version: 66.12
glider: 141
mission: 23
dive: 298
start: 10 23 115 17 24 29
data:
$ID,141
$MISSION,23
$DIVE,298
$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,41
$R_STBD_OVSHOOT,44
$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
$GPS1,231015,171215,802.6852,8223.7803,62,4.1,102,-2.2,0.0,282.9,5,64.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.16
$_SM_ANGLEo,-75.1
$GPS2,231015,172358,802.7417,8223.6348,11,2.0,51,-2.2,0.3,253.5,7,12.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,270.5,73873,-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,-194.6,26,2669,1048,1142,0.0,0.0,0,114,0.00,0.00,-86.57,0.000,16386,0.000,0.000,25,2669,3509,3585,3434,0,0,0,0,0,0,14.90,28.83,14.95
$GC,123,-0.62,-194.6,24,2670,3585,3436,6.5,-7.5,9,146,11.93,2.25,-5.10,0.000,18692,0.405,0.087,2496,4032,3922,3999,3846,0,0,0,0,0,0,14.23,13.79,14.49
$GC,246,-0.62,-194.6,2496,4032,3999,3850,59.8,-28.0,34,252,0.00,2.15,0.00,0.000,1030,0.000,0.034,2496,2640,3924,3999,3850,0,0,0,0,0,0,14.72,14.68,14.71
$GC,556,-0.62,-194.6,2496,2639,3999,3854,126.9,-14.4,51,562,0.00,2.17,0.00,0.000,516,0.000,0.050,2496,1256,3926,3999,3853,0,0,0,0,0,0,15.07,14.70,15.11
$GC,580,-0.62,-194.6,2496,1256,3999,3854,130.8,-16.0,56,588,0.12,2.22,0.00,0.000,3078,0.262,0.054,2513,2641,3926,3999,3854,0,0,0,0,0,0,14.51,14.73,14.75
$GC,898,-0.62,-194.6,2513,2641,3999,3856,170.6,-13.6,74,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2641,3928,3999,3857,0,0,0,0,0,0,15.12,15.16,15.15
$GC,1198,-0.62,-194.6,2513,2641,3999,3857,204.9,-9.5,89,1199,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2640,3928,3999,3857,0,0,0,0,0,0,15.14,15.18,15.17
$GC,1498,-0.62,-194.6,2512,2641,3997,3857,234.6,-10.7,104,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2641,3927,3997,3857,0,0,0,0,0,0,15.15,15.19,15.19
$GC,1837,-0.62,-194.6,2512,2641,3990,3857,271.0,-10.6,115,1842,0.00,2.30,0.00,0.000,260,0.000,0.081,2504,4032,3923,3990,3857,0,0,0,0,0,0,15.16,14.67,15.20
$GC,1862,-0.62,-194.6,2504,4032,3989,3857,273.5,-10.0,120,1868,0.00,2.15,0.00,0.000,1030,0.000,0.031,2505,2631,3923,3990,3856,0,0,0,0,0,0,14.92,14.86,14.95
$GC,2201,-0.62,-194.6,2504,2632,3983,3856,304.6,-9.2,132,2208,0.00,2.17,0.00,0.000,516,0.000,0.052,2505,1262,3920,3983,3857,0,0,0,0,0,0,15.14,14.78,15.17
$GC,2233,-0.62,-194.6,2504,1262,3983,3856,308.0,-9.3,138,2238,0.00,2.20,0.00,0.000,1030,0.000,0.053,2497,2649,3919,3982,3856,0,0,0,0,0,0,14.78,14.73,14.83
$GC,2564,-0.62,-194.6,2496,2649,3977,3857,339.6,-9.5,149,2568,0.00,2.33,0.00,0.000,260,0.000,0.081,2486,4044,3917,3977,3857,0,0,0,0,0,0,15.16,14.69,15.19
$GC,2606,-0.62,-194.6,2486,4044,3977,3857,343.8,-9.5,157,2611,0.12,2.15,0.00,0.000,3078,0.233,0.032,2515,2643,3916,3977,3856,0,0,0,0,0,0,14.57,14.85,14.78
$GC,2935,-0.62,-194.6,2514,2643,3973,3856,368.3,-7.4,166,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2643,3914,3973,3856,0,0,0,0,0,0,15.14,15.18,15.17
$GC,3231,-0.62,-194.6,2514,2643,3967,3854,390.9,-7.6,171,3237,0.00,2.22,0.00,0.000,516,0.000,0.053,2515,1241,3910,3967,3854,0,0,0,0,0,0,15.16,14.73,15.20
$GC,3275,-0.62,-194.6,2515,1242,3967,3854,394.5,-8.0,180,3282,0.00,2.28,0.00,0.000,1030,0.000,0.054,2513,2654,3910,3967,3853,0,0,0,0,0,0,14.85,14.75,14.90
$GC,3595,-0.62,-194.6,2512,2654,3963,3852,419.4,-7.9,188,3602,0.00,2.30,0.00,0.000,260,0.000,0.083,2502,4037,3907,3963,3851,0,0,0,0,0,0,15.14,14.61,15.17
