version: 66.12
glider: 141
mission: 23
dive: 3
start: 8 8 115 3 49 5
data:
$ID,141
$MISSION,23
$DIVE,3
$N_DIVES,3
$D_SURF,3
$D_FLARE,5
$D_TGT,180
$D_ABORT,200
$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,60
$T_MISSION,75
$T_ABORT,1440
$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,150
$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,671.87671
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,9
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3087
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,080815,034452,803.3004,8532.4326,7,1.6,29,-1.9,1.4,39.0,7,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-68.2
$GPS2,080815,034836,803.3884,8532.4834,14,1.1,14,-1.9,0.8,354.0,7,8.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,226.0,420088,-17.5,-10.000,-21.06,2227
$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,22,begin dive
$GC,26,-0.68,-146.0,35,2607,355,362,0.0,0.0,0,148,0.00,0.00,-116.07,0.000,16390,0.000,0.000,31,2607,3684,3756,3612,0,0,0,0,0,0,15.12,13.78,15.15
$GC,153,-0.68,-146.0,31,2607,3755,3605,5.8,-10.7,12,171,12.30,2.53,0.00,0.000,2564,0.429,0.129,2572,1186,3676,3753,3599,0,0,0,0,0,0,14.62,14.85,14.92
$GC,181,0.83,-146.0,2571,1186,3751,3599,24.7,-57.4,16,189,1.98,2.55,0.00,0.000,3078,0.317,0.151,3055,2601,3673,3748,3599,0,0,0,0,0,0,14.70,14.82,14.93
$GC,503,0.02,-146.0,3055,2601,3731,3610,52.0,-8.2,47,511,0.82,2.72,-0.12,0.000,20740,0.230,0.220,2816,4010,3686,3731,3641,0,0,0,0,0,0,14.81,14.23,14.96
$GC,566,-0.84,-146.0,2816,4010,3731,3640,57.5,-11.0,58,573,0.98,2.45,0.00,0.000,5126,0.207,0.128,2533,2601,3686,3731,3641,0,0,0,0,0,0,14.88,14.91,15.04
$GC,872,-0.78,-146.0,2533,2600,3731,3641,103.2,-15.3,74,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2600,3687,3733,3641,0,0,0,0,0,0,15.26,15.30,15.29
$GC,1174,-0.78,-146.0,2533,2600,3731,3641,144.8,-11.7,89,1181,0.00,2.62,0.00,0.000,260,0.000,0.177,2523,4016,3686,3731,3641,0,0,0,0,0,0,15.26,14.90,15.29
$GC,1210,-0.78,-146.0,2523,4014,3731,3641,149.2,-11.0,95,1216,0.00,2.40,0.00,0.000,1030,0.000,0.105,2524,2589,3686,3731,3641,0,0,0,0,0,0,15.10,14.97,15.13
$GC,1527,-0.85,-146.0,2523,2589,3731,3641,177.5,-7.2,112,1532,0.00,2.40,0.00,0.000,516,0.000,0.129,2524,1189,3686,3731,3641,0,0,0,0,0,0,15.26,14.95,15.30
$STATE,1563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1563,begin apogee
$GC,1574,-0.14,0.0,2516,2423,3731,3641,180.1,-6.2,119,1676,0.80,0.00,97.35,0.884,10246,0.207,0.000,2751,2423,3084,3067,3101,0,0,0,0,0,0,14.90,14.72,14.28
$STATE,1678,end apogee,CONTROL_FINISHED_OK
$STATE,1679,begin climb
$GC,1683,0.68,146.0,2752,2423,3067,3099,180.7,0.0,124,1795,0.73,2.78,96.40,0.880,10500,0.068,0.181,3033,3830,2486,2465,2507,0,0,0,0,0,0,14.75,14.48,14.14
$GC,1851,0.32,146.0,3033,3830,2465,2505,163.9,17.3,156,1857,0.57,2.53,0.00,0.000,5126,0.312,0.133,2906,2416,2485,2465,2506,0,0,0,0,0,0,14.58,14.67,14.78
$GC,2178,0.49,239.3,2906,2416,2463,2501,141.8,5.7,175,2246,0.17,2.67,61.30,0.881,10500,0.118,0.172,2974,3834,2108,2057,2160,0,0,0,0,0,0,14.95,14.62,14.28
$GC,2353,0.41,239.3,2974,3834,2061,2154,123.8,11.2,203,2359,0.17,2.47,0.00,0.000,5126,0.282,0.122,2937,2417,2107,2061,2153,0,0,0,0,0,0,14.71,14.78,14.90
$GC,2670,0.66,364.5,2936,2417,2057,2153,104.9,4.2,220,2763,0.20,2.70,81.75,0.858,10500,0.106,0.164,3023,3827,1596,1499,1694,0,0,0,0,0,0,14.97,14.58,14.28
$GC,2851,0.58,364.5,3023,3828,1504,1688,83.4,15.7,255,2859,0.20,2.47,0.00,0.000,5126,0.287,0.121,2987,2415,1595,1503,1688,0,0,0,0,0,0,14.69,14.75,14.87
$GC,3158,0.75,403.1,2987,2415,1501,1687,56.1,8.2,271,3192,0.15,2.55,26.17,0.781,10756,0.125,0.152,3062,1007,1439,1334,1545,0,0,0,0,0,0,14.97,14.75,14.45
$GC,3309,0.75,403.1,3061,1007,1335,1540,35.2,14.7,300,3316,0.00,2.53,0.00,0.000,1030,0.000,0.140,3061,2424,1438,1336,1540,0,0,0,0,0,0,14.98,14.83,15.00
$STATE,3512,end climb,SURFACE_DEPTH_REACHED
$STATE,3512,begin surface coast
$FINISH,0.7,1.021990
$STATE,3524,end surface coast,CONTROL_FINISHED_OK
$STATE,3524,begin surface
$SM_CCo,3548,106.53,0.050,0,0,347,671.88
$SM_GC,1.45,8.30,0.32,106.53,0.066,0.166,0.050,50,2601,347,-8.55,-0.51,671.88,0,0,0,0,0,0,14.96,14.91,14.99
$IRIDIUM_FIX,800.34,8536.25,080815,034049
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.11
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.30
$XPDR_PINGS,0
$SC_FREEKB,4019136
$24V_AH,13.78,6.086
$10V_AH,13.41,0.000
$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,27.375,40.925,362.975,106.525,0.000,0.000,0.000,0.000,0.000,0.000,16.974,650.285,1858.297,563.454,512.975,155.984,0.000,882.850,0.000,502.635,0.000,0.548,0.000
$DEVICE_MAMPS,429.165,219.555,884.340,49.725,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3499.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.440,0.000,0.000,0.000
$MEM,261484
$DATA_FILE_SIZE,10151,322
$CAP_FILE_SIZE,62748,0
$CFSIZE,260034560,250830848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.495,22.08,1
$GPS,080815,045151,804.130,8532.658,29,1.9,62,-1.9,1.4,62.8,7,9.0