version: 66.12
glider: 141
mission: 23
dive: 102
start: 9 8 115 23 9 43
data:
$ID,141
$MISSION,23
$DIVE,102
$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,47
$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
$GPS1,080915,230135,759.0508,8600.3242,63,2.2,103,-1.8,0.3,188.2,7,16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.97
$_SM_ANGLEo,-71.5
$GPS2,080915,230852,758.8900,8600.3428,32,1.4,48,-1.8,1.2,171.9,8,10.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,E1
$TGT_LATLONG,800.000,8600.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,359.6,2150,-23.2,-10.000,-26.27,1314
$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,-0.94,-85.9,31,2674,1056,1128,0.0,0.0,0,121,0.00,0.00,-86.32,0.000,16390,0.000,0.000,29,2674,3479,3547,3411,0,0,0,0,0,0,14.93,13.57,14.95
$GC,127,-0.94,-129.4,29,2674,3547,3412,6.1,-6.6,9,149,11.30,2.22,-2.28,0.000,18692,0.414,0.082,2394,4038,3656,3715,3597,0,0,0,0,0,0,14.44,13.97,14.78
$GC,383,-0.94,-129.4,2394,4038,3715,3600,115.3,-33.8,58,388,0.00,2.15,0.00,0.000,1030,0.000,0.035,2395,2656,3658,3716,3600,0,0,0,0,0,0,14.88,14.82,14.90
$GC,704,-0.94,-129.4,2394,2655,3715,3605,195.2,-19.7,76,710,0.00,2.28,0.00,0.000,260,0.000,0.076,2384,4028,3660,3716,3605,0,0,0,0,0,0,15.08,14.80,15.10
$GC,795,-0.94,-129.4,2384,4028,3716,3607,212.6,-16.9,93,801,0.00,2.12,0.00,0.000,1030,0.000,0.033,2384,2644,3661,3716,3606,0,0,0,0,0,0,14.95,14.90,14.98
$GC,1136,-0.94,-129.4,2383,2643,3715,3608,259.8,-12.6,110,1141,0.00,2.30,0.00,0.000,260,0.000,0.076,2374,4029,3662,3716,3608,0,0,0,0,0,0,15.11,14.85,15.15
$GC,1289,-0.94,-129.4,2374,4029,3716,3608,285.2,-17.3,139,1295,0.15,2.12,0.00,0.000,3078,0.309,0.032,2404,2640,3662,3716,3608,0,0,0,0,0,0,14.65,14.93,14.90
$GC,1630,-0.94,-129.4,2404,2640,3713,3608,341.9,-16.5,151,1636,0.00,2.30,0.00,0.000,260,0.000,0.080,2400,4030,3658,3712,3605,0,0,0,0,0,0,15.14,14.87,15.17
$GC,1715,-0.94,-129.4,2398,4030,3711,3608,356.0,-16.2,167,1720,0.00,2.12,0.00,0.000,1030,0.000,0.032,2401,2642,3659,3711,3608,0,0,0,0,0,0,15.00,14.94,15.04
$GC,2064,-0.94,-129.4,2406,2642,3705,3608,403.8,-13.4,180,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2642,3656,3704,3608,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2362,-0.94,-129.4,2400,2642,3698,3608,448.2,-15.1,185,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2642,3653,3698,3608,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2661,-0.94,-129.4,2400,2642,3693,3608,496.9,-16.2,190,2666,0.00,2.20,0.00,0.000,516,0.000,0.053,2400,1256,3650,3693,3608,0,0,0,0,0,0,15.16,14.90,15.19
$GC,2681,-0.94,-129.4,2400,1256,3693,3608,500.2,-16.1,193,2686,0.00,2.20,0.00,0.000,1030,0.000,0.054,2389,2642,3650,3692,3608,0,0,0,0,0,0,15.00,14.90,15.02
$GC,3035,-0.94,-129.4,2389,2642,3685,3608,551.7,-14.3,207,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2642,3646,3685,3608,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3332,-0.94,-129.4,2389,2642,3683,3608,590.2,-12.7,212,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2642,3645,3683,3608,0,0,0,0,0,0,15.16,15.21,15.19
$GC,3632,-0.94,-129.4,2389,2642,3678,3606,629.0,-13.0,217,3634,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2642,3642,3678,3606,0,0,0,0,0,0,15.16,15.21,15.19
$GC,3932,-0.94,-129.4,2389,2642,3674,3604,667.5,-12.9,222,3937,0.00,2.33,0.00,0.000,260,0.000,0.082,2379,4042,3638,3673,3604,0,0,0,0,0,0,15.16,14.85,15.19
