version: 66.12
glider: 141
mission: 23
dive: 95
start: 9 7 115 17 5 37
data:
$ID,141
$MISSION,23
$DIVE,95
$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,40
$R_STBD_OVSHOOT,45
$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
$GPS1,070915,125203,758.8010,8559.4150,301,99.0,301,-1.8,0.7,134.0,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-72.8
$GPS2,070915,170501,758.2885,8601.0654,194,1.9,234,-1.8,0.5,101.7,4,15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,285.2,3723,-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,-63.0,20,2689,1066,1123,0.0,0.0,0,120,0.00,0.00,-82.70,0.000,16390,0.000,0.000,17,2688,3384,3446,3323,0,0,0,0,0,0,14.98,14.04,15.00
$GC,126,-1.10,-119.9,17,2688,3446,3324,5.0,-3.9,8,150,11.23,0.00,-3.15,0.000,18950,0.421,0.000,2350,2688,3620,3682,3559,0,0,0,0,0,0,14.50,13.71,14.81
$GC,467,-1.10,-119.9,2350,2688,3682,3562,141.0,-29.2,29,476,0.00,2.20,0.00,0.000,260,0.000,0.074,2343,4032,3621,3681,3562,0,0,0,0,0,0,15.07,14.82,15.10
$GC,641,-1.10,-119.9,2342,4032,3681,3565,177.6,-18.0,54,648,0.00,2.15,0.00,0.000,1030,0.000,0.034,2342,2642,3623,3681,3565,0,0,0,0,0,0,14.95,14.88,14.97
$GC,969,-1.10,-119.9,2342,2641,3682,3568,232.4,-16.2,72,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2641,3625,3682,3568,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1273,-1.10,-119.9,2342,2641,3681,3568,288.2,-19.2,81,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2641,3624,3681,3568,0,0,0,0,0,0,15.13,15.16,15.16
$GC,1575,-1.10,-119.9,2343,2641,3682,3568,351.2,-20.9,86,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2641,3622,3676,3568,0,0,0,0,0,0,15.15,15.19,15.21
$GC,1873,-1.10,-119.9,2342,2641,3669,3568,406.4,-18.0,91,1881,0.00,2.28,0.00,0.000,260,0.000,0.077,2333,4026,3618,3668,3568,0,0,0,0,0,0,15.16,14.89,15.19
$GC,1956,-1.10,-119.9,2332,4026,3668,3568,421.3,-18.6,103,1964,0.00,2.12,0.00,0.000,1030,0.000,0.034,2332,2639,3618,3668,3568,0,0,0,0,0,0,15.01,14.95,15.03
$GC,2340,-1.10,-119.9,2332,2639,3660,3568,485.5,-16.5,120,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2639,3613,3659,3568,0,0,0,0,0,0,15.14,15.19,15.19
$GC,2644,-1.10,-119.9,2332,2639,3654,3568,532.2,-15.3,125,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2639,3611,3654,3568,0,0,0,0,0,0,15.16,15.20,15.20
$GC,2944,-1.10,-119.9,2332,2639,3647,3568,576.4,-14.9,130,2952,0.00,2.30,0.00,0.000,260,0.000,0.077,2322,4027,3607,3647,3568,0,0,0,0,0,0,15.16,14.88,15.17
$GC,2971,-1.10,-119.9,2322,4028,3648,3567,581.5,-15.0,133,2980,0.15,2.12,0.00,0.000,3078,0.321,0.036,2352,2649,3607,3647,3567,0,0,0,0,0,0,14.64,14.95,14.92
$GC,3339,-1.10,-119.9,2351,2649,3642,3567,632.7,-13.9,147,3347,0.00,2.20,0.00,0.000,516,0.000,0.056,2352,1256,3604,3641,3567,0,0,0,0,0,0,15.16,14.90,15.19
$GC,3381,-1.10,-119.9,2352,1256,3641,3566,638.5,-14.9,152,3389,0.00,2.22,0.00,0.000,1030,0.000,0.059,2344,2639,3603,3641,3566,0,0,0,0,0,0,14.99,14.89,15.02
$GC,3737,-1.10,-119.9,2344,2639,3637,3564,691.8,-15.0,164,3745,0.00,2.33,0.00,0.000,260,0.000,0.084,2334,4040,3600,3637,3563,0,0,0,0,0,0,15.14,14.84,15.17
$GC,3831,-1.10,-119.9,2333,4040,3637,3561,707.2,-16.7,177,3839,0.00,2.15,0.00,0.000,1030,0.000,0.037,2333,2650,3599,3637,3561,0,0,0,0,0,0,15.00,14.92,15.01
