version: 66.12
glider: 141
mission: 23
dive: 91
start: 9 6 115 23 39 7
data:
$ID,141
$MISSION,23
$DIVE,91
$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,34
$R_STBD_OVSHOOT,44
$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
$GPS1,060915,232359,800.3069,8600.3145,271,1.6,301,-1.8,0.4,168.1,6,10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-73.8
$GPS2,060915,233834,800.0743,8600.3301,9,1.6,31,-1.8,0.3,169.2,8,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,235.4,621,-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,-63.0,22,2675,998,1087,0.0,0.0,0,118,0.00,0.00,-85.97,0.000,16390,0.000,0.000,19,2676,3385,3447,3323,0,0,0,0,0,0,14.85,13.59,14.90
$GC,124,-1.10,-115.6,19,2676,3447,3323,5.0,-4.4,9,147,11.27,2.20,-3.22,0.000,18692,0.420,0.083,2346,4033,3598,3655,3541,0,0,0,0,0,0,14.42,13.94,14.73
$GC,224,-1.10,-115.6,2346,4033,3655,3543,51.4,-42.7,27,229,0.00,2.20,0.00,0.000,1030,0.000,0.037,2346,2641,3599,3655,3543,0,0,0,0,0,0,14.78,14.71,14.81
$GC,539,-1.10,-115.6,2345,2640,3655,3543,157.0,-27.2,44,546,0.00,2.30,0.00,0.000,260,0.000,0.079,2335,4026,3598,3654,3543,0,0,0,0,0,0,15.05,14.79,15.08
$GC,718,-1.10,-115.6,2335,4026,3655,3545,196.5,-21.1,78,723,0.00,2.15,0.00,0.000,1030,0.000,0.033,2335,2633,3599,3654,3545,0,0,0,0,0,0,14.94,14.88,14.95
$GC,1033,-1.10,-115.6,2340,2632,3655,3546,245.5,-15.8,95,1039,0.00,2.30,0.00,0.000,260,0.000,0.076,2325,4029,3600,3655,3546,0,0,0,0,0,0,15.09,14.85,15.13
$GC,1186,-1.10,-115.6,2325,4029,3654,3547,272.7,-18.7,124,1193,0.15,2.12,0.00,0.000,3078,0.337,0.034,2353,2646,3600,3655,3546,0,0,0,0,0,0,14.64,14.92,14.90
$GC,1529,-1.10,-115.6,2353,2646,3651,3547,334.2,-18.3,136,1535,0.00,2.20,0.00,0.000,516,0.000,0.053,2353,1245,3598,3650,3547,0,0,0,0,0,0,15.13,14.90,15.16
$GC,1576,-1.10,-115.6,2353,1245,3649,3547,343.1,-18.9,144,1582,0.00,2.22,0.00,0.000,1030,0.000,0.054,2346,2646,3597,3649,3546,0,0,0,0,0,0,15.01,14.90,15.01
$GC,1903,-1.10,-115.6,2345,2646,3642,3542,404.8,-18.8,153,1909,0.00,2.30,0.00,0.000,260,0.000,0.081,2335,4036,3594,3641,3547,0,0,0,0,0,0,15.14,14.88,15.17
$GC,1978,-1.10,-115.6,2335,4036,3641,3546,420.1,-19.7,167,1984,0.00,2.15,0.00,0.000,1030,0.000,0.035,2335,2647,3594,3641,3547,0,0,0,0,0,0,15.01,14.95,15.03
$GC,2334,-1.10,-115.6,2335,2647,3632,3546,481.6,-16.7,182,2340,0.00,2.20,0.00,0.000,516,0.000,0.054,2336,1255,3589,3631,3547,0,0,0,0,0,0,15.14,14.91,15.18
$GC,2355,-1.10,-115.6,2340,1255,3632,3546,484.9,-15.5,185,2361,0.15,2.22,0.00,0.000,3078,0.314,0.055,2355,2651,3589,3632,3547,0,0,0,0,0,0,14.67,14.91,14.93
$GC,2707,-1.10,-115.6,2355,2650,3623,3546,529.3,-12.3,199,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3585,3623,3547,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3006,-1.10,-115.6,2354,2651,3619,3545,571.3,-14.3,204,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2651,3581,3618,3545,0,0,0,0,0,0,15.16,15.21,15.19
$GC,3307,-1.10,-115.6,2355,2650,3615,3543,619.3,-16.1,209,3313,0.00,2.30,0.00,0.000,260,0.000,0.083,2346,4036,3578,3614,3543,0,0,0,0,0,0,15.16,14.88,15.19
$GC,3333,-1.10,-115.6,2346,4036,3614,3543,623.5,-15.7,213,3338,0.00,2.15,0.00,0.000,1030,0.000,0.037,2347,2651,3578,3614,3543,0,0,0,0,0,0,15.01,14.95,15.02
