version: 66.12
glider: 141
mission: 23
dive: 97
start: 9 8 115 2 6 2
data:
$ID,141
$MISSION,23
$DIVE,97
$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,48
$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
$GPS1,080915,015644,759.2145,8600.4707,56,1.5,96,-1.8,0.6,167.4,7,10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-71.8
$GPS2,080915,020529,759.0763,8600.5361,15,1.4,32,-1.8,0.8,163.9,7,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,311.9,1973,-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,-63.0,23,2634,438,553,0.0,0.0,0,143,0.00,0.00,-102.90,0.000,16390,0.000,0.000,22,2634,3384,3440,3328,0,0,0,0,0,0,14.88,13.98,14.92
$GC,150,-1.10,-106.6,22,2634,3440,3328,5.7,-5.4,10,173,11.07,2.28,-2.30,0.000,18948,0.412,0.073,2354,1246,3565,3618,3512,0,0,0,0,0,0,14.44,13.66,14.75
$GC,307,-1.10,-106.6,2354,1246,3618,3515,74.5,-38.4,31,315,0.00,2.25,0.00,0.000,1030,0.000,0.057,2347,2641,3566,3618,3514,0,0,0,0,0,0,14.83,14.74,14.85
$GC,637,-1.10,-106.6,2346,2641,3618,3516,175.6,-24.0,49,645,0.00,2.30,0.00,0.000,260,0.000,0.076,2336,4041,3567,3618,3516,0,0,0,0,0,0,15.04,14.78,15.07
$GC,777,-1.10,-106.6,2336,4040,3618,3517,207.4,-21.4,69,785,0.00,2.15,0.00,0.000,1030,0.000,0.032,2336,2644,3567,3618,3517,0,0,0,0,0,0,14.92,14.86,14.94
$GC,1114,-1.10,-106.6,2336,2644,3618,3519,258.3,-12.4,86,1122,0.00,2.30,0.00,0.000,260,0.000,0.075,2326,4042,3568,3618,3519,0,0,0,0,0,0,15.09,14.83,15.13
$GC,1307,-1.10,-106.6,2325,4042,3618,3519,287.5,-16.1,116,1317,0.15,2.15,0.00,0.000,3078,0.337,0.033,2354,2642,3568,3618,3519,0,0,0,0,0,0,14.60,14.90,14.88
$GC,1657,-1.10,-106.6,2353,2641,3614,3519,345.3,-17.2,127,1664,0.00,2.17,0.00,0.000,516,0.000,0.051,2354,1259,3566,3613,3519,0,0,0,0,0,0,15.11,14.88,15.15
$GC,1684,-1.10,-106.6,2354,1256,3613,3519,350.5,-18.1,130,1692,0.00,2.22,0.00,0.000,1030,0.000,0.053,2346,2661,3566,3613,3519,0,0,0,0,0,0,14.97,14.88,14.99
$GC,2049,-1.10,-106.6,2346,2661,3607,3519,412.4,-16.4,144,2058,0.00,2.28,0.00,0.000,260,0.000,0.079,2336,4046,3562,3605,3519,0,0,0,0,0,0,15.13,14.83,15.16
$GC,2178,-1.10,-106.6,2335,4046,3612,3518,433.0,-16.4,163,2186,0.00,2.15,0.00,0.000,1030,0.000,0.034,2335,2648,3561,3605,3518,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2521,-1.10,-106.6,2335,2647,3598,3518,485.7,-15.4,173,2531,0.00,2.20,0.00,0.000,516,0.000,0.053,2336,1255,3557,3597,3518,0,0,0,0,0,0,15.12,14.88,15.16
$GC,2574,-1.10,-106.6,2335,1255,3596,3517,494.2,-14.4,180,2583,0.15,2.22,0.00,0.000,3078,0.315,0.054,2355,2652,3557,3596,3518,0,0,0,0,0,0,14.62,14.88,14.89
$GC,2917,-1.10,-106.6,2355,2652,3589,3517,537.4,-12.5,190,2925,0.00,2.30,0.00,0.000,260,0.000,0.081,2347,4041,3552,3589,3516,0,0,0,0,0,0,15.13,14.84,15.16
$GC,2958,-1.10,-106.6,2346,4046,3588,3516,543.2,-14.0,195,2966,0.00,2.15,0.00,0.000,1030,0.000,0.035,2346,2648,3552,3589,3516,0,0,0,0,0,0,14.98,14.95,15.00
$GC,3315,-1.10,-106.6,2346,2649,3584,3513,592.5,-14.2,207,3323,0.00,2.22,0.00,0.000,516,0.000,0.056,2347,1254,3548,3583,3513,0,0,0,0,0,0,15.12,14.87,15.15
$GC,3374,-1.10,-106.6,2346,1254,3581,3513,602.1,-16.2,215,3382,0.00,2.25,0.00,0.000,1030,0.000,0.060,2337,2645,3547,3582,3513,0,0,0,0,0,0,14.96,14.85,14.99
