version: 66.12
glider: 141
mission: 23
dive: 310
start: 10 26 115 11 52 42
data:
$ID,141
$MISSION,23
$DIVE,310
$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,-2
$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,35
$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
$GPS1,261015,114304,800.0444,8203.3789,246,1.1,275,-2.3,0.1,230.4,7,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-71.2
$GPS2,261015,115211,759.9795,8203.2803,11,1.3,34,-2.3,0.5,290.0,7,9.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,303.8,36368,-14.9,-10.000,-18.74,2959
$D_GRID,3592
$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,-194.6,4,2665,381,469,0.0,0.0,0,137,0.00,0.00,-105.95,0.000,16386,0.000,0.000,1,2666,3440,3514,3367,0,0,0,0,0,0,14.89,28.83,14.92
$GC,143,-0.62,-194.6,1,2665,3514,3369,6.5,-7.0,11,169,12.30,2.30,-6.12,0.000,18948,0.413,0.063,2506,1233,3926,3998,3854,0,0,0,0,0,0,14.23,13.26,14.64
$GC,183,-0.62,-194.6,2506,1233,3997,3856,29.0,-48.0,20,187,0.00,2.35,0.00,0.000,1030,0.000,0.055,2498,2676,3927,3998,3856,0,0,0,0,0,0,14.73,14.62,14.76
$GC,492,-0.62,-194.6,2498,2676,3998,3859,115.0,-20.3,39,496,0.00,2.28,0.00,0.000,260,0.000,0.076,2488,4043,3928,3998,3859,0,0,0,0,0,0,15.03,14.66,15.06
$GC,576,-0.62,-194.6,2487,4043,3998,3860,129.6,-15.7,55,581,0.00,2.17,0.00,0.000,1030,0.000,0.033,2488,2641,3929,3998,3860,0,0,0,0,0,0,14.85,14.78,14.87
$GC,902,-0.62,-194.6,2487,2640,3998,3861,175.1,-12.7,74,908,0.00,2.33,0.00,0.000,260,0.000,0.079,2477,4036,3929,3998,3860,0,0,0,0,0,0,15.09,14.66,15.13
$GC,931,-0.62,-194.6,2477,4036,3998,3861,179.1,-12.7,80,939,0.15,2.15,0.00,0.000,3078,0.238,0.032,2513,2641,3929,3997,3861,0,0,0,0,0,0,14.54,14.83,14.79
$GC,1243,-0.62,-194.6,2512,2641,3997,3861,214.2,-11.4,97,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2641,3929,3997,3861,0,0,0,0,0,0,15.11,15.15,15.15
$GC,1543,-0.62,-194.6,2512,2641,3992,3861,243.5,-9.5,112,1549,0.00,2.17,0.00,0.000,516,0.000,0.050,2513,1260,3926,3991,3861,0,0,0,0,0,0,15.12,14.74,15.16
$GC,1604,-0.62,-194.6,2513,1260,3991,3861,249.3,-9.5,124,1609,0.00,2.20,0.00,0.000,1030,0.000,0.053,2513,2646,3926,3991,3861,0,0,0,0,0,0,14.78,14.73,14.83
$GC,1924,-0.62,-194.6,2512,2647,3984,3861,278.8,-9.2,133,1929,0.00,2.30,0.00,0.000,260,0.000,0.081,2502,4039,3922,3983,3861,0,0,0,0,0,0,15.14,14.66,15.17
$GC,1978,-0.62,-194.6,2502,4039,3983,3861,284.7,-11.3,144,1982,0.00,2.17,0.00,0.000,1030,0.000,0.031,2502,2658,3922,3983,3861,0,0,0,0,0,0,14.79,14.76,14.81
$GC,2283,-0.62,-194.6,2502,2658,3978,3861,318.9,-11.2,150,2290,0.00,2.30,0.00,0.000,260,0.000,0.080,2493,4034,3919,3978,3861,0,0,0,0,0,0,15.15,14.66,15.19
$GC,2338,-0.62,-194.6,2493,4035,3977,3860,325.3,-11.3,161,2343,0.00,2.20,0.00,0.000,1030,0.000,0.034,2493,2645,3919,3978,3861,0,0,0,0,0,0,14.78,14.74,14.81
$GC,2644,-0.62,-194.6,2493,2645,3972,3860,360.0,-11.3,167,2649,0.00,2.22,0.00,0.000,516,0.000,0.053,2493,1252,3916,3972,3860,0,0,0,0,0,0,15.15,14.76,15.19
$GC,2712,-0.62,-194.6,2493,1252,3971,3860,367.3,-10.2,180,2719,0.12,2.28,0.00,0.000,3078,0.243,0.054,2513,2662,3915,3971,3860,0,0,0,0,0,0,14.54,14.76,14.76
