version: 66.12
glider: 141
mission: 23
dive: 321
start: 10 29 115 1 15 32
data:
$ID,141
$MISSION,23
$DIVE,321
$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,38
$R_STBD_OVSHOOT,42
$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
$GPS1,291015,010845,757.0766,8152.5225,96,1.6,136,-2.3,0.6,275.2,5,16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-73.4
$GPS2,291015,011457,757.1247,8152.4209,12,1.7,39,-2.3,0.4,298.1,7,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,330.3,17293,-14.9,-10.000,-18.74,2959
$D_GRID,2524
$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,24,-0.62,-194.6,30,2673,710,858,0.0,0.0,0,114,0.00,0.00,-86.85,0.000,16386,0.000,0.000,29,2673,3196,3258,3134,0,0,0,0,0,0,14.90,28.83,14.92
$GC,123,-0.62,-194.6,29,2673,3258,3136,5.0,-3.6,9,154,11.82,2.33,-11.18,0.000,18692,0.400,0.093,2498,4033,3924,3994,3854,0,0,0,0,0,0,14.20,13.16,14.46
$GC,302,-0.62,-194.6,2498,4033,3994,3858,67.9,-30.5,45,306,0.00,2.20,0.00,0.000,1030,0.000,0.037,2498,2646,3926,3994,3858,0,0,0,0,0,0,14.78,14.70,14.80
$GC,625,-0.62,-194.6,2497,2645,3994,3860,137.6,-14.5,64,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2645,3927,3994,3860,0,0,0,0,0,0,15.07,15.11,15.11
$GC,926,-0.62,-194.6,2498,2645,3994,3863,175.8,-11.8,79,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2645,3928,3994,3863,0,0,0,0,0,0,15.10,15.14,15.14
$GC,1227,-0.62,-194.6,2498,2645,3994,3864,209.9,-11.5,94,1233,0.00,2.20,0.00,0.000,516,0.000,0.050,2498,1245,3928,3994,3863,0,0,0,0,0,0,15.12,14.73,15.15
$GC,1276,-0.62,-194.6,2498,1245,3994,3863,215.8,-11.0,104,1283,0.00,2.25,0.00,0.000,1030,0.000,0.052,2491,2648,3928,3994,3863,0,0,0,0,0,0,14.86,14.76,14.90
$GC,1627,-0.62,-194.6,2491,2647,3991,3863,258.1,-12.2,121,1631,0.00,2.33,0.00,0.000,260,0.000,0.080,2480,4043,3926,3990,3863,0,0,0,0,0,0,15.14,14.70,15.16
$GC,1699,-0.62,-194.6,2480,4043,3990,3863,267.1,-12.5,135,1706,0.15,2.17,0.00,0.000,3078,0.226,0.032,2516,2631,3926,3990,3863,0,0,0,0,0,0,14.54,14.83,14.77
$GC,2055,-0.62,-194.6,2516,2631,3984,3863,300.1,-9.3,150,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2632,3923,3984,3863,0,0,0,0,0,0,15.12,15.16,15.16
$GC,2351,-0.62,-194.6,2516,2631,3979,3863,327.2,-9.0,155,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2631,3921,3979,3863,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2651,-0.62,-194.6,2516,2631,3974,3863,352.0,-8.2,160,2653,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2631,3919,3974,3864,0,0,0,0,0,0,15.15,15.19,15.18
$GC,2951,-0.62,-194.6,2516,2631,3969,3861,375.8,-8.0,165,2955,0.00,2.20,0.00,0.000,516,0.000,0.053,2517,1254,3915,3969,3862,0,0,0,0,0,0,15.16,14.76,15.19
$GC,2980,-0.62,-194.6,2516,1254,3968,3862,378.2,-8.1,170,2985,0.00,2.25,0.00,0.000,1030,0.000,0.054,2514,2653,3915,3968,3862,0,0,0,0,0,0,14.75,14.69,14.80
$GC,3318,-0.62,-194.6,2514,2654,3965,3860,406.1,-8.5,182,3324,0.00,2.30,0.00,0.000,260,0.000,0.083,2504,4029,3912,3964,3860,0,0,0,0,0,0,15.13,14.61,15.16
$GC,3367,-0.62,-194.6,2503,4029,3964,3858,411.2,-9.6,192,3374,0.00,2.12,0.00,0.000,1030,0.000,0.032,2504,2653,3911,3965,3858,0,0,0,0,0,0,14.89,14.83,14.91
$GC,3682,-0.62,-194.6,2504,2653,3961,3856,439.1,-8.9,199,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2654,3908,3960,3856,0,0,0,0,0,0,15.12,15.16,15.16
