version: 66.12
glider: 141
mission: 23
dive: 147
start: 9 20 115 14 33 32
data:
$ID,141
$MISSION,23
$DIVE,147
$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,40
$R_STBD_OVSHOOT,31
$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
$GPS1,200915,142715,716.6946,8559.4053,246,1.7,286,-1.9,0.6,168.9,4,11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-73.0
$GPS2,200915,143258,716.5475,8559.3408,15,1.7,55,-1.9,1.1,249.8,6,10.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,329.8,111771,-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,-194.6,22,2664,917,1024,0.0,0.0,0,114,0.00,0.00,-87.28,0.000,16386,0.000,0.000,20,2665,3380,3440,3321,0,0,0,0,0,0,14.90,28.83,14.93
$GC,120,-0.62,-194.6,20,2665,3440,3321,5.8,-5.3,9,145,11.80,2.30,-8.00,0.000,19204,0.409,0.072,2506,1245,3922,3993,3852,0,0,0,0,0,0,14.35,13.83,14.76
$GC,299,-0.62,-194.6,2506,1245,3992,3855,66.1,-25.0,45,305,0.00,2.28,0.00,0.000,1030,0.000,0.056,2498,2647,3923,3992,3855,0,0,0,0,0,0,14.80,14.71,14.83
$GC,615,-0.62,-194.6,2497,2647,3992,3860,130.4,-20.3,63,622,0.00,2.30,0.00,0.000,260,0.000,0.080,2487,4039,3926,3992,3860,0,0,0,0,0,0,15.06,14.73,15.09
$GC,736,-0.62,-194.6,2486,4039,3992,3860,153.2,-17.6,87,743,0.00,2.12,0.00,0.000,1030,0.000,0.033,2487,2649,3927,3993,3861,0,0,0,0,0,0,14.85,14.82,14.88
$GC,1057,-0.62,-194.6,2487,2647,3992,3862,203.2,-13.5,106,1062,0.00,2.30,0.00,0.000,260,0.000,0.080,2477,4039,3927,3992,3862,0,0,0,0,0,0,15.11,14.76,15.14
$GC,1093,-0.62,-194.6,2476,4039,3992,3862,207.3,-11.9,113,1098,0.12,2.20,0.00,0.000,3078,0.216,0.032,2513,2640,3926,3992,3861,0,0,0,0,0,0,14.59,14.82,14.73
$GC,1398,-0.62,-194.6,2513,2640,3992,3861,226.2,-6.1,129,1403,0.00,2.17,0.00,0.000,516,0.000,0.052,2514,1255,3927,3992,3862,0,0,0,0,0,0,15.13,14.82,15.16
$GC,1432,-0.62,-194.6,2513,1255,3992,3862,228.8,-7.4,136,1438,0.00,2.30,0.00,0.000,1030,0.000,0.055,2513,2659,3926,3991,3862,0,0,0,0,0,0,14.84,14.78,14.87
$GC,1738,-0.62,-194.6,2513,2660,3988,3861,257.2,-10.3,150,1743,0.00,2.28,0.00,0.000,260,0.000,0.083,2503,4040,3924,3987,3861,0,0,0,0,0,0,15.14,14.78,15.18
$GC,1776,-0.62,-194.6,2503,4041,3987,3862,261.7,-11.5,158,1782,0.00,2.15,0.00,0.000,1030,0.000,0.033,2503,2643,3925,3988,3862,0,0,0,0,0,0,14.97,14.90,14.99
$GC,2098,-0.62,-194.6,2503,2643,3981,3861,298.2,-11.4,167,2104,0.00,2.17,0.00,0.000,516,0.000,0.054,2503,1256,3921,3981,3861,0,0,0,0,0,0,15.16,14.83,15.19
$GC,2132,-0.62,-194.6,2503,1256,3981,3862,302.1,-11.2,174,2138,0.00,2.28,0.00,0.000,1030,0.000,0.054,2498,2661,3921,3981,3862,0,0,0,0,0,0,14.95,14.85,14.98
$GC,2460,-0.62,-194.6,2498,2661,3974,3861,334.7,-9.9,184,2464,0.00,2.30,0.00,0.000,260,0.000,0.084,2488,4036,3918,3974,3862,0,0,0,0,0,0,15.16,14.81,15.19
$GC,2493,-0.62,-194.6,2488,4036,3974,3861,338.6,-11.0,190,2498,0.00,2.15,0.00,0.000,1030,0.000,0.034,2488,2649,3918,3974,3862,0,0,0,0,0,0,14.98,14.92,15.00
$GC,2826,-0.62,-194.6,2487,2649,3968,3861,372.5,-10.0,201,2831,0.00,2.17,0.00,0.000,516,0.000,0.054,2488,1266,3914,3968,3861,0,0,0,0,0,0,15.16,14.82,15.20
$GC,2850,-0.62,-194.6,2488,1266,3968,3861,375.1,-9.8,206,2857,0.15,2.22,0.00,0.000,3078,0.245,0.056,2521,2651,3914,3968,3861,0,0,0,0,0,0,14.68,14.85,14.78
