version: 66.12
glider: 141
mission: 23
dive: 137
start: 9 18 115 11 26 30
data:
$ID,141
$MISSION,23
$DIVE,137
$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,48
$R_STBD_OVSHOOT,28
$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,3.10
$_SM_ANGLEo,-70.9
$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,296.8,132295,-14.9,-10.000,-18.74,2959
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,0,2630,1068,1123,0.0,0.0,0,114,0.00,0.00,-86.45,0.000,16386,0.000,0.000,1,2630,3492,3561,3423,0,0,0,0,0,0,14.99,28.83,15.02
$GC,120,-0.62,-194.6,0,2630,3561,3424,6.2,-6.9,9,145,12.15,2.25,-5.95,0.000,18948,0.421,0.079,2509,1259,3924,3998,3850,0,0,0,0,0,0,14.45,13.59,14.79
$GC,220,-0.62,-194.6,2509,1259,3998,3853,47.2,-28.9,29,226,0.00,2.22,0.00,0.000,1030,0.000,0.057,2502,2646,3925,3998,3853,0,0,0,0,0,0,14.77,14.70,14.81
$GC,540,-0.62,-194.6,2501,2646,3998,3855,121.0,-13.7,47,544,0.00,2.33,0.00,0.000,260,0.000,0.078,2491,4054,3926,3998,3855,0,0,0,0,0,0,15.09,14.78,15.13
$GC,644,-0.62,-194.6,2490,4055,3998,3857,136.8,-14.1,67,649,0.00,2.15,0.00,0.000,1030,0.000,0.033,2491,2653,3927,3998,3857,0,0,0,0,0,0,14.89,14.85,14.91
$GC,969,-0.62,-194.6,2490,2653,3998,3860,186.5,-13.9,86,975,0.00,2.22,0.00,0.000,516,0.000,0.051,2491,1251,3929,3998,3860,0,0,0,0,0,0,15.14,14.84,15.18
$GC,993,-0.62,-194.6,2490,1251,3997,3859,189.8,-12.8,91,998,0.12,2.25,0.00,0.000,3078,0.259,0.054,2510,2664,3929,3998,3860,0,0,0,0,0,0,14.69,14.86,14.92
$GC,1313,-0.62,-194.6,2510,2664,3998,3859,225.0,-10.1,109,1318,0.00,2.25,0.00,0.000,260,0.000,0.083,2501,4036,3928,3997,3860,0,0,0,0,0,0,15.16,14.80,15.19
$GC,1428,-0.62,-194.6,2501,4037,3996,3860,236.3,-10.2,132,1432,0.00,2.17,0.00,0.000,1030,0.000,0.033,2502,2651,3928,3997,3859,0,0,0,0,0,0,14.90,14.86,14.92
$GC,1753,-0.62,-194.6,2501,2651,3991,3859,268.0,-9.5,143,1758,0.00,2.20,0.00,0.000,516,0.000,0.054,2502,1254,3925,3991,3860,0,0,0,0,0,0,15.17,14.88,15.21
$GC,1791,-0.62,-194.6,2501,1254,3991,3859,272.2,-10.7,150,1798,0.00,2.25,0.00,0.000,1030,0.000,0.055,2495,2651,3925,3991,3859,0,0,0,0,0,0,14.97,14.88,15.00
$GC,2119,-0.62,-194.6,2494,2651,3984,3859,306.9,-10.6,160,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2651,3921,3984,3859,0,0,0,0,0,0,15.18,15.22,15.21
$GC,2417,-0.62,-194.6,2494,2651,3979,3859,338.2,-10.5,165,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2651,3919,3979,3860,0,0,0,0,0,0,15.19,15.23,15.23
$GC,2718,-0.62,-194.6,2494,2651,3973,3860,375.4,-12.6,170,2724,0.00,2.20,0.00,0.000,516,0.000,0.054,2494,1261,3915,3972,3859,0,0,0,0,0,0,15.19,14.85,15.23
$GC,2762,-0.62,-194.6,2494,1261,3973,3860,381.2,-12.5,179,2766,0.00,2.25,0.00,0.000,1030,0.000,0.056,2487,2662,3916,3972,3860,0,0,0,0,0,0,14.99,14.88,15.01
$GC,3082,-0.62,-194.6,2487,2662,3967,3858,420.5,-12.3,187,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2662,3913,3968,3858,0,0,0,0,0,0,15.19,15.23,15.22
$GC,3381,-0.62,-194.6,2487,2662,3964,3856,454.2,-11.1,192,3386,0.00,2.25,0.00,0.000,260,0.000,0.086,2477,4030,3909,3963,3855,0,0,0,0,0,0,15.20,14.78,15.23
$GC,3409,-0.62,-194.6,2476,4030,3963,3854,457.5,-11.7,198,3417,0.15,2.15,0.00,0.000,3078,0.235,0.037,2513,2645,3908,3963,3854,0,0,0,0,0,0,14.69,14.93,14.91
$GC,3742,-0.62,-194.6,2513,2644,3959,3853,481.9,-6.9,209,3749,0.00,2.20,0.00,0.000,516,0.000,0.057,2514,1252,3906,3959,3853,0,0,0,0,0,0,15.19,14.82,15.22
