version: 66.12
glider: 141
mission: 23
dive: 189
start: 9 29 115 22 49 34
data:
$ID,141
$MISSION,23
$DIVE,189
$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,4
$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,60
$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,48
$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
$GPS1,290915,224103,731.1197,8459.9180,118,2.1,158,-2.0,0.4,224.7,4,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-69.0
$GPS2,290915,224904,731.0343,8459.8242,12,2.0,33,-2.0,0.6,332.0,8,10.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HOLDING
$TGT_LATLONG,830.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,13.1,109205,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,10,2689,361,436,0.0,0.0,0,135,0.00,0.00,-106.80,0.000,16386,0.000,0.000,9,2689,3379,3439,3319,0,0,0,0,0,0,14.84,28.83,14.88
$GC,140,-0.62,-194.6,8,2689,3439,3319,5.4,-4.2,11,168,12.07,2.35,-8.25,0.000,18948,0.415,0.070,2508,1233,3921,3989,3853,0,0,0,0,0,0,14.31,13.78,14.67
$GC,249,-0.62,-194.6,2508,1233,3989,3856,43.9,-29.6,33,256,0.00,2.22,0.00,0.000,1030,0.000,0.052,2501,2625,3922,3989,3856,0,0,0,0,0,0,14.66,14.64,14.70
$GC,568,-0.62,-194.6,2500,2625,3990,3857,120.8,-18.5,51,573,0.00,2.35,0.00,0.000,260,0.000,0.077,2490,4048,3923,3989,3857,0,0,0,0,0,0,15.03,14.69,15.06
$GC,641,-0.62,-194.6,2489,4048,3989,3858,134.0,-17.0,65,649,0.00,2.20,0.00,0.000,1030,0.000,0.031,2489,2626,3923,3989,3858,0,0,0,0,0,0,14.86,14.80,14.88
$GC,953,-0.62,-194.6,2489,2625,3989,3860,177.3,-12.9,82,959,0.00,2.33,0.00,0.000,260,0.000,0.077,2479,4030,3924,3989,3860,0,0,0,0,0,0,15.08,14.71,15.11
$GC,1063,-0.62,-194.6,2479,4030,3989,3860,191.8,-13.7,104,1071,0.15,2.12,0.00,0.000,3078,0.246,0.031,2518,2644,3924,3989,3860,0,0,0,0,0,0,14.53,14.85,14.68
$GC,1374,-0.62,-194.6,2519,2644,3989,3860,223.5,-10.1,121,1379,0.00,2.30,0.00,0.000,260,0.000,0.080,2512,4030,3924,3988,3860,0,0,0,0,0,0,15.11,14.73,15.14
$GC,1396,-0.62,-194.6,2511,4031,3988,3859,225.7,-10.7,125,1401,0.00,2.10,0.00,0.000,1030,0.000,0.031,2512,2648,3924,3989,3860,0,0,0,0,0,0,14.87,14.83,14.90
$GC,1756,-0.62,-194.6,2511,2648,3982,3860,262.1,-9.4,142,1762,0.00,2.17,0.00,0.000,516,0.000,0.050,2512,1263,3921,3982,3860,0,0,0,0,0,0,15.13,14.78,15.16
$GC,1791,-0.62,-194.6,2511,1263,3982,3860,265.6,-9.9,149,1797,0.00,2.22,0.00,0.000,1030,0.000,0.054,2511,2655,3920,3981,3860,0,0,0,0,0,0,14.91,14.81,14.94
$GC,2118,-0.62,-194.6,2511,2655,3975,3860,294.4,-9.0,159,2122,0.00,2.30,0.00,0.000,260,0.000,0.082,2500,4038,3917,3975,3860,0,0,0,0,0,0,15.14,14.76,15.17
