version: 66.12
glider: 141
mission: 23
dive: 140
start: 9 19 115 3 46 9
data:
$ID,141
$MISSION,23
$DIVE,140
$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,43
$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
$GPS1,190915,033909,727.2228,8606.5742,201,2.4,241,-1.9,0.9,162.2,4,15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-70.4
$GPS2,190915,034534,727.0439,8606.5801,33,1.7,73,-1.9,1.7,214.6,5,10.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,319.4,122374,-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,24,-0.62,-194.6,1,2682,895,1000,0.0,0.0,0,114,0.00,0.00,-87.38,0.000,16386,0.000,0.000,1,2684,3402,3463,3341,0,0,0,0,0,0,14.90,28.83,14.94
$GC,120,-0.62,-194.6,1,2684,3462,3342,6.0,-6.1,9,145,11.93,2.33,-7.50,0.000,18948,0.412,0.068,2507,1242,3922,3993,3852,0,0,0,0,0,0,14.39,13.86,14.72
$GC,233,-0.62,-194.6,2506,1242,3993,3855,49.7,-30.2,32,239,0.00,2.30,0.00,0.000,1030,0.000,0.055,2499,2631,3924,3993,3855,0,0,0,0,0,0,14.70,14.64,14.73
$GC,540,-0.62,-194.6,2498,2630,3993,3858,126.7,-17.5,48,544,0.00,2.35,0.00,0.000,260,0.000,0.080,2487,4045,3925,3993,3858,0,0,0,0,0,0,15.05,14.73,15.08
$GC,645,-0.62,-194.6,2487,4045,3993,3859,140.3,-12.1,68,650,0.00,2.17,0.00,0.000,1030,0.000,0.032,2488,2636,3926,3993,3860,0,0,0,0,0,0,14.90,14.47,14.92
$GC,969,-0.62,-194.6,2487,2634,3993,3861,186.3,-13.6,87,975,0.00,2.33,0.00,0.000,260,0.000,0.083,2477,4032,3927,3993,3861,0,0,0,0,0,0,15.10,14.74,15.14
$GC,1010,-0.62,-194.6,2477,4032,3993,3861,192.2,-15.3,95,1016,0.12,2.10,0.00,0.000,3078,0.223,0.033,2513,2654,3926,3992,3861,0,0,0,0,0,0,14.61,14.85,14.76
$GC,1331,-0.62,-194.6,2513,2654,3992,3861,235.3,-12.6,114,1336,0.00,2.20,0.00,0.000,516,0.000,0.053,2513,1253,3926,3992,3861,0,0,0,0,0,0,15.13,14.80,15.16
$GC,1391,-0.62,-194.6,2513,1254,3992,3861,241.7,-10.1,126,1396,0.00,2.22,0.00,0.000,1030,0.000,0.055,2512,2649,3926,3991,3861,0,0,0,0,0,0,14.87,14.81,14.90
$GC,1733,-0.62,-194.6,2512,2649,3988,3861,268.3,-6.9,138,1738,0.00,2.28,0.00,0.000,260,0.000,0.083,2502,4032,3924,3987,3861,0,0,0,0,0,0,15.14,14.78,15.18
$GC,1787,-0.62,-194.6,2501,4032,3988,3861,271.8,-6.6,149,1791,0.00,2.17,0.00,0.000,1030,0.000,0.033,2502,2651,3924,3988,3861,0,0,0,0,0,0,14.88,14.85,14.90
$GC,2093,-0.62,-194.6,2501,2651,3981,3861,297.1,-8.7,155,2099,0.00,2.17,0.00,0.000,516,0.000,0.054,2502,1262,3921,3981,3861,0,0,0,0,0,0,15.16,14.85,15.19
$GC,2118,-0.62,-194.6,2502,1262,3981,3861,299.6,-9.9,160,2122,0.00,2.22,0.00,0.000,1030,0.000,0.056,2502,2650,3921,3981,3861,0,0,0,0,0,0,14.96,14.85,14.98
$GC,2457,-0.62,-194.6,2501,2650,3974,3861,329.5,-8.6,172,2461,0.00,2.33,0.00,0.000,260,0.000,0.084,2491,4045,3917,3974,3861,0,0,0,0,0,0,15.17,14.81,15.21
$GC,2480,-0.62,-194.6,2490,4046,3974,3861,331.5,-8.3,176,2484,0.00,2.17,0.00,0.000,1030,0.000,0.035,2491,2640,3917,3974,3861,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2824,-0.62,-194.6,2491,2641,3968,3861,363.4,-9.7,189,2830,0.00,2.17,0.00,0.000,516,0.000,0.056,2491,1262,3914,3967,3861,0,0,0,0,0,0,15.17,14.82,15.21
$GC,2848,-0.62,-194.6,2491,1262,3967,3861,366.4,-11.7,194,2854,0.00,2.25,0.00,0.000,1030,0.000,0.057,2488,2658,3914,3967,3861,0,0,0,0,0,0,14.96,14.86,14.99
$GC,3186,-0.62,-194.6,2488,2658,3963,3860,405.3,-11.8,206,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2658,3911,3963,3860,0,0,0,0,0,0,15.16,15.21,15.21
