version: 66.12
glider: 141
mission: 23
dive: 338
start: 11 1 115 22 40 45
data:
$ID,141
$MISSION,23
$DIVE,338
$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,41
$R_STBD_OVSHOOT,41
$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
$GPS1,011115,223504,750.0804,8215.1240,85,1.3,114,-2.3,0.4,302.2,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.44
$_SM_ANGLEo,-74.7
$GPS2,011115,224012,750.0822,8215.0615,11,1.3,11,-2.3,0.3,325.6,7,9.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,43.8,303050,-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,21,begin dive
$GC,25,-0.62,-194.6,28,2665,921,1059,0.0,0.0,0,114,0.00,0.00,-86.20,0.000,16386,0.000,0.000,26,2665,3384,3455,3314,0,0,0,0,0,0,14.90,28.83,14.93
$GC,123,-0.62,-194.6,26,2665,3455,3314,6.3,-6.3,9,149,12.12,2.30,-7.07,0.000,18948,0.409,0.063,2506,1230,3924,3999,3849,0,0,0,0,0,0,14.18,13.19,14.44
$GC,254,-0.62,-194.6,2506,1230,3999,3853,54.4,-26.1,36,259,0.00,2.35,0.00,0.000,1030,0.000,0.057,2498,2664,3926,3999,3853,0,0,0,0,0,0,14.72,14.61,14.76
$GC,560,-0.62,-194.6,2498,2664,4000,3857,118.5,-17.6,52,566,0.00,2.28,0.00,0.000,260,0.000,0.081,2487,4037,3928,3999,3857,0,0,0,0,0,0,15.06,14.60,15.09
$GC,732,-0.62,-194.6,2487,4038,3999,3860,143.8,-14.0,86,739,0.00,2.17,0.00,0.000,1030,0.000,0.034,2487,2636,3929,3999,3860,0,0,0,0,0,0,14.85,14.78,14.88
$GC,1043,-0.62,-194.6,2487,2636,3999,3861,181.5,-11.4,103,1049,0.00,2.38,0.00,0.000,260,0.000,0.080,2477,4043,3930,3999,3861,0,0,0,0,0,0,15.11,14.63,15.14
$GC,1127,-0.62,-194.6,2476,4043,3999,3861,191.0,-11.2,120,1134,0.15,2.17,0.00,0.000,3078,0.234,0.032,2512,2636,3930,3999,3861,0,0,0,0,0,0,14.52,14.81,14.78
$GC,1445,-0.62,-194.6,2512,2636,3998,3861,221.8,-9.9,138,1451,0.00,2.20,0.00,0.000,516,0.000,0.054,2513,1259,3929,3998,3861,0,0,0,0,0,0,15.12,14.75,15.15
$GC,1514,-0.62,-194.6,2512,1259,3998,3861,229.1,-10.2,152,1521,0.00,2.28,0.00,0.000,1030,0.000,0.056,2512,2660,3929,3997,3861,0,0,0,0,0,0,14.84,14.73,14.88
$GC,1865,-0.62,-194.6,2511,2660,3991,3861,262.3,-9.1,167,1870,0.00,2.25,0.00,0.000,516,0.000,0.054,2512,1251,3926,3992,3861,0,0,0,0,0,0,15.14,14.70,15.16
$GC,1894,-0.62,-194.6,2511,1252,3991,3861,265.1,-9.6,173,1899,0.00,2.28,0.00,0.000,1030,0.000,0.056,2507,2655,3926,3991,3861,0,0,0,0,0,0,14.85,14.73,14.88
$GC,2229,-0.62,-194.6,2507,2655,3987,3861,295.8,-9.1,184,2235,0.00,2.30,0.00,0.000,260,0.000,0.085,2496,4033,3923,3986,3861,0,0,0,0,0,0,15.14,14.62,15.17
$GC,2283,-0.62,-194.6,2496,4033,3986,3861,301.4,-10.2,195,2287,0.00,2.20,0.00,0.000,1030,0.000,0.034,2496,2651,3923,3986,3861,0,0,0,0,0,0,14.76,14.72,14.78
$GC,2590,-0.62,-194.6,2496,2651,3981,3861,332.3,-10.3,201,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2651,3921,3981,3861,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2890,-0.62,-194.6,2496,2651,3976,3861,363.3,-10.3,206,2895,0.00,2.22,0.00,0.000,516,0.000,0.056,2496,1256,3918,3976,3861,0,0,0,0,0,0,15.15,14.68,15.18
$GC,2958,-0.62,-194.6,2496,1256,3975,3861,370.9,-11.1,220,2964,0.00,2.30,0.00,0.000,1030,0.000,0.057,2490,2650,3918,3975,3861,0,0,0,0,0,0,14.83,14.71,14.87
$GC,3310,-0.62,-194.6,2489,2650,3972,3860,409.9,-11.3,235,3315,0.00,2.33,0.00,0.000,260,0.000,0.086,2479,4036,3916,3972,3860,0,0,0,0,0,0,15.14,14.58,15.17
$GC,3353,-0.62,-194.6,2478,4036,3972,3859,415.2,-11.8,244,3360,0.15,2.17,0.00,0.000,3078,0.223,0.035,2515,2645,3915,3972,3859,0,0,0,0,0,0,14.50,14.80,14.73
