version: 66.12
glider: 141
mission: 23
dive: 259
start: 10 15 115 0 2 8
data:
$ID,141
$MISSION,23
$DIVE,259
$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,40
$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
$GPS1,141015,235545,753.6725,8351.7773,56,2.2,96,-2.1,0.6,275.4,6,25.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-73.6
$GPS2,151015,000134,753.6859,8351.6680,9,0.8,37,-2.1,0.5,283.8,10,7.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,297.8,235439,-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,-194.6,42,2656,632,801,0.0,0.0,0,127,0.00,0.00,-96.22,0.000,16386,0.000,0.000,42,2657,3442,3516,3369,0,0,0,0,0,0,14.88,28.83,14.92
$GC,133,-0.62,-194.6,43,2657,3515,3370,6.7,-7.1,10,156,11.48,2.28,-6.25,0.000,18948,0.393,0.067,2509,1240,3924,3998,3850,0,0,0,0,0,0,14.26,13.79,14.51
$GC,301,-0.62,-194.6,2509,1241,3997,3854,63.7,-24.4,44,305,0.00,2.35,0.00,0.000,1030,0.000,0.058,2501,2672,3925,3997,3854,0,0,0,0,0,0,14.74,14.63,14.77
$GC,607,-0.62,-194.6,2501,2672,3997,3857,133.1,-19.0,60,612,0.00,2.25,0.00,0.000,260,0.000,0.076,2490,4036,3927,3998,3857,0,0,0,0,0,0,15.05,14.64,15.09
$GC,727,-0.62,-194.6,2490,4036,3997,3859,158.2,-20.4,84,732,0.00,2.15,0.00,0.000,1030,0.000,0.033,2490,2637,3928,3997,3859,0,0,0,0,0,0,14.79,14.76,14.81
$GC,1049,-0.62,-194.6,2490,2636,3998,3860,206.0,-11.9,103,1054,0.00,2.33,0.00,0.000,260,0.000,0.079,2480,4031,3928,3997,3860,0,0,0,0,0,0,15.09,14.66,15.12
$GC,1152,-0.62,-194.6,2479,4032,3997,3860,218.9,-12.3,124,1159,0.15,2.15,0.00,0.000,3078,0.235,0.031,2516,2633,3928,3997,3860,0,0,0,0,0,0,14.54,14.83,14.77
$GC,1508,-0.62,-194.6,2515,2633,3997,3860,257.8,-10.6,142,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2633,3928,3997,3860,0,0,0,0,0,0,15.12,15.16,15.16
$GC,1809,-0.62,-194.6,2515,2633,3991,3860,282.4,-7.9,147,1815,0.00,2.15,0.00,0.000,516,0.000,0.051,2516,1265,3925,3990,3860,0,0,0,0,0,0,15.14,14.74,15.17
$GC,1849,-0.62,-194.6,2516,1265,3990,3861,285.8,-8.5,155,1855,0.00,2.22,0.00,0.000,1030,0.000,0.053,2513,2652,3925,3990,3860,0,0,0,0,0,0,14.80,14.75,14.83
$GC,2173,-0.62,-194.6,2512,2651,3983,3860,315.8,-9.7,164,2178,0.00,2.30,0.00,0.000,260,0.000,0.080,2502,4035,3921,3983,3860,0,0,0,0,0,0,15.12,14.67,15.16
$GC,2212,-0.62,-194.6,2502,4035,3983,3860,320.1,-9.9,172,2218,0.00,2.15,0.00,0.000,1030,0.000,0.032,2502,2644,3921,3983,3859,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2537,-0.62,-194.6,2502,2643,3978,3860,350.9,-9.6,181,2543,0.00,2.17,0.00,0.000,516,0.000,0.053,2502,1266,3919,3978,3860,0,0,0,0,0,0,15.13,14.71,15.16
$GC,2587,-0.62,-194.6,2502,1266,3977,3860,356.1,-9.4,191,2593,0.00,2.22,0.00,0.000,1030,0.000,0.054,2495,2653,3918,3976,3860,0,0,0,0,0,0,14.76,14.70,14.80
$GC,2901,-0.62,-194.6,2494,2653,3973,3860,386.6,-9.9,198,2906,0.00,2.33,0.00,0.000,260,0.000,0.083,2484,4037,3916,3972,3860,0,0,0,0,0,0,15.13,14.69,15.16
$GC,2939,-0.62,-194.6,2484,4037,3972,3859,391.2,-11.3,205,2946,0.12,2.15,0.00,0.000,3078,0.236,0.032,2513,2648,3916,3973,3859,0,0,0,0,0,0,14.55,14.83,14.77
$GC,3270,-0.62,-194.6,2513,2648,3967,3857,420.0,-8.8,215,3276,0.00,2.20,0.00,0.000,516,0.000,0.054,2513,1268,3912,3967,3857,0,0,0,0,0,0,15.13,14.70,15.16
$GC,3319,-0.62,-194.6,2512,1268,3967,3857,424.9,-9.0,225,3326,0.00,2.25,0.00,0.000,1030,0.000,0.055,2513,2654,3911,3966,3857,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3630,-0.62,-194.6,2513,2653,3961,3854,450.8,-8.4,232,3635,0.00,2.33,0.00,0.000,260,0.000,0.084,2502,4040,3907,3961,3854,0,0,0,0,0,0,15.15,14.60,15.18
