version: 66.12
glider: 141
mission: 23
dive: 143
start: 9 19 115 19 44 21
data:
$ID,141
$MISSION,23
$DIVE,143
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,190915,141550,725.4219,8604.6426,301,99.0,301,-1.9,0.0,217.6,4,46.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-68.7
$GPS2,190915,194345,724.4802,8603.7549,225,99.0,265,-1.9,0.4,287.6,3,-1.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,231.9,117510,-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,24,-1.10,-63.0,0,2659,525,642,0.0,0.0,0,127,0.00,0.00,-100.07,0.000,16390,0.000,0.000,0,2659,3384,3440,3329,0,0,0,0,0,0,14.96,13.40,14.97
$GC,132,-1.10,-124.0,0,2659,3440,3330,4.8,-3.5,10,154,11.10,2.30,-3.92,0.000,18948,0.412,0.070,2351,1232,3636,3690,3582,0,0,0,0,0,0,14.42,13.58,14.62
$GC,178,-1.10,-124.0,2351,1232,3690,3585,27.9,-49.5,20,185,0.00,2.28,0.00,0.000,1030,0.000,0.056,2343,2650,3637,3689,3585,0,0,0,0,0,0,14.75,14.69,14.78
$GC,490,-1.10,-124.0,2343,2650,3690,3587,133.7,-24.7,39,495,0.00,2.28,0.00,0.000,260,0.000,0.074,2332,4042,3638,3690,3587,0,0,0,0,0,0,15.06,14.74,15.09
$GC,723,-1.10,-124.0,2332,4042,3690,3590,182.4,-20.5,86,728,0.00,2.22,0.00,0.000,1030,0.000,0.033,2332,2630,3640,3690,3590,0,0,0,0,0,0,14.84,14.81,14.87
$GC,1029,-1.10,-124.0,2332,2630,3690,3591,245.8,-21.5,102,1034,0.00,2.35,0.00,0.000,260,0.000,0.075,2322,4051,3640,3690,3591,0,0,0,0,0,0,15.11,14.81,15.15
$GC,1127,-1.10,-124.0,2322,4052,3690,3591,268.4,-22.4,121,1134,0.15,2.17,0.00,0.000,3078,0.323,0.034,2352,2641,3640,3690,3591,0,0,0,0,0,0,14.55,14.89,14.85
$GC,1455,-1.10,-124.0,2352,2641,3685,3590,330.2,-18.4,131,1460,0.00,2.30,0.00,0.000,260,0.000,0.078,2344,4035,3637,3684,3590,0,0,0,0,0,0,15.14,14.80,15.18
$GC,1478,-1.10,-124.0,2343,4034,3684,3590,334.6,-17.7,136,1484,0.00,2.15,0.00,0.000,1030,0.000,0.034,2343,2644,3637,3684,3591,0,0,0,0,0,0,14.97,14.91,15.00
$GC,1816,-1.10,-124.0,2344,2644,3678,3590,391.3,-16.7,148,1821,0.00,2.30,0.00,0.000,260,0.000,0.078,2333,4036,3633,3676,3591,0,0,0,0,0,0,15.16,14.80,15.19
$GC,1865,-1.10,-124.0,2333,4036,3676,3591,400.0,-17.8,158,1869,0.00,2.15,0.00,0.000,1030,0.000,0.035,2333,2645,3633,3676,3591,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2180,-1.10,-124.0,2333,2646,3669,3591,452.1,-16.7,165,2186,0.00,2.20,0.00,0.000,516,0.000,0.055,2333,1253,3629,3668,3591,0,0,0,0,0,0,15.16,14.83,15.20
$GC,2226,-1.10,-124.0,2333,1252,3669,3591,460.6,-18.0,174,2231,0.15,2.25,0.00,0.000,3078,0.306,0.055,2353,2658,3629,3667,3591,0,0,0,0,0,0,14.58,14.87,14.87
$GC,2547,-1.10,-124.0,2353,2658,3661,3590,514.6,-17.0,182,2552,0.00,2.30,0.00,0.000,260,0.000,0.083,2345,4038,3625,3660,3591,0,0,0,0,0,0,15.17,14.81,15.21
$GC,2640,-1.10,-124.0,2345,4037,3660,3588,532.1,-18.3,200,2645,0.00,2.15,0.00,0.000,1030,0.000,0.036,2345,2652,3624,3660,3588,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2972,-1.10,-124.0,2345,2651,3655,3587,588.8,-17.1,211,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2652,3621,3655,3587,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3271,-1.10,-124.0,2345,2652,3653,3585,635.8,-15.5,216,3277,0.00,2.22,0.00,0.000,516,0.000,0.057,2345,1248,3618,3651,3585,0,0,0,0,0,0,15.18,14.81,15.21
$GC,3320,-1.10,-124.0,2345,1248,3650,3585,643.5,-15.3,226,3324,0.00,2.28,0.00,0.000,1030,0.000,0.059,2335,2650,3617,3650,3585,0,0,0,0,0,0,14.95,14.84,14.98