$GC,3966,-0.94,-129.4,2378,4042,3673,3603,672.4,-13.7,228,3973,0.12,2.15,0.00,0.000,3078,0.298,0.037,2404,2650,3638,3673,3603,0,0,0,0,0,0,14.64,14.93,14.91
$GC,4367,-0.94,-129.4,2404,2650,3669,3602,719.7,-11.9,239,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2650,3635,3669,3602,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4964,-0.94,-129.4,2404,2650,3663,3598,795.1,-12.6,244,4970,0.00,2.22,0.00,0.000,516,0.000,0.060,2404,1258,3631,3663,3599,0,0,0,0,0,0,15.16,14.86,15.20
$GC,5000,-0.94,-129.4,2404,1257,3663,3599,800.0,-13.0,250,5005,0.00,2.25,0.00,0.000,1030,0.000,0.060,2402,2647,3631,3663,3599,0,0,0,0,0,0,14.97,14.87,15.00
$GC,5694,-0.94,-129.4,2402,2647,3657,3596,886.6,-12.4,273,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2647,3626,3657,3596,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6294,-0.94,-129.4,2402,2647,3655,3593,962.1,-12.6,278,6300,0.00,2.25,0.00,0.000,516,0.000,0.063,2402,1257,3623,3654,3593,0,0,0,0,0,0,15.16,14.84,15.19
$GC,6323,-0.94,-129.4,2402,1256,3654,3593,965.9,-13.4,284,6329,0.00,2.28,0.00,0.000,1030,0.000,0.067,2402,2646,3624,3655,3593,0,0,0,0,0,0,14.95,14.83,14.98
$STATE,6530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6530,begin apogee
$GC,6540,-0.20,0.0,2402,2468,3654,3592,991.5,-12.1,303,6639,0.88,0.00,95.70,2.050,10246,0.239,0.000,2644,2468,3126,3078,3175,0,0,0,0,0,0,14.59,14.27,13.54
$STATE,6642,end apogee,CONTROL_FINISHED_OK
$STATE,6642,begin climb
$GC,6646,0.94,129.4,2645,2468,3077,3171,991.5,0.0,303,6755,1.12,0.00,102.03,2.000,10758,0.129,0.000,3005,2468,2596,2524,2669,0,0,0,0,0,0,14.26,14.12,13.43
$GC,7377,0.94,129.4,3005,2468,2534,2649,884.5,16.3,333,7383,0.00,2.40,0.00,0.000,260,0.000,0.092,3006,3878,2591,2535,2648,0,0,0,0,0,0,14.95,14.63,14.98
$GC,7412,0.94,129.4,3005,3877,2535,2647,878.6,17.0,340,7418,0.00,2.25,0.00,0.000,1030,0.000,0.055,3016,2495,2591,2536,2647,0,0,0,0,0,0,14.81,14.72,14.83
$GC,8097,0.94,129.4,3016,2495,2536,2642,772.1,15.4,362,8103,0.00,2.38,0.00,0.000,260,0.000,0.090,3016,3889,2589,2536,2643,0,0,0,0,0,0,15.04,14.73,15.07
$GC,8127,0.94,129.4,3016,3889,2536,2641,766.9,18.0,368,8133,0.00,2.30,0.00,0.000,1030,0.000,0.055,3026,2470,2589,2537,2642,0,0,0,0,0,0,14.88,14.80,14.91
$GC,8757,0.94,129.4,3026,2470,2538,2637,656.2,17.6,392,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2470,2587,2537,2637,0,0,0,0,0,0,15.08,15.12,15.11
$GC,9057,0.94,129.4,3025,2470,2537,2636,605.8,16.8,397,9063,0.00,2.42,0.00,0.000,260,0.000,0.090,3026,3888,2586,2537,2636,0,0,0,0,0,0,15.09,14.75,15.13
$GC,9127,0.94,129.4,3026,3888,2538,2635,593.1,18.2,411,9132,0.00,2.30,0.00,0.000,1030,0.000,0.054,3037,2467,2587,2538,2636,0,0,0,0,0,0,14.91,14.85,14.97
$GC,9480,0.94,129.4,3037,2467,2538,2634,529.4,18.5,426,9486,0.00,2.40,0.00,0.000,260,0.000,0.089,3037,3878,2586,2538,2635,0,0,0,0,0,0,15.07,14.72,15.11
$GC,9524,0.94,129.4,3036,3879,2539,2634,519.8,21.0,435,9530,0.00,2.28,0.00,0.000,1030,0.000,0.054,3047,2471,2586,2539,2634,0,0,0,0,0,0,14.91,14.83,14.94
$GC,9843,0.94,129.4,3047,2471,2539,2634,458.8,19.1,443,9849,0.00,2.40,0.00,0.000,260,0.000,0.089,3047,3877,2586,2539,2634,0,0,0,0,0,0,15.09,14.73,15.12
$GC,9877,0.94,129.4,3044,3878,2540,2634,451.1,20.5,450,9884,0.17,2.28,0.00,0.000,5126,0.356,0.054,3023,2468,2586,2539,2633,0,0,0,0,0,0,14.51,14.83,14.85