$GC,3654,-0.62,-194.6,2502,4040,3961,3853,453.0,-8.7,237,3661,0.00,2.17,0.00,0.000,1030,0.000,0.033,2502,2653,3907,3961,3853,0,0,0,0,0,0,14.89,14.83,14.92
$GC,3994,-0.62,-194.6,2502,2653,3959,3852,481.0,-8.2,249,4001,0.00,2.25,0.00,0.000,516,0.000,0.055,2502,1259,3905,3959,3852,0,0,0,0,0,0,15.12,14.70,15.16
$GC,4039,-0.62,-194.6,2502,1259,3959,3852,484.9,-7.9,258,4043,0.00,2.28,0.00,0.000,1030,0.000,0.057,2494,2656,3905,3958,3852,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4358,-0.62,-194.6,2494,2656,3955,3849,509.5,-7.7,266,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2656,3902,3956,3849,0,0,0,0,0,0,15.14,15.19,15.18
$GC,4658,-0.62,-194.6,2494,2656,3952,3847,533.1,-7.9,271,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2655,3899,3952,3847,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4959,-0.62,-194.6,2494,2656,3949,3846,558.6,-8.6,276,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2656,3898,3949,3847,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5258,-0.62,-194.6,2494,2656,3948,3845,586.5,-9.4,281,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2655,3896,3948,3845,0,0,0,0,0,0,15.15,15.19,15.19
$GC,5558,-0.62,-194.6,2494,2656,3946,3843,616.0,-9.9,286,5564,0.00,2.28,0.00,0.000,516,0.000,0.059,2494,1260,3894,3945,3844,0,0,0,0,0,0,15.16,14.62,15.19
$GC,5588,-0.62,-194.6,2494,1261,3945,3844,619.1,-11.1,291,5595,0.10,2.30,0.00,0.000,3078,0.255,0.060,2513,2647,3894,3945,3844,0,0,0,0,0,0,14.45,14.69,14.57
$GC,5928,-0.62,-194.6,2512,2647,3942,3842,647.6,-8.3,303,5934,0.00,2.35,0.00,0.000,260,0.000,0.090,2504,4032,3892,3942,3842,0,0,0,0,0,0,15.13,14.52,15.16
$GC,5958,-0.62,-194.6,2504,4032,3942,3841,650.5,-8.5,309,5964,0.00,2.17,0.00,0.000,1030,0.000,0.037,2504,2655,3891,3942,3841,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6293,-0.62,-194.6,2504,2655,3940,3841,676.9,-8.0,320,6298,0.00,2.28,0.00,0.000,516,0.000,0.060,2504,1258,3890,3940,3840,0,0,0,0,0,0,15.11,14.61,15.15
$GC,6327,-0.62,-194.6,2504,1259,3941,3840,680.1,-8.3,327,6332,0.00,2.30,0.00,0.000,1030,0.000,0.063,2498,2654,3890,3940,3840,0,0,0,0,0,0,14.66,14.59,14.72
$GC,6713,-0.62,-194.6,2497,2654,3938,3838,713.8,-8.8,337,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2653,3888,3938,3838,0,0,0,0,0,0,15.14,15.17,15.16
$GC,7312,-0.62,-194.6,2497,2654,3936,3836,765.0,-8.5,342,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2654,3886,3936,3836,0,0,0,0,0,0,15.14,15.18,15.18
$GC,7914,-0.62,-194.6,2497,2654,3932,3834,807.3,-6.9,347,7919,0.00,2.30,0.00,0.000,516,0.000,0.063,2498,1261,3883,3932,3834,0,0,0,0,0,0,15.14,14.52,15.17
$GC,7947,-0.62,-194.6,2497,1262,3932,3834,809.8,-7.1,354,7952,0.00,2.35,0.00,0.000,1030,0.000,0.065,2489,2657,3882,3931,3834,0,0,0,0,0,0,14.75,14.62,14.79
$GC,8637,-0.62,-194.6,2489,2657,3930,3831,864.6,-8.2,376,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2657,3880,3931,3830,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9237,-0.62,-194.6,2488,2657,3928,3830,916.3,-8.7,381,9243,0.00,2.33,0.00,0.000,516,0.000,0.067,2489,1260,3878,3927,3830,0,0,0,0,0,0,15.14,14.47,15.16
$GC,9272,-0.62,-194.6,2489,1259,3927,3830,919.6,-9.2,388,9279,0.15,2.38,0.00,0.000,3078,0.226,0.069,2516,2659,3878,3927,3830,0,0,0,0,0,0,14.37,14.57,14.62
$GC,9962,-0.62,-194.6,2516,2659,3924,3829,968.9,-7.1,410,9966,0.00,2.42,0.00,0.000,260,0.000,0.101,2509,4039,3877,3924,3830,0,0,0,0,0,0,15.11,14.42,15.14
