version: 66.12
glider: 141
mission: 23
dive: 255
start: 10 14 115 2 24 8
data:
$ID,141
$MISSION,23
$DIVE,255
$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,1500
$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,200
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,34
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$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
$DEVICE1,133
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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
$GPS1,141015,021745,753.3557,8400.6602,68,1.4,108,-2.1,0.7,242.5,6,17.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.39
$_SM_ANGLEo,-72.9
$GPS2,141015,022334,753.3001,8400.5957,12,0.9,40,-2.1,0.4,225.1,9,7.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,299.2,251828,-14.9,-10.000,-18.74,2959
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,33,2660,451,589,0.0,0.0,0,137,0.00,0.00,-106.32,0.000,16386,0.000,0.000,32,2660,3567,3636,3499,0,0,0,0,0,0,14.88,28.83,14.91
$GC,143,-0.62,-194.6,32,2660,3636,3501,7.2,-8.0,11,165,11.60,2.30,-4.47,0.000,18692,0.398,0.086,2496,4043,3925,3998,3852,0,0,0,0,0,0,14.26,13.36,14.51
$GC,310,-0.62,-194.6,2495,4043,3998,3856,72.8,-28.1,45,316,0.00,2.22,0.00,0.000,1030,0.000,0.035,2496,2640,3927,3998,3856,0,0,0,0,0,0,14.77,14.70,14.79
$GC,621,-0.62,-194.6,2496,2639,3998,3859,141.5,-18.5,62,627,0.00,2.33,0.00,0.000,260,0.000,0.077,2485,4036,3928,3998,3859,0,0,0,0,0,0,15.05,14.64,15.08
$GC,706,-0.62,-194.6,2485,4036,3998,3860,156.4,-16.2,79,712,0.12,2.17,0.00,0.000,3078,0.254,0.032,2513,2639,3928,3998,3859,0,0,0,0,0,0,14.50,14.78,14.76
$GC,1026,-0.62,-194.6,2512,2639,3998,3861,197.6,-11.7,97,1031,0.00,2.20,0.00,0.000,516,0.000,0.050,2513,1251,3929,3998,3860,0,0,0,0,0,0,15.09,14.71,15.13
$GC,1047,-0.62,-194.6,2513,1250,3998,3860,199.9,-11.4,101,1052,0.00,2.22,0.00,0.000,1030,0.000,0.051,2506,2649,3929,3998,3860,0,0,0,0,0,0,14.77,14.71,14.81
$GC,1368,-0.62,-194.6,2506,2649,3998,3861,235.8,-11.5,120,1373,0.00,2.30,0.00,0.000,260,0.000,0.080,2496,4037,3928,3997,3860,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1476,-0.62,-194.6,2496,4037,3997,3861,248.4,-10.9,142,1484,0.00,2.15,0.00,0.000,1030,0.000,0.031,2495,2641,3928,3997,3860,0,0,0,0,0,0,14.89,14.83,14.92
$GC,1811,-0.62,-194.6,2495,2641,3991,3860,278.7,-8.9,150,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2640,3926,3991,3861,0,0,0,0,0,0,15.11,15.16,15.14
$GC,2107,-0.62,-194.6,2495,2641,3987,3861,312.3,-11.4,155,2112,0.00,2.20,0.00,0.000,516,0.000,0.051,2496,1257,3923,3986,3860,0,0,0,0,0,0,15.14,14.77,15.18
$GC,2140,-0.62,-194.6,2495,1257,3986,3860,316.1,-10.9,161,2145,0.00,2.28,0.00,0.000,1030,0.000,0.054,2489,2657,3923,3985,3861,0,0,0,0,0,0,14.87,14.76,14.90
$GC,2472,-0.62,-194.6,2488,2657,3979,3860,351.7,-10.8,172,2477,0.00,2.33,0.00,0.000,260,0.000,0.083,2477,4036,3920,3979,3861,0,0,0,0,0,0,15.14,14.65,15.18
$GC,2511,-0.62,-194.6,2477,4036,3978,3860,356.5,-11.8,180,2518,0.15,2.15,0.00,0.000,3078,0.231,0.033,2514,2645,3919,3979,3860,0,0,0,0,0,0,14.54,14.84,14.77
$GC,2836,-0.62,-194.6,2514,2645,3973,3860,388.0,-9.7,189,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2645,3916,3973,3860,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3132,-0.62,-194.6,2514,2645,3968,3860,414.3,-8.6,194,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2645,3914,3968,3861,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3432,-0.62,-194.6,2514,2645,3964,3859,438.1,-7.9,199,3437,0.00,2.22,0.00,0.000,516,0.000,0.054,2514,1256,3911,3963,3859,0,0,0,0,0,0,15.16,14.74,15.19
