version: 66.12
glider: 141
mission: 23
dive: 60
start: 8 31 115 13 41 34
data:
$ID,141
$MISSION,23
$DIVE,60
$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,34
$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,-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
$GPS1,310815,133309,832.6441,8514.7227,168,2.2,208,-1.9,1.0,78.7,5,15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-70.2
$GPS2,310815,134104,832.6954,8514.9209,11,1.6,51,-1.9,0.0,126.2,6,11.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,234.3,66448,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.62,-194.6,13,2668,1062,1122,0.0,0.0,0,119,0.00,0.00,-89.82,0.000,16386,0.000,0.000,12,2668,3572,3641,3503,0,0,0,0,0,0,14.93,28.83,14.97
$GC,125,-0.62,-194.6,12,2668,3641,3503,5.5,-5.5,9,149,11.75,0.00,-4.75,0.000,18694,0.412,0.000,2510,2668,3922,3996,3849,0,0,0,0,0,0,14.50,14.04,14.79
$GC,450,-0.62,-194.6,2510,2668,3996,3852,111.2,-21.8,32,457,0.00,2.28,0.00,0.000,260,0.000,0.083,2502,4032,3924,3996,3852,0,0,0,0,0,0,15.05,14.82,15.09
$GC,486,-0.62,-194.6,2501,4032,3996,3852,118.3,-19.6,38,492,0.00,2.15,0.00,0.000,1030,0.000,0.034,2502,2642,3924,3996,3853,0,0,0,0,0,0,14.94,14.88,14.95
$GC,802,-0.62,-194.6,2501,2641,3996,3856,177.2,-15.2,55,807,0.00,2.30,0.00,0.000,260,0.000,0.080,2491,4032,3926,3996,3856,0,0,0,0,0,0,15.10,14.87,15.14
$GC,915,-0.62,-194.6,2491,4030,3996,3857,193.0,-13.8,76,921,0.00,2.12,0.00,0.000,1030,0.000,0.033,2491,2648,3926,3995,3857,0,0,0,0,0,0,15.00,14.94,15.01
$GC,1237,-0.62,-194.6,2491,2648,3991,3858,239.7,-14.0,94,1243,0.00,2.20,0.00,0.000,516,0.000,0.053,2491,1248,3927,3996,3858,0,0,0,0,0,0,15.14,14.92,15.17
$GC,1278,-0.62,-194.6,2491,1248,3996,3858,244.6,-11.2,101,1285,0.15,2.20,0.00,0.000,3078,0.246,0.056,2517,2642,3927,3996,3858,0,0,0,0,0,0,14.81,14.92,14.97
$GC,1584,-0.62,-194.6,2514,2642,3994,3858,274.0,-9.7,109,1590,0.00,2.30,0.00,0.000,260,0.000,0.085,2509,4038,3925,3993,3858,0,0,0,0,0,0,15.16,14.93,15.19
$GC,1645,-0.62,-194.6,2508,4037,3992,3858,279.9,-9.3,120,1652,0.00,2.12,0.00,0.000,1030,0.000,0.033,2509,2646,3925,3992,3858,0,0,0,0,0,0,15.04,14.98,15.04
$GC,1950,-0.62,-194.6,2508,2646,3989,3858,308.4,-9.5,126,1956,0.00,2.17,0.00,0.000,516,0.000,0.053,2508,1256,3923,3989,3858,0,0,0,0,0,0,15.16,14.95,15.20
$GC,2025,-0.62,-194.6,2508,1255,3989,3858,316.4,-10.6,140,2032,0.00,2.25,0.00,0.000,1030,0.000,0.063,2502,2651,3923,3988,3858,0,0,0,0,0,0,15.02,14.92,15.04
$GC,2382,-0.62,-194.6,2501,2651,3981,3858,353.6,-10.3,155,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2651,3919,3981,3858,0,0,0,0,0,0,15.17,15.21,15.21
$GC,2683,-0.62,-194.6,2501,2650,3975,3858,384.0,-10.0,160,2689,0.00,2.33,0.00,0.000,260,0.000,0.087,2491,4048,3916,3974,3858,0,0,0,0,0,0,15.18,14.91,15.21
$GC,2724,-0.62,-194.6,2491,4048,3975,3858,388.5,-10.8,167,2729,0.00,2.15,0.00,0.000,1030,0.000,0.034,2491,2648,3916,3975,3858,0,0,0,0,0,0,15.05,15.00,15.07
$GC,3055,-0.62,-194.6,2491,2648,3970,3858,423.1,-10.5,177,3060,0.00,2.20,0.00,0.000,516,0.000,0.056,2491,1248,3913,3969,3858,0,0,0,0,0,0,15.18,14.95,15.21
$GC,3110,-0.62,-194.6,2491,1248,3970,3858,429.1,-10.6,187,3116,0.12,2.25,0.00,0.000,3078,0.255,0.057,2513,2661,3913,3968,3858,0,0,0,0,0,0,14.83,14.95,15.00
$GC,3427,-0.62,-194.6,2512,2661,3963,3858,456.3,-8.5,194,3433,0.00,2.30,0.00,0.000,260,0.000,0.086,2502,4039,3910,3962,3858,0,0,0,0,0,0,15.18,14.92,15.21
