version: 66.12
glider: 141
mission: 23
dive: 103
start: 9 9 115 3 13 55
data:
$ID,141
$MISSION,23
$DIVE,103
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,090915,030133,759.6096,8600.4180,104,99.0,144,-1.8,0.5,121.0,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-72.1
$GPS2,090915,031322,759.3388,8600.4180,11,2.3,51,-1.8,2.3,235.8,5,47.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,330.1,1445,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-63.0,20,2684,1061,1126,0.0,0.0,0,122,0.00,0.00,-84.43,0.000,16390,0.000,0.000,19,2684,3386,3447,3325,0,0,0,0,0,0,14.88,13.56,14.92
$GC,128,-1.10,-102.0,19,2684,3447,3326,5.6,-5.8,9,150,11.45,2.30,-2.20,0.000,18948,0.427,0.067,2354,1240,3545,3602,3488,0,0,0,0,0,0,14.41,13.95,14.74
$GC,219,-1.10,-102.0,2354,1240,3602,3490,47.5,-38.7,25,224,0.00,2.22,0.00,0.000,1030,0.000,0.052,2347,2627,3546,3602,3490,0,0,0,0,0,0,14.81,14.73,14.83
$GC,535,-1.10,-102.0,2346,2627,3602,3492,156.9,-25.8,42,540,0.00,2.33,0.00,0.000,260,0.000,0.077,2336,4043,3546,3601,3491,0,0,0,0,0,0,15.04,14.76,15.07
$GC,717,-1.10,-102.0,2336,4043,3602,3495,195.4,-14.9,77,724,0.00,2.15,0.00,0.000,1030,0.000,0.033,2335,2641,3548,3602,3494,0,0,0,0,0,0,14.93,14.88,14.95
$GC,1023,-1.10,-102.0,2335,2642,3602,3496,232.6,-12.4,93,1028,0.00,2.30,0.00,0.000,260,0.000,0.073,2325,4045,3549,3602,3497,0,0,0,0,0,0,15.10,14.85,15.13
$GC,1161,-1.10,-102.0,2325,4045,3601,3497,257.3,-19.7,119,1167,0.15,2.15,0.00,0.000,3078,0.331,0.032,2353,2638,3549,3602,3496,0,0,0,0,0,0,14.63,14.92,14.90
$GC,1518,-1.10,-102.0,2353,2637,3600,3497,328.8,-20.1,134,1523,0.00,2.33,0.00,0.000,260,0.000,0.076,2345,4049,3548,3600,3497,0,0,0,0,0,0,15.12,14.86,15.16
$GC,1553,-1.10,-102.0,2348,4049,3600,3496,335.2,-18.9,140,1559,0.00,2.15,0.00,0.000,1030,0.000,0.032,2346,2641,3548,3600,3496,0,0,0,0,0,0,15.00,14.94,15.01
$GC,1892,-1.10,-102.0,2345,2640,3594,3497,382.6,-13.5,151,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2641,3545,3593,3497,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2189,-1.10,-102.0,2345,2640,3586,3496,428.1,-15.5,156,2196,0.00,2.17,0.00,0.000,516,0.000,0.051,2345,1254,3541,3586,3497,0,0,0,0,0,0,15.15,14.91,15.19
$GC,2251,-1.10,-102.0,2345,1254,3585,3494,437.8,-15.4,167,2258,0.00,2.22,0.00,0.000,1030,0.000,0.051,2335,2661,3540,3584,3496,0,0,0,0,0,0,15.00,14.90,15.02
$GC,2560,-1.10,-102.0,2335,2661,3579,3496,485.6,-15.8,173,2565,0.00,2.22,0.00,0.000,516,0.000,0.051,2335,1250,3537,3579,3496,0,0,0,0,0,0,15.14,14.90,15.17
$GC,2579,-1.10,-102.0,2335,1250,3579,3497,489.3,-15.8,176,2586,0.15,2.22,0.00,0.000,3078,0.315,0.052,2355,2654,3537,3578,3497,0,0,0,0,0,0,14.65,14.90,14.92
$GC,2931,-1.10,-102.0,2355,2654,3572,3496,541.4,-14.8,190,2932,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2654,3534,3572,3496,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3231,-1.10,-102.0,2354,2655,3569,3495,582.2,-13.4,195,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2654,3532,3569,3495,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3531,-1.10,-102.0,2354,2654,3565,3492,620.6,-12.8,200,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2654,3528,3564,3492,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3832,-1.10,-102.0,2355,2654,3562,3490,662.5,-14.1,205,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2654,3525,3561,3490,0,0,0,0,0,0,15.16,15.19,15.18
