version: 66.12
glider: 141
mission: 23
dive: 104
start: 9 9 115 7 14 31
data:
$ID,141
$MISSION,23
$DIVE,104
$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,38
$R_STBD_OVSHOOT,57
$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
$GPS1,090915,070631,759.1268,8559.9336,298,1.7,301,-1.8,1.5,193.3,5,12.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-72.5
$GPS2,090915,071346,758.9582,8559.9707,14,1.7,54,-1.8,1.1,159.3,5,15.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,9.5,1930,-24.3,-10.000,-27.26,1205
$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,28,-0.98,-78.7,15,2688,1058,1127,0.0,0.0,0,122,0.00,0.00,-85.05,0.000,16390,0.000,0.000,12,2688,3448,3516,3380,0,0,0,0,0,0,14.95,14.01,14.97
$GC,128,-0.98,-111.6,12,2689,3515,3381,6.2,-7.2,9,150,11.43,2.38,-1.83,0.000,18948,0.420,0.072,2389,1227,3585,3644,3526,0,0,0,0,0,0,14.45,13.67,14.78
$GC,285,-0.98,-111.6,2388,1227,3643,3529,70.8,-36.3,38,290,0.00,2.22,0.00,0.000,1030,0.000,0.051,2380,2626,3586,3643,3529,0,0,0,0,0,0,14.83,14.76,14.85
$GC,606,-0.98,-111.6,2380,2626,3643,3532,164.4,-20.7,56,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2625,3587,3643,3531,0,0,0,0,0,0,15.07,15.11,15.11
$GC,905,-0.98,-111.6,2380,2625,3643,3535,210.9,-14.5,71,911,0.00,2.33,0.00,0.000,260,0.000,0.076,2369,4045,3589,3643,3535,0,0,0,0,0,0,15.10,14.84,15.14
$GC,1103,-0.98,-111.6,2369,4045,3643,3535,244.1,-19.1,109,1109,0.00,2.17,0.00,0.000,1030,0.000,0.032,2369,2637,3589,3643,3535,0,0,0,0,0,0,14.97,14.91,14.99
$GC,1443,-0.98,-111.6,2369,2636,3643,3535,305.6,-18.6,117,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2636,3588,3642,3535,0,0,0,0,0,0,15.13,15.17,15.16
$GC,1739,-0.98,-111.6,2369,2636,3638,3535,351.9,-15.1,122,1745,0.00,2.33,0.00,0.000,260,0.000,0.080,2359,4036,3586,3638,3535,0,0,0,0,0,0,15.14,14.83,15.17
$GC,1799,-0.98,-111.6,2358,4036,3638,3535,361.3,-15.9,133,1806,0.17,2.12,0.00,0.000,3078,0.307,0.034,2396,2646,3586,3637,3535,0,0,0,0,0,0,14.66,14.95,14.92
$GC,2108,-0.98,-111.6,2396,2646,3632,3535,404.0,-14.0,139,2115,0.00,2.20,0.00,0.000,516,0.000,0.053,2396,1258,3583,3632,3535,0,0,0,0,0,0,15.14,14.90,15.17
$GC,2140,-0.98,-111.6,2396,1258,3632,3534,409.3,-15.2,144,2145,0.00,2.22,0.00,0.000,1030,0.000,0.054,2388,2654,3583,3631,3535,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2484,-0.98,-111.6,2388,2654,3623,3535,461.3,-15.3,156,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3578,3622,3535,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2780,-0.98,-111.6,2389,2654,3617,3535,505.0,-14.5,161,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3575,3616,3535,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3081,-0.98,-111.6,2388,2654,3612,3535,544.5,-13.0,166,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3573,3612,3535,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3380,-0.98,-111.6,2388,2655,3608,3533,578.5,-11.1,171,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3571,3609,3533,0,0,0,0,0,0,15.16,15.21,15.19
$GC,3681,-0.98,-111.6,2388,2654,3601,3532,613.5,-11.7,176,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3568,3605,3532,0,0,0,0,0,0,15.16,15.21,15.19
