version: 66.12
glider: 141
mission: 23
dive: 275
start: 10 18 115 13 29 2
data:
$ID,141
$MISSION,23
$DIVE,275
$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,38
$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
$GPS1,181015,132245,757.3022,8313.8877,189,2.2,229,-2.1,0.8,263.0,5,14.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-74.5
$GPS2,181015,132828,757.3364,8313.7959,15,1.0,43,-2.1,0.6,288.1,8,7.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,265.7,165766,-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,-194.6,35,2666,825,968,0.0,0.0,0,114,0.00,0.00,-86.40,0.000,16386,0.000,0.000,35,2666,3297,3361,3234,0,0,0,0,0,0,14.90,28.83,14.94
$GC,123,-0.62,-194.6,35,2666,3361,3235,5.6,-4.7,9,149,11.62,2.30,-9.00,0.000,18948,0.397,0.071,2505,1231,3924,3995,3853,0,0,0,0,0,0,14.26,13.30,14.51
$GC,299,-0.62,-194.6,2504,1231,3995,3859,65.4,-27.2,45,304,0.00,2.28,0.00,0.000,1030,0.000,0.056,2497,2637,3927,3995,3859,0,0,0,0,0,0,14.76,14.66,14.79
$GC,618,-0.62,-194.6,2497,2637,3995,3861,140.7,-19.1,63,623,0.00,2.30,0.00,0.000,260,0.000,0.076,2486,4031,3927,3995,3860,0,0,0,0,0,0,15.07,14.64,15.10
$GC,722,-0.62,-194.6,2486,4031,3995,3862,157.0,-13.7,84,730,0.12,2.15,0.00,0.000,3078,0.261,0.031,2513,2629,3928,3995,3862,0,0,0,0,0,0,14.50,14.81,14.74
$GC,1040,-0.62,-194.6,2513,2629,3995,3864,191.7,-10.5,102,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2629,3929,3995,3864,0,0,0,0,0,0,15.10,15.14,15.14
$GC,1339,-0.62,-194.6,2512,2629,3994,3864,223.5,-10.5,117,1343,0.00,2.15,0.00,0.000,516,0.000,0.049,2513,1265,3929,3994,3864,0,0,0,0,0,0,15.12,14.78,15.16
$GC,1388,-0.62,-194.6,2512,1266,3994,3864,228.8,-10.7,126,1393,0.00,2.20,0.00,0.000,1030,0.000,0.052,2507,2652,3929,3994,3864,0,0,0,0,0,0,14.78,14.73,14.83
$GC,1723,-0.62,-194.6,2507,2652,3990,3864,263.4,-10.0,141,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2652,3927,3990,3864,0,0,0,0,0,0,15.14,15.17,15.17
$GC,2023,-0.62,-194.6,2507,2652,3984,3864,293.5,-10.1,146,2028,0.00,2.30,0.00,0.000,260,0.000,0.080,2497,4039,3923,3983,3864,0,0,0,0,0,0,15.15,14.66,15.19
$GC,2051,-0.62,-194.6,2496,4039,3983,3864,296.8,-10.8,152,2058,0.00,2.15,0.00,0.000,1030,0.000,0.031,2496,2650,3923,3983,3864,0,0,0,0,0,0,14.91,14.85,14.93
$GC,2387,-0.62,-194.6,2496,2650,3978,3864,329.9,-9.8,163,2392,0.00,2.22,0.00,0.000,516,0.000,0.051,2497,1249,3921,3978,3864,0,0,0,0,0,0,15.13,14.76,15.16
$GC,2416,-0.62,-194.6,2496,1249,3977,3864,333.3,-9.7,169,2420,0.00,2.25,0.00,0.000,1030,0.000,0.053,2489,2650,3921,3978,3864,0,0,0,0,0,0,14.87,14.76,14.90
