version: 66.12
glider: 141
mission: 23
dive: 317
start: 10 28 115 3 4 8
data:
$ID,141
$MISSION,23
$DIVE,317
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,281015,025715,757.8884,8155.2520,178,99.0,218,-2.3,0.4,225.8,4,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.41
$_SM_ANGLEo,-73.2
$GPS2,281015,030334,757.8467,8155.2031,13,0.9,53,-2.3,0.3,224.2,8,7.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,327.8,21921,-14.9,-10.000,-18.74,2959
$D_GRID,2661
$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,21,begin dive
$GC,25,-0.62,-194.6,22,2656,840,969,0.0,0.0,0,114,0.00,0.00,-86.18,0.000,16386,0.000,0.000,22,2656,3316,3382,3251,0,0,0,0,0,0,14.90,28.83,14.94
$GC,123,-0.62,-194.6,22,2656,3382,3252,5.8,-5.0,9,149,11.90,2.28,-8.38,0.000,18692,0.404,0.086,2495,4043,3925,3997,3853,0,0,0,0,0,0,14.21,13.21,14.46
$GC,265,-0.62,-194.6,2494,4043,3997,3856,59.1,-29.7,38,270,0.00,2.20,0.00,0.000,1030,0.000,0.035,2495,2639,3926,3997,3856,0,0,0,0,0,0,14.77,14.69,14.79
$GC,580,-0.62,-194.6,2495,2639,3997,3860,126.1,-14.3,56,586,0.00,2.35,0.00,0.000,260,0.000,0.079,2485,4042,3928,3997,3860,0,0,0,0,0,0,15.07,14.62,15.10
$GC,642,-0.62,-194.6,2484,4042,3997,3860,136.2,-17.8,68,649,0.10,2.17,0.00,0.000,3078,0.222,0.032,2513,2633,3928,3997,3860,0,0,0,0,0,0,14.46,14.77,14.61
$GC,963,-0.62,-194.6,2513,2633,3997,3862,176.6,-11.5,87,968,0.00,2.17,0.00,0.000,516,0.000,0.050,2513,1256,3929,3997,3862,0,0,0,0,0,0,15.10,14.72,15.14
$GC,1012,-0.62,-194.6,2513,1256,3997,3862,182.5,-12.0,97,1017,0.00,2.25,0.00,0.000,1030,0.000,0.052,2506,2660,3929,3997,3862,0,0,0,0,0,0,14.85,14.75,14.89
$GC,1327,-0.62,-194.6,2506,2660,3997,3862,219.9,-10.4,114,1333,0.00,2.28,0.00,0.000,260,0.000,0.080,2496,4040,3929,3997,3862,0,0,0,0,0,0,15.12,14.66,15.15
$GC,1357,-0.62,-194.6,2495,4040,3997,3862,222.9,-9.7,120,1364,0.00,2.15,0.00,0.000,1030,0.000,0.031,2496,2640,3929,3997,3862,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1709,-0.62,-194.6,2495,2640,3991,3862,256.9,-9.6,137,1714,0.00,2.38,0.00,0.000,260,0.000,0.080,2486,4043,3926,3991,3862,0,0,0,0,0,0,15.13,14.69,15.16
$GC,1812,-0.62,-194.6,2485,4043,3990,3862,267.0,-9.4,157,1818,0.12,2.15,0.00,0.000,3078,0.236,0.033,2514,2650,3926,3991,3862,0,0,0,0,0,0,14.56,14.83,14.77
$GC,2142,-0.62,-194.6,2514,2650,3985,3862,293.1,-8.1,166,2147,0.00,2.20,0.00,0.000,516,0.000,0.052,2515,1255,3923,3984,3862,0,0,0,0,0,0,15.12,14.71,15.16
$GC,2202,-0.62,-194.6,2514,1254,3983,3862,299.1,-9.7,178,2207,0.00,2.22,0.00,0.000,1030,0.000,0.054,2513,2647,3922,3983,3862,0,0,0,0,0,0,14.75,14.71,14.84
