version: 66.12
glider: 141
mission: 23
dive: 101
start: 9 8 115 19 2 10
data:
$ID,141
$MISSION,23
$DIVE,101
$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,49
$R_STBD_OVSHOOT,60
$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
$GPS1,080915,185415,759.8685,8600.9131,103,1.5,143,-1.8,1.0,182.8,6,12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.09
$_SM_ANGLEo,-72.2
$GPS2,080915,190134,759.7118,8600.9512,15,1.2,31,-1.8,0.5,198.1,6,8.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.4,1824,-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,-63.0,32,2689,1046,1142,0.0,0.0,0,121,0.00,0.00,-83.25,0.000,16390,0.000,0.000,28,2690,3386,3445,3327,0,0,0,0,0,0,14.91,13.55,14.94
$GC,127,-1.10,-92.6,29,2690,3445,3328,6.2,-6.8,9,149,11.05,2.30,-1.65,0.000,18948,0.413,0.068,2355,1243,3509,3565,3453,0,0,0,0,0,0,14.42,13.65,14.76
$GC,187,-1.10,-92.6,2354,1243,3565,3455,36.7,-42.9,19,193,0.00,2.20,0.00,0.000,1030,0.000,0.050,2347,2623,3510,3565,3455,0,0,0,0,0,0,14.81,14.73,14.83
$GC,509,-1.10,-92.6,2347,2623,3565,3457,143.0,-23.6,37,514,0.00,2.33,0.00,0.000,260,0.000,0.074,2336,4042,3511,3565,3457,0,0,0,0,0,0,15.02,14.75,15.06
$GC,748,-1.10,-92.6,2336,4042,3565,3462,195.0,-19.0,83,753,0.00,2.15,0.00,0.000,1030,0.000,0.033,2336,2646,3513,3565,3461,0,0,0,0,0,0,14.93,14.87,14.95
$GC,1104,-1.10,-92.6,2336,2645,3565,3463,264.3,-19.7,100,1110,0.00,2.30,0.00,0.000,260,0.000,0.074,2326,4045,3514,3565,3463,0,0,0,0,0,0,15.09,14.84,15.14
$GC,1326,-1.10,-92.6,2325,4045,3565,3463,305.8,-17.4,143,1332,0.15,2.15,0.00,0.000,3078,0.335,0.031,2354,2637,3514,3565,3463,0,0,0,0,0,0,14.60,14.92,14.88
$GC,1661,-1.10,-92.6,2353,2638,3561,3464,349.5,-12.9,153,1667,0.00,2.33,0.00,0.000,260,0.000,0.077,2345,4042,3511,3560,3463,0,0,0,0,0,0,15.11,14.84,15.15
$GC,1696,-1.10,-92.6,2345,4042,3560,3464,354.9,-14.3,159,1701,0.00,2.12,0.00,0.000,1030,0.000,0.032,2345,2653,3511,3560,3463,0,0,0,0,0,0,14.99,14.92,15.00
$GC,2035,-1.10,-92.6,2345,2653,3554,3463,397.9,-12.6,170,2040,0.00,2.20,0.00,0.000,516,0.000,0.051,2346,1249,3508,3553,3463,0,0,0,0,0,0,15.12,14.89,15.16
$GC,2140,-1.10,-92.6,2345,1248,3552,3463,411.7,-13.1,190,2145,0.00,2.22,0.00,0.000,1030,0.000,0.051,2335,2656,3507,3552,3463,0,0,0,0,0,0,14.97,14.89,15.00
$GC,2469,-1.10,-92.6,2335,2656,3545,3463,462.5,-16.2,199,2474,0.00,2.25,0.00,0.000,516,0.000,0.051,2335,1249,3504,3545,3464,0,0,0,0,0,0,15.13,14.89,15.16
$GC,2494,-1.10,-92.6,2335,1246,3545,3463,467.4,-17.2,203,2500,0.15,2.22,0.00,0.000,3078,0.315,0.052,2355,2650,3504,3545,3463,0,0,0,0,0,0,14.64,14.90,14.90
