version: 66.12
glider: 141
mission: 23
dive: 315
start: 10 27 115 15 51 3
data:
$ID,141
$MISSION,23
$DIVE,315
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,271015,154416,758.7907,8156.9673,133,1.8,173,-2.3,0.3,194.2,4,13.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-73.3
$GPS2,271015,155028,758.7450,8156.8911,33,1.4,43,-2.3,0.9,263.4,6,9.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,314.6,24760,-14.9,-10.000,-18.74,2959
$D_GRID,2859
$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,-194.6,24,2657,1002,1105,0.0,0.0,0,104,0.00,0.00,-76.40,0.000,16386,0.000,0.000,24,2657,3151,3212,3090,0,0,0,0,0,0,14.90,28.83,14.94
$GC,113,-0.62,-194.6,24,2657,3212,3092,5.0,-3.8,8,145,11.98,2.33,-11.88,0.000,18948,0.405,0.071,2508,1235,3924,3992,3856,0,0,0,0,0,0,14.21,13.20,14.46
$GC,163,-0.62,-194.6,2507,1235,3992,3860,24.6,-39.5,18,169,0.00,2.28,0.00,0.000,1030,0.000,0.056,2500,2644,3926,3992,3860,0,0,0,0,0,0,14.64,14.59,14.68
$GC,483,-0.62,-194.6,2499,2644,3992,3861,113.2,-19.5,39,489,0.00,2.33,0.00,0.000,260,0.000,0.076,2489,4043,3927,3992,3862,0,0,0,0,0,0,15.03,14.62,15.06
$GC,564,-0.62,-194.6,2488,4043,3992,3862,128.3,-15.9,55,570,0.00,2.17,0.00,0.000,1030,0.000,0.031,2489,2630,3927,3992,3862,0,0,0,0,0,0,14.84,14.78,14.85
$GC,885,-0.62,-194.6,2488,2629,3993,3866,179.8,-14.8,74,890,0.00,2.35,0.00,0.000,260,0.000,0.078,2478,4039,3929,3992,3866,0,0,0,0,0,0,15.10,14.63,15.14
$GC,974,-0.62,-194.6,2478,4039,3992,3866,191.5,-12.5,92,979,0.15,2.15,0.00,0.000,3078,0.237,0.031,2514,2642,3929,3992,3866,0,0,0,0,0,0,14.52,14.81,14.78
$GC,1290,-0.62,-194.6,2513,2641,3992,3866,223.1,-9.8,109,1295,0.00,2.17,0.00,0.000,516,0.000,0.050,2514,1257,3929,3992,3866,0,0,0,0,0,0,15.11,14.72,15.15
$GC,1390,-0.62,-194.6,2514,1257,3992,3866,232.7,-9.6,129,1396,0.00,2.22,0.00,0.000,1030,0.000,0.053,2512,2654,3929,3991,3867,0,0,0,0,0,0,14.77,14.71,14.81
$GC,1750,-0.62,-194.6,2512,2654,3988,3866,271.6,-11.2,144,1754,0.00,2.33,0.00,0.000,260,0.000,0.080,2501,4041,3927,3988,3866,0,0,0,0,0,0,15.14,14.69,15.17
$GC,1882,-0.62,-194.6,2501,4040,3988,3865,287.0,-11.6,170,1888,0.00,2.15,0.00,0.000,1030,0.000,0.032,2501,2645,3927,3988,3866,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2234,-0.62,-194.6,2501,2645,3981,3866,326.6,-11.2,185,2240,0.00,2.22,0.00,0.000,516,0.000,0.052,2501,1254,3923,3981,3866,0,0,0,0,0,0,15.14,14.76,15.18
$GC,2295,-0.62,-194.6,2501,1254,3981,3866,333.3,-10.5,197,2300,0.00,2.25,0.00,0.000,1030,0.000,0.054,2498,2659,3923,3980,3866,0,0,0,0,0,0,14.76,14.70,14.81
