version: 66.12
glider: 141
mission: 23
dive: 94
start: 9 7 115 12 52 35
data:
$ID,141
$MISSION,23
$DIVE,94
$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,41
$R_STBD_OVSHOOT,50
$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
$GPS1,070915,085652,759.6521,8600.3545,301,99.0,301,-1.8,0.4,107.2,6,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-73.2
$GPS2,070915,125203,758.8010,8559.4150,183,1.8,223,-1.8,0.7,134.0,6,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,72.6,2466,-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,27,-1.10,-63.0,10,2682,1070,1124,0.0,0.0,0,117,0.00,0.00,-83.90,0.000,16390,0.000,0.000,9,2682,3386,3451,3322,0,0,0,0,0,0,14.96,13.62,15.00
$GC,124,-1.10,-100.5,9,2682,3450,3321,5.6,-6.0,9,146,11.20,2.20,-2.22,0.000,18692,0.417,0.092,2345,4027,3539,3596,3483,0,0,0,0,0,0,14.47,13.71,14.82
$GC,357,-1.10,-100.5,2345,4027,3596,3485,109.9,-37.7,54,362,0.00,2.15,0.00,0.000,1030,0.000,0.041,2345,2654,3541,3598,3485,0,0,0,0,0,0,14.90,14.83,14.92
$GC,678,-1.10,-100.5,2345,2653,3604,3488,191.4,-17.0,72,684,0.00,2.20,0.00,0.000,516,0.000,0.050,2345,1241,3541,3596,3487,0,0,0,0,0,0,15.10,14.88,15.13
$GC,704,-1.10,-100.5,2344,1241,3597,3488,195.3,-15.2,76,711,0.00,2.22,0.00,0.000,1030,0.000,0.057,2335,2633,3542,3597,3488,0,0,0,0,0,0,14.95,14.86,14.97
$GC,1031,-1.10,-100.5,2334,2633,3597,3490,241.7,-14.3,95,1036,0.00,2.17,0.00,0.000,516,0.000,0.049,2334,1242,3543,3597,3490,0,0,0,0,0,0,15.12,14.90,15.16
$GC,1051,-1.10,-100.5,2334,1242,3597,3487,245.0,-15.2,98,1058,0.15,2.22,0.00,0.000,3078,0.325,0.051,2354,2661,3542,3596,3489,0,0,0,0,0,0,14.68,14.91,14.92
$GC,1397,-1.10,-100.5,2353,2661,3595,3489,305.0,-17.7,106,1403,0.00,2.25,0.00,0.000,260,0.000,0.077,2345,4037,3541,3593,3490,0,0,0,0,0,0,15.15,14.90,15.19
$GC,1447,-1.10,-100.5,2345,4036,3593,3489,314.5,-19.3,115,1453,0.00,2.15,0.00,0.000,1030,0.000,0.033,2348,2629,3541,3594,3489,0,0,0,0,0,0,15.02,14.96,15.04
$GC,1768,-1.10,-100.5,2345,2628,3588,3490,365.3,-15.4,123,1774,0.00,2.15,0.00,0.000,516,0.000,0.052,2345,1250,3537,3586,3489,0,0,0,0,0,0,15.15,14.92,15.19
$GC,1793,-1.10,-100.5,2345,1253,3586,3493,368.9,-14.3,127,1799,0.00,2.22,0.00,0.000,1030,0.000,0.052,2336,2655,3538,3586,3490,0,0,0,0,0,0,15.01,14.93,15.03
$GC,2139,-1.10,-100.5,2335,2655,3579,3490,415.5,-12.9,140,2145,0.00,2.20,0.00,0.000,516,0.000,0.050,2335,1253,3534,3578,3490,0,0,0,0,0,0,15.16,14.92,15.20
$GC,2215,-1.10,-100.5,2335,1252,3577,3489,425.4,-13.4,154,2221,0.15,2.20,0.00,0.000,3078,0.311,0.052,2357,2650,3532,3576,3489,0,0,0,0,0,0,14.69,14.92,14.94
$GC,2575,-1.10,-100.5,2355,2650,3569,3490,477.7,-15.6,169,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3529,3569,3489,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2872,-1.10,-100.5,2355,2651,3564,3489,525.2,-15.7,174,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3526,3564,3489,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3172,-1.10,-100.5,2355,2650,3560,3487,570.3,-15.0,179,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3523,3560,3486,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3472,-1.10,-100.5,2355,2649,3556,3485,614.5,-14.7,184,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3520,3556,3485,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3772,-1.10,-100.5,2355,2650,3552,3482,653.1,-12.6,189,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2651,3517,3552,3482,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4072,-1.10,-100.5,2355,2650,3551,3480,687.7,-11.5,194,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3515,3551,3480,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4430,-1.10,-100.5,2355,2650,3546,3478,730.0,-11.7,198,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3512,3546,3478,0,0,0,0,0,0,15.18,15.22,15.22
