version: 66.12
glider: 141
mission: 23
dive: 16
start: 8 10 115 4 8 56
data:
$ID,141
$MISSION,23
$DIVE,16
$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,27
$R_STBD_OVSHOOT,14
$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
$GPS1,100815,035845,811.1719,8528.2783,131,3.9,171,-1.9,0.9,90.1,4,32.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-72.3
$GPS2,100815,040827,811.3058,8528.5293,73,1.8,102,-1.9,1.1,27.8,8,7.7
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,251.5,413320,-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,26,-0.65,-175.2,7,2657,1034,1071,0.0,0.0,0,119,0.00,0.00,-90.03,0.000,16386,0.000,0.000,6,2657,3545,3614,3476,0,0,0,0,0,0,14.94,28.83,14.98
$GC,125,-0.65,-175.2,6,2657,3614,3474,5.1,-5.4,9,148,11.70,2.40,-3.75,0.000,18948,0.416,0.099,2495,1242,3806,3874,3739,0,0,0,0,0,0,14.55,13.89,14.81
$GC,177,-0.65,-175.2,2495,1242,3874,3740,30.3,-38.1,18,183,0.00,2.40,0.00,0.000,1030,0.000,0.098,2487,2654,3807,3873,3741,0,0,0,0,0,0,14.84,14.73,14.86
$GC,484,-0.65,-175.2,2487,2653,3873,3741,124.6,-27.5,37,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2653,3807,3873,3741,0,0,0,0,0,0,15.07,15.11,15.10
$GC,787,-0.65,-175.2,2487,2653,3873,3746,179.1,-12.5,52,793,0.00,2.30,0.00,0.000,516,0.000,0.077,2487,1241,3809,3874,3745,0,0,0,0,0,0,15.10,14.90,15.14
$GC,828,-0.65,-175.2,2487,1240,3873,3750,184.3,-11.5,59,834,0.00,2.38,0.00,0.000,1030,0.000,0.097,2477,2656,3809,3873,3746,0,0,0,0,0,0,14.99,14.88,15.01
$GC,1134,-0.65,-175.2,2477,2656,3874,3747,222.8,-13.0,75,1139,0.00,2.35,0.00,0.000,260,0.000,0.106,2466,4048,3810,3873,3747,0,0,0,0,0,0,15.14,14.89,15.17
$GC,1173,-0.65,-175.2,2466,4048,3873,3747,228.5,-14.0,82,1181,0.15,2.20,0.00,0.000,3078,0.262,0.050,2501,2650,3807,3873,3742,0,0,0,0,0,0,14.85,14.96,15.02
$GC,1490,-0.65,-175.2,2501,2650,3872,3747,258.7,-8.8,97,1495,0.00,2.28,0.00,0.000,516,0.000,0.076,2501,1239,3809,3872,3747,0,0,0,0,0,0,15.16,14.95,15.19
$GC,1536,-0.65,-175.2,2501,1239,3872,3747,263.0,-9.3,105,1542,0.00,2.30,0.00,0.000,1030,0.000,0.073,2499,2660,3809,3872,3747,0,0,0,0,0,0,15.04,14.96,15.06
$GC,1865,-0.65,-175.2,2498,2660,3868,3747,296.8,-11.2,119,1870,0.00,2.30,0.00,0.000,260,0.000,0.095,2488,4046,3807,3867,3747,0,0,0,0,0,0,15.16,14.95,15.20
$GC,1885,-0.65,-175.2,2487,4046,3867,3747,299.6,-11.5,122,1890,0.00,2.20,0.00,0.000,1030,0.000,0.044,2488,2636,3807,3867,3747,0,0,0,0,0,0,15.07,15.00,15.08
$GC,2209,-0.65,-175.2,2488,2636,3862,3747,339.0,-12.4,135,2214,0.00,2.25,0.00,0.000,516,0.000,0.070,2488,1237,3804,3861,3747,0,0,0,0,0,0,15.18,14.97,15.21