$GC,2840,-1.10,-92.6,2355,2650,3539,3463,522.6,-15.5,216,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2650,3501,3539,3463,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3140,-1.10,-92.6,2355,2650,3536,3461,561.8,-12.9,221,3146,0.00,2.22,0.00,0.000,516,0.000,0.053,2355,1248,3498,3536,3461,0,0,0,0,0,0,15.14,14.88,15.18
$GC,3170,-1.10,-92.6,2355,1248,3536,3461,565.8,-13.6,226,3175,0.00,2.25,0.00,0.000,1030,0.000,0.057,2347,2649,3498,3535,3461,0,0,0,0,0,0,14.97,14.88,15.00
$GC,3514,-1.10,-92.6,2347,2648,3531,3457,609.6,-12.9,238,3520,0.00,2.30,0.00,0.000,260,0.000,0.082,2337,4041,3494,3531,3457,0,0,0,0,0,0,15.14,14.83,15.17
$GC,3539,-1.10,-92.6,2336,4041,3531,3456,613.6,-13.6,242,3544,0.00,2.15,0.00,0.000,1030,0.000,0.036,2337,2650,3493,3530,3457,0,0,0,0,0,0,14.99,14.92,15.01
$GC,3888,-1.10,-92.6,2337,2650,3527,3455,662.3,-14.3,255,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2650,3491,3527,3455,0,0,0,0,0,0,15.13,15.17,15.16
$GC,4242,-1.10,-92.6,2337,2650,3524,3453,720.4,-16.4,260,4248,0.00,2.22,0.00,0.000,516,0.000,0.057,2337,1250,3488,3523,3453,0,0,0,0,0,0,15.15,14.87,15.18
$GC,4333,-1.10,-92.6,2337,1249,3523,3453,735.2,-16.7,278,4339,0.15,2.28,0.00,0.000,3078,0.310,0.058,2356,2660,3487,3523,3452,0,0,0,0,0,0,14.59,14.86,14.88
$GC,4966,-1.10,-92.6,2356,2659,3517,3450,822.4,-13.4,289,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2660,3483,3517,3450,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5564,-1.10,-92.6,2356,2660,3514,3447,892.4,-11.5,294,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2660,3480,3514,3447,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6163,-1.10,-92.6,2356,2660,3510,3445,959.6,-11.2,299,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2660,3477,3510,3445,0,0,0,0,0,0,15.16,15.20,15.19
$STATE,6519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6519,begin apogee
$GC,6529,-0.20,0.0,2357,2465,3507,3444,1000.8,-11.4,302,6600,1.05,0.00,67.65,2.036,10246,0.258,0.000,2644,2466,3125,3091,3160,0,0,0,0,0,0,14.59,14.41,13.67
$STATE,6603,end apogee,CONTROL_FINISHED_OK
$STATE,6603,begin climb
$GC,6607,1.10,92.6,2644,2466,3091,3158,1000.8,0.0,302,6685,1.33,0.00,74.18,1.991,10246,0.127,0.000,3069,2465,2748,2693,2803,0,0,0,0,0,0,14.39,14.17,13.47
$GC,7243,1.10,92.6,3068,2465,2702,2781,906.4,16.5,308,7254,0.00,2.42,0.00,0.000,260,0.000,0.089,3068,3897,2741,2703,2780,0,0,0,0,0,0,14.93,14.63,15.00
$GC,7327,1.10,92.6,3068,3898,2703,2779,890.8,18.6,324,7333,0.00,2.30,0.00,0.000,1030,0.000,0.054,3079,2486,2740,2703,2778,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7972,1.10,92.6,3079,2487,2704,2774,784.1,16.3,337,7977,0.00,2.35,0.00,0.000,260,0.000,0.087,3079,3875,2739,2705,2774,0,0,0,0,0,0,15.04,14.70,15.07
