version: 66.12
glider: 141
mission: 23
dive: 347
start: 11 4 115 1 23 33
data:
$ID,141
$MISSION,23
$DIVE,347
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,330
$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,110
$T_MISSION,170
$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,31
$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
$GPS1,041115,011645,753.4670,8236.4189,91,3.7,131,-2.2,0.6,344.0,4,37.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-72.1
$GPS2,041115,012259,753.4563,8236.3535,37,1.2,66,-2.2,0.3,305.2,7,9.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,89.2,263723,-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,-194.6,22,2665,533,682,0.0,0.0,0,127,0.00,0.00,-96.65,0.000,16386,0.000,0.000,23,2665,3303,3364,3243,0,0,0,0,0,0,14.92,28.83,14.96
$GC,133,-0.62,-194.6,22,2665,3365,3244,5.5,-4.3,10,160,12.20,2.30,-8.90,0.000,18948,0.411,0.068,2508,1230,3926,3996,3856,0,0,0,0,0,0,14.19,13.77,14.45
$GC,219,-0.62,-194.6,2508,1230,3995,3860,39.8,-28.3,28,224,0.00,2.35,0.00,0.000,1030,0.000,0.056,2500,2666,3927,3995,3860,0,0,0,0,0,0,14.73,14.62,14.77
$GC,525,-0.62,-194.6,2499,2666,3995,3860,116.3,-17.3,46,530,0.00,2.30,0.00,0.000,260,0.000,0.079,2489,4046,3928,3995,3861,0,0,0,0,0,0,15.07,14.66,15.10
$GC,558,-0.62,-194.6,2489,4046,3995,3861,121.7,-15.8,52,565,0.00,2.20,0.00,0.000,1030,0.000,0.032,2489,2627,3928,3995,3861,0,0,0,0,0,0,14.85,14.78,14.88
$GC,869,-0.62,-194.6,2489,2626,3996,3865,166.8,-13.8,69,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2626,3929,3995,3864,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1169,-0.62,-194.6,2489,2626,3995,3866,203.2,-11.8,84,1174,0.00,2.15,0.00,0.000,516,0.000,0.050,2489,1262,3930,3995,3865,0,0,0,0,0,0,15.14,14.73,15.16
$GC,1198,-0.62,-194.6,2489,1261,3995,3865,206.9,-11.7,90,1204,0.15,2.25,0.00,0.000,3078,0.239,0.055,2516,2657,3930,3995,3865,0,0,0,0,0,0,14.54,14.76,14.78
$GC,1514,-0.62,-194.6,2516,2657,3992,3865,238.3,-9.4,107,1519,0.00,2.30,0.00,0.000,260,0.000,0.082,2507,4042,3928,3991,3866,0,0,0,0,0,0,15.14,14.66,15.16
$GC,1563,-0.62,-194.6,2507,4042,3991,3865,243.1,-9.8,117,1570,0.00,2.12,0.00,0.000,1030,0.000,0.031,2508,2655,3928,3991,3865,0,0,0,0,0,0,14.83,14.79,14.84
$GC,1895,-0.62,-194.6,2508,2655,3988,3865,274.1,-9.5,127,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2655,3926,3988,3865,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2194,-0.62,-194.6,2508,2655,3981,3865,305.9,-10.7,132,2199,0.00,2.22,0.00,0.000,516,0.000,0.052,2508,1252,3922,3980,3865,0,0,0,0,0,0,15.15,14.73,15.19
$GC,2228,-0.62,-194.6,2508,1252,3981,3865,309.6,-11.3,139,2233,0.00,2.28,0.00,0.000,1030,0.000,0.054,2501,2657,3923,3981,3865,0,0,0,0,0,0,14.86,14.76,14.90
$STATE,2489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2489,begin apogee
$GC,2499,-0.20,0.0,2501,2447,3976,3865,335.4,-9.7,148,2642,0.50,0.00,140.10,1.404,10246,0.187,0.000,2644,2446,3125,3070,3181,0,0,0,0,0,0,14.54,14.33,13.62
$STATE,2644,end apogee,CONTROL_FINISHED_OK
$STATE,2644,begin climb
$GC,2649,0.62,194.6,2644,2447,3070,3177,339.1,0.0,150,2795,0.82,2.28,137.62,1.390,10756,0.137,0.063,2917,1106,2329,2247,2411,0,0,0,0,0,0,14.30,14.26,13.57
$GC,2823,0.62,194.6,2916,1106,2251,2406,327.1,10.5,192,2828,0.00,2.28,0.00,0.000,1030,0.000,0.050,2916,2472,2328,2251,2406,0,0,0,0,0,0,14.47,14.38,14.48
