version: 66.12
glider: 141
mission: 23
dive: 262
start: 10 15 115 16 9 7
data:
$ID,141
$MISSION,23
$DIVE,262
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,151015,160244,755.3989,8344.8535,160,2.1,200,-2.1,0.5,263.8,5,19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.31
$_SM_ANGLEo,-72.1
$GPS2,151015,160833,755.4020,8344.7695,14,1.7,41,-2.1,0.6,274.7,9,7.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,282.7,222660,-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,24,-0.62,-194.6,33,2669,488,642,0.0,0.0,0,127,0.00,0.00,-96.78,0.000,16386,0.000,0.000,33,2671,3274,3332,3217,0,0,0,0,0,0,14.88,28.83,14.92
$GC,133,-0.62,-194.6,33,2670,3332,3218,5.2,-3.7,10,160,11.65,2.28,-9.75,0.000,18692,0.399,0.094,2499,4032,3922,3990,3854,0,0,0,0,0,0,14.26,13.80,14.51
$GC,392,-0.62,-194.6,2499,4032,3990,3858,95.2,-29.0,62,396,0.00,2.17,0.00,0.000,1030,0.000,0.036,2499,2646,3924,3990,3859,0,0,0,0,0,0,14.80,14.73,14.82
$GC,710,-0.62,-194.6,2499,2646,3990,3860,155.2,-15.7,80,716,0.00,2.30,0.00,0.000,260,0.000,0.077,2489,4025,3925,3990,3860,0,0,0,0,0,0,15.07,14.65,15.11
$GC,869,-0.62,-194.6,2488,4025,3990,3861,176.9,-14.0,111,873,0.00,2.20,0.00,0.000,1030,0.000,0.032,2489,2636,3925,3990,3861,0,0,0,0,0,0,14.76,14.73,14.78
$GC,1173,-0.62,-194.6,2488,2636,3990,3862,218.0,-12.3,127,1178,0.00,2.17,0.00,0.000,516,0.000,0.050,2489,1253,3925,3990,3861,0,0,0,0,0,0,15.10,14.73,15.14
$GC,1241,-0.62,-194.6,2488,1253,3990,3861,226.3,-11.3,141,1250,0.00,2.25,0.00,0.000,1030,0.000,0.054,2488,2653,3925,3990,3861,0,0,0,0,0,0,14.86,14.76,14.90
$GC,1573,-0.62,-194.6,2488,2654,3987,3861,265.7,-12.0,155,1578,0.00,2.28,0.00,0.000,260,0.000,0.080,2477,4030,3924,3987,3861,0,0,0,0,0,0,15.13,14.66,15.16
$GC,1632,-0.62,-194.6,2477,4030,3987,3861,272.6,-11.4,167,1638,0.10,2.12,0.00,0.000,3078,0.212,0.031,2508,2639,3924,3987,3861,0,0,0,0,0,0,14.50,14.80,14.64
$GC,1998,-0.62,-194.6,2507,2639,3980,3861,307.4,-9.7,184,2003,0.00,2.33,0.00,0.000,260,0.000,0.081,2500,4032,3920,3980,3861,0,0,0,0,0,0,15.12,14.66,15.16
$GC,2032,-0.62,-194.6,2499,4032,3979,3861,311.6,-10.6,191,2038,0.00,2.15,0.00,0.000,1030,0.000,0.031,2500,2649,3920,3980,3861,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2358,-0.62,-194.6,2499,2649,3973,3861,344.6,-10.0,201,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2649,3917,3973,3861,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2658,-0.62,-194.6,2499,2649,3968,3861,373.7,-9.6,206,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2649,3913,3967,3860,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2959,-0.62,-194.6,2499,2649,3962,3860,401.1,-9.1,211,2964,0.00,2.33,0.00,0.000,260,0.000,0.083,2497,4035,3910,3961,3859,0,0,0,0,0,0,15.16,14.64,15.19
$GC,3007,-0.62,-194.6,2496,4035,3961,3858,405.6,-9.2,221,3015,0.00,2.15,0.00,0.000,1030,0.000,0.032,2496,2647,3909,3961,3857,0,0,0,0,0,0,14.90,14.84,14.93
$GC,3322,-0.62,-194.6,2496,2647,3958,3855,433.2,-8.9,228,3323,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2647,3906,3958,3855,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3619,-0.62,-194.6,2496,2647,3955,3853,461.6,-9.6,233,3625,0.00,2.22,0.00,0.000,516,0.000,0.055,2496,1257,3903,3954,3853,0,0,0,0,0,0,15.15,14.69,15.19
$GC,3643,-0.62,-194.6,2496,1257,3954,3853,464.3,-10.8,238,3647,0.00,2.28,0.00,0.000,1030,0.000,0.055,2492,2656,3903,3954,3853,0,0,0,0,0,0,14.85,14.74,14.89
$GC,3982,-0.62,-194.6,2491,2656,3950,3850,498.4,-10.2,250,3986,0.00,2.35,0.00,0.000,260,0.000,0.084,2481,4044,3900,3950,3850,0,0,0,0,0,0,15.16,14.65,15.19