$GC,4511,-1.10,-119.9,2333,2651,3629,3560,808.8,-14.7,193,4520,0.00,2.22,0.00,0.000,516,0.000,0.059,2334,1252,3593,3628,3559,0,0,0,0,0,0,15.14,14.86,15.18
$GC,4559,-1.10,-119.9,2333,1252,3628,3559,816.5,-15.7,199,4568,0.15,2.25,0.00,0.000,3078,0.306,0.059,2353,2656,3593,3628,3559,0,0,0,0,0,0,14.61,14.88,14.89
$GC,5283,-1.10,-119.9,2353,2656,3622,3555,912.8,-13.1,222,5288,0.00,2.25,0.00,0.000,516,0.000,0.060,2354,1256,3586,3622,3551,0,0,0,0,0,0,15.15,14.85,15.19
$GC,5327,-1.10,-119.9,2354,1256,3622,3555,919.2,-12.7,229,5333,0.00,2.28,0.00,0.000,1030,0.000,0.064,2346,2661,3588,3621,3555,0,0,0,0,0,0,14.96,14.85,14.99
$STATE,5904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5905,begin apogee
$GC,5915,-0.20,0.0,2346,2462,3617,3552,1003.3,-14.7,250,6007,1.10,0.00,88.68,2.067,10246,0.252,0.000,2647,2462,3126,3082,3170,0,0,0,0,0,0,14.60,14.31,13.57
$STATE,6009,end apogee,CONTROL_FINISHED_OK
$STATE,6010,begin climb
$GC,6014,1.10,119.9,2648,2462,3082,3168,1003.3,0.0,250,6114,1.33,0.00,96.07,2.046,10246,0.122,0.000,3072,2461,2637,2576,2698,0,0,0,0,0,0,14.30,14.13,13.43
$GC,6629,1.10,119.9,3071,2461,2583,2679,897.0,19.7,256,6634,0.00,2.40,0.00,0.000,260,0.000,0.088,3072,3873,2631,2584,2679,0,0,0,0,0,0,14.92,14.66,14.96
$GC,6673,1.10,119.9,3072,3873,2584,2677,888.0,20.8,263,6678,0.00,2.25,0.00,0.000,1030,0.000,0.057,3082,2487,2630,2584,2677,0,0,0,0,0,0,14.80,14.71,14.82
$GC,7375,1.10,119.9,3082,2489,2584,2670,761.3,17.7,285,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2489,2627,2584,2670,0,0,0,0,0,0,15.04,15.08,15.07
$GC,7972,1.10,119.9,3082,2489,2584,2667,653.9,17.9,292,7978,0.00,2.35,0.00,0.000,260,0.000,0.089,3082,3873,2625,2585,2665,0,0,0,0,0,0,15.09,14.77,15.13
$GC,8079,1.10,119.9,3081,3873,2585,2665,633.1,19.6,310,8085,0.00,2.25,0.00,0.000,1030,0.000,0.054,3092,2477,2625,2585,2665,0,0,0,0,0,0,14.92,14.83,14.95
$GC,8417,1.10,119.9,3092,2476,2585,2664,572.7,17.6,321,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2477,2624,2585,2664,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8717,1.10,119.9,3092,2477,2585,2663,520.1,17.6,326,8722,0.00,2.38,0.00,0.000,260,0.000,0.089,3092,3873,2624,2586,2663,0,0,0,0,0,0,15.11,14.78,15.14
$GC,8760,1.10,119.9,3092,3873,2587,2663,511.3,20.1,333,8766,0.15,2.25,0.00,0.000,5126,0.369,0.054,3076,2471,2624,2586,2663,0,0,0,0,0,0,14.50,14.84,14.86
$GC,9093,1.10,119.9,3076,2471,2587,2662,450.3,18.4,343,9099,0.00,2.38,0.00,0.000,260,0.000,0.088,3076,3873,2624,2587,2662,0,0,0,0,0,0,15.10,14.77,15.14
$GC,9161,1.10,119.9,3076,3873,2587,2662,436.4,20.7,354,9167,0.00,2.25,0.00,0.000,1030,0.000,0.052,3084,2470,2624,2587,2662,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9470,1.10,119.9,3084,2470,2587,2661,379.2,18.7,360,9475,0.00,2.40,0.00,0.000,260,0.000,0.090,3084,3876,2624,2587,2661,0,0,0,0,0,0,15.09,14.75,15.12
$GC,9550,1.10,119.9,3084,3876,2587,2661,362.9,20.8,373,9555,0.00,2.25,0.00,0.000,1030,0.000,0.054,3094,2475,2624,2587,2661,0,0,0,0,0,0,14.93,14.84,14.96
$GC,9921,1.10,119.9,3094,2475,2587,2660,293.1,18.2,389,9926,0.00,2.33,0.00,0.000,516,0.000,0.074,3105,1065,2624,2589,2660,0,0,0,0,0,0,15.11,14.78,15.14