$GC,3635,-1.10,-124.0,2335,2651,3647,3581,690.3,-15.0,233,3641,0.00,2.33,0.00,0.000,260,0.000,0.085,2324,4044,3613,3647,3580,0,0,0,0,0,0,15.18,14.76,15.21
$GC,3685,-1.10,-124.0,2324,4045,3646,3580,698.7,-16.8,243,3693,0.15,2.17,0.00,0.000,3078,0.308,0.039,2354,2653,3612,3646,3579,0,0,0,0,0,0,14.53,14.90,14.84
$GC,4056,-1.10,-124.0,2354,2653,3642,3579,748.6,-13.4,248,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2653,3610,3642,3579,0,0,0,0,0,0,15.18,15.21,15.21
$GC,4656,-1.10,-124.0,2354,2653,3637,3576,824.5,-12.5,253,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2653,3606,3637,3576,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5256,-1.10,-124.0,2354,2653,3632,3573,904.4,-13.5,258,5260,0.00,2.28,0.00,0.000,516,0.000,0.063,2355,1247,3602,3632,3573,0,0,0,0,0,0,15.19,14.81,15.22
$GC,5298,-1.10,-124.0,2354,1247,3632,3573,910.6,-14.2,266,5303,0.00,2.33,0.00,0.000,1030,0.000,0.067,2347,2658,3602,3632,3573,0,0,0,0,0,0,14.92,14.80,14.96
$STATE,5858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5858,begin apogee
$GC,5868,-0.20,0.0,2347,2467,3628,3568,992.4,-14.6,286,5963,1.10,0.00,91.93,2.013,10246,0.253,0.000,2645,2466,3126,3075,3177,0,0,0,0,0,0,14.52,14.28,13.54
$STATE,5965,end apogee,CONTROL_FINISHED_OK
$STATE,5965,begin climb
$GC,5970,1.10,124.0,2645,2466,3075,3172,992.4,0.0,286,6073,1.33,0.00,98.97,1.952,10246,0.125,0.000,3066,2466,2620,2548,2692,0,0,0,0,0,0,14.28,14.12,13.43
$GC,6583,1.10,124.0,3066,2465,2553,2674,888.3,19.6,292,6588,0.00,2.42,0.00,0.000,260,0.000,0.091,3066,3875,2613,2553,2673,0,0,0,0,0,0,14.92,14.55,14.95
$GC,6751,1.10,124.0,3065,3875,2554,2670,851.3,21.6,326,6758,0.00,2.28,0.00,0.000,1030,0.000,0.057,3076,2493,2612,2554,2670,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7423,1.10,124.0,3076,2493,2554,2664,724.0,18.7,345,7428,0.00,2.38,0.00,0.000,260,0.000,0.093,3076,3874,2609,2555,2664,0,0,0,0,0,0,15.07,14.64,15.10
$GC,7552,1.10,124.0,3076,3874,2556,2663,697.4,21.0,371,7556,0.00,2.30,0.00,0.000,1030,0.000,0.057,3086,2466,2609,2556,2663,0,0,0,0,0,0,14.85,14.76,14.89
$GC,7906,1.10,124.0,3086,2465,2556,2661,628.9,19.5,386,7912,0.00,2.42,0.00,0.000,260,0.000,0.093,3086,3875,2609,2557,2661,0,0,0,0,0,0,15.09,14.65,15.13
$GC,7985,1.10,124.0,3086,3875,2557,2659,611.6,21.4,402,7992,0.00,2.28,0.00,0.000,1030,0.000,0.056,3096,2473,2608,2557,2660,0,0,0,0,0,0,14.87,14.78,14.91
$GC,8327,1.10,124.0,3096,2473,2557,2657,545.2,19.2,415,8331,0.00,2.42,0.00,0.000,260,0.000,0.093,3097,3878,2607,2557,2658,0,0,0,0,0,0,15.10,14.69,15.14
$GC,8390,1.10,124.0,3096,3877,2558,2656,532.5,20.1,427,8396,0.17,2.30,0.00,0.000,5126,0.366,0.057,3075,2467,2607,2558,2657,0,0,0,0,0,0,14.40,14.79,14.78
$GC,8756,1.10,124.0,3075,2467,2558,2656,472.4,16.0,444,8761,0.00,2.40,0.00,0.000,260,0.000,0.091,3073,3873,2607,2558,2656,0,0,0,0,0,0,15.11,14.66,15.15
$GC,8890,1.10,124.0,3073,3874,2558,2656,449.2,16.9,471,8894,0.00,2.28,0.00,0.000,1030,0.000,0.054,3081,2471,2607,2558,2656,0,0,0,0,0,0,14.88,14.80,14.92
$GC,9238,1.10,124.0,3081,2471,2558,2655,390.6,17.3,485,9244,0.00,2.42,0.00,0.000,260,0.000,0.091,3081,3878,2606,2558,2655,0,0,0,0,0,0,15.13,14.66,15.16
