version: 66.12
glider: 141
mission: 23
dive: 65
start: 9 1 115 14 27 5
data:
$ID,141
$MISSION,23
$DIVE,65
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,010915,141908,829.2120,8521.1172,110,2.6,150,-1.9,0.5,37.5,5,20.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.01
$_SM_ANGLEo,-70.7
$GPS2,010915,142634,829.2513,8521.2148,14,1.1,30,-1.9,0.3,65.6,6,10.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,133.9,89411,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-0.62,-194.6,12,2670,495,608,0.0,0.0,0,137,0.00,0.00,-108.80,0.000,16386,0.000,0.000,11,2670,3689,3755,3624,0,0,0,0,0,0,14.90,28.83,14.95
$GC,144,-0.62,-194.6,11,2670,3754,3623,6.5,-7.8,11,167,13.02,2.25,-2.92,0.000,18692,0.458,0.084,2498,4037,3922,3997,3848,0,0,0,0,0,0,14.46,14.04,14.77
$GC,283,-0.62,-194.6,2498,4038,3997,3851,65.5,-32.5,37,289,0.00,2.17,0.00,0.000,1030,0.000,0.037,2498,2653,3923,3996,3851,0,0,0,0,0,0,14.83,14.76,14.85
$GC,599,-0.62,-194.6,2498,2653,3997,3851,154.2,-20.6,54,605,0.00,2.30,0.00,0.000,260,0.000,0.084,2488,4026,3924,3997,3851,0,0,0,0,0,0,15.05,14.81,15.08
$GC,717,-0.62,-194.6,2488,4026,3997,3852,178.4,-18.8,76,724,0.00,2.15,0.00,0.000,1030,0.000,0.034,2488,2639,3924,3997,3852,0,0,0,0,0,0,14.95,14.89,14.96
$GC,1035,-0.62,-194.6,2488,2639,3997,3854,224.3,-13.5,93,1041,0.00,2.33,0.00,0.000,260,0.000,0.081,2480,4039,3925,3997,3854,0,0,0,0,0,0,15.10,14.86,15.13
$GC,1077,-0.62,-194.6,2480,4039,3997,3854,230.1,-14.1,100,1085,0.15,2.15,0.00,0.000,3078,0.264,0.032,2514,2639,3925,3997,3854,0,0,0,0,0,0,14.75,14.93,14.94
$GC,1386,-0.62,-194.6,2514,2639,3997,3854,261.7,-9.7,112,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2639,3924,3997,3852,0,0,0,0,0,0,15.12,15.16,15.16
$GC,1682,-0.62,-194.6,2514,2639,3991,3853,290.4,-10.0,117,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2639,3922,3991,3853,0,0,0,0,0,0,15.14,15.19,15.19
$GC,1981,-0.62,-194.6,2512,2639,3986,3854,318.8,-9.2,122,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2638,3920,3986,3854,0,0,0,0,0,0,15.16,15.20,15.19
$GC,2281,-0.62,-194.6,2514,2638,3986,3854,345.2,-8.8,127,2287,0.00,2.35,0.00,0.000,260,0.000,0.086,2510,4036,3916,3979,3853,0,0,0,0,0,0,15.16,14.90,15.20
$GC,2326,-0.62,-194.6,2510,4036,3979,3854,349.8,-10.1,135,2331,0.00,2.12,0.00,0.000,1030,0.000,0.034,2510,2650,3916,3979,3854,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2652,-0.62,-194.6,2509,2649,3973,3854,381.0,-9.4,144,2659,0.00,2.20,0.00,0.000,516,0.000,0.054,2510,1255,3913,3972,3854,0,0,0,0,0,0,15.17,14.95,15.21
$GC,2688,-0.62,-194.6,2510,1255,3972,3854,384.3,-9.6,150,2694,0.00,2.25,0.00,0.000,1030,0.000,0.060,2506,2647,3912,3972,3853,0,0,0,0,0,0,15.03,14.93,15.05
$GC,3025,-0.62,-194.6,2506,2647,3964,3854,413.8,-8.7,161,3030,0.00,2.33,0.00,0.000,260,0.000,0.086,2500,4049,3908,3963,3854,0,0,0,0,0,0,15.16,14.90,15.19
$GC,3060,-0.62,-194.6,2499,4049,3963,3854,417.0,-9.2,167,3066,0.00,2.15,0.00,0.000,1030,0.000,0.034,2500,2646,3908,3963,3854,0,0,0,0,0,0,15.04,14.98,15.05
$GC,3397,-0.62,-194.6,2500,2649,3959,3852,446.4,-8.9,178,3402,0.00,2.20,0.00,0.000,516,0.000,0.056,2499,1257,3906,3959,3853,0,0,0,0,0,0,15.16,14.94,15.21
$GC,3432,-0.62,-194.6,2499,1257,3959,3853,449.6,-9.1,184,3439,0.00,2.28,0.00,0.000,1030,0.000,0.059,2500,2660,3905,3958,3853,0,0,0,0,0,0,15.02,14.93,15.04