$GC,3484,-0.62,-194.6,2488,2658,3959,3857,441.3,-12.0,211,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2658,3908,3960,3857,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3784,-0.62,-194.6,2488,2658,3958,3854,474.6,-11.0,216,3789,0.00,2.25,0.00,0.000,516,0.000,0.057,2488,1258,3905,3957,3854,0,0,0,0,0,0,15.18,14.84,15.22
$GC,3817,-0.62,-194.6,2488,1257,3958,3854,478.2,-11.2,222,3823,0.12,2.28,0.00,0.000,3078,0.257,0.059,2514,2651,3905,3957,3854,0,0,0,0,0,0,14.66,14.85,14.89
$GC,4151,-0.62,-194.6,2513,2651,3953,3852,507.2,-8.7,233,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2651,3902,3953,3852,0,0,0,0,0,0,15.17,15.21,15.21
$GC,4448,-0.62,-194.6,2514,2651,3951,3850,535.0,-9.4,238,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2651,3900,3950,3850,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4748,-0.62,-194.6,2514,2651,3948,3849,564.4,-9.9,243,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2651,3898,3948,3849,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5048,-0.62,-194.6,2514,2650,3946,3848,591.8,-9.0,248,5053,0.00,2.35,0.00,0.000,260,0.000,0.090,2506,4043,3896,3945,3848,0,0,0,0,0,0,15.19,14.76,15.21
$GC,5077,-0.62,-194.6,2505,4043,3945,3847,594.4,-9.2,253,5083,0.00,2.17,0.00,0.000,1030,0.000,0.038,2505,2656,3896,3945,3848,0,0,0,0,0,0,14.96,14.90,14.97
$GC,5414,-0.62,-194.6,2506,2656,3943,3846,623.4,-8.6,265,5419,0.00,2.25,0.00,0.000,516,0.000,0.062,2506,1246,3894,3942,3847,0,0,0,0,0,0,15.18,14.76,15.21
$GC,5477,-0.62,-194.6,2505,1246,3943,3846,629.3,-8.6,278,5484,0.00,2.30,0.00,0.000,1030,0.000,0.063,2501,2654,3894,3942,3846,0,0,0,0,0,0,14.93,14.82,14.97
$GC,5834,-0.62,-194.6,2501,2654,3941,3844,658.0,-8.0,294,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2654,3892,3940,3844,0,0,0,0,0,0,15.17,15.21,15.21
$GC,6134,-0.62,-194.6,2501,2654,3939,3843,682.6,-8.2,299,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2654,3891,3939,3843,0,0,0,0,0,0,15.18,15.22,15.21
$GC,6494,-0.62,-194.6,2501,2654,3937,3842,713.5,-8.6,304,6499,0.00,2.30,0.00,0.000,516,0.000,0.063,2502,1243,3889,3937,3842,0,0,0,0,0,0,15.18,14.79,15.21
$GC,6523,-0.62,-194.6,2501,1243,3937,3842,716.3,-8.9,309,6528,0.00,2.33,0.00,0.000,1030,0.000,0.067,2500,2648,3889,3937,3842,0,0,0,0,0,0,14.83,14.74,14.88
$GC,7219,-0.62,-194.6,2499,2648,3934,3839,780.1,-9.3,333,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2648,3886,3933,3839,0,0,0,0,0,0,15.17,15.21,15.21
$GC,7819,-0.62,-194.6,2500,2648,3931,3838,831.6,-8.4,338,7824,0.00,2.28,0.00,0.000,516,0.000,0.065,2500,1254,3884,3930,3838,0,0,0,0,0,0,15.18,14.69,15.21
$GC,7887,-0.62,-194.6,2500,1254,3930,3838,837.6,-8.2,352,7892,0.00,2.33,0.00,0.000,1030,0.000,0.068,2499,2660,3884,3930,3838,0,0,0,0,0,0,14.90,14.77,14.93
$GC,8542,-0.62,-194.6,2499,2659,3928,3835,894.0,-8.8,367,8544,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2660,3881,3928,3835,0,0,0,0,0,0,15.16,15.21,15.20
$GC,9141,-0.62,-194.6,2499,2660,3925,3834,957.0,-10.6,372,9146,0.00,2.33,0.00,0.000,516,0.000,0.067,2499,1249,3879,3925,3834,0,0,0,0,0,0,15.17,14.74,15.21
$GC,9199,-0.62,-194.6,2499,1248,3925,3834,963.7,-11.5,383,9206,0.00,2.33,0.00,0.000,1030,0.000,0.070,2495,2649,3879,3924,3834,0,0,0,0,0,0,14.88,14.75,14.92
$STATE,9501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9502,begin apogee
