version: 66.12
glider: 141
mission: 23
dive: 342
start: 11 2 115 20 59 38
data:
$ID,141
$MISSION,23
$DIVE,342
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,021115,205314,752.1312,8223.8311,69,99.0,109,-2.2,0.8,261.8,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.54
$_SM_ANGLEo,-72.9
$GPS2,021115,205904,752.0942,8223.7090,37,1.0,41,-2.2,0.9,300.2,8,7.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,69.1,287008,-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,20,begin dive
$GC,25,-0.62,-194.6,11,2670,898,1025,0.0,0.0,0,114,0.00,0.00,-86.47,0.000,16386,0.000,0.000,10,2670,3369,3441,3298,0,0,0,0,0,0,14.90,28.83,14.94
$GC,123,-0.62,-194.6,10,2670,3441,3300,6.1,-5.5,9,149,12.15,2.35,-7.55,0.000,18948,0.408,0.070,2507,1240,3925,3999,3851,0,0,0,0,0,0,14.18,13.18,14.44
$GC,194,-0.62,-194.6,2507,1240,3999,3854,35.3,-28.7,24,199,0.00,2.35,0.00,0.000,1030,0.000,0.057,2499,2669,3926,3999,3854,0,0,0,0,0,0,14.70,14.60,14.74
$GC,514,-0.62,-194.6,2499,2670,3999,3859,111.6,-18.3,43,519,0.00,2.28,0.00,0.000,260,0.000,0.077,2488,4042,3928,3999,3858,0,0,0,0,0,0,15.03,14.61,15.07
$GC,568,-0.62,-194.6,2488,4042,3999,3859,121.7,-17.2,54,573,0.00,2.22,0.00,0.000,1030,0.000,0.033,2488,2643,3929,3999,3859,0,0,0,0,0,0,14.72,14.69,14.75
$GC,874,-0.62,-194.6,2488,2643,3999,3862,165.4,-11.9,70,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2643,3930,3999,3862,0,0,0,0,0,0,15.09,15.14,15.13
$GC,1174,-0.62,-194.6,2488,2642,3999,3863,203.2,-12.4,85,1178,0.00,2.35,0.00,0.000,260,0.000,0.080,2478,4042,3930,3998,3863,0,0,0,0,0,0,15.12,14.69,15.15
$GC,1242,-0.62,-194.6,2477,4042,3998,3862,211.7,-12.5,98,1249,0.15,2.17,0.00,0.000,3078,0.230,0.032,2514,2634,3930,3999,3862,0,0,0,0,0,0,14.54,14.82,14.76
$GC,1558,-0.62,-194.6,2514,2634,3997,3863,242.2,-9.2,116,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2634,3929,3997,3862,0,0,0,0,0,0,15.13,15.16,15.16
$GC,1902,-0.62,-194.6,2514,2634,3991,3863,275.4,-9.9,125,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2634,3926,3991,3862,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2198,-0.62,-194.6,2513,2634,3987,3862,306.0,-10.2,130,2204,0.00,2.38,0.00,0.000,260,0.000,0.083,2509,4040,3924,3987,3862,0,0,0,0,0,0,15.14,14.64,15.18
$GC,2288,-0.62,-194.6,2509,4040,3987,3862,315.3,-11.0,148,2294,0.00,2.15,0.00,0.000,1030,0.000,0.032,2509,2651,3924,3986,3863,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2619,-0.62,-194.6,2509,2651,3981,3861,347.2,-9.5,159,2624,0.00,2.22,0.00,0.000,516,0.000,0.054,2509,1257,3921,3981,3862,0,0,0,0,0,0,15.15,14.69,15.18
$GC,2703,-0.62,-194.6,2509,1257,3980,3863,355.5,-9.5,176,2710,0.00,2.28,0.00,0.000,1030,0.000,0.055,2501,2658,3921,3980,3863,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3043,-0.62,-194.6,2501,2658,3974,3861,387.4,-9.5,188,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2658,3918,3975,3861,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3339,-0.62,-194.6,2501,2658,3972,3860,415.2,-9.3,193,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2659,3916,3972,3860,0,0,0,0,0,0,15.15,15.19,15.18
$GC,3641,-0.62,-194.6,2500,2658,3968,3859,440.7,-8.4,198,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2658,3913,3968,3859,0,0,0,0,0,0,15.14,15.18,15.17
$GC,3939,-0.62,-194.6,2501,2658,3966,3856,463.8,-7.7,203,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2659,3911,3966,3856,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4240,-0.62,-194.6,2501,2658,3963,3854,488.5,-8.3,208,4246,0.00,2.25,0.00,0.000,516,0.000,0.055,2501,1266,3908,3962,3854,0,0,0,0,0,0,15.14,14.65,15.18