$GC,3711,-1.10,-106.6,2337,2645,3581,3511,656.5,-16.3,224,3720,0.00,2.33,0.00,0.000,260,0.000,0.086,2326,4041,3545,3580,3510,0,0,0,0,0,0,15.13,14.83,15.16
$GC,3744,-1.10,-106.6,2326,4040,3580,3510,662.7,-16.0,228,3754,0.15,2.15,0.00,0.000,3078,0.318,0.037,2355,2654,3545,3580,3510,0,0,0,0,0,0,14.59,14.92,14.89
$GC,4165,-1.10,-106.6,2355,2654,3575,3508,719.5,-13.1,241,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2653,3541,3575,3508,0,0,0,0,0,0,15.14,15.19,15.16
$GC,4761,-1.10,-106.6,2355,2654,3570,3504,798.2,-13.3,246,4767,0.00,2.25,0.00,0.000,516,0.000,0.060,2356,1248,3536,3569,3503,0,0,0,0,0,0,15.15,14.85,15.19
$GC,4819,-1.10,-106.6,2355,1248,3569,3503,805.9,-14.0,255,4824,0.00,2.30,0.00,0.000,1030,0.000,0.064,2348,2648,3537,3568,3506,0,0,0,0,0,0,14.96,14.84,15.00
$GC,5507,-1.10,-106.6,2347,2649,3563,3501,899.7,-13.4,275,5512,0.00,2.25,0.00,0.000,516,0.000,0.061,2347,1255,3529,3557,3501,0,0,0,0,0,0,15.14,14.84,15.18
$GC,5565,-1.10,-106.6,2347,1255,3562,3501,907.1,-13.4,284,5570,0.00,2.28,0.00,0.000,1030,0.000,0.063,2338,2658,3531,3561,3501,0,0,0,0,0,0,14.95,14.85,14.98
$STATE,6250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6250,begin apogee
$GC,6259,-0.20,0.0,2338,2465,3559,3497,1005.3,-14.2,304,6341,1.15,0.00,77.55,2.059,10246,0.265,0.000,2646,2465,3127,3085,3170,0,0,0,0,0,0,14.58,14.34,13.60
$STATE,6343,end apogee,CONTROL_FINISHED_OK
$STATE,6343,begin climb
$GC,6348,1.10,106.6,2646,2465,3084,3166,1005.3,0.0,304,6442,1.30,2.42,84.07,2.011,10756,0.125,0.076,3076,1099,2689,2629,2750,0,0,0,0,0,0,14.32,14.02,13.45
$GC,6463,1.10,106.6,3076,1099,2633,2745,998.7,14.5,324,6469,0.00,2.35,0.00,0.000,1030,0.000,0.068,3080,2463,2688,2633,2744,0,0,0,0,0,0,14.36,14.27,14.38
$GC,7095,1.10,106.6,3076,2463,2641,2729,893.5,16.6,333,7101,0.00,2.45,0.00,0.000,260,0.000,0.095,3076,3890,2685,2641,2729,0,0,0,0,0,0,14.95,14.66,14.99
$GC,7170,1.10,106.6,3076,3890,2642,2727,880.3,17.8,345,7176,0.00,2.28,0.00,0.000,1030,0.000,0.058,3086,2500,2684,2642,2727,0,0,0,0,0,0,14.82,14.73,14.84
$GC,7844,1.10,106.6,3086,2500,2642,2722,760.4,18.1,362,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2500,2682,2643,2722,0,0,0,0,0,0,15.05,15.09,15.09
$GC,8443,1.10,106.6,3085,2500,2642,2719,644.3,19.0,369,8449,0.00,2.40,0.00,0.000,260,0.000,0.094,3086,3890,2681,2644,2718,0,0,0,0,0,0,15.07,14.74,15.11
$GC,8504,1.10,106.6,3086,3890,2644,2718,631.9,20.6,379,8510,0.00,2.30,0.00,0.000,1030,0.000,0.055,3097,2471,2680,2643,2718,0,0,0,0,0,0,14.91,14.82,14.95
$GC,8820,1.10,106.6,3097,2471,2644,2716,570.4,19.5,386,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2471,2682,2647,2717,0,0,0,0,0,0,15.09,15.12,15.11
$GC,9120,1.10,106.6,3097,2471,2643,2715,513.2,18.9,391,9125,0.00,2.42,0.00,0.000,260,0.000,0.092,3097,3886,2679,2644,2715,0,0,0,0,0,0,15.10,14.76,15.13
$GC,9164,1.10,106.6,3097,3886,2645,2715,504.6,19.6,398,9170,0.17,2.28,0.00,0.000,5126,0.378,0.054,3076,2473,2680,2645,2715,0,0,0,0,0,0,14.48,14.83,14.85
$GC,9496,1.10,106.6,3075,2472,2645,2715,448.5,16.5,408,9502,0.00,2.42,0.00,0.000,260,0.000,0.090,3076,3890,2677,2640,2714,0,0,0,0,0,0,15.10,14.76,15.13
$GC,9529,1.10,106.6,3075,3890,2645,2714,442.8,17.5,413,9534,0.00,2.30,0.00,0.000,1030,0.000,0.054,3084,2466,2679,2645,2714,0,0,0,0,0,0,14.92,14.83,14.95
