version: 66.12
glider: 141
mission: 23
dive: 348
start: 11 4 115 3 15 53
data:
$ID,141
$MISSION,23
$DIVE,348
$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,41
$R_STBD_OVSHOOT,50
$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
$GPS1,041115,031028,753.3159,8237.0146,119,1.3,135,-2.2,0.3,250.1,6,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-75.0
$GPS2,041115,031522,753.3134,8236.9590,18,1.3,34,-2.2,0.4,254.2,7,9.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,74.1,262626,-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,-194.6,22,2677,695,840,0.0,0.0,0,127,0.00,0.00,-96.60,0.000,16386,0.000,0.000,22,2678,3478,3551,3406,0,0,0,0,0,0,14.98,28.83,15.02
$GC,133,-0.62,-194.6,22,2678,3551,3407,6.3,-6.5,10,158,12.15,2.30,-5.72,0.000,18948,0.413,0.067,2504,1237,3922,3998,3847,0,0,0,0,0,0,14.25,13.84,14.52
$GC,185,-0.62,-194.6,2504,1236,3997,3850,33.7,-42.8,21,190,0.00,2.33,0.00,0.000,1030,0.000,0.057,2497,2633,3924,3998,3850,0,0,0,0,0,0,14.81,14.66,14.84
$GC,502,-0.62,-194.6,2496,2633,3998,3853,114.2,-16.8,40,508,0.00,2.30,0.00,0.000,260,0.000,0.077,2486,4033,3925,3998,3852,0,0,0,0,0,0,15.09,14.70,15.12
$GC,551,-0.62,-194.6,2486,4033,3998,3853,122.1,-15.4,50,556,0.12,2.15,0.00,0.000,3078,0.265,0.033,2512,2641,3925,3998,3853,0,0,0,0,0,0,14.56,14.85,14.80
$GC,866,-0.62,-194.6,2511,2640,3998,3858,161.4,-11.9,67,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2640,3928,3998,3858,0,0,0,0,0,0,15.14,15.18,15.18
$GC,1165,-0.62,-194.6,2512,2640,3998,3858,195.7,-10.9,82,1170,0.00,2.20,0.00,0.000,516,0.000,0.050,2512,1247,3928,3998,3858,0,0,0,0,0,0,15.16,14.83,15.19
$GC,1189,-0.62,-194.6,2512,1247,3998,3858,198.3,-11.4,86,1194,0.00,2.25,0.00,0.000,1030,0.000,0.054,2506,2654,3928,3998,3858,0,0,0,0,0,0,14.92,14.82,14.95
$GC,1513,-0.62,-194.6,2506,2654,3996,3858,233.5,-10.1,105,1519,0.00,2.30,0.00,0.000,260,0.000,0.081,2496,4035,3926,3995,3858,0,0,0,0,0,0,15.16,14.73,15.19
$GC,1543,-0.62,-194.6,2495,4036,3995,3858,236.6,-10.1,111,1550,0.00,2.15,0.00,0.000,1030,0.000,0.032,2495,2638,3926,3995,3858,0,0,0,0,0,0,14.95,14.89,14.97
$GC,1874,-0.62,-194.6,2495,2639,3990,3858,269.2,-10.1,123,1879,0.00,2.33,0.00,0.000,260,0.000,0.081,2485,4038,3924,3989,3859,0,0,0,0,0,0,15.17,14.72,15.20
$GC,1902,-0.62,-194.6,2485,4039,3990,3858,272.4,-10.5,129,1909,0.12,2.15,0.00,0.000,3078,0.233,0.032,2514,2644,3924,3990,3858,0,0,0,0,0,0,14.63,14.88,14.84
$GC,2238,-0.62,-194.6,2514,2644,3983,3858,301.0,-8.4,140,2243,0.00,2.20,0.00,0.000,516,0.000,0.053,2515,1255,3920,3982,3859,0,0,0,0,0,0,15.15,14.77,15.18
$GC,2282,-0.62,-194.6,2514,1254,3982,3858,305.2,-8.5,149,2288,0.00,2.25,0.00,0.000,1030,0.000,0.055,2512,2649,3920,3982,3858,0,0,0,0,0,0,14.90,14.80,14.94
$STATE,2593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2593,begin apogee
$GC,2604,-0.20,0.0,2512,2448,3976,3858,330.0,-7.8,157,2746,0.47,0.00,139.07,1.374,10246,0.184,0.000,2649,2448,3126,3072,3180,0,0,0,0,0,0,14.61,14.38,13.68
$STATE,2748,end apogee,CONTROL_FINISHED_OK
$STATE,2748,begin climb
$GC,2752,0.62,194.6,2649,2448,3072,3176,333.2,0.0,159,2899,0.80,2.30,137.40,1.357,10756,0.135,0.061,2917,1108,2329,2248,2411,0,0,0,0,0,0,14.34,14.31,13.65
$GC,2933,0.62,204.2,2917,1109,2252,2405,321.9,9.7,202,2946,0.00,2.25,8.07,1.187,9222,0.000,0.050,2917,2472,2293,2213,2373,0,0,0,0,0,0,14.54,14.47,13.67
