version: 66.12
glider: 141
mission: 23
dive: 168
start: 9 25 115 7 17 51
data:
$ID,141
$MISSION,23
$DIVE,168
$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,42
$R_STBD_OVSHOOT,50
$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
$GPS1,250915,071202,716.9100,8528.9453,123,99.0,163,-2.0,0.7,162.8,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.40
$_SM_ANGLEo,-72.6
$GPS2,250915,071717,716.7658,8529.0000,14,1.0,31,-2.0,1.1,146.9,7,9.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,DOG
$TGT_LATLONG,730.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,327.9,58618,-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,21,begin dive
$GC,25,-0.62,-194.6,17,2688,860,984,0.0,0.0,0,114,0.00,0.00,-86.57,0.000,16386,0.000,0.000,13,2688,3293,3351,3235,0,0,0,0,0,0,14.88,28.83,14.91
$GC,120,-0.62,-194.6,12,2688,3351,3235,5.2,-3.7,9,149,11.88,2.38,-10.07,0.000,18948,0.411,0.075,2507,1246,3923,3991,3856,0,0,0,0,0,0,14.35,13.49,14.70
$GC,241,-0.62,-194.6,2506,1246,3991,3859,46.1,-25.5,33,247,0.00,2.22,0.00,0.000,1030,0.000,0.057,2499,2621,3925,3991,3860,0,0,0,0,0,0,14.69,14.63,14.72
$GC,559,-0.62,-194.6,2498,2621,3991,3862,119.4,-18.1,51,565,0.00,2.35,0.00,0.000,260,0.000,0.081,2488,4041,3927,3991,3863,0,0,0,0,0,0,15.04,14.67,15.07
$GC,669,-0.62,-194.6,2487,4041,3991,3864,136.3,-13.9,73,676,0.00,2.17,0.00,0.000,1030,0.000,0.034,2488,2640,3927,3991,3864,0,0,0,0,0,0,14.88,14.81,14.89
$GC,979,-0.62,-194.6,2488,2638,3991,3866,177.3,-14.1,90,984,0.00,2.35,0.00,0.000,260,0.000,0.080,2477,4042,3929,3991,3867,0,0,0,0,0,0,15.09,14.71,15.13
$GC,1003,-0.62,-194.6,2477,4041,3991,3867,180.8,-14.1,95,1011,0.15,2.15,0.00,0.000,3078,0.239,0.032,2513,2645,3929,3991,3867,0,0,0,0,0,0,14.60,14.85,14.84
$GC,1321,-0.62,-194.6,2513,2645,3991,3867,216.0,-10.8,113,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2645,3928,3991,3866,0,0,0,0,0,0,15.11,15.15,15.14
$GC,1621,-0.62,-194.6,2513,2644,3989,3866,250.0,-11.2,128,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2644,3928,3989,3867,0,0,0,0,0,0,15.13,15.17,15.16
$GC,1921,-0.62,-194.6,2513,2644,3983,3866,281.1,-10.3,133,1927,0.00,2.35,0.00,0.000,260,0.000,0.083,2508,4051,3924,3982,3866,0,0,0,0,0,0,15.14,14.72,15.17
$GC,1976,-0.62,-194.6,2507,4050,3982,3866,287.0,-10.2,144,1981,0.00,2.20,0.00,0.000,1030,0.000,0.033,2507,2656,3924,3982,3866,0,0,0,0,0,0,14.85,14.81,14.88
$GC,2282,-0.62,-194.6,2507,2656,3978,3867,315.0,-9.0,150,2288,0.00,2.20,0.00,0.000,516,0.000,0.054,2507,1257,3922,3977,3867,0,0,0,0,0,0,15.16,14.78,15.19
$GC,2331,-0.62,-194.6,2507,1257,3977,3867,319.5,-9.0,160,2336,0.00,2.25,0.00,0.000,1030,0.000,0.054,2501,2660,3920,3975,3866,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2647,-0.62,-194.6,2501,2660,3972,3866,348.7,-9.3,167,2653,0.00,2.28,0.00,0.000,260,0.000,0.084,2491,4029,3919,3972,3866,0,0,0,0,0,0,15.16,14.73,15.19
$GC,2666,-0.62,-194.6,2490,4029,3972,3865,351.0,-10.2,171,2673,0.00,2.15,0.00,0.000,1030,0.000,0.034,2491,2641,3919,3972,3866,0,0,0,0,0,0,14.95,14.89,14.98
$GC,3008,-0.62,-194.6,2491,2641,3968,3864,382.8,-9.2,184,3013,0.00,2.38,0.00,0.000,260,0.000,0.085,2482,4035,3915,3967,3864,0,0,0,0,0,0,15.16,14.76,15.19
$GC,3031,-0.62,-194.6,2482,4035,3967,3863,385.1,-9.3,188,3036,0.12,2.15,0.00,0.000,3078,0.238,0.034,2512,2648,3915,3967,3863,0,0,0,0,0,0,14.64,14.90,14.85
$GC,3377,-0.62,-194.6,2511,2648,3962,3862,412.1,-7.9,201,3383,0.00,2.25,0.00,0.000,516,0.000,0.056,2512,1248,3912,3962,3862,0,0,0,0,0,0,15.16,14.79,15.19
