version: 66.12
glider: 141
mission: 23
dive: 149
start: 9 21 115 1 17 11
data:
$ID,141
$MISSION,23
$DIVE,149
$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,41
$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
$DEVICE1,133
$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
$GPS1,210915,010803,715.9159,8556.0664,123,99.0,163,-1.9,1.3,179.0,4,-1.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-72.2
$GPS2,210915,011640,715.7370,8555.9727,33,1.9,73,-1.9,1.1,156.6,7,12.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,331.3,106115,-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,-194.6,23,2683,1041,1138,0.0,0.0,0,114,0.00,0.00,-87.03,0.000,16386,0.000,0.000,20,2684,3502,3571,3433,0,0,0,0,0,0,14.89,28.83,14.92
$GC,120,-0.62,-194.6,20,2684,3571,3434,6.2,-6.5,9,145,11.95,2.35,-5.80,0.000,19204,0.416,0.073,2508,1246,3925,3997,3854,0,0,0,0,0,0,14.37,13.54,14.71
$GC,309,-0.62,-194.6,2508,1246,3997,3859,74.0,-27.7,47,316,0.00,2.25,0.00,0.000,1030,0.000,0.055,2500,2638,3928,3997,3859,0,0,0,0,0,0,14.79,14.70,14.82
$GC,620,-0.62,-194.6,2500,2638,3997,3861,131.3,-15.4,64,626,0.00,2.33,0.00,0.000,260,0.000,0.081,2490,4033,3929,3997,3861,0,0,0,0,0,0,15.06,14.70,15.09
$GC,754,-0.62,-194.6,2489,4033,3997,3863,150.9,-14.3,91,759,0.00,2.20,0.00,0.000,1030,0.000,0.032,2490,2640,3930,3997,3863,0,0,0,0,0,0,14.81,14.77,14.83
$GC,1060,-0.62,-194.6,2489,2640,3997,3864,196.5,-14.8,107,1066,0.00,2.22,0.00,0.000,516,0.000,0.051,2490,1240,3930,3997,3864,0,0,0,0,0,0,15.11,14.80,15.14
$GC,1109,-0.62,-194.6,2490,1240,3997,3865,203.2,-13.3,117,1115,0.15,2.28,0.00,0.000,3078,0.249,0.054,2517,2662,3930,3997,3864,0,0,0,0,0,0,14.63,14.82,14.85
$GC,1425,-0.62,-194.6,2516,2662,3995,3864,238.2,-11.3,134,1430,0.00,2.22,0.00,0.000,516,0.000,0.051,2516,1254,3929,3994,3865,0,0,0,0,0,0,15.13,14.80,15.16
$GC,1449,-0.62,-194.6,2517,1254,3994,3864,241.0,-11.0,139,1454,0.00,2.22,0.00,0.000,1030,0.000,0.054,2515,2652,3929,3994,3865,0,0,0,0,0,0,14.86,14.81,14.90
$GC,1788,-0.62,-194.6,2514,2652,3989,3864,278.3,-11.1,150,1794,0.00,2.30,0.00,0.000,260,0.000,0.083,2504,4042,3927,3989,3865,0,0,0,0,0,0,15.14,14.76,15.18
$GC,1852,-0.62,-194.6,2504,4042,3989,3864,286.1,-12.0,163,1858,0.00,2.15,0.00,0.000,1030,0.000,0.033,2504,2644,3926,3989,3863,0,0,0,0,0,0,14.96,14.90,14.98
$GC,2209,-0.62,-194.6,2504,2644,3981,3865,327.0,-11.3,179,2214,0.00,2.17,0.00,0.000,516,0.000,0.054,2504,1258,3922,3981,3864,0,0,0,0,0,0,15.16,14.81,15.19
$GC,2237,-0.62,-194.6,2504,1257,3981,3864,330.2,-11.0,185,2242,0.00,2.25,0.00,0.000,1030,0.000,0.057,2501,2645,3922,3981,3864,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2573,-0.62,-194.6,2500,2645,3974,3864,363.0,-9.9,196,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2645,3919,3974,3864,0,0,0,0,0,0,15.16,15.20,15.19
$GC,2872,-0.62,-194.6,2501,2645,3969,3864,390.5,-9.0,201,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2645,3916,3968,3864,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3172,-0.62,-194.6,2501,2645,3966,3862,415.8,-8.4,206,3173,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2645,3914,3966,3862,0,0,0,0,0,0,15.18,15.21,15.21
$GC,3472,-0.62,-194.6,2501,2645,3963,3860,439.5,-7.9,211,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2645,3911,3963,3860,0,0,0,0,0,0,15.18,15.21,15.21