$GC,3259,0.62,204.2,2916,2472,2214,2363,284.9,11.6,211,3265,0.00,2.33,0.00,0.000,260,0.000,0.079,2916,3879,2288,2214,2362,0,0,0,0,0,0,14.98,14.64,15.02
$GC,3283,0.62,204.2,2916,3879,2220,2354,281.6,11.6,215,3289,0.00,2.17,0.00,0.000,1030,0.000,0.040,2925,2503,2287,2221,2354,0,0,0,0,0,0,14.83,14.76,14.85
$GC,3624,0.62,204.2,2925,2503,2217,2353,246.7,10.2,228,3630,0.00,2.30,0.00,0.000,260,0.000,0.079,2925,3880,2285,2218,2353,0,0,0,0,0,0,15.08,14.68,15.11
$GC,3658,0.62,204.2,2925,3880,2221,2348,242.4,13.0,235,3663,0.00,2.28,0.00,0.000,1030,0.000,0.041,2931,2476,2284,2221,2348,0,0,0,0,0,0,14.80,14.74,14.83
$GC,3965,0.62,209.8,2931,2477,2219,2347,210.5,9.8,251,3970,0.00,0.00,3.38,0.793,8198,0.000,0.000,2931,2476,2271,2205,2337,0,0,0,0,0,0,15.12,14.68,13.66
$GC,4265,0.62,209.8,2931,2476,2209,2336,178.1,10.7,266,4269,0.00,2.35,0.00,0.000,260,0.000,0.079,2931,3878,2273,2210,2336,0,0,0,0,0,0,15.13,14.73,15.15
$GC,4373,0.62,213.9,2931,3879,2212,2330,167.0,9.9,287,4385,0.00,2.22,4.43,0.925,9222,0.000,0.041,2940,2460,2254,2191,2317,0,0,0,0,0,0,14.85,14.82,13.79
$GC,4688,0.62,224.0,2939,2460,2194,2317,137.6,9.6,305,4705,0.00,2.30,9.35,1.058,8708,0.000,0.064,2945,1078,2211,2143,2280,0,0,0,0,0,0,15.14,14.79,14.04
$GC,4720,0.62,246.9,2944,1078,2143,2279,134.7,9.2,311,4743,0.10,2.25,17.62,1.089,13318,0.197,0.053,2915,2479,2118,2030,2207,0,0,0,0,0,0,14.59,14.76,14.03
$GC,5049,0.63,350.3,2915,2479,2029,2201,113.1,6.4,331,5127,0.00,2.38,72.18,1.093,8452,0.000,0.079,2915,3881,1695,1565,1825,0,0,0,0,0,0,15.07,14.39,13.93
$GC,5152,0.64,432.1,2915,3881,1569,1819,105.8,7.2,343,5214,0.00,2.25,56.50,1.071,9222,0.000,0.040,2916,2468,1364,1217,1511,0,0,0,0,0,0,14.61,14.57,13.81
$GC,5524,0.65,577.4,2916,2468,1216,1505,85.3,5.0,372,5629,0.00,2.38,98.88,1.048,8708,0.000,0.062,2916,1071,770,614,926,0,0,0,0,0,0,15.00,14.44,13.88
$GC,5860,0.65,577.4,2915,1071,616,921,47.8,12.9,439,5865,0.00,2.33,0.00,0.000,1030,0.000,0.048,2915,2479,769,616,922,0,0,0,0,0,0,14.79,14.66,14.81
$GC,6170,0.65,577.4,2915,2480,618,921,11.6,12.0,470,6174,0.00,2.30,0.00,0.000,516,0.000,0.057,2916,1068,769,618,921,0,0,0,0,0,0,15.05,14.75,15.09
$STATE,6234,end climb,SURFACE_DEPTH_REACHED
$STATE,6234,begin surface coast
$STATE,6254,end surface coast,CONTROL_FINISHED_OK
$STATE,6254,begin surface
$SM_CCo,6340,0.00,0.000,0,0,769,578.42
$SM_GC,3.24,7.90,2.62,0.00,0.046,0.051,0.000,41,2658,769,-8.29,-0.85,578.42,0,0,0,0,0,0,14.76,14.76,14.86
$IRIDIUM_FIX,749.46,7932.74,041115,011904
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.96
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.40
$XPDR_PINGS,11
$24V_AH,13.65,113.398
$10V_AH,12.48,0.000
$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,21.675,64.150,546.875,0.000,0.000,0.000,0.000,158.750,2.750,0.000,36.369,327.316,4326.354,534.621,1131.805,316.836,0.000,1218.743,0.000,713.389,0.000,0.544,0.000
$DEVICE_MAMPS,413.100,81.090,1373.940,0.000,0.000,0.000,0.000,217.260,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271740
$DATA_FILE_SIZE,20122,487
$CAP_FILE_SIZE,87384,0
$CFSIZE,260034560,226017280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,341.95,1
$GPS,041115,050533,753.326,8237.494,170,2.0,198,-2.2,0.3,259.5,8,8.5