version: 66.12
glider: 141
mission: 23
dive: 77
start: 9 4 115 5 22 17
data:
$ID,141
$MISSION,23
$DIVE,77
$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,45
$R_STBD_OVSHOOT,47
$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
$GPS1,040915,000143,811.8673,8541.1846,301,99.0,301,-1.9,1.0,284.6,4,-1.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-73.3
$GPS2,040915,052145,810.5405,8543.3457,180,99.0,220,-1.9,0.5,20.6,3,-1.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,79.5,36249,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-1.10,-63.0,0,2679,1057,1132,0.0,0.0,0,117,0.00,0.00,-83.60,0.000,16390,0.000,0.000,0,2679,3385,3440,3330,0,0,0,0,0,0,14.97,13.67,15.00
$GC,123,-1.10,-99.7,0,2679,3440,3330,5.7,-6.1,9,146,11.12,2.25,-2.20,0.000,18692,0.409,0.086,2350,4035,3537,3591,3483,0,0,0,0,0,0,14.49,13.73,14.70
$GC,353,-1.10,-99.7,2349,4035,3591,3485,105.9,-41.1,53,358,0.00,2.15,0.00,0.000,1030,0.000,0.037,2350,2655,3538,3591,3486,0,0,0,0,0,0,14.90,14.84,14.92
$GC,678,-1.10,-99.7,2349,2654,3592,3488,194.2,-18.4,72,684,0.00,2.20,0.00,0.000,516,0.000,0.050,2349,1244,3539,3591,3488,0,0,0,0,0,0,15.08,14.88,15.11
$GC,704,-1.10,-99.7,2349,1244,3592,3488,198.4,-16.3,76,709,0.00,2.22,0.00,0.000,1030,0.000,0.059,2339,2628,3540,3592,3488,0,0,0,0,0,0,14.92,14.83,14.95
$GC,1070,-1.10,-99.7,2339,2628,3592,3490,259.6,-14.6,95,1076,0.00,2.33,0.00,0.000,260,0.000,0.079,2328,4044,3540,3591,3490,0,0,0,0,0,0,15.11,14.86,15.15
$GC,1115,-1.10,-99.7,2328,4044,3591,3490,266.2,-15.0,103,1122,0.15,2.15,0.00,0.000,3078,0.329,0.032,2357,2639,3540,3591,3490,0,0,0,0,0,0,14.69,14.95,14.93
$GC,1442,-1.10,-99.7,2357,2639,3590,3490,309.1,-13.2,112,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2638,3540,3590,3491,0,0,0,0,0,0,15.15,15.19,15.19
$GC,1742,-1.10,-99.7,2357,2639,3583,3491,353.5,-15.0,117,1748,0.00,2.17,0.00,0.000,516,0.000,0.052,2357,1248,3536,3582,3490,0,0,0,0,0,0,15.14,14.93,15.19
$GC,1772,-1.10,-99.7,2357,1249,3582,3490,358.4,-15.9,122,1779,0.00,2.25,0.00,0.000,1030,0.000,0.053,2349,2659,3536,3582,3491,0,0,0,0,0,0,15.02,14.93,15.04
$GC,2114,-1.10,-99.7,2349,2658,3575,3490,419.0,-18.1,134,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2659,3532,3575,3490,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2415,-1.10,-99.7,2349,2659,3569,3490,465.0,-14.9,139,2420,0.00,2.28,0.00,0.000,260,0.000,0.080,2338,4036,3529,3568,3490,0,0,0,0,0,0,15.16,14.91,15.20
$GC,2475,-1.10,-99.7,2339,4036,3568,3490,474.3,-15.5,150,2482,0.00,2.12,0.00,0.000,1030,0.000,0.034,2339,2650,3529,3568,3490,0,0,0,0,0,0,15.03,14.97,15.05
$GC,2780,-1.10,-99.7,2339,2650,3562,3490,516.4,-13.7,156,2786,0.00,2.20,0.00,0.000,516,0.000,0.054,2339,1254,3529,3569,3490,0,0,0,0,0,0,15.17,14.93,15.21
$GC,2841,-1.10,-99.7,2338,1254,3561,3490,525.1,-14.8,167,2848,0.15,2.22,0.00,0.000,3078,0.318,0.057,2358,2646,3525,3561,3489,0,0,0,0,0,0,14.70,14.92,14.96
$GC,3147,-1.10,-99.7,2358,2646,3556,3487,567.9,-14.1,173,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2646,3522,3558,3487,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3446,-1.10,-99.7,2358,2646,3554,3485,610.4,-14.2,178,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2646,3519,3553,3485,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3747,-1.10,-99.7,2358,2646,3552,3482,648.8,-12.6,183,3752,0.00,2.22,0.00,0.000,516,0.000,0.055,2359,1256,3516,3551,3482,0,0,0,0,0,0,15.16,14.92,15.19