$GC,8040,1.10,92.6,3079,3875,2705,2768,771.8,17.5,351,8046,0.00,2.28,0.00,0.000,1030,0.000,0.055,3090,2471,2739,2706,2773,0,0,0,0,0,0,14.88,14.79,14.91
$GC,8691,1.10,92.6,3089,2471,2705,2767,659.2,18.0,367,8697,0.00,2.33,0.00,0.000,516,0.000,0.076,3100,1069,2738,2707,2769,0,0,0,0,0,0,15.09,14.76,15.12
$GC,8721,1.10,92.6,3099,1069,2709,2766,653.7,18.0,373,8728,0.15,2.33,0.00,0.000,5126,0.348,0.065,3073,2470,2737,2709,2766,0,0,0,0,0,0,14.48,14.79,14.84
$GC,9054,1.10,92.6,3073,2470,2709,2765,597.1,17.1,384,9060,0.00,2.38,0.00,0.000,260,0.000,0.093,3072,3875,2737,2709,2765,0,0,0,0,0,0,15.09,14.71,15.12
$GC,9134,1.10,92.6,3072,3875,2709,2765,582.6,17.7,400,9140,0.00,2.28,0.00,0.000,1030,0.000,0.054,3082,2476,2737,2709,2765,0,0,0,0,0,0,14.91,14.83,14.95
$GC,9477,1.10,92.6,3081,2476,2709,2764,529.1,15.6,413,9482,0.00,2.38,0.00,0.000,260,0.000,0.087,3081,3879,2736,2709,2764,0,0,0,0,0,0,15.09,14.72,15.12
$GC,9531,1.10,92.6,3080,3879,2709,2764,519.4,17.5,424,9537,0.00,2.28,0.00,0.000,1030,0.000,0.054,3091,2470,2736,2709,2764,0,0,0,0,0,0,14.91,14.82,14.95
$GC,9896,1.10,92.6,3091,2470,2709,2763,457.1,17.2,442,9901,0.00,2.42,0.00,0.000,260,0.000,0.088,3091,3891,2736,2709,2763,0,0,0,0,0,0,15.09,14.75,15.12
$GC,9926,1.10,92.6,3091,3891,2709,2763,451.7,18.1,448,9932,0.15,2.30,0.00,0.000,5126,0.373,0.053,3076,2466,2736,2709,2763,0,0,0,0,0,0,14.47,14.81,14.83
$GC,10259,1.10,92.6,3075,2466,2709,2763,397.7,16.2,459,10265,0.00,2.30,0.00,0.000,516,0.000,0.076,3083,1071,2736,2709,2763,0,0,0,0,0,0,15.09,14.72,15.12
$GC,10313,1.10,92.6,3084,1072,2710,2762,388.6,15.9,470,10319,0.00,2.33,0.00,0.000,1030,0.000,0.067,3084,2481,2736,2710,2762,0,0,0,0,0,0,14.90,14.78,14.93
$GC,10678,1.10,92.6,3083,2481,2710,2762,337.9,13.6,488,10684,0.00,2.35,0.00,0.000,516,0.000,0.072,3094,1058,2736,2710,2762,0,0,0,0,0,0,15.11,14.76,15.14
$GC,10693,1.10,92.6,3093,1062,2711,2761,335.8,13.3,491,10699,0.00,2.33,0.00,0.000,1030,0.000,0.064,3090,2484,2736,2711,2761,0,0,0,0,0,0,14.90,14.80,14.94
$GC,11042,1.10,92.6,3094,2484,2711,2761,288.9,13.6,505,11048,0.00,2.35,0.00,0.000,260,0.000,0.091,3094,3878,2736,2711,2761,0,0,0,0,0,0,15.09,14.71,15.12
$GC,11056,1.10,92.6,3093,3878,2711,2761,286.4,14.0,508,11062,0.17,2.25,0.00,0.000,5126,0.361,0.053,3071,2479,2736,2712,2761,0,0,0,0,0,0,14.48,14.83,14.85
$GC,11381,1.10,92.6,3071,2479,2711,2761,243.3,11.7,523,11387,0.00,2.40,0.00,0.000,260,0.000,0.088,3071,3886,2737,2711,2763,0,0,0,0,0,0,15.09,14.74,15.12