$GC,9963,1.10,119.9,3105,1065,2591,2657,286.7,14.7,395,9969,0.15,2.30,0.00,0.000,5126,0.340,0.064,3076,2467,2623,2591,2656,0,0,0,0,0,0,14.50,14.81,14.85
$GC,10305,1.10,119.9,3076,2467,2590,2656,248.0,10.5,406,10310,0.00,2.38,0.00,0.000,260,0.000,0.092,3073,3880,2624,2591,2657,0,0,0,0,0,0,15.10,14.76,15.14
$GC,10354,1.10,119.9,3076,3880,2591,2657,241.7,12.6,414,10360,0.00,2.25,0.00,0.000,1030,0.000,0.050,3084,2468,2624,2591,2657,0,0,0,0,0,0,14.92,14.84,14.95
$GC,10682,1.10,119.9,3084,2469,2591,2657,203.8,11.1,433,10687,0.00,2.40,0.00,0.000,260,0.000,0.086,3084,3883,2624,2591,2657,0,0,0,0,0,0,15.09,14.76,15.13
$GC,10742,1.10,119.9,3084,3884,2591,2657,197.9,10.2,443,10748,0.00,2.28,0.00,0.000,1030,0.000,0.049,3095,2463,2624,2591,2657,0,0,0,0,0,0,14.92,14.85,14.95
$GC,11062,1.11,168.4,3094,2463,2592,2657,176.4,4.8,460,11100,0.00,2.42,32.17,1.056,8452,0.000,0.082,3095,3892,2437,2394,2480,0,0,0,0,0,0,15.09,14.67,14.28
$GC,11359,1.11,208.7,3094,3891,2395,2474,151.2,5.7,512,11398,0.15,2.28,28.23,1.013,13318,0.354,0.044,3079,2469,2274,2217,2332,0,0,0,0,0,0,14.46,14.76,14.21
$GC,11711,1.12,256.1,3078,2469,2221,2327,121.7,5.0,535,11754,0.00,2.47,33.50,0.987,8452,0.000,0.080,3078,3892,2078,1996,2161,0,0,0,0,0,0,14.97,14.62,14.20
$GC,11909,1.12,279.4,3078,3892,2002,2155,109.4,7.5,569,11934,0.00,2.25,17.00,0.997,9222,0.000,0.041,3086,2473,1986,1889,2083,0,0,0,0,0,0,14.77,14.71,14.16
$GC,12248,1.12,279.4,3086,2472,1893,2082,75.6,11.7,590,12253,0.00,2.35,0.00,0.000,260,0.000,0.077,3086,3884,1988,1894,2082,0,0,0,0,0,0,14.96,14.71,15.00
$GC,12407,1.12,279.4,3085,3884,1900,2079,55.3,12.8,617,12413,0.00,2.22,0.00,0.000,1030,0.000,0.040,3097,2470,1989,1900,2079,0,0,0,0,0,0,14.86,14.79,14.88
$GC,12712,1.12,279.4,3096,2469,1906,2078,16.0,13.2,646,12718,0.00,2.25,0.00,0.000,516,0.000,0.063,3107,1075,1992,1906,2078,0,0,0,0,0,0,15.04,14.78,15.07
$GC,12796,1.12,279.4,3107,1075,1910,2076,5.5,11.6,660,12802,0.15,2.25,0.00,0.000,5126,0.302,0.050,3077,2495,1993,1909,2077,0,0,0,0,0,0,14.60,14.83,14.85
$STATE,12818,end climb,SURFACE_DEPTH_REACHED
$STATE,12818,begin surface coast
$FINISH,2.5,0.000000
$STATE,12843,end surface coast,CONTROL_FINISHED_OK
$STATE,12843,begin surface
$SM_CCo,12867,88.18,0.052,0,0,1087,500.17
$SM_GC,3.16,8.62,0.25,88.18,0.081,0.093,0.052,44,2668,1087,-8.29,-0.74,500.17,0,0,0,0,0,0,14.81,14.88,14.84
$IRIDIUM_FIX,755.99,8531.90,070915,123752
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.06
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.50
$XPDR_PINGS,1
$SC_FREEKB,3999104
$24V_AH,13.43,35.720
$10V_AH,13.51,0.000
$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,23.175,87.175,295.650,88.175,0.000,0.000,0.000,236.575,0.250,0.000,237.201,1601.013,8750.935,556.073,1525.202,1172.531,0.000,1396.373,0.000,1316.490,0.000,0.545,0.000
$DEVICE_MAMPS,420.750,92.565,2067.030,52.020,0.000,0.000,0.000,224.910,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12834.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.249,0.000,0.000,0.000
$MEM,261124
$DATA_FILE_SIZE,23395,665
$CAP_FILE_SIZE,524294,0
$CFSIZE,260034560,240791552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,210.18,1
$GPS,070915,204633,757.746,8559.951,210,99.0,250,-1.8,0.8,168.9,3,-1.0