$GC,2566,-0.62,-194.6,2512,2648,3976,3862,332.1,-9.1,195,2571,0.00,2.33,0.00,0.000,260,0.000,0.082,2502,4043,3919,3976,3862,0,0,0,0,0,0,15.12,14.64,15.15
$GC,2635,-0.62,-194.6,2501,4043,3976,3861,339.0,-9.3,209,2639,0.00,2.15,0.00,0.000,1030,0.000,0.032,2502,2650,3918,3976,3860,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2989,-0.62,-194.6,2502,2650,3971,3860,371.6,-9.3,224,2995,0.00,2.20,0.00,0.000,516,0.000,0.054,2502,1262,3915,3971,3860,0,0,0,0,0,0,15.15,14.69,15.19
$GC,3019,-0.62,-194.6,2502,1262,3971,3860,374.6,-9.3,230,3025,0.00,2.22,0.00,0.000,1030,0.000,0.056,2499,2646,3915,3971,3860,0,0,0,0,0,0,14.74,14.68,14.78
$GC,3352,-0.62,-194.6,2499,2646,3966,3859,406.9,-9.8,241,3357,0.00,2.35,0.00,0.000,260,0.000,0.083,2489,4045,3912,3966,3859,0,0,0,0,0,0,15.12,14.65,15.16
$GC,3395,-0.62,-194.6,2488,4045,3966,3856,411.9,-10.5,249,3399,0.00,2.15,0.00,0.000,1030,0.000,0.033,2488,2653,3911,3966,3857,0,0,0,0,0,0,14.88,14.81,14.90
$GC,3723,-0.62,-194.6,2488,2653,3961,3855,444.0,-9.7,258,3728,0.00,2.22,0.00,0.000,516,0.000,0.055,2489,1262,3908,3961,3855,0,0,0,0,0,0,15.12,14.67,15.15
$GC,3757,-0.62,-194.6,2488,1262,3961,3855,447.7,-9.7,265,3762,0.15,2.28,0.00,0.000,3078,0.236,0.057,2517,2659,3907,3961,3854,0,0,0,0,0,0,14.48,14.71,14.71
$GC,4091,-0.62,-194.6,2516,2659,3958,3853,471.2,-7.0,275,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2659,3906,3959,3853,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4387,-0.62,-194.6,2516,2659,3956,3852,493.0,-7.3,280,4388,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2659,3904,3956,3852,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4687,-0.62,-194.6,2517,2659,3953,3850,514.1,-6.9,285,4691,0.00,2.28,0.00,0.000,516,0.000,0.055,2517,1254,3901,3952,3850,0,0,0,0,0,0,15.15,14.69,15.18
$GC,4717,-0.62,-194.6,2517,1254,3952,3849,516.1,-7.2,290,4723,0.00,2.28,0.00,0.000,1030,0.000,0.057,2515,2646,3900,3952,3849,0,0,0,0,0,0,14.73,14.64,14.74
$GC,5056,-0.62,-194.6,2515,2646,3949,3848,538.8,-6.8,302,5062,0.00,2.35,0.00,0.000,260,0.000,0.086,2505,4032,3898,3949,3848,0,0,0,0,0,0,15.12,14.54,15.15
$GC,5110,-0.62,-194.6,2504,4032,3949,3846,543.3,-8.1,313,5116,0.00,2.22,0.00,0.000,1030,0.000,0.035,2505,2647,3898,3949,3847,0,0,0,0,0,0,14.69,14.66,14.72
$GC,5420,-0.62,-194.6,2504,2647,3948,3846,566.7,-7.7,319,5426,0.00,2.22,0.00,0.000,516,0.000,0.057,2505,1267,3896,3947,3846,0,0,0,0,0,0,15.11,14.61,15.15
$GC,5460,-0.62,-194.6,2504,1267,3947,3846,570.5,-8.3,327,5465,0.00,2.28,0.00,0.000,1030,0.000,0.060,2502,2652,3896,3947,3846,0,0,0,0,0,0,14.78,14.66,14.83