$GC,3769,-0.62,-194.6,2500,2660,3955,3851,479.2,-8.8,195,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2660,3903,3955,3851,0,0,0,0,0,0,15.17,15.21,15.20
$GC,4070,-0.62,-194.6,2499,2660,3951,3848,506.5,-9.2,200,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2660,3899,3951,3848,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4369,-0.62,-194.6,2499,2660,3952,3845,536.6,-10.1,205,4375,0.00,2.33,0.00,0.000,260,0.000,0.089,2491,4043,3897,3948,3846,0,0,0,0,0,0,15.17,14.90,15.21
$GC,4409,-0.62,-194.6,2491,4043,3949,3845,541.1,-11.2,212,4416,0.00,2.15,0.00,0.000,1030,0.000,0.036,2491,2654,3897,3949,3845,0,0,0,0,0,0,15.04,14.98,15.05
$GC,4741,-0.62,-194.6,2490,2654,3945,3844,577.1,-10.8,222,4747,0.00,2.22,0.00,0.000,516,0.000,0.058,2490,1255,3895,3945,3845,0,0,0,0,0,0,15.17,14.92,15.20
$GC,4791,-0.62,-194.6,2490,1255,3945,3844,582.6,-10.6,231,4797,0.00,2.25,0.00,0.000,1030,0.000,0.061,2489,2649,3894,3944,3844,0,0,0,0,0,0,15.01,14.92,15.04
$GC,5112,-0.62,-194.6,2488,2652,3942,3843,614.8,-10.0,239,5118,0.00,2.35,0.00,0.000,260,0.000,0.091,2481,4042,3892,3942,3842,0,0,0,0,0,0,15.16,14.88,15.20
$GC,5148,-0.62,-194.6,2480,4042,3941,3841,618.4,-10.4,245,5154,0.15,2.17,0.00,0.000,3078,0.246,0.038,2517,2643,3891,3942,3841,0,0,0,0,0,0,14.76,14.92,14.95
$GC,5485,-0.62,-194.6,2517,2643,3940,3841,642.7,-6.9,256,5491,0.00,2.22,0.00,0.000,516,0.000,0.060,2517,1248,3890,3939,3841,0,0,0,0,0,0,15.16,14.91,15.20
$GC,5521,-0.62,-194.6,2517,1248,3939,3841,645.2,-6.9,262,5526,0.00,2.28,0.00,0.000,1030,0.000,0.063,2517,2652,3889,3939,3840,0,0,0,0,0,0,15.01,14.90,15.03
$GC,5858,-0.62,-194.6,2517,2652,3937,3839,666.6,-6.4,273,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3888,3937,3839,0,0,0,0,0,0,15.16,15.20,15.19
$GC,6157,-0.62,-194.6,2517,2652,3936,3836,687.9,-7.2,278,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3886,3936,3837,0,0,0,0,0,0,15.17,15.21,15.20
$GC,6457,-0.62,-194.6,2517,2652,3932,3837,710.8,-7.6,282,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3884,3932,3836,0,0,0,0,0,0,15.16,15.20,15.20
$GC,7056,-0.62,-194.6,2517,2652,3929,3834,756.9,-7.7,287,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3881,3929,3834,0,0,0,0,0,0,15.16,15.21,15.19
$GC,7656,-0.62,-194.6,2517,2652,3926,3832,798.4,-6.9,292,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3879,3925,3833,0,0,0,0,0,0,15.16,15.21,15.20
$GC,8256,-0.62,-194.6,2517,2652,3924,3827,838.0,-6.6,297,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3877,3924,3830,0,0,0,0,0,0,15.17,15.21,15.21
$GC,8856,-0.62,-194.6,2517,2652,3921,3829,882.1,-7.4,302,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3875,3921,3829,0,0,0,0,0,0,15.17,15.20,15.19
$GC,9456,-0.62,-194.6,2517,2652,3918,3829,924.9,-7.0,307,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3873,3918,3829,0,0,0,0,0,0,15.16,15.21,15.19
$GC,10056,-0.62,-194.6,2517,2652,3917,3823,967.6,-7.2,312,10057,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2652,3872,3916,3828,0,0,0,0,0,0,15.16,15.21,15.20
$STATE,10411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10411,begin apogee
$GC,10421,-0.20,0.0,2517,2465,3914,3828,993.9,-7.3,315,10569,0.45,0.00,144.62,2.062,10246,0.197,0.000,2647,2462,3126,3061,3192,0,0,0,0,0,0,14.73,14.14,13.43
$STATE,10571,end apogee,CONTROL_FINISHED_OK
$STATE,10571,begin climb