$GC,2264,-0.65,-175.2,2488,1237,3861,3746,345.7,-10.9,145,2270,0.00,2.30,0.00,0.000,1030,0.000,0.067,2485,2660,3803,3860,3747,0,0,0,0,0,0,15.07,14.98,15.09
$GC,2584,-0.65,-175.2,2485,2665,3854,3747,377.1,-9.4,157,2590,0.00,2.30,0.00,0.000,260,0.000,0.094,2474,4049,3800,3853,3747,0,0,0,0,0,0,15.18,14.97,15.21
$GC,2666,-0.65,-175.2,2473,4049,3853,3747,385.1,-9.4,172,2674,0.08,2.15,0.00,0.000,3078,0.226,0.043,2498,2656,3800,3853,3747,0,0,0,0,0,0,14.89,15.01,15.00
$GC,2995,-0.65,-175.2,2497,2656,3848,3747,412.7,-9.0,185,3000,0.00,2.25,0.00,0.000,516,0.000,0.067,2497,1241,3797,3847,3747,0,0,0,0,0,0,15.18,14.98,15.21
$GC,3034,-0.65,-175.2,2497,1241,3847,3747,417.1,-10.1,192,3041,0.00,2.28,0.00,0.000,1030,0.000,0.067,2498,2658,3796,3846,3747,0,0,0,0,0,0,15.05,14.99,15.09
$GC,3371,-0.65,-175.2,2497,2659,3841,3746,449.1,-9.8,207,3377,0.00,2.30,0.00,0.000,260,0.000,0.095,2487,4046,3793,3841,3745,0,0,0,0,0,0,15.17,14.96,15.21
$GC,3407,-0.65,-175.2,2486,4046,3841,3744,453.3,-10.9,213,3413,0.00,2.20,0.00,0.000,1030,0.000,0.043,2486,2644,3792,3841,3744,0,0,0,0,0,0,15.07,15.00,15.09
$GC,3749,-0.65,-175.2,2486,2643,3837,3743,487.3,-9.7,229,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2644,3790,3838,3743,0,0,0,0,0,0,15.19,15.23,15.23
$GC,4044,-0.65,-175.2,2486,2644,3835,3741,515.2,-9.2,239,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2644,3788,3835,3741,0,0,0,0,0,0,15.19,15.23,15.23
$GC,4345,-0.65,-175.2,2487,2644,3831,3740,543.3,-9.1,249,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2644,3785,3831,3740,0,0,0,0,0,0,15.20,15.24,15.23
$GC,4644,-0.65,-175.2,2486,2643,3829,3739,569.8,-8.9,259,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2644,3783,3829,3738,0,0,0,0,0,0,15.20,15.24,15.23
$GC,4944,-0.65,-175.2,2486,2642,3827,3737,596.5,-8.8,269,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2642,3782,3827,3737,0,0,0,0,0,0,15.19,15.24,15.23
$GC,5244,-0.65,-175.2,2486,2642,3825,3736,622.4,-8.5,279,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2642,3780,3824,3736,0,0,0,0,0,0,15.19,15.24,15.23
$GC,5544,-0.65,-175.2,2486,2642,3822,3734,647.2,-8.2,289,5549,0.00,2.25,0.00,0.000,516,0.000,0.072,2486,1239,3778,3822,3734,0,0,0,0,0,0,15.19,14.98,15.23
$GC,5594,-0.65,-175.2,2486,1239,3822,3734,651.5,-8.8,298,5600,0.00,2.33,0.00,0.000,1030,0.000,0.082,2484,2653,3777,3821,3734,0,0,0,0,0,0,15.06,14.95,15.09
$GC,5919,-0.65,-175.2,2483,2654,3820,3731,679.9,-9.2,311,5924,0.00,2.35,0.00,0.000,260,0.000,0.109,2473,4045,3775,3820,3731,0,0,0,0,0,0,15.19,14.93,15.22
