version: 66.12
glider: 141
mission: 23
dive: 120
start: 9 12 115 9 11 9
data:
$ID,141
$MISSION,23
$DIVE,120
$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,350
$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,4
$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,46
$R_STBD_OVSHOOT,49
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120915,085708,758.7080,8600.5957,245,1.6,285,-1.8,1.1,160.6,4,10.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.95
$_SM_ANGLEo,-71.5
$GPS2,120915,091022,758.3544,8600.7490,10,1.7,50,-1.8,0.9,100.4,5,11.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,337.9,3343,-21.5,-10.000,-24.66,1525
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-0.87,-99.8,1,2668,817,925,0.0,0.0,0,131,0.00,0.00,-96.18,0.000,16390,0.000,0.000,0,2668,3535,3605,3465,0,0,0,0,0,0,14.90,13.50,14.93
$GC,137,-0.87,-156.8,0,2669,3606,3465,6.0,-6.2,10,160,11.73,2.28,-2.97,0.000,18948,0.418,0.066,2427,1247,3769,3836,3702,0,0,0,0,0,0,14.42,13.93,14.75
$GC,289,-0.87,-156.8,2427,1240,3836,3703,67.7,-31.4,38,294,0.00,2.25,0.00,0.000,1030,0.000,0.055,2419,2640,3770,3836,3704,0,0,0,0,0,0,14.83,14.74,14.85
$GC,618,-0.87,-156.8,2425,2639,3836,3705,155.7,-22.8,57,624,0.00,2.30,0.00,0.000,260,0.000,0.079,2408,4036,3770,3836,3704,0,0,0,0,0,0,15.04,14.78,15.07
$GC,679,-0.87,-156.8,2408,4036,3836,3705,169.5,-21.1,68,685,0.00,2.15,0.00,0.000,1030,0.000,0.032,2408,2639,3770,3836,3704,0,0,0,0,0,0,14.92,14.86,14.94
$GC,985,-0.87,-156.8,2408,2638,3836,3707,219.7,-15.2,84,991,0.00,2.30,0.00,0.000,260,0.000,0.079,2397,4036,3771,3836,3707,0,0,0,0,0,0,15.09,14.79,15.13
$GC,1089,-0.87,-156.8,2397,4036,3836,3707,238.4,-18.0,103,1096,0.15,2.12,0.00,0.000,3078,0.308,0.031,2428,2645,3771,3836,3707,0,0,0,0,0,0,14.62,14.90,14.87
$GC,1412,-0.87,-156.8,2428,2645,3833,3707,287.7,-14.6,112,1417,0.00,2.30,0.00,0.000,260,0.000,0.079,2420,4038,3773,3834,3713,0,0,0,0,0,0,15.13,14.85,15.16
$GC,1447,-0.87,-156.8,2420,4038,3834,3707,292.6,-14.0,118,1452,0.00,2.12,0.00,0.000,1030,0.000,0.031,2420,2648,3771,3835,3707,0,0,0,0,0,0,14.99,14.93,15.00
$GC,1786,-0.87,-156.8,2420,2648,3828,3708,335.4,-12.7,129,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2649,3767,3827,3707,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2083,-0.87,-156.8,2420,2648,3821,3707,380.0,-15.1,134,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2648,3764,3821,3707,0,0,0,0,0,0,15.14,15.17,15.17
$GC,2382,-0.87,-156.8,2420,2648,3813,3707,428.0,-16.0,139,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2647,3760,3813,3707,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2683,-0.87,-156.8,2420,2648,3808,3707,473.0,-14.7,144,2688,0.00,2.20,0.00,0.000,516,0.000,0.054,2420,1259,3757,3807,3707,0,0,0,0,0,0,15.14,14.89,15.19
$GC,2718,-0.87,-156.8,2420,1259,3807,3707,478.0,-13.5,150,2723,0.00,2.22,0.00,0.000,1030,0.000,0.054,2406,2653,3754,3802,3707,0,0,0,0,0,0,14.98,14.90,15.01
$GC,3057,-0.87,-156.8,2409,2653,3802,3704,523.2,-13.5,161,3063,0.00,2.30,0.00,0.000,260,0.000,0.080,2399,4042,3752,3802,3703,0,0,0,0,0,0,15.14,14.84,15.18
$GC,3083,-0.87,-156.8,2399,4042,3801,3703,527.3,-13.6,165,3090,0.15,2.15,0.00,0.000,3078,0.282,0.034,2431,2648,3752,3802,3703,0,0,0,0,0,0,14.65,14.93,14.90
$GC,3431,-0.87,-156.8,2431,2647,3796,3702,568.4,-11.5,178,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2647,3749,3796,3702,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3731,-0.87,-156.8,2431,2647,3792,3701,601.9,-11.1,183,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2647,3746,3792,3701,0,0,0,0,0,0,15.14,15.18,15.17