$GC,2150,-0.62,-194.6,2500,4038,3974,3860,298.0,-10.3,165,2156,0.00,2.12,0.00,0.000,1030,0.000,0.032,2501,2649,3917,3974,3860,0,0,0,0,0,0,14.95,14.88,14.97
$GC,2483,-0.62,-194.6,2500,2648,3969,3860,330.7,-9.9,176,2488,0.00,2.17,0.00,0.000,516,0.000,0.052,2500,1262,3914,3969,3860,0,0,0,0,0,0,15.15,14.78,15.19
$GC,2511,-0.62,-194.6,2500,1262,3968,3860,334.0,-10.7,182,2518,0.00,2.22,0.00,0.000,1030,0.000,0.054,2495,2652,3914,3968,3860,0,0,0,0,0,0,14.92,14.83,14.95
$GC,2844,-0.62,-194.6,2495,2653,3963,3859,369.4,-10.9,193,2849,0.00,2.28,0.00,0.000,260,0.000,0.082,2485,4030,3911,3963,3859,0,0,0,0,0,0,15.16,14.71,15.19
$GC,2872,-0.62,-194.6,2484,4030,3963,3857,373.1,-12.2,199,2877,0.12,2.12,0.00,0.000,3078,0.243,0.033,2513,2647,3910,3963,3857,0,0,0,0,0,0,14.62,14.88,14.84
$GC,3208,-0.62,-194.6,2513,2647,3959,3856,405.4,-9.4,210,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2648,3907,3959,3856,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3508,-0.62,-194.6,2513,2647,3957,3853,432.4,-9.0,215,3509,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2648,3905,3957,3854,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3809,-0.62,-194.6,2513,2647,3952,3852,459.0,-8.8,220,3814,0.00,2.20,0.00,0.000,516,0.000,0.055,2514,1259,3901,3951,3851,0,0,0,0,0,0,15.16,14.76,15.20
$GC,3838,-0.62,-194.6,2513,1259,3951,3851,461.9,-9.1,226,3844,0.00,2.25,0.00,0.000,1030,0.000,0.056,2513,2656,3901,3951,3851,0,0,0,0,0,0,14.91,14.81,14.95
$GC,4170,-0.62,-194.6,2513,2656,3948,3849,489.7,-8.4,237,4175,0.00,2.30,0.00,0.000,260,0.000,0.085,2503,4033,3898,3948,3849,0,0,0,0,0,0,15.16,14.69,15.19
$GC,4209,-0.62,-194.6,2503,4033,3948,3849,493.3,-9.2,245,4214,0.00,2.15,0.00,0.000,1030,0.000,0.034,2503,2648,3898,3949,3848,0,0,0,0,0,0,14.94,14.88,14.96
$GC,4531,-0.62,-194.6,2503,2648,3946,3847,521.5,-8.7,254,4537,0.00,2.20,0.00,0.000,516,0.000,0.056,2503,1266,3896,3946,3847,0,0,0,0,0,0,15.16,14.73,15.19
$GC,4561,-0.62,-194.6,2503,1266,3944,3847,524.5,-10.2,260,4567,0.00,2.25,0.00,0.000,1030,0.000,0.058,2500,2655,3896,3945,3847,0,0,0,0,0,0,14.90,14.79,14.93
$GC,4893,-0.62,-194.6,2500,2655,3942,3846,554.5,-9.1,271,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2655,3894,3942,3846,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5193,-0.62,-194.6,2500,2655,3940,3843,581.1,-8.9,276,5199,0.00,2.30,0.00,0.000,260,0.000,0.087,2489,4032,3892,3940,3844,0,0,0,0,0,0,15.16,14.66,15.19
$GC,5227,-0.62,-194.6,2489,4032,3940,3843,584.4,-9.8,283,5232,0.00,2.15,0.00,0.000,1030,0.000,0.036,2489,2654,3891,3940,3843,0,0,0,0,0,0,14.92,14.85,14.95