$GC,3673,-0.62,-194.6,2515,2645,3967,3858,445.5,-9.4,252,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2645,3913,3968,3859,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3970,-0.62,-194.6,2515,2645,3964,3857,472.9,-9.1,257,3974,0.00,2.25,0.00,0.000,516,0.000,0.057,2516,1255,3909,3963,3856,0,0,0,0,0,0,15.14,14.70,15.18
$GC,3999,-0.62,-194.6,2515,1255,3963,3857,475.6,-9.0,262,4005,0.00,2.28,0.00,0.000,1030,0.000,0.058,2512,2648,3909,3963,3856,0,0,0,0,0,0,14.70,14.64,14.75
$GC,4339,-0.62,-194.6,2511,2647,3960,3854,503.8,-8.3,274,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2648,3907,3960,3854,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4634,-0.62,-194.6,2512,2647,3959,3853,526.7,-7.6,279,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2648,3905,3959,3852,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4934,-0.62,-194.6,2511,2648,3957,3851,551.4,-8.3,284,4940,0.00,2.25,0.00,0.000,516,0.000,0.058,2512,1260,3904,3957,3851,0,0,0,0,0,0,15.14,14.61,15.18
$GC,4974,-0.62,-194.6,2512,1260,3957,3851,555.0,-9.2,292,4981,0.00,2.30,0.00,0.000,1030,0.000,0.060,2505,2653,3903,3956,3851,0,0,0,0,0,0,14.78,14.66,14.83
$GC,5298,-0.62,-194.6,2505,2653,3954,3849,583.7,-9.0,301,5303,0.00,2.38,0.00,0.000,260,0.000,0.092,2495,4039,3901,3954,3849,0,0,0,0,0,0,15.12,14.57,15.15
$GC,5351,-0.62,-194.6,2494,4039,3954,3848,589.3,-10.3,311,5358,0.00,2.20,0.00,0.000,1030,0.000,0.038,2494,2647,3901,3954,3848,0,0,0,0,0,0,14.83,14.75,14.85
$GC,5667,-0.62,-194.6,2494,2647,3951,3847,618.8,-9.5,318,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2646,3899,3951,3847,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5962,-0.62,-194.6,2494,2647,3949,3846,644.6,-8.5,323,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2646,3898,3950,3847,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6263,-0.62,-194.6,2494,2647,3949,3846,668.5,-7.9,328,6269,0.00,2.25,0.00,0.000,516,0.000,0.061,2494,1260,3897,3948,3846,0,0,0,0,0,0,15.14,14.56,15.16
$GC,6303,-0.62,-194.6,2494,1260,3948,3846,672.0,-8.7,336,6310,0.00,2.33,0.00,0.000,1030,0.000,0.063,2487,2655,3897,3948,3846,0,0,0,0,0,0,14.75,14.62,14.79
$GC,6628,-0.62,-194.6,2487,2655,3947,3844,698.7,-8.3,345,6633,0.00,2.40,0.00,0.000,260,0.000,0.094,2476,4045,3895,3946,3845,0,0,0,0,0,0,15.11,14.52,15.14
$GC,6671,-0.62,-194.6,2476,4045,3946,3844,702.9,-9.2,353,6676,0.15,2.22,0.00,0.000,3078,0.219,0.040,2513,2647,3895,3946,3844,0,0,0,0,0,0,14.41,14.71,14.64
$GC,7056,-0.62,-194.6,2513,2647,3944,3843,730.9,-7.2,360,7065,0.00,2.30,0.00,0.000,516,0.000,0.063,2514,1247,3893,3944,3843,0,0,0,0,0,0,15.14,14.57,15.16
$GC,7089,-0.62,-194.6,2513,1247,3943,3843,733.5,-8.2,366,7094,0.00,2.33,0.00,0.000,1030,0.000,0.065,2512,2650,3893,3943,3844,0,0,0,0,0,0,14.59,14.52,14.65
$GC,7783,-0.62,-194.6,2512,2650,3941,3842,782.0,-6.8,389,7787,0.00,2.45,0.00,0.000,260,0.000,0.096,2501,4046,3891,3941,3842,0,0,0,0,0,0,15.11,14.47,15.14
$GC,7816,-0.62,-194.6,2501,4046,3941,3840,784.5,-7.0,395,7822,0.00,2.25,0.00,0.000,1030,0.000,0.040,2501,2642,3890,3940,3841,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8508,-0.62,-194.6,2501,2641,3938,3839,832.0,-6.9,418,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2641,3888,3938,3839,0,0,0,0,0,0,15.12,15.16,15.16
$GC,9107,-0.62,-194.6,2501,2641,3937,3837,875.9,-7.3,423,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2641,3886,3936,3837,0,0,0,0,0,0,15.14,15.17,15.16
