version: 66.12
glider: 141
mission: 23
dive: 214
start: 10 5 115 3 48 44
data:
$ID,141
$MISSION,23
$DIVE,214
$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,-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,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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,041015,222344,758.2271,8501.0322,301,99.0,301,-2.0,0.6,136.1,5,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-69.6
$GPS2,051015,034809,757.7756,8503.7314,162,1.9,202,-2.0,1.3,227.3,5,12.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NRL1
$TGT_LATLONG,800.000,8530.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,132.1,48352,-27.2,-10.000,-30.00,965
$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,-1.10,-63.0,1,2677,857,970,0.0,0.0,0,114,0.00,0.00,-86.65,0.000,16386,0.000,0.000,1,2677,3361,3426,3296,0,0,0,0,0,0,14.93,28.83,14.97
$GC,123,-1.10,-96.9,0,2677,3426,3298,6.2,-6.4,9,144,11.35,2.28,-2.33,0.000,18692,0.413,0.084,2345,4035,3526,3586,3466,0,0,0,0,0,0,14.33,13.47,14.66
$GC,290,-1.10,-96.9,2345,4035,3586,3469,81.2,-34.3,43,296,0.00,2.20,0.00,0.000,1030,0.000,0.037,2345,2644,3527,3586,3469,0,0,0,0,0,0,14.81,14.74,14.83
$GC,601,-1.10,-96.9,2345,2643,3586,3473,150.7,-20.1,60,607,0.00,2.20,0.00,0.000,516,0.000,0.052,2345,1244,3529,3586,3473,0,0,0,0,0,0,15.07,14.73,15.10
$GC,783,-1.10,-96.9,2345,1245,3586,3475,190.3,-20.9,96,789,0.00,2.20,0.00,0.000,1030,0.000,0.050,2335,2633,3530,3586,3474,0,0,0,0,0,0,14.88,14.78,14.90
$GC,1104,-1.10,-96.9,2335,2633,3586,3475,244.5,-15.5,115,1109,0.00,2.17,0.00,0.000,516,0.000,0.048,2335,1245,3530,3586,3475,0,0,0,0,0,0,15.11,14.76,15.14
$GC,1138,-1.10,-96.9,2334,1245,3586,3475,250.3,-16.5,122,1143,0.10,2.28,0.00,0.000,3078,0.301,0.050,2359,2645,3530,3586,3475,0,0,0,0,0,0,14.44,14.74,14.76
$GC,1447,-1.10,-96.9,2358,2645,3582,3475,299.9,-16.3,128,1454,0.00,2.20,0.00,0.000,516,0.000,0.050,2359,1244,3528,3582,3475,0,0,0,0,0,0,15.11,14.77,15.14
$GC,1472,-1.10,-96.9,2359,1244,3582,3475,304.8,-17.2,133,1477,0.00,2.25,0.00,0.000,1030,0.000,0.052,2351,2657,3528,3582,3475,0,0,0,0,0,0,14.90,14.81,14.93
$GC,1811,-1.10,-96.9,2350,2657,3577,3475,358.2,-15.6,145,1815,0.00,2.25,0.00,0.000,516,0.000,0.051,2352,1239,3526,3577,3475,0,0,0,0,0,0,15.15,14.81,15.18
$GC,1868,-1.10,-96.9,2350,1239,3576,3475,366.5,-13.9,156,1873,0.00,2.30,0.00,0.000,1030,0.000,0.053,2341,2646,3525,3576,3475,0,0,0,0,0,0,14.81,14.75,14.86
$GC,2175,-1.10,-96.9,2341,2646,3569,3475,410.2,-14.3,162,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3522,3569,3475,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2474,-1.10,-96.9,2340,2646,3563,3475,452.0,-13.9,167,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3518,3562,3475,0,0,0,0,0,0,15.16,15.21,15.19
$GC,2775,-1.10,-96.9,2341,2646,3559,3475,494.7,-14.3,172,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3517,3559,3475,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3074,-1.10,-96.9,2341,2646,3554,3473,542.2,-16.0,177,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3513,3554,3473,0,0,0,0,0,0,15.17,15.21,15.20
$GC,3375,-1.10,-96.9,2341,2646,3552,3470,587.7,-14.9,182,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3511,3552,3470,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3674,-1.10,-96.9,2341,2646,3548,3468,626.4,-12.6,187,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2646,3508,3548,3468,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3974,-1.10,-96.9,2341,2646,3545,3467,661.5,-11.7,192,3980,0.00,2.30,0.00,0.000,260,0.000,0.082,2330,4031,3505,3545,3466,0,0,0,0,0,0,15.17,14.66,15.21
