version: 66.12
glider: 141
mission: 23
dive: 138
start: 9 18 115 16 54 2
data:
$ID,141
$MISSION,23
$DIVE,138
$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,33
$R_STBD_OVSHOOT,46
$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
$GPS1,180915,164715,728.3776,8609.3057,180,1.6,220,-1.9,1.1,203.0,5,15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-69.1
$GPS2,180915,165328,728.2165,8609.3496,31,2.9,71,-1.9,1.4,169.9,6,12.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,318.4,127380,-14.9,-10.000,-18.74,2959
$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,-0.62,-194.6,9,2664,349,368,0.0,0.0,0,125,0.00,0.00,-98.32,0.000,16386,0.000,0.000,5,2664,3174,3224,3124,0,0,0,0,0,0,14.89,28.83,14.93
$GC,131,-0.62,-194.6,5,2664,3224,3124,5.5,-5.4,10,160,11.93,2.28,-11.70,0.000,18948,0.412,0.069,2511,1240,3922,3986,3858,0,0,0,0,0,0,14.39,13.86,14.72
$GC,285,-0.62,-194.6,2511,1239,3976,3851,55.7,-28.1,41,289,0.00,2.25,0.00,0.000,1030,0.000,0.055,2503,2634,3913,3975,3851,0,0,0,0,0,0,14.80,14.71,14.82
$GC,609,-0.62,-194.6,2503,2633,3975,3851,124.1,-19.4,60,615,0.00,2.33,0.00,0.000,260,0.000,0.086,2492,4033,3913,3975,3851,0,0,0,0,0,0,15.05,14.71,15.09
$GC,703,-0.62,-194.6,2492,4033,3975,3851,139.3,-14.0,79,708,0.00,2.20,0.00,0.000,1030,0.000,0.034,2492,2643,3913,3975,3851,0,0,0,0,0,0,14.82,14.78,14.85
$GC,1010,-0.62,-194.6,2492,2643,3975,3851,178.3,-10.8,95,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2643,3913,3975,3851,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1311,-0.62,-194.6,2492,2643,3975,3851,208.3,-9.3,110,1316,0.00,2.30,0.00,0.000,260,0.000,0.081,2482,4033,3913,3975,3851,0,0,0,0,0,0,15.13,14.78,15.16
$GC,1351,-0.62,-194.6,2482,4033,3974,3851,212.5,-10.6,118,1357,0.10,2.12,0.00,0.000,3078,0.214,0.034,2512,2637,3913,3975,3851,0,0,0,0,0,0,14.65,14.87,14.77
$GC,1672,-0.62,-194.6,2511,2637,3972,3851,242.9,-10.3,137,1676,0.00,2.17,0.00,0.000,516,0.000,0.053,2512,1257,3911,3971,3851,0,0,0,0,0,0,15.14,14.86,15.17
$GC,1695,-0.62,-194.6,2513,1257,3971,3851,245.5,-10.3,141,1700,0.00,2.22,0.00,0.000,1030,0.000,0.055,2512,2650,3911,3971,3852,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2041,-0.62,-194.6,2511,2650,3963,3851,279.1,-9.5,151,2047,0.00,2.20,0.00,0.000,516,0.000,0.053,2512,1253,3907,3963,3851,0,0,0,0,0,0,15.16,14.83,15.19
$GC,2076,-0.62,-194.6,2512,1254,3963,3851,282.6,-9.9,158,2081,0.00,2.20,0.00,0.000,1030,0.000,0.055,2508,2640,3906,3962,3851,0,0,0,0,0,0,14.90,14.84,14.93
$GC,2401,-0.62,-194.6,2508,2640,3957,3851,314.9,-10.1,168,2408,0.00,2.33,0.00,0.000,260,0.000,0.084,2498,4039,3903,3957,3850,0,0,0,0,0,0,15.16,14.79,15.20
$GC,2431,-0.62,-194.6,2497,4039,3958,3849,318.3,-11.7,174,2437,0.00,2.15,0.00,0.000,1030,0.000,0.034,2498,2646,3903,3957,3849,0,0,0,0,0,0,14.99,14.92,15.01
$GC,2762,-0.62,-194.6,2497,2645,3952,3847,354.4,-10.9,185,2766,0.00,2.20,0.00,0.000,516,0.000,0.055,2498,1259,3899,3951,3847,0,0,0,0,0,0,15.17,14.86,15.21
$GC,2799,-0.62,-194.6,2497,1259,3951,3847,358.5,-10.9,192,2806,0.00,2.25,0.00,0.000,1030,0.000,0.057,2491,2659,3899,3951,3847,0,0,0,0,0,0,14.97,14.87,15.00
$GC,3127,-0.62,-194.6,2491,2659,3947,3845,390.4,-9.8,202,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2660,3896,3947,3846,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3428,-0.62,-194.6,2491,2659,3943,3843,417.7,-9.1,207,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2659,3893,3943,3843,0,0,0,0,0,0,15.18,15.21,15.21
