version: 66.12
glider: 141
mission: 23
dive: 99
start: 9 8 115 10 7 49
data:
$ID,141
$MISSION,23
$DIVE,99
$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,43
$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
$GPS1,080915,095934,759.6349,8600.7803,107,1.7,142,-1.8,0.6,121.7,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-71.6
$GPS2,080915,100717,759.5180,8600.8545,16,1.6,33,-1.8,1.0,115.1,6,9.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.9,1804,-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,-63.0,23,2676,1055,1128,0.0,0.0,0,121,0.00,0.00,-84.40,0.000,16390,0.000,0.000,21,2676,3384,3445,3324,0,0,0,0,0,0,14.91,14.03,14.95
$GC,127,-1.10,-108.4,22,2676,3444,3325,5.4,-5.2,9,149,11.12,2.30,-2.62,0.000,18948,0.416,0.068,2351,1239,3571,3626,3517,0,0,0,0,0,0,14.47,13.99,14.77
$GC,218,-1.10,-108.4,2351,1239,3626,3520,48.0,-41.4,25,223,0.00,2.25,0.00,0.000,1030,0.000,0.052,2343,2646,3573,3626,3520,0,0,0,0,0,0,14.83,14.76,14.85
$GC,534,-1.10,-108.4,2343,2646,3626,3522,156.5,-24.9,42,539,0.00,2.30,0.00,0.000,260,0.000,0.080,2332,4043,3574,3626,3522,0,0,0,0,0,0,15.05,14.78,15.09
$GC,772,-1.10,-108.4,2332,4043,3625,3526,209.9,-20.3,88,778,0.00,2.15,0.00,0.000,1030,0.000,0.032,2332,2639,3576,3626,3526,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1088,-1.10,-108.4,2332,2638,3626,3528,262.0,-16.1,103,1093,0.00,2.30,0.00,0.000,260,0.000,0.073,2322,4043,3577,3626,3528,0,0,0,0,0,0,15.11,14.87,15.14
$GC,1193,-1.10,-108.4,2322,4043,3626,3528,281.2,-19.1,123,1199,0.17,2.15,0.00,0.000,3078,0.336,0.032,2357,2636,3577,3626,3528,0,0,0,0,0,0,14.64,14.93,14.90
$GC,1523,-1.10,-108.4,2356,2636,3624,3528,338.7,-17.8,132,1529,0.00,2.33,0.00,0.000,260,0.000,0.076,2348,4046,3575,3623,3528,0,0,0,0,0,0,15.13,14.88,15.16
$GC,1554,-1.10,-108.4,2348,4046,3623,3528,345.2,-18.6,137,1560,0.00,2.15,0.00,0.000,1030,0.000,0.032,2348,2645,3576,3623,3529,0,0,0,0,0,0,14.98,14.92,15.00
$GC,1899,-1.10,-108.4,2348,2645,3617,3528,406.0,-17.4,149,1904,0.00,2.17,0.00,0.000,516,0.000,0.050,2349,1256,3572,3616,3528,0,0,0,0,0,0,15.14,14.91,15.17
$GC,1965,-1.10,-108.4,2348,1256,3616,3528,416.8,-14.7,161,1970,0.00,2.22,0.00,0.000,1030,0.000,0.051,2339,2660,3571,3615,3528,0,0,0,0,0,0,15.00,14.92,15.02
$GC,2331,-1.10,-108.4,2338,2660,3608,3528,468.6,-13.9,178,2336,0.00,2.25,0.00,0.000,260,0.000,0.076,2327,4036,3567,3607,3528,0,0,0,0,0,0,15.16,14.89,15.19
$GC,2391,-1.10,-108.4,2327,4036,3608,3528,477.3,-14.8,189,2398,0.15,2.12,0.00,0.000,3078,0.320,0.034,2357,2646,3568,3608,3528,0,0,0,0,0,0,14.66,14.96,14.92