$GC,5558,-0.62,-194.6,2489,2654,3938,3842,614.3,-9.0,293,5563,0.00,2.22,0.00,0.000,516,0.000,0.059,2488,1257,3890,3938,3842,0,0,0,0,0,0,15.15,14.71,15.19
$GC,5612,-0.62,-194.6,2489,1257,3938,3842,619.6,-9.1,304,5618,0.10,2.33,0.00,0.000,3078,0.210,0.062,2515,2646,3889,3937,3842,0,0,0,0,0,0,14.49,14.67,14.63
$GC,5919,-0.62,-194.6,2514,2646,3936,3841,642.1,-7.2,310,5925,0.00,2.35,0.00,0.000,260,0.000,0.090,2506,4042,3888,3936,3840,0,0,0,0,0,0,15.16,14.63,15.19
$GC,5974,-0.62,-194.6,2506,4042,3935,3839,646.5,-7.6,321,5979,0.00,2.22,0.00,0.000,1030,0.000,0.037,2506,2655,3887,3936,3838,0,0,0,0,0,0,14.78,14.74,14.81
$GC,6281,-0.62,-194.6,2506,2654,3934,3839,670.6,-7.9,327,6285,0.00,2.28,0.00,0.000,516,0.000,0.060,2506,1246,3886,3933,3839,0,0,0,0,0,0,15.15,14.73,15.19
$GC,6319,-0.62,-194.6,2506,1246,3933,3839,674.1,-8.2,334,6326,0.00,2.30,0.00,0.000,1030,0.000,0.061,2501,2656,3885,3932,3839,0,0,0,0,0,0,14.88,14.76,14.91
$GC,6647,-0.62,-194.6,2500,2656,3931,3838,703.9,-9.2,344,6652,0.00,2.33,0.00,0.000,260,0.000,0.091,2490,4030,3883,3930,3837,0,0,0,0,0,0,15.15,14.62,15.18
$GC,6686,-0.62,-194.6,2490,4030,3931,3836,708.0,-10.8,352,6691,0.00,2.17,0.00,0.000,1030,0.000,0.039,2490,2648,3883,3931,3836,0,0,0,0,0,0,14.90,14.83,14.92
$GC,7368,-0.62,-194.6,2490,2648,3928,3834,774.5,-9.7,373,7373,0.00,2.25,0.00,0.000,516,0.000,0.063,2490,1256,3880,3927,3834,0,0,0,0,0,0,15.15,14.65,15.18
$GC,7412,-0.62,-194.6,2489,1256,3927,3834,778.9,-9.5,382,7418,0.00,2.30,0.00,0.000,1030,0.000,0.065,2488,2652,3880,3927,3834,0,0,0,0,0,0,14.85,14.73,14.89
$GC,8089,-0.62,-194.6,2488,2652,3924,3831,838.1,-8.6,402,8095,0.00,2.35,0.00,0.000,260,0.000,0.095,2478,4036,3877,3924,3831,0,0,0,0,0,0,15.15,14.56,15.18
$GC,8128,-0.62,-194.6,2477,4036,3924,3831,841.9,-9.1,410,8136,0.15,2.20,0.00,0.000,3078,0.230,0.041,2514,2649,3877,3924,3830,0,0,0,0,0,0,14.51,14.79,14.75
$GC,8812,-0.62,-194.6,2513,2649,3921,3830,890.2,-7.0,431,8816,0.00,2.30,0.00,0.000,516,0.000,0.067,2514,1247,3875,3921,3830,0,0,0,0,0,0,15.14,14.67,15.18
$GC,8855,-0.62,-194.6,2514,1247,3921,3830,893.7,-7.8,439,8860,0.00,2.33,0.00,0.000,1030,0.000,0.068,2514,2647,3875,3921,3830,0,0,0,0,0,0,14.83,14.69,14.87
$GC,9541,-0.62,-194.6,2514,2647,3918,3829,942.5,-7.2,460,9546,0.00,2.40,0.00,0.000,260,0.000,0.101,2504,4042,3873,3917,3829,0,0,0,0,0,0,15.14,14.52,15.17
$GC,9580,-0.62,-194.6,2504,4042,3917,3829,945.5,-7.7,468,9585,0.00,2.20,0.00,0.000,1030,0.000,0.044,2504,2656,3873,3917,3829,0,0,0,0,0,0,14.77,14.73,14.80
$STATE,10257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10257,begin apogee