$GC,10206,0.94,129.4,3023,2468,2539,2634,398.9,15.7,460,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2468,2587,2540,2634,0,0,0,0,0,0,15.10,15.14,15.13
$GC,10503,0.94,129.4,3023,2468,2539,2633,354.2,14.8,465,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2468,2586,2539,2633,0,0,0,0,0,0,15.12,15.16,15.16
$GC,10803,0.94,129.4,3023,2468,2539,2633,310.7,14.4,470,10809,0.00,2.38,0.00,0.000,260,0.000,0.086,3023,3877,2587,2541,2633,0,0,0,0,0,0,15.11,14.72,15.14
$GC,10887,0.94,129.4,3022,3877,2541,2633,297.4,16.0,487,10893,0.00,2.25,0.00,0.000,1030,0.000,0.052,3031,2474,2587,2541,2633,0,0,0,0,0,0,14.93,14.85,14.96
$GC,11226,0.94,129.4,3030,2474,2541,2633,244.5,16.3,499,11232,0.00,2.38,0.00,0.000,260,0.000,0.089,3031,3879,2587,2541,2633,0,0,0,0,0,0,15.10,14.73,15.14
$GC,11329,0.94,129.4,3031,3879,2541,2633,226.6,17.7,519,11334,0.00,2.22,0.00,0.000,1030,0.000,0.050,3042,2480,2587,2541,2633,0,0,0,0,0,0,14.85,14.80,14.88
$GC,11651,0.95,176.6,3041,2480,2541,2632,189.9,6.3,538,11690,0.00,2.45,31.27,1.072,8452,0.000,0.086,3042,3882,2404,2354,2455,0,0,0,0,0,0,15.09,14.73,14.28
$GC,11920,0.95,222.3,3042,3881,2354,2453,168.0,6.4,592,11959,0.15,2.28,32.35,1.037,13318,0.343,0.047,3023,2463,2219,2150,2288,0,0,0,0,0,0,14.47,14.75,14.18
$GC,12268,0.95,222.3,3023,2463,2151,2281,133.7,11.4,616,12274,0.00,2.30,0.00,0.000,516,0.000,0.070,3032,1074,2216,2153,2280,0,0,0,0,0,0,14.95,14.68,14.98
$GC,12507,0.96,268.0,3031,1074,2156,2276,109.4,6.4,663,12545,0.00,2.28,31.75,0.959,9222,0.000,0.056,3032,2493,2031,1941,2122,0,0,0,0,0,0,14.78,14.73,14.22
$GC,12848,0.96,328.8,3031,2488,1943,2120,92.0,5.2,687,12896,0.00,2.33,41.72,0.942,8708,0.000,0.065,3041,1077,1783,1659,1907,0,0,0,0,0,0,14.97,14.59,14.17
$GC,12928,0.96,328.8,3040,1077,1664,1903,85.4,10.2,702,12933,0.00,2.25,0.00,0.000,1030,0.000,0.053,3041,2467,1783,1664,1903,0,0,0,0,0,0,14.66,14.62,14.69
$GC,13251,0.96,328.8,3040,2467,1669,1902,48.0,12.1,721,13256,0.00,2.35,0.00,0.000,260,0.000,0.082,3040,3879,1786,1671,1901,0,0,0,0,0,0,14.95,14.68,14.97
$GC,13356,0.96,328.8,3040,3879,1680,1891,32.7,13.9,742,13362,0.00,2.22,0.00,0.000,1030,0.000,0.040,3051,2467,1786,1681,1891,0,0,0,0,0,0,14.85,14.78,14.87
$STATE,13597,end climb,SURFACE_DEPTH_REACHED
$STATE,13597,begin surface coast
$FINISH,2.4,0.000000
$STATE,13621,end surface coast,CONTROL_FINISHED_OK
$STATE,13622,begin surface
$SM_CCo,13646,68.43,0.053,0,0,1087,500.17
$SM_GC,3.14,8.60,0.30,68.43,0.083,0.077,0.053,40,2677,1087,-8.30,-0.93,500.17,0,0,0,0,0,0,14.78,14.85,14.83
$IRIDIUM_FIX,755.99,8602.46,080915,185719
$TT8_MAMPS,0.02247,0.02247
$HUMID,44.29
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.90
$XPDR_PINGS,0
$SC_FREEKB,3998208
$24V_AH,13.43,37.407
$10V_AH,13.24,0.000
$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,22.500,87.125,334.825,68.425,0.000,0.000,0.000,208.550,0.000,0.000,51.208,824.939,10876.626,495.835,1455.383,515.861,0.000,1387.609,0.000,1252.860,0.000,0.544,0.000
$DEVICE_MAMPS,413.865,91.800,2050.200,52.785,0.000,0.000,0.000,226.440,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13621.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.266,0.000,0.000,0.000
$MEM,260944
$DATA_FILE_SIZE,26761,770
$CAP_FILE_SIZE,140233,0
$CFSIZE,260034560,240410624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.007,155.17,1
$GPS,090915,030133,759.610,8600.418,104,99.0,144,-1.8,0.5,121.0,3,-1.0