$GC,10575,0.62,194.6,2646,2465,3059,3189,998.2,0.0,316,10743,0.82,2.50,156.52,2.002,10756,0.133,0.085,2918,1091,2330,2252,2408,0,0,0,0,0,0,14.14,14.00,13.34
$GC,10792,0.62,194.6,2918,1091,2256,2400,982.0,12.2,366,10798,0.00,2.40,0.00,0.000,1030,0.000,0.070,2918,2475,2328,2257,2399,0,0,0,0,0,0,14.33,14.25,14.35
$GC,11502,0.62,194.6,2918,2475,2262,2389,890.4,12.9,393,11508,0.00,2.42,0.00,0.000,260,0.000,0.100,2918,3881,2325,2263,2388,0,0,0,0,0,0,14.93,14.66,14.97
$GC,11611,0.62,194.6,2918,3880,2271,2378,874.2,14.8,415,11618,0.00,2.30,0.00,0.000,1030,0.000,0.063,2918,2487,2325,2271,2379,0,0,0,0,0,0,14.81,14.73,14.84
$GC,12222,0.62,194.6,2917,2487,2271,2378,789.7,13.9,422,12228,0.00,2.40,0.00,0.000,260,0.000,0.099,2918,3877,2324,2271,2378,0,0,0,0,0,0,15.04,14.73,15.07
$GC,12262,0.62,194.6,2918,3877,2273,2374,783.7,15.3,430,12268,0.00,2.30,0.00,0.000,1030,0.000,0.060,2928,2471,2323,2273,2374,0,0,0,0,0,0,14.90,14.81,14.92
$GC,12946,0.62,194.6,2928,2471,2273,2374,689.9,13.5,451,12952,0.00,2.42,0.00,0.000,260,0.000,0.102,2928,3877,2323,2273,2374,0,0,0,0,0,0,15.08,14.75,15.11
$GC,13021,0.62,194.6,2927,3877,2279,2372,678.5,14.4,466,13027,0.00,2.30,0.00,0.000,1030,0.000,0.060,2937,2468,2323,2275,2372,0,0,0,0,0,0,14.92,14.84,14.95
$GC,13366,0.62,194.6,2937,2469,2275,2372,633.3,13.1,480,13372,0.00,2.35,0.00,0.000,516,0.000,0.085,2944,1066,2323,2275,2372,0,0,0,0,0,0,15.08,14.79,15.11
$GC,13391,0.62,194.6,2944,1064,2275,2371,630.0,12.9,485,13398,0.12,2.35,0.00,0.000,5126,0.285,0.071,2919,2483,2323,2275,2371,0,0,0,0,0,0,14.65,14.81,14.90
$GC,13726,0.62,194.6,2919,2483,2275,2371,588.1,12.6,497,13730,0.00,2.42,0.00,0.000,260,0.000,0.100,2919,3883,2323,2275,2371,0,0,0,0,0,0,15.08,14.77,15.11
$GC,13786,0.62,194.6,2919,3883,2277,2368,579.8,15.1,508,13791,0.00,2.28,0.00,0.000,1030,0.000,0.059,2926,2471,2322,2277,2368,0,0,0,0,0,0,14.88,14.83,14.90
$GC,14153,0.62,194.6,2926,2471,2277,2368,526.8,14.6,526,14159,0.00,2.42,0.00,0.000,260,0.000,0.100,2926,3883,2322,2277,2368,0,0,0,0,0,0,15.08,14.76,15.11
$GC,14183,0.62,194.6,2926,3883,2279,2367,521.7,16.1,532,14189,0.00,2.30,0.00,0.000,1030,0.000,0.058,2935,2468,2323,2279,2367,0,0,0,0,0,0,14.94,14.85,14.96
$GC,14513,0.62,194.6,2935,2468,2278,2367,473.8,14.3,543,14514,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2468,2323,2279,2367,0,0,0,0,0,0,15.09,15.13,15.13
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$STATE,19121,end climb,SURFACE_DEPTH_REACHED
$STATE,19121,begin surface coast
$FINISH,2.3,0.000000
$STATE,19143,end surface coast,CONTROL_FINISHED_OK
$STATE,19143,begin surface
$SM_CCo,19227,0.00,0.000,0,0,697,595.59
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$IRIDIUM_FIX,826.49,8430.17,010915,090710
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.29
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,4003200
$24V_AH,13.34,27.466
$10V_AH,13.25,0.000
$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
$DEVICE_SECS,23.000,115.700,583.275,0.000,0.000,0.000,0.000,239.000,0.000,0.000,32.600,1018.052,15854.788,676.120,1552.107,562.660,0.000,1738.552,0.000,1284.551,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.219,0.000,0.000,0.000
$MEM,261040
$DATA_FILE_SIZE,30052,870
$CAP_FILE_SIZE,142993,0
$CFSIZE,260034560,243171328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,125.17,1
$GPS,010915,195045,827.513,8522.994,107,99.0,147,-1.9,0.8,74.7,3,-1.0