$GC,9511,-0.20,0.0,2495,2464,3924,3833,996.9,-10.9,398,9661,0.52,0.00,146.50,2.020,10246,0.194,0.000,2646,2464,3126,3059,3194,0,0,0,0,0,0,14.60,14.14,13.39
$STATE,9663,end apogee,CONTROL_FINISHED_OK
$STATE,9663,begin climb
$GC,9667,0.62,194.6,2646,2463,3058,3190,1003.8,0.0,399,9829,0.82,2.45,152.80,1.970,10756,0.127,0.079,2918,1092,2331,2246,2416,0,0,0,0,0,0,14.14,13.86,13.28
$GC,9899,0.62,194.6,2918,1093,2252,2407,989.5,11.2,453,9904,0.00,2.38,0.00,0.000,1030,0.000,0.069,2918,2467,2328,2251,2406,0,0,0,0,0,0,14.27,14.21,14.31
$GC,10584,0.62,194.6,2918,2467,2257,2395,901.0,13.2,475,10590,0.00,2.42,0.00,0.000,260,0.000,0.100,2918,3877,2325,2257,2394,0,0,0,0,0,0,14.94,14.54,14.97
$GC,10678,0.62,194.6,2918,3877,2265,2387,886.4,15.2,494,10684,0.00,2.30,0.00,0.000,1030,0.000,0.059,2920,2496,2326,2266,2386,0,0,0,0,0,0,14.76,14.67,14.79
$GC,11304,0.62,194.6,2920,2496,2264,2385,798.9,13.9,504,11309,0.00,2.42,0.00,0.000,516,0.000,0.082,2931,1058,2324,2264,2385,0,0,0,0,0,0,15.04,14.66,15.08
$GC,11343,0.62,194.6,2931,1057,2266,2384,793.6,13.6,511,11350,0.00,2.35,0.00,0.000,1030,0.000,0.070,2931,2471,2324,2265,2384,0,0,0,0,0,0,14.73,14.66,14.78
$GC,12030,0.62,194.6,2931,2470,2264,2383,698.3,13.9,533,12035,0.00,2.42,0.00,0.000,260,0.000,0.102,2931,3882,2324,2265,2383,0,0,0,0,0,0,15.09,14.62,15.12
$GC,12133,0.62,194.6,2931,3883,2270,2378,682.5,14.5,554,12139,0.00,2.33,0.00,0.000,1030,0.000,0.058,2940,2464,2324,2270,2378,0,0,0,0,0,0,14.85,14.76,14.90
$GC,12450,0.62,194.6,2939,2464,2269,2378,638.1,14.0,562,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2464,2324,2270,2378,0,0,0,0,0,0,15.10,15.14,15.13
$GC,12750,0.62,194.6,2940,2464,2270,2378,597.3,13.6,567,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2464,2324,2270,2378,0,0,0,0,0,0,15.11,15.15,15.15
$GC,13050,0.62,194.6,2939,2464,2270,2378,556.5,13.6,572,13054,0.00,2.47,0.00,0.000,260,0.000,0.096,2939,3892,2324,2270,2378,0,0,0,0,0,0,15.12,14.67,15.16
$GC,13084,0.62,194.6,2939,3891,2271,2376,551.6,14.6,578,13089,0.10,2.30,0.00,0.000,5126,0.265,0.057,2920,2473,2323,2271,2376,0,0,0,0,0,0,14.47,14.73,14.64
$GC,13415,0.62,194.6,2919,2473,2271,2376,509.6,12.5,589,13420,0.00,2.35,0.00,0.000,516,0.000,0.081,2929,1063,2323,2271,2376,0,0,0,0,0,0,15.12,14.66,15.16
$GC,13449,0.62,194.6,2928,1063,2272,2376,505.1,12.6,596,13454,0.00,2.35,0.00,0.000,1030,0.000,0.068,2929,2480,2323,2272,2375,0,0,0,0,0,0,14.87,14.74,14.91
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$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$STATE,18085,end surface coast,CONTROL_FINISHED_OK
$STATE,18085,begin surface
$SM_CCo,18171,0.00,0.000,0,0,654,606.63
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$TT8_MAMPS,0.02247,0.02247
$HUMID,47.48
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,13.28,46.540
$10V_AH,13.06,0.000
$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
$DEVICE_SECS,21.900,139.375,578.775,0.000,0.000,0.000,0.000,207.900,0.750,0.000,75.554,612.408,14757.709,576.225,2162.022,451.761,0.000,1712.608,0.000,1344.278,0.000,0.542,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260296
$DATA_FILE_SIZE,43467,940
$CAP_FILE_SIZE,77246,0
$CFSIZE,260034560,237772800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.230,154.16,1
$GPS,190915,085432,726.638,8605.669,249,1.7,289,-1.9,2.2,162.6,5,10.8