version: 66.12
glider: 141
mission: 23
dive: 136
start: 9 18 115 7 26 10
data:
$ID,141
$MISSION,23
$DIVE,136
$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,360
$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,8
$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,45
$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
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,180915,033944,733.6282,8611.9570,301,99.0,301,-1.9,0.5,181.8,4,15.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-72.7
$GPS2,180915,033944,733.6282,8611.9570,301,99.0,301,-1.9,0.5,181.8,4,15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,224.0,132295,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.10,-63.0,0,2683,1070,1119,0.0,0.0,0,104,0.00,0.00,-77.20,0.000,16386,0.000,0.000,1,2683,3208,3266,3151,0,0,0,0,0,0,14.98,28.83,15.02
$GC,110,-1.10,-110.1,1,2683,3266,3152,5.4,-5.0,8,130,11.40,0.00,-6.05,0.000,18694,0.418,0.000,2349,2683,3578,3633,3524,0,0,0,0,0,0,14.40,13.59,14.63
$GC,442,-1.10,-110.1,2349,2683,3633,3530,120.8,-22.7,32,447,0.00,2.20,0.00,0.000,260,0.000,0.073,2341,4032,3581,3633,3530,0,0,0,0,0,0,15.08,14.75,15.11
$GC,677,-1.10,-110.1,2341,4032,3633,3534,171.1,-23.5,79,682,0.00,2.20,0.00,0.000,1030,0.000,0.034,2341,2640,3583,3633,3534,0,0,0,0,0,0,14.85,14.81,14.87
$GC,983,-1.10,-110.1,2341,2638,3633,3535,231.4,-19.3,95,988,0.00,2.28,0.00,0.000,260,0.000,0.076,2331,4026,3584,3634,3535,0,0,0,0,0,0,15.14,14.79,15.17
$GC,1216,-1.10,-110.1,2330,4026,3633,3535,269.9,-15.3,142,1221,0.00,2.17,0.00,0.000,1030,0.000,0.034,2330,2648,3584,3633,3535,0,0,0,0,0,0,14.87,14.83,14.89
$GC,1522,-1.10,-110.1,2330,2647,3632,3535,318.3,-16.1,148,1528,0.00,2.25,0.00,0.000,260,0.000,0.076,2320,4019,3582,3630,3535,0,0,0,0,0,0,15.16,14.78,15.20
$GC,1698,-1.10,-110.1,2320,4019,3628,3535,350.7,-18.4,183,1703,0.12,2.17,0.00,0.000,3078,0.305,0.035,2351,2638,3581,3628,3535,0,0,0,0,0,0,14.50,14.85,14.69
$GC,2003,-1.10,-110.1,2351,2638,3622,3535,398.6,-15.4,189,2009,0.00,2.17,0.00,0.000,516,0.000,0.054,2351,1263,3578,3621,3535,0,0,0,0,0,0,15.17,14.85,15.21
$GC,2048,-1.10,-110.1,2351,1263,3622,3535,405.6,-15.0,198,2052,0.00,2.20,0.00,0.000,1030,0.000,0.054,2344,2640,3577,3621,3534,0,0,0,0,0,0,14.97,14.88,15.00
$GC,2367,-1.10,-110.1,2343,2640,3614,3535,453.2,-15.1,206,2371,0.00,2.33,0.00,0.000,260,0.000,0.079,2333,4046,3574,3614,3535,0,0,0,0,0,0,15.18,14.83,15.21
$GC,2419,-1.10,-110.1,2332,4046,3613,3533,462.5,-17.8,216,2426,0.00,2.15,0.00,0.000,1030,0.000,0.035,2333,2651,3574,3614,3534,0,0,0,0,0,0,14.99,14.92,15.01
$GC,2731,-1.10,-110.1,2333,2651,3609,3533,515.1,-16.8,223,2736,0.00,2.20,0.00,0.000,516,0.000,0.055,2333,1252,3570,3608,3533,0,0,0,0,0,0,15.18,14.83,15.21
$GC,2772,-1.10,-110.1,2333,1252,3608,3533,521.9,-16.3,231,2777,0.12,2.22,0.00,0.000,3078,0.281,0.055,2355,2647,3570,3608,3533,0,0,0,0,0,0,14.54,14.83,14.73
$GC,3092,-1.10,-110.1,2354,2647,3603,3531,570.9,-15.2,240,3097,0.00,2.30,0.00,0.000,260,0.000,0.082,2346,4038,3567,3603,3531,0,0,0,0,0,0,15.19,14.78,15.21
$GC,3136,-1.10,-110.1,2346,4038,3603,3530,578.0,-15.7,249,3142,0.00,2.15,0.00,0.000,1030,0.000,0.037,2346,2654,3567,3603,3531,0,0,0,0,0,0,14.99,14.92,15.01
$GC,3453,-1.10,-110.1,2346,2654,3600,3529,622.8,-14.0,257,3459,0.00,2.22,0.00,0.000,516,0.000,0.058,2345,1252,3564,3599,3529,0,0,0,0,0,0,15.18,14.81,15.21
