version: 66.12
glider: 141
mission: 23
dive: 88
start: 9 6 115 10 8 9
data:
$ID,141
$MISSION,23
$DIVE,88
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,060915,100044,759.9505,8559.9824,45,2.2,85,-1.8,0.7,165.9,4,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.11
$_SM_ANGLEo,-71.7
$GPS2,060915,100734,759.8746,8559.9834,14,1.0,36,-1.8,0.8,195.2,8,7.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.0,234,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.10,-63.0,32,2673,541,669,0.0,0.0,0,128,0.00,0.00,-99.22,0.000,16390,0.000,0.000,30,2674,3382,3441,3324,0,0,0,0,0,0,14.92,13.61,14.95
$GC,134,-1.10,-121.3,30,2675,3442,3325,4.9,-3.8,10,157,10.85,2.30,-3.80,0.000,18948,0.408,0.067,2349,1231,3624,3679,3570,0,0,0,0,0,0,14.45,14.04,14.66
$GC,339,-1.10,-121.3,2348,1231,3682,3573,90.7,-38.9,49,346,0.00,2.28,0.00,0.000,1030,0.000,0.053,2341,2649,3625,3678,3573,0,0,0,0,0,0,14.83,14.75,14.85
$GC,644,-1.10,-121.3,2341,2649,3678,3575,187.0,-25.4,65,651,0.00,2.28,0.00,0.000,260,0.000,0.074,2330,4042,3626,3678,3575,0,0,0,0,0,0,15.05,14.81,15.08
$GC,687,-1.10,-121.3,2330,4042,3678,3575,196.2,-21.1,72,694,0.12,2.17,0.00,0.000,3078,0.345,0.033,2352,2632,3626,3678,3575,0,0,0,0,0,0,14.60,14.87,14.86
$GC,991,-1.10,-121.3,2352,2632,3679,3578,250.5,-16.4,88,996,0.00,2.33,0.00,0.000,260,0.000,0.076,2344,4043,3628,3678,3578,0,0,0,0,0,0,15.09,14.85,15.12
$GC,1124,-1.10,-121.3,2344,4043,3678,3578,274.3,-16.8,113,1130,0.00,2.15,0.00,0.000,1030,0.000,0.033,2343,2645,3628,3678,3578,0,0,0,0,0,0,14.95,14.90,14.95
$GC,1485,-1.10,-121.3,2343,2645,3677,3578,330.4,-15.1,129,1491,0.00,2.30,0.00,0.000,260,0.000,0.076,2333,4040,3627,3676,3578,0,0,0,0,0,0,15.11,14.87,15.15
$GC,1541,-1.10,-121.3,2333,4040,3676,3578,339.9,-17.5,139,1546,0.00,2.15,0.00,0.000,1030,0.000,0.032,2334,2639,3627,3676,3578,0,0,0,0,0,0,15.00,14.94,15.01
$GC,1857,-1.10,-121.3,2333,2639,3670,3578,393.1,-17.0,146,1863,0.00,2.17,0.00,0.000,516,0.000,0.050,2334,1248,3623,3669,3578,0,0,0,0,0,0,15.13,14.90,15.16
$GC,1877,-1.10,-121.3,2333,1248,3669,3578,396.5,-16.6,149,1884,0.15,2.22,0.00,0.000,3078,0.314,0.051,2354,2656,3623,3669,3578,0,0,0,0,0,0,14.68,14.91,14.93
$GC,2233,-1.10,-121.3,2353,2656,3661,3578,448.3,-14.5,163,2238,0.00,2.28,0.00,0.000,260,0.000,0.079,2345,4041,3619,3660,3578,0,0,0,0,0,0,15.14,14.88,15.17
$GC,2262,-1.10,-121.3,2345,4040,3660,3578,453.4,-15.1,168,2268,0.00,2.15,0.00,0.000,1030,0.000,0.033,2345,2640,3619,3660,3578,0,0,0,0,0,0,15.01,14.95,15.03
$GC,2603,-1.10,-121.3,2345,2642,3654,3578,504.6,-15.0,180,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2642,3616,3654,3578,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2904,-1.10,-121.3,2345,2642,3649,3576,553.7,-16.5,185,2905,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2642,3612,3648,3576,0,0,0,0,0,0,15.15,15.19,15.18
$GC,3204,-1.10,-121.3,2345,2641,3645,3574,603.3,-16.6,190,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2641,3609,3645,3574,0,0,0,0,0,0,15.16,15.21,15.21
$GC,3503,-1.10,-121.3,2345,2641,3642,3572,652.1,-16.2,195,3509,0.00,2.20,0.00,0.000,516,0.000,0.056,2345,1255,3606,3641,3572,0,0,0,0,0,0,15.15,14.88,15.19