$GC,4010,-0.62,-194.6,2481,4043,3950,3849,501.4,-10.2,255,4016,0.15,2.17,0.00,0.000,3078,0.231,0.033,2517,2646,3899,3950,3849,0,0,0,0,0,0,14.49,14.82,14.73
$GC,4350,-0.62,-194.6,2517,2646,3947,3848,528.1,-7.7,267,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3897,3947,3848,0,0,0,0,0,0,15.13,15.17,15.16
$GC,4646,-0.62,-194.6,2517,2646,3944,3847,550.8,-7.6,272,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3895,3944,3847,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4946,-0.62,-194.6,2517,2646,3941,3846,576.2,-8.6,277,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3893,3941,3846,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5246,-0.62,-194.6,2517,2646,3939,3845,601.4,-8.3,282,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3892,3940,3845,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5547,-0.62,-194.6,2517,2646,3937,3843,623.6,-7.4,287,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3890,3937,3843,0,0,0,0,0,0,15.15,15.19,15.19
$GC,5846,-0.62,-194.6,2517,2646,3936,3842,643.6,-6.6,292,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3889,3936,3842,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6146,-0.62,-194.6,2517,2646,3934,3840,662.8,-6.4,297,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3887,3934,3840,0,0,0,0,0,0,15.15,15.19,15.19
$GC,6446,-0.62,-194.6,2517,2646,3932,3839,682.7,-6.7,302,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3885,3932,3838,0,0,0,0,0,0,15.15,15.19,15.19
$GC,6746,-0.62,-194.6,2517,2646,3930,3837,702.8,-6.8,307,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2647,3883,3930,3837,0,0,0,0,0,0,15.15,15.19,15.18
$GC,7346,-0.62,-194.6,2517,2646,3927,3836,746.3,-7.3,312,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2646,3881,3927,3835,0,0,0,0,0,0,15.14,15.19,15.18
$GC,7946,-0.62,-194.6,2517,2646,3924,3834,789.1,-7.2,317,7952,0.00,2.25,0.00,0.000,516,0.000,0.063,2517,1271,3879,3924,3834,0,0,0,0,0,0,15.15,14.53,15.18
$GC,7976,-0.62,-194.6,2517,1271,3924,3834,791.3,-7.9,323,7982,0.00,2.30,0.00,0.000,1030,0.000,0.065,2516,2642,3878,3924,3833,0,0,0,0,0,0,14.63,14.56,14.68
$GC,8670,-0.62,-194.6,2515,2642,3922,3830,841.7,-7.3,346,8675,0.00,2.45,0.00,0.000,260,0.000,0.096,2506,4045,3875,3921,3830,0,0,0,0,0,0,15.11,14.47,15.14
$GC,8719,-0.62,-194.6,2506,4045,3921,3830,845.8,-7.5,355,8724,0.00,2.22,0.00,0.000,1030,0.000,0.041,2506,2646,3875,3922,3829,0,0,0,0,0,0,14.69,14.66,14.73
$GC,9399,-0.62,-194.6,2506,2646,3919,3829,898.7,-7.9,375,9404,0.00,2.30,0.00,0.000,516,0.000,0.067,2506,1255,3873,3918,3829,0,0,0,0,0,0,15.10,14.46,15.13
$GC,9427,-0.62,-194.6,2505,1255,3918,3830,901.4,-8.5,381,9434,0.00,2.35,0.00,0.000,1030,0.000,0.068,2502,2650,3873,3918,3829,0,0,0,0,0,0,14.70,14.56,14.76
$GC,10119,-0.62,-194.6,2502,2650,3916,3829,955.6,-7.8,404,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2650,3872,3915,3829,0,0,0,0,0,0,15.13,15.17,15.16
$STATE,10594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10594,begin apogee
$GC,10605,-0.20,0.0,2502,2459,3914,3828,992.0,-7.6,408,10760,0.50,0.00,151.95,2.189,10246,0.184,0.000,2644,2459,3126,3054,3198,0,0,0,0,0,0,14.34,14.06,13.17
$STATE,10762,end apogee,CONTROL_FINISHED_OK
$STATE,10762,begin climb
$GC,10766,0.62,194.6,2644,2459,3053,3193,995.7,0.0,409,10936,0.82,2.45,161.07,2.091,10756,0.123,0.079,2919,1089,2329,2235,2423,0,0,0,0,0,0,14.06,13.78,12.99