$GC,3978,-0.62,-194.6,2504,2653,3959,3855,463.3,-8.1,204,3984,0.00,2.22,0.00,0.000,516,0.000,0.054,2504,1255,3906,3958,3854,0,0,0,0,0,0,15.15,14.65,15.19
$GC,4023,-0.62,-194.6,2503,1255,3958,3854,467.1,-8.2,213,4027,0.00,2.28,0.00,0.000,1030,0.000,0.057,2498,2650,3906,3958,3854,0,0,0,0,0,0,14.83,14.71,14.86
$GC,4342,-0.62,-194.6,2498,2650,3955,3852,494.0,-8.5,221,4347,0.00,2.35,0.00,0.000,260,0.000,0.084,2488,4042,3903,3955,3852,0,0,0,0,0,0,15.14,14.62,15.18
$GC,4375,-0.62,-194.6,2487,4042,3955,3851,497.2,-9.4,227,4381,0.00,2.17,0.00,0.000,1030,0.000,0.035,2487,2648,3903,3955,3851,0,0,0,0,0,0,14.86,14.79,14.89
$GC,4711,-0.62,-194.6,2487,2647,3951,3850,527.3,-9.1,238,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2648,3900,3951,3850,0,0,0,0,0,0,15.11,15.15,15.15
$GC,5006,-0.62,-194.6,2487,2647,3949,3849,552.4,-8.3,243,5011,0.00,2.22,0.00,0.000,516,0.000,0.056,2487,1261,3899,3949,3849,0,0,0,0,0,0,15.14,14.62,15.18
$GC,5045,-0.62,-194.6,2487,1262,3949,3848,555.9,-8.5,251,5052,0.15,2.28,0.00,0.000,3078,0.227,0.058,2515,2649,3899,3949,3849,0,0,0,0,0,0,14.45,14.68,14.69
$GC,5370,-0.62,-194.6,2514,2649,3947,3847,579.7,-7.5,260,5376,0.00,2.35,0.00,0.000,260,0.000,0.088,2507,4035,3896,3946,3847,0,0,0,0,0,0,15.12,14.52,15.15
$GC,5410,-0.62,-194.6,2506,4035,3946,3847,583.3,-8.5,268,5416,0.00,2.17,0.00,0.000,1030,0.000,0.036,2506,2647,3897,3947,3847,0,0,0,0,0,0,14.84,14.77,14.86
$GC,5732,-0.62,-194.6,2507,2647,3944,3846,610.2,-8.4,277,5736,0.00,2.25,0.00,0.000,516,0.000,0.058,2506,1260,3895,3944,3846,0,0,0,0,0,0,15.14,14.66,15.16
$GC,5760,-0.62,-194.6,2506,1260,3943,3846,612.6,-8.1,282,5766,0.00,2.28,0.00,0.000,1030,0.000,0.060,2501,2645,3894,3943,3846,0,0,0,0,0,0,14.66,14.61,14.71
$GC,6100,-0.62,-194.6,2500,2644,3941,3845,642.0,-8.9,294,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2645,3892,3941,3844,0,0,0,0,0,0,15.11,15.15,15.14
$GC,6397,-0.62,-194.6,2500,2644,3940,3843,669.0,-8.9,299,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2644,3892,3941,3843,0,0,0,0,0,0,15.14,15.17,15.17
$GC,6696,-0.62,-194.6,2500,2644,3939,3842,695.5,-8.8,304,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2644,3890,3939,3842,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6997,-0.62,-194.6,2500,2644,3938,3842,722.9,-9.1,307,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2644,3890,3938,3842,0,0,0,0,0,0,15.14,15.17,15.16
$GC,7596,-0.62,-194.6,2500,2644,3935,3839,773.3,-8.3,312,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2644,3887,3936,3839,0,0,0,0,0,0,15.14,15.18,15.17
$GC,8196,-0.62,-194.6,2500,2644,3932,3837,817.4,-7.3,317,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2644,3884,3932,3837,0,0,0,0,0,0,15.14,15.18,15.17
$GC,8797,-0.62,-194.6,2500,2644,3931,3836,860.2,-7.1,322,8802,0.00,2.40,0.00,0.000,260,0.000,0.096,2490,4031,3883,3930,3836,0,0,0,0,0,0,15.13,14.38,15.16
$GC,8841,-0.62,-194.6,2490,4030,3930,3835,863.5,-7.5,331,8847,0.00,2.20,0.00,0.000,1030,0.000,0.040,2490,2658,3882,3930,3835,0,0,0,0,0,0,14.76,14.67,14.79
$GC,9521,-0.62,-194.6,2490,2658,3927,3834,913.7,-7.6,351,9526,0.00,2.30,0.00,0.000,516,0.000,0.064,2490,1255,3880,3927,3833,0,0,0,0,0,0,15.10,14.47,15.13
$GC,9562,-0.62,-194.6,2490,1255,3926,3834,917.4,-8.4,359,9568,0.10,2.35,0.00,0.000,3078,0.190,0.068,2513,2652,3880,3926,3834,0,0,0,0,0,0,14.23,14.44,14.37
$GC,10246,-0.62,-194.6,2512,2652,3925,3832,966.9,-7.2,380,10251,0.00,2.42,0.00,0.000,260,0.000,0.100,2504,4038,3878,3924,3832,0,0,0,0,0,0,15.10,14.31,15.13