$GC,3679,-1.10,-115.6,2346,2651,3610,3541,675.2,-14.6,226,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2651,3574,3608,3541,0,0,0,0,0,0,15.16,15.21,15.19
$GC,4038,-1.10,-115.6,2346,2651,3607,3539,721.7,-12.7,231,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2651,3573,3607,3539,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4638,-1.10,-115.6,2346,2651,3601,3535,801.2,-13.4,236,4645,0.00,2.22,0.00,0.000,516,0.000,0.061,2346,1256,3567,3600,3535,0,0,0,0,0,0,15.16,14.89,15.20
$GC,4685,-1.10,-115.6,2346,1261,3600,3535,807.9,-14.0,244,4691,0.00,2.25,0.00,0.000,1030,0.000,0.061,2337,2647,3567,3600,3535,0,0,0,0,0,0,14.99,14.90,15.02
$GC,5373,-1.10,-115.6,2336,2647,3596,3531,913.4,-15.4,265,5379,0.00,2.33,0.00,0.000,260,0.000,0.090,2326,4039,3562,3594,3530,0,0,0,0,0,0,15.16,14.81,15.19
$GC,5428,-1.10,-115.6,2326,4039,3595,3526,923.0,-16.5,275,5435,0.15,2.20,0.00,0.000,3078,0.311,0.044,2356,2646,3562,3595,3529,0,0,0,0,0,0,14.59,14.91,14.89
$STATE,5977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5977,begin apogee
$GC,5987,-0.20,0.0,2356,2467,3590,3529,998.7,-13.6,293,6074,1.05,0.00,83.53,2.044,10246,0.255,0.000,2645,2466,3126,3083,3170,0,0,0,0,0,0,14.62,14.33,13.61
$STATE,6077,end apogee,CONTROL_FINISHED_OK
$STATE,6077,begin climb
$GC,6081,1.10,115.6,2646,2466,3082,3166,998.7,0.0,293,6179,1.33,0.00,91.38,2.009,10758,0.127,0.000,3069,2465,2653,2593,2713,0,0,0,0,0,0,14.33,14.15,13.46
$GC,6819,1.10,115.6,3068,2465,2604,2692,871.1,19.2,323,6823,0.00,2.45,0.00,0.000,260,0.000,0.094,3069,3878,2650,2610,2691,0,0,0,0,0,0,14.96,14.68,15.00
$GC,6955,1.10,115.6,3068,3878,2604,2689,843.2,21.1,349,6959,0.00,2.30,0.00,0.000,1030,0.000,0.058,3079,2488,2646,2604,2689,0,0,0,0,0,0,14.83,14.74,14.86
$GC,7668,1.10,115.6,3080,2487,2604,2682,705.2,18.9,376,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2488,2643,2604,2683,0,0,0,0,0,0,15.07,15.11,15.11
$GC,8268,1.10,115.6,3078,2488,2604,2680,606.1,16.4,385,8274,0.00,2.38,0.00,0.000,260,0.000,0.092,3079,3875,2642,2605,2680,0,0,0,0,0,0,15.09,14.78,15.14
$GC,8409,1.10,115.6,3078,3875,2605,2679,580.4,18.9,413,8415,0.00,2.28,0.00,0.000,1030,0.000,0.057,3089,2467,2642,2605,2679,0,0,0,0,0,0,14.93,14.84,14.96
$GC,8749,1.10,115.6,3089,2467,2605,2678,516.1,19.2,426,8755,0.00,2.42,0.00,0.000,260,0.000,0.092,3089,3882,2641,2605,2678,0,0,0,0,0,0,15.10,14.76,15.13
$GC,8809,1.10,115.6,3089,3882,2606,2678,503.5,21.8,438,8816,0.15,2.30,0.00,0.000,5126,0.379,0.057,3074,2468,2641,2605,2678,0,0,0,0,0,0,14.51,14.84,14.86
$GC,9173,1.10,115.6,3073,2469,2605,2676,431.7,20.0,455,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2469,2640,2605,2676,0,0,0,0,0,0,15.09,15.13,15.12
$GC,9469,1.10,115.6,3074,2469,2605,2675,377.3,17.7,460,9470,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2468,2640,2605,2676,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9770,1.10,115.6,3073,2469,2606,2676,330.3,15.6,465,9776,0.00,2.38,0.00,0.000,260,0.000,0.090,3074,3875,2640,2606,2675,0,0,0,0,0,0,15.11,14.75,15.14
$GC,9849,1.10,115.6,3073,3874,2607,2675,316.4,17.4,481,9855,0.00,2.28,0.00,0.000,1030,0.000,0.054,3082,2469,2640,2606,2675,0,0,0,0,0,0,14.94,14.85,14.97
