version: 66.12
glider: 141
mission: 23
dive: 261
start: 10 15 115 10 44 5
data:
$ID,141
$MISSION,23
$DIVE,261
$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,43
$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
$GPS1,151015,103615,753.9616,8347.1104,156,2.0,196,-2.1,0.3,231.4,4,14.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-73.2
$GPS2,151015,104334,753.9582,8347.0303,8,1.3,24,-2.1,0.4,276.6,7,8.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,303.9,226919,-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,-194.6,32,2661,648,808,0.0,0.0,0,127,0.00,0.00,-96.55,0.000,16386,0.000,0.000,32,2661,3414,3479,3349,0,0,0,0,0,0,14.88,28.83,14.92
$GC,133,-0.62,-194.6,32,2661,3479,3350,5.8,-5.0,10,159,11.62,2.33,-6.95,0.000,18948,0.396,0.072,2508,1243,3925,3997,3854,0,0,0,0,0,0,14.26,13.32,14.50
$GC,244,-0.62,-194.6,2508,1243,3997,3859,48.0,-27.2,33,248,0.00,2.33,0.00,0.000,1030,0.000,0.054,2500,2642,3927,3997,3858,0,0,0,0,0,0,14.76,14.61,14.78
$GC,560,-0.62,-194.6,2500,2642,3997,3860,130.0,-19.8,50,564,0.00,2.33,0.00,0.000,260,0.000,0.080,2489,4039,3928,3997,3860,0,0,0,0,0,0,15.05,14.66,15.09
$GC,668,-0.62,-194.6,2489,4039,3997,3861,148.5,-14.5,71,674,0.00,2.15,0.00,0.000,1030,0.000,0.031,2489,2636,3928,3997,3860,0,0,0,0,0,0,14.82,14.76,14.82
$GC,984,-0.62,-194.6,2489,2635,3997,3864,191.9,-14.2,89,990,0.00,2.35,0.00,0.000,260,0.000,0.079,2479,4039,3930,3997,3864,0,0,0,0,0,0,15.09,14.67,15.11
$GC,1175,-0.62,-194.6,2478,4039,3997,3864,220.9,-13.4,127,1183,0.15,2.15,0.00,0.000,3078,0.238,0.031,2515,2642,3930,3997,3864,0,0,0,0,0,0,14.54,14.83,14.77
$GC,1526,-0.62,-194.6,2514,2642,3993,3864,257.5,-10.1,144,1531,0.00,2.17,0.00,0.000,516,0.000,0.050,2515,1259,3927,3992,3863,0,0,0,0,0,0,15.13,14.74,15.16
$GC,1570,-0.62,-194.6,2514,1258,3992,3864,262.1,-10.6,153,1577,0.00,2.25,0.00,0.000,1030,0.000,0.053,2513,2660,3928,3992,3864,0,0,0,0,0,0,14.87,14.77,14.90
$GC,1890,-0.62,-194.6,2513,2660,3986,3864,291.7,-9.3,161,1896,0.00,2.28,0.00,0.000,260,0.000,0.080,2504,4036,3925,3987,3863,0,0,0,0,0,0,15.12,14.67,15.15
$GC,1920,-0.62,-194.6,2504,4036,3986,3864,294.7,-9.9,167,1925,0.00,2.12,0.00,0.000,1030,0.000,0.031,2504,2648,3925,3987,3863,0,0,0,0,0,0,14.92,14.85,14.94
$GC,2251,-0.62,-194.6,2504,2648,3980,3864,326.0,-9.5,178,2252,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2648,3922,3980,3864,0,0,0,0,0,0,15.15,15.18,15.18
$GC,2551,-0.62,-194.6,2504,2648,3974,3863,355.4,-9.8,183,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2647,3918,3974,3863,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2851,-0.62,-194.6,2504,2648,3970,3861,385.5,-10.0,188,2856,0.00,2.20,0.00,0.000,516,0.000,0.053,2504,1256,3915,3969,3861,0,0,0,0,0,0,15.15,14.72,15.19
