version: 66.12
glider: 141
mission: 23
dive: 19
start: 8 10 115 19 50 12
data:
$ID,141
$MISSION,23
$DIVE,19
$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,300
$T_MISSION,330
$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,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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,100815,193915,811.5173,8526.1289,163,1.3,203,-1.9,1.3,41.9,5,12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-72.3
$GPS2,100815,194941,811.7776,8526.3848,42,1.3,82,-1.9,0.7,1.3,5,11.9
$SPEED_LIMITS,0.191,0.318
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,247.0,409438,-15.5,-11.000,-19.09,2963
$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,-0.64,-214.1,0,2636,1002,1079,0.0,0.0,0,119,0.00,0.00,-89.78,0.000,16386,0.000,0.000,1,2636,3526,3601,3452,0,0,0,0,0,0,14.89,28.83,14.93
$GC,125,-0.64,-214.1,1,2636,3601,3455,5.1,-4.8,9,147,11.95,0.00,-6.20,0.000,18950,0.422,0.000,2498,2636,3963,4023,3903,0,0,0,0,0,0,14.50,13.87,14.76
$GC,448,-0.64,-214.1,2498,2636,4022,3909,112.6,-25.9,33,454,0.00,2.28,0.00,0.000,516,0.000,0.075,2498,1243,3964,4021,3908,0,0,0,0,0,0,15.02,14.81,15.04
$GC,475,-0.64,-214.1,2498,1243,4021,3908,118.2,-20.8,37,480,0.00,2.38,0.00,0.000,1030,0.000,0.096,2495,2648,3964,4021,3908,0,0,0,0,0,0,14.90,14.79,14.94
$GC,800,-0.64,-214.1,2493,2644,4020,3913,171.7,-13.7,56,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2644,3967,4021,3913,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1104,-0.64,-214.1,2493,2644,4021,3914,212.6,-13.2,71,1109,0.00,2.28,0.00,0.000,516,0.000,0.072,2493,1239,3967,4020,3914,0,0,0,0,0,0,15.11,14.90,15.15
$GC,1149,-0.64,-214.1,2493,1238,4021,3914,218.2,-11.6,79,1155,0.00,2.35,0.00,0.000,1030,0.000,0.092,2487,2648,3967,4021,3914,0,0,0,0,0,0,14.99,14.88,15.01
$GC,1465,-0.64,-214.1,2487,2648,4019,3914,253.8,-12.2,97,1471,0.00,2.40,0.00,0.000,260,0.000,0.113,2478,4053,3966,4018,3914,0,0,0,0,0,0,15.14,14.88,15.16
$GC,1590,-0.64,-214.1,2478,4053,4018,3912,270.6,-14.0,120,1598,0.12,2.20,0.00,0.000,3078,0.259,0.044,2506,2646,3966,4018,3914,0,0,0,0,0,0,14.85,14.96,15.00
$GC,1896,-0.64,-214.1,2506,2646,4013,3914,304.8,-9.9,131,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2646,3963,4013,3914,0,0,0,0,0,0,15.14,15.19,15.18
$GC,2192,-0.64,-214.1,2506,2646,4010,3912,328.7,-7.8,141,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2647,3961,4010,3912,0,0,0,0,0,0,15.17,15.21,15.21
$GC,2492,-0.64,-214.1,2506,2646,4009,3907,358.4,-10.8,151,2497,0.00,2.25,0.00,0.000,516,0.000,0.069,2506,1239,3957,4009,3906,0,0,0,0,0,0,15.17,14.96,15.21
$GC,2517,-0.64,-214.1,2506,1239,4009,3906,361.3,-10.7,155,2523,0.00,2.28,0.00,0.000,1030,0.000,0.065,2504,2660,3957,4009,3906,0,0,0,0,0,0,15.06,14.97,15.07
$GC,2836,-0.64,-214.1,2504,2660,4004,3904,392.8,-9.3,167,2842,0.00,2.30,0.00,0.000,260,0.000,0.096,2498,4043,3953,4003,3904,0,0,0,0,0,0,15.16,14.95,15.21
$GC,2883,-0.64,-214.1,2498,4043,4003,3903,397.6,-10.0,175,2888,0.00,2.17,0.00,0.000,1030,0.000,0.042,2498,2645,3953,4003,3903,0,0,0,0,0,0,15.07,15.00,15.08
$GC,3213,-0.64,-214.1,2497,2645,3998,3902,426.8,-9.0,189,3218,0.00,2.22,0.00,0.000,516,0.000,0.067,2498,1246,3949,3998,3901,0,0,0,0,0,0,15.17,14.97,15.20
$GC,3249,-0.64,-214.1,2498,1246,3998,3901,430.8,-10.0,195,3254,0.00,2.30,0.00,0.000,1030,0.000,0.080,2498,2648,3949,3998,3901,0,0,0,0,0,0,15.04,14.95,15.07