$GC,3782,-0.62,-194.6,2513,1252,3959,3853,484.8,-6.6,217,3788,0.00,2.25,0.00,0.000,1030,0.000,0.058,2514,2650,3906,3959,3853,0,0,0,0,0,0,14.97,14.86,15.00
$GC,4104,-0.62,-194.6,2513,2650,3957,3851,504.9,-6.3,226,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2650,3903,3956,3851,0,0,0,0,0,0,15.19,15.23,15.22
$GC,4405,-0.62,-194.6,2513,2650,3951,3850,525.9,-7.2,231,4409,0.00,2.22,0.00,0.000,516,0.000,0.057,2514,1255,3900,3951,3850,0,0,0,0,0,0,15.19,14.85,15.22
$GC,4438,-0.62,-194.6,2514,1255,3951,3850,528.7,-8.1,237,4444,0.00,2.25,0.00,0.000,1030,0.000,0.059,2513,2649,3900,3951,3850,0,0,0,0,0,0,14.96,14.85,14.99
$GC,4771,-0.62,-194.6,2513,2649,3949,3847,554.3,-7.8,248,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2649,3898,3949,3847,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5069,-0.62,-194.6,2513,2649,3947,3846,578.2,-8.0,253,5074,0.00,2.22,0.00,0.000,516,0.000,0.058,2513,1253,3896,3947,3846,0,0,0,0,0,0,15.19,14.78,15.22
$GC,5098,-0.62,-194.6,2513,1253,3947,3847,580.8,-9.2,259,5103,0.00,2.28,0.00,0.000,1030,0.000,0.060,2512,2654,3896,3947,3846,0,0,0,0,0,0,14.95,14.84,14.99
$GC,5433,-0.62,-194.6,2512,2654,3944,3845,609.3,-8.6,270,5439,0.00,2.25,0.00,0.000,516,0.000,0.059,2512,1250,3894,3944,3845,0,0,0,0,0,0,15.18,14.78,15.22
$GC,5463,-0.62,-194.6,2512,1250,3944,3845,612.2,-9.0,276,5469,0.00,2.28,0.00,0.000,1030,0.000,0.063,2512,2650,3894,3944,3845,0,0,0,0,0,0,14.85,14.79,14.90
$GC,5794,-0.62,-194.6,2512,2651,3942,3843,642.2,-9.1,287,5795,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2652,3892,3942,3843,0,0,0,0,0,0,15.19,15.22,15.21
$GC,6094,-0.62,-194.6,2512,2652,3941,3842,668.0,-8.5,292,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2652,3891,3941,3842,0,0,0,0,0,0,15.19,15.22,15.22
$GC,6394,-0.62,-194.6,2512,2651,3940,3841,691.1,-7.6,297,6399,0.00,2.22,0.00,0.000,516,0.000,0.061,2512,1263,3890,3939,3841,0,0,0,0,0,0,15.19,14.77,15.21
$GC,6438,-0.62,-194.6,2512,1263,3939,3840,694.7,-8.2,306,6445,0.00,2.28,0.00,0.000,1030,0.000,0.064,2512,2653,3889,3938,3840,0,0,0,0,0,0,14.93,14.81,14.96
$GC,6815,-0.62,-194.6,2512,2653,3937,3838,721.8,-7.2,313,6816,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2653,3887,3937,3838,0,0,0,0,0,0,15.18,15.22,15.21
$GC,7414,-0.62,-194.6,2511,2653,3935,3836,773.8,-8.9,318,7421,0.00,2.25,0.00,0.000,516,0.000,0.063,2512,1258,3885,3934,3837,0,0,0,0,0,0,15.18,14.73,15.21
$GC,7455,-0.62,-194.6,2511,1258,3935,3837,777.8,-9.8,326,7461,0.00,2.30,0.00,0.000,1030,0.000,0.066,2512,2658,3885,3934,3837,0,0,0,0,0,0,14.92,14.79,14.95
$GC,8136,-0.62,-194.6,2511,2658,3930,3835,830.4,-7.3,347,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2658,3883,3932,3835,0,0,0,0,0,0,15.18,15.21,15.21
$GC,8737,-0.62,-194.6,2511,2659,3930,3833,864.7,-5.6,352,8742,0.00,2.28,0.00,0.000,516,0.000,0.065,2512,1258,3881,3929,3833,0,0,0,0,0,0,15.18,14.71,15.21
$GC,8776,-0.62,-194.6,2511,1258,3929,3834,867.3,-6.3,360,8782,0.00,2.28,0.00,0.000,1030,0.000,0.068,2506,2646,3881,3930,3833,0,0,0,0,0,0,14.81,14.73,14.85
$GC,9462,-0.62,-194.6,2506,2646,3926,3831,914.0,-7.1,381,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2646,3878,3926,3831,0,0,0,0,0,0,15.16,15.21,15.21
$GC,10062,-0.62,-194.6,2506,2646,3925,3830,963.3,-8.3,386,10068,0.00,2.28,0.00,0.000,516,0.000,0.067,2506,1254,3877,3924,3830,0,0,0,0,0,0,15.16,14.68,15.20
