version: 66.12
glider: 141
mission: 23
dive: 327
start: 10 30 115 11 1 38
data:
$ID,141
$MISSION,23
$DIVE,327
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,301015,105439,756.2340,8150.1919,183,1.4,223,-2.3,0.3,48.8,5,13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.32
$_SM_ANGLEo,-72.3
$GPS2,301015,110103,756.2514,8150.2207,14,1.5,35,-2.3,0.4,87.1,8,8.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,325.5,14226,-14.9,-10.000,-18.74,2959
$D_GRID,2021
$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,-194.6,25,2659,557,696,0.0,0.0,0,127,0.00,0.00,-96.60,0.000,16386,0.000,0.000,25,2660,3328,3392,3265,0,0,0,0,0,0,14.89,28.83,14.92
$GC,133,-0.62,-194.6,25,2660,3392,3266,5.8,-4.9,10,159,11.95,2.30,-8.10,0.000,18692,0.404,0.090,2497,4032,3925,3997,3853,0,0,0,0,0,0,14.19,13.19,14.43
$GC,394,-0.62,-194.6,2497,4032,3997,3859,95.1,-21.1,62,403,0.00,2.17,0.00,0.000,1030,0.000,0.034,2497,2632,3928,3997,3859,0,0,0,0,0,0,14.81,14.73,14.83
$GC,724,-0.62,-194.6,2497,2630,3997,3861,152.0,-13.6,81,730,0.00,2.35,0.00,0.000,260,0.000,0.079,2488,4030,3929,3997,3861,0,0,0,0,0,0,15.07,14.64,15.11
$GC,764,-0.62,-194.6,2486,4030,3997,3862,157.6,-13.1,89,771,0.00,2.15,0.00,0.000,1030,0.000,0.031,2487,2634,3929,3997,3861,0,0,0,0,0,0,14.87,14.81,14.90
$GC,1086,-0.62,-194.6,2486,2634,3997,3862,198.4,-12.3,108,1091,0.00,2.17,0.00,0.000,516,0.000,0.050,2487,1259,3929,3996,3862,0,0,0,0,0,0,15.10,14.73,15.14
$GC,1169,-0.62,-194.6,2487,1259,3997,3863,208.3,-11.5,125,1176,0.15,2.22,0.00,0.000,3078,0.236,0.053,2513,2645,3930,3997,3863,0,0,0,0,0,0,14.54,14.76,14.76
$GC,1487,-0.62,-194.6,2512,2645,3993,3863,237.6,-9.2,143,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2645,3928,3993,3863,0,0,0,0,0,0,15.12,15.16,15.16
$GC,1806,-0.62,-194.6,2513,2645,3989,3862,266.2,-8.6,153,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2645,3926,3989,3863,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2106,-0.62,-194.6,2513,2645,3982,3862,292.1,-8.6,158,2111,0.00,2.33,0.00,0.000,260,0.000,0.082,2505,4036,3921,3981,3862,0,0,0,0,0,0,15.14,14.70,15.18
$GC,2155,-0.62,-194.6,2504,4036,3981,3862,296.4,-8.9,167,2160,0.00,2.12,0.00,0.000,1030,0.000,0.033,2504,2649,3922,3981,3863,0,0,0,0,0,0,14.85,14.83,14.87
$GC,2472,-0.62,-194.6,2504,2648,3976,3863,323.9,-8.7,175,2477,0.00,2.20,0.00,0.000,516,0.000,0.052,2505,1261,3919,3975,3863,0,0,0,0,0,0,15.14,14.71,15.17
$GC,2551,-0.62,-194.6,2504,1261,3975,3863,331.4,-9.4,191,2556,0.00,2.25,0.00,0.000,1030,0.000,0.054,2497,2648,3919,3975,3863,0,0,0,0,0,0,14.76,14.70,14.81