$GC,5030,-1.10,-100.5,2355,2650,3541,3475,810.2,-13.5,203,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2650,3508,3541,3475,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5630,-1.10,-100.5,2355,2650,3537,3472,882.4,-11.8,208,5636,0.00,2.30,0.00,0.000,260,0.000,0.088,2347,4032,3504,3536,3472,0,0,0,0,0,0,15.17,14.83,15.21
$GC,5660,-1.10,-100.5,2347,4032,3537,3471,886.0,-12.7,214,5666,0.00,2.15,0.00,0.000,1030,0.000,0.041,2347,2657,3503,3536,3471,0,0,0,0,0,0,15.00,14.92,15.02
$GC,6353,-1.10,-100.5,2347,2657,3532,3468,972.7,-12.6,237,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2657,3500,3532,3468,0,0,0,0,0,0,15.15,15.19,15.19
$STATE,6586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6586,begin apogee
$GC,6596,-0.20,0.0,2347,2458,3530,3468,1001.3,-12.2,239,6672,1.10,0.00,72.28,2.069,10246,0.262,0.000,2645,2458,3126,3090,3163,0,0,0,0,0,0,14.59,14.39,13.64
$STATE,6674,end apogee,CONTROL_FINISHED_OK
$STATE,6674,begin climb
$GC,6678,1.10,100.5,2644,2458,3089,3160,1001.3,0.0,239,6770,1.30,2.38,78.57,2.030,10756,0.128,0.075,3075,1084,2713,2659,2768,0,0,0,0,0,0,14.36,14.04,13.46
$GC,6789,1.10,100.5,3075,1083,2665,2762,991.8,16.4,272,6795,0.00,2.35,0.00,0.000,1030,0.000,0.065,3075,2464,2713,2665,2761,0,0,0,0,0,0,14.38,14.31,14.40
$GC,7474,1.10,100.5,3075,2464,2676,2742,865.0,18.6,292,7479,0.00,2.42,0.00,0.000,260,0.000,0.092,3075,3892,2709,2676,2742,0,0,0,0,0,0,14.97,14.69,15.00
$GC,7556,1.10,100.5,3075,3892,2677,2741,848.4,19.5,307,7561,0.00,2.28,0.00,0.000,1030,0.000,0.057,3086,2492,2709,2678,2741,0,0,0,0,0,0,14.84,14.75,14.86
$GC,8205,1.10,100.5,3085,2492,2677,2736,730.1,17.9,321,8211,0.00,2.38,0.00,0.000,260,0.000,0.092,3086,3883,2706,2677,2735,0,0,0,0,0,0,15.07,14.76,15.11
$GC,8230,1.10,100.5,3085,3883,2677,2735,725.7,17.1,326,8236,0.00,2.28,0.00,0.000,1030,0.000,0.057,3096,2472,2706,2677,2735,0,0,0,0,0,0,14.90,14.82,14.93
$GC,8866,1.10,100.5,3096,2473,2677,2732,625.1,15.3,353,8872,0.00,2.40,0.00,0.000,260,0.000,0.091,3096,3890,2705,2678,2732,0,0,0,0,0,0,15.10,14.73,15.14
$GC,8886,1.10,100.5,3096,3890,2678,2732,621.7,16.0,357,8892,0.17,2.28,0.00,0.000,5126,0.375,0.057,3075,2475,2704,2678,2731,0,0,0,0,0,0,14.51,14.84,14.86
$GC,9226,1.10,100.5,3074,2475,2678,2731,564.7,17.2,370,9232,0.00,2.42,0.00,0.000,260,0.000,0.093,3074,3892,2704,2678,2731,0,0,0,0,0,0,15.11,14.76,15.14
$GC,9256,1.10,100.5,3073,3892,2678,2730,558.7,20.0,376,9262,0.00,2.28,0.00,0.000,1030,0.000,0.054,3082,2473,2704,2678,2731,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9587,1.10,100.5,3081,2472,2678,2730,498.7,18.0,387,9593,0.00,2.40,0.00,0.000,260,0.000,0.090,3082,3889,2704,2678,2730,0,0,0,0,0,0,15.09,14.73,15.13
$GC,9616,1.10,100.5,3081,3889,2679,2730,493.4,18.1,393,9620,0.00,2.30,0.00,0.000,1030,0.000,0.054,3092,2468,2704,2678,2731,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9949,1.10,100.5,3092,2468,2679,2729,443.1,14.7,404,9955,0.00,2.40,0.00,0.000,260,0.000,0.090,3092,3885,2704,2679,2729,0,0,0,0,0,0,15.11,14.77,15.14
$GC,9989,1.10,100.5,3092,3885,2679,2730,436.8,16.1,412,9996,0.17,2.28,0.00,0.000,5126,0.363,0.054,3076,2469,2703,2678,2729,0,0,0,0,0,0,14.50,14.85,14.78