$GC,3411,-0.62,-194.6,2512,1248,3961,3861,415.2,-8.6,208,3416,0.00,2.28,0.00,0.000,1030,0.000,0.057,2512,2654,3911,3962,3861,0,0,0,0,0,0,14.92,14.82,14.95
$GC,3741,-0.62,-194.6,2511,2654,3959,3860,443.1,-8.7,218,3746,0.00,2.30,0.00,0.000,260,0.000,0.086,2503,4033,3909,3959,3860,0,0,0,0,0,0,15.16,14.71,15.20
$GC,3784,-0.62,-194.6,2502,4033,3959,3859,447.5,-10.3,227,3791,0.00,2.15,0.00,0.000,1030,0.000,0.036,2500,2654,3909,3959,3859,0,0,0,0,0,0,14.95,14.88,14.97
$GC,4101,-0.62,-194.6,2502,2654,3957,3858,477.6,-9.6,235,4107,0.00,2.22,0.00,0.000,516,0.000,0.058,2503,1256,3907,3957,3858,0,0,0,0,0,0,15.16,14.76,15.19
$GC,4141,-0.62,-194.6,2502,1256,3957,3858,481.7,-9.8,243,4147,0.00,2.28,0.00,0.000,1030,0.000,0.059,2497,2657,3907,3956,3858,0,0,0,0,0,0,14.92,14.81,14.95
$GC,4462,-0.62,-194.6,2497,2657,3953,3855,513.0,-9.8,252,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2657,3904,3953,3855,0,0,0,0,0,0,15.16,15.21,15.20
$GC,4763,-0.62,-194.6,2497,2656,3950,3853,542.0,-9.7,257,4768,0.00,2.25,0.00,0.000,516,0.000,0.058,2497,1259,3901,3950,3853,0,0,0,0,0,0,15.17,14.74,15.21
$GC,4802,-0.62,-194.6,2497,1259,3950,3853,546.0,-10.3,265,4808,0.00,2.25,0.00,0.000,1030,0.000,0.060,2489,2646,3901,3950,3853,0,0,0,0,0,0,14.82,14.76,14.87
$GC,5123,-0.62,-194.6,2489,2646,3948,3852,578.0,-10.0,274,5128,0.00,2.33,0.00,0.000,260,0.000,0.090,2479,4039,3900,3948,3852,0,0,0,0,0,0,15.16,14.68,15.19
$GC,5166,-0.62,-194.6,2478,4039,3948,3850,582.8,-11.1,283,5172,0.10,2.17,0.00,0.000,3078,0.202,0.039,2510,2644,3898,3946,3850,0,0,0,0,0,0,14.57,14.82,14.71
$GC,5487,-0.62,-194.6,2509,2644,3947,3850,611.1,-8.8,291,5493,0.00,2.22,0.00,0.000,516,0.000,0.060,2510,1253,3898,3946,3850,0,0,0,0,0,0,15.16,14.73,15.19
$GC,5518,-0.62,-194.6,2510,1253,3946,3850,614.0,-9.9,297,5523,0.00,2.28,0.00,0.000,1030,0.000,0.062,2506,2650,3898,3946,3850,0,0,0,0,0,0,14.81,14.74,14.85
$GC,5848,-0.62,-194.6,2506,2650,3944,3848,643.7,-9.1,308,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2650,3895,3943,3848,0,0,0,0,0,0,15.16,15.20,15.19
$GC,6149,-0.62,-194.6,2506,2650,3942,3847,671.0,-9.1,313,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2649,3894,3941,3847,0,0,0,0,0,0,15.16,15.20,15.19
$GC,6448,-0.62,-194.6,2506,2650,3941,3847,698.0,-9.0,318,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2650,3894,3941,3847,0,0,0,0,0,0,15.16,15.21,15.20
$GC,6749,-0.62,-194.6,2507,2650,3939,3846,723.9,-8.6,321,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2650,3893,3940,3846,0,0,0,0,0,0,15.16,15.21,15.20
$GC,7349,-0.62,-194.6,2506,2650,3937,3844,770.9,-7.8,326,7354,0.00,2.28,0.00,0.000,516,0.000,0.063,2506,1251,3890,3936,3844,0,0,0,0,0,0,15.16,14.69,15.20
$GC,7377,-0.62,-194.6,2506,1251,3936,3845,773.2,-7.7,332,7382,0.00,2.33,0.00,0.000,1030,0.000,0.066,2500,2654,3890,3936,3845,0,0,0,0,0,0,14.88,14.76,14.92
$GC,8072,-0.62,-194.6,2500,2654,3934,3842,822.5,-7.0,355,8078,0.00,2.35,0.00,0.000,260,0.000,0.097,2490,4030,3887,3933,3842,0,0,0,0,0,0,15.16,14.61,15.20
$GC,8107,-0.62,-194.6,2490,4030,3933,3842,825.1,-7.8,362,8112,0.00,2.20,0.00,0.000,1030,0.000,0.042,2490,2650,3887,3933,3841,0,0,0,0,0,0,14.90,14.81,14.93
$GC,8793,-0.62,-194.6,2489,2649,3931,3839,874.1,-7.1,384,8798,0.00,2.30,0.00,0.000,516,0.000,0.067,2490,1250,3885,3931,3839,0,0,0,0,0,0,15.16,14.70,15.19