$GC,2655,-0.62,-194.6,2498,2659,3974,3865,368.5,-9.5,214,2660,0.00,2.28,0.00,0.000,260,0.000,0.081,2487,4030,3919,3974,3865,0,0,0,0,0,0,15.15,14.62,15.18
$GC,2739,-0.62,-194.6,2487,4030,3974,3862,376.7,-9.5,231,2746,0.00,2.12,0.00,0.000,1030,0.000,0.033,2488,2649,3918,3974,3862,0,0,0,0,0,0,14.81,14.78,14.83
$GC,3078,-0.62,-194.6,2487,2648,3969,3862,407.0,-8.9,243,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2649,3915,3969,3861,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3376,-0.62,-194.6,2487,2649,3965,3860,436.0,-9.8,248,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2649,3912,3965,3860,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3675,-0.62,-194.6,2487,2648,3961,3859,466.0,-10.0,253,3680,0.00,2.22,0.00,0.000,516,0.000,0.055,2487,1256,3909,3960,3859,0,0,0,0,0,0,15.15,14.66,15.19
$GC,3715,-0.62,-194.6,2487,1256,3961,3859,470.2,-10.0,261,3721,0.10,2.28,0.00,0.000,3078,0.197,0.056,2509,2657,3909,3960,3859,0,0,0,0,0,0,14.43,14.69,14.57
$GC,4039,-0.62,-194.6,2509,2657,3958,3856,496.8,-8.3,270,4045,0.00,2.33,0.00,0.000,260,0.000,0.085,2501,4033,3906,3958,3855,0,0,0,0,0,0,15.13,14.57,15.16
$GC,4074,-0.62,-194.6,2501,4033,3957,3855,500.1,-8.9,277,4080,0.00,2.15,0.00,0.000,1030,0.000,0.034,2501,2645,3906,3958,3855,0,0,0,0,0,0,14.78,14.76,14.81
$GC,4403,-0.62,-194.6,2501,2645,3955,3853,529.6,-9.1,287,4409,0.00,2.22,0.00,0.000,516,0.000,0.056,2501,1258,3903,3954,3853,0,0,0,0,0,0,15.12,14.66,15.15
$GC,4443,-0.62,-194.6,2500,1258,3954,3853,533.6,-8.7,295,4449,0.00,2.28,0.00,0.000,1030,0.000,0.057,2493,2650,3903,3953,3853,0,0,0,0,0,0,14.81,14.69,14.85
$GC,4764,-0.62,-194.6,2491,2650,3950,3851,562.0,-8.9,304,4768,0.00,2.38,0.00,0.000,260,0.000,0.086,2483,4042,3901,3950,3852,0,0,0,0,0,0,15.14,14.59,15.18
$GC,4797,-0.62,-194.6,2482,4042,3950,3850,565.1,-9.5,310,4803,0.12,2.17,0.00,0.000,3078,0.228,0.036,2512,2649,3900,3950,3850,0,0,0,0,0,0,14.49,14.78,14.71
$GC,5132,-0.62,-194.6,2512,2649,3948,3849,589.8,-7.3,321,5138,0.00,2.25,0.00,0.000,516,0.000,0.058,2512,1256,3898,3948,3849,0,0,0,0,0,0,15.11,14.60,15.15
$GC,5172,-0.62,-194.6,2512,1256,3948,3849,593.2,-7.7,329,5177,0.00,2.28,0.00,0.000,1030,0.000,0.060,2512,2645,3898,3947,3850,0,0,0,0,0,0,14.67,14.61,14.72
$GC,5496,-0.62,-194.6,2511,2644,3946,3848,616.0,-7.1,338,5501,0.00,2.38,0.00,0.000,260,0.000,0.089,2501,4040,3897,3946,3848,0,0,0,0,0,0,15.11,14.50,15.14
$GC,5545,-0.62,-194.6,2501,4040,3945,3847,619.9,-7.6,348,5550,0.00,2.20,0.00,0.000,1030,0.000,0.037,2501,2643,3896,3946,3847,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5864,-0.62,-194.6,2501,2643,3943,3846,643.4,-7.5,355,5870,0.00,2.22,0.00,0.000,516,0.000,0.059,2501,1264,3894,3943,3846,0,0,0,0,0,0,15.11,14.58,15.14
