version: 66.12
glider: 141
mission: 23
dive: 20
start: 8 11 115 0 49 35
data:
$ID,141
$MISSION,23
$DIVE,20
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,110815,003934,812.3219,8525.4238,182,1.2,211,-1.9,1.8,46.4,6,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-67.9
$GPS2,110815,004904,812.5165,8525.7012,35,1.9,45,-1.9,1.1,75.9,5,9.4
$SPEED_LIMITS,0.191,0.318
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,235.7,408262,-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,-214.1,1,2674,591,691,0.0,0.0,0,138,0.00,0.00,-109.45,0.000,16386,0.000,0.000,0,2675,3835,3918,3753,0,0,0,0,0,0,14.88,28.83,14.91
$GC,144,-0.64,-214.1,0,2675,3917,3753,7.5,-10.4,11,168,11.82,2.38,-1.58,0.000,18948,0.418,0.090,2500,1245,3963,4026,3901,0,0,0,0,0,0,14.50,13.84,14.76
$GC,177,-0.64,-214.1,2500,1245,4026,3904,29.7,-61.1,16,184,0.00,2.35,0.00,0.000,1030,0.000,0.089,2492,2637,3964,4025,3904,0,0,0,0,0,0,14.79,14.69,14.81
$GC,484,-0.64,-214.1,2491,2637,4023,3907,121.9,-24.3,35,489,0.00,2.28,0.00,0.000,516,0.000,0.071,2492,1241,3964,4023,3906,0,0,0,0,0,0,15.02,14.81,15.06
$GC,524,-0.64,-214.1,2492,1241,4023,3907,132.2,-24.3,42,531,0.00,2.38,0.00,0.000,1030,0.000,0.092,2483,2653,3964,4022,3907,0,0,0,0,0,0,14.90,14.80,14.92
$GC,833,-0.64,-214.1,2483,2656,4022,3909,178.6,-11.8,58,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2653,3965,4022,3909,0,0,0,0,0,0,15.06,15.11,15.11
$GC,1133,-0.64,-214.1,2483,2653,4022,3910,212.1,-12.0,73,1139,0.00,2.28,0.00,0.000,516,0.000,0.069,2483,1241,3966,4022,3910,0,0,0,0,0,0,15.11,14.91,15.14
$GC,1168,-0.64,-214.1,2483,1241,4022,3910,217.3,-12.8,79,1174,0.12,2.35,0.00,0.000,3078,0.272,0.089,2505,2656,3965,4021,3910,0,0,0,0,0,0,14.83,14.88,14.98
$GC,1505,-0.64,-214.1,2505,2656,4020,3910,258.9,-13.6,96,1510,0.00,2.38,0.00,0.000,260,0.000,0.108,2501,4057,3964,4019,3910,0,0,0,0,0,0,15.14,14.89,15.18
$GC,1623,-0.64,-214.1,2501,4056,4017,3910,274.1,-12.5,118,1628,0.00,2.20,0.00,0.000,1030,0.000,0.043,2501,2649,3963,4017,3910,0,0,0,0,0,0,15.03,14.96,15.04
$GC,1943,-0.64,-214.1,2501,2649,4011,3910,304.4,-8.5,130,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2648,3960,4011,3910,0,0,0,0,0,0,15.14,15.19,15.18
$GC,2239,-0.64,-214.1,2499,2649,4010,3908,330.0,-8.7,140,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2649,3959,4010,3908,0,0,0,0,0,0,15.16,15.21,15.20
$GC,2540,-0.64,-214.1,2501,2649,4006,3904,358.7,-9.9,150,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2649,3953,4006,3901,0,0,0,0,0,0,15.17,15.21,15.21
$GC,2839,-0.64,-214.1,2501,2648,4001,3903,388.8,-10.0,160,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2649,3952,4002,3903,0,0,0,0,0,0,15.18,15.22,15.24
$GC,3139,-0.64,-214.1,2501,2648,3997,3900,421.5,-11.6,170,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2648,3949,3998,3900,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3439,-0.64,-214.1,2501,2648,3993,3899,457.6,-11.6,180,3444,0.00,2.25,0.00,0.000,516,0.000,0.068,2501,1243,3945,3992,3899,0,0,0,0,0,0,15.18,14.97,15.21
$GC,3459,-0.64,-214.1,2501,1243,3992,3898,459.9,-11.2,183,3464,0.00,2.33,0.00,0.000,1030,0.000,0.084,2501,2653,3945,3992,3899,0,0,0,0,0,0,15.06,14.95,15.08
$GC,3783,-0.64,-214.1,2501,2653,3990,3896,490.3,-8.7,196,3789,0.00,2.35,0.00,0.000,260,0.000,0.099,2491,4055,3943,3990,3896,0,0,0,0,0,0,15.18,14.92,15.21