$GC,3533,-1.10,-121.3,2345,1255,3641,3572,657.0,-16.6,200,3539,0.00,2.22,0.00,0.000,1030,0.000,0.057,2335,2647,3606,3640,3572,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3934,-1.10,-121.3,2335,2647,3637,3568,721.8,-16.2,212,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2647,3602,3637,3568,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4534,-1.10,-121.3,2335,2647,3632,3565,817.9,-16.0,217,4540,0.00,2.33,0.00,0.000,260,0.000,0.084,2324,4045,3597,3630,3565,0,0,0,0,0,0,15.16,14.85,15.19
$GC,4575,-1.10,-121.3,2324,4045,3630,3563,824.7,-16.6,224,4581,0.15,2.17,0.00,0.000,3078,0.313,0.040,2354,2656,3596,3630,3563,0,0,0,0,0,0,14.63,14.93,14.91
$GC,5265,-1.10,-121.3,2354,2655,3623,3561,921.6,-13.8,246,5271,0.00,2.25,0.00,0.000,516,0.000,0.062,2354,1254,3591,3622,3561,0,0,0,0,0,0,15.16,14.87,15.19
$GC,5325,-1.10,-121.3,2354,1254,3622,3561,929.5,-13.2,258,5331,0.00,2.28,0.00,0.000,1030,0.000,0.063,2347,2654,3591,3622,3561,0,0,0,0,0,0,14.97,14.88,15.00
$STATE,5860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5870,-0.20,0.0,2347,2460,3618,3557,996.2,-12.3,274,5963,1.10,0.00,89.25,2.048,10246,0.259,0.000,2646,2461,3126,3079,3173,0,0,0,0,0,0,14.63,14.30,13.57
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5969,1.10,121.3,2646,2460,3078,3171,996.2,0.0,274,6069,1.33,0.00,96.15,2.004,10246,0.125,0.000,3069,2459,2631,2566,2696,0,0,0,0,0,0,14.29,14.12,13.44
$GC,6585,1.10,121.3,3069,2459,2574,2676,895.1,18.1,280,6591,0.00,2.42,0.00,0.000,260,0.000,0.093,3070,3877,2625,2575,2675,0,0,0,0,0,0,14.92,14.62,14.95
$GC,6639,1.10,121.3,3069,3877,2575,2674,884.8,19.4,291,6645,0.00,2.25,0.00,0.000,1030,0.000,0.057,3079,2502,2625,2576,2674,0,0,0,0,0,0,14.80,14.71,14.81
$GC,7308,1.10,121.3,3079,2501,2575,2669,762.7,18.5,309,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2502,2622,2575,2669,0,0,0,0,0,0,15.03,15.07,15.07
$GC,7904,1.10,121.3,3079,2502,2576,2664,642.5,20.2,316,7910,0.00,2.35,0.00,0.000,260,0.000,0.089,3079,3878,2620,2577,2664,0,0,0,0,0,0,15.09,14.78,15.12
$GC,7954,1.10,121.3,3079,3877,2577,2664,632.0,21.0,326,7961,0.00,2.28,0.00,0.000,1030,0.000,0.054,3090,2470,2620,2577,2663,0,0,0,0,0,0,14.92,14.84,14.95
$GC,8265,1.10,121.3,3090,2470,2577,2662,574.1,18.4,333,8271,0.00,2.40,0.00,0.000,260,0.000,0.090,3090,3877,2620,2579,2662,0,0,0,0,0,0,15.08,14.78,15.11
$GC,8299,1.10,121.3,3090,3877,2579,2661,567.5,18.9,340,8306,0.15,2.28,0.00,0.000,5126,0.382,0.055,3075,2469,2619,2577,2661,0,0,0,0,0,0,14.53,14.84,14.87
$GC,8625,1.10,121.3,3074,2468,2578,2660,515.5,15.7,350,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2469,2619,2578,2660,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8925,1.10,121.3,3074,2469,2578,2658,465.5,16.8,355,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2469,2618,2578,2658,0,0,0,0,0,0,15.11,15.15,15.15
$GC,9225,1.10,121.3,3074,2469,2578,2657,410.0,18.6,360,9231,0.00,2.40,0.00,0.000,260,0.000,0.089,3074,3874,2618,2579,2657,0,0,0,0,0,0,15.11,14.79,15.15