$GC,2875,-0.62,-194.6,2504,1256,3969,3862,387.9,-9.7,193,2882,0.00,2.25,0.00,0.000,1030,0.000,0.054,2498,2649,3914,3968,3861,0,0,0,0,0,0,14.87,14.76,14.90
$GC,3211,-0.62,-194.6,2498,2649,3965,3859,418.8,-9.1,205,3217,0.00,2.33,0.00,0.000,260,0.000,0.083,2487,4030,3912,3965,3859,0,0,0,0,0,0,15.16,14.63,15.19
$GC,3258,-0.62,-194.6,2487,4030,3965,3857,423.1,-9.9,214,3262,0.00,2.15,0.00,0.000,1030,0.000,0.032,2487,2652,3911,3965,3857,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3581,-0.62,-194.6,2487,2652,3960,3855,453.2,-9.4,222,3585,0.00,2.25,0.00,0.000,516,0.000,0.054,2487,1247,3907,3960,3855,0,0,0,0,0,0,15.13,14.74,15.16
$GC,3613,-0.62,-194.6,2487,1248,3960,3855,456.9,-10.5,228,3620,0.15,2.28,0.00,0.000,3078,0.232,0.056,2515,2649,3907,3960,3855,0,0,0,0,0,0,14.51,14.74,14.75
$GC,3949,-0.62,-194.6,2516,2648,3957,3853,485.8,-8.9,239,3954,0.00,2.33,0.00,0.000,260,0.000,0.085,2509,4032,3904,3956,3853,0,0,0,0,0,0,15.13,14.60,15.16
$GC,3978,-0.62,-194.6,2509,4032,3957,3852,489.1,-9.6,245,3984,0.00,2.15,0.00,0.000,1030,0.000,0.033,2509,2650,3904,3957,3852,0,0,0,0,0,0,14.90,14.83,14.91
$GC,4309,-0.62,-194.6,2509,2650,3952,3851,520.3,-9.4,256,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2650,3901,3951,3851,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4609,-0.62,-194.6,2509,2650,3949,3849,546.5,-8.7,261,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2650,3899,3949,3849,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4909,-0.62,-194.6,2509,2650,3947,3848,572.7,-8.7,266,4913,0.00,2.38,0.00,0.000,260,0.000,0.086,2499,4033,3897,3946,3848,0,0,0,0,0,0,15.16,14.62,15.19
$GC,4938,-0.62,-194.6,2499,4033,3947,3847,575.3,-8.9,271,4943,0.00,2.12,0.00,0.000,1030,0.000,0.035,2499,2663,3896,3946,3847,0,0,0,0,0,0,14.78,14.74,14.81
$GC,5277,-0.62,-194.6,2498,2663,3943,3846,604.0,-8.4,283,5282,0.00,2.28,0.00,0.000,516,0.000,0.058,2499,1249,3894,3943,3846,0,0,0,0,0,0,15.13,14.62,15.16
$GC,5311,-0.62,-194.6,2499,1249,3943,3846,607.4,-8.5,290,5315,0.00,2.30,0.00,0.000,1030,0.000,0.059,2498,2647,3894,3943,3846,0,0,0,0,0,0,14.81,14.69,14.85
$GC,5644,-0.62,-194.6,2498,2647,3941,3844,635.2,-8.4,300,5649,0.00,2.38,0.00,0.000,260,0.000,0.089,2487,4040,3891,3940,3842,0,0,0,0,0,0,15.12,14.53,15.16
$GC,5688,-0.62,-194.6,2487,4040,3940,3843,639.6,-8.7,309,5695,0.00,2.20,0.00,0.000,1030,0.000,0.037,2487,2645,3891,3940,3843,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6005,-0.62,-194.6,2487,2645,3938,3842,666.4,-8.5,317,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3890,3939,3842,0,0,0,0,0,0,15.14,15.19,15.18