$GC,4029,-1.10,-96.9,2330,4030,3544,3465,668.5,-12.1,203,4033,0.00,2.22,0.00,0.000,1030,0.000,0.038,2330,2645,3505,3545,3465,0,0,0,0,0,0,14.78,14.73,14.79
$GC,4335,-1.10,-96.9,2330,2645,3541,3464,704.3,-11.6,209,4337,0.12,0.00,0.00,0.000,2054,0.314,0.000,2353,2645,3502,3541,3464,0,0,0,0,0,0,14.45,14.82,14.72
$GC,4935,-1.10,-96.9,2353,2645,3536,3462,780.5,-12.9,214,4941,0.00,2.35,0.00,0.000,260,0.000,0.085,2345,4040,3498,3535,3462,0,0,0,0,0,0,15.16,14.61,15.19
$GC,4975,-1.10,-96.9,2345,4041,3535,3462,786.5,-15.6,222,4980,0.00,2.17,0.00,0.000,1030,0.000,0.041,2345,2649,3498,3535,3461,0,0,0,0,0,0,14.80,14.76,14.83
$GC,5655,-1.10,-96.9,2344,2649,3530,3458,882.1,-13.9,243,5660,0.00,2.25,0.00,0.000,516,0.000,0.063,2345,1256,3494,3530,3458,0,0,0,0,0,0,15.16,14.64,15.19
$GC,5694,-1.10,-96.9,2345,1256,3530,3458,887.4,-13.0,251,5700,0.00,2.30,0.00,0.000,1030,0.000,0.062,2335,2654,3493,3530,3457,0,0,0,0,0,0,14.83,14.71,14.87
$GC,6375,-1.10,-96.9,2334,2654,3526,3454,966.8,-11.2,272,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2654,3490,3526,3454,0,0,0,0,0,0,15.15,15.19,15.19
$STATE,6611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6611,begin apogee
$GC,6621,-0.20,0.0,2335,2465,3525,3454,993.5,-11.1,274,6698,1.17,0.00,72.80,2.079,10246,0.262,0.000,2644,2465,3126,3092,3160,0,0,0,0,0,0,14.35,14.35,13.50
$STATE,6699,end apogee,CONTROL_FINISHED_OK
$STATE,6699,begin climb
$GC,6704,1.10,96.9,2643,2465,3090,3158,993.5,0.0,274,6788,1.33,0.00,79.88,2.023,10246,0.122,0.000,3066,2464,2729,2672,2787,0,0,0,0,0,0,14.32,14.12,13.34
$GC,7338,1.10,96.9,3066,2464,2681,2767,891.3,17.8,280,7344,0.00,2.40,0.00,0.000,260,0.000,0.089,3066,3868,2723,2682,2765,0,0,0,0,0,0,14.91,14.49,14.94
$GC,7382,1.10,96.9,3065,3869,2682,2765,882.3,19.4,289,7387,0.00,2.28,0.00,0.000,1030,0.000,0.056,3076,2486,2724,2683,2765,0,0,0,0,0,0,14.71,14.63,14.75
$GC,8062,1.10,96.9,3075,2486,2682,2759,758.7,18.5,309,8066,0.00,2.40,0.00,0.000,260,0.000,0.089,3076,3877,2721,2683,2759,0,0,0,0,0,0,15.05,14.58,15.08
$GC,8084,1.10,96.9,3075,3877,2683,2758,754.2,18.7,313,8089,0.00,2.30,0.00,0.000,1030,0.000,0.055,3086,2472,2720,2683,2758,0,0,0,0,0,0,14.79,14.69,14.83
$GC,8732,1.10,96.9,3085,2472,2683,2753,643.8,15.9,340,8738,0.00,2.42,0.00,0.000,260,0.000,0.089,3086,3875,2718,2684,2753,0,0,0,0,0,0,15.07,14.54,15.11
$GC,8811,1.10,96.9,3086,3874,2684,2753,630.2,16.3,356,8818,0.00,2.30,0.00,0.000,1030,0.000,0.056,3097,2467,2718,2683,2753,0,0,0,0,0,0,14.80,14.70,14.84
$GC,9152,1.10,96.9,3096,2467,2684,2752,574.1,17.0,369,9157,0.00,2.45,0.00,0.000,260,0.000,0.090,3097,3883,2717,2683,2751,0,0,0,0,0,0,15.10,14.58,15.14
$GC,9185,1.10,96.9,3096,3882,2683,2751,567.6,20.3,375,9192,0.17,2.30,0.00,0.000,5126,0.358,0.055,3075,2473,2717,2683,2751,0,0,0,0,0,0,14.23,14.71,14.66
$GC,9520,1.10,96.9,3075,2473,2683,2750,506.1,18.5,386,9521,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2473,2716,2683,2750,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9816,1.10,96.9,3075,2473,2684,2750,456.9,16.1,391,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2473,2716,2683,2750,0,0,0,0,0,0,15.12,15.16,15.15
$GC,10117,1.10,96.9,3075,2473,2683,2750,415.2,13.8,396,10118,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2473,2716,2683,2749,0,0,0,0,0,0,15.12,15.16,15.16