$GC,3484,-0.62,-194.6,2504,4039,3962,3856,461.4,-9.0,204,3490,0.00,2.15,0.00,0.000,1030,0.000,0.035,2505,2643,3909,3962,3856,0,0,0,0,0,0,15.04,14.99,15.06
$GC,3801,-0.62,-194.6,2504,2644,3959,3855,490.2,-9.0,211,3806,0.00,2.20,0.00,0.000,516,0.000,0.057,2504,1249,3905,3960,3851,0,0,0,0,0,0,15.18,14.95,15.21
$GC,3841,-0.62,-194.6,2504,1248,3959,3855,493.9,-8.6,218,3847,0.00,2.25,0.00,0.000,1030,0.000,0.060,2500,2647,3907,3959,3855,0,0,0,0,0,0,15.03,14.94,15.05
$GC,4173,-0.62,-194.6,2499,2647,3956,3853,523.9,-9.0,228,4179,0.00,2.35,0.00,0.000,260,0.000,0.090,2488,4052,3904,3956,3853,0,0,0,0,0,0,15.19,14.91,15.21
$GC,4209,-0.62,-194.6,2489,4052,3956,3852,527.3,-9.6,234,4215,0.00,2.20,0.00,0.000,1030,0.000,0.036,2489,2639,3904,3956,3852,0,0,0,0,0,0,15.05,14.99,15.07
$GC,4546,-0.62,-194.6,2489,2639,3951,3850,559.4,-9.7,245,4547,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2639,3900,3951,3850,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4846,-0.62,-194.6,2488,2639,3949,3849,588.3,-9.7,250,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2639,3899,3949,3849,0,0,0,0,0,0,15.20,15.21,15.21
$GC,5146,-0.62,-194.6,2489,2639,3948,3851,617.1,-9.5,255,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2639,3897,3948,3846,0,0,0,0,0,0,15.19,15.22,15.20
$GC,5445,-0.62,-194.6,2489,2639,3944,3846,644.6,-9.1,260,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2639,3895,3944,3846,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5746,-0.62,-194.6,2489,2639,3942,3845,671.1,-8.8,265,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2639,3893,3942,3845,0,0,0,0,0,0,15.18,15.21,15.21
$GC,6046,-0.62,-194.6,2489,2639,3941,3844,697.3,-8.8,270,6052,0.00,2.38,0.00,0.000,260,0.000,0.094,2480,4042,3892,3940,3844,0,0,0,0,0,0,15.18,14.88,15.21
$GC,6076,-0.62,-194.6,2480,4042,3940,3843,700.2,-9.5,275,6083,0.15,2.17,0.00,0.000,3078,0.233,0.039,2517,2649,3891,3939,3843,0,0,0,0,0,0,14.80,15.00,14.99
$GC,6477,-0.62,-194.6,2515,2649,3938,3843,728.1,-6.9,285,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2649,3890,3937,3843,0,0,0,0,0,0,15.17,15.21,15.21
$GC,7076,-0.62,-194.6,2517,2648,3934,3841,767.9,-6.6,290,7080,0.00,2.25,0.00,0.000,516,0.000,0.063,2517,1246,3887,3934,3840,0,0,0,0,0,0,15.18,14.91,15.21
$GC,7119,-0.62,-194.6,2517,1246,3933,3840,770.8,-6.5,298,7125,0.00,2.30,0.00,0.000,1030,0.000,0.066,2517,2658,3886,3933,3840,0,0,0,0,0,0,15.01,14.90,15.04
$GC,7803,-0.62,-194.6,2516,2659,3931,3837,814.6,-6.5,319,7809,0.00,2.33,0.00,0.000,260,0.000,0.098,2509,4040,3883,3930,3837,0,0,0,0,0,0,15.16,14.83,15.20
$GC,7835,-0.62,-194.6,2513,4040,3930,3836,817.0,-7.5,325,7840,0.00,2.17,0.00,0.000,1030,0.000,0.042,2509,2656,3883,3930,3836,0,0,0,0,0,0,15.00,14.95,15.02
$GC,8528,-0.62,-194.6,2509,2656,3927,3835,871.2,-8.1,348,8534,0.00,2.25,0.00,0.000,516,0.000,0.067,2509,1253,3881,3927,3835,0,0,0,0,0,0,15.16,14.85,15.19
$GC,8564,-0.62,-194.6,2509,1253,3927,3835,874.6,-8.8,355,8568,0.00,2.33,0.00,0.000,1030,0.000,0.070,2503,2659,3881,3927,3835,0,0,0,0,0,0,14.99,14.88,15.02
$GC,9256,-0.62,-194.6,2503,2659,3925,3833,935.9,-8.9,377,9262,0.00,2.33,0.00,0.000,260,0.000,0.099,2493,4039,3878,3924,3833,0,0,0,0,0,0,15.14,14.80,15.19
$GC,9321,-0.62,-194.6,2493,4039,3923,3832,942.3,-9.9,390,9327,0.00,2.20,0.00,0.000,1030,0.000,0.045,2493,2641,3878,3925,3832,0,0,0,0,0,0,14.94,14.90,14.95
$STATE,9972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9972,begin apogee