$GC,2700,-1.10,-108.4,2357,2646,3602,3527,520.2,-14.2,195,2705,0.00,2.20,0.00,0.000,516,0.000,0.053,2357,1248,3564,3601,3527,0,0,0,0,0,0,15.15,14.91,15.18
$GC,2745,-1.10,-108.4,2357,1248,3602,3527,527.6,-15.1,203,2750,0.00,2.22,0.00,0.000,1030,0.000,0.054,2350,2649,3563,3600,3527,0,0,0,0,0,0,15.00,14.91,15.02
$GC,3073,-1.10,-108.4,2349,2649,3597,3524,578.6,-15.8,212,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2647,3560,3597,3524,0,0,0,0,0,0,15.14,15.19,15.21
$GC,3371,-1.10,-108.4,2349,2649,3593,3522,625.9,-15.8,217,3376,0.00,2.30,0.00,0.000,260,0.000,0.081,2339,4045,3556,3592,3521,0,0,0,0,0,0,15.16,14.88,15.19
$GC,3406,-1.10,-108.4,2336,4045,3592,3521,631.9,-16.9,223,3411,0.00,2.15,0.00,0.000,1030,0.000,0.036,2339,2652,3556,3592,3520,0,0,0,0,0,0,15.02,14.95,15.04
$GC,3745,-1.10,-108.4,2339,2652,3589,3515,685.5,-15.9,234,3750,0.00,2.20,0.00,0.000,516,0.000,0.055,2339,1256,3555,3592,3519,0,0,0,0,0,0,15.16,14.90,15.19
$GC,3795,-1.10,-108.4,2338,1257,3588,3518,694.1,-15.3,243,3801,0.12,2.22,0.00,0.000,3078,0.319,0.057,2352,2648,3553,3587,3519,0,0,0,0,0,0,14.66,14.90,14.92
$GC,4115,-1.10,-108.4,2352,2644,3583,3516,738.9,-13.9,249,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2644,3549,3583,3516,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4715,-1.10,-108.4,2352,2644,3579,3513,819.0,-13.4,254,4720,0.00,2.30,0.00,0.000,260,0.000,0.087,2344,4030,3545,3578,3513,0,0,0,0,0,0,15.16,14.81,15.20
$GC,4755,-1.10,-108.4,2344,4031,3578,3512,825.2,-15.6,262,4761,0.00,2.12,0.00,0.000,1030,0.000,0.040,2344,2658,3545,3578,3512,0,0,0,0,0,0,14.95,14.91,14.97
$GC,5439,-1.10,-108.4,2344,2658,3573,3509,925.9,-14.6,283,5445,0.00,2.25,0.00,0.000,516,0.000,0.060,2344,1248,3543,3572,3515,0,0,0,0,0,0,15.16,14.87,15.19
$GC,5486,-1.10,-108.4,2344,1248,3572,3509,932.0,-14.0,292,5491,0.00,2.25,0.00,0.000,1030,0.000,0.063,2334,2643,3540,3572,3509,0,0,0,0,0,0,14.89,14.83,14.94
$STATE,5919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5919,begin apogee
$GC,5929,-0.20,0.0,2334,2461,3570,3506,991.3,-13.6,310,6013,1.15,0.00,79.97,2.095,10246,0.265,0.000,2644,2461,3125,3083,3168,0,0,0,0,0,0,14.60,14.33,13.60
$STATE,6015,end apogee,CONTROL_FINISHED_OK
$STATE,6015,begin climb
$GC,6020,1.10,108.4,2644,2461,3083,3165,991.3,0.0,310,6111,1.33,0.00,86.68,2.035,10246,0.129,0.000,3071,2459,2682,2623,2742,0,0,0,0,0,0,14.33,14.15,13.45
$GC,6639,1.10,108.4,3065,2460,2632,2724,896.1,17.2,316,6645,0.00,2.42,0.00,0.000,260,0.000,0.091,3065,3878,2677,2632,2723,0,0,0,0,0,0,14.92,14.64,14.96