$GC,3839,-0.64,-214.1,2491,4055,3990,3895,495.7,-9.5,206,3845,0.00,2.20,0.00,0.000,1030,0.000,0.044,2491,2647,3942,3990,3895,0,0,0,0,0,0,15.07,15.01,15.09
$GC,4160,-0.64,-214.1,2491,2647,3987,3893,525.3,-9.9,218,4165,0.00,2.25,0.00,0.000,516,0.000,0.069,2491,1242,3940,3987,3893,0,0,0,0,0,0,15.18,14.97,15.21
$GC,4215,-0.64,-214.1,2491,1242,3987,3893,531.5,-10.2,228,4220,0.00,2.33,0.00,0.000,1030,0.000,0.082,2490,2656,3939,3986,3893,0,0,0,0,0,0,15.05,14.95,15.07
$GC,4535,-0.64,-214.1,2489,2657,3983,3890,564.5,-10.7,240,4540,0.00,2.35,0.00,0.000,260,0.000,0.104,2482,4046,3936,3982,3890,0,0,0,0,0,0,15.17,14.92,15.21
$GC,4610,-0.64,-214.1,2482,4043,3983,3889,573.5,-11.6,254,4616,0.00,2.20,0.00,0.000,1030,0.000,0.044,2482,2643,3936,3983,3889,0,0,0,0,0,0,15.06,15.00,15.08
$GC,4939,-0.64,-214.1,2481,2644,3981,3888,608.6,-10.5,268,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2643,3934,3981,3888,0,0,0,0,0,0,15.18,15.22,15.21
$GC,5237,-0.64,-214.1,2481,2643,3979,3886,638.2,-9.4,278,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2644,3932,3979,3886,0,0,0,0,0,0,15.19,15.23,15.21
$GC,5536,-0.64,-214.1,2481,2643,3976,3885,666.5,-9.7,288,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2643,3930,3976,3885,0,0,0,0,0,0,15.17,15.22,15.21
$GC,5837,-0.64,-214.1,2481,2644,3975,3884,695.7,-9.8,298,5843,0.00,2.40,0.00,0.000,260,0.000,0.106,2473,4050,3928,3974,3883,0,0,0,0,0,0,15.18,14.92,15.21
$GC,5883,-0.64,-214.1,2473,4050,3974,3882,700.6,-10.4,306,5889,0.12,2.20,0.00,0.000,3078,0.249,0.047,2503,2652,3928,3974,3882,0,0,0,0,0,0,14.88,14.99,15.04
$GC,6213,-0.64,-214.1,2503,2652,3973,3882,727.5,-8.0,320,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2652,3927,3973,3882,0,0,0,0,0,0,15.16,15.21,15.20
$GC,6510,-0.64,-214.1,2503,2652,3971,3881,750.9,-7.9,330,6516,0.00,2.40,0.00,0.000,260,0.000,0.112,2502,4044,3925,3970,3880,0,0,0,0,0,0,15.17,14.92,15.21
$GC,6547,-0.64,-214.1,2501,4045,3970,3880,753.9,-8.1,336,6552,0.00,2.20,0.00,0.000,1030,0.000,0.049,2502,2649,3925,3970,3880,0,0,0,0,0,0,15.06,14.99,15.07
$GC,6886,-0.64,-214.1,2501,2650,3967,3879,779.9,-7.7,352,6892,0.00,2.28,0.00,0.000,516,0.000,0.076,2502,1246,3923,3967,3879,0,0,0,0,0,0,15.16,14.96,15.20
$GC,6912,-0.64,-214.1,2502,1246,3967,3879,782.2,-7.9,356,6917,0.00,2.35,0.00,0.000,1030,0.000,0.087,2502,2659,3923,3967,3880,0,0,0,0,0,0,15.04,14.92,15.06
$GC,7232,-0.64,-214.1,2501,2660,3966,3879,805.9,-7.2,368,7237,0.00,2.38,0.00,0.000,260,0.000,0.112,2496,4051,3921,3965,3878,0,0,0,0,0,0,15.15,14.90,15.19
$GC,7271,-0.64,-214.1,2496,4051,3966,3878,809.1,-7.9,375,7277,0.00,2.22,0.00,0.000,1030,0.000,0.050,2496,2646,3922,3966,3878,0,0,0,0,0,0,15.04,14.97,15.07
$GC,7606,-0.64,-214.1,2496,2646,3963,3877,835.2,-8.0,390,7607,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2646,3920,3963,3877,0,0,0,0,0,0,15.16,15.19,15.19
$GC,7902,-0.64,-214.1,2496,2646,3962,3877,859.6,-8.2,400,7908,0.00,2.28,0.00,0.000,516,0.000,0.079,2496,1247,3918,3961,3876,0,0,0,0,0,0,15.16,14.93,15.22
$GC,7928,-0.64,-214.1,2496,1247,3962,3877,861.8,-8.7,404,7933,0.00,2.35,0.00,0.000,1030,0.000,0.090,2495,2656,3918,3961,3876,0,0,0,0,0,0,15.03,14.92,15.05
$GC,8248,-0.64,-214.1,2495,2656,3960,3876,888.2,-8.3,416,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2656,3917,3960,3875,0,0,0,0,0,0,15.15,15.19,15.16
$GC,8544,-0.64,-214.1,2496,2656,3960,3874,912.9,-8.2,426,8550,0.00,2.38,0.00,0.000,260,0.000,0.112,2489,4043,3917,3960,3874,0,0,0,0,0,0,15.16,14.90,15.20