$GC,10267,-0.20,0.0,2504,2465,3915,3828,994.3,-7.1,489,10417,0.50,0.00,146.90,2.002,10246,0.187,0.000,2646,2464,3126,3054,3198,0,0,0,0,0,0,14.52,14.12,13.34
$STATE,10419,end apogee,CONTROL_FINISHED_OK
$STATE,10419,begin climb
$GC,10423,0.62,194.6,2646,2464,3053,3193,997.9,0.0,490,10588,0.82,2.47,155.30,1.942,10756,0.123,0.078,2921,1079,2329,2237,2421,0,0,0,0,0,0,14.12,13.92,13.20
$GC,10642,0.62,194.6,2922,1078,2244,2411,978.6,13.2,542,10649,0.00,2.42,0.00,0.000,1030,0.000,0.067,2921,2473,2327,2244,2410,0,0,0,0,0,0,14.23,14.14,14.26
$GC,11344,0.62,194.6,2921,2473,2251,2397,879.6,14.1,567,11348,0.00,2.45,0.00,0.000,260,0.000,0.099,2921,3880,2324,2251,2397,0,0,0,0,0,0,14.92,14.52,14.95
$GC,11437,0.62,194.6,2921,3880,2260,2389,864.8,15.7,585,11443,0.00,2.30,0.00,0.000,1030,0.000,0.057,2931,2489,2324,2260,2388,0,0,0,0,0,0,14.73,14.63,14.76
$GC,12069,0.62,194.6,2932,2489,2260,2388,773.6,14.4,596,12074,0.00,2.40,0.00,0.000,516,0.000,0.083,2942,1063,2324,2260,2388,0,0,0,0,0,0,15.02,14.55,15.06
$GC,12102,0.62,194.6,2942,1063,2261,2385,768.5,14.4,603,12107,0.00,2.38,0.00,0.000,1030,0.000,0.069,2942,2481,2322,2260,2385,0,0,0,0,0,0,14.77,14.64,14.81
$GC,12732,0.62,194.6,2942,2482,2260,2384,674.2,15.1,625,12738,0.00,2.40,0.00,0.000,260,0.000,0.099,2942,3876,2322,2260,2384,0,0,0,0,0,0,15.07,14.53,15.10
$GC,12771,0.62,194.6,2942,3876,2263,2380,667.4,17.6,633,12778,0.17,2.30,0.00,0.000,5126,0.295,0.057,2916,2472,2321,2263,2380,0,0,0,0,0,0,14.36,14.71,14.70
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$STATE,18588,end climb,SURFACE_DEPTH_REACHED
$STATE,18588,begin surface coast
$STATE,18618,end surface coast,CONTROL_FINISHED_OK
$STATE,18619,begin surface
$SM_CCo,18702,0.00,0.000,0,0,679,600.25
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$IRIDIUM_FIX,727.70,8501.53,290915,172720
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.14
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,13.20,61.350
$10V_AH,12.95,0.000
$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,22.400,156.525,576.350,0.000,0.000,0.000,0.000,337.775,0.250,0.000,35.491,643.206,14905.772,578.314,2512.726,542.468,0.000,1942.705,0.000,1424.405,0.000,0.543,0.000
$DEVICE_MAMPS,415.395,100.980,2002.005,0.000,0.000,0.000,0.000,227.205,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1386.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260380
$DATA_FILE_SIZE,43401,997
$CAP_FILE_SIZE,84384,0
$CFSIZE,260034560,235569152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,109.389,14.30,1
$GPS,290915,224904,731.034,8459.824,301,99.0,301,-2.0,0.6,332.0,8,10.0