$GC,9992,-0.62,-194.6,2509,4039,3924,3829,971.2,-7.5,415,9997,0.00,2.22,0.00,0.000,1030,0.000,0.044,2509,2652,3876,3924,3829,0,0,0,0,0,0,14.64,14.59,14.68
$STATE,10322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10323,begin apogee
$GC,10332,-0.20,0.0,2509,2466,3924,3829,995.2,-7.1,436,10488,0.47,0.00,152.77,2.159,10246,0.176,0.000,2645,2466,3126,3057,3195,0,0,0,0,0,0,14.39,14.06,13.19
$STATE,10490,end apogee,CONTROL_FINISHED_OK
$STATE,10490,begin climb
$GC,10495,0.62,194.6,2645,2466,3056,3192,999.4,0.0,437,10664,0.82,2.50,160.52,2.098,10756,0.120,0.080,2921,1083,2330,2236,2424,0,0,0,0,0,0,14.07,13.64,12.95
$GC,10708,0.62,194.6,2921,1083,2243,2414,982.6,13.0,489,10715,0.00,2.47,0.00,0.000,1030,0.000,0.068,2921,2477,2328,2243,2414,0,0,0,0,0,0,14.09,13.99,14.11
$GC,11404,0.62,194.6,2921,2477,2251,2402,889.3,13.4,513,11410,0.00,2.42,0.00,0.000,260,0.000,0.098,2921,3876,2326,2252,2400,0,0,0,0,0,0,14.92,14.44,14.95
$GC,11499,0.62,194.6,2921,3876,2259,2392,874.7,15.6,532,11505,0.00,2.30,0.00,0.000,1030,0.000,0.057,2932,2490,2325,2260,2391,0,0,0,0,0,0,14.70,14.61,14.74
$GC,12125,0.62,194.6,2931,2489,2259,2391,782.5,14.7,542,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2489,2325,2260,2391,0,0,0,0,0,0,15.03,15.07,15.06
$GC,12726,0.62,194.6,2931,2489,2260,2389,694.6,14.7,547,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2489,2324,2260,2389,0,0,0,0,0,0,15.07,15.10,15.10
$GC,13025,0.62,194.6,2931,2489,2260,2388,649.7,14.9,552,13030,0.00,2.42,0.00,0.000,260,0.000,0.096,2932,3874,2324,2260,2388,0,0,0,0,0,0,15.08,14.46,15.11
$GC,13054,0.62,194.6,2931,3875,2262,2384,645.1,14.9,558,13058,0.00,2.33,0.00,0.000,1030,0.000,0.056,2941,2467,2323,2262,2384,0,0,0,0,0,0,14.77,14.66,14.81
$GC,13388,0.62,194.6,2941,2467,2262,2384,594.9,15.0,569,13389,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2466,2323,2262,2384,0,0,0,0,0,0,15.08,15.12,15.12
$GC,13687,0.62,194.6,2941,2466,2262,2384,551.0,14.7,574,13688,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2466,2323,2262,2384,0,0,0,0,0,0,15.10,15.14,15.13
$GC,13988,0.62,194.6,2941,2466,2262,2384,506.3,14.9,579,13994,0.00,2.47,0.00,0.000,260,0.000,0.095,2941,3883,2323,2263,2384,0,0,0,0,0,0,15.10,14.45,15.13
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$GC,15757,0.62,194.6,2933,3876,2270,2379,282.6,14.7,656,15763,0.00,2.30,0.00,0.000,1030,0.000,0.052,2944,2472,2324,2270,2379,0,0,0,0,0,0,14.78,14.67,14.82
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$STATE,18539,end climb,SURFACE_DEPTH_REACHED
$STATE,18539,begin surface coast
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18638,0.00,0.000,0,0,633,611.78
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$IRIDIUM_FIX,749.46,8355.70,141015,184018
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.28
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,12.95,83.039
$10V_AH,12.77,0.000
$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,21.650,134.675,607.400,0.000,0.000,0.000,0.000,198.675,0.250,0.000,40.172,608.103,15276.702,608.410,1928.924,561.290,0.000,1730.361,0.000,1321.705,0.000,0.543,0.000
$DEVICE_MAMPS,393.210,100.980,2158.830,0.000,0.000,0.000,0.000,234.090,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260244
$DATA_FILE_SIZE,40042,916
$CAP_FILE_SIZE,154139,0
$CFSIZE,260034560,231440384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043,158.59,1
$GPS,151015,051545,754.311,8349.598,95,3.3,135,-2.1,0.0,283.3,5,29.1