$GC,3792,-1.10,-99.7,2358,1256,3551,3482,654.5,-12.2,191,3798,0.00,2.25,0.00,0.000,1030,0.000,0.059,2351,2651,3516,3550,3483,0,0,0,0,0,0,15.01,14.91,15.03
$GC,4118,-1.10,-99.7,2350,2651,3552,3480,694.1,-12.2,200,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2652,3513,3547,3479,0,0,0,0,0,0,15.17,15.21,15.20
$GC,4419,-1.10,-99.7,2350,2651,3545,3477,732.5,-12.7,203,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2650,3511,3545,3477,0,0,0,0,0,0,15.17,15.21,15.20
$GC,5018,-1.10,-99.7,2350,2650,3539,3475,816.8,-14.1,208,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2650,3506,3539,3474,0,0,0,0,0,0,15.17,15.20,15.21
$GC,5618,-1.10,-99.7,2350,2651,3535,3472,890.9,-12.1,213,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2650,3503,3535,3472,0,0,0,0,0,0,15.17,15.21,15.21
$GC,6218,-1.10,-99.7,2350,2650,3530,3469,960.7,-11.5,218,6225,0.00,2.25,0.00,0.000,516,0.000,0.063,2350,1256,3499,3530,3469,0,0,0,0,0,0,15.17,14.89,15.21
$GC,6259,-1.10,-99.7,2350,1257,3530,3469,965.5,-10.9,225,6265,0.00,2.28,0.00,0.000,1030,0.000,0.067,2341,2647,3499,3529,3469,0,0,0,0,0,0,14.99,14.88,15.02
$STATE,6584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6584,begin apogee
$GC,6594,-0.20,0.0,2341,2468,3528,3467,1004.2,-11.8,244,6669,1.12,0.00,71.78,2.035,10246,0.266,0.000,2644,2468,3127,3089,3165,0,0,0,0,0,0,14.66,14.40,13.67
$STATE,6672,end apogee,CONTROL_FINISHED_OK
$STATE,6672,begin climb
$GC,6676,1.10,99.7,2645,2468,3088,3162,1004.2,0.0,244,6767,1.30,2.40,77.85,1.999,10756,0.132,0.078,3072,1096,2717,2661,2773,0,0,0,0,0,0,14.37,14.16,13.47
$GC,6803,1.10,99.7,3072,1096,2668,2765,994.0,16.3,280,6809,0.00,2.38,0.00,0.000,1030,0.000,0.069,3072,2475,2716,2668,2765,0,0,0,0,0,0,14.43,14.34,14.45
$GC,7469,1.10,99.7,3072,2476,2675,2749,886.2,16.0,297,7474,0.00,2.42,0.00,0.000,260,0.000,0.096,3072,3892,2712,2675,2749,0,0,0,0,0,0,14.97,14.70,15.02
$GC,7574,1.10,99.7,3072,3892,2677,2745,867.3,18.5,317,7579,0.00,2.28,0.00,0.000,1030,0.000,0.058,3082,2499,2712,2677,2747,0,0,0,0,0,0,14.85,14.77,14.88
$GC,8200,1.10,99.7,3082,2499,2677,2742,749.7,19.2,326,8205,0.00,2.40,0.00,0.000,260,0.000,0.096,3082,3890,2709,2677,2742,0,0,0,0,0,0,15.07,14.76,15.10
$GC,8260,1.10,99.7,3082,3890,2678,2741,736.6,22.1,337,8265,0.00,2.30,0.00,0.000,1030,0.000,0.057,3093,2471,2709,2677,2742,0,0,0,0,0,0,14.92,14.83,14.95
$GC,8868,1.10,99.7,3092,2471,2678,2740,620.7,18.1,358,8874,0.00,2.45,0.00,0.000,260,0.000,0.096,3093,3893,2708,2678,2738,0,0,0,0,0,0,15.09,14.77,15.12
$GC,8903,1.10,99.7,3092,3892,2678,2738,614.1,18.6,365,8910,0.17,2.30,0.00,0.000,5126,0.374,0.057,3071,2473,2708,2679,2738,0,0,0,0,0,0,14.54,14.85,14.88
$GC,9229,1.10,99.7,3071,2473,2678,2737,563.3,15.3,375,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2473,2706,2678,2734,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9529,1.10,99.7,3071,2473,2678,2736,515.4,16.1,380,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2473,2707,2678,2736,0,0,0,0,0,0,15.12,15.16,15.15
$GC,9829,1.10,99.7,3071,2473,2678,2735,463.9,17.3,385,9835,0.00,2.33,0.00,0.000,516,0.000,0.077,3080,1067,2707,2679,2735,0,0,0,0,0,0,15.12,14.81,15.16
$GC,9884,1.10,99.7,3080,1068,2680,2735,454.8,16.4,396,9888,0.00,2.35,0.00,0.000,1030,0.000,0.067,3080,2494,2707,2680,2735,0,0,0,0,0,0,14.94,14.83,14.97
$GC,10189,1.10,99.7,3080,2494,2680,2734,408.3,14.9,402,10195,0.00,2.35,0.00,0.000,260,0.000,0.094,3080,3879,2707,2680,2734,0,0,0,0,0,0,15.12,14.80,15.16
