version: 66.12
glider: 141
mission: 23
dive: 265
start: 10 16 115 8 25 37
data:
$ID,141
$MISSION,23
$DIVE,265
$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,35
$R_STBD_OVSHOOT,46
$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
$GPS1,161015,081915,756.5178,8337.8330,144,1.5,184,-2.1,0.3,261.7,6,11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.34
$_SM_ANGLEo,-73.1
$GPS2,161015,082503,756.5172,8337.7705,9,1.8,30,-2.1,0.4,216.8,9,7.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,280.4,209760,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-0.62,-194.6,32,2682,932,1069,0.0,0.0,0,114,0.00,0.00,-86.12,0.000,16386,0.000,0.000,33,2682,3391,3460,3322,0,0,0,0,0,0,14.88,28.83,14.92
$GC,123,-0.62,-194.6,33,2682,3460,3323,6.0,-5.9,9,149,11.70,2.25,-7.28,0.000,18692,0.399,0.093,2498,4022,3924,3998,3851,0,0,0,0,0,0,14.28,13.31,14.50
$GC,309,-0.62,-194.6,2498,4023,3997,3855,75.8,-28.5,47,316,0.00,2.17,0.00,0.000,1030,0.000,0.032,2498,2625,3926,3998,3855,0,0,0,0,0,0,14.78,14.71,14.81
$GC,620,-0.62,-194.6,2497,2624,3998,3860,142.4,-15.4,64,626,0.00,2.35,0.00,0.000,260,0.000,0.078,2487,4028,3929,3998,3860,0,0,0,0,0,0,15.07,14.63,15.10
$GC,665,-0.62,-194.6,2487,4028,3998,3860,150.0,-17.8,73,669,0.00,2.12,0.00,0.000,1030,0.000,0.030,2488,2647,3929,3998,3860,0,0,0,0,0,0,14.85,14.80,14.88
$GC,983,-0.62,-194.6,2487,2647,3998,3861,197.3,-12.0,91,989,0.00,2.22,0.00,0.000,516,0.000,0.050,2487,1254,3929,3998,3861,0,0,0,0,0,0,15.10,14.73,15.14
$GC,1034,-0.62,-194.6,2487,1253,3998,3861,203.2,-11.7,101,1040,0.15,2.22,0.00,0.000,3078,0.237,0.053,2514,2639,3929,3998,3861,0,0,0,0,0,0,14.53,14.75,14.76
$GC,1350,-0.62,-194.6,2514,2639,3998,3861,238.2,-11.1,118,1355,0.00,2.30,0.00,0.000,260,0.000,0.080,2507,4032,3929,3997,3861,0,0,0,0,0,0,15.11,14.65,15.14
$GC,1378,-0.62,-194.6,2506,4032,3997,3861,241.5,-11.5,124,1386,0.00,2.12,0.00,0.000,1030,0.000,0.031,2507,2647,3929,3997,3861,0,0,0,0,0,0,14.90,14.84,14.92
$GC,1711,-0.62,-194.6,2506,2647,3991,3861,274.5,-9.8,134,1716,0.00,2.17,0.00,0.000,516,0.000,0.050,2507,1267,3926,3991,3861,0,0,0,0,0,0,15.13,14.73,15.16
$GC,1739,-0.62,-194.6,2506,1267,3991,3861,277.7,-11.2,140,1746,0.00,2.22,0.00,0.000,1030,0.000,0.054,2498,2650,3926,3991,3861,0,0,0,0,0,0,14.86,14.76,14.90
$GC,2071,-0.62,-194.6,2498,2650,3985,3861,308.5,-8.9,151,2076,0.00,2.20,0.00,0.000,516,0.000,0.051,2498,1268,3922,3984,3861,0,0,0,0,0,0,15.14,14.71,15.18
$GC,2095,-0.62,-194.6,2498,1268,3984,3861,310.6,-9.1,156,2102,0.00,2.25,0.00,0.000,1030,0.000,0.054,2492,2661,3922,3983,3861,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2431,-0.62,-194.6,2492,2661,3979,3861,345.6,-11.0,168,2437,0.00,2.30,0.00,0.000,260,0.000,0.083,2481,4038,3919,3978,3861,0,0,0,0,0,0,15.15,14.63,15.18
$GC,2470,-0.62,-194.6,2482,4038,3978,3861,350.5,-12.4,176,2478,0.15,2.15,0.00,0.000,3078,0.228,0.032,2517,2647,3919,3979,3860,0,0,0,0,0,0,14.53,14.83,14.76
$GC,2796,-0.62,-194.6,2517,2647,3973,3860,381.5,-9.3,185,2800,0.00,2.22,0.00,0.000,516,0.000,0.054,2517,1255,3916,3973,3860,0,0,0,0,0,0,15.13,14.74,15.16
$GC,2839,-0.62,-194.6,2517,1255,3973,3860,385.6,-7.9,193,2843,0.00,2.28,0.00,0.000,1030,0.000,0.055,2513,2657,3916,3972,3860,0,0,0,0,0,0,14.85,14.73,14.88
$GC,3164,-0.62,-194.6,2514,2658,3967,3858,411.8,-8.1,202,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2658,3912,3967,3858,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3463,-0.62,-194.6,2514,2657,3964,3855,437.3,-8.6,207,3468,0.00,2.22,0.00,0.000,516,0.000,0.054,2514,1270,3909,3963,3855,0,0,0,0,0,0,15.16,14.68,15.19