$GC,9985,-0.20,0.0,2493,2463,3922,3830,997.2,-8.2,406,10132,0.52,0.00,143.73,2.063,10246,0.191,0.000,2647,2462,3127,3063,3192,0,0,0,0,0,0,14.74,14.14,13.43
$STATE,10134,end apogee,CONTROL_FINISHED_OK
$STATE,10135,begin climb
$GC,10139,0.62,194.6,2647,2463,3062,3189,1000.6,0.0,407,10298,0.80,2.50,150.57,2.037,10756,0.127,0.081,2916,1089,2330,2254,2406,0,0,0,0,0,0,14.15,14.02,13.34
$GC,10345,0.62,194.6,2916,1088,2259,2397,982.3,14.0,455,10355,0.00,2.38,0.00,0.000,1030,0.000,0.069,2916,2472,2328,2259,2397,0,0,0,0,0,0,14.34,14.25,14.34
$GC,11074,0.62,194.6,2916,2471,2264,2387,879.3,13.9,484,11080,0.00,2.45,0.00,0.000,260,0.000,0.101,2916,3892,2326,2266,2386,0,0,0,0,0,0,14.95,14.68,14.98
$GC,11168,0.62,194.6,2916,3892,2274,2378,865.3,14.8,503,11175,0.00,2.30,0.00,0.000,1030,0.000,0.060,2926,2490,2325,2273,2378,0,0,0,0,0,0,14.83,14.74,14.85
$GC,11794,0.62,194.6,2927,2490,2271,2377,781.6,13.2,513,11798,0.00,2.45,0.00,0.000,260,0.000,0.102,2926,3892,2324,2272,2377,0,0,0,0,0,0,15.04,14.76,15.08
$GC,11816,0.62,194.6,2926,3891,2271,2373,778.4,13.7,517,11822,0.00,2.30,0.00,0.000,1030,0.000,0.059,2937,2475,2324,2274,2374,0,0,0,0,0,0,14.90,14.82,14.93
$GC,12516,0.62,194.6,2936,2475,2273,2373,686.9,12.9,542,12523,0.00,2.42,0.00,0.000,260,0.000,0.099,2936,3883,2323,2274,2373,0,0,0,0,0,0,15.09,14.79,15.13
$GC,12552,0.62,194.6,2935,3883,2276,2371,682.0,15.1,549,12558,0.15,2.30,0.00,0.000,5126,0.314,0.059,2916,2470,2323,2276,2371,0,0,0,0,0,0,14.66,14.85,14.90
$GC,12877,0.62,194.6,2916,2470,2275,2371,643.0,11.9,559,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2470,2323,2275,2371,0,0,0,0,0,0,15.10,15.14,15.14
$GC,13178,0.62,194.6,2915,2471,2275,2371,605.5,12.6,564,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2471,2323,2275,2371,0,0,0,0,0,0,15.09,15.14,15.14
$GC,13477,0.62,194.6,2915,2470,2274,2371,566.0,13.2,569,13483,0.00,2.40,0.00,0.000,260,0.000,0.097,2915,3876,2324,2277,2371,0,0,0,0,0,0,15.11,14.78,15.14
$GC,13507,0.62,194.6,2915,3875,2277,2369,561.6,15.1,575,13511,0.00,2.28,0.00,0.000,1030,0.000,0.057,2922,2474,2323,2277,2369,0,0,0,0,0,0,14.95,14.87,14.98
$GC,13840,0.62,194.6,2922,2473,2284,2369,515.4,13.9,586,13846,0.00,2.40,0.00,0.000,260,0.000,0.098,2922,3878,2323,2277,2369,0,0,0,0,0,0,15.12,14.78,15.16
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$STATE,18469,end climb,SURFACE_DEPTH_REACHED
$STATE,18469,begin surface coast
$FINISH,2.3,0.000000
$STATE,18493,end surface coast,CONTROL_FINISHED_OK
$STATE,18493,begin surface
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$TT8_MAMPS,0.023219,0.023219
$HUMID,45.15
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.70
$XPDR_PINGS,1
$SC_FREEKB,4003936
$24V_AH,13.34,25.977
$10V_AH,13.23,0.000
$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,21.900,143.000,564.650,0.000,0.000,0.000,0.000,253.275,0.250,0.000,54.050,1093.981,14958.446,653.770,1740.376,600.800,0.000,1821.190,0.000,1439.858,0.000,0.544,0.000
$DEVICE_MAMPS,412.335,101.745,2063.205,0.000,0.000,0.000,0.000,218.025,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.242,0.000,0.000,0.000
$MEM,261096
$DATA_FILE_SIZE,36684,976
$CAP_FILE_SIZE,151668,0
$CFSIZE,260034560,243499008
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10345.04,0x23402a,1,24
$INTR,1,14625.75,0x213758,1,24
$CURRENT,0.114,247.87,1
$GPS,310815,185634,831.728,8512.789,206,1.0,278,-1.9,0.7,109.5,9,7.4