$GC,3528,-1.10,-110.1,2346,1252,3599,3529,632.8,-12.9,272,3534,0.00,2.25,0.00,0.000,1030,0.000,0.057,2336,2652,3563,3598,3529,0,0,0,0,0,0,14.96,14.85,14.99
$GC,3874,-1.10,-110.1,2336,2652,3596,3525,677.7,-12.9,286,3878,0.00,2.25,0.00,0.000,516,0.000,0.057,2336,1254,3560,3596,3525,0,0,0,0,0,0,15.18,14.84,15.21
$GC,3906,-1.10,-110.1,2335,1254,3596,3525,682.3,-13.4,292,3913,0.15,2.28,0.00,0.000,3078,0.301,0.058,2356,2661,3560,3595,3525,0,0,0,0,0,0,14.55,14.85,14.85
$GC,4298,-1.10,-110.1,2356,2661,3591,3524,732.9,-13.0,302,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2661,3557,3591,3523,0,0,0,0,0,0,15.18,15.22,15.21
$GC,4899,-1.10,-110.1,2356,2661,3586,3520,816.6,-14.1,307,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2661,3553,3586,3520,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5498,-1.10,-110.1,2356,2661,3582,3516,902.5,-14.2,312,5503,0.00,2.28,0.00,0.000,516,0.000,0.062,2356,1252,3548,3581,3516,0,0,0,0,0,0,15.19,14.73,15.22
$GC,5536,-1.10,-110.1,2356,1252,3581,3516,907.7,-12.7,320,5542,0.00,2.28,0.00,0.000,1030,0.000,0.063,2348,2646,3548,3581,3516,0,0,0,0,0,0,14.93,14.81,14.97
$GC,6218,-1.10,-110.1,2348,2646,3578,3513,989.1,-11.7,341,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2645,3545,3578,3513,0,0,0,0,0,0,15.19,15.22,15.21
$STATE,6334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6334,begin apogee
$GC,6344,-0.20,0.0,2348,2468,3576,3513,1003.1,-11.5,342,6429,1.10,0.00,81.68,2.043,10246,0.259,0.000,2644,2468,3125,3084,3166,0,0,0,0,0,0,14.53,14.34,13.57
$STATE,6431,end apogee,CONTROL_FINISHED_OK
$STATE,6431,begin climb
$GC,6435,1.10,110.1,2644,2468,3084,3164,1003.1,0.0,342,6528,1.33,0.00,88.43,1.983,10246,0.127,0.000,3066,2467,2676,2616,2736,0,0,0,0,0,0,14.31,14.14,13.42
$GC,7059,1.10,110.1,3065,2466,2624,2716,899.9,18.1,348,7064,0.00,2.40,0.00,0.000,260,0.000,0.090,3066,3874,2669,2624,2715,0,0,0,0,0,0,14.93,14.56,14.97
$GC,7187,1.10,110.1,3066,3875,2626,2712,874.6,19.4,374,7193,0.00,2.25,0.00,0.000,1030,0.000,0.055,3076,2498,2669,2626,2713,0,0,0,0,0,0,14.77,14.69,14.81
$GC,7899,1.10,110.1,3076,2498,2625,2707,747.3,17.9,401,7904,0.00,2.35,0.00,0.000,260,0.000,0.089,3076,3876,2667,2626,2708,0,0,0,0,0,0,15.07,14.62,15.10
$GC,8013,1.10,110.1,3076,3876,2626,2706,724.4,20.2,424,8017,0.00,2.33,0.00,0.000,1030,0.000,0.055,3086,2479,2666,2626,2707,0,0,0,0,0,0,14.74,14.69,14.78
$GC,8619,1.10,110.1,3086,2479,2626,2703,615.3,17.7,433,8624,0.00,2.38,0.00,0.000,260,0.000,0.088,3086,3873,2665,2628,2703,0,0,0,0,0,0,15.11,14.65,15.14
$GC,8678,1.10,110.1,3086,3873,2628,2702,603.6,20.0,445,8684,0.00,2.28,0.00,0.000,1030,0.000,0.055,3096,2470,2665,2628,2702,0,0,0,0,0,0,14.80,14.72,14.84
$GC,9039,1.10,110.1,3096,2469,2628,2701,537.3,18.4,462,9045,0.00,2.40,0.00,0.000,260,0.000,0.089,3097,3877,2664,2628,2701,0,0,0,0,0,0,15.12,14.66,15.16
$GC,9058,1.10,110.1,3096,3878,2628,2701,533.5,19.2,466,9066,0.17,2.30,0.00,0.000,5126,0.371,0.054,3075,2470,2664,2628,2701,0,0,0,0,0,0,14.40,14.80,14.79
$GC,9401,1.10,110.1,3074,2470,2628,2700,474.3,17.2,479,9405,0.00,2.42,0.00,0.000,260,0.000,0.090,3075,3880,2664,2628,2700,0,0,0,0,0,0,15.13,14.70,15.16
$GC,9473,1.10,110.1,3075,3880,2629,2700,460.4,19.0,493,9479,0.00,2.28,0.00,0.000,1030,0.000,0.054,3083,2478,2664,2629,2700,0,0,0,0,0,0,14.89,14.80,14.92