$GC,3494,-0.62,-194.6,2514,1269,3963,3855,440.1,-9.3,213,3498,0.00,2.25,0.00,0.000,1030,0.000,0.056,2508,2654,3909,3963,3855,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3828,-0.62,-194.6,2508,2654,3960,3852,472.0,-9.6,224,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2654,3907,3961,3853,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4128,-0.62,-194.6,2507,2654,3958,3851,499.8,-9.2,229,4132,0.00,2.25,0.00,0.000,516,0.000,0.054,2508,1263,3904,3958,3851,0,0,0,0,0,0,15.16,14.71,15.19
$GC,4161,-0.62,-194.6,2507,1263,3958,3851,502.7,-8.9,235,4167,0.00,2.28,0.00,0.000,1030,0.000,0.057,2500,2659,3903,3957,3850,0,0,0,0,0,0,14.83,14.71,14.87
$GC,4493,-0.62,-194.6,2499,2659,3954,3848,529.8,-8.0,246,4498,0.00,2.30,0.00,0.000,260,0.000,0.086,2489,4033,3901,3954,3848,0,0,0,0,0,0,15.15,14.56,15.18
$GC,4527,-0.62,-194.6,2489,4033,3953,3847,532.9,-9.4,253,4531,0.00,2.15,0.00,0.000,1030,0.000,0.034,2489,2659,3900,3954,3847,0,0,0,0,0,0,14.87,14.80,14.90
$GC,4859,-0.62,-194.6,2489,2659,3950,3847,561.2,-8.7,263,4864,0.00,2.25,0.00,0.000,516,0.000,0.057,2489,1254,3898,3950,3846,0,0,0,0,0,0,15.13,14.62,15.16
$GC,4903,-0.62,-194.6,2489,1253,3950,3846,565.5,-8.9,272,4910,0.15,2.30,0.00,0.000,3078,0.226,0.058,2517,2658,3898,3950,3847,0,0,0,0,0,0,14.47,14.69,14.70
$GC,5223,-0.62,-194.6,2516,2658,3948,3845,587.3,-6.8,280,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2658,3896,3948,3845,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5520,-0.62,-194.6,2516,2657,3945,3844,605.9,-6.2,285,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2658,3895,3946,3844,0,0,0,0,0,0,15.14,15.18,15.18
$GC,5820,-0.62,-194.6,2516,2658,3943,3843,624.2,-6.1,290,5826,0.00,2.28,0.00,0.000,516,0.000,0.057,2517,1260,3893,3943,3843,0,0,0,0,0,0,15.15,14.59,15.18
$GC,5844,-0.62,-194.6,2516,1260,3943,3843,625.9,-7.0,295,5850,0.00,2.30,0.00,0.000,1030,0.000,0.060,2514,2658,3892,3941,3843,0,0,0,0,0,0,14.79,14.67,14.83
$GC,6181,-0.62,-194.6,2513,2658,3941,3841,647.6,-6.6,307,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3891,3941,3841,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6480,-0.62,-194.6,2514,2658,3940,3839,668.5,-7.0,312,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2658,3889,3940,3839,0,0,0,0,0,0,15.15,15.19,15.18
$GC,6781,-0.62,-194.6,2514,2657,3938,3838,690.4,-7.3,317,6785,0.00,2.30,0.00,0.000,516,0.000,0.060,2514,1251,3888,3938,3838,0,0,0,0,0,0,15.14,14.62,15.17
$GC,6809,-0.62,-194.6,2514,1251,3938,3838,692.7,-8.4,322,6815,0.00,2.30,0.00,0.000,1030,0.000,0.063,2512,2646,3888,3938,3838,0,0,0,0,0,0,14.64,14.58,14.70
$GC,7145,-0.62,-194.6,2512,2646,3936,3836,719.5,-8.0,332,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2646,3886,3937,3836,0,0,0,0,0,0,15.14,15.18,15.18
$GC,7745,-0.62,-194.6,2512,2646,3935,3835,764.3,-7.4,337,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2646,3884,3934,3834,0,0,0,0,0,0,15.14,15.17,15.17
$GC,8346,-0.62,-194.6,2512,2646,3932,3833,809.4,-7.7,342,8351,0.00,2.28,0.00,0.000,516,0.000,0.063,2512,1254,3882,3932,3832,0,0,0,0,0,0,15.14,14.50,15.17
$GC,8400,-0.62,-194.6,2512,1254,3932,3832,814.0,-8.5,353,8404,0.00,2.35,0.00,0.000,1030,0.000,0.066,2505,2661,3881,3931,3832,0,0,0,0,0,0,14.73,14.59,14.77
$GC,9069,-0.62,-194.6,2505,2661,3929,3830,869.1,-8.3,371,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2661,3879,3929,3830,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9669,-0.62,-194.6,2505,2661,3926,3830,914.6,-7.5,376,9675,0.00,2.33,0.00,0.000,516,0.000,0.065,2505,1256,3878,3926,3830,0,0,0,0,0,0,15.14,14.45,15.17