$GC,6305,-0.62,-194.6,2487,2645,3937,3840,691.3,-8.3,322,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2645,3889,3938,3840,0,0,0,0,0,0,15.15,15.19,15.19
$GC,6665,-0.62,-194.6,2487,2646,3935,3839,721.2,-8.3,326,6669,0.00,2.42,0.00,0.000,260,0.000,0.091,2477,4045,3886,3934,3839,0,0,0,0,0,0,15.15,14.56,15.19
$GC,6708,-0.62,-194.6,2477,4045,3934,3838,725.0,-9.1,334,6713,0.15,2.22,0.00,0.000,3078,0.225,0.038,2513,2645,3886,3934,3838,0,0,0,0,0,0,14.43,14.75,14.67
$GC,7397,-0.62,-194.6,2513,2645,3930,3836,771.6,-6.8,355,7402,0.00,2.28,0.00,0.000,516,0.000,0.063,2514,1257,3883,3930,3836,0,0,0,0,0,0,15.12,14.54,15.15
$GC,7438,-0.62,-194.6,2514,1257,3930,3836,774.7,-7.4,363,7443,0.00,2.30,0.00,0.000,1030,0.000,0.065,2513,2643,3883,3930,3836,0,0,0,0,0,0,14.62,14.55,14.69
$GC,8122,-0.62,-194.6,2513,2643,3926,3834,820.7,-6.7,384,8127,0.00,2.40,0.00,0.000,260,0.000,0.096,2503,4029,3879,3925,3834,0,0,0,0,0,0,15.11,14.42,15.14
$GC,8176,-0.62,-194.6,2502,4029,3926,3833,824.9,-7.9,395,8181,0.00,2.17,0.00,0.000,1030,0.000,0.041,2503,2661,3879,3926,3833,0,0,0,0,0,0,14.69,14.66,14.73
$GC,8845,-0.62,-194.6,2502,2660,3924,3831,874.5,-7.5,413,8851,0.00,2.33,0.00,0.000,516,0.000,0.066,2502,1249,3877,3924,3831,0,0,0,0,0,0,15.10,14.48,15.14
$GC,8875,-0.62,-194.6,2502,1249,3924,3831,877.1,-8.4,419,8881,0.00,2.35,0.00,0.000,1030,0.000,0.068,2499,2655,3877,3924,3831,0,0,0,0,0,0,14.59,14.52,14.65
$GC,9566,-0.62,-194.6,2499,2655,3921,3830,929.5,-7.6,442,9571,0.00,2.40,0.00,0.000,260,0.000,0.099,2488,4033,3875,3920,3830,0,0,0,0,0,0,15.14,14.40,15.16
$GC,9616,-0.62,-194.6,2488,4033,3920,3830,933.7,-8.6,451,9621,0.00,2.20,0.00,0.000,1030,0.000,0.043,2489,2658,3875,3921,3830,0,0,0,0,0,0,14.64,14.59,14.68
$STATE,10287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10287,begin apogee
$GC,10300,-0.20,0.0,2488,2460,3917,3829,991.8,-8.8,471,10457,0.55,0.00,153.25,2.182,10246,0.184,0.000,2644,2460,3125,3056,3195,0,0,0,0,0,0,14.35,14.06,13.18
$STATE,10459,end apogee,CONTROL_FINISHED_OK
$STATE,10459,begin climb
$GC,10463,0.62,194.6,2645,2460,3055,3191,996.5,0.0,472,10634,0.82,2.47,161.02,2.110,10756,0.119,0.078,2919,1086,2330,2237,2423,0,0,0,0,0,0,14.07,13.64,12.95
$GC,10677,0.62,194.6,2918,1086,2243,2413,980.8,12.4,525,10684,0.00,2.47,0.00,0.000,1030,0.000,0.068,2919,2478,2327,2242,2413,0,0,0,0,0,0,14.09,13.99,14.12