$GC,3726,-0.62,-194.6,2491,2659,3940,3841,447.4,-9.9,212,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2659,3890,3940,3841,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4026,-0.62,-194.6,2491,2659,3938,3838,479.3,-10.7,217,4030,0.00,2.25,0.00,0.000,516,0.000,0.056,2491,1256,3887,3937,3838,0,0,0,0,0,0,15.19,14.85,15.22
$GC,4054,-0.62,-194.6,2491,1256,3937,3838,482.5,-10.8,222,4061,0.12,2.25,0.00,0.000,3078,0.253,0.058,2512,2647,3887,3937,3838,0,0,0,0,0,0,14.68,14.85,14.89
$GC,4393,-0.62,-194.6,2512,2647,3934,3836,515.2,-9.7,234,4394,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3885,3934,3836,0,0,0,0,0,0,15.18,15.21,15.21
$GC,4691,-0.62,-194.6,2512,2647,3931,3835,541.5,-8.6,239,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3883,3932,3835,0,0,0,0,0,0,15.19,15.23,15.22
$GC,4991,-0.62,-194.6,2512,2647,3929,3834,562.9,-7.0,244,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3881,3929,3833,0,0,0,0,0,0,15.19,15.22,15.22
$GC,5291,-0.62,-194.6,2513,2647,3925,3832,581.4,-6.1,249,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3878,3925,3832,0,0,0,0,0,0,15.19,15.22,15.22
$GC,5591,-0.62,-194.6,2512,2647,3925,3830,599.9,-6.2,254,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3877,3925,3830,0,0,0,0,0,0,15.19,15.22,15.22
$GC,5891,-0.62,-194.6,2512,2647,3922,3829,620.3,-6.9,259,5896,0.00,2.22,0.00,0.000,516,0.000,0.060,2513,1258,3876,3922,3830,0,0,0,0,0,0,15.19,14.78,15.21
$GC,5930,-0.62,-194.6,2512,1258,3922,3829,623.7,-8.5,267,5935,0.00,2.28,0.00,0.000,1030,0.000,0.063,2512,2647,3875,3921,3829,0,0,0,0,0,0,14.93,14.81,14.97
$GC,6251,-0.62,-194.6,2512,2647,3917,3829,650.5,-8.6,276,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2647,3874,3920,3829,0,0,0,0,0,0,15.18,15.22,15.21
$GC,6551,-0.62,-194.6,2512,2647,3919,3827,676.6,-8.7,281,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2647,3873,3919,3828,0,0,0,0,0,0,15.18,15.21,15.21
$GC,6851,-0.62,-194.6,2512,2647,3916,3828,701.6,-8.3,286,6857,0.00,2.22,0.00,0.000,516,0.000,0.061,2512,1262,3871,3915,3827,0,0,0,0,0,0,15.19,14.75,15.21
$GC,6885,-0.62,-194.6,2511,1262,3915,3828,704.7,-8.3,293,6890,0.00,2.30,0.00,0.000,1030,0.000,0.066,2511,2662,3871,3915,3827,0,0,0,0,0,0,14.92,14.80,14.96
$GC,7575,-0.62,-194.6,2511,2662,3913,3826,756.4,-7.4,315,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2662,3869,3912,3826,0,0,0,0,0,0,15.17,15.21,15.21
$GC,8175,-0.62,-194.6,2511,2662,3910,3824,800.4,-7.3,320,8181,0.00,2.25,0.00,0.000,516,0.000,0.064,2511,1269,3866,3910,3823,0,0,0,0,0,0,15.18,14.72,15.21
$GC,8229,-0.62,-194.6,2511,1269,3910,3823,804.6,-7.7,331,8235,0.00,2.30,0.00,0.000,1030,0.000,0.068,2511,2663,3866,3909,3824,0,0,0,0,0,0,14.90,14.77,14.94
$GC,8896,-0.62,-194.6,2511,2663,3908,3821,851.1,-7.0,349,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2662,3864,3907,3821,0,0,0,0,0,0,15.16,15.21,15.20
$GC,9496,-0.62,-194.6,2510,2662,3905,3820,893.1,-7.0,354,9501,0.00,2.28,0.00,0.000,516,0.000,0.067,2511,1268,3862,3904,3820,0,0,0,0,0,0,15.17,14.69,15.21
$GC,9550,-0.62,-194.6,2511,1268,3905,3820,897.2,-7.4,365,9554,0.00,2.30,0.00,0.000,1030,0.000,0.072,2504,2648,3862,3905,3820,0,0,0,0,0,0,14.88,14.74,14.92
$GC,10219,-0.62,-194.6,2503,2648,3903,3819,948.3,-7.8,383,10224,0.00,2.28,0.00,0.000,516,0.000,0.068,2504,1260,3860,3902,3819,0,0,0,0,0,0,15.16,14.67,15.20
$GC,10248,-0.62,-194.6,2504,1260,3903,3819,950.8,-8.6,389,10253,0.00,2.33,0.00,0.000,1030,0.000,0.072,2499,2654,3861,3903,3819,0,0,0,0,0,0,14.88,14.73,14.92
$STATE,10818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10818,begin apogee