$GC,2895,-0.62,-194.6,2496,2648,3970,3860,363.4,-9.4,204,2900,0.00,2.30,0.00,0.000,260,0.000,0.083,2486,4033,3915,3970,3860,0,0,0,0,0,0,15.11,14.62,15.15
$GC,2939,-0.62,-194.6,2486,4033,3970,3860,368.3,-10.5,213,2944,0.00,2.12,0.00,0.000,1030,0.000,0.033,2486,2647,3915,3970,3860,0,0,0,0,0,0,14.81,14.78,14.83
$GC,3258,-0.62,-194.6,2486,2646,3966,3858,400.5,-10.3,221,3260,0.12,0.00,0.00,0.000,2054,0.241,0.000,2515,2646,3912,3966,3858,0,0,0,0,0,0,14.59,14.84,14.78
$GC,3559,-0.62,-194.6,2514,2646,3961,3856,425.0,-7.9,226,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2646,3908,3961,3856,0,0,0,0,0,0,15.14,15.19,15.18
$GC,3859,-0.62,-194.6,2514,2646,3959,3854,447.0,-7.3,231,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2646,3906,3959,3854,0,0,0,0,0,0,15.15,15.19,15.19
$GC,4159,-0.62,-194.6,2514,2646,3957,3852,469.7,-7.6,236,4164,0.00,2.20,0.00,0.000,516,0.000,0.054,2515,1261,3904,3956,3852,0,0,0,0,0,0,15.15,14.66,15.19
$GC,4194,-0.62,-194.6,2514,1262,3956,3852,472.3,-7.8,243,4199,0.00,2.25,0.00,0.000,1030,0.000,0.057,2511,2643,3903,3955,3852,0,0,0,0,0,0,14.71,14.65,14.76
$GC,4522,-0.62,-194.6,2511,2643,3952,3850,496.3,-7.5,253,4528,0.00,2.35,0.00,0.000,260,0.000,0.088,2501,4033,3900,3951,3849,0,0,0,0,0,0,15.13,14.54,15.16
$GC,4584,-0.62,-194.6,2501,4033,3951,3847,501.2,-7.8,265,4590,0.00,2.12,0.00,0.000,1030,0.000,0.035,2501,2657,3900,3952,3848,0,0,0,0,0,0,14.76,14.73,14.79
$GC,4947,-0.62,-194.6,2501,2657,3949,3847,528.8,-7.6,282,4952,0.00,2.28,0.00,0.000,516,0.000,0.057,2501,1254,3897,3948,3847,0,0,0,0,0,0,15.11,14.69,15.15
$GC,5001,-0.62,-194.6,2501,1254,3948,3847,533.1,-7.4,292,5007,0.00,2.30,0.00,0.000,1030,0.000,0.058,2493,2656,3897,3948,3847,0,0,0,0,0,0,14.79,14.68,14.83
$GC,5316,-0.62,-194.6,2493,2657,3947,3846,558.7,-8.3,299,5321,0.00,2.33,0.00,0.000,260,0.000,0.087,2482,4032,3896,3947,3845,0,0,0,0,0,0,15.11,14.52,15.15
$GC,5378,-0.62,-194.6,2482,4032,3946,3845,564.7,-9.9,311,5384,0.10,2.15,0.00,0.000,3078,0.188,0.037,2513,2651,3896,3947,3845,0,0,0,0,0,0,14.40,14.70,14.53
$GC,5742,-0.62,-194.6,2513,2651,3943,3844,592.5,-7.9,328,5747,0.00,2.25,0.00,0.000,516,0.000,0.058,2513,1257,3893,3943,3844,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5786,-0.62,-194.6,2513,1257,3943,3844,596.6,-8.6,337,5793,0.00,2.30,0.00,0.000,1030,0.000,0.060,2509,2651,3893,3943,3844,0,0,0,0,0,0,14.77,14.65,14.81
$GC,6103,-0.62,-194.6,2508,2651,3942,3842,622.8,-8.3,345,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2651,3892,3942,3843,0,0,0,0,0,0,15.14,15.17,15.16
