version: 66.12
glider: 141
mission: 23
dive: 193
start: 9 30 115 19 4 34
data:
$ID,141
$MISSION,23
$DIVE,193
$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,34
$R_STBD_OVSHOOT,39
$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
$GPS1,300915,185732,736.9222,8459.2207,274,99.0,301,-2.0,0.8,234.7,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.22
$_SM_ANGLEo,-70.7
$GPS2,300915,190404,736.8518,8459.1553,10,1.6,50,-2.0,1.3,214.3,5,10.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HOLDING
$TGT_LATLONG,830.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,1.8,98443,-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,-194.6,12,2674,615,749,0.0,0.0,0,125,0.00,0.00,-96.97,0.000,16386,0.000,0.000,10,2674,3396,3460,3332,0,0,0,0,0,0,14.88,28.83,14.92
$GC,130,-0.62,-194.6,10,2674,3461,3333,5.6,-4.9,10,156,12.02,2.30,-8.00,0.000,19204,0.413,0.070,2507,1240,3923,3992,3855,0,0,0,0,0,0,14.32,13.79,14.69
$GC,350,-0.62,-194.6,2507,1239,3991,3859,71.5,-24.4,54,354,0.00,2.28,0.00,0.000,1030,0.000,0.057,2499,2641,3925,3991,3860,0,0,0,0,0,0,14.78,14.68,14.81
$GC,669,-0.62,-194.6,2499,2641,3992,3861,132.8,-14.9,72,674,0.00,2.30,0.00,0.000,260,0.000,0.083,2489,4032,3926,3991,3861,0,0,0,0,0,0,15.06,14.67,15.09
$GC,809,-0.62,-194.6,2488,4032,3991,3862,154.6,-14.5,100,814,0.00,2.12,0.00,0.000,1030,0.000,0.033,2489,2642,3926,3991,3862,0,0,0,0,0,0,14.82,14.78,14.85
$GC,1130,-0.62,-194.6,2488,2641,3992,3863,197.9,-12.6,119,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2641,3927,3991,3863,0,0,0,0,0,0,15.10,15.14,15.14
$GC,1430,-0.62,-194.6,2488,2641,3991,3863,234.0,-12.2,134,1434,0.00,2.35,0.00,0.000,260,0.000,0.084,2479,4040,3927,3991,3863,0,0,0,0,0,0,15.12,14.74,15.15
$GC,1468,-0.62,-194.6,2478,4040,3991,3863,239.0,-13.2,141,1474,0.10,2.20,0.00,0.000,3078,0.216,0.034,2509,2645,3927,3991,3863,0,0,0,0,0,0,14.52,14.78,14.67
$GC,1815,-0.62,-194.6,2508,2645,3987,3863,275.2,-10.3,151,1820,0.00,2.17,0.00,0.000,516,0.000,0.054,2509,1262,3924,3986,3863,0,0,0,0,0,0,15.14,14.77,15.17
$GC,1854,-0.62,-194.6,2508,1262,3986,3863,279.5,-10.7,159,1860,0.00,2.25,0.00,0.000,1030,0.000,0.057,2506,2659,3924,3985,3863,0,0,0,0,0,0,14.91,14.80,14.94
$GC,2176,-0.62,-194.6,2506,2659,3979,3863,311.0,-9.7,168,2181,0.00,2.28,0.00,0.000,260,0.000,0.086,2495,4030,3921,3979,3863,0,0,0,0,0,0,15.15,14.71,15.18
$GC,2225,-0.62,-194.6,2495,4030,3979,3863,316.2,-10.5,178,2229,0.00,2.15,0.00,0.000,1030,0.000,0.034,2494,2643,3921,3979,3863,0,0,0,0,0,0,14.94,14.87,14.97
$GC,2539,-0.62,-194.6,2495,2642,3973,3863,347.7,-10.0,185,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2642,3918,3973,3863,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2840,-0.62,-194.6,2495,2642,3967,3862,377.5,-9.9,190,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2643,3914,3967,3862,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3140,-0.62,-194.6,2495,2642,3964,3860,406.9,-9.8,195,3146,0.00,2.20,0.00,0.000,516,0.000,0.057,2495,1258,3911,3963,3860,0,0,0,0,0,0,15.16,14.75,15.19
$GC,3169,-0.62,-194.6,2496,1258,3963,3860,410.0,-10.0,201,3176,0.00,2.28,0.00,0.000,1030,0.000,0.060,2492,2661,3911,3962,3860,0,0,0,0,0,0,14.91,14.80,14.94
$GC,3501,-0.62,-194.6,2492,2661,3960,3858,443.5,-10.2,212,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2661,3909,3960,3858,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3801,-0.62,-194.6,2492,2661,3958,3855,474.8,-10.4,217,3807,0.00,2.30,0.00,0.000,260,0.000,0.090,2482,4035,3906,3957,3855,0,0,0,0,0,0,15.16,14.67,15.20