$GC,5781,-0.62,-194.6,2501,2652,3945,3845,598.5,-8.8,336,5787,0.00,2.35,0.00,0.000,260,0.000,0.089,2491,4032,3895,3945,3845,0,0,0,0,0,0,15.14,14.50,15.17
$GC,5842,-0.62,-194.6,2491,4032,3945,3844,604.5,-9.6,348,5848,0.00,2.15,0.00,0.000,1030,0.000,0.037,2491,2657,3894,3945,3844,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6206,-0.62,-194.6,2491,2657,3942,3843,638.2,-9.3,365,6213,0.00,2.28,0.00,0.000,516,0.000,0.059,2491,1257,3892,3942,3843,0,0,0,0,0,0,15.11,14.59,15.14
$GC,6257,-0.62,-194.6,2491,1258,3942,3843,643.2,-9.4,374,6262,0.00,2.30,0.00,0.000,1030,0.000,0.061,2487,2647,3892,3942,3843,0,0,0,0,0,0,14.64,14.58,14.70
$GC,6573,-0.62,-194.6,2487,2647,3941,3842,671.2,-8.9,382,6578,0.00,2.35,0.00,0.000,260,0.000,0.090,2477,4030,3891,3941,3842,0,0,0,0,0,0,15.13,14.47,15.16
$GC,6647,-0.62,-194.6,2476,4030,3940,3840,678.2,-9.6,397,6652,0.15,2.20,0.00,0.000,3078,0.223,0.038,2513,2647,3890,3940,3840,0,0,0,0,0,0,14.40,14.72,14.64
$GC,7001,-0.62,-194.6,2513,2646,3939,3840,702.1,-6.7,411,7006,0.00,2.25,0.00,0.000,516,0.000,0.060,2513,1257,3889,3938,3840,0,0,0,0,0,0,15.11,14.55,15.14
$GC,7031,-0.62,-194.6,2513,1257,3938,3840,704.4,-7.1,417,7036,0.00,2.33,0.00,0.000,1030,0.000,0.063,2513,2658,3889,3938,3840,0,0,0,0,0,0,14.74,14.62,14.78
$GC,7726,-0.62,-194.6,2513,2658,3936,3838,751.9,-6.9,440,7732,0.00,2.38,0.00,0.000,260,0.000,0.094,2503,4038,3886,3936,3837,0,0,0,0,0,0,15.13,14.43,15.16
$GC,7766,-0.62,-194.6,2503,4037,3936,3837,755.2,-8.6,448,7772,0.00,2.22,0.00,0.000,1030,0.000,0.039,2503,2642,3886,3936,3837,0,0,0,0,0,0,14.79,14.70,14.82
$GC,8451,-0.62,-194.6,2503,2642,3933,3835,812.9,-8.6,469,8455,0.00,2.30,0.00,0.000,516,0.000,0.063,2503,1245,3883,3932,3835,0,0,0,0,0,0,15.10,14.57,15.14
$GC,8489,-0.62,-194.6,2503,1245,3932,3835,816.8,-9.8,476,8495,0.00,2.35,0.00,0.000,1030,0.000,0.067,2501,2647,3883,3932,3835,0,0,0,0,0,0,14.71,14.57,14.76
$GC,9179,-0.62,-194.6,2501,2647,3931,3833,881.3,-9.5,498,9184,0.00,2.40,0.00,0.000,260,0.000,0.096,2491,4033,3881,3930,3833,0,0,0,0,0,0,15.10,14.37,15.13
$GC,9238,-0.62,-194.6,2490,4033,3930,3832,887.4,-10.1,510,9244,0.00,2.22,0.00,0.000,1030,0.000,0.042,2491,2649,3881,3930,3832,0,0,0,0,0,0,14.75,14.66,14.78
$GC,9903,-0.62,-194.6,2491,2649,3928,3831,943.7,-8.3,527,9908,0.00,2.30,0.00,0.000,516,0.000,0.067,2491,1251,3879,3927,3831,0,0,0,0,0,0,15.09,14.45,15.13
$GC,9951,-0.62,-194.6,2491,1252,3928,3831,947.9,-7.6,537,9956,0.00,2.38,0.00,0.000,1030,0.000,0.070,2488,2652,3879,3927,3831,0,0,0,0,0,0,14.66,14.51,14.71
