version: 66.12
glider: 141
mission: 23
dive: 4
start: 8 8 115 5 4 6
data:
$ID,141
$MISSION,23
$DIVE,4
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,360
$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,120
$T_MISSION,150
$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,220
$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,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,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$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,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,11
$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,0.001
$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
$GPS1,080815,045904,804.2932,8532.8193,10,1.0,44,-1.9,1.1,45.8,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.6
$GPS2,080815,050336,804.4103,8532.9180,14,1.3,14,-1.9,1.1,55.7,6,10.0
$SPEED_LIMITS,0.173,0.307
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,225.8,420918,-14.1,-10.000,-18.03,3252
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.72,-214.1,35,2605,352,384,0.0,0.0,0,148,0.00,0.00,-119.32,0.000,16386,0.000,0.000,27,2605,3762,3847,3678,0,0,0,0,0,0,15.14,28.83,15.17
$GC,154,-0.72,-214.1,27,2605,3846,3679,5.3,-8.7,12,178,11.77,2.47,-2.47,0.000,18692,0.422,0.150,2502,4019,3960,4030,3890,0,0,0,0,0,0,14.64,14.20,14.95
$GC,236,-0.28,-214.1,2502,4019,4029,3890,44.9,-33.5,26,243,0.60,2.42,0.00,0.000,3078,0.276,0.105,2656,2591,3959,4029,3890,0,0,0,0,0,0,14.76,14.88,14.97
$GC,554,-0.45,-214.1,2656,2590,4028,3891,78.9,-7.3,43,561,0.15,2.42,0.00,0.000,4612,0.127,0.126,2583,1182,3958,4027,3890,0,0,0,0,0,0,15.02,14.90,15.05
$GC,587,-0.52,-214.1,2582,1182,4027,3890,82.6,-12.4,48,592,0.00,2.50,0.00,0.000,1030,0.000,0.135,2582,2605,3958,4027,3890,0,0,0,0,0,0,15.06,14.91,15.09
$GC,908,-0.48,-214.1,2580,2605,4027,3890,125.6,-11.6,66,914,0.00,2.58,0.00,0.000,260,0.000,0.165,2572,4018,3960,4027,3894,0,0,0,0,0,0,15.26,14.90,15.28
$GC,1008,-0.58,-214.1,2571,4017,4027,3890,134.6,-7.9,84,1015,0.00,2.40,0.00,0.000,1030,0.000,0.099,2572,2585,3958,4027,3890,0,0,0,0,0,0,15.07,15.00,15.10
$GC,1326,-0.67,-214.1,2571,2585,4027,3891,163.6,-9.3,101,1328,0.12,0.00,0.00,0.000,4102,0.145,0.000,2517,2586,3959,4027,3891,0,0,0,0,0,0,15.05,15.14,15.13
$GC,1626,-0.64,-214.1,2516,2585,4027,3891,200.8,-13.4,116,1631,0.00,2.38,0.00,0.000,516,0.000,0.120,2517,1186,3959,4027,3891,0,0,0,0,0,0,15.26,14.96,15.29
$GC,1706,-0.64,-214.1,2516,1186,4027,3891,211.7,-11.9,131,1714,0.12,2.45,0.00,0.000,3078,0.262,0.124,2541,2602,3958,4026,3891,0,0,0,0,0,0,14.90,14.95,15.07
$GC,2013,-0.70,-214.1,2541,2602,4022,3891,237.5,-7.3,147,2019,0.00,2.50,0.00,0.000,260,0.000,0.146,2533,4018,3956,4021,3891,0,0,0,0,0,0,15.26,14.93,15.30
$GC,2123,-0.82,-214.1,2533,4018,4020,3891,245.3,-6.9,167,2131,0.15,2.35,0.00,0.000,5126,0.129,0.087,2477,2590,3955,4019,3891,0,0,0,0,0,0,15.03,14.98,15.11
$GC,2445,-0.71,-214.1,2477,2590,4014,3891,279.9,-11.0,181,2451,0.15,2.35,0.00,0.000,2564,0.265,0.106,2517,1185,3951,4012,3891,0,0,0,0,0,0,14.86,14.96,14.97
$GC,2531,-0.77,-214.1,2517,1185,4013,3897,287.8,-8.4,196,2537,0.00,2.42,0.00,0.000,1030,0.000,0.112,2518,2612,3952,4013,3891,0,0,0,0,0,0,15.08,14.95,15.11
$GC,2856,-0.77,-214.1,2517,2612,4006,3891,318.7,-9.7,209,2861,0.00,2.42,0.00,0.000,260,0.000,0.132,2509,4012,3948,4005,3891,0,0,0,0,0,0,15.24,14.92,15.28
$GC,2931,-0.82,-214.1,2508,4012,4005,3888,326.5,-9.9,223,2938,0.00,2.30,0.00,0.000,1030,0.000,0.073,2509,2597,3948,4005,3891,0,0,0,0,0,0,15.09,14.98,15.11
$GC,3262,-0.82,-214.1,2508,2597,3999,3890,355.8,-8.7,237,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2597,3944,3999,3890,0,0,0,0,0,0,15.23,15.28,15.27