$GC,3588,-0.64,-214.1,2498,2648,3994,3899,464.1,-9.9,211,3594,0.00,2.35,0.00,0.000,260,0.000,0.104,2489,4046,3945,3992,3899,0,0,0,0,0,0,15.16,14.92,15.20
$GC,3629,-0.64,-214.1,2488,4046,3992,3899,468.5,-10.1,218,3634,0.00,2.17,0.00,0.000,1030,0.000,0.044,2489,2650,3945,3992,3898,0,0,0,0,0,0,15.07,15.00,15.08
$GC,3964,-0.64,-214.1,2488,2650,3990,3897,501.4,-9.8,233,3969,0.00,2.35,0.00,0.000,260,0.000,0.096,2482,4052,3943,3990,3896,0,0,0,0,0,0,15.17,14.95,15.21
$GC,4024,-0.64,-214.1,2481,4052,3989,3896,507.9,-9.8,244,4031,0.00,2.20,0.00,0.000,1030,0.000,0.044,2481,2644,3942,3990,3895,0,0,0,0,0,0,15.06,15.00,15.08
$GC,4330,-0.64,-214.1,2481,2644,3987,3894,537.3,-9.8,255,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2644,3940,3987,3894,0,0,0,0,0,0,15.18,15.22,15.21
$GC,4632,-0.64,-214.1,2481,2644,3985,3892,565.9,-9.5,265,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2644,3938,3984,3892,0,0,0,0,0,0,15.19,15.22,15.21
$GC,4930,-0.64,-214.1,2481,2644,3982,3890,595.1,-9.5,275,4935,0.00,2.40,0.00,0.000,260,0.000,0.109,2473,4047,3936,3982,3890,0,0,0,0,0,0,15.18,14.92,15.21
$GC,4955,-0.64,-214.1,2473,4048,3982,3890,597.7,-9.7,279,4961,0.12,2.20,0.00,0.000,3078,0.251,0.045,2502,2651,3936,3982,3890,0,0,0,0,0,0,14.89,15.00,15.04
$GC,5275,-0.64,-214.1,2502,2651,3980,3889,622.5,-7.6,291,5281,0.00,2.25,0.00,0.000,516,0.000,0.071,2503,1247,3934,3980,3889,0,0,0,0,0,0,15.17,14.96,15.21
$GC,5321,-0.64,-214.1,2502,1247,3980,3889,626.2,-7.5,299,5326,0.00,2.33,0.00,0.000,1030,0.000,0.081,2503,2659,3933,3979,3888,0,0,0,0,0,0,15.04,14.94,15.07
$GC,5651,-0.64,-214.1,2503,2659,3978,3883,649.4,-7.2,313,5656,0.00,2.35,0.00,0.000,260,0.000,0.103,2497,4058,3932,3978,3886,0,0,0,0,0,0,15.17,14.93,15.21
$GC,5681,-0.64,-214.1,2497,4058,3978,3885,652.0,-7.5,318,5688,0.00,2.22,0.00,0.000,1030,0.000,0.047,2497,2642,3932,3978,3886,0,0,0,0,0,0,15.06,14.98,15.06
$GC,5991,-0.64,-214.1,2497,2642,3975,3885,676.2,-8.3,329,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2642,3930,3975,3885,0,0,0,0,0,0,15.16,15.21,15.21
$GC,6287,-0.64,-214.1,2497,2642,3974,3884,702.5,-9.0,339,6293,0.00,2.40,0.00,0.000,260,0.000,0.103,2495,4056,3929,3974,3884,0,0,0,0,0,0,15.17,14.92,15.21
$GC,6327,-0.64,-214.1,2494,4057,3974,3883,706.2,-9.3,346,6332,0.00,2.22,0.00,0.000,1030,0.000,0.048,2494,2645,3928,3974,3882,0,0,0,0,0,0,15.05,14.98,15.07
$GC,6662,-0.64,-214.1,2494,2645,3972,3882,734.1,-7.9,361,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2644,3927,3972,3882,0,0,0,0,0,0,15.16,15.20,15.19
$GC,6958,-0.64,-214.1,2494,2644,3969,3882,758.0,-7.8,371,6964,0.00,2.40,0.00,0.000,260,0.000,0.103,2489,4052,3925,3969,3882,0,0,0,0,0,0,15.16,14.92,15.20
$GC,6995,-0.64,-214.1,2488,4052,3969,3881,761.1,-9.1,377,7000,0.00,2.22,0.00,0.000,1030,0.000,0.050,2489,2644,3925,3969,3881,0,0,0,0,0,0,15.05,14.97,15.04
$GC,7335,-0.64,-214.1,2488,2644,3968,3881,789.3,-8.7,393,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2644,3921,3967,3876,0,0,0,0,0,0,15.16,15.19,15.19
$GC,7631,-0.64,-214.1,2488,2644,3966,3880,817.7,-9.7,403,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2645,3923,3967,3880,0,0,0,0,0,0,15.17,15.21,15.21
$GC,7932,-0.64,-214.1,2488,2644,3965,3879,848.3,-10.2,413,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2644,3922,3965,3880,0,0,0,0,0,0,15.16,15.21,15.20
$GC,8231,-0.64,-214.1,2488,2644,3964,3878,879.9,-10.6,423,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2645,3921,3964,3878,0,0,0,0,0,0,15.16,15.21,15.20