$GC,8837,-0.62,-194.6,2489,1249,3931,3840,877.4,-7.7,392,8842,0.12,2.33,0.00,0.000,3078,0.254,0.068,2512,2647,3885,3931,3840,0,0,0,0,0,0,14.53,14.72,14.78
$GC,9523,-0.62,-194.6,2512,2646,3929,3838,919.9,-6.3,413,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2647,3883,3929,3838,0,0,0,0,0,0,15.16,15.19,15.19
$GC,10122,-0.62,-194.6,2512,2646,3924,3837,961.4,-6.9,418,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2646,3881,3925,3838,0,0,0,0,0,0,15.16,15.19,15.19
$STATE,10598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10598,begin apogee
$GC,10608,-0.20,0.0,2513,2464,3924,3837,995.3,-7.1,422,10759,0.47,0.00,147.73,2.013,10246,0.187,0.000,2651,2464,3126,3058,3194,0,0,0,0,0,0,14.54,14.12,13.34
$STATE,10760,end apogee,CONTROL_FINISHED_OK
$STATE,10761,begin climb
$GC,10765,0.62,194.6,2651,2464,3058,3191,999.6,0.0,423,10929,0.80,2.47,154.77,1.971,10756,0.121,0.082,2919,1087,2330,2243,2417,0,0,0,0,0,0,14.12,13.92,13.22
$GC,10957,0.62,194.6,2918,1087,2246,2410,984.9,12.8,470,10962,0.00,2.47,0.00,0.000,1030,0.000,0.068,2919,2469,2328,2246,2410,0,0,0,0,0,0,14.12,14.06,14.15
$GC,11564,0.62,194.6,2918,2469,2253,2397,903.1,13.5,476,11568,0.00,2.50,0.00,0.000,260,0.000,0.103,2919,3889,2325,2253,2397,0,0,0,0,0,0,14.88,14.50,14.92
$GC,11657,0.62,194.6,2918,3889,2261,2388,888.8,15.5,494,11663,0.00,2.33,0.00,0.000,1030,0.000,0.057,2929,2487,2324,2261,2388,0,0,0,0,0,0,14.71,14.61,14.74
$GC,12289,0.62,194.6,2929,2486,2263,2388,796.5,14.6,505,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2487,2324,2261,2388,0,0,0,0,0,0,15.01,15.05,15.05
$GC,12888,0.62,194.6,2929,2487,2261,2386,709.3,14.6,510,12895,0.00,2.42,0.00,0.000,260,0.000,0.100,2929,3878,2323,2261,2385,0,0,0,0,0,0,15.07,14.58,15.10
$GC,12918,0.62,194.6,2929,3878,2263,2382,704.3,15.5,516,12923,0.00,2.30,0.00,0.000,1030,0.000,0.057,2939,2472,2322,2263,2382,0,0,0,0,0,0,14.82,14.71,14.85
$GC,13553,0.62,194.6,2938,2472,2263,2382,608.1,15.2,543,13554,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2473,2322,2264,2381,0,0,0,0,0,0,15.09,15.13,15.12
$GC,13852,0.62,194.6,2939,2472,2263,2382,563.7,14.7,548,13857,0.00,2.47,0.00,0.000,260,0.000,0.098,2939,3887,2323,2264,2382,0,0,0,0,0,0,15.10,14.61,15.14
$GC,13890,0.62,194.6,2939,3887,2266,2379,557.7,16.1,555,13897,0.15,2.33,0.00,0.000,5126,0.293,0.057,2919,2469,2322,2266,2379,0,0,0,0,0,0,14.42,14.73,14.75
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$STATE,18983,end climb,SURFACE_DEPTH_REACHED
$STATE,18983,begin surface coast
$STATE,19003,end surface coast,CONTROL_FINISHED_OK
$STATE,19003,begin surface
$SM_CCo,19087,0.00,0.000,0,0,559,629.93
$SM_GC,3.48,8.00,0.28,0.00,0.050,0.081,0.000,44,2677,559,-8.29,-0.82,629.93,0,0,0,0,0,0,14.66,14.72,14.75
$IRIDIUM_FIX,712.48,8530.07,250915,015918
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.75
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,13.22,54.912
$10V_AH,12.98,0.000
$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,22.075,139.275,599.200,0.000,0.000,0.000,0.000,179.875,0.750,0.000,34.250,608.223,15693.233,592.925,2060.395,451.058,0.000,1703.127,0.000,1296.365,0.000,0.542,0.000
$DEVICE_MAMPS,410.805,102.510,2012.715,0.000,0.000,0.000,0.000,244.035,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40088,906
$CAP_FILE_SIZE,80041,0
$CFSIZE,260034560,236523520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,150.15,1
$GPS,250915,123914,717.636,8527.575,113,1.8,153,-2.0,0.6,162.7,7,13.7