$GC,2750,-0.62,-194.6,2488,2650,3972,3862,365.9,-9.8,180,2756,0.00,2.30,0.00,0.000,260,0.000,0.081,2478,4035,3917,3972,3862,0,0,0,0,0,0,15.15,14.64,15.19
$GC,2810,-0.62,-194.6,2478,4036,3972,3860,372.0,-10.3,192,2817,0.10,2.12,0.00,0.000,3078,0.206,0.033,2508,2646,3916,3973,3860,0,0,0,0,0,0,14.47,14.78,14.61
$GC,3175,-0.62,-194.6,2507,2646,3966,3860,402.5,-8.5,209,3179,0.00,2.22,0.00,0.000,516,0.000,0.054,2508,1262,3913,3966,3860,0,0,0,0,0,0,15.14,14.74,15.16
$GC,3208,-0.62,-194.6,2508,1262,3966,3860,406.0,-9.3,215,3216,0.00,2.25,0.00,0.000,1030,0.000,0.054,2506,2653,3912,3965,3860,0,0,0,0,0,0,14.85,14.74,14.88
$GC,3541,-0.62,-194.6,2506,2653,3961,3856,436.8,-9.4,226,3551,0.00,2.33,0.00,0.000,260,0.000,0.083,2496,4040,3908,3961,3856,0,0,0,0,0,0,15.14,14.60,15.19
$GC,3600,-0.62,-194.6,2495,4039,3960,3854,442.7,-9.6,237,3605,0.00,2.20,0.00,0.000,1030,0.000,0.034,2496,2657,3907,3960,3854,0,0,0,0,0,0,14.75,14.71,14.78
$GC,3910,-0.62,-194.6,2495,2657,3958,3854,470.6,-9.1,243,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2657,3906,3958,3854,0,0,0,0,0,0,15.12,15.16,15.16
$GC,4206,-0.62,-194.6,2495,2657,3955,3852,498.0,-9.1,248,4212,0.00,2.25,0.00,0.000,516,0.000,0.055,2496,1251,3903,3955,3852,0,0,0,0,0,0,15.15,14.66,15.19
$GC,4256,-0.62,-194.6,2495,1251,3954,3852,502.6,-9.6,258,4262,0.00,2.25,0.00,0.000,1030,0.000,0.055,2489,2645,3902,3953,3852,0,0,0,0,0,0,14.71,14.66,14.76
$GC,4570,-0.62,-194.6,2488,2645,3950,3849,529.9,-8.8,265,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2645,3900,3951,3849,0,0,0,0,0,0,15.12,15.16,15.16
$GC,4867,-0.62,-194.6,2488,2645,3949,3848,558.4,-9.6,270,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2645,3898,3949,3848,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5167,-0.62,-194.6,2488,2645,3947,3847,590.7,-10.8,275,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2645,3897,3947,3847,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5466,-0.62,-194.6,2488,2645,3945,3845,621.9,-10.3,280,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2645,3895,3945,3845,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5767,-0.62,-194.6,2488,2645,3943,3844,651.7,-9.9,285,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2645,3893,3942,3844,0,0,0,0,0,0,15.14,15.18,15.18
$GC,6069,-0.62,-194.6,2489,2645,3941,3843,680.1,-9.5,290,6074,0.00,2.38,0.00,0.000,260,0.000,0.090,2478,4037,3891,3940,3843,0,0,0,0,0,0,15.14,14.49,15.17
$GC,6098,-0.62,-194.6,2477,4037,3940,3843,683.4,-10.0,296,6105,0.15,2.20,0.00,0.000,3078,0.223,0.037,2514,2643,3891,3940,3842,0,0,0,0,0,0,14.44,14.76,14.67