$GC,3158,0.62,210.5,2916,2472,2251,2397,293.9,9.4,203,3175,0.00,2.35,12.27,1.253,8452,0.000,0.077,2916,3880,2265,2188,2342,0,0,0,0,0,0,14.97,14.46,13.88
$GC,3211,0.62,216.5,2916,3880,2192,2333,289.3,9.8,213,3221,0.00,2.25,4.55,0.999,9222,0.000,0.041,2925,2501,2245,2172,2318,0,0,0,0,0,0,14.69,14.64,13.70
$GC,3579,0.62,216.5,2925,2501,2174,2315,251.2,11.0,231,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2501,2244,2174,2315,0,0,0,0,0,0,15.02,15.06,15.05
$GC,3875,0.62,216.5,2925,2501,2173,2312,219.0,10.3,244,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2501,2242,2173,2312,0,0,0,0,0,0,15.08,15.12,15.11
$GC,4175,0.62,216.5,2925,2501,2173,2309,184.9,11.7,259,4181,0.00,2.33,0.00,0.000,516,0.000,0.063,2931,1072,2240,2173,2308,0,0,0,0,0,0,15.11,14.69,15.14
$GC,4205,0.62,216.5,2931,1072,2173,2306,181.6,10.5,265,4212,0.00,2.28,0.00,0.000,1030,0.000,0.051,2931,2479,2239,2173,2306,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4516,0.62,268.9,2931,2479,2172,2306,151.7,8.2,282,4559,0.00,2.35,37.85,1.151,8452,0.000,0.077,2931,3876,2026,1920,2133,0,0,0,0,0,0,15.12,14.50,13.98
$GC,4578,0.62,290.6,2931,3876,1927,2125,146.3,9.2,291,4600,0.00,2.22,16.50,1.092,9222,0.000,0.042,2934,2469,1940,1824,2057,0,0,0,0,0,0,14.71,14.66,13.90
$GC,4919,0.63,385.8,2934,2469,1824,2048,121.3,6.7,313,4992,0.00,2.38,66.20,1.096,8708,0.000,0.065,2934,1081,1551,1415,1687,0,0,0,0,0,0,15.00,14.49,13.89
$GC,5026,0.64,466.8,2934,1081,1416,1684,113.7,7.2,335,5088,0.00,2.30,57.05,1.091,9222,0.000,0.050,2934,2480,1222,1069,1375,0,0,0,0,0,0,14.63,14.55,13.77
$GC,5395,0.65,578.2,2934,2480,1069,1368,88.5,6.1,363,5477,0.00,2.40,76.47,1.061,8708,0.000,0.060,2934,1078,766,609,924,0,0,0,0,0,0,14.97,14.45,13.86
$GC,5563,0.65,578.2,2935,1077,610,921,70.1,12.8,397,5571,0.00,2.28,0.00,0.000,1030,0.000,0.047,2934,2477,765,610,921,0,0,0,0,0,0,14.66,14.59,14.69
$GC,5874,0.65,578.2,2934,2477,612,921,35.0,11.4,420,5881,0.00,2.28,0.00,0.000,516,0.000,0.059,2933,1073,767,613,921,0,0,0,0,0,0,15.02,14.66,15.05
$GC,6028,0.65,578.2,2934,1073,616,919,16.7,12.6,450,6035,0.00,2.25,0.00,0.000,1030,0.000,0.046,2934,2493,767,616,919,0,0,0,0,0,0,14.77,14.73,14.80
$STATE,6134,end climb,SURFACE_DEPTH_REACHED
$STATE,6134,begin surface coast
$STATE,6154,end surface coast,CONTROL_FINISHED_OK
$STATE,6154,begin surface
$SM_CCo,6238,0.00,0.000,0,0,767,578.91
$SM_GC,3.36,8.05,0.25,0.00,0.055,0.090,0.000,35,2674,767,-8.30,-0.85,578.91,0,0,0,0,0,0,14.77,14.83,14.85
$IRIDIUM_FIX,751.63,8115.23,031115,193625
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.66
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.50
$XPDR_PINGS,0
$24V_AH,13.57,113.169
$10V_AH,12.37,0.000
$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,21.725,55.200,548.625,0.000,0.000,0.000,0.000,193.025,0.000,0.000,68.507,314.760,4298.608,520.010,1158.217,314.972,0.000,1229.095,0.000,681.234,0.000,0.543,0.000
$DEVICE_MAMPS,410.805,89.505,1403.775,0.000,0.000,0.000,0.000,239.445,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271712
$DATA_FILE_SIZE,20095,464
$CAP_FILE_SIZE,85186,0
$CFSIZE,260034560,226062336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,242.26,1
$GPS,041115,031028,753.316,8237.015,119,1.3,135,-2.2,0.3,250.1,6,9.1