$GC,9708,-0.62,-194.6,2501,2641,3936,3836,919.3,-7.2,428,9713,0.00,2.45,0.00,0.000,260,0.000,0.099,2492,4031,3885,3934,3836,0,0,0,0,0,0,15.13,14.33,15.16
$GC,9762,-0.62,-194.6,2491,4031,3934,3835,923.9,-8.0,439,9769,0.00,2.22,0.00,0.000,1030,0.000,0.044,2492,2655,3885,3935,3835,0,0,0,0,0,0,14.73,14.64,14.76
$GC,10432,-0.62,-194.6,2491,2655,3932,3834,980.1,-8.6,457,10437,0.00,2.35,0.00,0.000,516,0.000,0.068,2492,1248,3883,3932,3834,0,0,0,0,0,0,15.10,14.50,15.13
$GC,10466,-0.62,-194.6,2491,1248,3931,3834,983.4,-9.2,463,10472,0.10,2.38,0.00,0.000,3078,0.190,0.073,2514,2647,3883,3932,3834,0,0,0,0,0,0,14.20,14.40,14.34
$STATE,10546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10546,begin apogee
$GC,10556,-0.20,0.0,2515,2466,3932,3834,990.1,-7.5,480,10717,0.45,0.00,158.32,2.198,10246,0.171,0.000,2646,2465,3126,3061,3192,0,0,0,0,0,0,14.33,14.04,13.07
$STATE,10719,end apogee,CONTROL_FINISHED_OK
$STATE,10719,begin climb
$GC,10724,0.62,194.6,2646,2466,3060,3189,995.5,0.0,481,10899,0.82,2.55,164.57,2.154,10756,0.116,0.080,2921,1088,2329,2241,2418,0,0,0,0,0,0,14.05,13.71,12.79
$GC,10944,0.62,194.6,2920,1088,2245,2411,981.3,11.5,535,10949,0.00,2.45,0.00,0.000,1030,0.000,0.068,2920,2473,2327,2245,2410,0,0,0,0,0,0,14.03,13.97,14.07
$GC,11633,0.62,194.6,2920,2473,2251,2399,894.2,12.7,558,11638,0.00,2.47,0.00,0.000,260,0.000,0.097,2921,3891,2325,2252,2398,0,0,0,0,0,0,14.96,14.53,15.00
$GC,11716,0.62,194.6,2920,3890,2260,2389,882.3,14.5,574,11721,0.00,2.30,0.00,0.000,1030,0.000,0.055,2931,2492,2324,2260,2389,0,0,0,0,0,0,14.74,14.65,14.78
$GC,12361,0.62,194.6,2931,2492,2260,2389,796.8,13.2,587,12366,0.00,2.42,0.00,0.000,260,0.000,0.095,2931,3883,2324,2260,2389,0,0,0,0,0,0,15.04,14.51,15.08
$GC,12380,0.62,194.6,2931,3883,2262,2385,793.9,13.7,591,12386,0.00,2.35,0.00,0.000,1030,0.000,0.056,2940,2466,2323,2262,2384,0,0,0,0,0,0,14.78,14.69,14.82
$GC,13081,0.62,194.6,2939,2466,2262,2384,694.6,14.2,616,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2466,2323,2262,2384,0,0,0,0,0,0,15.08,15.12,15.11
$GC,13381,0.62,194.6,2939,2466,2262,2384,649.8,15.0,621,13387,0.00,2.47,0.00,0.000,260,0.000,0.096,2939,3877,2323,2262,2384,0,0,0,0,0,0,15.09,14.47,15.13
$GC,13411,0.62,194.6,2939,3877,2264,2380,644.9,16.7,627,13417,0.15,2.33,0.00,0.000,5126,0.281,0.055,2919,2465,2322,2264,2380,0,0,0,0,0,0,14.32,14.68,14.58
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$STATE,19366,end climb,SURFACE_DEPTH_REACHED
$STATE,19367,begin surface coast
$STATE,19387,end surface coast,CONTROL_FINISHED_OK
$STATE,19387,begin surface
$SM_CCo,19470,0.00,0.000,0,0,1006,520.28
$SM_GC,3.67,8.12,0.35,0.00,0.057,0.084,0.000,44,2676,1006,-8.28,-0.57,520.28,0,0,0,0,0,0,14.66,14.70,14.76
$IRIDIUM_FIX,747.28,8212.82,011115,170443
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.21
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,12.79,110.139
$10V_AH,11.41,0.000
$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,22.450,149.850,558.950,0.000,0.000,0.000,0.000,181.050,0.250,0.000,13.601,651.895,15885.978,577.888,2059.816,595.348,0.000,1751.672,0.000,1461.568,0.000,0.542,0.000
$DEVICE_MAMPS,409.275,99.450,2197.845,0.000,0.000,0.000,0.000,238.680,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.303,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271764
$DATA_FILE_SIZE,43392,1019
$CAP_FILE_SIZE,163503,0
$CFSIZE,260034560,226508800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,164.33,1
$GPS,021115,040739,750.556,8217.588,60,2.4,100,-2.3,0.5,241.8,5,15.7