$GC,3772,-0.62,-194.6,2501,2645,3960,3859,465.7,-8.7,216,3777,0.00,2.20,0.00,0.000,516,0.000,0.056,2501,1262,3909,3959,3859,0,0,0,0,0,0,15.19,14.80,15.21
$GC,3811,-0.62,-194.6,2501,1262,3960,3859,469.6,-9.5,224,3818,0.00,2.25,0.00,0.000,1030,0.000,0.057,2499,2655,3909,3959,3859,0,0,0,0,0,0,14.95,14.84,14.98
$GC,4133,-0.62,-194.6,2499,2655,3957,3856,500.9,-9.9,233,4137,0.00,2.33,0.00,0.000,260,0.000,0.086,2489,4040,3906,3957,3856,0,0,0,0,0,0,15.18,14.78,15.21
$GC,4172,-0.62,-194.6,2488,4041,3956,3854,505.4,-11.9,240,4178,0.00,2.15,0.00,0.000,1030,0.000,0.037,2488,2651,3905,3957,3854,0,0,0,0,0,0,14.90,14.85,14.92
$GC,4498,-0.62,-194.6,2488,2651,3952,3853,544.0,-11.9,250,4503,0.00,2.20,0.00,0.000,516,0.000,0.058,2488,1265,3902,3952,3853,0,0,0,0,0,0,15.18,14.78,15.21
$GC,4538,-0.62,-194.6,2488,1265,3951,3853,548.9,-12.7,258,4543,0.00,2.25,0.00,0.000,1030,0.000,0.060,2487,2657,3902,3951,3853,0,0,0,0,0,0,14.85,14.78,14.89
$GC,4859,-0.62,-194.6,2485,2657,3949,3851,584.3,-10.9,267,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2657,3900,3949,3851,0,0,0,0,0,0,15.17,15.21,15.21
$GC,5158,-0.62,-194.6,2487,2657,3948,3849,612.6,-9.3,272,5164,0.00,2.25,0.00,0.000,516,0.000,0.059,2487,1251,3898,3948,3849,0,0,0,0,0,0,15.18,14.76,15.21
$GC,5193,-0.62,-194.6,2487,1251,3948,3849,616.0,-9.7,279,5200,0.15,2.28,0.00,0.000,3078,0.248,0.060,2522,2652,3898,3948,3849,0,0,0,0,0,0,14.59,14.82,14.73
$GC,5520,-0.62,-194.6,2522,2652,3945,3848,636.6,-6.2,289,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2652,3897,3945,3849,0,0,0,0,0,0,15.17,15.21,15.21
$GC,5820,-0.62,-194.6,2521,2652,3943,3847,655.8,-6.5,294,5825,0.00,2.33,0.00,0.000,260,0.000,0.093,2514,4028,3894,3942,3847,0,0,0,0,0,0,15.17,14.69,15.21
$GC,5860,-0.62,-194.6,2514,4028,3942,3847,658.7,-7.6,302,5866,0.00,2.17,0.00,0.000,1030,0.000,0.039,2514,2638,3894,3942,3847,0,0,0,0,0,0,14.88,14.85,14.91
$GC,6181,-0.62,-194.6,2514,2638,3941,3846,680.9,-6.9,311,6186,0.00,2.22,0.00,0.000,516,0.000,0.062,2514,1246,3893,3941,3846,0,0,0,0,0,0,15.17,14.74,15.21
$GC,6216,-0.62,-194.6,2514,1246,3941,3846,683.7,-8.2,318,6221,0.00,2.30,0.00,0.000,1030,0.000,0.063,2513,2645,3893,3941,3846,0,0,0,0,0,0,14.82,14.76,14.87
$GC,6601,-0.62,-194.6,2513,2645,3939,3845,712.4,-7.4,328,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2645,3891,3939,3844,0,0,0,0,0,0,15.16,15.21,15.20
$GC,7201,-0.62,-194.6,2513,2645,3937,3843,753.9,-6.9,333,7206,0.00,2.40,0.00,0.000,260,0.000,0.096,2502,4046,3889,3936,3843,0,0,0,0,0,0,15.18,14.70,15.21
$GC,7245,-0.62,-194.6,2502,4046,3936,3842,757.2,-7.6,341,7249,0.00,2.22,0.00,0.000,1030,0.000,0.041,2502,2640,3889,3936,3842,0,0,0,0,0,0,14.93,14.85,14.96
$GC,7930,-0.62,-194.6,2502,2640,3933,3841,811.2,-8.0,362,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2640,3886,3932,3841,0,0,0,0,0,0,15.17,15.21,15.20
$GC,8529,-0.62,-194.6,2502,2640,3931,3839,862.1,-8.6,367,8534,0.00,2.25,0.00,0.000,516,0.000,0.066,2502,1255,3885,3931,3839,0,0,0,0,0,0,15.17,14.69,15.20
$GC,8573,-0.62,-194.6,2502,1255,3931,3839,866.1,-9.4,376,8580,0.00,2.33,0.00,0.000,1030,0.000,0.068,2498,2658,3884,3930,3839,0,0,0,0,0,0,14.88,14.76,14.92
$GC,9250,-0.62,-194.6,2497,2658,3929,3837,921.4,-8.0,396,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2658,3882,3928,3837,0,0,0,0,0,0,15.16,15.20,15.20