$GC,3640,-0.62,-194.6,2502,4038,3963,3850,423.8,-9.4,197,3645,0.00,2.15,0.00,0.000,1030,0.000,0.034,2502,2646,3906,3963,3850,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3963,-0.62,-194.6,2501,2646,3960,3849,452.8,-9.2,205,3967,0.00,2.22,0.00,0.000,516,0.000,0.054,2502,1252,3903,3960,3847,0,0,0,0,0,0,15.14,14.73,15.17
$GC,4036,-0.62,-194.6,2501,1252,3959,3848,460.3,-9.1,219,4042,0.00,2.28,0.00,0.000,1030,0.000,0.054,2494,2660,3903,3959,3848,0,0,0,0,0,0,14.83,14.72,14.88
$GC,4387,-0.62,-194.6,2494,2660,3957,3847,493.9,-9.5,234,4393,0.00,2.30,0.00,0.000,260,0.000,0.084,2484,4035,3902,3957,3847,0,0,0,0,0,0,15.16,14.57,15.19
$GC,4451,-0.62,-194.6,2484,4035,3957,3846,500.5,-10.4,247,4458,0.12,2.15,0.00,0.000,3078,0.233,0.034,2513,2646,3901,3957,3846,0,0,0,0,0,0,14.50,14.81,14.73
$GC,4811,-0.62,-194.6,2512,2645,3951,3845,530.3,-8.3,263,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2646,3897,3950,3845,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5107,-0.62,-194.6,2513,2646,3949,3844,555.2,-8.3,268,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2646,3896,3949,3844,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5408,-0.62,-194.6,2513,2645,3948,3842,576.9,-7.1,273,5412,0.00,2.22,0.00,0.000,516,0.000,0.055,2513,1259,3894,3947,3842,0,0,0,0,0,0,15.15,14.69,15.19
$GC,5466,-0.62,-194.6,2513,1259,3948,3842,581.3,-7.4,284,5470,0.00,2.33,0.00,0.000,1030,0.000,0.057,2512,2651,3894,3947,3842,0,0,0,0,0,0,14.67,14.59,14.83
$GC,5776,-0.62,-194.6,2512,2650,3945,3840,603.1,-7.2,290,5782,0.00,2.33,0.00,0.000,260,0.000,0.086,2501,4030,3893,3945,3841,0,0,0,0,0,0,15.12,14.52,15.15
$GC,5806,-0.62,-194.6,2501,4030,3945,3839,605.8,-7.9,296,5813,0.00,2.15,0.00,0.000,1030,0.000,0.034,2501,2650,3892,3945,3839,0,0,0,0,0,0,14.85,14.78,14.88
$GC,6141,-0.62,-194.6,2501,2650,3943,3839,632.4,-8.1,307,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2650,3891,3943,3839,0,0,0,0,0,0,15.12,15.16,15.16
$GC,6438,-0.62,-194.6,2501,2650,3942,3837,660.3,-9.4,312,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2650,3889,3942,3837,0,0,0,0,0,0,15.15,15.19,15.18
$GC,6738,-0.62,-194.6,2501,2650,3941,3836,689.3,-9.7,317,6742,0.00,2.25,0.00,0.000,516,0.000,0.057,2502,1258,3888,3941,3835,0,0,0,0,0,0,15.16,14.65,15.19
$GC,6760,-0.62,-194.6,2501,1258,3940,3836,691.7,-10.1,321,6765,0.00,2.30,0.00,0.000,1030,0.000,0.060,2498,2655,3888,3940,3836,0,0,0,0,0,0,14.76,14.64,14.81
$GC,7105,-0.62,-194.6,2498,2655,3939,3835,723.2,-9.2,332,7111,0.00,2.35,0.00,0.000,260,0.000,0.091,2488,4040,3886,3939,3834,0,0,0,0,0,0,15.14,14.46,15.17
$GC,7144,-0.62,-194.6,2488,4040,3938,3834,726.9,-9.3,340,7151,0.00,2.17,0.00,0.000,1030,0.000,0.037,2489,2653,3886,3938,3834,0,0,0,0,0,0,14.82,14.74,14.85
$GC,7829,-0.62,-194.6,2488,2653,3936,3832,789.3,-9.3,361,7834,0.00,2.28,0.00,0.000,516,0.000,0.060,2488,1256,3884,3936,3832,0,0,0,0,0,0,15.11,14.61,15.14
$GC,7902,-0.62,-194.6,2488,1256,3936,3832,796.8,-9.8,375,7909,0.12,2.33,0.00,0.000,3078,0.240,0.062,2513,2650,3883,3935,3832,0,0,0,0,0,0,14.38,14.59,14.62
$GC,8557,-0.62,-194.6,2513,2650,3932,3830,842.5,-6.8,390,8562,0.00,2.38,0.00,0.000,260,0.000,0.093,2505,4033,3880,3931,3830,0,0,0,0,0,0,15.11,14.41,15.14
$GC,8587,-0.62,-194.6,2505,4033,3932,3830,844.7,-7.2,396,8593,0.00,2.20,0.00,0.000,1030,0.000,0.038,2505,2631,3881,3932,3830,0,0,0,0,0,0,14.70,14.67,14.73