$STATE,10621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10621,begin apogee
$GC,10632,-0.20,0.0,2488,2459,3925,3830,993.1,-6.4,556,10791,0.55,0.00,156.52,2.201,10246,0.186,0.000,2644,2459,3126,3059,3194,0,0,0,0,0,0,14.28,14.04,13.10
$STATE,10793,end apogee,CONTROL_FINISHED_OK
$STATE,10793,begin climb
$GC,10797,0.62,194.6,2644,2459,3058,3190,995.1,0.0,557,10973,0.82,2.50,164.65,2.145,10756,0.119,0.078,2917,1092,2329,2240,2419,0,0,0,0,0,0,14.05,13.73,12.82
$GC,11052,0.62,194.6,2917,1092,2246,2408,968.9,13.0,618,11056,0.00,2.42,0.00,0.000,1030,0.000,0.067,2918,2472,2326,2245,2408,0,0,0,0,0,0,14.19,14.09,14.21
$GC,11710,0.62,194.6,2917,2471,2250,2398,884.2,12.5,634,11715,0.00,2.45,0.00,0.000,260,0.000,0.097,2917,3882,2324,2251,2398,0,0,0,0,0,0,14.95,14.52,14.99
$GC,11798,0.62,194.6,2917,3881,2260,2388,872.2,13.5,651,11804,0.00,2.30,0.00,0.000,1030,0.000,0.055,2928,2485,2324,2260,2388,0,0,0,0,0,0,14.73,14.64,14.77
$GC,12435,0.62,194.6,2928,2486,2260,2388,796.5,11.8,663,12436,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2485,2323,2259,2388,0,0,0,0,0,0,15.04,15.08,15.07
$GC,13034,0.62,194.6,2928,2485,2259,2386,725.3,11.9,668,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2485,2322,2259,2386,0,0,0,0,0,0,15.08,15.11,15.11
$GC,13638,0.62,194.6,2928,2486,2259,2385,652.7,12.2,676,13643,0.00,2.42,0.00,0.000,260,0.000,0.096,2928,3876,2322,2260,2384,0,0,0,0,0,0,15.07,14.45,15.11
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$STATE,19420,end climb,SURFACE_DEPTH_REACHED
$STATE,19420,begin surface coast
$STATE,19442,end surface coast,CONTROL_FINISHED_OK
$STATE,19442,begin surface
$SM_CCo,19526,0.00,0.000,0,0,812,567.87
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$IRIDIUM_FIX,755.99,8154.97,271015,212526
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.37
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,12.82,102.898
$10V_AH,11.39,0.000
$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
$DEVICE_SECS,22.200,152.675,591.300,0.000,0.000,0.000,0.000,210.900,0.500,0.000,55.251,666.633,15882.022,603.065,2145.161,602.365,0.000,1814.328,0.000,1480.581,0.000,0.543,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.322,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271704
$DATA_FILE_SIZE,46722,1033
$CAP_FILE_SIZE,162834,0
$CFSIZE,260034560,227840000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18067.31,0x23402a,1,24
$CURRENT,0.258,168.72,1
$GPS,281015,083245,757.399,8154.743,107,99.0,147,-2.3,0.6,227.5,3,-1.0