$GC,10311,-0.62,-194.6,2504,4037,3924,3831,972.1,-7.5,393,10315,0.00,2.25,0.00,0.000,1030,0.000,0.043,2504,2647,3877,3924,3831,0,0,0,0,0,0,14.71,14.62,14.75
$STATE,10606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10606,begin apogee
$GC,10616,-0.20,0.0,2504,2461,3924,3831,994.4,-7.5,406,10776,0.50,0.00,157.35,2.215,10246,0.176,0.000,2647,2460,3126,3059,3193,0,0,0,0,0,0,14.30,14.03,13.08
$STATE,10778,end apogee,CONTROL_FINISHED_OK
$STATE,10778,begin climb
$GC,10782,0.62,194.6,2647,2460,3058,3189,999.2,0.0,407,10957,0.85,2.50,166.35,2.149,10756,0.116,0.080,2925,1082,2329,2241,2418,0,0,0,0,0,0,14.06,13.72,12.79
$GC,10986,0.62,194.6,2925,1083,2243,2411,985.2,12.7,435,10992,0.00,2.45,0.00,0.000,1030,0.000,0.067,2925,2468,2327,2244,2411,0,0,0,0,0,0,13.95,13.90,13.99
$GC,11692,0.62,194.6,2925,2468,2251,2398,888.6,14.1,461,11696,0.00,2.47,0.00,0.000,260,0.000,0.096,2925,3891,2324,2251,2398,0,0,0,0,0,0,14.95,14.52,14.97
$GC,11795,0.62,194.6,2925,3891,2260,2388,872.6,15.4,481,11800,0.00,2.33,0.00,0.000,1030,0.000,0.054,2935,2489,2324,2260,2388,0,0,0,0,0,0,14.73,14.64,14.77
$GC,12420,0.62,194.6,2935,2489,2259,2388,778.2,15.2,490,12425,0.00,2.38,0.00,0.000,516,0.000,0.079,2946,1072,2324,2261,2387,0,0,0,0,0,0,15.04,14.54,15.08
$GC,12453,0.62,194.6,2945,1073,2261,2385,772.7,15.0,497,12459,0.15,2.40,0.00,0.000,5126,0.259,0.070,2914,2487,2322,2260,2385,0,0,0,0,0,0,14.35,14.61,14.67
$GC,13087,0.62,194.6,2913,2487,2260,2384,691.8,12.6,519,13092,0.00,2.40,0.00,0.000,260,0.000,0.097,2914,3877,2322,2261,2384,0,0,0,0,0,0,15.05,14.47,15.09
$GC,13146,0.62,194.6,2914,3877,2263,2380,683.7,12.9,531,13152,0.00,2.30,0.00,0.000,1030,0.000,0.054,2922,2469,2321,2263,2379,0,0,0,0,0,0,14.68,14.62,14.71
$GC,13507,0.62,194.6,2921,2469,2263,2380,637.9,12.9,548,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2469,2321,2263,2380,0,0,0,0,0,0,15.08,15.11,15.11
$GC,13806,0.62,194.6,2921,2469,2263,2380,598.1,13.4,553,13811,0.00,2.38,0.00,0.000,516,0.000,0.078,2932,1064,2321,2264,2379,0,0,0,0,0,0,15.10,14.57,15.13
$GC,13835,0.62,194.6,2933,1064,2264,2379,594.4,12.9,558,13840,0.00,2.40,0.00,0.000,1030,0.000,0.067,2933,2476,2322,2265,2379,0,0,0,0,0,0,14.73,14.60,14.79
$GC,14171,0.62,194.6,2932,2476,2264,2379,552.2,12.3,570,14177,0.00,2.42,0.00,0.000,260,0.000,0.095,2932,3879,2321,2264,2379,0,0,0,0,0,0,15.09,14.45,15.13
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$STATE,19094,end climb,SURFACE_DEPTH_REACHED
$STATE,19094,begin surface coast
$STATE,19118,end surface coast,CONTROL_FINISHED_OK
$STATE,19118,begin surface
$SM_CCo,19202,0.00,0.000,0,0,856,557.08
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$TT8_MAMPS,0.023219,0.023219
$HUMID,49.05
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.30
$XPDR_PINGS,3
$24V_AH,12.79,104.303
$10V_AH,12.82,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,116.400,578.375,0.000,0.000,0.000,0.000,213.825,0.750,0.000,41.499,596.962,15900.243,620.518,1890.281,559.878,0.000,1673.130,0.000,1253.471,0.000,0.542,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271716
$DATA_FILE_SIZE,36754,872
$CAP_FILE_SIZE,154443,0
$CFSIZE,260034560,227602432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257,165.72,1
$GPS,291015,063815,757.018,8151.643,77,2.3,117,-2.3,1.0,269.7,4,20.2