$GC,4030,-0.87,-156.8,2431,2647,3788,3698,636.3,-11.6,188,4036,0.00,2.22,0.00,0.000,516,0.000,0.057,2432,1248,3743,3789,3698,0,0,0,0,0,0,15.15,14.86,15.19
$GC,4060,-0.87,-156.8,2431,1248,3789,3698,640.0,-12.4,193,4066,0.00,2.28,0.00,0.000,1030,0.000,0.059,2425,2654,3743,3789,3698,0,0,0,0,0,0,14.97,14.86,15.00
$GC,4406,-0.87,-156.8,2425,2654,3785,3695,683.6,-12.9,205,4412,0.00,2.33,0.00,0.000,260,0.000,0.086,2414,4041,3739,3785,3694,0,0,0,0,0,0,15.14,14.80,15.17
$GC,4451,-0.87,-156.8,2414,4040,3785,3694,690.4,-13.4,213,4458,0.00,2.17,0.00,0.000,1030,0.000,0.037,2414,2647,3739,3785,3693,0,0,0,0,0,0,14.97,14.90,14.99
$GC,4777,-0.87,-156.8,2414,2647,3781,3694,735.1,-13.7,220,4782,0.00,2.22,0.00,0.000,516,0.000,0.058,2414,1245,3737,3781,3693,0,0,0,0,0,0,15.14,14.82,15.17
$GC,4811,-0.87,-156.8,2414,1245,3781,3693,739.9,-13.3,227,4817,0.00,2.30,0.00,0.000,1030,0.000,0.060,2404,2660,3736,3780,3693,0,0,0,0,0,0,14.95,14.84,14.97
$GC,5496,-0.87,-156.8,2404,2660,3777,3689,833.8,-13.6,249,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2659,3733,3777,3689,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6096,-0.87,-156.8,2404,2660,3772,3686,912.5,-13.1,254,6102,0.00,2.28,0.00,0.000,516,0.000,0.060,2404,1255,3728,3771,3686,0,0,0,0,0,0,15.14,14.81,15.17
$GC,6136,-0.87,-156.8,2404,1255,3771,3686,917.6,-12.5,262,6142,0.10,2.28,0.00,0.000,3078,0.253,0.065,2425,2645,3728,3771,3686,0,0,0,0,0,0,14.56,14.78,14.72
$STATE,6817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6817,begin apogee
$GC,6826,-0.20,0.0,2425,2469,3766,3683,995.9,-11.4,283,6945,0.77,0.00,115.47,2.026,10246,0.225,0.000,2645,2470,3126,3067,3185,0,0,0,0,0,0,14.59,14.22,13.48
$STATE,6948,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6953,0.87,156.8,2645,2470,3067,3182,999.4,0.0,284,7087,1.08,2.40,122.72,1.984,10756,0.129,0.076,3000,1090,2485,2408,2562,0,0,0,0,0,0,14.23,14.08,13.40
$GC,7126,0.87,156.8,3000,1090,2415,2552,980.5,16.8,320,7132,0.00,2.40,0.00,0.000,1030,0.000,0.067,3000,2482,2484,2416,2553,0,0,0,0,0,0,14.36,14.28,14.41
$GC,7785,0.87,156.8,3000,2481,2427,2530,865.6,17.6,336,7790,0.00,2.40,0.00,0.000,260,0.000,0.097,3001,3886,2478,2428,2529,0,0,0,0,0,0,14.94,14.62,14.97
$GC,7874,0.87,156.8,3000,3886,2430,2527,847.9,19.4,354,7880,0.00,2.28,0.00,0.000,1030,0.000,0.056,3011,2495,2478,2430,2527,0,0,0,0,0,0,14.81,14.71,14.83
$GC,8508,0.87,156.8,3011,2495,2429,2523,735.5,17.9,365,8514,0.00,2.38,0.00,0.000,260,0.000,0.093,3011,3880,2476,2431,2522,0,0,0,0,0,0,15.04,14.69,15.07
$GC,8537,0.87,156.8,3010,3880,2431,2521,729.0,20.2,371,8543,0.00,2.30,0.00,0.000,1030,0.000,0.057,3021,2471,2476,2431,2521,0,0,0,0,0,0,14.88,14.78,14.90
$GC,9167,0.87,156.8,3021,2471,2431,2518,615.3,17.4,397,9174,0.00,2.42,0.00,0.000,260,0.000,0.092,3024,3882,2474,2432,2517,0,0,0,0,0,0,15.07,14.72,15.11
$GC,9202,0.87,156.8,3021,3881,2432,2517,608.9,19.3,404,9209,0.17,2.30,0.00,0.000,5126,0.355,0.056,2998,2468,2474,2432,2517,0,0,0,0,0,0,14.47,14.81,14.82
$GC,9531,0.87,156.8,2998,2468,2432,2515,559.2,15.0,414,9537,0.00,2.40,0.00,0.000,260,0.000,0.092,2996,3878,2473,2432,2515,0,0,0,0,0,0,15.07,14.69,15.11
$GC,9560,0.87,156.8,2996,3878,2432,2515,553.8,17.9,420,9566,0.00,2.30,0.00,0.000,1030,0.000,0.054,3004,2468,2473,2432,2515,0,0,0,0,0,0,14.90,14.81,14.93
$GC,9894,0.87,156.8,3004,2468,2432,2515,498.4,17.0,431,9895,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2469,2473,2432,2514,0,0,0,0,0,0,15.09,15.12,15.11