$GC,6403,-0.62,-194.6,2508,2651,3940,3842,648.5,-8.3,350,6408,0.00,2.38,0.00,0.000,260,0.000,0.090,2498,4037,3890,3940,3841,0,0,0,0,0,0,15.14,14.54,15.17
$GC,6452,-0.62,-194.6,2498,4038,3940,3840,652.5,-8.3,359,6458,0.00,2.20,0.00,0.000,1030,0.000,0.037,2498,2650,3890,3940,3840,0,0,0,0,0,0,14.81,14.73,14.81
$GC,6772,-0.62,-194.6,2498,2650,3938,3840,677.4,-7.9,367,6778,0.00,2.25,0.00,0.000,516,0.000,0.060,2498,1261,3889,3938,3840,0,0,0,0,0,0,15.10,14.57,15.14
$GC,6816,-0.62,-194.6,2498,1260,3938,3840,681.3,-7.8,376,6822,0.00,2.30,0.00,0.000,1030,0.000,0.063,2490,2646,3888,3938,3839,0,0,0,0,0,0,14.74,14.62,14.79
$GC,7196,-0.62,-194.6,2490,2646,3937,3838,710.2,-7.9,384,7201,0.00,2.38,0.00,0.000,260,0.000,0.093,2480,4033,3887,3937,3838,0,0,0,0,0,0,15.10,14.44,15.14
$GC,7225,-0.62,-194.6,2479,4033,3937,3837,713.2,-9.5,390,7230,0.15,2.20,0.00,0.000,3078,0.216,0.039,2516,2645,3887,3937,3837,0,0,0,0,0,0,14.41,14.71,14.64
$GC,7923,-0.62,-194.6,2516,2646,3933,3836,762.1,-7.1,413,7929,0.00,2.42,0.00,0.000,260,0.000,0.095,2509,4043,3884,3932,3836,0,0,0,0,0,0,15.11,14.42,15.14
$GC,7944,-0.62,-194.6,2509,4043,3932,3836,764.0,-7.7,417,7950,0.00,2.20,0.00,0.000,1030,0.000,0.040,2509,2651,3884,3932,3836,0,0,0,0,0,0,14.71,14.68,14.73
$GC,8648,-0.62,-194.6,2509,2651,3931,3834,816.1,-7.3,442,8653,0.00,2.42,0.00,0.000,260,0.000,0.095,2499,4039,3882,3930,3834,0,0,0,0,0,0,15.11,14.46,15.14
$GC,8671,-0.62,-194.6,2499,4039,3930,3833,817.8,-6.0,446,8676,0.00,2.22,0.00,0.000,1030,0.000,0.041,2500,2648,3881,3930,3833,0,0,0,0,0,0,14.77,14.69,14.80
$GC,9376,-0.62,-194.6,2499,2648,3928,3831,864.1,-7.0,471,9382,0.00,2.30,0.00,0.000,516,0.000,0.066,2499,1254,3879,3927,3831,0,0,0,0,0,0,15.11,14.47,15.15
$GC,9445,-0.62,-194.6,2499,1254,3927,3831,869.7,-8.0,485,9452,0.00,2.35,0.00,0.000,1030,0.000,0.068,2491,2650,3878,3926,3831,0,0,0,0,0,0,14.67,14.53,14.72
$GC,10098,-0.62,-194.6,2490,2650,3925,3830,924.5,-8.5,500,10103,0.00,2.42,0.00,0.000,260,0.000,0.100,2480,4039,3877,3925,3830,0,0,0,0,0,0,15.12,14.33,15.15
$GC,10172,-0.62,-194.6,2480,4039,3924,3829,930.4,-7.9,515,10178,0.00,2.28,0.00,0.000,1030,0.000,0.044,2480,2635,3876,3924,3829,0,0,0,0,0,0,14.63,14.63,14.66
$STATE,10813,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10817,begin apogee
$GC,10826,-0.20,0.0,2480,2461,3922,3830,978.3,-7.4,529,10986,0.60,0.00,156.88,2.166,10246,0.184,0.000,2650,2461,3126,3056,3196,0,0,0,0,0,0,14.26,14.04,13.10
$STATE,10988,end apogee,CONTROL_FINISHED_OK
$STATE,10988,begin climb
$GC,10993,0.62,194.6,2650,2461,3055,3191,981.5,0.0,530,11166,0.80,2.47,163.62,2.135,10756,0.112,0.076,2920,1091,2329,2236,2423,0,0,0,0,0,0,14.07,13.55,12.80