$GC,10828,-0.20,0.0,2499,2469,3901,3817,993.6,-7.4,411,10974,0.52,0.00,142.50,2.025,10246,0.190,0.000,2651,2469,3126,3055,3197,0,0,0,0,0,0,14.59,14.14,13.38
$STATE,10975,end apogee,CONTROL_FINISHED_OK
$STATE,10976,begin climb
$GC,10980,0.62,194.6,2651,2469,3054,3193,996.8,0.0,412,11144,0.80,2.50,153.38,1.967,10756,0.125,0.080,2919,1094,2329,2239,2419,0,0,0,0,0,0,14.13,13.96,13.27
$GC,11193,0.62,194.6,2918,1094,2245,2410,976.8,14.2,462,11199,0.00,2.38,0.00,0.000,1030,0.000,0.070,2918,2464,2327,2245,2410,0,0,0,0,0,0,14.23,14.16,14.26
$GC,11903,0.62,194.6,2918,2464,2253,2396,876.3,13.9,489,11908,0.00,2.47,0.00,0.000,260,0.000,0.100,2918,3886,2324,2252,2397,0,0,0,0,0,0,14.93,14.56,14.96
$GC,11996,0.62,194.6,2918,3886,2261,2388,862.7,14.8,507,12002,0.00,2.30,0.00,0.000,1030,0.000,0.058,2929,2492,2324,2261,2388,0,0,0,0,0,0,14.75,14.66,14.78
$GC,12628,0.62,194.6,2929,2491,2260,2388,781.0,12.8,518,12633,0.00,2.42,0.00,0.000,260,0.000,0.099,2929,3885,2323,2260,2387,0,0,0,0,0,0,15.04,14.58,15.07
$GC,12651,0.62,194.6,2929,3885,2263,2383,777.6,13.4,523,12657,0.00,2.33,0.00,0.000,1030,0.000,0.058,2938,2473,2323,2263,2383,0,0,0,0,0,0,14.83,14.73,14.86
$GC,13348,0.62,194.6,2938,2473,2262,2383,691.3,12.1,547,13353,0.00,2.42,0.00,0.000,260,0.000,0.096,2938,3880,2322,2262,2383,0,0,0,0,0,0,15.09,14.62,15.11
$GC,13371,0.62,194.6,2938,3880,2264,2381,688.0,13.1,552,13379,0.15,2.33,0.00,0.000,5126,0.306,0.058,2918,2474,2322,2264,2380,0,0,0,0,0,0,14.47,14.76,14.78
$GC,13709,0.62,194.6,2917,2475,2264,2380,651.5,10.8,564,13710,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2475,2322,2264,2380,0,0,0,0,0,0,15.10,15.14,15.13
$GC,14009,0.62,194.6,2917,2474,2264,2380,617.9,11.3,569,14010,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2475,2322,2264,2380,0,0,0,0,0,0,15.11,15.15,15.14
$GC,14309,0.62,194.6,2917,2474,2264,2380,582.5,11.8,574,14310,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2474,2322,2264,2380,0,0,0,0,0,0,15.11,15.16,15.15
$GC,14609,0.62,194.6,2917,2474,2264,2380,546.8,11.9,579,14610,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2474,2322,2264,2380,0,0,0,0,0,0,15.12,15.16,15.16
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$GC,16717,0.62,212.4,2918,2467,2196,2318,286.8,11.2,669,16721,0.00,2.35,0.00,0.000,516,0.000,0.080,2929,1064,2257,2197,2318,0,0,0,0,0,0,15.08,14.67,15.11
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$STATE,19445,end climb,SURFACE_DEPTH_REACHED
$STATE,19445,begin surface coast
$STATE,19466,end surface coast,CONTROL_FINISHED_OK
$STATE,19466,begin surface
$SM_CCo,19549,0.00,0.000,0,0,638,610.55
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$IRIDIUM_FIX,723.35,8611.45,180915,111748
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.28
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,13.27,45.932
$10V_AH,13.05,0.000
$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,22.050,125.400,574.075,0.000,0.000,0.000,0.000,197.450,0.250,0.000,74.074,615.375,16111.396,583.083,2168.970,446.041,0.000,1709.911,0.000,1340.047,0.000,0.543,0.000
$DEVICE_MAMPS,411.570,100.215,2024.955,0.000,0.000,0.000,0.000,240.210,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1169.803,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260352
$DATA_FILE_SIZE,40126,937
$CAP_FILE_SIZE,77462,0
$CFSIZE,260034560,237867008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165,171.24,1
$GPS,180915,222345,728.078,8607.963,151,5.2,191,-1.9,1.2,129.0,4,40.2