$GC,10268,1.10,99.7,3080,3879,2680,2734,395.6,15.9,418,10274,0.00,2.28,0.00,0.000,1030,0.000,0.054,3090,2469,2707,2680,2734,0,0,0,0,0,0,14.95,14.86,14.98
$GC,10609,1.10,99.7,3089,2468,2680,2734,345.0,15.1,431,10615,0.00,2.40,0.00,0.000,260,0.000,0.091,3090,3883,2707,2680,2734,0,0,0,0,0,0,15.12,14.78,15.16
$GC,10649,1.10,99.7,3090,3883,2680,2734,338.6,16.2,439,10655,0.15,2.28,0.00,0.000,5126,0.379,0.054,3074,2470,2707,2680,2734,0,0,0,0,0,0,14.52,14.88,14.89
$GC,10969,1.10,99.7,3074,2470,2680,2734,289.3,15.6,448,10976,0.00,2.40,0.00,0.000,260,0.000,0.093,3074,3879,2707,2681,2734,0,0,0,0,0,0,15.11,14.77,15.14
$GC,11004,1.10,99.7,3073,3878,2681,2734,283.5,16.6,455,11010,0.00,2.25,0.00,0.000,1030,0.000,0.052,3082,2475,2707,2681,2734,0,0,0,0,0,0,14.95,14.87,14.98
$GC,11329,1.10,99.7,3081,2475,2681,2734,238.4,13.9,467,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2475,2707,2681,2734,0,0,0,0,0,0,15.11,15.15,15.15
$GC,11634,1.11,157.7,3081,2475,2681,2734,218.4,3.8,482,11680,0.00,2.47,38.62,1.086,8452,0.000,0.090,3081,3880,2481,2433,2529,0,0,0,0,0,0,15.12,14.71,14.28
$GC,11888,1.11,157.7,3081,3880,2434,2528,187.1,15.7,533,11893,0.00,2.28,0.00,0.000,1030,0.000,0.050,3092,2476,2480,2434,2526,0,0,0,0,0,0,14.83,14.76,14.85
$GC,12190,1.11,218.1,3091,2476,2438,2523,163.5,3.6,549,12238,0.00,2.33,41.92,1.001,8708,0.000,0.070,3103,1073,2235,2169,2301,0,0,0,0,0,0,15.02,14.57,14.21
$GC,12468,1.11,218.1,3102,1073,2174,2292,135.3,10.2,604,12475,0.12,2.30,0.00,0.000,5126,0.318,0.060,3080,2474,2233,2175,2292,0,0,0,0,0,0,14.50,14.69,14.73
$GC,12789,1.12,267.7,3079,2474,2179,2291,113.9,4.7,623,12830,0.00,2.45,34.20,0.948,8452,0.000,0.086,3079,3883,2034,1945,2124,0,0,0,0,0,0,15.00,14.64,14.23
$GC,13061,1.12,267.7,3079,3883,1957,2113,87.8,12.3,677,13067,0.00,2.25,0.00,0.000,1030,0.000,0.043,3088,2467,2035,1957,2114,0,0,0,0,0,0,14.82,14.76,14.83
$GC,13371,1.12,267.7,3087,2467,1963,2113,54.6,10.4,694,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2467,2038,1963,2113,0,0,0,0,0,0,15.03,15.07,15.07
$GC,13671,1.12,267.7,3087,2467,1969,2113,22.1,11.6,721,13677,0.00,2.35,0.00,0.000,260,0.000,0.076,3088,3885,2041,1969,2113,0,0,0,0,0,0,15.06,14.81,15.09
$GC,13711,1.12,267.7,3087,3886,1970,2112,17.4,12.2,729,13717,0.00,2.20,0.00,0.000,1030,0.000,0.038,3098,2473,2041,1970,2112,0,0,0,0,0,0,14.94,14.88,14.95
$STATE,13842,end climb,SURFACE_DEPTH_REACHED
$STATE,13842,begin surface coast
$FINISH,2.3,0.000000
$STATE,13857,end surface coast,CONTROL_FINISHED_OK
$STATE,13857,begin surface
$SM_CCo,13881,93.18,0.053,0,0,1087,500.17
$SM_GC,3.13,8.48,0.30,93.18,0.063,0.090,0.053,46,2675,1087,-8.28,-0.82,500.17,0,0,0,0,0,0,14.85,14.88,14.86
$IRIDIUM_FIX,806.88,8544.77,030915,235639
$TT8_MAMPS,0.02247,0.02247
$HUMID,42.75
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,4001664
$24V_AH,13.47,30.916
$10V_AH,13.42,0.000
$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,22.775,92.275,264.375,93.175,0.000,0.000,0.000,298.650,0.250,0.000,223.091,944.402,11233.218,468.491,1630.409,456.144,0.000,1432.635,0.000,1102.473,0.000,0.545,0.000
$DEVICE_MAMPS,409.275,96.390,2034.900,52.785,0.000,0.000,0.000,220.320,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13856.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.215,0.000,0.000,0.000
$MEM,260920
$DATA_FILE_SIZE,26659,745
$CAP_FILE_SIZE,115678,0
$CFSIZE,260034560,242397184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,102.62,1
$GPS,040915,091844,810.696,8544.878,122,99.0,162,-1.9,0.0,153.9,3,-1.0