version: 66.12
glider: 141
mission: 23
dive: 135
start: 9 18 115 3 40 16
data:
$ID,141
$MISSION,23
$DIVE,135
$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,360
$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,8
$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,37
$R_STBD_OVSHOOT,42
$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
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,170915,221051,736.0424,8613.4434,301,99.0,301,-1.9,0.9,162.2,6,10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-69.9
$GPS2,180915,033944,733.6282,8611.9570,156,2.5,196,-1.9,0.5,181.8,4,15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,314.0,132295,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.10,-63.0,1,2672,976,1080,0.0,0.0,0,114,0.00,0.00,-86.72,0.000,16390,0.000,0.000,0,2673,3385,3443,3327,0,0,0,0,0,0,14.95,13.42,14.94
$GC,119,-1.10,-116.6,0,2673,3443,3327,5.3,-4.3,9,140,11.38,2.25,-3.45,0.000,18692,0.419,0.085,2342,4039,3603,3661,3546,0,0,0,0,0,0,14.40,13.96,14.64
$GC,369,-1.10,-116.6,2342,4039,3661,3551,104.8,-24.7,59,376,0.00,2.17,0.00,0.000,1030,0.000,0.036,2342,2647,3605,3661,3550,0,0,0,0,0,0,14.87,14.81,14.89
$GC,680,-1.10,-116.6,2342,2646,3661,3554,173.4,-17.7,76,686,0.00,2.28,0.00,0.000,260,0.000,0.074,2332,4027,3607,3661,3554,0,0,0,0,0,0,15.09,14.77,15.13
$GC,874,-1.10,-116.6,2332,4027,3661,3555,209.3,-21.0,115,878,0.00,2.20,0.00,0.000,1030,0.000,0.035,2332,2640,3607,3660,3555,0,0,0,0,0,0,14.85,14.81,14.88
$GC,1220,-1.10,-116.6,2332,2639,3660,3556,275.2,-19.4,129,1225,0.00,2.30,0.00,0.000,260,0.000,0.075,2322,4030,3608,3661,3556,0,0,0,0,0,0,15.14,14.82,15.17
$GC,1273,-1.10,-116.6,2322,4031,3660,3556,286.9,-22.6,139,1280,0.17,2.15,0.00,0.000,3078,0.320,0.034,2357,2637,3607,3660,3555,0,0,0,0,0,0,14.55,14.90,14.85
$GC,1585,-1.10,-116.6,2357,2637,3656,3556,345.7,-18.6,146,1590,0.00,2.15,0.00,0.000,516,0.000,0.054,2358,1261,3605,3654,3556,0,0,0,0,0,0,15.15,14.84,15.19
$GC,1638,-1.10,-116.6,2357,1261,3655,3556,354.5,-15.1,157,1644,0.00,2.25,0.00,0.000,1030,0.000,0.053,2350,2642,3605,3654,3556,0,0,0,0,0,0,14.86,14.81,14.90
$GC,1946,-1.10,-116.6,2350,2641,3648,3556,395.0,-12.8,163,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2642,3601,3647,3556,0,0,0,0,0,0,15.16,15.21,15.20
$GC,2245,-1.10,-116.6,2350,2641,3641,3556,434.9,-13.6,168,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2642,3598,3641,3556,0,0,0,0,0,0,15.18,15.22,15.21
$GC,2545,-1.10,-116.6,2350,2641,3635,3556,482.2,-16.0,173,2549,0.00,2.22,0.00,0.000,516,0.000,0.054,2350,1246,3595,3634,3556,0,0,0,0,0,0,15.19,14.87,15.21
$GC,2593,-1.10,-116.6,2350,1246,3634,3556,490.3,-16.5,182,2599,0.00,2.22,0.00,0.000,1030,0.000,0.054,2340,2646,3595,3634,3556,0,0,0,0,0,0,14.90,14.84,14.93
$GC,2911,-1.10,-116.6,2340,2646,3631,3553,544.5,-17.3,190,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2646,3591,3630,3553,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3209,-1.10,-116.6,2340,2646,3626,3552,595.1,-16.8,195,3214,0.00,2.20,0.00,0.000,516,0.000,0.055,2340,1262,3589,3626,3552,0,0,0,0,0,0,15.19,14.82,15.22