$GC,3073,-0.62,-194.6,2513,2662,3965,3858,393.9,-7.0,196,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2662,3911,3965,3858,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3369,-0.62,-194.6,2513,2662,3961,3855,415.8,-7.3,201,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2662,3908,3960,3856,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3669,-0.62,-194.6,2513,2662,3959,3853,440.9,-8.5,206,3670,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2662,3906,3959,3854,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3972,-0.62,-194.6,2513,2663,3956,3852,465.5,-8.1,211,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2662,3903,3956,3851,0,0,0,0,0,0,15.14,15.19,15.18
$GC,4270,-0.62,-194.6,2513,2662,3951,3850,488.0,-7.4,216,4275,0.00,2.25,0.00,0.000,516,0.000,0.055,2513,1262,3899,3950,3849,0,0,0,0,0,0,15.15,14.66,15.19
$GC,4294,-0.62,-194.6,2513,1262,3950,3849,490.1,-7.8,221,4300,0.00,2.25,0.00,0.000,1030,0.000,0.056,2510,2649,3899,3950,3849,0,0,0,0,0,0,14.83,14.72,14.87
$GC,4630,-0.62,-194.6,2510,2649,3949,3847,517.0,-8.1,233,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2648,3898,3949,3847,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4930,-0.62,-194.6,2509,2649,3947,3846,540.6,-7.9,238,4936,0.00,2.33,0.00,0.000,260,0.000,0.085,2498,4030,3895,3946,3845,0,0,0,0,0,0,15.15,14.55,15.19
$GC,4950,-0.62,-194.6,2499,4030,3946,3845,542.2,-7.9,242,4956,0.00,2.17,0.00,0.000,1030,0.000,0.035,2499,2639,3896,3947,3845,0,0,0,0,0,0,14.86,14.78,14.88
$GC,5291,-0.62,-194.6,2499,2639,3943,3844,571.1,-8.5,255,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2639,3893,3943,3844,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5592,-0.62,-194.6,2499,2639,3942,3842,597.8,-8.9,260,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2639,3892,3942,3842,0,0,0,0,0,0,15.14,15.18,15.18
$GC,5891,-0.62,-194.6,2499,2639,3940,3841,624.5,-8.9,265,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2639,3890,3941,3840,0,0,0,0,0,0,15.15,15.19,15.19
$GC,6191,-0.62,-194.6,2499,2639,3938,3840,648.5,-7.9,270,6198,0.00,2.22,0.00,0.000,516,0.000,0.058,2499,1260,3888,3937,3840,0,0,0,0,0,0,15.14,14.59,15.17
$GC,6222,-0.62,-194.6,2499,1260,3938,3840,650.9,-8.0,276,6227,0.00,2.28,0.00,0.000,1030,0.000,0.060,2498,2640,3889,3938,3840,0,0,0,0,0,0,14.66,14.61,14.71
$GC,6557,-0.62,-194.6,2498,2641,3936,3838,675.4,-7.5,287,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2640,3887,3936,3838,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6854,-0.62,-194.6,2498,2640,3935,3837,702.0,-9.1,292,6859,0.00,2.38,0.00,0.000,260,0.000,0.090,2487,4036,3886,3935,3837,0,0,0,0,0,0,15.14,14.47,15.16
$GC,6887,-0.62,-194.6,2487,4036,3935,3836,705.7,-11.0,299,6892,0.00,2.20,0.00,0.000,1030,0.000,0.038,2487,2646,3885,3935,3836,0,0,0,0,0,0,14.81,14.73,14.84
$GC,7580,-0.62,-194.6,2487,2646,3931,3834,773.4,-9.6,321,7586,0.12,2.28,0.00,0.000,2564,0.243,0.059,2521,1251,3882,3931,3834,0,0,0,0,0,0,14.44,14.53,14.54
$GC,7616,-0.62,-194.6,2521,1251,3931,3833,776.6,-7.3,328,7621,0.00,2.30,0.00,0.000,1030,0.000,0.062,2517,2647,3882,3931,3834,0,0,0,0,0,0,14.61,14.54,14.66
$GC,8304,-0.62,-194.6,2516,2647,3928,3832,819.6,-6.0,350,8310,0.00,2.40,0.00,0.000,260,0.000,0.094,2506,4042,3880,3928,3832,0,0,0,0,0,0,15.11,14.41,15.14
$GC,8359,-0.62,-194.6,2506,4042,3927,3830,823.5,-6.8,361,8365,0.00,2.20,0.00,0.000,1030,0.000,0.039,2506,2647,3879,3927,3831,0,0,0,0,0,0,14.68,14.64,14.69
$GC,9028,-0.62,-194.6,2506,2647,3925,3831,869.5,-7.0,379,9032,0.00,2.30,0.00,0.000,516,0.000,0.063,2507,1248,3877,3924,3830,0,0,0,0,0,0,15.11,14.57,15.14
$GC,9081,-0.62,-194.6,2506,1248,3925,3829,873.7,-7.7,389,9087,0.00,2.35,0.00,0.000,1030,0.000,0.066,2499,2650,3877,3924,3830,0,0,0,0,0,0,14.69,14.55,14.73