$GC,4131,-1.10,-102.0,2354,2658,3559,3489,704.1,-13.9,210,4136,0.00,2.25,0.00,0.000,516,0.000,0.055,2355,1250,3523,3558,3489,0,0,0,0,0,0,15.16,14.89,15.19
$GC,4201,-1.10,-102.0,2355,1250,3558,3488,713.7,-13.8,223,4206,0.00,2.25,0.00,0.000,1030,0.000,0.057,2347,2656,3522,3557,3488,0,0,0,0,0,0,15.01,14.89,15.01
$GC,4863,-1.10,-102.0,2347,2656,3553,3484,802.6,-13.4,239,4869,0.00,2.22,0.00,0.000,516,0.000,0.057,2347,1260,3518,3552,3484,0,0,0,0,0,0,15.14,14.83,15.18
$GC,4887,-1.10,-102.0,2347,1259,3552,3484,806.6,-14.8,244,4893,0.00,2.25,0.00,0.000,1030,0.000,0.060,2337,2652,3518,3552,3485,0,0,0,0,0,0,14.97,14.86,15.00
$GC,5582,-1.10,-102.0,2337,2652,3545,3480,904.7,-14.0,268,5588,0.00,2.25,0.00,0.000,516,0.000,0.060,2337,1254,3513,3547,3480,0,0,0,0,0,0,15.16,14.85,15.20
$GC,5627,-1.10,-102.0,2337,1254,3547,3480,911.0,-13.9,277,5634,0.15,2.28,0.00,0.000,3078,0.311,0.061,2357,2660,3513,3547,3480,0,0,0,0,0,0,14.58,14.86,14.88
$STATE,6299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6299,begin apogee
$GC,6308,-0.20,0.0,2357,2467,3543,3478,996.7,-12.6,297,6386,1.05,0.00,74.20,2.046,10246,0.257,0.000,2644,2466,3127,3090,3164,0,0,0,0,0,0,14.59,14.38,13.62
$STATE,6389,end apogee,CONTROL_FINISHED_OK
$STATE,6389,begin climb
$GC,6393,1.10,102.0,2645,2466,3089,3160,996.7,0.0,297,6478,1.33,0.00,81.40,2.010,10246,0.128,0.000,3068,2465,2711,2655,2767,0,0,0,0,0,0,14.35,14.16,13.46
$GC,7023,1.10,102.0,3067,2465,2666,2744,897.9,17.5,303,7028,0.00,2.40,0.00,0.000,260,0.000,0.091,3068,3872,2704,2666,2743,0,0,0,0,0,0,14.93,14.64,14.96
$GC,7092,1.10,102.0,3067,3872,2666,2742,884.7,19.7,317,7098,0.00,2.25,0.00,0.000,1030,0.000,0.054,3078,2487,2704,2666,2743,0,0,0,0,0,0,14.80,14.72,14.82
$GC,7747,1.10,102.0,3078,2487,2668,2736,768.1,17.8,332,7752,0.00,2.35,0.00,0.000,260,0.000,0.088,3078,3870,2702,2668,2736,0,0,0,0,0,0,15.04,14.71,15.07
$GC,7765,1.10,102.0,3078,3870,2668,2736,763.9,18.5,336,7771,0.00,2.25,0.00,0.000,1030,0.000,0.054,3088,2475,2702,2668,2736,0,0,0,0,0,0,14.88,14.80,14.92
$GC,8405,1.10,102.0,3088,2475,2668,2732,650.7,17.1,362,8411,0.00,2.40,0.00,0.000,260,0.000,0.090,3088,3879,2700,2669,2732,0,0,0,0,0,0,15.08,14.74,15.11
$GC,8421,1.10,102.0,3088,3879,2669,2732,648.1,16.7,365,8427,0.15,2.28,0.00,0.000,5126,0.379,0.054,3073,2469,2700,2669,2732,0,0,0,0,0,0,14.48,14.83,14.84
$GC,8766,1.10,102.0,3072,2469,2669,2730,592.1,16.3,379,8772,0.00,2.40,0.00,0.000,260,0.000,0.089,3072,3874,2699,2669,2730,0,0,0,0,0,0,15.08,14.74,15.11
$GC,8800,1.10,102.0,3072,3875,2669,2730,585.9,18.6,386,8806,0.00,2.28,0.00,0.000,1030,0.000,0.054,3081,2471,2698,2669,2728,0,0,0,0,0,0,14.91,14.85,14.92
$GC,9129,1.10,102.0,3080,2471,2669,2729,530.4,17.0,396,9135,0.00,2.38,0.00,0.000,260,0.000,0.087,3080,3877,2699,2669,2729,0,0,0,0,0,0,15.08,14.72,15.11
$GC,9163,1.10,102.0,3080,3877,2670,2729,523.5,18.4,403,9169,0.00,2.28,0.00,0.000,1030,0.000,0.054,3091,2467,2699,2669,2729,0,0,0,0,0,0,14.91,14.83,14.95
$GC,9492,1.10,102.0,3091,2467,2670,2728,468.4,16.9,413,9498,0.00,2.42,0.00,0.000,260,0.000,0.087,3091,3881,2699,2670,2728,0,0,0,0,0,0,15.09,14.76,15.13
$GC,9521,1.10,102.0,3090,3881,2670,2728,462.7,17.8,419,9528,0.15,2.28,0.00,0.000,5126,0.370,0.054,3075,2473,2699,2670,2728,0,0,0,0,0,0,14.48,14.83,14.85