$GC,10190,0.87,156.8,3004,2468,2432,2514,446.0,17.5,436,10196,0.00,2.45,0.00,0.000,260,0.000,0.093,3004,3893,2473,2433,2514,0,0,0,0,0,0,15.10,14.74,15.14
$GC,10250,0.87,156.8,3004,3893,2433,2514,435.0,18.0,448,10256,0.00,2.30,0.00,0.000,1030,0.000,0.054,3015,2471,2473,2433,2514,0,0,0,0,0,0,14.90,14.81,14.93
$GC,10610,0.87,156.8,3014,2471,2433,2514,374.0,16.8,465,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2471,2473,2433,2513,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10911,0.87,156.8,3015,2471,2433,2514,324.8,16.2,470,10917,0.00,2.45,0.00,0.000,260,0.000,0.093,3015,3896,2471,2429,2513,0,0,0,0,0,0,15.10,14.72,15.14
$GC,10956,0.87,156.8,3015,3896,2434,2513,317.2,17.3,479,10962,0.00,2.30,0.00,0.000,1030,0.000,0.053,3025,2471,2473,2434,2513,0,0,0,0,0,0,14.91,14.82,14.95
$GC,11274,0.87,156.8,3025,2471,2434,2513,268.9,15.1,487,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2471,2473,2434,2513,0,0,0,0,0,0,15.10,15.13,15.13
$GC,11570,0.87,156.8,3025,2471,2434,2513,223.3,16.1,496,11577,0.00,2.42,0.00,0.000,260,0.000,0.089,3026,3889,2474,2435,2513,0,0,0,0,0,0,15.09,14.73,15.14
$GC,11752,0.87,156.8,3025,3889,2435,2513,194.2,15.3,532,11759,0.15,2.28,0.00,0.000,5126,0.350,0.051,3003,2475,2474,2435,2513,0,0,0,0,0,0,14.44,14.82,14.65
$GC,12076,0.88,217.9,3003,2475,2434,2513,167.7,5.9,551,12124,0.00,2.45,40.60,1.021,8452,0.000,0.087,3003,3880,2234,2169,2300,0,0,0,0,0,0,15.08,14.69,14.25
$GC,12355,0.88,217.9,3003,3880,2171,2295,134.4,14.0,607,12361,0.00,2.28,0.00,0.000,1030,0.000,0.046,3011,2464,2234,2172,2297,0,0,0,0,0,0,14.80,14.73,14.82
$GC,12678,0.88,239.5,3011,2464,2174,2293,104.4,8.5,626,12701,0.00,2.33,15.77,0.934,8708,0.000,0.068,3022,1074,2146,2073,2220,0,0,0,0,0,0,15.00,14.74,14.30
$GC,12932,0.89,295.0,3022,1074,2078,2217,87.3,6.3,677,12975,0.00,2.30,37.85,0.917,9222,0.000,0.054,3022,2495,1923,1808,2038,0,0,0,0,0,0,14.83,14.74,14.23
$GC,13296,0.89,333.3,3022,2496,1811,2034,58.6,7.4,704,13328,0.00,2.30,26.42,0.881,8452,0.000,0.078,3022,3874,1766,1643,1890,0,0,0,0,0,0,14.95,14.59,14.25
$GC,13524,0.89,333.3,3022,3874,1654,1879,34.8,10.3,749,13530,0.00,2.22,0.00,0.000,1030,0.000,0.041,3032,2476,1767,1655,1880,0,0,0,0,0,0,14.81,14.73,14.82
$STATE,13830,end climb,SURFACE_DEPTH_REACHED
$STATE,13830,begin surface coast
$FINISH,2.4,0.000000
$STATE,13873,end surface coast,CONTROL_FINISHED_OK
$STATE,13874,begin surface
$SM_CCo,13898,66.57,0.053,0,0,1087,500.17
$SM_GC,3.22,8.30,0.30,66.57,0.057,0.094,0.053,40,2675,1087,-8.30,-0.85,500.17,0,0,0,0,0,0,14.79,14.80,14.81
$IRIDIUM_FIX,751.63,8602.46,120915,090018
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.52
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3995712
$24V_AH,13.40,41.943
$10V_AH,13.15,0.000
$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,22.600,96.975,358.850,66.575,0.000,0.000,0.000,438.250,0.000,0.000,53.104,775.315,11208.427,528.526,1695.460,559.690,0.000,1676.204,0.000,1269.541,0.000,0.544,0.000
$DEVICE_MAMPS,418.455,97.155,2026.485,52.785,0.000,0.000,0.000,228.735,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13872.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.279,0.000,0.000,0.000
$MEM,260920
$DATA_FILE_SIZE,26730,785
$CAP_FILE_SIZE,148735,0
$CFSIZE,260034560,239247360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,167.58,1
$GPS,120915,130814,758.460,8600.639,169,99.0,209,-1.8,1.3,169.4,3,-1.0