version: 66.12
glider: 141
mission: 23
dive: 13
start: 8 9 115 13 42 55
data:
$ID,141
$MISSION,23
$DIVE,13
$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,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,180
$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,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,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,22
$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,3087
$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,-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
$GPS1,090815,133309,808.1967,8529.1328,173,1.5,213,-1.9,1.4,87.3,6,12.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-68.3
$GPS2,090815,134227,808.3351,8529.4277,14,3.9,54,-1.9,0.7,33.8,4,36.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,257.1,414725,-15.8,-10.000,-19.55,2669
$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,-0.65,-175.2,20,2638,380,446,0.0,0.0,0,148,0.00,0.00,-117.62,0.000,16390,0.000,0.000,18,2638,3802,3882,3722,0,0,0,0,0,0,14.88,13.88,14.91
$GC,153,-0.65,-175.2,18,2639,3883,3718,7.5,-10.4,12,170,11.82,2.33,0.00,0.000,2564,0.422,0.063,2496,1233,3796,3881,3712,0,0,0,0,0,0,14.50,14.71,14.76
$GC,204,-0.65,-175.2,2495,1233,3880,3714,34.5,-34.9,21,211,0.00,2.38,0.00,0.000,1030,0.000,0.099,2487,2623,3797,3879,3715,0,0,0,0,0,0,14.79,14.67,14.81
$GC,521,-0.65,-175.2,2487,2623,3878,3714,116.4,-23.0,40,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2622,3796,3878,3714,0,0,0,0,0,0,15.02,15.07,15.06
$GC,824,-0.65,-175.2,2487,2623,3877,3715,172.8,-16.7,55,830,0.00,2.28,0.00,0.000,516,0.000,0.078,2488,1228,3796,3877,3715,0,0,0,0,0,0,15.08,14.86,15.11
$GC,895,-0.65,-175.2,2487,1228,3878,3715,182.7,-12.4,68,901,0.00,2.42,0.00,0.000,1030,0.000,0.103,2478,2654,3797,3878,3716,0,0,0,0,0,0,14.96,14.85,14.98
$GC,1216,-0.65,-175.2,2478,2654,3877,3716,220.3,-10.6,86,1221,0.00,2.38,0.00,0.000,260,0.000,0.112,2467,4046,3796,3877,3716,0,0,0,0,0,0,15.11,14.87,15.15
$GC,1241,-0.65,-175.2,2467,4046,3875,3716,223.3,-11.8,90,1248,0.15,2.25,0.00,0.000,3078,0.258,0.051,2502,2639,3796,3876,3716,0,0,0,0,0,0,14.83,14.93,14.98
$GC,1568,-0.65,-175.2,2502,2639,3872,3713,250.5,-9.5,109,1574,0.00,2.25,0.00,0.000,516,0.000,0.073,2503,1235,3794,3871,3717,0,0,0,0,0,0,15.14,14.93,15.17
$GC,1653,-0.65,-175.2,2502,1240,3870,3716,259.7,-10.9,125,1659,0.00,2.33,0.00,0.000,1030,0.000,0.071,2499,2661,3793,3869,3717,0,0,0,0,0,0,15.02,14.94,15.02
$GC,1969,-0.65,-175.2,2499,2661,3864,3716,294.2,-10.4,137,1974,0.00,2.30,0.00,0.000,260,0.000,0.097,2488,4045,3790,3863,3717,0,0,0,0,0,0,15.16,14.92,15.19