$GC,11025,0.62,194.6,2918,1089,2244,2411,971.9,13.6,470,11030,0.00,2.42,0.00,0.000,1030,0.000,0.067,2919,2470,2327,2244,2410,0,0,0,0,0,0,14.21,14.10,14.23
$GC,11679,0.62,194.6,2917,2470,2249,2401,881.6,13.9,485,11685,0.00,2.45,0.00,0.000,260,0.000,0.099,2919,3879,2325,2250,2400,0,0,0,0,0,0,14.92,14.44,14.95
$GC,11733,0.62,194.6,2919,3878,2257,2391,873.2,15.3,496,11739,0.00,2.30,0.00,0.000,1030,0.000,0.056,2929,2492,2324,2257,2391,0,0,0,0,0,0,14.70,14.61,14.73
$GC,12400,0.62,194.6,2928,2492,2256,2391,779.1,14.0,514,12404,0.00,2.42,0.00,0.000,516,0.000,0.082,2939,1067,2324,2257,2391,0,0,0,0,0,0,15.02,14.55,15.06
$GC,12457,0.62,194.6,2939,1067,2258,2389,771.0,13.7,525,12464,0.00,2.40,0.00,0.000,1030,0.000,0.070,2939,2483,2323,2258,2389,0,0,0,0,0,0,14.73,14.59,14.78
$GC,13127,0.62,194.6,2938,2483,2258,2388,676.2,14.3,544,13133,0.00,2.42,0.00,0.000,260,0.000,0.099,2939,3880,2322,2258,2387,0,0,0,0,0,0,15.04,14.45,15.08
$GC,13176,0.62,194.6,2938,3880,2261,2382,667.9,15.5,554,13182,0.15,2.35,0.00,0.000,5126,0.295,0.057,2919,2468,2321,2261,2382,0,0,0,0,0,0,14.27,14.66,14.63
$GC,13494,0.62,194.6,2918,2468,2261,2382,628.8,12.3,561,13501,0.00,2.38,0.00,0.000,516,0.000,0.081,2928,1066,2322,2262,2382,0,0,0,0,0,0,15.06,14.50,15.09
$GC,13519,0.62,194.6,2927,1066,2263,2381,625.2,12.5,566,13524,0.00,2.40,0.00,0.000,1030,0.000,0.069,2928,2486,2322,2263,2381,0,0,0,0,0,0,14.73,14.60,14.79
$GC,13858,0.62,194.6,2927,2486,2262,2381,581.0,13.3,578,13863,0.00,2.45,0.00,0.000,260,0.000,0.099,2928,3887,2321,2262,2381,0,0,0,0,0,0,15.09,14.50,15.12
$GC,13922,0.62,194.6,2927,3887,2264,2379,571.5,15.3,590,13926,0.00,2.33,0.00,0.000,1030,0.000,0.056,2938,2473,2321,2264,2379,0,0,0,0,0,0,14.76,14.66,14.81
$GC,14287,0.62,194.6,2937,2473,2264,2379,520.1,14.0,607,14292,0.00,2.38,0.00,0.000,516,0.000,0.081,2947,1068,2321,2265,2378,0,0,0,0,0,0,15.09,14.47,15.12
$GC,14326,0.62,194.6,2947,1068,2265,2378,514.5,14.1,615,14332,0.10,2.35,0.00,0.000,5126,0.236,0.068,2920,2469,2321,2265,2378,0,0,0,0,0,0,14.27,14.54,14.45
$GC,14651,0.62,194.6,2920,2470,2265,2378,473.5,12.8,624,14656,0.00,2.45,0.00,0.000,260,0.000,0.098,2920,3879,2321,2265,2378,0,0,0,0,0,0,15.07,14.44,15.10
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$GC,16160,0.62,194.6,2925,2483,2270,2376,282.3,11.5,704,16162,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2483,2323,2270,2376,0,0,0,0,0,0,15.10,15.14,15.13
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$STATE,19101,end climb,SURFACE_DEPTH_REACHED
$STATE,19101,begin surface coast
$STATE,19121,end surface coast,CONTROL_FINISHED_OK
$STATE,19121,begin surface
$SM_CCo,19205,0.00,0.000,0,0,1011,518.81
$SM_GC,3.70,8.05,0.35,0.00,0.055,0.080,0.000,37,2672,1011,-8.31,-0.88,518.81,0,0,0,0,0,0,14.66,14.71,14.77
$IRIDIUM_FIX,751.63,8347.04,151015,104021
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.09
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,12.99,84.065
$10V_AH,12.41,0.000
$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,21.775,121.725,539.850,0.000,0.000,0.000,0.000,193.275,0.750,0.000,43.771,607.793,15853.952,574.082,1964.371,547.849,0.000,1666.310,0.000,1347.959,0.000,0.542,0.000
$DEVICE_MAMPS,398.565,99.450,2189.430,0.000,0.000,0.000,0.000,239.445,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260264
$DATA_FILE_SIZE,40019,934
$CAP_FILE_SIZE,153595,0
$CFSIZE,260034560,231256064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,126.65,1
$GPS,151015,213145,755.573,8342.552,70,1.3,110,-2.1,0.6,290.0,7,10.2