$GC,10309,1.10,100.5,3070,2468,2678,2729,390.9,14.4,421,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2469,2703,2678,2729,0,0,0,0,0,0,15.11,15.15,15.14
$GC,10609,1.10,100.5,3070,2469,2678,2729,344.3,15.6,426,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2469,2703,2678,2729,0,0,0,0,0,0,15.12,15.15,15.16
$GC,10910,1.10,100.5,3070,2468,2678,2729,303.9,13.5,431,10916,0.00,2.40,0.00,0.000,260,0.000,0.089,3070,3890,2704,2680,2729,0,0,0,0,0,0,15.12,14.76,15.15
$GC,10954,1.10,100.5,3070,3890,2678,2729,297.9,13.1,440,10961,0.00,2.28,0.00,0.000,1030,0.000,0.051,3079,2466,2704,2680,2728,0,0,0,0,0,0,14.94,14.85,14.97
$GC,11270,1.10,103.7,3078,2466,2680,2728,265.8,9.7,448,11276,0.00,2.42,0.00,0.000,260,0.000,0.093,3076,3898,2704,2680,2729,0,0,0,0,0,0,15.14,14.73,15.16
$GC,11375,1.10,103.7,3078,3898,2681,2729,254.3,12.7,469,11381,0.00,2.25,0.00,0.000,1030,0.000,0.050,3089,2478,2704,2680,2729,0,0,0,0,0,0,14.88,14.83,14.90
$GC,11690,1.10,103.7,3088,2477,2680,2729,216.9,13.2,485,11696,0.00,2.35,0.00,0.000,260,0.000,0.088,3089,3879,2705,2681,2729,0,0,0,0,0,0,15.12,14.73,15.15
$GC,11925,1.10,103.7,3089,3879,2681,2728,191.2,10.7,532,11930,0.15,2.25,0.00,0.000,5126,0.370,0.048,3073,2468,2705,2681,2729,0,0,0,0,0,0,14.46,14.85,14.81
$GC,12231,1.11,163.7,3073,2468,2681,2729,170.9,3.6,548,12278,0.00,2.42,41.75,1.050,8452,0.000,0.085,3073,3896,2457,2412,2502,0,0,0,0,0,0,15.10,14.70,14.26
$GC,12509,1.11,192.8,3073,3896,2412,2500,148.1,6.9,603,12536,0.00,2.28,21.17,1.014,9222,0.000,0.046,3081,2467,2338,2285,2391,0,0,0,0,0,0,14.81,14.74,14.23
$GC,12850,1.11,200.8,3081,2467,2288,2385,115.6,9.1,626,12862,0.00,2.30,6.90,0.918,8708,0.000,0.069,3090,1070,2306,2257,2356,0,0,0,0,0,0,14.98,14.73,14.26
$GC,13095,1.12,293.9,3091,1070,2261,2351,109.5,0.1,674,13164,0.00,2.25,63.17,1.009,9222,0.000,0.055,3091,2476,1928,1813,2044,0,0,0,0,0,0,14.80,14.75,14.09
$GC,13475,1.12,293.9,3091,2474,1817,2037,74.1,10.6,705,13480,0.00,2.28,0.00,0.000,516,0.000,0.064,3101,1078,1928,1818,2038,0,0,0,0,0,0,14.92,14.67,14.96
$GC,13675,1.12,293.9,3101,1078,1826,2033,51.3,13.1,745,13681,0.00,2.25,0.00,0.000,1030,0.000,0.054,3102,2473,1930,1827,2033,0,0,0,0,0,0,14.84,14.75,14.85
$GC,13986,1.12,293.9,3101,2472,1831,2033,9.9,14.9,778,13987,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2472,1932,1831,2033,0,0,0,0,0,0,15.03,15.07,15.07
$STATE,14032,end climb,SURFACE_DEPTH_REACHED
$STATE,14032,begin surface coast
$FINISH,2.4,0.000000
$STATE,14052,end surface coast,CONTROL_FINISHED_OK
$STATE,14052,begin surface
$SM_CCo,14077,82.43,0.051,0,0,1087,500.17
$SM_GC,3.21,8.62,0.30,82.43,0.075,0.093,0.051,49,2681,1087,-8.28,-0.51,500.17,0,0,0,0,0,0,14.80,14.83,14.83
$IRIDIUM_FIX,753.81,8600.29,070915,084519
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.69
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3999232
$24V_AH,13.46,35.508
$10V_AH,13.36,0.000
$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,23.025,91.925,283.850,82.425,0.000,0.000,0.000,630.925,0.000,0.000,229.610,863.364,11372.789,460.161,1895.093,600.098,0.000,1789.154,0.000,1162.318,0.000,0.547,0.000
$DEVICE_MAMPS,416.925,93.330,2068.560,51.255,0.000,0.000,0.000,250.920,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14050.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.209,0.000,0.000,0.000
$MEM,260984
$DATA_FILE_SIZE,26719,785
$CAP_FILE_SIZE,120929,0
$CFSIZE,260034560,241258496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,27.027,72.75,1
$GPS,070915,125203,758.801,8559.415,301,99.0,301,-1.8,0.7,134.0,6,9.8