$GC,6435,-0.62,-194.6,2514,2644,3937,3842,710.1,-8.0,306,6440,0.00,2.25,0.00,0.000,516,0.000,0.059,2514,1255,3890,3938,3842,0,0,0,0,0,0,15.11,14.60,15.15
$GC,6465,-0.62,-194.6,2514,1255,3938,3842,712.9,-8.1,312,6471,0.00,2.30,0.00,0.000,1030,0.000,0.060,2513,2658,3890,3938,3842,0,0,0,0,0,0,14.65,14.59,14.70
$GC,7160,-0.62,-194.6,2513,2657,3935,3838,765.7,-7.6,335,7165,0.00,2.38,0.00,0.000,260,0.000,0.093,2503,4040,3886,3935,3838,0,0,0,0,0,0,15.11,14.45,15.15
$GC,7183,-0.62,-194.6,2502,4040,3935,3838,767.8,-7.6,340,7190,0.00,2.20,0.00,0.000,1030,0.000,0.038,2503,2653,3886,3935,3837,0,0,0,0,0,0,14.81,14.73,14.84
$GC,7883,-0.62,-194.6,2502,2653,3931,3836,817.4,-7.0,364,7889,0.00,2.28,0.00,0.000,516,0.000,0.062,2503,1260,3883,3931,3836,0,0,0,0,0,0,15.11,14.52,15.14
$GC,7923,-0.62,-194.6,2502,1260,3931,3836,820.6,-7.3,372,7929,0.00,2.33,0.00,0.000,1030,0.000,0.064,2498,2653,3883,3931,3836,0,0,0,0,0,0,14.73,14.60,14.78
$GC,8604,-0.62,-194.6,2498,2653,3929,3833,871.9,-7.7,393,8608,0.00,2.40,0.00,0.000,260,0.000,0.095,2487,4036,3880,3928,3833,0,0,0,0,0,0,15.14,14.47,15.16
$GC,8627,-0.62,-194.6,2487,4036,3927,3832,873.8,-7.8,397,8631,0.00,2.22,0.00,0.000,1030,0.000,0.041,2487,2647,3880,3929,3832,0,0,0,0,0,0,14.78,14.69,14.81
$GC,9336,-0.62,-194.6,2487,2648,3925,3832,929.4,-7.9,422,9341,0.00,2.30,0.00,0.000,516,0.000,0.065,2488,1251,3878,3925,3831,0,0,0,0,0,0,15.10,14.47,15.13
$GC,9359,-0.62,-194.6,2487,1252,3925,3832,931.8,-8.1,427,9366,0.15,2.35,0.00,0.000,3078,0.230,0.067,2515,2647,3878,3925,3832,0,0,0,0,0,0,14.35,14.57,14.59
$GC,10060,-0.62,-194.6,2515,2648,3922,3831,978.2,-6.7,451,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2648,3877,3923,3831,0,0,0,0,0,0,15.10,15.14,15.14
$STATE,10291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10291,begin apogee
$GC,10301,-0.20,0.0,2516,2467,3921,3830,995.2,-6.9,453,10457,0.45,0.00,153.35,2.195,10246,0.177,0.000,2647,2467,3126,3058,3195,0,0,0,0,0,0,14.36,14.05,13.16
$STATE,10459,end apogee,CONTROL_FINISHED_OK
$STATE,10459,begin climb
$GC,10464,0.62,194.6,2647,2467,3058,3191,1000.4,0.0,454,10634,0.82,2.47,161.10,2.135,10756,0.122,0.075,2922,1089,2329,2238,2421,0,0,0,0,0,0,14.06,13.61,12.93
$GC,10688,0.62,194.6,2921,1090,2244,2411,984.5,12.0,508,10695,0.00,2.45,0.00,0.000,1030,0.000,0.066,2922,2479,2327,2244,2410,0,0,0,0,0,0,14.09,14.02,14.11
$GC,11376,0.62,194.6,2921,2479,2250,2399,895.4,13.1,530,11382,0.00,2.42,0.00,0.000,260,0.000,0.097,2922,3880,2324,2251,2398,0,0,0,0,0,0,14.92,14.46,14.95
