version: 66.12
glider: 141
mission: 23
dive: 98
start: 9 8 115 6 2 17
data:
$ID,141
$MISSION,23
$DIVE,98
$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,38
$R_STBD_OVSHOOT,49
$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
$GPS1,080915,055258,758.8283,8559.7344,66,1.7,106,-1.8,1.2,162.7,5,19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.03
$_SM_ANGLEo,-73.4
$GPS2,080915,060134,758.6844,8559.7939,14,1.0,54,-1.8,0.3,102.4,8,7.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.4,2466,-20.5,-10.000,-23.74,1669
$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,-0.83,-109.2,26,2666,1059,1126,0.0,0.0,0,121,0.00,0.00,-88.70,0.000,16390,0.000,0.000,26,2667,3574,3642,3507,0,0,0,0,0,0,14.92,13.55,14.96
$GC,127,-0.84,-171.1,26,2667,3643,3509,5.8,-6.2,9,150,11.52,2.28,-3.22,0.000,18948,0.417,0.067,2436,1241,3828,3899,3758,0,0,0,0,0,0,14.45,13.98,14.77
$GC,323,-0.84,-171.1,2436,1240,3899,3761,88.1,-34.8,46,328,0.00,2.22,0.00,0.000,1030,0.000,0.054,2428,2629,3830,3899,3761,0,0,0,0,0,0,14.87,14.78,14.88
$GC,644,-0.84,-171.1,2428,2632,3896,3765,178.0,-21.9,64,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2632,3832,3899,3765,0,0,0,0,0,0,15.07,15.11,15.09
$GC,944,-0.84,-171.1,2428,2632,3899,3768,232.4,-16.2,79,949,0.00,2.33,0.00,0.000,260,0.000,0.080,2418,4045,3834,3899,3769,0,0,0,0,0,0,15.11,14.83,15.14
$GC,969,-0.84,-171.1,2422,4045,3899,3768,236.6,-16.9,83,975,0.00,2.15,0.00,0.000,1030,0.000,0.032,2417,2641,3833,3898,3769,0,0,0,0,0,0,14.97,14.91,14.99
$GC,1295,-0.84,-171.1,2417,2639,3898,3768,286.4,-15.1,94,1300,0.00,2.33,0.00,0.000,260,0.000,0.078,2406,4050,3833,3899,3768,0,0,0,0,0,0,15.12,14.85,15.16
$GC,1335,-0.84,-171.1,2406,4048,3898,3769,292.3,-15.1,101,1342,0.15,2.15,0.00,0.000,3078,0.295,0.033,2438,2646,3833,3898,3769,0,0,0,0,0,0,14.69,14.93,14.92
$GC,1671,-0.84,-171.1,2438,2646,3896,3769,337.0,-13.6,111,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2647,3832,3895,3769,0,0,0,0,0,0,15.13,15.17,15.16
$GC,1967,-0.84,-171.1,2438,2646,3889,3769,386.4,-16.8,116,1973,0.00,2.33,0.00,0.000,260,0.000,0.082,2430,4048,3828,3888,3769,0,0,0,0,0,0,15.15,14.87,15.19
$GC,2038,-0.84,-171.1,2430,4047,3888,3769,399.4,-18.0,129,2044,0.00,2.17,0.00,0.000,1030,0.000,0.033,2430,2642,3828,3888,3768,0,0,0,0,0,0,15.02,14.95,15.03
$GC,2403,-0.84,-171.1,2430,2642,3881,3768,454.0,-14.1,145,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2642,3824,3880,3768,0,0,0,0,0,0,15.14,15.18,15.18
$GC,2699,-0.84,-171.1,2430,2642,3876,3767,486.8,-10.7,150,2705,0.00,2.33,0.00,0.000,260,0.000,0.083,2421,4041,3821,3875,3767,0,0,0,0,0,0,15.16,14.87,15.19
$GC,2729,-0.84,-171.1,2420,4040,3875,3766,490.2,-11.2,155,2734,0.00,2.15,0.00,0.000,1030,0.000,0.034,2421,2643,3820,3875,3766,0,0,0,0,0,0,15.02,14.95,15.03
$GC,3073,-0.84,-171.1,2420,2642,3869,3765,528.8,-11.7,167,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2642,3817,3869,3765,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3370,-0.84,-171.1,2421,2642,3867,3762,571.0,-14.3,172,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2642,3814,3867,3762,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3670,-0.84,-171.1,2420,2641,3863,3760,619.2,-16.2,177,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2642,3811,3863,3760,0,0,0,0,0,0,15.16,15.21,15.20