$GC,3456,-0.62,-194.6,2514,1256,3963,3859,440.2,-8.6,203,3460,0.00,2.28,0.00,0.000,1030,0.000,0.056,2513,2655,3911,3963,3859,0,0,0,0,0,0,14.85,14.74,14.89
$GC,3800,-0.62,-194.6,2513,2655,3959,3855,469.4,-8.5,216,3806,0.00,2.33,0.00,0.000,260,0.000,0.085,2502,4038,3907,3960,3855,0,0,0,0,0,0,15.16,14.59,15.19
$GC,3829,-0.62,-194.6,2502,4038,3960,3854,471.9,-8.5,222,3836,0.00,2.15,0.00,0.000,1030,0.000,0.033,2502,2653,3907,3960,3854,0,0,0,0,0,0,14.89,14.82,14.92
$GC,4164,-0.62,-194.6,2502,2653,3957,3853,496.0,-7.1,233,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2653,3905,3957,3853,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4461,-0.62,-194.6,2502,2653,3953,3851,519.1,-7.8,238,4467,0.00,2.22,0.00,0.000,516,0.000,0.056,2503,1267,3902,3953,3851,0,0,0,0,0,0,15.16,14.66,15.19
$GC,4511,-0.62,-194.6,2502,1268,3953,3851,523.5,-8.1,248,4517,0.00,2.25,0.00,0.000,1030,0.000,0.058,2497,2652,3901,3951,3851,0,0,0,0,0,0,14.70,14.64,14.74
$GC,4821,-0.62,-194.6,2497,2652,3950,3848,550.8,-8.9,255,4826,0.00,2.35,0.00,0.000,260,0.000,0.086,2487,4036,3898,3949,3848,0,0,0,0,0,0,15.15,14.62,15.19
$GC,4894,-0.62,-194.6,2487,4036,3950,3847,558.2,-10.4,269,4900,0.00,2.17,0.00,0.000,1030,0.000,0.036,2487,2652,3898,3949,3847,0,0,0,0,0,0,14.86,14.79,14.89
$GC,5250,-0.62,-194.6,2486,2651,3946,3847,592.9,-9.9,284,5255,0.00,2.28,0.00,0.000,516,0.000,0.058,2487,1257,3897,3947,3847,0,0,0,0,0,0,15.11,14.63,15.15
$GC,5273,-0.62,-194.6,2487,1257,3947,3847,595.8,-11.0,289,5280,0.15,2.30,0.00,0.000,3078,0.233,0.060,2516,2659,3896,3947,3846,0,0,0,0,0,0,14.46,14.69,14.70
$GC,5613,-0.62,-194.6,2515,2659,3944,3845,620.8,-7.3,301,5615,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2659,3894,3944,3845,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5910,-0.62,-194.6,2515,2659,3942,3844,643.6,-7.7,306,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2659,3893,3942,3844,0,0,0,0,0,0,15.15,15.19,15.18
$GC,6210,-0.62,-194.6,2515,2659,3940,3843,667.6,-8.0,311,6214,0.00,2.38,0.00,0.000,260,0.000,0.091,2507,4040,3891,3940,3843,0,0,0,0,0,0,15.14,14.57,15.18
$GC,6233,-0.62,-194.6,2507,4040,3940,3843,669.5,-8.5,315,6238,0.00,2.20,0.00,0.000,1030,0.000,0.037,2508,2650,3891,3940,3843,0,0,0,0,0,0,14.84,14.76,14.87
$GC,6581,-0.62,-194.6,2507,2650,3938,3841,698.1,-8.2,328,6586,0.00,2.28,0.00,0.000,516,0.000,0.061,2507,1256,3890,3938,3842,0,0,0,0,0,0,15.12,14.58,15.15
$GC,6610,-0.62,-194.6,2507,1256,3938,3842,700.7,-9.5,334,6616,0.00,2.30,0.00,0.000,1030,0.000,0.062,2501,2645,3889,3938,3841,0,0,0,0,0,0,14.78,14.65,14.83
$GC,7002,-0.62,-194.6,2501,2645,3937,3839,731.8,-7.9,343,7006,0.00,2.40,0.00,0.000,260,0.000,0.094,2490,4039,3887,3936,3839,0,0,0,0,0,0,15.14,14.54,15.17
$GC,7040,-0.62,-194.6,2490,4039,3936,3838,734.9,-7.9,350,7047,0.00,2.22,0.00,0.000,1030,0.000,0.040,2490,2644,3887,3936,3838,0,0,0,0,0,0,14.82,14.73,14.85
$GC,7730,-0.62,-194.6,2490,2643,3933,3837,792.5,-8.4,372,7736,0.00,2.42,0.00,0.000,260,0.000,0.096,2481,4033,3884,3932,3836,0,0,0,0,0,0,15.11,14.45,15.14
$GC,7759,-0.62,-194.6,2480,4033,3932,3835,795.7,-9.8,378,7767,0.15,2.22,0.00,0.000,3078,0.220,0.041,2517,2643,3884,3932,3836,0,0,0,0,0,0,14.42,14.72,14.66
$GC,8455,-0.62,-194.6,2516,2644,3930,3835,846.2,-7.2,401,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2643,3882,3930,3835,0,0,0,0,0,0,15.11,15.15,15.15