$GC,9827,1.10,110.1,3082,2477,2628,2699,396.7,18.2,508,9832,0.00,2.38,0.00,0.000,260,0.000,0.090,3083,3870,2664,2629,2699,0,0,0,0,0,0,15.13,14.66,15.16
$GC,9936,1.10,110.1,3082,3870,2629,2699,375.6,18.9,530,9944,0.00,2.28,0.00,0.000,1030,0.000,0.054,3093,2467,2664,2629,2699,0,0,0,0,0,0,14.89,14.79,14.92
$GC,10248,1.10,110.1,3092,2467,2629,2698,328.0,14.9,537,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2467,2663,2629,2698,0,0,0,0,0,0,15.13,15.17,15.16
$GC,10546,1.10,110.1,3093,2466,2629,2699,284.5,14.8,542,10552,0.00,2.40,0.00,0.000,260,0.000,0.089,3093,3876,2664,2630,2698,0,0,0,0,0,0,15.15,14.67,15.18
$GC,10621,1.10,110.1,3093,3876,2629,2698,270.9,18.5,557,10627,0.17,2.28,0.00,0.000,5126,0.362,0.052,3071,2471,2663,2629,2698,0,0,0,0,0,0,14.38,14.81,14.79
$GC,10948,1.10,110.1,3071,2471,2630,2698,227.3,12.0,576,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2471,2664,2630,2698,0,0,0,0,0,0,15.14,15.18,15.18
$GC,11247,1.10,110.1,3071,2471,2630,2698,187.4,13.4,591,11252,0.00,2.42,0.00,0.000,260,0.000,0.087,3071,3879,2664,2630,2698,0,0,0,0,0,0,15.14,14.71,15.17
$GC,11412,1.10,110.1,3070,3878,2630,2698,163.1,10.5,623,11416,0.00,2.25,0.00,0.000,1030,0.000,0.050,3079,2473,2664,2631,2698,0,0,0,0,0,0,14.90,14.81,14.94
$GC,11736,1.11,174.5,3079,2473,2631,2698,146.5,3.2,642,11781,0.00,0.00,42.88,1.023,8454,0.000,0.000,3079,2473,2413,2364,2463,0,0,0,0,0,0,15.14,14.75,14.24
$GC,12076,1.11,189.0,3079,2473,2368,2453,116.2,8.5,662,12093,0.00,2.45,10.95,0.952,8452,0.000,0.087,3079,3879,2354,2306,2402,0,0,0,0,0,0,15.01,14.70,14.23
$GC,12312,1.11,217.5,3079,3879,2306,2401,94.8,7.0,709,12338,0.00,2.30,20.58,0.964,9222,0.000,0.047,3089,2480,2237,2175,2300,0,0,0,0,0,0,14.72,14.67,14.23
$GC,12658,1.12,264.1,3090,2480,2179,2294,77.0,5.0,733,12696,0.00,2.40,32.17,0.933,8452,0.000,0.079,3089,3889,2046,1954,2139,0,0,0,0,0,0,15.01,14.57,14.22
$GC,12924,1.12,289.2,3089,3889,1965,2128,52.5,7.3,786,12947,0.00,2.25,17.88,0.900,9222,0.000,0.041,3100,2471,1947,1839,2055,0,0,0,0,0,0,14.80,14.73,14.22
$GC,13251,1.12,289.2,3099,2471,1844,2051,15.2,14.2,820,13258,0.00,2.33,0.00,0.000,260,0.000,0.076,3100,3873,1947,1844,2051,0,0,0,0,0,0,15.00,14.66,15.03
$STATE,13322,end climb,SURFACE_DEPTH_REACHED
$STATE,13322,begin surface coast
$STATE,13331,end surface coast,CONTROL_FINISHED_OK
$STATE,13332,begin surface
$SM_CCo,13357,84.32,0.053,0,0,1087,500.17
$SM_GC,3.48,8.43,2.00,84.32,0.050,0.035,0.053,46,2633,1087,-8.28,0.99,500.17,0,0,0,0,0,0,14.74,14.79,14.77
$IRIDIUM_FIX,729.87,8613.62,180915,033331
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.66
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,13.42,45.290
$10V_AH,13.46,0.000
$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,23.000,95.900,294.550,84.325,0.000,0.000,0.000,222.000,0.000,0.000,303.443,533.289,10589.629,466.105,2142.884,342.663,0.000,1417.560,0.000,1198.743,0.000,0.544,0.000
$DEVICE_MAMPS,418.455,90.270,2043.315,52.785,0.000,0.000,0.000,224.145,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260280
$DATA_FILE_SIZE,36783,837
$CAP_FILE_SIZE,57184,0
$CFSIZE,260034560,237981696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167,211.79,1
$GPS,180915,033944,733.628,8611.957,301,99.0,301,-1.9,0.5,181.8,4,15.4