$GC,11179,0.62,194.6,2920,1091,2239,2418,966.4,11.9,578,11187,0.00,2.47,0.00,0.000,1030,0.000,0.068,2920,2469,2328,2239,2417,0,0,0,0,0,0,13.94,13.84,13.96
$GC,11896,0.62,194.6,2920,2469,2248,2402,874.8,12.3,606,11903,0.00,2.45,0.00,0.000,260,0.000,0.098,2920,3877,2324,2248,2401,0,0,0,0,0,0,14.95,14.48,14.97
$GC,11947,0.62,194.6,2920,3877,2254,2394,867.7,14.5,616,11952,0.00,2.30,0.00,0.000,1030,0.000,0.056,2930,2485,2324,2255,2393,0,0,0,0,0,0,14.73,14.64,14.76
$GC,12617,0.62,194.6,2930,2485,2254,2393,779.0,13.4,635,12622,0.00,2.40,0.00,0.000,516,0.000,0.080,2941,1069,2324,2255,2393,0,0,0,0,0,0,15.04,14.58,15.08
$GC,12671,0.62,194.6,2941,1069,2256,2391,771.2,14.8,645,12677,0.00,2.40,0.00,0.000,1030,0.000,0.069,2941,2480,2323,2257,2390,0,0,0,0,0,0,14.75,14.62,14.80
$GC,13282,0.62,194.6,2941,2481,2256,2389,676.2,15.7,664,13287,0.00,2.40,0.00,0.000,260,0.000,0.097,2941,3874,2323,2257,2389,0,0,0,0,0,0,15.07,14.48,15.11
$GC,13366,0.62,194.6,2941,3874,2261,2382,663.2,15.5,681,13372,0.17,2.30,0.00,0.000,5126,0.278,0.056,2914,2476,2322,2261,2383,0,0,0,0,0,0,14.30,14.67,14.64
$GC,13706,0.62,194.6,2913,2476,2261,2383,621.2,12.7,693,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2476,2321,2260,2383,0,0,0,0,0,0,15.06,15.09,15.09
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$STATE,19553,end climb,SURFACE_DEPTH_REACHED
$STATE,19554,begin surface coast
$STATE,19598,end surface coast,CONTROL_FINISHED_OK
$STATE,19598,begin surface
$SM_CCo,19621,7.72,0.056,0,0,1086,500.17
$SM_GC,3.55,8.07,0.22,7.72,0.054,0.099,0.056,45,2665,1086,-8.29,-0.99,500.17,0,0,0,0,0,0,14.66,14.76,14.73
$IRIDIUM_FIX,751.63,8150.65,301015,051451
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.17
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.40
$XPDR_PINGS,34
$24V_AH,12.80,106.455
$10V_AH,12.66,0.000
$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,22.400,148.500,529.375,7.725,0.000,0.000,0.000,229.175,8.500,0.000,37.990,697.321,15869.766,574.097,2255.238,615.345,0.000,1836.833,0.000,1577.399,0.000,0.543,0.000
$DEVICE_MAMPS,403.920,100.215,2165.715,55.845,0.000,0.000,0.000,233.325,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.726,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271748
$DATA_FILE_SIZE,46787,1099
$CAP_FILE_SIZE,166519,0
$CFSIZE,260034560,227180544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,394.23,0x23402a,0,24
$CURRENT,0.258,158.36,1
$GPS,301015,163248,756.202,8149.578,152,99.0,192,-2.3,0.6,302.8,5,-1.0