$GC,9052,-0.62,-194.6,2516,2643,3927,3833,883.9,-6.2,406,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2644,3880,3927,3833,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9652,-0.62,-194.6,2516,2643,3925,3831,923.8,-6.7,411,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2643,3878,3925,3831,0,0,0,0,0,0,15.14,15.18,15.17
$GC,10253,-0.62,-194.6,2516,2643,3924,3830,966.9,-7.2,416,10254,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2643,3877,3924,3831,0,0,0,0,0,0,15.13,15.17,15.16
$STATE,10607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10607,begin apogee
$GC,10617,-0.20,0.0,2517,2469,3922,3830,990.5,-6.7,419,10772,0.45,0.00,152.50,2.215,10246,0.174,0.000,2648,2468,3127,3054,3200,0,0,0,0,0,0,14.38,14.05,13.18
$STATE,10774,end apogee,CONTROL_FINISHED_OK
$STATE,10774,begin climb
$GC,10778,0.62,194.6,2648,2469,3052,3195,993.8,0.0,420,10949,0.80,2.55,160.07,2.137,10756,0.118,0.080,2918,1091,2330,2235,2425,0,0,0,0,0,0,14.06,13.75,12.93
$GC,10978,0.62,194.6,2917,1091,2241,2417,977.0,13.9,469,10984,0.00,2.47,0.00,0.000,1030,0.000,0.067,2918,2478,2329,2241,2417,0,0,0,0,0,0,14.02,13.93,14.04
$GC,11693,0.62,194.6,2917,2479,2249,2402,878.1,13.6,497,11699,0.00,2.45,0.00,0.000,260,0.000,0.099,2919,3883,2325,2249,2402,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11768,0.62,194.6,2918,3883,2257,2392,867.1,14.9,512,11774,0.00,2.30,0.00,0.000,1030,0.000,0.057,2928,2493,2324,2257,2392,0,0,0,0,0,0,14.62,14.57,14.66
$GC,12413,0.62,194.6,2928,2493,2257,2392,775.5,14.2,526,12419,0.00,2.40,0.00,0.000,516,0.000,0.082,2938,1071,2323,2256,2391,0,0,0,0,0,0,15.02,14.50,15.06
$GC,12478,0.62,194.6,2938,1071,2259,2389,766.5,13.6,539,12482,0.00,2.38,0.00,0.000,1030,0.000,0.070,2939,2478,2324,2259,2389,0,0,0,0,0,0,14.73,14.59,14.78
$GC,13140,0.62,194.6,2938,2478,2258,2389,673.4,14.1,556,13146,0.00,2.42,0.00,0.000,260,0.000,0.097,2939,3877,2324,2259,2389,0,0,0,0,0,0,15.04,14.46,15.07
$GC,13204,0.62,194.6,2938,3877,2262,2383,662.6,16.3,569,13211,0.15,2.33,0.00,0.000,5126,0.289,0.057,2919,2471,2322,2262,2383,0,0,0,0,0,0,14.28,14.66,14.63
$GC,13564,0.62,194.6,2918,2471,2262,2383,613.7,13.7,585,13569,0.00,2.38,0.00,0.000,516,0.000,0.082,2927,1064,2323,2263,2383,0,0,0,0,0,0,15.05,14.49,15.09
$GC,13598,0.62,194.6,2927,1064,2263,2382,608.4,14.1,592,13604,0.00,2.40,0.00,0.000,1030,0.000,0.070,2928,2485,2322,2263,2382,0,0,0,0,0,0,14.73,14.59,14.79
$GC,13923,0.62,194.6,2927,2485,2263,2382,562.8,14.0,602,13930,0.00,2.40,0.00,0.000,260,0.000,0.098,2928,3872,2322,2263,2382,0,0,0,0,0,0,15.09,14.45,15.12
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$STATE,18984,end climb,SURFACE_DEPTH_REACHED
$STATE,18984,begin surface coast
$STATE,19004,end surface coast,CONTROL_FINISHED_OK
$STATE,19004,begin surface
$SM_CCo,19088,0.00,0.000,0,0,861,555.60
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$TT8_MAMPS,0.023219,0.023219
$HUMID,48.26
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.30
$XPDR_PINGS,0
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$10V_AH,12.42,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.925,144.525,563.025,0.000,0.000,0.000,0.000,194.675,0.000,0.000,43.210,622.381,15678.442,609.700,1968.227,553.393,0.000,1733.007,0.000,1336.913,0.000,0.543,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,997.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260236
$DATA_FILE_SIZE,40068,933
$CAP_FILE_SIZE,157710,0
$CFSIZE,260034560,231682048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,163.58,1
$GPS,141015,074515,753.187,8358.420,96,1.9,136,-2.1,0.6,259.7,5,17.8