$GC,3970,-0.84,-171.1,2420,2641,3862,3757,664.8,-15.0,182,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2641,3809,3861,3757,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4270,-0.84,-171.1,2420,2641,3858,3756,704.2,-12.9,187,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2641,3811,3866,3756,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4869,-0.84,-171.1,2420,2641,3852,3752,776.3,-12.0,192,4874,0.00,2.35,0.00,0.000,260,0.000,0.090,2410,4042,3801,3851,3752,0,0,0,0,0,0,15.16,14.79,15.19
$GC,4903,-0.84,-171.1,2410,4042,3851,3751,780.8,-12.4,199,4909,0.15,2.17,0.00,0.000,3078,0.275,0.038,2443,2650,3801,3851,3751,0,0,0,0,0,0,14.65,14.93,14.90
$GC,5588,-0.84,-171.1,2443,2653,3846,3750,854.5,-10.6,221,5594,0.00,2.25,0.00,0.000,516,0.000,0.062,2443,1249,3797,3845,3750,0,0,0,0,0,0,15.16,14.85,15.19
$GC,5633,-0.84,-171.1,2444,1249,3845,3750,859.3,-10.3,230,5639,0.00,2.28,0.00,0.000,1030,0.000,0.065,2441,2646,3797,3844,3750,0,0,0,0,0,0,14.96,14.85,15.00
$GC,6308,-0.84,-171.1,2440,2646,3841,3747,932.9,-11.0,250,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2646,3794,3841,3747,0,0,0,0,0,0,15.16,15.20,15.19
$STATE,6904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6904,begin apogee
$GC,6914,-0.20,0.0,2441,2468,3837,3745,997.9,-10.8,255,7045,0.73,0.00,127.97,2.049,10246,0.220,0.000,2646,2468,3127,3065,3190,0,0,0,0,0,0,14.64,14.19,13.47
$STATE,7048,end apogee,CONTROL_FINISHED_OK
$STATE,7048,begin climb
$GC,7052,0.84,171.1,2646,2468,3064,3186,1000.7,0.0,256,7199,1.02,2.45,134.00,1.994,10756,0.129,0.078,2986,1101,2426,2354,2499,0,0,0,0,0,0,14.20,14.06,13.38
$GC,7288,0.84,171.1,2986,1101,2364,2485,970.7,18.5,307,7293,0.00,2.33,0.00,0.000,1030,0.000,0.064,2986,2475,2424,2364,2485,0,0,0,0,0,0,14.46,14.38,14.48
$GC,7992,0.84,171.1,2986,2475,2371,2471,836.4,19.2,333,7998,0.00,2.40,0.00,0.000,260,0.000,0.093,2986,3879,2421,2372,2470,0,0,0,0,0,0,14.97,14.67,15.00
$GC,8042,0.84,171.1,2985,3879,2375,2468,825.7,22.0,343,8048,0.00,2.25,0.00,0.000,1030,0.000,0.056,2996,2500,2421,2374,2468,0,0,0,0,0,0,14.82,14.74,14.85
$GC,8712,0.84,171.1,2996,2500,2374,2464,694.8,19.1,362,8718,0.00,2.38,0.00,0.000,260,0.000,0.092,2997,3880,2419,2375,2463,0,0,0,0,0,0,15.07,14.74,15.10
$GC,8742,0.84,171.1,2996,3880,2376,2462,689.2,19.6,368,8748,0.00,2.30,0.00,0.000,1030,0.000,0.056,3006,2464,2419,2376,2462,0,0,0,0,0,0,14.90,14.81,14.92
$GC,9076,0.84,171.1,3006,2464,2375,2461,632.4,17.0,379,9082,0.00,2.42,0.00,0.000,260,0.000,0.092,3006,3879,2418,2376,2461,0,0,0,0,0,0,15.07,14.72,15.10
$GC,9115,0.84,171.1,3006,3879,2376,2461,624.6,18.5,387,9122,0.15,2.28,0.00,0.000,5126,0.356,0.056,2989,2474,2418,2376,2461,0,0,0,0,0,0,14.52,14.82,14.85
$GC,9439,0.84,171.1,2989,2474,2376,2460,571.9,16.4,396,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2474,2418,2377,2460,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9736,0.84,171.1,2989,2474,2376,2459,519.7,17.5,401,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2474,2417,2376,2459,0,0,0,0,0,0,15.10,15.14,15.14
$GC,10036,0.84,171.1,2989,2474,2376,2459,469.0,16.8,406,10042,0.00,2.38,0.00,0.000,260,0.000,0.090,2989,3875,2417,2377,2458,0,0,0,0,0,0,15.09,14.73,15.13
$GC,10075,0.84,171.1,2989,3875,2377,2459,462.1,17.7,414,10081,0.00,2.28,0.00,0.000,1030,0.000,0.054,2997,2464,2418,2377,2459,0,0,0,0,0,0,14.92,14.83,14.95
$GC,10399,0.84,171.1,2997,2464,2376,2459,405.9,17.7,423,10405,0.00,2.42,0.00,0.000,260,0.000,0.090,2997,3886,2417,2377,2458,0,0,0,0,0,0,15.10,14.74,15.14