$GC,9277,1.10,124.0,3081,3878,2558,2655,383.1,19.6,493,9283,0.00,2.28,0.00,0.000,1030,0.000,0.054,3091,2473,2606,2558,2655,0,0,0,0,0,0,14.90,14.81,14.93
$GC,9599,1.10,124.0,3091,2473,2558,2655,325.9,17.5,502,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2473,2606,2558,2655,0,0,0,0,0,0,15.13,15.17,15.16
$GC,9899,1.10,124.0,3091,2473,2558,2655,273.8,17.5,507,9900,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2474,2606,2558,2655,0,0,0,0,0,0,15.14,15.19,15.18
$GC,10199,1.10,124.0,3091,2473,2558,2655,227.4,14.9,516,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2474,2606,2558,2655,0,0,0,0,0,0,15.15,15.19,15.18
$GC,10499,1.10,124.0,3091,2473,2558,2654,184.2,13.3,531,10503,0.00,2.33,0.00,0.000,516,0.000,0.073,3103,1069,2606,2559,2654,0,0,0,0,0,0,15.15,14.74,15.18
$GC,10531,1.10,124.0,3102,1069,2563,2651,180.0,12.9,537,10539,0.15,2.33,0.00,0.000,5126,0.319,0.063,3074,2484,2606,2562,2651,0,0,0,0,0,0,14.45,14.78,14.81
$GC,10843,1.11,153.7,3073,2484,2563,2651,147.5,6.8,554,10869,0.00,2.40,19.77,1.012,8452,0.000,0.090,3073,3879,2496,2446,2547,0,0,0,0,0,0,15.14,14.79,14.31
$GC,10978,1.11,160.6,3073,3879,2446,2546,137.5,9.3,581,10990,0.00,2.33,5.05,0.884,9222,0.000,0.050,3082,2467,2473,2428,2518,0,0,0,0,0,0,14.76,14.71,14.20
$GC,11305,1.11,166.7,3081,2467,2433,2518,106.2,9.4,601,11317,0.00,2.28,7.00,0.920,8708,0.000,0.067,3092,1071,2444,2402,2486,0,0,0,0,0,0,15.07,14.71,14.28
$GC,11356,1.11,186.9,3091,1071,2405,2483,101.8,7.9,611,11379,0.00,2.35,14.93,0.968,9222,0.000,0.058,3092,2483,2362,2311,2413,0,0,0,0,0,0,14.78,14.73,14.26
$GC,11682,1.11,230.2,3092,2483,2313,2412,84.3,5.4,631,11719,0.00,2.40,30.25,0.950,8452,0.000,0.086,3092,3878,2185,2112,2259,0,0,0,0,0,0,15.04,14.66,14.24
$GC,11832,1.12,285.0,3092,3877,2115,2257,76.7,4.2,661,11875,0.00,2.28,37.55,0.926,9222,0.000,0.042,3103,2460,1964,1850,2078,0,0,0,0,0,0,14.79,14.72,14.14
$GC,12178,1.12,285.0,3102,2460,1854,2073,48.2,11.6,685,12185,0.00,2.38,0.00,0.000,260,0.000,0.080,3103,3870,1963,1854,2073,0,0,0,0,0,0,14.96,14.63,15.00
$GC,12414,1.12,285.0,3102,3870,1866,2066,14.7,14.2,732,12420,0.12,2.25,0.00,0.000,5126,0.295,0.044,3082,2495,1966,1866,2066,0,0,0,0,0,0,14.46,14.71,14.63
$STATE,12506,end climb,SURFACE_DEPTH_REACHED
$STATE,12506,begin surface coast
$STATE,12527,end surface coast,CONTROL_FINISHED_OK
$STATE,12527,begin surface
$SM_CCo,12550,86.03,0.053,0,0,1087,500.17
$SM_GC,3.33,8.55,0.25,86.03,0.067,0.087,0.053,39,2664,1087,-8.31,-1.10,500.17,0,0,0,0,0,0,14.76,14.83,14.78
$IRIDIUM_FIX,723.35,8604.93,190915,141135
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.70
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.40,47.381
$10V_AH,13.47,0.000
$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,22.975,97.000,305.450,86.025,0.000,0.000,0.000,197.950,0.000,0.000,268.228,498.446,9955.348,495.669,1930.631,334.475,0.000,1370.706,0.000,1067.328,0.000,0.544,0.000
$DEVICE_MAMPS,411.570,93.330,2012.715,52.785,0.000,0.000,0.000,240.210,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,847.330,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260272
$DATA_FILE_SIZE,33478,744
$CAP_FILE_SIZE,57889,0
$CFSIZE,260034560,237666304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295,179.55,1
$GPS,190915,232047,721.525,8602.991,288,3.4,301,-1.9,1.1,195.1,5,25.9