$GC,6699,1.10,108.4,3065,3878,2632,2722,884.9,19.3,328,6705,0.00,2.25,0.00,0.000,1030,0.000,0.055,3076,2495,2677,2633,2722,0,0,0,0,0,0,14.81,14.73,14.83
$GC,7363,1.10,108.4,3076,2495,2632,2715,769.0,17.6,345,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2495,2675,2636,2715,0,0,0,0,0,0,15.04,15.08,15.07
$GC,7960,1.10,108.4,3075,2495,2632,2712,658.7,18.5,351,7967,0.00,2.38,0.00,0.000,260,0.000,0.090,3076,3889,2673,2634,2712,0,0,0,0,0,0,15.11,14.78,15.14
$GC,7996,1.10,108.4,3075,3889,2634,2711,651.9,18.8,358,8001,0.00,2.28,0.00,0.000,1030,0.000,0.054,3086,2471,2672,2634,2711,0,0,0,0,0,0,14.92,14.84,14.95
$GC,8325,1.10,108.4,3085,2471,2634,2709,596.2,16.9,368,8330,0.00,2.40,0.00,0.000,260,0.000,0.088,3092,3884,2672,2635,2709,0,0,0,0,0,0,15.09,14.76,15.12
$GC,8374,1.10,108.4,3086,3884,2635,2709,586.7,18.5,378,8380,0.00,2.28,0.00,0.000,1030,0.000,0.053,3097,2472,2671,2634,2709,0,0,0,0,0,0,14.92,14.85,14.99
$GC,8688,1.10,108.4,3096,2472,2634,2708,530.4,18.3,385,8693,0.00,2.30,0.00,0.000,516,0.000,0.076,3108,1069,2671,2636,2707,0,0,0,0,0,0,15.08,14.76,15.12
$GC,8708,1.10,108.4,3107,1069,2638,2705,526.0,20.0,389,8714,0.12,2.30,0.00,0.000,5126,0.341,0.066,3078,2483,2671,2638,2705,0,0,0,0,0,0,14.49,14.79,14.71
$GC,9047,1.10,108.4,3078,2482,2638,2703,458.4,20.0,402,9053,0.00,2.38,0.00,0.000,260,0.000,0.093,3078,3878,2671,2639,2703,0,0,0,0,0,0,15.10,14.76,15.14
$GC,9108,1.10,108.4,3078,3879,2639,2703,445.6,21.5,414,9113,0.00,2.25,0.00,0.000,1030,0.000,0.052,3086,2474,2671,2639,2704,0,0,0,0,0,0,14.93,14.84,14.95
$GC,9471,1.10,108.4,3086,2473,2638,2703,377.0,18.8,431,9477,0.00,2.38,0.00,0.000,260,0.000,0.089,3086,3874,2671,2639,2703,0,0,0,0,0,0,15.09,14.72,15.12
$GC,9484,1.10,108.4,3086,3874,2639,2704,373.6,18.3,434,9489,0.00,2.25,0.00,0.000,1030,0.000,0.053,3093,2477,2671,2639,2703,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9830,1.10,108.4,3096,2477,2638,2703,315.8,16.5,447,9831,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2483,2670,2638,2702,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10128,1.10,108.4,3096,2477,2639,2702,275.5,13.2,452,10133,0.00,2.38,0.00,0.000,260,0.000,0.088,3096,3879,2671,2639,2703,0,0,0,0,0,0,15.11,14.74,15.15
$GC,10222,1.10,108.4,3096,3879,2640,2702,261.6,14.9,471,10229,0.17,2.25,0.00,0.000,5126,0.373,0.050,3075,2469,2670,2639,2702,0,0,0,0,0,0,14.48,14.85,14.85
$GC,10547,1.10,108.4,3075,2469,2639,2702,218.8,12.2,487,10553,0.00,2.40,0.00,0.000,260,0.000,0.086,3075,3884,2670,2639,2702,0,0,0,0,0,0,15.10,14.77,15.12