$GC,10190,1.10,115.6,3082,2469,2607,2675,267.9,13.7,494,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2468,2641,2607,2676,0,0,0,0,0,0,15.11,15.16,15.15
$GC,10490,1.10,115.6,3081,2469,2607,2675,233.4,10.9,503,10496,0.00,2.40,0.00,0.000,260,0.000,0.092,3082,3876,2639,2607,2672,0,0,0,0,0,0,15.11,14.76,15.14
$GC,10529,1.10,115.6,3081,3876,2607,2674,228.8,11.6,511,10535,0.00,2.25,0.00,0.000,1030,0.000,0.053,3092,2476,2641,2608,2675,0,0,0,0,0,0,14.95,14.86,14.97
$GC,10849,1.10,115.6,3092,2475,2608,2675,196.4,10.6,530,10855,0.00,2.33,0.00,0.000,516,0.000,0.074,3103,1068,2642,2610,2674,0,0,0,0,0,0,15.11,14.79,15.15
$GC,10957,1.10,115.6,3103,1068,2612,2671,185.1,10.9,551,10964,0.12,2.28,0.00,0.000,5126,0.320,0.062,3074,2470,2641,2612,2671,0,0,0,0,0,0,14.49,14.80,14.70
$GC,11273,1.11,165.3,3073,2471,2612,2672,165.1,4.7,569,11310,0.00,2.38,32.42,1.035,8452,0.000,0.086,3074,3884,2452,2408,2496,0,0,0,0,0,0,15.11,14.68,14.30
$GC,11523,1.11,205.7,3073,3883,2408,2495,145.8,5.7,618,11557,0.00,2.28,28.70,1.000,9222,0.000,0.047,3081,2464,2288,2230,2346,0,0,0,0,0,0,14.85,14.78,14.23
$GC,11871,1.11,218.8,3081,2465,2233,2336,116.5,8.6,643,11888,0.00,2.45,10.32,0.938,8452,0.000,0.085,3081,3875,2231,2175,2288,0,0,0,0,0,0,14.97,14.70,14.26
$GC,12121,1.11,248.1,3081,3875,2181,2284,96.0,6.9,692,12149,0.00,2.25,21.50,0.966,9222,0.000,0.042,3092,2467,2112,2037,2188,0,0,0,0,0,0,14.85,14.78,14.26
$GC,12453,1.12,263.8,3092,2467,2040,2186,68.5,8.3,714,12470,0.00,2.40,12.10,0.942,8452,0.000,0.080,3092,3895,2049,1966,2132,0,0,0,0,0,0,14.99,14.73,14.28
$GC,12537,1.12,263.8,3091,3894,1974,2123,60.1,12.0,730,12541,0.00,2.28,0.00,0.000,1030,0.000,0.041,3103,2472,2048,1973,2123,0,0,0,0,0,0,14.84,14.78,14.86
$GC,12844,1.12,263.8,3102,2472,1980,2122,23.9,10.7,758,12850,0.00,2.28,0.00,0.000,516,0.000,0.065,3113,1067,2051,1981,2122,0,0,0,0,0,0,15.04,14.78,15.07
$GC,12879,1.12,263.8,3113,1068,1981,2122,20.0,11.8,765,12886,0.17,2.28,0.00,0.000,5126,0.293,0.051,3076,2492,2051,1981,2122,0,0,0,0,0,0,14.61,14.82,14.85
$STATE,13041,end climb,SURFACE_DEPTH_REACHED
$STATE,13041,begin surface coast
$FINISH,2.3,0.000000
$STATE,13061,end surface coast,CONTROL_FINISHED_OK
$STATE,13061,begin surface
$SM_CCo,13086,94.10,0.052,0,0,1087,500.17
$SM_GC,3.25,8.43,0.25,94.10,0.061,0.100,0.052,46,2661,1087,-8.30,-0.88,500.17,0,0,0,0,0,0,14.79,14.87,14.85
$IRIDIUM_FIX,755.99,8600.29,060915,180611
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.54
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3999616
$24V_AH,13.46,34.701
$10V_AH,13.77,0.000
$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,22.975,87.125,279.950,94.100,0.000,0.000,0.000,660.175,0.000,0.000,37.224,879.633,10355.982,489.462,1730.427,595.769,0.000,1823.187,0.000,1169.997,0.000,0.545,0.000
$DEVICE_MAMPS,419.985,100.215,2044.080,52.020,0.000,0.000,0.000,253.215,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.269,0.000,0.000,0.000
$MEM,261000
$DATA_FILE_SIZE,26712,785
$CAP_FILE_SIZE,116998,0
$CFSIZE,260034560,241455104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,205.14,1
$GPS,070915,032245,758.497,8559.112,147,2.9,187,-1.8,0.6,240.6,5,51.4