$GC,3825,-0.62,-194.6,2482,4035,3957,3854,477.6,-11.0,222,3830,0.12,2.15,0.00,0.000,3078,0.242,0.037,2510,2652,3905,3957,3854,0,0,0,0,0,0,14.59,14.86,14.82
$GC,4167,-0.62,-194.6,2510,2651,3952,3853,509.6,-9.4,234,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2651,3902,3952,3853,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4466,-0.62,-194.6,2510,2651,3949,3851,537.6,-9.2,239,4472,0.00,2.22,0.00,0.000,516,0.000,0.060,2511,1265,3900,3949,3851,0,0,0,0,0,0,15.16,14.72,15.19
$GC,4511,-0.62,-194.6,2510,1265,3949,3851,542.0,-9.2,248,4516,0.00,2.28,0.00,0.000,1030,0.000,0.061,2507,2659,3900,3949,3851,0,0,0,0,0,0,14.89,14.77,14.92
$GC,4827,-0.62,-194.6,2507,2659,3947,3848,571.1,-9.3,256,4832,0.00,2.33,0.00,0.000,260,0.000,0.093,2497,4033,3898,3947,3849,0,0,0,0,0,0,15.16,14.64,15.19
$GC,4861,-0.62,-194.6,2497,4033,3947,3848,574.6,-10.2,263,4867,0.00,2.17,0.00,0.000,1030,0.000,0.037,2497,2648,3897,3947,3847,0,0,0,0,0,0,14.92,14.84,14.94
$GC,5188,-0.62,-194.6,2496,2648,3944,3847,606.5,-9.8,273,5194,0.00,2.38,0.00,0.000,260,0.000,0.092,2487,4039,3895,3944,3847,0,0,0,0,0,0,15.16,14.64,15.19
$GC,5212,-0.62,-194.6,2487,4039,3944,3846,609.2,-10.8,278,5217,0.00,2.20,0.00,0.000,1030,0.000,0.040,2487,2645,3895,3944,3847,0,0,0,0,0,0,14.91,14.83,14.94
$GC,5552,-0.62,-194.6,2487,2645,3942,3845,645.0,-10.6,290,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3894,3942,3846,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5853,-0.62,-194.6,2487,2645,3940,3844,676.3,-10.4,295,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3892,3940,3844,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6212,-0.62,-194.6,2487,2645,3938,3843,711.8,-9.8,300,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3890,3938,3843,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6812,-0.62,-194.6,2487,2645,3935,3841,765.9,-9.0,305,6818,0.00,2.40,0.00,0.000,260,0.000,0.096,2479,4036,3887,3934,3841,0,0,0,0,0,0,15.16,14.58,15.19
$GC,6857,-0.62,-194.6,2478,4036,3934,3840,770.2,-9.3,314,6862,0.15,2.20,0.00,0.000,3078,0.230,0.043,2515,2653,3887,3934,3840,0,0,0,0,0,0,14.52,14.80,14.76
$GC,7538,-0.62,-194.6,2514,2653,3931,3839,817.7,-6.9,334,7542,0.00,2.33,0.00,0.000,516,0.000,0.067,2515,1242,3884,3930,3839,0,0,0,0,0,0,15.15,14.68,15.19
$GC,7581,-0.62,-194.6,2515,1242,3930,3839,821.1,-7.4,342,7585,0.00,2.35,0.00,0.000,1030,0.000,0.068,2515,2655,3884,3930,3838,0,0,0,0,0,0,14.83,14.70,14.88
$GC,8266,-0.62,-194.6,2514,2655,3928,3836,869.1,-7.0,363,8271,0.00,2.40,0.00,0.000,260,0.000,0.103,2507,4040,3881,3927,3836,0,0,0,0,0,0,15.15,14.53,15.18
$GC,8320,-0.62,-194.6,2506,4040,3927,3835,873.2,-7.5,374,8325,0.00,2.22,0.00,0.000,1030,0.000,0.045,2507,2652,3881,3927,3835,0,0,0,0,0,0,14.85,14.76,14.88
$GC,8990,-0.62,-194.6,2506,2652,3924,3834,914.8,-6.1,392,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2652,3879,3924,3834,0,0,0,0,0,0,15.14,15.19,15.17
$GC,9590,-0.62,-194.6,2506,2653,3924,3832,952.8,-6.4,397,9596,0.00,2.33,0.00,0.000,516,0.000,0.073,2507,1248,3877,3923,3832,0,0,0,0,0,0,15.14,14.56,15.17
$GC,9635,-0.62,-194.6,2507,1247,3923,3832,956.2,-7.4,406,9639,0.00,2.35,0.00,0.000,1030,0.000,0.073,2502,2647,3877,3923,3832,0,0,0,0,0,0,14.80,14.66,14.84
$STATE,10190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10191,begin apogee
$GC,10201,-0.20,0.0,2502,2469,3920,3831,999.2,-7.8,425,10352,0.52,0.00,148.02,2.003,10246,0.194,0.000,2651,2469,3125,3056,3195,0,0,0,0,0,0,14.50,14.12,13.33
$STATE,10354,end apogee,CONTROL_FINISHED_OK
$STATE,10354,begin climb