$GC,9876,1.10,106.6,3083,2466,2644,2713,388.5,15.5,425,9882,0.00,2.45,0.00,0.000,260,0.000,0.091,3084,3895,2679,2645,2714,0,0,0,0,0,0,15.08,14.75,15.11
$GC,9939,1.10,106.6,3084,3895,2645,2713,378.5,15.8,435,9946,0.00,2.30,0.00,0.000,1030,0.000,0.053,3094,2467,2679,2645,2713,0,0,0,0,0,0,14.92,14.83,14.95
$GC,10256,1.10,106.6,3094,2467,2645,2713,336.0,13.1,442,10261,0.00,2.42,0.00,0.000,260,0.000,0.091,3094,3886,2679,2645,2713,0,0,0,0,0,0,15.11,14.76,15.14
$GC,10356,1.10,106.6,3094,3886,2644,2713,322.0,13.8,459,10362,0.17,2.28,0.00,0.000,5126,0.371,0.054,3072,2475,2679,2645,2713,0,0,0,0,0,0,14.47,14.83,14.83
$GC,10703,1.10,106.6,3072,2475,2645,2713,271.6,15.5,471,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2475,2679,2646,2713,0,0,0,0,0,0,15.09,15.13,15.12
$GC,11004,1.10,106.6,3078,2475,2645,2713,226.0,12.7,480,11009,0.00,2.40,0.00,0.000,260,0.000,0.087,3072,3887,2679,2646,2713,0,0,0,0,0,0,15.10,14.76,15.14
$GC,11269,1.11,158.9,3072,3887,2646,2717,204.4,4.4,526,11311,0.00,2.28,34.83,1.096,9222,0.000,0.048,3080,2467,2476,2426,2527,0,0,0,0,0,0,14.91,14.83,14.23
$GC,11628,1.11,163.5,3080,2467,2429,2520,176.6,9.5,551,11638,0.00,2.42,3.53,0.726,8452,0.000,0.088,3077,3886,2461,2420,2502,0,0,0,0,0,0,14.97,14.73,14.12
$GC,11903,1.11,211.2,3080,3886,2426,2502,150.2,4.9,598,11945,0.00,2.25,34.72,1.017,9222,0.000,0.045,3091,2475,2261,2198,2325,0,0,0,0,0,0,14.85,14.78,14.21
$GC,12259,1.11,232.3,3091,2475,2202,2318,117.8,7.8,622,12281,0.00,2.30,15.82,0.957,8708,0.000,0.064,3102,1079,2175,2105,2245,0,0,0,0,0,0,14.95,14.61,14.23
$GC,12540,1.12,290.5,3101,1079,2112,2240,101.8,3.8,671,12589,0.00,2.28,39.95,0.964,9222,0.000,0.052,3102,2494,1939,1830,2049,0,0,0,0,0,0,14.82,14.74,14.16
$GC,12905,1.12,290.5,3101,2494,1836,2047,61.6,12.8,697,12910,0.00,2.30,0.00,0.000,260,0.000,0.077,3102,3880,1942,1836,2048,0,0,0,0,0,0,14.96,14.71,14.99
$GC,13167,1.12,290.5,3101,3880,1849,2038,23.4,15.1,742,13174,0.17,2.22,0.00,0.000,5126,0.320,0.040,3076,2477,1944,1851,2038,0,0,0,0,0,0,14.56,14.80,14.81
$STATE,13333,end climb,SURFACE_DEPTH_REACHED
$STATE,13334,begin surface coast
$FINISH,2.2,0.000000
$STATE,13350,end surface coast,CONTROL_FINISHED_OK
$STATE,13350,begin surface
$SM_CCo,13375,83.75,0.052,0,0,1087,500.17
$SM_GC,3.30,8.48,0.28,83.75,0.064,0.087,0.052,41,2663,1087,-8.30,-1.13,500.17,0,0,0,0,0,0,14.80,14.85,14.82
$IRIDIUM_FIX,753.81,8602.46,070915,205006
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.03
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3998848
$24V_AH,13.45,36.263
$10V_AH,13.52,0.000
$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,22.975,101.225,290.475,83.750,0.000,0.000,0.000,274.500,0.000,0.000,34.569,1730.321,8900.129,535.381,1504.084,1272.121,0.000,1523.243,0.000,1447.576,0.000,0.544,0.000
$DEVICE_MAMPS,412.335,94.860,2059.380,52.020,0.000,0.000,0.000,217.260,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13347.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.230,0.000,0.000,0.000
$MEM,261076
$DATA_FILE_SIZE,26699,761
$CAP_FILE_SIZE,588214,0
$CFSIZE,260034560,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,218.32,1
$GPS,080915,055258,758.828,8559.734,66,1.7,106,-1.8,1.2,162.7,5,19.0