$GC,9850,-0.62,-194.6,2497,2658,3926,3836,965.8,-7.4,401,9854,0.00,2.33,0.00,0.000,516,0.000,0.067,2497,1250,3880,3925,3836,0,0,0,0,0,0,15.16,14.71,15.19
$GC,9899,-0.62,-194.6,2497,1251,3925,3836,969.7,-7.9,410,9904,0.00,2.30,0.00,0.000,1030,0.000,0.071,2489,2639,3880,3925,3836,0,0,0,0,0,0,14.76,14.68,14.81
$STATE,10210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10210,begin apogee
$GC,10220,-0.20,0.0,2489,2465,3925,3835,993.4,-7.5,427,10370,0.55,0.00,147.48,2.000,10246,0.192,0.000,2647,2465,3126,3058,3194,0,0,0,0,0,0,14.58,14.14,13.39
$STATE,10372,end apogee,CONTROL_FINISHED_OK
$STATE,10372,begin climb
$GC,10377,0.62,194.6,2648,2465,3058,3190,996.1,0.0,428,10542,0.80,2.47,153.68,1.939,10756,0.122,0.080,2917,1094,2328,2243,2414,0,0,0,0,0,0,14.14,13.96,13.27
$GC,10605,0.62,194.6,2917,1094,2248,2406,972.7,14.4,482,10611,0.00,2.42,0.00,0.000,1030,0.000,0.069,2917,2481,2326,2248,2405,0,0,0,0,0,0,14.30,14.20,14.32
$GC,11296,0.62,194.6,2917,2481,2255,2394,872.7,14.2,505,11301,0.00,2.45,0.00,0.000,260,0.000,0.101,2917,3881,2324,2254,2394,0,0,0,0,0,0,14.92,14.56,14.96
$GC,11374,0.62,194.6,2917,3880,2262,2385,860.8,15.6,520,11380,0.00,2.30,0.00,0.000,1030,0.000,0.058,2927,2491,2324,2263,2385,0,0,0,0,0,0,14.75,14.66,14.78
$GC,12021,0.62,194.6,2927,2491,2262,2384,771.5,13.7,534,12026,0.00,2.42,0.00,0.000,260,0.000,0.099,2927,3886,2323,2262,2384,0,0,0,0,0,0,15.03,14.59,15.07
$GC,12060,0.62,194.6,2926,3886,2265,2381,765.6,15.1,542,12066,0.00,2.33,0.00,0.000,1030,0.000,0.059,2936,2474,2322,2265,2380,0,0,0,0,0,0,14.82,14.73,14.85
$GC,12681,0.62,194.6,2935,2473,2264,2380,684.3,13.0,563,12686,0.00,2.42,0.00,0.000,260,0.000,0.098,2936,3876,2322,2265,2380,0,0,0,0,0,0,15.08,14.60,15.11
$GC,12725,0.62,194.6,2935,3876,2267,2378,677.7,15.4,572,12732,0.15,2.30,0.00,0.000,5126,0.308,0.057,2916,2474,2321,2266,2377,0,0,0,0,0,0,14.44,14.75,14.76
$GC,13042,0.62,194.6,2915,2474,2266,2377,638.5,12.3,580,13043,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2474,2321,2266,2377,0,0,0,0,0,0,15.09,15.13,15.13
$GC,13342,0.62,194.6,2915,2474,2266,2377,601.4,12.3,585,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2474,2322,2267,2377,0,0,0,0,0,0,15.10,15.14,15.14
$GC,13642,0.62,194.6,2915,2474,2266,2377,565.4,11.9,590,13643,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2474,2321,2266,2377,0,0,0,0,0,0,15.11,15.15,15.15
$GC,13942,0.62,194.6,2915,2474,2266,2376,528.3,12.4,595,13947,0.00,2.45,0.00,0.000,260,0.000,0.096,2915,3886,2322,2267,2377,0,0,0,0,0,0,15.12,14.62,15.16
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$STATE,18677,end climb,SURFACE_DEPTH_REACHED
$STATE,18678,begin surface coast
$STATE,18707,end surface coast,CONTROL_FINISHED_OK
$STATE,18708,begin surface
$SM_CCo,18791,0.00,0.000,0,0,1016,517.83
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$TT8_MAMPS,0.023219,0.023219
$HUMID,47.79
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,13.27,49.078
$10V_AH,13.04,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260220
$DATA_FILE_SIZE,43389,950
$CAP_FILE_SIZE,81486,0
$CFSIZE,260034560,237375488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,164.47,1
$GPS,210915,063338,716.021,8554.522,113,1.8,153,-1.9,0.0,151.6,4,17.3