$GC,3187,-0.62,-194.6,2521,2651,3963,3860,399.9,-7.4,218,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2651,3911,3963,3860,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3486,-0.62,-194.6,2521,2651,3961,3859,421.4,-7.1,223,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2651,3909,3960,3859,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3786,-0.62,-194.6,2521,2651,3958,3857,443.2,-7.3,228,3791,0.00,2.33,0.00,0.000,260,0.000,0.087,2513,4038,3907,3958,3857,0,0,0,0,0,0,15.19,14.79,15.21
$GC,3809,-0.62,-194.6,2513,4038,3958,3856,445.1,-8.1,232,3814,0.00,2.15,0.00,0.000,1030,0.000,0.035,2513,2652,3907,3958,3856,0,0,0,0,0,0,14.98,14.92,15.01
$GC,4155,-0.62,-194.6,2513,2652,3954,3854,474.5,-8.6,245,4160,0.00,2.22,0.00,0.000,516,0.000,0.058,2513,1254,3904,3954,3854,0,0,0,0,0,0,15.18,14.79,15.21
$GC,4184,-0.62,-194.6,2513,1254,3953,3854,477.1,-9.0,251,4190,0.00,2.28,0.00,0.000,1030,0.000,0.057,2508,2661,3903,3953,3854,0,0,0,0,0,0,14.95,14.85,14.98
$GC,4515,-0.62,-194.6,2508,2661,3950,3852,504.6,-8.3,262,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2661,3901,3950,3852,0,0,0,0,0,0,15.18,15.21,15.21
$GC,4815,-0.62,-194.6,2508,2661,3949,3850,530.0,-8.5,267,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2661,3899,3949,3850,0,0,0,0,0,0,15.19,15.22,15.21
$GC,5116,-0.62,-194.6,2508,2661,3947,3849,554.9,-8.3,272,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2661,3897,3946,3849,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5416,-0.62,-194.6,2508,2661,3945,3847,580.6,-8.6,277,5421,0.00,2.25,0.00,0.000,516,0.000,0.059,2508,1262,3896,3944,3848,0,0,0,0,0,0,15.19,14.78,15.21
$GC,5444,-0.62,-194.6,2508,1262,3944,3847,583.6,-9.7,283,5450,0.00,2.25,0.00,0.000,1030,0.000,0.060,2503,2654,3896,3944,3848,0,0,0,0,0,0,14.85,14.79,14.90
$GC,5780,-0.62,-194.6,2502,2654,3942,3846,614.4,-9.3,294,5785,0.00,2.33,0.00,0.000,260,0.000,0.092,2492,4032,3894,3942,3846,0,0,0,0,0,0,15.18,14.71,15.21
$GC,5808,-0.62,-194.6,2492,4032,3942,3846,617.3,-10.1,300,5813,0.00,2.17,0.00,0.000,1030,0.000,0.039,2492,2647,3893,3942,3845,0,0,0,0,0,0,14.96,14.88,14.98
$GC,6143,-0.62,-194.6,2492,2647,3941,3845,651.2,-10.2,311,6149,0.00,2.22,0.00,0.000,516,0.000,0.062,2492,1262,3892,3940,3845,0,0,0,0,0,0,15.17,14.75,15.21
$GC,6187,-0.62,-194.6,2491,1262,3939,3845,656.2,-10.3,320,6192,0.12,2.28,0.00,0.000,3078,0.250,0.063,2512,2651,3892,3940,3845,0,0,0,0,0,0,14.63,14.81,14.85
$GC,6507,-0.62,-194.6,2512,2651,3939,3844,684.2,-8.7,328,6512,0.00,2.38,0.00,0.000,260,0.000,0.095,2504,4043,3891,3938,3844,0,0,0,0,0,0,15.17,14.73,15.21
$GC,6556,-0.62,-194.6,2503,4043,3938,3843,688.6,-9.0,337,6562,0.00,2.17,0.00,0.000,1030,0.000,0.040,2504,2653,3890,3938,3843,0,0,0,0,0,0,14.88,14.84,14.90
$GC,6932,-0.62,-194.6,2504,2653,3937,3842,722.1,-8.9,344,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2653,3889,3936,3842,0,0,0,0,0,0,15.16,15.20,15.19
$GC,7532,-0.62,-194.6,2504,2653,3935,3841,773.2,-8.4,349,7537,0.00,2.25,0.00,0.000,516,0.000,0.063,2504,1258,3887,3934,3840,0,0,0,0,0,0,15.18,14.73,15.21
$GC,7576,-0.62,-194.6,2504,1257,3934,3841,777.0,-8.1,358,7581,0.00,2.28,0.00,0.000,1030,0.000,0.066,2498,2647,3887,3934,3840,0,0,0,0,0,0,14.82,14.74,14.87
$GC,8256,-0.62,-194.6,2498,2647,3931,3839,831.1,-8.0,378,8261,0.00,2.40,0.00,0.000,260,0.000,0.099,2488,4048,3884,3930,3839,0,0,0,0,0,0,15.17,14.64,15.20
$GC,8315,-0.62,-194.6,2487,4047,3930,3838,836.2,-8.8,390,8321,0.00,2.22,0.00,0.000,1030,0.000,0.044,2487,2649,3884,3931,3837,0,0,0,0,0,0,14.92,14.84,14.95
