2.35,0.00,0.000,260,0.000,0.086,2488,4040,3903,3959,3848,0,0,0,0,0,0,15.14,14.62,15.17
$GC,4305,-0.62,-194.6,2487,4040,3958,3847,495.6,-9.1,272,4310,0.00,2.20,0.00,0.000,1030,0.000,0.035,2487,2646,3903,3959,3847,0,0,0,0,0,0,14.86,14.79,14.88
$GC,4636,-0.62,-194.6,2487,2647,3957,3847,526.6,-9.4,283,4642,0.00,2.22,0.00,0.000,516,0.000,0.057,2487,1265,3902,3957,3847,0,0,0,0,0,0,15.14,14.66,15.17
$GC,4667,-0.62,-194.6,2487,1266,3957,3847,529.5,-10.0,289,4674,0.10,2.25,0.00,0.000,3078,0.199,0.059,2510,2644,3901,3956,3847,0,0,0,0,0,0,14.40,14.63,14.54
$GC,5002,-0.62,-194.6,2509,2644,3952,3846,554.5,-7.3,300,5008,0.00,2.35,0.00,0.000,260,0.000,0.089,2501,4029,3898,3951,3846,0,0,0,0,0,0,15.11,14.53,15.14
$GC,5037,-0.62,-194.6,2501,4029,3951,3844,557.4,-8.5,307,5043,0.00,2.15,0.00,0.000,1030,0.000,0.036,2502,2651,3898,3951,3845,0,0,0,0,0,0,14.76,14.74,14.80
$GC,5366,-0.62,-194.6,2501,2651,3949,3844,581.4,-7.3,317,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2651,3896,3949,3844,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5662,-0.62,-194.6,2501,2651,3949,3843,603.2,-7.3,322,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2651,3895,3948,3843,0,0,0,0,0,0,15.14,15.17,15.17
$GC,5964,-0.62,-194.6,2501,2651,3947,3841,625.5,-7.5,327,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2651,3893,3947,3840,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6262,-0.62,-194.6,2501,2651,3945,3840,648.1,-7.6,332,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2651,3892,3945,3840,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6563,-0.62,-194.6,2501,2651,3943,3839,671.4,-7.8,337,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2651,3891,3943,3839,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6863,-0.62,-194.6,2501,2651,3942,3837,696.8,-8.5,342,6867,0.00,2.30,0.00,0.000,516,0.000,0.061,2502,1247,3889,3941,3837,0,0,0,0,0,0,15.14,14.62,15.16
$GC,6896,-0.62,-194.6,2501,1247,3941,3838,699.9,-9.2,348,6902,0.00,2.35,0.00,0.000,1030,0.000,0.063,2494,2658,3889,3941,3837,0,0,0,0,0,0,14.75,14.61,14.79
$GC,7288,-0.62,-194.6,2494,2658,3940,3835,734.7,-8.9,357,7294,0.00,2.35,0.00,0.000,260,0.000,0.094,2484,4030,3888,3940,3836,0,0,0,0,0,0,15.13,14.45,15.16
$GC,7358,-0.62,-194.6,2484,4030,3940,3835,741.4,-9.1,371,7364,0.12,2.20,0.00,0.000,3078,0.227,0.040,2513,2651,3887,3940,3835,0,0,0,0,0,0,14.42,14.71,14.63
$GC,8012,-0.62,-194.6,2513,2651,3937,3834,791.2,-7.5,386,8017,0.00,2.30,0.00,0.000,516,0.000,0.063,2513,1252,3885,3937,3834,0,0,0,0,0,0,15.11,14.59,15.14
$GC,8066,-0.62,-194.6,2513,1251,3937,3834,795.4,-7.2,396,8071,0.00,2.33,0.00,0.000,1030,0.000,0.064,2512,2647,3885,3937,3834,0,0,0,0,0,0,14.58,14.51,14.66
$GC,8740,-0.62,-194.6,2512,2647,3934,3832,839.1,-6.4,415,8745,0.00,2.40,0.00,0.000,260,0.000,0.097,2501,4030,3883,3934,3832,0,0,0,0,0,0,15.10,14.38,15.13
$GC,8800,-0.62,-194.6,2501,4030,3934,3831,843.6,-7.9,427,8805,0.00,2.20,0.00,0.000,1030,0.000,0.041,2502,2653,3882,3934,3830,0,0,0,0,0,0,14.66,14.62,14.70
$GC,9464,-0.62,-194.6,2501,2653,3932,3830,891.0,-7.3,444,9465,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2653,3881,3932,3830,0,0,0,0,0,0,15.09,15.13,15.13