$GC,3232,-1.10,-116.6,2340,1262,3625,3551,599.4,-17.7,200,3240,0.12,2.22,0.00,0.000,3078,0.315,0.056,2353,2648,3588,3625,3552,0,0,0,0,0,0,14.58,14.87,14.88
$GC,3570,-1.10,-116.6,2353,2648,3622,3550,651.1,-15.3,212,3576,0.00,2.20,0.00,0.000,516,0.000,0.057,2354,1263,3585,3622,3549,0,0,0,0,0,0,15.18,14.81,15.21
$GC,3599,-1.10,-116.6,2354,1263,3622,3549,655.7,-15.1,218,3605,0.00,2.25,0.00,0.000,1030,0.000,0.058,2346,2657,3585,3622,3549,0,0,0,0,0,0,14.96,14.85,14.99
$GC,3930,-1.10,-116.6,2346,2657,3617,3546,705.2,-15.0,229,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2657,3582,3618,3546,0,0,0,0,0,0,15.18,15.22,15.21
$GC,4531,-1.10,-116.6,2346,2657,3613,3543,791.0,-14.2,234,4536,0.00,2.25,0.00,0.000,516,0.000,0.060,2346,1258,3577,3612,3543,0,0,0,0,0,0,15.19,14.78,15.21
$GC,4579,-1.10,-116.6,2346,1258,3612,3543,798.0,-13.6,244,4586,0.00,2.28,0.00,0.000,1030,0.000,0.060,2336,2658,3576,3611,3542,0,0,0,0,0,0,14.95,14.84,14.98
$GC,5251,-1.10,-116.6,2336,2658,3608,3540,898.0,-15.3,263,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2658,3573,3607,3540,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5851,-1.10,-116.6,2336,2658,3604,3536,990.0,-15.3,268,5854,0.00,1.75,0.00,0.000,515,0.000,0.061,2336,1561,3570,3603,3537,0,0,0,0,0,0,15.19,15.23,15.22
$STATE,5856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5856,begin apogee
$GC,5867,-0.20,0.0,2330,2474,3603,3536,991.0,-15.1,269,5957,1.17,0.00,85.90,2.035,10246,0.265,0.000,2644,2474,3126,3082,3171,0,0,0,0,0,0,14.54,14.32,13.55
$STATE,5958,end apogee,CONTROL_FINISHED_OK
$STATE,5958,begin climb
$GC,5963,1.10,116.6,2644,2473,3082,3169,991.0,0.0,269,6060,1.33,0.00,91.93,1.984,10502,0.129,0.000,3069,2473,2650,2586,2714,0,0,0,0,0,0,14.32,14.14,13.42
$GC,6576,1.10,116.6,3068,2474,2593,2694,886.3,19.6,298,6580,0.00,2.42,0.00,0.000,260,0.000,0.092,3069,3882,2644,2594,2694,0,0,0,0,0,0,14.93,14.59,14.96
$GC,6659,1.10,116.6,3068,3882,2594,2692,868.2,21.2,314,6663,0.00,2.30,0.00,0.000,1030,0.000,0.055,3079,2486,2643,2594,2692,0,0,0,0,0,0,14.77,14.69,14.80
$GC,7304,1.10,116.6,3079,2486,2594,2687,742.4,19.3,327,7309,0.00,2.38,0.00,0.000,260,0.000,0.090,3079,3874,2640,2594,2686,0,0,0,0,0,0,15.06,14.64,15.10
$GC,7412,1.10,116.6,3078,3874,2595,2685,719.3,21.6,349,7420,0.00,2.28,0.00,0.000,1030,0.000,0.056,3089,2472,2639,2594,2685,0,0,0,0,0,0,14.85,14.76,14.89
$GC,8024,1.10,116.6,3089,2472,2595,2681,601.9,19.2,360,8029,0.00,2.40,0.00,0.000,260,0.000,0.089,3089,3880,2638,2596,2681,0,0,0,0,0,0,15.11,14.66,15.14
$GC,8098,1.10,116.6,3089,3880,2596,2680,586.6,20.6,375,8105,0.15,2.28,0.00,0.000,5126,0.371,0.055,3074,2476,2638,2596,2680,0,0,0,0,0,0,14.39,14.79,14.78
$GC,8446,1.10,116.6,3073,2476,2596,2680,524.2,17.9,389,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2476,2637,2596,2679,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8744,1.10,116.6,3073,2476,2596,2679,468.8,18.5,394,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2477,2637,2596,2679,0,0,0,0,0,0,15.13,15.16,15.16