$GC,9280,1.10,121.3,3074,3877,2579,2657,398.9,20.6,371,9286,0.00,2.28,0.00,0.000,1030,0.000,0.053,3082,2466,2618,2579,2657,0,0,0,0,0,0,14.94,14.85,14.97
$GC,9648,1.10,121.3,3082,2466,2579,2657,330.8,18.3,389,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2466,2618,2579,2657,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9945,1.10,121.3,3082,2466,2579,2657,281.2,16.4,394,9951,0.00,2.40,0.00,0.000,260,0.000,0.089,3082,3876,2618,2580,2656,0,0,0,0,0,0,15.11,14.79,15.15
$GC,10073,1.10,121.3,3082,3876,2581,2656,257.8,19.9,419,10079,0.00,2.22,0.00,0.000,1030,0.000,0.050,3092,2473,2619,2581,2657,0,0,0,0,0,0,14.89,14.85,14.92
$GC,10388,1.10,121.3,3092,2473,2575,2656,203.6,14.8,443,10391,0.00,2.40,0.00,0.000,260,0.000,0.087,3093,3876,2618,2581,2656,0,0,0,0,0,0,15.11,14.79,15.14
$GC,10621,1.11,153.1,3092,3876,2580,2656,181.2,6.6,489,10649,0.15,2.25,21.10,1.055,13318,0.356,0.048,3076,2464,2500,2454,2546,0,0,0,0,0,0,14.52,14.87,14.33
$GC,10951,1.11,214.3,3076,2464,2454,2542,159.7,3.5,510,10998,0.00,2.33,41.88,1.047,8964,0.000,0.071,3084,1072,2250,2184,2317,0,0,0,0,0,0,15.04,14.64,14.20
$GC,11229,1.11,217.2,3081,1071,2191,2307,139.0,9.7,565,11235,0.00,2.30,0.00,0.000,1030,0.000,0.056,3082,2482,2249,2192,2307,0,0,0,0,0,0,14.79,14.71,14.81
$GC,11549,1.11,226.7,3084,2482,2194,2306,105.4,9.0,584,11566,0.00,2.38,10.05,0.926,8452,0.000,0.083,3084,3872,2200,2139,2261,0,0,0,0,0,0,15.00,14.73,14.30
$GC,11731,1.11,249.4,3084,3871,2146,2256,87.8,7.6,620,11753,0.00,2.20,16.88,0.936,9222,0.000,0.041,3094,2467,2108,2032,2184,0,0,0,0,0,0,14.88,14.81,14.28
$GC,12072,1.12,254.0,3094,2470,2038,2182,55.1,9.5,643,12083,0.00,2.33,4.40,0.770,8708,0.000,0.063,3105,1080,2091,2016,2166,0,0,0,0,0,0,15.02,14.78,14.23
$GC,12142,1.12,272.8,3105,1080,2023,2165,49.3,8.0,657,12164,0.12,2.25,14.68,0.929,13318,0.286,0.051,3080,2478,2012,1924,2101,0,0,0,0,0,0,14.62,14.80,14.30
$GC,12473,1.12,272.8,3080,2478,1931,2101,15.8,11.6,693,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2479,2016,1932,2101,0,0,0,0,0,0,15.02,15.06,15.05
$STATE,12599,end climb,SURFACE_DEPTH_REACHED
$STATE,12599,begin surface coast
$FINISH,2.3,0.000000
$STATE,12619,end surface coast,CONTROL_FINISHED_OK
$STATE,12619,begin surface
$SM_CCo,12643,90.35,0.053,0,0,1087,500.17
$SM_GC,3.13,8.62,0.28,90.35,0.082,0.094,0.053,43,2673,1087,-8.29,-0.79,500.17,0,0,0,0,0,0,14.84,14.87,14.84
$IRIDIUM_FIX,753.81,8602.46,060915,043746
$TT8_MAMPS,0.023968,0.023968
$HUMID,43.42
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,4000064
$24V_AH,13.44,33.942
$10V_AH,13.83,0.000
$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,22.750,82.475,294.375,90.350,0.000,0.000,0.000,198.000,0.000,0.000,38.990,817.051,10068.207,538.427,1288.382,434.104,0.000,1340.815,0.000,1048.945,0.000,0.544,0.000
$DEVICE_MAMPS,407.745,94.095,2047.905,52.785,0.000,0.000,0.000,220.320,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.276,0.000,0.000,0.000
$MEM,260908
$DATA_FILE_SIZE,23404,708
$CAP_FILE_SIZE,107655,0
$CFSIZE,260034560,241688576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,51.30,1
$GPS,060915,134439,800.615,8600.382,165,2.9,205,-1.8,0.3,76.7,6,19.6