$GC,5969,-0.65,-175.2,2472,4044,3819,3730,685.3,-9.9,320,5976,0.12,2.20,0.00,0.000,3078,0.252,0.048,2502,2643,3774,3819,3730,0,0,0,0,0,0,14.88,15.00,15.04
$GC,6296,-0.65,-175.2,2501,2642,3818,3729,713.3,-8.6,333,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2644,3774,3818,3730,0,0,0,0,0,0,15.18,15.22,15.21
$GC,6592,-0.65,-175.2,2501,2643,3811,3729,739.0,-8.7,343,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2643,3772,3816,3729,0,0,0,0,0,0,15.18,15.22,15.21
$GC,6892,-0.65,-175.2,2501,2644,3814,3728,764.3,-8.4,353,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2643,3771,3814,3728,0,0,0,0,0,0,15.18,15.22,15.21
$GC,7192,-0.65,-175.2,2501,2643,3812,3728,787.3,-7.4,363,7198,0.00,2.25,0.00,0.000,516,0.000,0.076,2502,1248,3770,3812,3728,0,0,0,0,0,0,15.17,14.95,15.21
$GC,7222,-0.65,-175.2,2502,1248,3812,3728,789.6,-7.7,368,7230,0.00,2.33,0.00,0.000,1030,0.000,0.090,2501,2648,3769,3812,3727,0,0,0,0,0,0,15.05,14.93,15.07
$GC,7532,-0.65,-175.2,2500,2648,3811,3728,811.8,-7.3,379,7537,0.00,2.40,0.00,0.000,260,0.000,0.116,2491,4051,3768,3811,3726,0,0,0,0,0,0,15.16,14.90,15.20
$GC,7572,-0.65,-175.2,2490,4050,3811,3725,815.3,-8.5,386,7577,0.00,2.22,0.00,0.000,1030,0.000,0.050,2491,2646,3768,3811,3725,0,0,0,0,0,0,15.05,14.97,15.07
$GC,7907,-0.65,-175.2,2490,2645,3810,3725,841.4,-7.9,401,7912,0.00,2.28,0.00,0.000,516,0.000,0.079,2490,1244,3768,3810,3727,0,0,0,0,0,0,15.16,14.93,15.19
$GC,7953,-0.65,-175.2,2491,1243,3810,3731,845.5,-8.2,409,7958,0.00,2.30,0.00,0.000,1030,0.000,0.076,2486,2660,3767,3809,3725,0,0,0,0,0,0,15.04,14.95,15.07
$GC,8282,-0.65,-175.2,2486,2660,3808,3724,872.5,-8.4,423,8287,0.00,2.35,0.00,0.000,260,0.000,0.106,2477,4050,3766,3808,3724,0,0,0,0,0,0,15.16,14.92,15.20
$GC,8352,-0.65,-175.2,2477,4050,3808,3723,879.3,-9.6,436,8359,0.00,2.22,0.00,0.000,1030,0.000,0.054,2477,2650,3765,3808,3723,0,0,0,0,0,0,15.06,14.96,15.06
$GC,8689,-0.65,-175.2,2477,2650,3807,3722,909.4,-8.9,451,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2650,3764,3807,3722,0,0,0,0,0,0,15.16,15.19,15.19
$GC,8985,-0.65,-175.2,2477,2650,3806,3722,935.7,-8.6,461,8991,0.00,2.30,0.00,0.000,516,0.000,0.081,2477,1238,3763,3805,3722,0,0,0,0,0,0,15.15,14.92,15.19
$GC,9025,-0.65,-175.2,2473,1238,3805,3722,939.4,-9.0,468,9032,0.12,2.33,0.00,0.000,3078,0.264,0.079,2501,2656,3765,3804,3726,0,0,0,0,0,0,14.85,14.92,15.01
$GC,9361,-0.65,-175.2,2501,2657,3803,3722,962.1,-6.5,483,9367,0.00,2.35,0.00,0.000,260,0.000,0.110,2494,4043,3762,3803,3722,0,0,0,0,0,0,15.16,14.90,15.19
$GC,9417,-0.65,-175.2,2493,4043,3803,3721,966.2,-7.4,493,9422,0.00,2.22,0.00,0.000,1030,0.000,0.055,2494,2649,3762,3803,3721,0,0,0,0,0,0,15.03,14.95,15.04