$GC,9281,-0.62,-194.6,2504,2630,3930,3829,889.4,-6.4,419,9282,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2630,3879,3930,3829,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9879,-0.62,-194.6,2504,2630,3928,3829,927.0,-6.2,424,9885,0.00,2.45,0.00,0.000,260,0.000,0.096,2496,4035,3877,3927,3828,0,0,0,0,0,0,15.13,14.35,15.16
$GC,9903,-0.62,-194.6,2496,4036,3927,3828,928.7,-7.6,429,9908,0.00,2.22,0.00,0.000,1030,0.000,0.041,2496,2643,3877,3926,3828,0,0,0,0,0,0,14.76,14.67,14.79
$GC,10606,-0.62,-194.6,2496,2643,3925,3827,978.5,-7.2,453,10610,0.00,2.30,0.00,0.000,516,0.000,0.064,2496,1250,3876,3925,3827,0,0,0,0,0,0,15.10,14.52,15.14
$GC,10699,-0.62,-194.6,2496,1249,3925,3827,985.5,-7.3,471,10706,0.08,2.33,0.00,0.000,3078,0.200,0.067,2510,2640,3876,3925,3827,0,0,0,0,0,0,14.24,14.44,14.35
$STATE,10846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10847,begin apogee
$GC,10856,-0.20,0.0,2510,2458,3924,3826,994.4,-5.8,478,11015,0.47,0.00,155.40,2.217,10246,0.175,0.000,2648,2458,3126,3060,3192,0,0,0,0,0,0,14.33,14.05,13.12
$STATE,11017,end apogee,CONTROL_FINISHED_OK
$STATE,11017,begin climb
$GC,11021,0.62,194.6,2648,2457,3059,3189,997.5,0.0,479,11193,0.80,2.45,163.27,2.166,10756,0.116,0.073,2918,1088,2330,2238,2423,0,0,0,0,0,0,14.07,13.59,12.86
$GC,11248,0.62,194.6,2918,1088,2244,2412,977.8,12.6,534,11254,0.00,2.42,0.00,0.000,1030,0.000,0.064,2918,2477,2328,2244,2412,0,0,0,0,0,0,14.13,14.03,14.15
$GC,11928,0.62,194.6,2917,2477,2250,2401,896.3,11.7,555,11933,0.00,2.40,0.00,0.000,260,0.000,0.094,2918,3877,2325,2250,2401,0,0,0,0,0,0,14.95,14.47,14.98
$GC,11978,0.62,194.6,2917,3877,2259,2391,889.7,13.6,565,11982,0.00,2.28,0.00,0.000,1030,0.000,0.053,2929,2487,2325,2259,2392,0,0,0,0,0,0,14.73,14.64,14.76
$GC,12651,0.62,194.6,2928,2487,2258,2391,799.8,13.5,584,12657,0.00,2.40,0.00,0.000,260,0.000,0.093,2929,3876,2324,2258,2391,0,0,0,0,0,0,15.04,14.50,15.08
$GC,12686,0.62,194.6,2928,3876,2261,2386,794.7,14.7,591,12691,0.00,2.30,0.00,0.000,1030,0.000,0.053,2938,2466,2323,2261,2386,0,0,0,0,0,0,14.77,14.68,14.81
$GC,13372,0.62,194.6,2938,2466,2261,2386,701.3,13.4,613,13373,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2467,2323,2261,2385,0,0,0,0,0,0,15.08,15.11,15.11
$GC,13975,0.62,194.6,2938,2466,2261,2385,613.3,14.9,622,13981,0.00,2.45,0.00,0.000,260,0.000,0.091,2938,3876,2323,2261,2385,0,0,0,0,0,0,15.08,14.47,15.11
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$STATE,19577,end climb,SURFACE_DEPTH_REACHED
$STATE,19578,begin surface coast
$STATE,19597,end surface coast,CONTROL_FINISHED_OK
$STATE,19597,begin surface
$SM_CCo,19683,0.00,0.000,0,0,888,549.23
$SM_GC,3.59,8.12,2.62,0.00,0.054,0.047,0.000,41,2657,888,-8.28,-0.79,549.23,0,0,0,0,0,0,14.70,14.68,14.78
$IRIDIUM_FIX,802.52,8225.47,231015,171735
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.58
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.30
$XPDR_PINGS,2
$24V_AH,12.86,96.225
$10V_AH,12.67,0.000
$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,22.350,156.850,570.000,0.000,0.000,0.000,0.000,416.275,0.500,0.000,53.663,675.584,16127.280,587.910,2361.505,628.600,0.000,2014.821,0.000,1505.229,0.000,0.544,0.000
$DEVICE_MAMPS,404.685,95.625,2216.970,0.000,0.000,0.000,0.000,234.090,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260180
$DATA_FILE_SIZE,46769,1050
$CAP_FILE_SIZE,166818,0
$CFSIZE,260034560,229036032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,84.10,1
$GPS,231015,225515,802.988,8221.941,80,4.8,120,-2.2,0.5,328.0,5,37.1