$STATE,3314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3314,begin apogee
$GC,3324,-0.18,0.0,2509,2488,3998,3890,360.9,-8.5,239,3473,0.60,0.00,146.15,1.225,10246,0.200,0.000,2686,2488,3087,3058,3116,0,0,0,0,0,0,14.88,14.48,13.93
$STATE,3476,end apogee,CONTROL_FINISHED_OK
$STATE,3476,begin climb
$GC,3480,0.72,214.1,2686,2488,3057,3113,365.2,0.0,244,3641,0.85,2.65,152.27,1.301,11012,0.103,0.136,2980,3918,2210,2170,2251,0,0,0,0,0,0,14.50,14.33,13.79
$GC,3674,0.37,214.1,2980,3917,2173,2246,343.2,20.9,264,3680,0.47,2.42,0.00,0.000,5126,0.291,0.093,2874,2511,2209,2173,2246,0,0,0,0,0,0,14.43,14.53,14.61
$GC,3995,0.42,265.4,2873,2512,2166,2245,311.1,8.4,276,4037,0.00,2.55,37.00,1.338,8708,0.000,0.116,2874,1089,2000,1937,2064,0,0,0,0,0,0,15.05,14.59,14.05
$GC,4085,0.59,356.3,2880,1089,1936,2061,304.4,7.1,293,4158,0.20,2.42,65.03,1.385,11270,0.106,0.103,2955,2499,1632,1534,1730,0,0,0,0,0,0,14.76,14.70,13.85
$GC,4475,0.41,356.3,2955,2499,1533,1720,244.3,16.6,322,4481,0.25,2.42,0.00,0.000,4612,0.259,0.109,2895,1086,1626,1533,1720,0,0,0,0,0,0,14.72,14.79,14.84
$GC,4505,0.41,356.3,2894,1086,1534,1719,240.3,12.3,327,4512,0.00,2.40,0.00,0.000,1030,0.000,0.095,2895,2508,1626,1534,1718,0,0,0,0,0,0,14.92,14.82,14.95
$GC,4828,0.45,356.3,2894,2508,1533,1718,207.4,10.2,345,4833,0.00,2.42,0.00,0.000,260,0.000,0.116,2895,3919,1625,1533,1717,0,0,0,0,0,0,15.14,14.86,15.17
$GC,4869,0.45,356.3,2894,3919,1538,1710,202.5,11.9,352,4875,0.00,2.33,0.00,0.000,1030,0.000,0.074,2895,2497,1624,1538,1710,0,0,0,0,0,0,15.01,14.92,15.04
$GC,5175,0.52,356.3,2895,2497,1536,1710,166.0,11.9,368,5180,0.00,2.38,0.00,0.000,516,0.000,0.103,2897,1085,1623,1536,1710,0,0,0,0,0,0,15.16,14.90,15.20
$GC,5250,0.62,356.3,2896,1084,1537,1707,157.6,11.0,382,5257,0.17,2.40,0.00,0.000,3078,0.109,0.098,2972,2505,1622,1537,1708,0,0,0,0,0,0,15.00,14.92,15.06
$GC,5567,0.53,356.3,2972,2505,1536,1708,114.9,13.4,399,5574,0.17,2.40,0.00,0.000,4356,0.255,0.115,2925,3912,1622,1537,1707,0,0,0,0,0,0,14.83,14.90,14.96
$GC,5679,0.68,462.0,2931,3912,1540,1704,105.4,6.7,419,5758,0.15,2.33,71.25,1.168,11270,0.130,0.074,2985,2491,1199,1077,1322,0,0,0,0,0,0,14.99,14.95,14.13
$GC,6055,0.73,506.8,2985,2491,1077,1317,66.9,8.6,450,6095,0.00,2.47,31.10,1.035,8708,0.000,0.110,2985,1084,1015,886,1144,0,0,0,0,0,0,15.07,14.66,14.24
$GC,6173,1.01,604.0,2985,1085,887,1142,58.6,6.9,472,6246,0.28,2.40,65.20,0.967,11270,0.094,0.095,3095,2501,621,483,759,0,0,0,0,0,0,14.82,14.76,14.13
$STATE,6423,end climb,SURFACE_DEPTH_REACHED
$STATE,6423,begin surface coast
$FINISH,1.8,1.021976
$STATE,6437,end surface coast,CONTROL_FINISHED_OK
$STATE,6437,begin surface
$SM_CCo,6521,0.00,0.000,0,0,619,605.16
$SM_GC,2.31,8.62,0.20,0.00,0.075,0.160,0.000,43,2611,619,-8.41,-0.28,605.16,0,0,0,0,0,0,14.80,14.78,14.88
$IRIDIUM_FIX,758.17,8534.07,080815,045435
$TT8_MAMPS,0.023219,0.023219
$HUMID,51.02
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,2
$SC_FREEKB,4018816
$24V_AH,13.79,6.340
$10V_AH,13.29,0.000
$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,24.850,68.350,568.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,16.900,1013.099,3886.599,660.482,790.660,252.175,0.000,1145.438,0.000,772.265,0.000,0.546,0.000
$DEVICE_MAMPS,421.515,165.240,1384.650,0.000,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.644,0.000,0.000,0.000
$MEM,261476
$DATA_FILE_SIZE,16821,506
$CAP_FILE_SIZE,90587,0
$CFSIZE,260034560,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.317,35.61,1
$GPS,080815,065407,804.830,8533.027,29,2.0,36,-1.9,1.2,34.6,6,9.7