$GC,8532,-0.64,-214.1,2488,2645,3962,3877,910.6,-10.1,433,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2644,3920,3962,3878,0,0,0,0,0,0,15.16,15.23,15.20
$GC,8831,-0.64,-214.1,2488,2644,3962,3876,939.0,-9.4,443,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2644,3919,3961,3877,0,0,0,0,0,0,15.16,15.21,15.19
$GC,9132,-0.64,-214.1,2488,2644,3960,3877,966.3,-8.8,453,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2644,3918,3961,3876,0,0,0,0,0,0,15.16,15.20,15.19
$STATE,9427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9427,begin apogee
$GC,9437,-0.20,0.0,2489,2461,3959,3876,990.7,-7.9,463,9599,0.55,0.00,158.62,2.076,10246,0.197,0.000,2650,2461,3087,3041,3133,0,0,0,0,0,0,14.85,14.07,13.35
$STATE,9601,end apogee,CONTROL_FINISHED_OK
$STATE,9601,begin climb
$GC,9605,0.64,214.1,2650,2461,3039,3130,994.6,0.0,468,9783,0.82,2.47,168.40,2.101,10756,0.129,0.093,2925,1083,2210,2146,2275,0,0,0,0,0,0,14.11,13.85,13.25
$GC,9817,0.64,214.1,2925,1083,2147,2271,973.0,15.0,511,9823,0.00,2.45,0.00,0.000,1030,0.000,0.083,2925,2475,2209,2147,2271,0,0,0,0,0,0,14.27,14.18,14.29
$GC,10152,0.64,214.1,2925,2475,2149,2261,922.5,15.2,526,10157,0.00,2.45,0.00,0.000,260,0.000,0.107,2925,3885,2207,2148,2266,0,0,0,0,0,0,14.79,14.58,14.82
$GC,10203,0.64,214.1,2925,3885,2155,2258,913.2,17.5,535,10208,0.00,2.33,0.00,0.000,1030,0.000,0.070,2930,2491,2206,2155,2257,0,0,0,0,0,0,14.71,14.64,14.73
$GC,10527,0.64,214.1,2929,2492,2155,2257,863.4,15.3,548,10532,0.00,2.42,0.00,0.000,516,0.000,0.098,2940,1062,2206,2156,2257,0,0,0,0,0,0,14.92,14.71,14.96
$GC,10557,0.64,214.1,2939,1062,2156,2257,858.1,14.7,553,10565,0.00,2.42,0.00,0.000,1030,0.000,0.095,2941,2477,2206,2156,2257,0,0,0,0,0,0,14.81,14.71,14.84
$GC,10863,0.64,214.1,2940,2477,2154,2256,810.8,15.5,564,10869,0.00,2.45,0.00,0.000,260,0.000,0.109,2940,3896,2205,2155,2256,0,0,0,0,0,0,14.99,14.76,15.05
$GC,10913,0.64,214.1,2939,3896,2159,2251,802.5,16.2,573,10920,0.00,2.35,0.00,0.000,1030,0.000,0.071,2949,2473,2204,2159,2250,0,0,0,0,0,0,14.88,14.79,14.90
$GC,11239,0.64,214.1,2949,2472,2158,2250,752.3,15.7,586,11240,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2473,2204,2158,2250,0,0,0,0,0,0,15.02,15.06,15.06
$GC,11535,0.64,214.1,2948,2473,2156,2250,703.0,16.7,596,11541,0.00,2.47,0.00,0.000,260,0.000,0.116,2949,3886,2203,2157,2250,0,0,0,0,0,0,15.05,14.79,15.09
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$STATE,16989,end climb,SURFACE_DEPTH_REACHED
$STATE,16989,begin surface coast
$FINISH,2.1,0.998991
$STATE,17021,end surface coast,CONTROL_FINISHED_OK
$STATE,17021,begin surface
$SM_CCo,17105,0.00,0.000,0,0,639,600.49
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$IRIDIUM_FIX,806.88,8527.39,100815,143406
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.03
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,4014016
$24V_AH,13.25,11.244
$10V_AH,13.16,0.000
$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
$DEVICE_SECS,22.050,136.350,588.925,0.000,0.000,0.000,0.000,337.425,0.250,0.000,85.250,2129.689,12289.622,710.135,1950.167,638.440,0.000,1951.416,0.000,1495.879,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.358,0.000,0.000,0.000
$MEM,261448
$DATA_FILE_SIZE,36704,1002
$CAP_FILE_SIZE,167952,0
$CFSIZE,260034560,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,43.46,1
$GPS,110815,003934,812.322,8525.424,182,1.2,211,-1.9,1.8,46.4,6,9.2