$GC,11528,1.10,103.7,3071,3886,2714,2762,229.5,8.8,552,11541,0.00,2.28,7.72,1.044,9222,0.000,0.050,3080,2466,2702,2677,2728,0,0,0,0,0,0,14.91,14.83,14.31
$GC,11860,1.10,135.1,3079,2468,2676,2725,211.6,6.7,573,11888,0.00,2.40,22.52,1.092,8452,0.000,0.087,3080,3882,2574,2532,2617,0,0,0,0,0,0,15.08,14.68,14.27
$GC,12027,1.10,135.1,3079,3879,2532,2616,191.0,14.1,606,12033,0.00,2.28,0.00,0.000,1030,0.000,0.050,3090,2477,2574,2532,2616,0,0,0,0,0,0,14.83,14.76,14.85
$GC,12344,1.11,180.6,3090,2477,2532,2616,165.0,5.2,623,12383,0.00,2.45,31.92,1.037,8452,0.000,0.084,3090,3877,2387,2336,2439,0,0,0,0,0,0,15.01,14.66,14.22
$GC,12614,1.11,180.6,3090,3877,2337,2437,142.0,10.1,678,12620,0.00,2.25,0.00,0.000,1030,0.000,0.046,3101,2470,2387,2337,2437,0,0,0,0,0,0,14.80,14.73,14.82
$GC,12943,1.11,199.2,3100,2470,2345,2432,115.1,8.0,698,12963,0.00,2.38,14.25,0.962,8452,0.000,0.081,3100,3879,2310,2258,2363,0,0,0,0,0,0,15.00,14.66,14.27
$GC,13193,1.12,288.8,3100,3879,2262,2362,100.8,0.5,748,13260,0.17,2.22,60.78,0.991,13318,0.319,0.041,3075,2464,1946,1830,2063,0,0,0,0,0,0,14.52,14.79,14.10
$GC,13583,1.12,288.8,3075,2464,1845,2058,62.6,13.1,780,13589,0.00,2.28,0.00,0.000,516,0.000,0.064,3083,1079,1948,1839,2058,0,0,0,0,0,0,14.93,14.69,14.97
$GC,13820,1.12,288.8,3083,1079,1849,2052,36.9,10.0,827,13826,0.00,2.25,0.00,0.000,1030,0.000,0.050,3083,2489,1950,1849,2052,0,0,0,0,0,0,14.85,14.77,14.87
$STATE,14084,end climb,SURFACE_DEPTH_REACHED
$STATE,14085,begin surface coast
$FINISH,2.3,0.000000
$STATE,14102,end surface coast,CONTROL_FINISHED_OK
$STATE,14102,begin surface
$SM_CCo,14127,84.18,0.052,0,0,1086,500.17
$SM_GC,3.30,8.45,0.25,84.18,0.060,0.101,0.052,43,2668,1086,-8.30,-0.96,500.17,0,0,0,0,0,0,14.80,14.85,14.83
$IRIDIUM_FIX,753.81,8600.29,080915,135127
$TT8_MAMPS,0.02247,0.02247
$HUMID,43.58
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.50
$XPDR_PINGS,0
$SC_FREEKB,3998336
$24V_AH,13.47,37.195
$10V_AH,13.54,0.000
$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,22.975,105.825,279.025,84.175,0.000,0.000,0.000,226.625,0.000,0.000,33.698,838.904,11172.742,493.576,1585.360,560.280,0.000,1454.110,0.000,1398.443,0.000,0.544,0.000
$DEVICE_MAMPS,413.100,100.980,2035.665,52.020,0.000,0.000,0.000,222.615,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.227,0.000,0.000,0.000
$MEM,260932
$DATA_FILE_SIZE,30093,857
$CAP_FILE_SIZE,151430,0
$CFSIZE,260034560,240459776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7246.30,0x23402a,1,24
$CURRENT,0.101,193.81,1
$GPS,080915,230135,759.051,8600.324,63,2.2,103,-1.8,0.3,188.2,7,16.2