$GC,8976,-0.62,-194.6,2487,2649,3928,3837,894.0,-8.9,407,8982,0.00,2.28,0.00,0.000,516,0.000,0.067,2488,1254,3882,3927,3837,0,0,0,0,0,0,15.16,14.69,15.20
$GC,9036,-0.62,-194.6,2487,1254,3928,3836,899.5,-9.1,419,9043,0.12,2.33,0.00,0.000,3078,0.251,0.070,2512,2650,3882,3927,3837,0,0,0,0,0,0,14.58,14.74,14.81
$GC,9698,-0.62,-194.6,2512,2650,3925,3835,947.3,-7.2,436,9702,0.00,2.42,0.00,0.000,260,0.000,0.103,2504,4041,3880,3925,3835,0,0,0,0,0,0,15.16,14.65,15.19
$GC,9747,-0.62,-194.6,2503,4040,3925,3834,951.2,-8.2,445,9752,0.00,2.20,0.00,0.000,1030,0.000,0.045,2504,2656,3879,3924,3834,0,0,0,0,0,0,14.82,14.77,14.85
$STATE,10298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10298,begin apogee
$GC,10308,-0.20,0.0,2504,2456,3924,3834,991.7,-7.3,464,10457,0.50,0.00,146.30,2.000,10246,0.181,0.000,2649,2455,3126,3059,3193,0,0,0,0,0,0,14.61,14.14,13.38
$STATE,10459,end apogee,CONTROL_FINISHED_OK
$STATE,10459,begin climb
$GC,10463,0.62,194.6,2649,2456,3058,3190,995.3,0.0,465,10626,0.80,2.42,153.35,1.957,10756,0.119,0.080,2920,1087,2329,2243,2415,0,0,0,0,0,0,14.14,13.85,13.26
$GC,10650,0.62,194.6,2919,1087,2247,2409,980.8,12.2,510,10657,0.00,2.42,0.00,0.000,1030,0.000,0.070,2920,2471,2327,2247,2408,0,0,0,0,0,0,14.19,14.10,14.21
$GC,11261,0.62,194.6,2919,2470,2254,2395,895.5,13.9,517,11266,0.00,2.45,0.00,0.000,260,0.000,0.103,2919,3876,2324,2254,2395,0,0,0,0,0,0,14.90,14.50,14.93
$GC,11364,0.62,194.6,2919,3876,2262,2385,879.0,15.9,538,11370,0.00,2.30,0.00,0.000,1030,0.000,0.060,2930,2489,2324,2263,2385,0,0,0,0,0,0,14.73,14.64,14.76
$GC,11981,0.62,194.6,2930,2489,2263,2384,787.6,14.9,546,11986,0.00,2.42,0.00,0.000,260,0.000,0.097,2930,3886,2323,2263,2384,0,0,0,0,0,0,15.03,14.59,15.06
$GC,12005,0.62,194.6,2930,3886,2265,2381,783.6,15.8,551,12012,0.00,2.33,0.00,0.000,1030,0.000,0.058,2940,2473,2323,2265,2381,0,0,0,0,0,0,14.81,14.72,14.85
$GC,12641,0.62,194.6,2940,2473,2265,2381,686.4,15.2,575,12647,0.00,2.45,0.00,0.000,260,0.000,0.097,2940,3890,2323,2265,2381,0,0,0,0,0,0,15.07,14.60,15.11
$GC,12671,0.62,194.6,2940,3890,2267,2378,681.5,16.2,581,12678,0.15,2.33,0.00,0.000,5126,0.295,0.058,2920,2473,2322,2267,2378,0,0,0,0,0,0,14.47,14.75,14.69
$GC,13004,0.62,194.6,2919,2473,2267,2378,636.2,13.4,592,13008,0.00,2.38,0.00,0.000,516,0.000,0.083,2928,1069,2322,2268,2377,0,0,0,0,0,0,15.07,14.66,15.11
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$STATE,18610,end climb,SURFACE_DEPTH_REACHED
$STATE,18610,begin surface coast
$STATE,18631,end surface coast,CONTROL_FINISHED_OK
$STATE,18631,begin surface
$SM_CCo,18714,0.00,0.000,0,0,637,611.04
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$IRIDIUM_FIX,714.65,8650.78,200915,091458
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.91
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,13.26,48.484
$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,21.975,138.575,584.250,0.000,0.000,0.000,0.000,185.050,0.500,0.000,57.505,615.747,15279.257,604.891,2093.336,467.692,0.000,1702.434,0.000,1294.852,0.000,0.542,0.000
$DEVICE_MAMPS,409.275,103.275,1999.710,0.000,0.000,0.000,0.000,234.855,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.081,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260268
$DATA_FILE_SIZE,40029,905
$CAP_FILE_SIZE,81070,0
$CFSIZE,260034560,237469696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10495.70,0x23402a,1,24
$CURRENT,0.194,186.72,1
$GPS,200915,194939,716.444,8557.812,169,2.3,209,-1.9,1.7,191.5,5,10.3