$GC,10788,1.11,154.8,3075,3884,2639,2709,198.2,5.1,534,10826,0.00,2.22,31.10,1.082,9222,0.000,0.047,3083,2478,2493,2445,2541,0,0,0,0,0,0,14.85,14.81,14.27
$GC,11129,1.11,177.9,3083,2478,2446,2535,171.1,7.5,558,11151,0.00,2.40,16.70,1.025,8452,0.000,0.086,3083,3883,2399,2353,2445,0,0,0,0,0,0,15.00,14.71,14.26
$GC,11382,1.11,177.9,3083,3883,2353,2444,147.0,10.3,608,11388,0.00,2.25,0.00,0.000,1030,0.000,0.044,3093,2470,2398,2353,2444,0,0,0,0,0,0,14.84,14.77,14.85
$GC,11710,1.11,203.6,3093,2470,2356,2442,119.6,7.3,628,11734,0.00,2.38,18.40,0.981,8452,0.000,0.080,3093,3883,2296,2242,2350,0,0,0,0,0,0,15.02,14.74,14.30
$GC,11965,1.12,274.5,3093,3883,2244,2349,101.4,2.4,679,12022,0.00,2.22,48.97,0.969,9222,0.000,0.041,3104,2470,2004,1903,2105,0,0,0,0,0,0,14.86,14.80,14.16
$GC,12325,1.12,274.5,3104,2470,1908,2103,77.2,10.4,706,12331,0.12,2.22,0.00,0.000,4612,0.340,0.060,3084,1093,2005,1909,2102,0,0,0,0,0,0,14.50,14.69,14.66
$GC,12350,1.12,274.5,3084,1092,1911,2101,74.4,11.8,710,12356,0.00,2.22,0.00,0.000,1030,0.000,0.050,3085,2483,2006,1911,2101,0,0,0,0,0,0,14.82,14.74,14.84
$GC,12659,1.12,274.5,3084,2483,1916,2101,38.9,12.8,733,12666,0.00,2.30,0.00,0.000,260,0.000,0.076,3085,3877,2008,1916,2100,0,0,0,0,0,0,15.02,14.77,15.05
$GC,12881,1.12,274.5,3084,3876,1921,2097,6.8,14.5,777,12887,0.00,2.17,0.00,0.000,1030,0.000,0.040,3095,2486,2010,1923,2097,0,0,0,0,0,0,14.92,14.85,14.93
$STATE,12907,end climb,SURFACE_DEPTH_REACHED
$STATE,12908,begin surface coast
$FINISH,2.2,0.000000
$STATE,12932,end surface coast,CONTROL_FINISHED_OK
$STATE,12932,begin surface
$SM_CCo,12956,89.68,0.052,0,0,1087,500.17
$SM_GC,3.41,8.60,0.28,89.68,0.073,0.090,0.052,41,2660,1087,-8.30,-0.93,500.17,0,0,0,0,0,0,14.82,14.85,14.84
$IRIDIUM_FIX,753.81,8600.29,080915,055633
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.58
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,3998592
$24V_AH,13.45,36.714
$10V_AH,13.33,0.000
$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,23.075,104.725,281.825,89.675,0.000,0.000,0.000,250.875,0.500,0.000,35.861,798.010,10170.959,509.519,1453.628,575.150,0.000,1441.374,0.000,1279.727,0.000,0.545,0.000
$DEVICE_MAMPS,416.160,92.565,2094.570,52.020,0.000,0.000,0.000,218.025,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.247,0.000,0.000,0.000
$MEM,261092
$DATA_FILE_SIZE,26734,783
$CAP_FILE_SIZE,143786,0
$CFSIZE,260034560,240594944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,213.56,1
$GPS,080915,134828,758.713,8559.714,101,99.0,141,-1.8,0.9,180.8,3,-1.0