$GC,10112,-0.62,-194.6,2506,1254,3924,3830,967.7,-8.4,396,10118,0.00,2.30,0.00,0.000,1030,0.000,0.071,2501,2643,3877,3924,3830,0,0,0,0,0,0,14.77,14.70,14.83
$STATE,10419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10419,begin apogee
$GC,10429,-0.20,0.0,2501,2470,3924,3829,994.0,-8.5,412,10578,0.50,0.00,146.15,2.027,10246,0.188,0.000,2645,2469,3126,3060,3192,0,0,0,0,0,0,14.60,14.14,13.38
$STATE,10580,end apogee,CONTROL_FINISHED_OK
$STATE,10580,begin climb
$GC,10584,0.62,194.6,2646,2469,3060,3189,999.2,0.0,413,10749,0.82,2.50,154.02,1.957,10756,0.126,0.080,2919,1091,2329,2245,2413,0,0,0,0,0,0,14.14,13.98,13.27
$GC,10833,0.62,194.6,2919,1091,2251,2404,980.7,11.7,471,10837,0.00,2.40,0.00,0.000,1030,0.000,0.069,2919,2477,2328,2252,2405,0,0,0,0,0,0,14.35,14.25,14.38
$GC,11507,0.62,194.6,2919,2477,2256,2394,897.7,12.3,490,11513,0.00,2.40,0.00,0.000,260,0.000,0.097,2919,3880,2325,2258,2393,0,0,0,0,0,0,14.94,14.54,14.97
$GC,11591,0.62,194.6,2919,3880,2266,2384,885.6,14.6,507,11596,0.00,2.28,0.00,0.000,1030,0.000,0.058,2929,2500,2325,2266,2384,0,0,0,0,0,0,14.76,14.66,14.79
$GC,12230,0.62,194.6,2930,2499,2264,2384,797.2,14.0,519,12234,0.00,2.42,0.00,0.000,260,0.000,0.098,2929,3890,2324,2265,2384,0,0,0,0,0,0,15.04,14.64,15.08
$GC,12283,0.62,194.6,2929,3890,2269,2380,788.9,15.8,529,12289,0.00,2.33,0.00,0.000,1030,0.000,0.059,2940,2472,2324,2270,2379,0,0,0,0,0,0,14.83,14.73,14.87
$GC,12954,0.62,194.6,2940,2472,2268,2379,685.7,15.5,548,12960,0.00,2.42,0.00,0.000,260,0.000,0.096,2940,3879,2323,2268,2379,0,0,0,0,0,0,15.09,14.62,15.13
$GC,13017,0.62,194.6,2939,3879,2270,2377,675.1,17.0,561,13023,0.15,2.30,0.00,0.000,5126,0.305,0.057,2919,2477,2323,2270,2377,0,0,0,0,0,0,14.45,14.76,14.78
$GC,13374,0.62,194.6,2919,2478,2270,2376,629.3,12.6,576,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2477,2323,2270,2376,0,0,0,0,0,0,15.09,15.14,15.13
$GC,13672,0.62,194.6,2919,2477,2270,2376,592.8,12.1,581,13678,0.00,2.35,0.00,0.000,516,0.000,0.082,2928,1072,2324,2271,2377,0,0,0,0,0,0,15.11,14.66,15.14
$GC,13696,0.62,194.6,2928,1071,2271,2376,589.9,11.6,586,13703,0.00,2.35,0.00,0.000,1030,0.000,0.069,2928,2482,2323,2271,2376,0,0,0,0,0,0,14.86,14.73,14.90
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$GC,15910,0.62,194.6,2933,2468,2275,2372,309.4,11.4,695,15914,0.00,2.45,0.00,0.000,260,0.000,0.096,2933,3880,2324,2275,2373,0,0,0,0,0,0,15.14,14.67,15.17
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$STATE,18877,end climb,SURFACE_DEPTH_REACHED
$STATE,18877,begin surface coast
$STATE,18897,end surface coast,CONTROL_FINISHED_OK
$STATE,18897,begin surface
$SM_CCo,18981,0.00,0.000,0,0,353,680.46
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$IRIDIUM_FIX,727.70,8611.45,180915,071719
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.92
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,13.27,45.621
$10V_AH,13.05,0.000
$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
$DEVICE_SECS,22.325,133.900,633.975,0.000,0.000,0.000,0.000,203.475,0.500,0.000,303.428,625.598,15457.333,643.171,2409.992,452.917,0.000,1782.732,0.000,1361.265,0.000,0.545,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260296
$DATA_FILE_SIZE,43480,952
$CAP_FILE_SIZE,78467,0
$CFSIZE,260034560,237903872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.609,180.71,1
$GPS,180915,164715,728.378,8609.306,180,1.6,220,-1.9,1.1,203.0,5,15.0