$GC,5899,-0.62,-194.6,2501,1264,3943,3847,646.6,-8.7,362,5904,0.00,2.30,0.00,0.000,1030,0.000,0.062,2494,2657,3894,3943,3846,0,0,0,0,0,0,14.77,14.64,14.81
$GC,6227,-0.62,-194.6,2494,2657,3941,3845,673.3,-8.3,372,6232,0.00,2.30,0.00,0.000,516,0.000,0.059,2494,1255,3893,3941,3845,0,0,0,0,0,0,15.11,14.64,15.14
$GC,6256,-0.62,-194.6,2494,1255,3941,3845,675.9,-9.0,377,6262,0.00,2.33,0.00,0.000,1030,0.000,0.063,2487,2652,3893,3941,3845,0,0,0,0,0,0,14.64,14.57,14.69
$GC,6596,-0.62,-194.6,2487,2652,3939,3843,704.7,-8.6,389,6601,0.00,2.38,0.00,0.000,260,0.000,0.091,2477,4037,3891,3939,3843,0,0,0,0,0,0,15.11,14.47,15.14
$GC,6670,-0.62,-194.6,2476,4038,3939,3842,711.9,-9.2,404,6675,0.15,2.20,0.00,0.000,3078,0.219,0.039,2514,2650,3890,3939,3842,0,0,0,0,0,0,14.41,14.71,14.64
$GC,7323,-0.62,-194.6,2513,2650,3937,3841,754.3,-6.4,418,7329,0.00,2.28,0.00,0.000,516,0.000,0.062,2514,1256,3888,3936,3841,0,0,0,0,0,0,15.11,14.53,15.14
$GC,7372,-0.62,-194.6,2514,1256,3936,3841,757.7,-6.2,428,7377,0.00,2.33,0.00,0.000,1030,0.000,0.065,2513,2649,3888,3936,3841,0,0,0,0,0,0,14.73,14.59,14.77
$GC,8047,-0.62,-194.6,2512,2649,3932,3839,799.6,-6.3,447,8053,0.00,2.38,0.00,0.000,260,0.000,0.095,2502,4034,3885,3932,3839,0,0,0,0,0,0,15.12,14.41,15.16
$GC,8092,-0.62,-194.6,2502,4033,3932,3838,803.1,-7.7,456,8096,0.00,2.20,0.00,0.000,1030,0.000,0.039,2502,2655,3885,3932,3838,0,0,0,0,0,0,14.78,14.69,14.81
$GC,8774,-0.62,-194.6,2502,2655,3930,3837,857.3,-8.0,476,8778,0.00,2.33,0.00,0.000,516,0.000,0.064,2503,1248,3883,3929,3837,0,0,0,0,0,0,15.10,14.55,15.14
$GC,8818,-0.62,-194.6,2502,1248,3930,3837,861.1,-8.7,484,8822,0.00,2.38,0.00,0.000,1030,0.000,0.069,2498,2657,3883,3930,3837,0,0,0,0,0,0,14.69,14.54,14.73
$GC,9506,-0.62,-194.6,2499,2657,3927,3835,913.4,-7.6,505,9511,0.00,2.40,0.00,0.000,260,0.000,0.099,2488,4038,3881,3927,3835,0,0,0,0,0,0,15.10,14.35,15.13
$GC,9534,-0.62,-194.6,2488,4038,3927,3834,916.1,-8.3,511,9541,0.00,2.25,0.00,0.000,1030,0.000,0.043,2488,2645,3880,3927,3834,0,0,0,0,0,0,14.73,14.64,14.78
$GC,10230,-0.62,-194.6,2487,2645,3924,3834,966.5,-7.1,534,10235,0.00,2.33,0.00,0.000,516,0.000,0.068,2488,1246,3879,3924,3834,0,0,0,0,0,0,15.09,14.42,15.12
$GC,10264,-0.62,-194.6,2488,1246,3924,3834,969.3,-7.2,541,10270,0.10,2.38,0.00,0.000,3078,0.192,0.072,2515,2654,3879,3924,3834,0,0,0,0,0,0,14.23,14.43,14.36
$STATE,10706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10706,begin apogee