$GC,2051,-0.65,-175.2,2488,4045,3863,3717,302.7,-10.3,152,2056,0.00,2.20,0.00,0.000,1030,0.000,0.045,2488,2641,3790,3863,3717,0,0,0,0,0,0,15.04,14.97,15.06
$GC,2375,-0.65,-175.2,2488,2641,3856,3717,337.3,-10.9,165,2380,0.00,2.35,0.00,0.000,260,0.000,0.095,2480,4048,3786,3855,3717,0,0,0,0,0,0,15.16,14.94,15.19
$GC,2400,-0.65,-175.2,2481,4049,3856,3717,340.6,-11.1,169,2405,0.00,2.20,0.00,0.000,1030,0.000,0.044,2481,2640,3786,3856,3717,0,0,0,0,0,0,15.05,14.99,15.07
$GC,2715,-0.65,-175.2,2481,2640,3849,3715,377.2,-11.4,181,2721,0.00,2.22,0.00,0.000,516,0.000,0.068,2481,1242,3782,3848,3717,0,0,0,0,0,0,15.16,14.97,15.20
$GC,2745,-0.65,-175.2,2479,1242,3848,3717,380.8,-11.8,186,2753,0.12,2.28,0.00,0.000,3078,0.265,0.067,2501,2659,3782,3848,3717,0,0,0,0,0,0,14.89,14.97,15.04
$GC,3056,-0.65,-175.2,2501,2659,3843,3717,408.4,-8.4,197,3061,0.00,2.30,0.00,0.000,260,0.000,0.096,2496,4043,3779,3841,3717,0,0,0,0,0,0,15.16,14.95,15.20
$GC,3098,-0.65,-175.2,2492,4044,3841,3717,412.2,-8.3,204,3104,0.00,2.17,0.00,0.000,1030,0.000,0.044,2492,2647,3779,3841,3717,0,0,0,0,0,0,15.07,15.00,15.08
$GC,3433,-0.65,-175.2,2492,2647,3837,3716,442.9,-9.5,219,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2647,3776,3836,3716,0,0,0,0,0,0,15.17,15.21,15.21
$GC,3729,-0.65,-175.2,2492,2647,3831,3717,473.4,-10.3,229,3735,0.00,2.33,0.00,0.000,260,0.000,0.095,2483,4043,3773,3830,3717,0,0,0,0,0,0,15.18,14.95,15.21
$GC,3784,-0.65,-175.2,2482,4043,3830,3717,479.7,-11.3,239,3790,0.00,2.17,0.00,0.000,1030,0.000,0.044,2483,2650,3773,3830,3717,0,0,0,0,0,0,15.07,15.00,15.08
$GC,4100,-0.65,-175.2,2482,2649,3826,3717,513.5,-10.9,251,4106,0.00,2.25,0.00,0.000,516,0.000,0.070,2483,1240,3771,3826,3717,0,0,0,0,0,0,15.17,14.97,15.21
$GC,4127,-0.65,-175.2,2482,1239,3826,3717,516.6,-11.4,255,4134,0.00,2.28,0.00,0.000,1030,0.000,0.067,2477,2655,3771,3825,3717,0,0,0,0,0,0,15.06,14.97,15.07
$GC,4444,-0.65,-175.2,2477,2655,3821,3717,552.4,-11.3,267,4451,0.00,2.30,0.00,0.000,260,0.000,0.098,2467,4039,3768,3821,3716,0,0,0,0,0,0,15.17,14.95,15.21
$GC,4515,-0.65,-175.2,2467,4039,3821,3715,561.1,-12.7,280,4521,0.15,2.17,0.00,0.000,3078,0.247,0.046,2503,2649,3768,3821,3715,0,0,0,0,0,0,14.89,15.00,15.04
$GC,4850,-0.65,-175.2,2503,2649,3819,3715,593.3,-9.6,295,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2649,3766,3817,3715,0,0,0,0,0,0,15.18,15.21,15.21
$GC,5147,-0.65,-175.2,2503,2649,3815,3714,623.1,-10.0,305,5152,0.00,2.35,0.00,0.000,260,0.000,0.099,2499,4047,3764,3814,3714,0,0,0,0,0,0,15.17,14.95,15.21
$GC,5183,-0.65,-175.2,2498,4047,3814,3714,626.8,-10.5,311,5189,0.00,2.20,0.00,0.000,1030,0.000,0.047,2499,2645,3763,3814,3713,0,0,0,0,0,0,15.07,15.00,15.08