$GC,11369,0.62,194.6,2918,2478,2251,2401,893.5,12.5,548,11374,0.00,2.45,0.00,0.000,260,0.000,0.098,2918,3881,2325,2251,2400,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11424,0.62,194.6,2918,3881,2259,2391,886.1,14.2,559,11430,0.00,2.30,0.00,0.000,1030,0.000,0.057,2929,2489,2325,2259,2392,0,0,0,0,0,0,14.62,14.57,14.66
$GC,12089,0.62,194.6,2929,2489,2258,2390,796.9,13.4,577,12095,0.00,2.40,0.00,0.000,516,0.000,0.083,2939,1074,2324,2259,2390,0,0,0,0,0,0,15.03,14.50,15.07
$GC,12139,0.62,194.6,2939,1074,2260,2389,790.0,13.2,587,12144,0.00,2.35,0.00,0.000,1030,0.000,0.069,2939,2471,2324,2260,2389,0,0,0,0,0,0,14.61,14.55,14.68
$GC,12809,0.62,194.6,2939,2471,2260,2388,695.6,14.2,606,12813,0.00,2.45,0.00,0.000,260,0.000,0.098,2939,3880,2324,2260,2388,0,0,0,0,0,0,15.07,14.52,15.11
$GC,12862,0.62,194.6,2939,3880,2263,2382,687.1,16.4,616,12869,0.15,2.33,0.00,0.000,5126,0.294,0.057,2919,2478,2322,2263,2381,0,0,0,0,0,0,14.28,14.66,14.63
$GC,13177,0.62,194.6,2919,2478,2263,2381,644.6,13.6,623,13182,0.00,2.40,0.00,0.000,516,0.000,0.081,2928,1060,2323,2264,2382,0,0,0,0,0,0,15.05,14.50,15.09
$GC,13216,0.62,194.6,2928,1060,2264,2381,638.6,13.6,631,13222,0.00,2.40,0.00,0.000,1030,0.000,0.068,2928,2479,2322,2264,2381,0,0,0,0,0,0,14.73,14.60,14.79
$GC,13537,0.62,194.6,2928,2479,2264,2382,593.6,14.1,640,13542,0.00,2.42,0.00,0.000,260,0.000,0.099,2928,3877,2322,2264,2381,0,0,0,0,0,0,15.08,14.45,15.11
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$GC,15351,0.62,194.6,2919,2469,2270,2376,351.2,11.7,725,15353,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2469,2323,2270,2376,0,0,0,0,0,0,15.09,15.12,15.11
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$STATE,18773,end climb,SURFACE_DEPTH_REACHED
$STATE,18773,begin surface coast
$STATE,18792,end surface coast,CONTROL_FINISHED_OK
$STATE,18792,begin surface
$SM_CCo,18875,0.00,0.000,0,0,562,629.19
$SM_GC,3.59,8.00,0.28,0.00,0.047,0.099,0.000,39,2667,562,-8.29,-0.76,629.19,0,0,0,0,0,0,14.69,14.69,14.76
$IRIDIUM_FIX,747.28,8347.04,151015,103815
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.48
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,12.95,83.737
$10V_AH,12.44,0.000
$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,21.950,158.650,618.525,0.000,0.000,0.000,0.000,238.025,0.250,0.000,30.519,652.370,15345.935,617.651,2100.478,590.948,0.000,1864.741,0.000,1449.890,0.000,0.543,0.000
$DEVICE_MAMPS,395.505,99.450,2181.780,0.000,0.000,0.000,0.000,243.270,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43402,1011
$CAP_FILE_SIZE,160021,0
$CFSIZE,260034560,231305216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10499.13,0x234028,1,24
$CURRENT,0.073,235.92,1
$GPS,151015,160244,755.399,8344.854,160,2.1,200,-2.1,0.5,263.8,5,19.9