$GC,10416,1.10,96.9,3074,2473,2683,2749,371.6,14.6,401,10420,0.00,2.42,0.00,0.000,260,0.000,0.088,3075,3878,2717,2685,2749,0,0,0,0,0,0,15.14,14.58,15.16
$GC,10459,1.10,96.9,3074,3877,2685,2749,364.8,16.1,409,10463,0.00,2.28,0.00,0.000,1030,0.000,0.053,3083,2475,2717,2685,2749,0,0,0,0,0,0,14.83,14.72,14.86
$GC,10783,1.10,96.9,3083,2474,2685,2749,318.8,14.4,418,10788,0.00,2.33,0.00,0.000,516,0.000,0.074,3093,1074,2717,2687,2748,0,0,0,0,0,0,15.12,14.57,15.16
$GC,10822,1.10,96.9,3093,1074,2690,2745,312.6,15.4,426,10828,0.00,2.33,0.00,0.000,1030,0.000,0.063,3093,2475,2717,2690,2745,0,0,0,0,0,0,14.81,14.68,14.85
$GC,11144,1.10,96.9,3093,2475,2690,2745,258.2,17.5,435,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2475,2717,2690,2745,0,0,0,0,0,0,15.11,15.16,15.15
$GC,11443,1.10,96.9,3093,2475,2690,2745,208.1,15.4,448,11449,0.00,2.33,0.00,0.000,516,0.000,0.071,3103,1079,2718,2691,2745,0,0,0,0,0,0,15.13,14.55,15.16
$GC,11508,1.10,96.9,3104,1079,2692,2745,199.2,12.4,461,11513,0.17,2.33,0.00,0.000,5126,0.321,0.063,3070,2484,2718,2692,2744,0,0,0,0,0,0,14.24,14.68,14.67
$GC,11828,1.10,139.2,3069,2484,2692,2744,175.7,5.5,479,11864,0.00,2.40,28.58,1.089,8708,0.000,0.070,3078,1066,2557,2509,2605,0,0,0,0,0,0,15.12,14.71,14.19
$GC,11961,1.10,145.2,3078,1066,2511,2603,165.8,9.4,505,11973,0.00,2.33,5.03,0.900,9222,0.000,0.062,3078,2477,2535,2488,2582,0,0,0,0,0,0,14.65,14.58,14.03
$GC,12298,1.11,177.1,3078,2477,2492,2582,139.1,6.6,526,12330,0.00,2.40,24.00,1.000,8708,0.000,0.069,3088,1067,2402,2352,2453,0,0,0,0,0,0,15.01,14.66,14.16
$GC,12561,1.11,177.1,3087,1067,2356,2448,109.9,10.6,579,12569,0.00,2.33,0.00,0.000,1030,0.000,0.056,3088,2480,2401,2356,2447,0,0,0,0,0,0,14.73,14.63,14.76
$GC,12879,1.11,211.6,3087,2481,2359,2445,85.1,6.3,597,12909,0.00,2.38,25.23,0.939,8708,0.000,0.065,3098,1074,2261,2198,2324,0,0,0,0,0,0,15.03,14.68,14.20
$GC,13143,1.12,270.2,3097,1074,2202,2319,75.1,3.8,646,13190,0.00,2.25,40.80,0.939,9222,0.000,0.050,3097,2475,2021,1915,2128,0,0,0,0,0,0,14.69,14.63,14.11
$GC,13509,1.12,282.0,3097,2475,1920,2126,48.4,8.7,673,13521,0.00,0.00,9.73,0.867,8710,0.000,0.000,3098,2475,1975,1863,2087,0,0,0,0,0,0,14.95,14.70,14.16
$GC,13824,1.12,282.0,3097,2475,1870,2083,12.0,11.2,706,13830,0.00,2.33,0.00,0.000,260,0.000,0.078,3098,3880,1976,1871,2082,0,0,0,0,0,0,15.00,14.61,15.04
$STATE,13898,end climb,SURFACE_DEPTH_REACHED
$STATE,13898,begin surface coast
$STATE,13918,end surface coast,CONTROL_FINISHED_OK
$STATE,13918,begin surface
$SM_CCo,13944,87.30,0.053,0,0,1086,500.17
$SM_GC,3.28,8.62,2.03,87.30,0.065,0.040,0.053,46,2632,1086,-8.28,0.90,500.17,0,0,0,0,0,0,14.71,14.76,14.73
$IRIDIUM_FIX,755.99,8503.51,041015,221910
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.11
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.34,68.415
$10V_AH,12.86,0.000
$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,23.050,87.475,286.025,87.300,0.000,0.000,0.000,213.050,0.000,0.000,204.481,486.692,11404.572,464.638,1763.285,441.516,0.000,1336.074,0.000,1049.996,0.000,0.544,0.000
$DEVICE_MAMPS,413.100,89.505,2079.270,52.785,0.000,0.000,0.000,235.620,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260300
$DATA_FILE_SIZE,33397,725
$CAP_FILE_SIZE,121462,0
$CFSIZE,260034560,234209280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,187.31,1
$GPS,051015,074616,756.122,8504.815,132,1.9,172,-2.0,0.4,231.5,5,13.7