$GC,4270,-0.62,-194.6,2500,1267,3961,3854,491.3,-9.7,214,4275,0.00,2.28,0.00,0.000,1030,0.000,0.057,2498,2653,3907,3961,3854,0,0,0,0,0,0,14.71,14.64,14.76
$GC,4601,-0.62,-194.6,2498,2653,3960,3852,520.9,-9.1,225,4605,0.00,2.38,0.00,0.000,260,0.000,0.086,2487,4043,3905,3959,3852,0,0,0,0,0,0,15.15,14.59,15.18
$GC,4650,-0.62,-194.6,2487,4043,3959,3851,525.8,-10.6,234,4655,0.00,2.20,0.00,0.000,1030,0.000,0.035,2487,2643,3905,3960,3851,0,0,0,0,0,0,14.78,14.75,14.81
$GC,4965,-0.62,-194.6,2487,2643,3958,3850,557.5,-10.1,242,4970,0.00,2.22,0.00,0.000,516,0.000,0.057,2487,1256,3904,3958,3850,0,0,0,0,0,0,15.14,14.62,15.17
$GC,5019,-0.62,-194.6,2487,1256,3958,3850,563.3,-10.8,253,5024,0.15,2.35,0.00,0.000,3078,0.226,0.060,2515,2647,3904,3958,3850,0,0,0,0,0,0,14.42,14.59,14.67
$GC,5329,-0.62,-194.6,2514,2647,3955,3849,588.7,-8.3,259,5334,0.00,2.35,0.00,0.000,260,0.000,0.089,2506,4036,3902,3955,3849,0,0,0,0,0,0,15.12,14.51,15.15
$GC,5367,-0.62,-194.6,2506,4036,3955,3848,592.4,-8.7,267,5373,0.00,2.20,0.00,0.000,1030,0.000,0.035,2506,2640,3901,3955,3848,0,0,0,0,0,0,14.83,14.76,14.86
$GC,5689,-0.62,-194.6,2506,2640,3952,3847,618.5,-8.1,276,5695,0.00,2.22,0.00,0.000,516,0.000,0.058,2506,1259,3899,3951,3847,0,0,0,0,0,0,15.14,14.59,15.17
$GC,5750,-0.62,-194.6,2506,1259,3951,3847,623.6,-8.1,288,5755,0.00,2.30,0.00,0.000,1030,0.000,0.061,2501,2656,3898,3950,3847,0,0,0,0,0,0,14.64,14.57,14.69
$GC,6111,-0.62,-194.6,2500,2656,3949,3846,654.6,-8.6,305,6115,0.00,2.38,0.00,0.000,260,0.000,0.090,2490,4039,3897,3949,3846,0,0,0,0,0,0,15.14,14.54,15.16
$GC,6150,-0.62,-194.6,2490,4039,3949,3845,658.3,-9.8,312,6156,0.00,2.17,0.00,0.000,1030,0.000,0.037,2490,2655,3897,3949,3845,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6479,-0.62,-194.6,2490,2655,3948,3844,686.5,-8.6,322,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2655,3896,3948,3844,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6777,-0.62,-194.6,2489,2655,3947,3843,713.6,-9.1,326,6782,0.00,2.28,0.00,0.000,516,0.000,0.060,2490,1253,3895,3946,3844,0,0,0,0,0,0,15.14,14.55,15.16
$GC,6836,-0.62,-194.6,2489,1253,3946,3844,719.6,-9.8,338,6842,0.08,2.30,0.00,0.000,3078,0.202,0.063,2509,2642,3894,3946,3843,0,0,0,0,0,0,14.32,14.54,14.46
$GC,7500,-0.62,-194.6,2508,2643,3942,3842,779.9,-9.2,355,7505,0.00,2.42,0.00,0.000,260,0.000,0.095,2500,4042,3892,3942,3842,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7559,-0.62,-194.6,2500,4042,3942,3841,785.7,-9.5,367,7565,0.00,2.22,0.00,0.000,1030,0.000,0.039,2500,2648,3891,3942,3841,0,0,0,0,0,0,14.79,14.71,14.82
$GC,8223,-0.62,-194.6,2500,2648,3940,3839,836.6,-7.4,384,8229,0.00,2.28,0.00,0.000,516,0.000,0.063,2500,1253,3889,3940,3839,0,0,0,0,0,0,15.11,14.50,15.14
$GC,8268,-0.62,-194.6,2500,1253,3941,3839,840.0,-6.7,393,8272,0.00,2.35,0.00,0.000,1030,0.000,0.065,2492,2654,3889,3940,3839,0,0,0,0,0,0,14.70,14.57,14.75
$GC,8951,-0.62,-194.6,2491,2654,3938,3837,889.7,-7.4,413,8955,0.00,2.35,0.00,0.000,516,0.000,0.063,2492,1243,3887,3937,3837,0,0,0,0,0,0,15.10,14.56,15.13
$GC,8994,-0.62,-194.6,2492,1243,3937,3837,893.5,-7.7,421,8999,0.12,2.38,0.00,0.000,3078,0.230,0.067,2513,2652,3887,3937,3837,0,0,0,0,0,0,14.35,14.54,14.58
$GC,9683,-0.62,-194.6,2512,2653,3936,3836,933.5,-5.7,442,9688,0.00,2.42,0.00,0.000,260,0.000,0.099,2504,4037,3885,3936,3835,0,0,0,0,0,0,15.09,14.34,15.13