$GC,10358,0.62,194.6,2651,2469,3054,3191,1004.1,0.0,426,10522,0.80,2.50,154.38,1.971,10756,0.125,0.083,2918,1081,2330,2241,2419,0,0,0,0,0,0,14.12,13.80,13.19
$GC,10590,0.62,194.6,2918,1081,2249,2408,986.2,12.4,481,10596,0.00,2.45,0.00,0.000,1030,0.000,0.072,2918,2471,2328,2248,2408,0,0,0,0,0,0,14.25,14.14,14.28
$GC,11278,0.62,194.6,2918,2471,2254,2396,894.1,13.5,503,11282,0.00,2.47,0.00,0.000,260,0.000,0.104,2918,3882,2325,2254,2396,0,0,0,0,0,0,14.92,14.50,14.94
$GC,11346,0.62,194.6,2918,3882,2262,2388,883.3,16.2,516,11352,0.00,2.33,0.00,0.000,1030,0.000,0.061,2929,2487,2325,2262,2388,0,0,0,0,0,0,14.71,14.62,14.76
$GC,12003,0.62,194.6,2928,2486,2261,2387,786.5,14.7,532,12008,0.00,2.40,0.00,0.000,516,0.000,0.087,2938,1070,2324,2262,2387,0,0,0,0,0,0,15.03,14.54,15.06
$GC,12031,0.62,194.6,2938,1070,2263,2385,781.9,14.4,538,12038,0.00,2.40,0.00,0.000,1030,0.000,0.073,2938,2485,2324,2263,2385,0,0,0,0,0,0,14.76,14.62,14.81
$GC,12663,0.62,194.6,2938,2484,2262,2384,690.6,14.5,561,12668,0.00,2.42,0.00,0.000,260,0.000,0.103,2938,3881,2323,2262,2384,0,0,0,0,0,0,15.07,14.51,15.10
$GC,12737,0.62,194.6,2938,3881,2267,2379,678.9,15.7,576,12744,0.12,2.33,0.00,0.000,5126,0.279,0.060,2917,2477,2322,2267,2378,0,0,0,0,0,0,14.30,14.65,14.50
$GC,13084,0.62,194.6,2917,2476,2267,2379,635.8,12.2,590,13090,0.00,2.40,0.00,0.000,516,0.000,0.086,2926,1058,2322,2267,2378,0,0,0,0,0,0,15.08,14.55,15.11
$GC,13118,0.62,194.6,2925,1058,2268,2378,631.6,12.0,597,13124,0.00,2.40,0.00,0.000,1030,0.000,0.071,2926,2482,2323,2268,2378,0,0,0,0,0,0,14.78,14.65,14.83
$GC,13445,0.62,194.6,2926,2482,2268,2378,591.3,12.5,607,13450,0.00,2.45,0.00,0.000,260,0.000,0.103,2926,3885,2323,2268,2378,0,0,0,0,0,0,15.09,14.57,15.12
$GC,13483,0.62,194.6,2926,3885,2270,2376,585.9,13.9,614,13490,0.00,2.35,0.00,0.000,1030,0.000,0.061,2933,2466,2323,2270,2376,0,0,0,0,0,0,14.80,14.69,14.85
$GC,13811,0.62,194.6,2933,2466,2270,2376,542.4,13.3,624,13812,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2466,2323,2270,2376,0,0,0,0,0,0,15.10,15.13,15.13
$GC,14110,0.62,194.6,2933,2466,2270,2376,501.5,13.7,629,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2466,2323,2270,2376,0,0,0,0,0,0,15.10,15.14,15.14
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$GC,15778,0.62,194.6,2924,3879,2273,2374,293.3,13.3,686,15785,0.00,2.30,0.00,0.000,1030,0.000,0.056,2933,2475,2323,2273,2374,0,0,0,0,0,0,14.83,14.73,14.88
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$STATE,18646,end climb,SURFACE_DEPTH_REACHED
$STATE,18646,begin surface coast
$STATE,18649,end surface coast,CONTROL_FINISHED_OK
$STATE,18649,begin surface
$SM_CCo,18735,0.00,0.000,0,0,618,615.46
$SM_GC,3.43,8.15,2.62,0.00,0.060,0.051,0.000,44,2653,618,-8.29,-0.96,615.46,0,0,0,0,0,0,14.63,14.63,14.73
$IRIDIUM_FIX,732.05,8501.53,300915,133540
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.69
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,13.19,62.531
$10V_AH,12.96,0.000
$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,22.225,135.450,591.475,0.000,0.000,0.000,0.000,226.200,0.250,0.000,53.207,601.792,15101.639,581.372,2374.780,466.357,0.000,1751.765,0.000,1339.650,0.000,0.543,0.000
$DEVICE_MAMPS,413.100,104.040,2002.770,0.000,0.000,0.000,0.000,229.500,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1347.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260192
$DATA_FILE_SIZE,40040,937
$CAP_FILE_SIZE,77836,0
$CFSIZE,260034560,235401216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,191.38,1
$GPS,011015,001915,738.332,8459.024,62,99.0,102,-2.0,1.2,213.4,3,-1.0