$GC,10455,0.84,171.1,2997,3886,2377,2458,394.5,20.4,434,10461,0.00,2.25,0.00,0.000,1030,0.000,0.053,3007,2476,2417,2377,2458,0,0,0,0,0,0,14.85,14.80,14.89
$GC,10819,0.84,171.1,3007,2476,2377,2458,331.9,16.4,452,10825,0.00,2.40,0.00,0.000,260,0.000,0.090,3007,3879,2417,2377,2458,0,0,0,0,0,0,15.11,14.76,15.15
$GC,10919,0.84,171.1,3007,3879,2377,2458,315.4,16.4,472,10926,0.15,2.28,0.00,0.000,5126,0.344,0.053,2990,2471,2417,2377,2458,0,0,0,0,0,0,14.51,14.83,14.85
$GC,11243,0.84,171.1,2990,2471,2377,2458,269.0,14.5,481,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2471,2418,2378,2458,0,0,0,0,0,0,15.09,15.14,15.13
$GC,11541,0.84,171.1,2989,2472,2377,2458,228.5,13.4,490,11546,0.00,2.38,0.00,0.000,260,0.000,0.089,2990,3876,2418,2378,2458,0,0,0,0,0,0,15.11,14.73,15.14
$GC,11644,0.84,171.1,2990,3876,2378,2458,212.5,16.4,510,11649,0.00,2.22,0.00,0.000,1030,0.000,0.050,2998,2473,2418,2378,2458,0,0,0,0,0,0,14.85,14.81,14.90
$GC,11967,0.84,175.7,2998,2473,2378,2458,172.5,9.7,529,11974,0.00,2.38,0.70,0.086,8452,0.000,0.085,2997,3880,2412,2373,2451,0,0,0,0,0,0,15.09,14.73,14.71
$GC,12205,0.84,246.8,2997,3880,2383,2451,156.2,5.6,576,12263,0.00,2.25,50.62,1.021,9222,0.000,0.046,3008,2463,2117,2037,2197,0,0,0,0,0,0,14.92,14.84,14.21
$GC,12572,0.85,298.0,3008,2463,2038,2194,124.3,6.8,604,12613,0.00,2.35,34.97,0.974,8708,0.000,0.069,3017,1074,1909,1794,2024,0,0,0,0,0,0,14.96,14.58,14.19
$GC,12768,0.85,347.3,3017,1074,1799,2019,108.6,7.0,643,12809,0.00,2.30,34.35,0.952,9222,0.000,0.054,3017,2489,1708,1581,1835,0,0,0,0,0,0,14.76,14.67,14.14
$GC,13113,0.86,363.9,3017,2489,1592,1827,80.3,9.0,667,13131,0.00,2.33,12.60,0.923,8452,0.000,0.080,3017,3879,1640,1519,1762,0,0,0,0,0,0,14.93,14.60,14.22
$GC,13281,0.86,363.9,3017,3879,1527,1754,60.4,11.7,700,13287,0.15,2.22,0.00,0.000,5126,0.284,0.041,2994,2475,1640,1527,1753,0,0,0,0,0,0,14.56,14.75,14.77
$GC,13595,0.86,382.3,2993,2475,1534,1753,33.6,8.9,726,13613,0.00,2.28,12.77,0.923,8708,0.000,0.066,2995,1077,1566,1446,1686,0,0,0,0,0,0,15.01,14.75,14.31
$GC,13672,0.86,412.2,2995,1077,1451,1682,26.4,8.2,742,13696,0.00,2.22,18.27,0.939,9222,0.000,0.047,2995,2478,1444,1309,1579,0,0,0,0,0,0,14.85,14.78,14.26
$STATE,13953,end climb,SURFACE_DEPTH_REACHED
$STATE,13953,begin surface coast
$FINISH,2.1,0.000000
$STATE,13983,end surface coast,CONTROL_FINISHED_OK
$STATE,13984,begin surface
$SM_CCo,14009,34.70,0.052,0,0,1087,500.17
$SM_GC,3.31,8.27,0.28,34.70,0.067,0.092,0.052,44,2669,1087,-8.29,-0.79,500.17,0,0,0,0,0,0,14.77,14.81,14.81
$IRIDIUM_FIX,755.99,8600.29,080915,020029
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.54
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.80
$XPDR_PINGS,0
$SC_FREEKB,3998720
$24V_AH,13.38,36.520
$10V_AH,13.23,0.000
$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,22.300,87.725,426.275,34.700,0.000,0.000,0.000,243.300,0.000,0.000,57.217,731.413,11243.683,518.306,1454.170,581.494,0.000,1467.241,0.000,1266.327,0.000,0.544,0.000
$DEVICE_MAMPS,416.925,93.330,2049.435,52.020,0.000,0.000,0.000,224.145,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13983.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.233,0.000,0.000,0.000
$MEM,261100
$DATA_FILE_SIZE,26639,776
$CAP_FILE_SIZE,145456,0
$CFSIZE,260034560,240656384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,62.69,1
$GPS,080915,095934,759.635,8600.780,107,1.7,142,-1.8,0.6,121.7,6,9.8