$GC,11450,0.62,194.6,2922,3880,2259,2389,884.2,15.3,545,11454,0.00,2.30,0.00,0.000,1030,0.000,0.054,2932,2487,2324,2260,2388,0,0,0,0,0,0,14.71,14.62,14.74
$GC,12099,0.62,194.6,2932,2487,2259,2388,791.4,14.4,559,12104,0.00,2.38,0.00,0.000,516,0.000,0.079,2942,1071,2324,2260,2388,0,0,0,0,0,0,15.03,14.52,15.07
$GC,12142,0.62,194.6,2942,1071,2260,2386,784.9,14.3,568,12149,0.00,2.38,0.00,0.000,1030,0.000,0.069,2943,2477,2323,2261,2386,0,0,0,0,0,0,14.73,14.60,14.78
$GC,12759,0.62,194.6,2942,2477,2260,2385,690.7,15.3,588,12765,0.00,2.42,0.00,0.000,260,0.000,0.099,2943,3876,2322,2260,2384,0,0,0,0,0,0,15.07,14.47,15.10
$GC,12834,0.62,194.6,2942,3876,2263,2379,678.5,16.7,603,12840,0.17,2.30,0.00,0.000,5126,0.287,0.054,2916,2475,2321,2264,2379,0,0,0,0,0,0,14.28,14.66,14.63
$GC,13184,0.62,194.6,2916,2475,2264,2378,635.1,12.2,617,13189,0.00,2.38,0.00,0.000,516,0.000,0.078,2925,1069,2321,2264,2379,0,0,0,0,0,0,15.06,14.56,15.09
$GC,13207,0.62,194.6,2924,1069,2264,2379,631.7,11.9,621,13212,0.00,2.38,0.00,0.000,1030,0.000,0.067,2925,2480,2321,2264,2379,0,0,0,0,0,0,14.73,14.60,14.79
$GC,13552,0.62,194.6,2925,2480,2264,2379,590.3,12.0,634,13557,0.00,2.42,0.00,0.000,260,0.000,0.098,2925,3877,2321,2264,2379,0,0,0,0,0,0,15.09,14.45,15.12
$GC,13616,0.62,194.6,2925,3877,2266,2377,581.5,14.0,647,13622,0.00,2.30,0.00,0.000,1030,0.000,0.053,2935,2473,2321,2266,2377,0,0,0,0,0,0,14.76,14.66,14.81
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$GC,15690,0.62,194.6,2926,3878,2271,2375,324.1,13.0,730,15696,0.00,2.30,0.00,0.000,1030,0.000,0.050,2937,2466,2323,2271,2375,0,0,0,0,0,0,14.76,14.67,14.81
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$STATE,18806,end climb,SURFACE_DEPTH_REACHED
$STATE,18806,begin surface coast
$STATE,18826,end surface coast,CONTROL_FINISHED_OK
$STATE,18826,begin surface
$SM_CCo,18912,0.00,0.000,0,0,991,524.21
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$IRIDIUM_FIX,753.81,8316.26,181015,075247
$TT8_MAMPS,0.021721,0.021721
$HUMID,47.20
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,23.80
$XPDR_PINGS,4
$24V_AH,12.93,88.370
$10V_AH,12.73,0.000
$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
$DEVICE_SECS,21.825,134.725,548.375,0.000,0.000,0.000,0.000,183.225,1.000,0.000,45.928,633.254,15446.403,577.456,2023.432,567.460,0.000,1700.631,0.000,1420.071,0.000,0.543,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260228
$DATA_FILE_SIZE,43522,985
$CAP_FILE_SIZE,154765,0
$CFSIZE,260034560,230465536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3543.36,0x2139c6,0,24
$CURRENT,0.037,352.45,1
$GPS,181015,184709,758.157,8311.301,91,1.4,131,-2.1,0.5,297.2,6,10.1