$GC,9737,-0.65,-175.2,2493,2649,3803,3720,987.7,-6.9,505,9742,0.00,2.30,0.00,0.000,516,0.000,0.083,2493,1241,3761,3802,3720,0,0,0,0,0,0,15.15,14.92,15.19
$GC,9757,-0.65,-175.2,2493,1241,3803,3720,989.4,-6.9,508,9764,0.00,2.33,0.00,0.000,1030,0.000,0.080,2491,2657,3761,3802,3720,0,0,0,0,0,0,15.02,14.92,15.04
$STATE,9769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9769,begin apogee
$GC,9778,-0.20,0.0,2491,2469,3802,3720,990.6,-7.1,510,9922,0.55,0.00,135.43,2.062,10246,0.198,0.000,2652,2464,3087,3045,3129,0,0,0,0,0,0,14.84,14.10,13.37
$STATE,9924,end apogee,CONTROL_FINISHED_OK
$STATE,9924,begin climb
$GC,9929,0.65,175.2,2652,2464,3045,3127,993.5,0.0,515,10086,0.82,2.47,144.57,2.026,10756,0.124,0.093,2929,1082,2371,2316,2427,0,0,0,0,0,0,14.16,13.86,13.28
$GC,10166,0.65,175.2,2929,1082,2320,2420,969.6,13.1,562,10172,0.00,2.40,0.00,0.000,1030,0.000,0.076,2930,2477,2370,2320,2420,0,0,0,0,0,0,14.47,14.35,14.46
$GC,10472,0.65,175.2,2929,2480,2324,2413,926.1,14.3,573,10478,0.00,2.45,0.00,0.000,260,0.000,0.108,2929,3881,2368,2325,2412,0,0,0,0,0,0,14.83,14.61,14.86
$GC,10532,0.65,175.2,2929,3884,2331,2405,916.5,16.5,584,10540,0.00,2.33,0.00,0.000,1030,0.000,0.068,2939,2486,2368,2331,2405,0,0,0,0,0,0,14.75,14.66,14.76
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$STATE,17857,end climb,SURFACE_DEPTH_REACHED
$STATE,17857,begin surface coast
$FINISH,2.0,1.009428
$STATE,17877,end surface coast,CONTROL_FINISHED_OK
$STATE,17877,begin surface
$SM_CCo,17903,1.90,0.059,0,0,1047,500.17
$SM_GC,3.66,8.02,2.70,1.90,0.054,0.080,0.059,39,2657,1047,-8.30,-0.31,500.17,0,0,0,0,0,0,14.80,14.76,14.82
$IRIDIUM_FIX,806.88,8527.39,100815,002108
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.78
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.70
$XPDR_PINGS,0
$SC_FREEKB,4014976
$24V_AH,13.28,10.244
$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,21.875,163.600,509.225,1.900,0.000,0.000,0.000,285.675,0.000,0.000,105.104,2348.648,12685.095,691.213,2073.970,683.696,0.000,1954.279,0.000,1653.007,0.000,0.544,0.000
$DEVICE_MAMPS,416.160,121.635,2062.440,58.905,0.000,0.000,0.000,232.560,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17894.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.359,0.000,0.000,0.000
$MEM,261452
$DATA_FILE_SIZE,40027,1107
$CAP_FILE_SIZE,182866,0
$CFSIZE,260034560,249696256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,55.31,1
$GPS,100815,091114,811.381,8527.489,144,1.6,184,-1.9,1.8,44.6,5,17.4