$GC,9714,-0.62,-194.6,2504,1255,3926,3830,918.1,-7.6,385,9718,0.00,2.35,0.00,0.000,1030,0.000,0.069,2498,2647,3878,3926,3830,0,0,0,0,0,0,14.69,14.54,14.74
$GC,10396,-0.62,-194.6,2498,2647,3924,3829,966.9,-7.1,405,10401,0.00,2.33,0.00,0.000,516,0.000,0.065,2498,1256,3876,3924,3829,0,0,0,0,0,0,15.11,14.51,15.14
$GC,10431,-0.62,-194.6,2498,1255,3924,3829,969.6,-7.3,411,10436,0.00,2.35,0.00,0.000,1030,0.000,0.070,2493,2653,3876,3924,3829,0,0,0,0,0,0,14.54,14.47,14.61
$STATE,10756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10756,begin apogee
$GC,10766,-0.20,0.0,2493,2469,3923,3829,992.4,-6.9,431,10923,0.55,0.00,153.62,2.179,10246,0.183,0.000,2650,2469,3127,3058,3196,0,0,0,0,0,0,14.35,14.05,13.16
$STATE,10925,end apogee,CONTROL_FINISHED_OK
$STATE,10925,begin climb
$GC,10929,0.62,194.6,2650,2469,3056,3191,995.6,0.0,432,11101,0.80,2.58,161.30,2.119,10756,0.115,0.079,2921,1083,2329,2238,2421,0,0,0,0,0,0,14.06,13.76,12.91
$GC,11155,0.62,194.6,2920,1083,2244,2411,975.8,13.2,487,11161,0.00,2.47,0.00,0.000,1030,0.000,0.068,2921,2481,2327,2244,2411,0,0,0,0,0,0,14.10,14.00,14.13
$GC,11841,0.62,194.6,2920,2481,2251,2400,885.3,13.2,509,11845,0.00,2.45,0.00,0.000,260,0.000,0.099,2921,3880,2325,2252,2399,0,0,0,0,0,0,14.92,14.47,14.95
$GC,11949,0.62,194.6,2920,3881,2261,2389,869.3,14.4,530,11955,0.00,2.30,0.00,0.000,1030,0.000,0.056,2931,2483,2324,2260,2389,0,0,0,0,0,0,14.63,14.59,14.66
$GC,12565,0.62,194.6,2931,2483,2260,2388,786.4,13.4,538,12567,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2483,2324,2260,2388,0,0,0,0,0,0,15.02,15.06,15.05
$GC,13164,0.62,194.6,2931,2483,2259,2387,706.4,13.3,543,13170,0.00,2.45,0.00,0.000,260,0.000,0.096,2931,3880,2323,2260,2387,0,0,0,0,0,0,15.07,14.46,15.11
$GC,13219,0.62,194.6,2931,3880,2263,2381,698.5,15.2,554,13225,0.00,2.30,0.00,0.000,1030,0.000,0.056,2941,2477,2323,2264,2382,0,0,0,0,0,0,14.66,14.60,14.70
$GC,13884,0.62,194.6,2941,2476,2263,2381,602.1,14.9,577,13889,0.00,2.47,0.00,0.000,260,0.000,0.096,2941,3886,2322,2264,2381,0,0,0,0,0,0,15.09,14.50,15.13
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$GC,16428,0.62,194.6,2937,2475,2272,2376,273.1,11.7,696,16429,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2475,2324,2272,2376,0,0,0,0,0,0,15.10,15.14,15.14
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$STATE,19185,end climb,SURFACE_DEPTH_REACHED
$STATE,19185,begin surface coast
$STATE,19205,end surface coast,CONTROL_FINISHED_OK
$STATE,19206,begin surface
$SM_CCo,19291,0.00,0.000,0,0,813,567.62
$SM_GC,3.56,8.02,2.60,0.00,0.049,0.047,0.000,36,2646,813,-8.30,-1.24,567.62,0,0,0,0,0,0,14.69,14.69,14.78
$IRIDIUM_FIX,753.81,8346.80,161015,025904
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.63
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,12.91,85.054
$10V_AH,12.75,0.000
$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,21.925,148.700,579.850,0.000,0.000,0.000,0.000,202.925,0.250,0.000,33.075,629.563,15875.488,591.811,1968.729,568.346,0.000,1731.984,0.000,1360.753,0.000,0.543,0.000
$DEVICE_MAMPS,399.330,98.685,2179.485,0.000,0.000,0.000,0.000,234.855,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40051,941
$CAP_FILE_SIZE,158906,0
$CFSIZE,260034560,231067648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,90.48,1
$GPS,161015,135009,756.830,8335.314,98,99.0,138,-2.1,0.7,296.1,3,-1.0