$GC,5523,-0.65,-175.2,2499,2645,3811,3712,659.2,-9.3,327,5529,0.00,2.25,0.00,0.000,516,0.000,0.073,2499,1241,3762,3811,3713,0,0,0,0,0,0,15.17,14.97,15.21
$GC,5569,-0.65,-175.2,2499,1237,3811,3712,664.0,-9.9,335,5576,0.00,2.28,0.00,0.000,1030,0.000,0.071,2498,2651,3761,3810,3712,0,0,0,0,0,0,15.06,14.97,15.08
$GC,5899,-0.65,-175.2,2497,2651,3808,3711,690.6,-7.6,349,5905,0.00,2.33,0.00,0.000,260,0.000,0.100,2487,4039,3759,3808,3711,0,0,0,0,0,0,15.17,14.94,15.21
$GC,5944,-0.65,-175.2,2487,4039,3809,3711,694.4,-8.1,357,5950,0.00,2.20,0.00,0.000,1030,0.000,0.049,2487,2642,3759,3808,3710,0,0,0,0,0,0,15.06,14.99,15.08
$GC,6274,-0.65,-175.2,2484,2642,3806,3709,719.3,-7.7,371,6280,0.00,2.25,0.00,0.000,516,0.000,0.076,2487,1245,3758,3806,3710,0,0,0,0,0,0,15.16,14.95,15.20
$GC,6310,-0.65,-175.2,2487,1245,3806,3709,722.4,-7.4,377,6316,0.00,2.28,0.00,0.000,1030,0.000,0.073,2485,2648,3757,3805,3710,0,0,0,0,0,0,15.04,14.95,15.07
$GC,6649,-0.65,-175.2,2485,2647,3803,3708,749.5,-8.2,393,6655,0.00,2.35,0.00,0.000,260,0.000,0.103,2474,4046,3755,3803,3708,0,0,0,0,0,0,15.16,14.93,15.19
$GC,6705,-0.65,-175.2,2474,4046,3803,3707,754.7,-9.5,403,6712,0.12,2.20,0.00,0.000,3078,0.249,0.050,2503,2650,3755,3803,3707,0,0,0,0,0,0,14.87,14.97,15.02
$GC,7026,-0.65,-175.2,2503,2651,3802,3706,778.2,-7.4,415,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2651,3754,3802,3706,0,0,0,0,0,0,15.15,15.19,15.19
$GC,7322,-0.65,-175.2,2499,2651,3801,3706,800.2,-7.2,425,7328,0.00,2.28,0.00,0.000,516,0.000,0.078,2504,1246,3753,3800,3706,0,0,0,0,0,0,15.16,14.95,15.19
$GC,7348,-0.65,-175.2,2503,1246,3801,3706,802.3,-7.9,429,7353,0.00,2.30,0.00,0.000,1030,0.000,0.076,2503,2659,3753,3801,3706,0,0,0,0,0,0,15.04,14.95,15.06
$GC,7667,-0.65,-175.2,2503,2659,3799,3704,826.1,-7.7,441,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2659,3752,3799,3705,0,0,0,0,0,0,15.16,15.21,15.19
$GC,7964,-0.65,-175.2,2504,2659,3797,3704,849.8,-7.9,451,7965,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2659,3750,3797,3704,0,0,0,0,0,0,15.16,15.21,15.19
$GC,8264,-0.65,-175.2,2503,2659,3796,3703,873.8,-7.9,461,8269,0.00,2.35,0.00,0.000,260,0.000,0.109,2495,4045,3749,3796,3703,0,0,0,0,0,0,15.16,14.92,15.19
$GC,8305,-0.65,-175.2,2495,4045,3795,3703,877.2,-8.9,468,8310,0.00,2.22,0.00,0.000,1030,0.000,0.054,2495,2646,3749,3795,3703,0,0,0,0,0,0,15.04,14.96,15.06
$GC,8639,-0.65,-175.2,2495,2645,3795,3703,903.9,-8.1,483,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2646,3749,3795,3703,0,0,0,0,0,0,15.15,15.19,15.19
$GC,8936,-0.65,-175.2,2494,2646,3793,3703,928.0,-7.9,493,8942,0.00,2.28,0.00,0.000,516,0.000,0.081,2495,1245,3748,3794,3703,0,0,0,0,0,0,15.15,14.92,15.19