$GC,9753,-0.62,-194.6,2499,2650,3922,3829,922.7,-7.4,408,9758,0.00,2.42,0.00,0.000,260,0.000,0.098,2489,4039,3875,3922,3829,0,0,0,0,0,0,15.12,14.34,15.15
$GC,9787,-0.62,-194.6,2488,4039,3922,3829,925.7,-8.7,415,9791,0.00,2.25,0.00,0.000,1030,0.000,0.043,2489,2642,3875,3921,3830,0,0,0,0,0,0,14.74,14.65,14.77
$GC,10480,-0.62,-194.6,2489,2642,3920,3829,980.3,-7.8,437,10485,0.00,2.30,0.00,0.000,516,0.000,0.066,2489,1248,3874,3919,3829,0,0,0,0,0,0,15.09,14.43,15.12
$GC,10516,-0.62,-194.6,2488,1247,3919,3829,983.3,-7.8,444,10521,0.08,2.35,0.00,0.000,3078,0.204,0.069,2508,2647,3874,3919,3829,0,0,0,0,0,0,14.23,14.43,14.35
$STATE,10717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10717,begin apogee
$GC,10727,-0.20,0.0,2509,2466,3917,3829,996.2,-6.2,462,10886,0.47,0.00,156.12,2.232,10246,0.174,0.000,2646,2466,3126,3055,3198,0,0,0,0,0,0,14.33,14.04,13.09
$STATE,10888,end apogee,CONTROL_FINISHED_OK
$STATE,10888,begin climb
$GC,10892,0.62,194.6,2647,2466,3054,3193,999.4,0.0,463,11068,0.80,2.53,163.88,2.158,10756,0.116,0.076,2916,1092,2329,2235,2423,0,0,0,0,0,0,14.05,13.74,12.84
$GC,11136,0.62,194.6,2916,1092,2243,2412,977.1,12.8,522,11144,0.00,2.42,0.00,0.000,1030,0.000,0.066,2916,2474,2327,2242,2412,0,0,0,0,0,0,14.16,14.06,14.18
$GC,11804,0.62,194.6,2916,2474,2247,2402,887.4,13.4,540,11809,0.00,2.45,0.00,0.000,260,0.000,0.096,2916,3878,2324,2248,2401,0,0,0,0,0,0,14.94,14.52,14.97
$GC,11887,0.62,194.6,2916,3879,2257,2391,875.0,14.8,556,11891,0.00,2.28,0.00,0.000,1030,0.000,0.055,2927,2494,2324,2257,2391,0,0,0,0,0,0,14.73,14.64,14.76
$GC,12531,0.62,194.6,2926,2494,2256,2391,787.8,13.5,569,12536,0.00,2.40,0.00,0.000,516,0.000,0.080,2937,1063,2323,2256,2391,0,0,0,0,0,0,15.04,14.52,15.08
$GC,12560,0.62,194.6,2937,1063,2257,2389,783.8,13.4,575,12567,0.00,2.40,0.00,0.000,1030,0.000,0.068,2937,2479,2323,2257,2389,0,0,0,0,0,0,14.75,14.62,14.79
$GC,13251,0.62,194.6,2937,2479,2256,2388,685.4,14.3,598,13256,0.00,2.40,0.00,0.000,260,0.000,0.097,2937,3875,2322,2257,2388,0,0,0,0,0,0,15.09,14.48,15.11
$GC,13315,0.62,194.6,2937,3875,2261,2382,675.5,15.4,611,13323,0.15,2.30,0.00,0.000,5126,0.290,0.054,2917,2472,2321,2261,2382,0,0,0,0,0,0,14.31,14.68,14.64
$GC,13677,0.62,194.6,2917,2472,2261,2382,632.0,12.1,627,13683,0.00,2.35,0.00,0.000,516,0.000,0.079,2925,1068,2321,2261,2382,0,0,0,0,0,0,15.07,14.50,15.09
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$STATE,19379,end climb,SURFACE_DEPTH_REACHED
$STATE,19379,begin surface coast
$STATE,19409,end surface coast,CONTROL_FINISHED_OK
$STATE,19413,begin surface
$SM_CCo,19496,0.00,0.000,0,0,942,535.98
$SM_GC,3.48,8.00,0.28,0.00,0.046,0.095,0.000,45,2669,942,-8.28,-0.88,535.98,0,0,0,0,0,0,14.64,14.69,14.74
$IRIDIUM_FIX,755.99,8201.44,261015,114512
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.44
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,12.84,100.459
$10V_AH,11.82,0.000
$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,22.575,158.350,563.625,0.000,0.000,0.000,0.000,337.500,0.250,0.000,36.557,671.302,15928.597,597.637,2222.267,614.346,0.000,1946.378,0.000,1464.921,0.000,0.543,0.000
$DEVICE_MAMPS,413.100,97.920,2231.505,0.000,0.000,0.000,0.000,221.850,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.592,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271700
$DATA_FILE_SIZE,43475,1019
$CAP_FILE_SIZE,167076,0
$CFSIZE,260034560,228298752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,142.40,1
$GPS,261015,172014,759.660,8201.883,73,1.9,113,-2.3,0.9,210.4,7,12.3