$GC,3980,-0.98,-111.6,2388,2654,3601,3531,651.4,-12.7,181,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2654,3565,3601,3529,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4280,-0.98,-111.6,2388,2654,3599,3526,687.4,-11.8,186,4286,0.00,2.25,0.00,0.000,516,0.000,0.057,2388,1258,3563,3597,3529,0,0,0,0,0,0,15.17,14.88,15.20
$GC,4376,-0.98,-111.6,2388,1258,3597,3528,698.3,-11.5,204,4381,0.00,2.25,0.00,0.000,1030,0.000,0.057,2378,2655,3562,3596,3529,0,0,0,0,0,0,14.97,14.88,15.00
$GC,4772,-0.98,-111.6,2378,2655,3594,3526,745.2,-11.9,213,4777,0.00,2.30,0.00,0.000,260,0.000,0.086,2367,4037,3559,3593,3526,0,0,0,0,0,0,15.15,14.83,15.19
$GC,4801,-0.98,-111.6,2368,4038,3593,3525,749.5,-14.6,218,4808,0.12,2.17,0.00,0.000,3078,0.303,0.040,2392,2653,3559,3593,3525,0,0,0,0,0,0,14.62,14.91,14.88
$GC,5502,-0.98,-111.6,2391,2652,3588,3523,841.7,-13.2,242,5507,0.00,2.25,0.00,0.000,516,0.000,0.061,2392,1249,3555,3587,3523,0,0,0,0,0,0,15.16,14.85,15.19
$GC,5552,-0.98,-111.6,2391,1254,3587,3523,848.1,-12.5,252,5558,0.00,2.28,0.00,0.000,1030,0.000,0.062,2384,2648,3555,3587,3523,0,0,0,0,0,0,14.96,14.85,14.99
$GC,6221,-0.98,-111.6,2383,2648,3582,3519,929.2,-12.0,271,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2648,3550,3582,3519,0,0,0,0,0,0,15.15,15.19,15.18
$STATE,6818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6818,begin apogee
$GC,6828,-0.20,0.0,2384,2467,3581,3517,993.1,-10.5,276,6914,0.95,0.00,82.15,2.069,10246,0.249,0.000,2644,2467,3124,3083,3166,0,0,0,0,0,0,14.58,14.33,13.57
$STATE,6916,end apogee,CONTROL_FINISHED_OK
$STATE,6916,begin climb
$GC,6921,0.98,111.6,2644,2467,3083,3164,993.1,0.0,276,7021,1.20,2.53,87.55,2.026,10500,0.131,0.091,3029,3878,2668,2605,2732,0,0,0,0,0,0,14.31,14.12,13.43
$GC,7051,0.98,111.6,3028,3877,2606,2730,979.0,19.8,315,7057,0.00,2.33,0.00,0.000,1030,0.000,0.057,3039,2498,2668,2606,2730,0,0,0,0,0,0,14.40,14.33,14.41
$GC,7706,0.98,111.6,3038,2499,2616,2712,862.2,17.6,329,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2499,2664,2616,2713,0,0,0,0,0,0,14.96,15.00,14.98
$GC,8303,0.98,111.6,3038,2499,2617,2707,763.0,16.4,334,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2499,2662,2617,2707,0,0,0,0,0,0,15.04,15.08,15.08
$GC,8903,0.98,111.6,3038,2498,2618,2704,670.0,15.3,340,8908,0.00,2.38,0.00,0.000,260,0.000,0.091,3038,3882,2661,2620,2703,0,0,0,0,0,0,15.08,14.78,15.11
$GC,8970,0.98,111.6,3038,3882,2620,2703,659.2,16.3,352,8975,0.00,2.28,0.00,0.000,1030,0.000,0.054,3049,2472,2661,2620,2703,0,0,0,0,0,0,14.91,14.82,14.94
$GC,9335,0.98,111.6,3049,2471,2620,2701,601.2,16.0,369,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2471,2660,2620,2701,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9636,0.98,111.6,3049,2471,2620,2700,550.9,16.8,374,9641,0.00,2.42,0.00,0.000,260,0.000,0.092,3049,3878,2660,2620,2700,0,0,0,0,0,0,15.09,14.73,15.12
$GC,9696,0.98,111.6,3049,3878,2621,2696,539.9,18.5,385,9702,0.00,2.28,0.00,0.000,1030,0.000,0.054,3060,2470,2660,2621,2700,0,0,0,0,0,0,14.90,14.82,14.94
$GC,10005,0.98,111.6,3059,2470,2621,2698,488.2,16.8,391,10011,0.00,2.40,0.00,0.000,260,0.000,0.089,3059,3879,2660,2622,2699,0,0,0,0,0,0,15.08,14.75,15.12
$GC,10026,0.98,111.6,3059,3879,2622,2700,483.8,17.0,394,10032,0.17,2.28,0.00,0.000,5126,0.366,0.054,3037,2471,2659,2621,2698,0,0,0,0,0,0,14.47,14.83,14.84
$GC,10378,0.98,111.6,3036,2471,2622,2698,428.1,15.7,408,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2471,2660,2622,2698,0,0,0,0,0,0,15.10,15.14,15.13