$GC,8962,-0.65,-175.2,2495,1245,3793,3702,930.2,-8.5,497,8967,0.00,2.30,0.00,0.000,1030,0.000,0.080,2492,2649,3748,3793,3703,0,0,0,0,0,0,15.03,14.93,15.04
$GC,9281,-0.65,-175.2,2492,2649,3792,3702,956.1,-8.3,509,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2650,3747,3792,3702,0,0,0,0,0,0,15.14,15.19,15.17
$GC,9578,-0.65,-175.2,2492,2649,3791,3702,982.8,-9.2,519,9584,0.00,2.38,0.00,0.000,260,0.000,0.110,2483,4045,3747,3791,3704,0,0,0,0,0,0,15.14,14.90,15.19
$GC,9623,-0.65,-175.2,2483,4046,3791,3700,987.5,-10.3,527,9630,0.00,2.22,0.00,0.000,1030,0.000,0.057,2483,2653,3745,3791,3700,0,0,0,0,0,0,15.02,14.95,15.04
$STATE,9677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9677,begin apogee
$GC,9687,-0.20,0.0,2483,2456,3791,3700,992.9,-9.8,532,9822,0.57,0.00,132.02,2.089,10246,0.204,0.000,2651,2456,3086,3045,3127,0,0,0,0,0,0,14.84,14.09,13.37
$STATE,9825,end apogee,CONTROL_FINISHED_OK
$STATE,9825,begin climb
$GC,9829,0.65,175.2,2651,2455,3044,3123,998.4,0.0,536,9985,0.85,2.50,144.05,2.079,10756,0.130,0.096,2929,1089,2369,2314,2424,0,0,0,0,0,0,14.12,13.97,13.26
$GC,10043,0.65,175.2,2929,1088,2316,2420,982.1,11.8,578,10049,0.00,2.42,0.00,0.000,1030,0.000,0.095,2929,2464,2367,2316,2419,0,0,0,0,0,0,14.38,14.27,14.40
$GC,10383,0.65,175.2,2929,2464,2321,2412,935.3,14.2,594,10388,0.00,2.53,0.00,0.000,260,0.000,0.125,2929,3889,2366,2321,2412,0,0,0,0,0,0,14.83,14.58,14.85
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$STATE,17648,end climb,SURFACE_DEPTH_REACHED
$STATE,17648,begin surface coast
$FINISH,2.1,1.021869
$STATE,17669,end surface coast,CONTROL_FINISHED_OK
$STATE,17670,begin surface
$SM_CCo,17755,0.00,0.000,0,0,593,611.78
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$IRIDIUM_FIX,802.52,8531.73,090815,075243
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.74
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.40
$XPDR_PINGS,0
$SC_FREEKB,4015936
$24V_AH,13.26,9.352
$10V_AH,13.23,0.000
$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,22.325,163.025,573.100,0.000,0.000,0.000,0.000,290.350,0.000,0.000,56.968,2250.002,12648.117,747.066,1978.820,668.200,0.000,2009.076,0.000,1594.784,0.000,0.545,0.000
$DEVICE_MAMPS,422.280,130.815,2089.215,0.000,0.000,0.000,0.000,244.035,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.369,0.000,0.000,0.000
$MEM,261404
$DATA_FILE_SIZE,39964,1069
$CAP_FILE_SIZE,179199,0
$CFSIZE,260034560,249954304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9945.51,0x234028,1,24
$CURRENT,0.151,57.66,1
$GPS,090815,184114,808.410,8528.317,59,99.0,99,-1.9,1.6,47.3,3,-1.0