$GC,8590,-0.64,-214.1,2488,4046,3960,3873,916.9,-9.1,434,8596,0.00,2.22,0.00,0.000,1030,0.000,0.053,2489,2650,3916,3960,3873,0,0,0,0,0,0,15.04,14.96,15.06
$GC,8920,-0.64,-214.1,2488,2650,3960,3873,945.5,-8.9,448,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2650,3916,3959,3873,0,0,0,0,0,0,15.14,15.19,15.18
$GC,9217,-0.64,-214.1,2488,2650,3958,3872,970.9,-8.4,458,9223,0.00,2.33,0.00,0.000,516,0.000,0.083,2489,1240,3915,3958,3872,0,0,0,0,0,0,15.15,14.92,15.19
$GC,9253,-0.64,-214.1,2488,1240,3958,3872,974.1,-8.2,464,9259,0.00,2.38,0.00,0.000,1030,0.000,0.094,2487,2648,3916,3958,3875,0,0,0,0,0,0,15.02,14.90,15.04
$STATE,9465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9465,begin apogee
$GC,9475,-0.20,0.0,2488,2456,3958,3872,991.3,-7.9,476,9636,0.55,0.00,158.00,2.105,10246,0.198,0.000,2649,2456,3086,3034,3138,0,0,0,0,0,0,14.85,14.07,13.35
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9639,begin climb
$GC,9643,0.64,214.1,2649,2456,3034,3133,995.9,0.0,481,9821,0.85,2.47,167.02,2.101,10756,0.131,0.096,2929,1085,2211,2146,2277,0,0,0,0,0,0,14.11,13.96,13.27
$GC,9865,0.64,214.1,2928,1086,2147,2272,972.5,14.9,526,9872,0.00,2.45,0.00,0.000,1030,0.000,0.089,2928,2474,2209,2147,2272,0,0,0,0,0,0,14.31,14.21,14.33
$GC,10188,0.64,214.1,2928,2474,2143,2268,922.1,15.6,539,10193,0.00,2.47,0.00,0.000,260,0.000,0.115,2929,3884,2208,2148,2268,0,0,0,0,0,0,14.79,14.56,14.82
$GC,10233,0.64,214.1,2930,3884,2156,2259,914.2,17.6,547,10239,0.00,2.33,0.00,0.000,1030,0.000,0.070,2937,2495,2207,2155,2259,0,0,0,0,0,0,14.71,14.63,14.73
$GC,10562,0.64,214.1,2936,2496,2155,2259,860.7,16.3,561,10568,0.00,2.42,0.00,0.000,516,0.000,0.097,2946,1064,2206,2155,2258,0,0,0,0,0,0,14.92,14.71,14.96
$GC,10593,0.64,214.1,2946,1064,2156,2258,855.2,16.0,566,10600,0.00,2.42,0.00,0.000,1030,0.000,0.091,2946,2484,2207,2156,2258,0,0,0,0,0,0,14.81,14.71,14.83
$GC,10899,0.64,214.1,2946,2483,2156,2258,804.6,16.7,577,10904,0.00,2.42,0.00,0.000,260,0.000,0.109,2946,3890,2206,2156,2257,0,0,0,0,0,0,14.99,14.75,15.02
$GC,10954,0.64,214.1,2946,3891,2160,2252,794.3,18.5,587,10960,0.15,2.35,0.00,0.000,5126,0.320,0.070,2926,2468,2205,2159,2251,0,0,0,0,0,0,14.66,14.80,14.85
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$STATE,17061,end climb,SURFACE_DEPTH_REACHED
$STATE,17062,begin surface coast
$FINISH,2.1,0.997658
$STATE,17083,end surface coast,CONTROL_FINISHED_OK
$STATE,17083,begin surface
$SM_CCo,17167,0.00,0.000,0,0,359,669.18
$SM_GC,2.89,8.15,0.28,0.00,0.057,0.086,0.000,41,2670,359,-8.29,-0.68,669.18,0,0,0,0,0,0,14.67,14.70,14.74
$IRIDIUM_FIX,806.88,8527.39,100815,194308
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.21
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,4013696
$24V_AH,13.27,11.618
$10V_AH,13.18,0.000
$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,21.925,141.550,640.075,0.000,0.000,0.000,0.000,323.325,0.000,0.000,47.605,2077.101,12373.758,763.621,1876.550,634.830,0.000,1993.902,0.000,1477.916,0.000,0.543,0.000
$DEVICE_MAMPS,417.690,117.045,2105.280,0.000,0.000,0.000,0.000,240.210,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.337,0.000,0.000,0.000
$MEM,261436
$DATA_FILE_SIZE,36615,985
$CAP_FILE_SIZE,168053,0
$CFSIZE,260034560,249356288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,49.43,1
$GPS,110815,053844,812.106,8524.731,97,99.0,137,-1.9,0.8,322.4,4,-1.0