$GC,10677,0.98,111.6,3037,2471,2617,2697,386.1,13.9,413,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2471,2659,2621,2698,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10977,0.98,111.6,3036,2471,2621,2698,347.3,12.9,418,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2471,2659,2621,2698,0,0,0,0,0,0,15.11,15.15,15.14
$GC,11278,0.98,111.6,3037,2471,2622,2697,305.9,14.0,423,11284,0.00,2.42,0.00,0.000,260,0.000,0.089,3037,3883,2660,2623,2698,0,0,0,0,0,0,15.11,14.75,15.15
$GC,11335,0.98,111.6,3036,3883,2623,2697,297.2,14.8,433,11340,0.00,2.28,0.00,0.000,1030,0.000,0.051,3045,2467,2660,2623,2697,0,0,0,0,0,0,14.92,14.84,14.95
$GC,11654,0.98,111.6,3045,2468,2623,2697,251.4,14.5,440,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2467,2660,2623,2697,0,0,0,0,0,0,15.09,15.13,15.12
$GC,11951,0.99,150.3,3045,2467,2625,2697,224.4,6.7,453,11983,0.00,2.40,26.30,1.117,8452,0.000,0.088,3045,3879,2512,2463,2561,0,0,0,0,0,0,15.10,14.69,14.26
$GC,12188,0.99,150.3,3045,3879,2462,2559,192.4,15.8,499,12194,0.00,2.28,0.00,0.000,1030,0.000,0.050,3055,2470,2510,2462,2559,0,0,0,0,0,0,14.84,14.76,14.86
$GC,12509,0.99,193.2,3055,2470,2464,2557,158.4,6.3,516,12546,0.00,2.40,29.80,1.039,8452,0.000,0.084,3055,3880,2338,2281,2395,0,0,0,0,0,0,15.01,14.60,14.21
$GC,12783,0.99,201.4,3055,3880,2281,2394,136.3,9.3,569,12800,0.15,2.28,7.38,0.940,13318,0.346,0.046,3037,2464,2302,2246,2359,0,0,0,0,0,0,14.44,14.72,14.21
$GC,13099,0.99,205.6,3037,2464,2251,2355,104.6,9.6,587,13110,0.00,2.45,3.78,0.732,8452,0.000,0.081,3038,3886,2289,2237,2342,0,0,0,0,0,0,14.98,14.73,14.15
$GC,13249,1.00,298.4,3037,3886,2243,2341,93.3,2.1,615,13321,0.00,2.25,63.47,0.972,9222,0.000,0.041,3046,2463,1909,1787,2032,0,0,0,0,0,0,14.85,14.80,14.10
$GC,13631,1.00,298.4,3046,2463,1794,2026,58.0,10.3,646,13637,0.00,2.28,0.00,0.000,516,0.000,0.064,3056,1083,1910,1795,2026,0,0,0,0,0,0,14.92,14.67,14.96
$GC,13874,1.00,302.1,3056,1083,1805,2021,33.1,9.7,692,13885,0.00,2.25,2.50,0.424,9222,0.000,0.050,3056,2488,1896,1786,2007,0,0,0,0,0,0,14.83,14.76,14.15
$STATE,14172,end climb,SURFACE_DEPTH_REACHED
$STATE,14172,begin surface coast
$FINISH,2.3,1.008395
$STATE,14193,end surface coast,CONTROL_FINISHED_OK
$STATE,14193,begin surface
$SM_CCo,14221,79.20,0.051,0,0,1086,500.17
$SM_GC,3.25,8.32,0.25,79.20,0.056,0.097,0.051,48,2663,1086,-8.28,-0.96,500.17,0,0,0,0,0,0,14.78,14.83,14.81
$IRIDIUM_FIX,753.81,8602.46,090915,030434
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.50
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.30
$XPDR_PINGS,1
$SC_FREEKB,3997856
$24V_AH,13.43,37.823
$10V_AH,13.29,0.000
$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,22.525,74.125,302.925,79.200,0.000,0.000,0.000,204.675,0.250,0.000,56.427,1347.688,11013.655,479.797,1402.100,506.552,0.000,1324.216,0.000,1205.348,0.000,0.544,0.000
$DEVICE_MAMPS,419.985,97.155,2068.560,51.255,0.000,0.000,0.000,218.025,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.126,0.000,0.000,0.000
$MEM,260908
$DATA_FILE_SIZE,26732,725
$CAP_FILE_SIZE,142205,0
$CFSIZE,260034560,240287744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,148.46,1
$GPS,090915,111603,759.488,8600.552,100,99.0,140,-1.8,0.7,248.9,3,-1.0