$GC,10060,-0.62,-194.6,2501,2653,3930,3829,933.9,-7.1,449,10066,0.00,2.33,0.00,0.000,516,0.000,0.067,2501,1248,3879,3930,3829,0,0,0,0,0,0,15.13,14.44,15.16
$GC,10105,-0.62,-194.6,2501,1247,3930,3830,937.1,-7.0,458,10109,0.00,2.38,0.00,0.000,1030,0.000,0.070,2497,2649,3879,3930,3829,0,0,0,0,0,0,14.65,14.50,14.70
$GC,10784,-0.62,-194.6,2497,2649,3928,3829,985.2,-7.2,478,10788,0.00,2.45,0.00,0.000,260,0.000,0.103,2486,4039,3878,3927,3829,0,0,0,0,0,0,15.12,14.37,15.15
$STATE,10803,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10803,begin apogee
$GC,10815,-0.20,0.0,2486,2476,3927,3828,987.0,-7.6,482,10976,0.57,0.00,157.85,2.239,10246,0.185,0.000,2648,2476,3126,3058,3194,0,0,0,0,0,0,14.27,14.02,13.04
$STATE,10978,end apogee,CONTROL_FINISHED_OK
$STATE,10978,begin climb
$GC,10983,0.62,194.6,2649,2476,3057,3191,992.3,0.0,483,11156,0.82,2.53,164.35,2.173,10756,0.117,0.077,2922,1079,2329,2236,2423,0,0,0,0,0,0,14.04,13.52,12.76
$GC,11220,0.62,194.6,2922,1080,2243,2412,975.9,11.0,541,11227,0.00,2.47,0.00,0.000,1030,0.000,0.068,2922,2469,2327,2243,2412,0,0,0,0,0,0,14.14,14.03,14.16
$GC,11887,0.62,194.6,2922,2469,2248,2401,896.4,12.0,559,11893,0.00,2.47,0.00,0.000,260,0.000,0.099,2922,3887,2324,2248,2401,0,0,0,0,0,0,14.95,14.48,14.98
$GC,11936,0.62,194.6,2922,3887,2256,2392,889.3,14.9,569,11943,0.00,2.35,0.00,0.000,1030,0.000,0.056,2932,2480,2324,2257,2392,0,0,0,0,0,0,14.73,14.64,14.77
$GC,12607,0.62,194.6,2932,2480,2255,2392,800.2,13.1,588,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2480,2323,2256,2391,0,0,0,0,0,0,15.04,15.08,15.08
$GC,13208,0.62,194.6,2932,2480,2256,2390,726.7,12.2,593,13213,0.00,2.45,0.00,0.000,260,0.000,0.096,2932,3884,2323,2256,2390,0,0,0,0,0,0,15.08,14.50,15.11
$GC,13232,0.62,194.6,2932,3884,2259,2386,723.4,12.8,598,13238,0.00,2.30,0.00,0.000,1030,0.000,0.057,2943,2476,2323,2260,2386,0,0,0,0,0,0,14.69,14.64,14.73
$GC,13874,0.62,194.6,2942,2476,2259,2385,642.9,12.9,625,13880,0.00,2.47,0.00,0.000,260,0.000,0.096,2942,3889,2322,2260,2385,0,0,0,0,0,0,15.09,14.47,15.13
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$STATE,19871,end climb,SURFACE_DEPTH_REACHED
$STATE,19872,begin surface coast
$STATE,19888,end surface coast,CONTROL_FINISHED_OK
$STATE,19888,begin surface
$SM_CCo,19972,0.00,0.000,0,0,928,539.17
$SM_GC,3.69,8.10,0.32,0.00,0.056,0.089,0.000,43,2664,928,-8.29,-0.76,539.17,0,0,0,0,0,0,14.62,14.66,14.73
$IRIDIUM_FIX,749.46,8201.74,311015,184615
$TT8_MAMPS,0.023968,0.023968
$HUMID,50.63
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,22.90
$XPDR_PINGS,1
$24V_AH,12.76,108.807
$10V_AH,11.44,0.000
$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,22.525,149.300,566.700,0.000,0.000,0.000,0.000,193.400,0.250,0.000,43.270,652.041,16389.408,591.701,2069.217,613.503,0.000,1757.606,0.000,1436.436,0.000,0.543,0.000
$DEVICE_MAMPS,409.275,102.510,2239.155,0.000,0.000,0.000,0.000,231.030,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271752
$DATA_FILE_SIZE,43386,997
$CAP_FILE_SIZE,164602,0
$CFSIZE,260034560,226758656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,142.04,1
$GPS,011115,055609,750.734,8207.451,106,2.0,146,-2.3,0.3,294.0,5,11.9