$GC,10717,-0.20,0.0,2515,2461,3923,3833,991.9,-5.0,561,10876,0.45,0.00,156.80,2.206,10246,0.172,0.000,2647,2460,3126,3059,3194,0,0,0,0,0,0,14.33,14.03,13.08
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10882,0.62,194.6,2647,2460,3058,3191,994.6,0.0,562,11056,0.80,2.47,164.57,2.149,10756,0.116,0.079,2918,1090,2330,2241,2420,0,0,0,0,0,0,14.04,13.72,12.81
$GC,11110,0.62,194.6,2917,1090,2246,2410,974.5,13.0,618,11116,0.00,2.45,0.00,0.000,1030,0.000,0.068,2917,2471,2328,2246,2410,0,0,0,0,0,0,14.09,13.99,14.12
$GC,11791,0.62,194.6,2917,2472,2252,2398,891.6,11.8,639,11797,0.00,2.42,0.00,0.000,260,0.000,0.098,2917,3877,2325,2253,2397,0,0,0,0,0,0,14.94,14.45,14.97
$GC,11881,0.62,194.6,2917,3877,2261,2389,879.8,12.9,657,11887,0.00,2.28,0.00,0.000,1030,0.000,0.056,2928,2492,2324,2261,2387,0,0,0,0,0,0,14.65,14.60,14.69
$GC,12512,0.62,194.6,2927,2492,2260,2388,803.5,12.1,668,12517,0.00,2.42,0.00,0.000,516,0.000,0.082,2938,1062,2324,2261,2388,0,0,0,0,0,0,15.04,14.58,15.07
$GC,12545,0.62,194.6,2938,1061,2261,2386,799.1,12.9,674,12551,0.00,2.40,0.00,0.000,1030,0.000,0.070,2938,2481,2324,2262,2386,0,0,0,0,0,0,14.73,14.61,14.79
$GC,13237,0.62,194.6,2938,2481,2261,2386,700.8,14.6,697,13242,0.00,2.40,0.00,0.000,260,0.000,0.097,2939,3873,2323,2262,2385,0,0,0,0,0,0,15.07,14.47,15.11
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$GC,15477,0.62,194.6,2923,2473,2271,2375,427.3,11.0,822,15478,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2474,2323,2271,2376,0,0,0,0,0,0,15.10,15.14,15.14
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$STATE,19551,end climb,SURFACE_DEPTH_REACHED
$STATE,19551,begin surface coast
$STATE,19572,end surface coast,CONTROL_FINISHED_OK
$STATE,19572,begin surface
$SM_CCo,19658,0.00,0.000,0,0,1035,513.41
$SM_GC,3.57,8.10,2.62,0.00,0.055,0.053,0.000,39,2653,1035,-8.30,-0.88,513.41,0,0,0,0,0,0,14.68,14.66,14.77
$IRIDIUM_FIX,753.81,8157.12,271015,100744
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.66
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.10
$XPDR_PINGS,3
$24V_AH,12.81,102.189
$10V_AH,11.78,0.000
$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,22.375,172.025,548.925,0.000,0.000,0.000,0.000,208.875,0.750,0.000,46.102,722.856,15781.515,567.211,2327.066,624.568,0.000,1863.560,0.000,1671.573,0.000,0.542,0.000
$DEVICE_MAMPS,404.685,99.450,2206.260,0.000,0.000,0.000,0.000,244.035,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271712
$DATA_FILE_SIZE,50073,1165
$CAP_FILE_SIZE,164675,0
$CFSIZE,260034560,227966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.329,162.06,1
$GPS,271015,212102,757.699,8156.291,58,2.3,98,-2.3,0.5,246.3,5,16.7