$GC,9855,1.10,102.0,3075,2468,2670,2727,409.7,15.9,430,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2469,2698,2670,2727,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10152,1.10,102.0,3075,2468,2670,2727,363.5,15.4,435,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2468,2698,2670,2727,0,0,0,0,0,0,15.11,15.15,15.15
$GC,10453,1.10,102.0,3075,2468,2670,2727,314.6,16.4,440,10454,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2468,2698,2670,2727,0,0,0,0,0,0,15.12,15.16,15.16
$GC,10752,1.10,102.0,3075,2468,2670,2727,269.8,14.6,445,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2469,2698,2670,2727,0,0,0,0,0,0,15.12,15.16,15.16
$GC,11055,1.10,116.9,3075,2468,2670,2727,240.6,8.4,452,11070,0.00,2.38,10.20,1.089,8452,0.000,0.084,3075,3882,2648,2617,2679,0,0,0,0,0,0,15.11,14.77,14.31
$GC,11301,1.10,116.9,3074,3882,2617,2679,214.0,12.3,501,11307,0.00,2.28,0.00,0.000,1030,0.000,0.049,3083,2461,2648,2617,2679,0,0,0,0,0,0,14.90,14.83,14.92
$GC,11615,1.10,142.6,3083,2461,2617,2681,185.5,7.3,518,11639,0.00,2.40,18.98,1.052,8452,0.000,0.083,3083,3886,2543,2499,2587,0,0,0,0,0,0,15.07,14.71,14.31
$GC,11769,1.11,180.3,3083,3886,2499,2586,174.8,6.0,549,11801,0.00,2.28,26.65,1.043,9222,0.000,0.047,3093,2463,2391,2342,2441,0,0,0,0,0,0,14.85,14.78,14.21
$GC,12109,1.11,194.4,3093,2463,2347,2430,146.2,8.5,572,12126,0.00,2.45,10.82,0.976,8452,0.000,0.083,3093,3879,2332,2284,2380,0,0,0,0,0,0,14.98,14.69,14.23
$GC,12356,1.11,194.4,3093,3879,2285,2379,113.2,12.5,621,12363,0.15,2.25,0.00,0.000,5126,0.338,0.045,3076,2471,2332,2285,2380,0,0,0,0,0,0,14.50,14.76,14.76
$GC,12676,1.12,290.2,3076,2471,2288,2379,103.2,-0.2,639,12748,0.00,2.47,64.90,0.957,8452,0.000,0.079,3075,3885,1940,1827,2053,0,0,0,0,0,0,15.02,14.56,14.15
$GC,12760,1.12,311.8,3076,3885,1830,2048,99.5,7.7,656,12782,0.00,2.28,15.77,0.957,9222,0.000,0.042,3079,2468,1854,1731,1977,0,0,0,0,0,0,14.67,14.60,14.09
$GC,13095,1.12,311.8,3079,2468,1739,1972,57.1,11.2,678,13101,0.00,2.38,0.00,0.000,260,0.000,0.077,3079,3874,1856,1740,1972,0,0,0,0,0,0,14.92,14.66,14.96
$GC,13333,1.12,311.8,3079,3874,1752,1962,23.7,15.6,725,13338,0.00,2.20,0.00,0.000,1030,0.000,0.040,3089,2476,1857,1752,1962,0,0,0,0,0,0,14.85,14.81,14.87
$STATE,13483,end climb,SURFACE_DEPTH_REACHED
$STATE,13484,begin surface coast
$FINISH,2.3,0.000000
$STATE,13504,end surface coast,CONTROL_FINISHED_OK
$STATE,13504,begin surface
$SM_CCo,13529,75.12,0.051,0,0,1088,500.17
$SM_GC,3.54,8.35,0.30,75.12,0.047,0.086,0.051,44,2685,1088,-8.29,-0.74,500.17,0,0,0,0,0,0,14.79,14.83,14.81
$IRIDIUM_FIX,753.81,8602.46,080915,230441
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.52
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.20
$XPDR_PINGS,0
$SC_FREEKB,3998080
$24V_AH,13.46,37.621
$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,23.075,92.150,302.925,75.125,0.000,0.000,0.000,479.725,0.000,0.000,54.136,770.572,10824.124,501.008,1613.361,603.538,0.000,1630.652,0.000,1219.088,0.000,0.544,0.000
$DEVICE_MAMPS,426.870,91.035,2046.375,51.255,0.000,0.000,0.000,239.445,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13498.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.261,0.000,0.000,0.000
$MEM,261100
$DATA_FILE_SIZE,26699,744
$CAP_FILE_SIZE,144395,0
$CFSIZE,260034560,240345088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,193.91,1
$GPS,090915,070631,759.127,8559.934,298,1.7,301,-1.8,1.5,193.3,5,12.9