$GC,9045,1.10,116.6,3074,2476,2596,2678,412.6,18.7,399,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2476,2637,2596,2679,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9345,1.10,116.6,3073,2476,2596,2677,363.2,16.2,404,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2476,2637,2596,2678,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9644,1.10,116.6,3073,2476,2596,2677,319.7,14.4,409,9650,0.00,2.38,0.00,0.000,260,0.000,0.088,3073,3878,2636,2597,2676,0,0,0,0,0,0,15.15,14.68,15.19
$GC,9674,1.10,116.6,3073,3878,2597,2676,314.9,16.9,415,9680,0.00,2.28,0.00,0.000,1030,0.000,0.052,3081,2472,2636,2597,2676,0,0,0,0,0,0,14.92,14.83,14.95
$GC,10006,1.10,116.6,3081,2472,2597,2676,264.2,15.2,426,10011,0.00,2.42,0.00,0.000,260,0.000,0.089,3081,3888,2637,2598,2676,0,0,0,0,0,0,15.14,14.72,15.19
$GC,10124,1.10,116.6,3081,3888,2599,2676,244.7,15.9,449,10128,0.00,2.33,0.00,0.000,1030,0.000,0.053,3092,2481,2637,2598,2676,0,0,0,0,0,0,14.79,14.73,14.83
$GC,10431,1.10,116.6,3091,2480,2598,2676,200.9,12.1,465,10437,0.00,2.38,0.00,0.000,260,0.000,0.088,3091,3879,2637,2599,2676,0,0,0,0,0,0,15.14,14.68,15.18
$GC,10645,1.10,116.6,3091,3879,2599,2675,169.8,15.0,508,10650,0.12,2.33,0.00,0.000,5126,0.339,0.052,3074,2469,2636,2598,2675,0,0,0,0,0,0,14.33,14.73,14.57
$GC,10951,1.10,116.6,3074,2469,2599,2675,133.4,11.4,524,10957,0.00,2.40,0.00,0.000,260,0.000,0.086,3074,3880,2637,2599,2675,0,0,0,0,0,0,15.14,14.69,15.17
$GC,11186,1.11,245.8,3072,3880,2600,2676,123.1,-3.8,571,11277,0.00,2.30,83.68,0.975,9222,0.000,0.047,3082,2470,2120,2030,2211,0,0,0,0,0,0,14.78,14.74,14.11
$GC,11593,1.11,245.8,3082,2469,2032,2205,80.7,14.2,607,11598,0.00,2.38,0.00,0.000,260,0.000,0.083,3082,3875,2119,2034,2205,0,0,0,0,0,0,14.94,14.56,14.97
$GC,11826,1.12,266.2,3082,3875,2041,2195,61.5,7.8,654,11850,0.00,2.30,14.70,0.887,9222,0.000,0.044,3092,2467,2037,1946,2129,0,0,0,0,0,0,14.69,14.65,14.27
$GC,12153,1.12,267.7,3092,2466,1951,2128,33.4,9.8,682,12157,0.00,2.38,0.00,0.000,260,0.000,0.077,3092,3882,2039,1951,2128,0,0,0,0,0,0,15.01,14.69,15.05
$GC,12387,1.12,267.7,3092,3882,1963,2120,7.0,12.0,728,12392,0.00,2.25,0.00,0.000,1030,0.000,0.040,3103,2464,2041,1963,2120,0,0,0,0,0,0,14.81,14.78,14.84
$STATE,12418,end climb,SURFACE_DEPTH_REACHED
$STATE,12418,begin surface coast
$STATE,12438,end surface coast,CONTROL_FINISHED_OK
$STATE,12438,begin surface
$SM_CCo,12462,93.62,0.054,0,0,1087,500.17
$SM_GC,3.62,8.73,0.32,93.62,0.079,0.086,0.054,48,2675,1087,-8.29,-0.68,500.17,0,0,0,0,0,0,14.73,14.78,14.78
$IRIDIUM_FIX,727.70,8611.45,180915,033107
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.81
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.42,45.092
$10V_AH,13.16,0.000
$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,23.175,81.375,276.200,93.625,0.000,0.000,0.000,266.800,0.250,0.000,201.802,471.929,10056.180,426.765,1915.599,322.053,0.000,1367.711,0.000,1053.415,0.000,0.544,0.000
$DEVICE_MAMPS,419.220,91.800,2034.900,54.315,0.000,0.000,0.000,234.090,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260304
$DATA_FILE_SIZE,33426,734
$CAP_FILE_SIZE,52618,0
$CFSIZE,260034560,238022656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,43.363,299.23,1
$GPS,180915,033944,733.628,8611.957,301,99.0,301,-1.9,0.5,181.8,4,15.4