$GC,9737,-0.62,-194.6,2504,4038,3936,3835,937.1,-6.6,452,9743,0.00,2.25,0.00,0.000,1030,0.000,0.041,2504,2643,3885,3936,3835,0,0,0,0,0,0,14.73,14.64,14.77
$GC,10411,-0.62,-194.6,2504,2643,3934,3834,979.3,-6.3,471,10416,0.00,2.30,0.00,0.000,516,0.000,0.067,2504,1253,3883,3933,3834,0,0,0,0,0,0,15.09,14.43,15.11
$GC,10451,-0.62,-194.6,2504,1253,3933,3834,982.4,-7.0,479,10456,0.00,2.35,0.00,0.000,1030,0.000,0.070,2498,2644,3883,3933,3834,0,0,0,0,0,0,14.50,14.42,14.56
$STATE,10647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10647,begin apogee
$GC,10657,-0.20,0.0,2498,2463,3932,3834,996.7,-7.4,496,10819,0.52,0.00,159.20,2.237,10246,0.171,0.000,2649,2463,3126,3062,3190,0,0,0,0,0,0,14.31,14.02,13.03
$STATE,10821,end apogee,CONTROL_FINISHED_OK
$STATE,10821,begin climb
$GC,10825,0.62,194.6,2650,2463,3061,3188,1001.2,0.0,497,10999,0.80,2.47,164.65,2.191,10756,0.113,0.075,2920,1093,2329,2240,2418,0,0,0,0,0,0,14.04,13.53,12.75
$GC,11033,0.62,194.6,2919,1093,2243,2411,987.3,11.1,549,11039,0.00,2.42,0.00,0.000,1030,0.000,0.066,2920,2466,2327,2244,2410,0,0,0,0,0,0,13.99,13.93,14.02
$GC,11734,0.62,194.6,2919,2466,2250,2398,901.5,12.1,574,11738,0.00,2.45,0.00,0.000,260,0.000,0.095,2920,3882,2324,2250,2399,0,0,0,0,0,0,14.96,14.55,15.00
$GC,11826,0.62,194.6,2919,3882,2259,2389,889.2,13.2,592,11832,0.00,2.30,0.00,0.000,1030,0.000,0.054,2930,2485,2324,2260,2388,0,0,0,0,0,0,14.75,14.66,14.78
$GC,12460,0.62,194.6,2930,2484,2258,2388,807.2,13.1,603,12465,0.00,2.38,0.00,0.000,516,0.000,0.078,2941,1070,2323,2259,2388,0,0,0,0,0,0,15.04,14.55,15.07
$GC,12493,0.62,194.6,2941,1070,2260,2386,802.2,13.9,610,12498,0.00,2.38,0.00,0.000,1030,0.000,0.067,2941,2480,2323,2260,2386,0,0,0,0,0,0,14.76,14.64,14.81
$GC,13183,0.62,194.6,2940,2480,2260,2385,704.0,14.3,632,13188,0.00,2.40,0.00,0.000,260,0.000,0.096,2940,3876,2322,2260,2384,0,0,0,0,0,0,15.09,14.50,15.12
$GC,13246,0.62,194.6,2940,3876,2263,2379,693.8,16.2,645,13253,0.17,2.30,0.00,0.000,5126,0.275,0.054,2913,2476,2320,2263,2378,0,0,0,0,0,0,14.33,14.69,14.66
$GC,13903,0.62,194.6,2913,2476,2263,2379,618.4,10.8,666,13908,0.00,2.38,0.00,0.000,516,0.000,0.077,2922,1068,2321,2264,2379,0,0,0,0,0,0,15.10,14.58,15.13
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$GC,15433,0.62,194.6,2921,1070,2270,2374,438.1,11.0,749,15440,0.00,2.38,0.00,0.000,1030,0.000,0.066,2922,2481,2322,2270,2374,0,0,0,0,0,0,14.72,14.59,14.78
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$STATE,19660,end climb,SURFACE_DEPTH_REACHED
$STATE,19660,begin surface coast
$STATE,19676,end surface coast,CONTROL_FINISHED_OK
$STATE,19676,begin surface
$SM_CCo,19759,0.00,0.000,0,0,854,557.57
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$IRIDIUM_FIX,747.28,8223.60,021115,151834
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.01
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,12.75,111.527
$10V_AH,11.32,0.000
$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,22.500,154.250,581.250,0.000,0.000,0.000,0.000,192.175,0.250,0.000,43.843,672.948,16053.590,601.819,2164.583,609.875,0.000,1806.279,0.000,1525.686,0.000,0.543,0.000
$DEVICE_MAMPS,407.745,99.450,2236.860,0.000,0.000,0.000,0.000,242.505,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1049.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271776
$DATA_FILE_SIZE,46686,1063
$CAP_FILE_SIZE,163345,0
$CFSIZE,260034560,226258944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,198.04,1
$GPS,031115,023145,752.062,8226.272,84,5.6,124,-2.2,0.0,269.6,4,55.6