version: 66.12
glider: 141
mission: 23
dive: 5
start: 8 8 115 7 2 44
data:
$ID,141
$MISSION,23
$DIVE,5
$N_DIVES,10
$D_SURF,3
$D_FLARE,5
$D_TGT,360
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,220
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,2750
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3087
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.001
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$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
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,080815,065407,804.8297,8533.0273,29,2.0,36,-1.9,1.2,34.6,6,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-69.7
$GPS2,080815,070210,805.0256,8533.2021,9,1.8,37,-1.9,1.4,76.2,7,9.5
$SPEED_LIMITS,0.173,0.307
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,225.6,421462,-14.1,-10.000,-18.03,3252
$D_GRID,1000
$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,26,-0.72,-214.1,15,2617,578,667,0.0,0.0,0,139,0.00,0.00,-110.38,0.000,16386,0.000,0.000,11,2618,3707,3779,3636,0,0,0,0,0,0,15.01,28.83,15.05
$GC,145,-0.72,-214.1,11,2618,3779,3637,5.0,-6.4,11,168,11.88,2.40,-3.17,0.000,18692,0.423,0.127,2501,4019,3959,4027,3892,0,0,0,0,0,0,14.59,14.16,14.88
$GC,221,-0.28,-214.1,2501,4019,4027,3895,41.7,-32.2,24,228,0.60,2.38,0.00,0.000,3078,0.283,0.087,2653,2597,3961,4027,3895,0,0,0,0,0,0,14.69,14.82,14.90
$GC,529,-0.43,-214.1,2653,2596,4025,3898,80.9,-7.5,41,535,0.12,2.40,0.00,0.000,4612,0.142,0.110,2593,1177,3961,4025,3898,0,0,0,0,0,0,14.95,14.88,14.99
$GC,560,-0.50,-214.1,2593,1177,4025,3898,84.0,-10.2,46,567,0.00,2.42,0.00,0.000,1030,0.000,0.114,2591,2596,3961,4025,3898,0,0,0,0,0,0,15.01,14.88,15.03
$GC,882,-0.50,-214.1,2590,2596,4024,3900,129.4,-14.2,64,887,0.00,2.47,0.00,0.000,260,0.000,0.138,2581,4010,3962,4024,3901,0,0,0,0,0,0,15.20,14.90,15.23
$GC,1005,-0.63,-214.1,2581,4010,4024,3901,143.8,-10.3,87,1013,0.12,2.33,0.00,0.000,5126,0.148,0.085,2534,2597,3962,4024,3901,0,0,0,0,0,0,14.99,14.95,15.07
$GC,1309,-0.59,-214.1,2533,2597,4023,3903,178.9,-11.2,103,1314,0.00,2.47,0.00,0.000,260,0.000,0.136,2525,4011,3963,4024,3903,0,0,0,0,0,0,15.21,14.92,15.24
$GC,1328,-0.59,-214.1,2525,4012,4023,3903,181.1,-10.2,106,1337,0.12,2.33,0.00,0.000,3078,0.249,0.083,2554,2596,3963,4024,3903,0,0,0,0,0,0,14.88,14.95,15.04
$GC,1635,-0.67,-214.1,2553,2595,4024,3904,203.5,-8.0,122,1642,0.00,2.35,0.00,0.000,516,0.000,0.107,2554,1187,3964,4024,3904,0,0,0,0,0,0,15.23,14.96,15.26
$GC,1707,-0.79,-214.1,2554,1187,4024,3904,209.6,-8.4,135,1713,0.20,2.40,0.00,0.000,5126,0.106,0.109,2472,2601,3963,4023,3904,0,0,0,0,0,0,15.04,14.95,15.10
$GC,2029,-0.66,-214.1,2472,2601,4021,3904,250.5,-13.1,153,2035,0.20,2.42,0.00,0.000,2308,0.247,0.122,2520,4013,3962,4021,3904,0,0,0,0,0,0,14.87,14.95,15.00
$GC,2145,-0.75,-214.1,2520,4013,4019,3904,260.6,-7.9,174,2151,0.00,2.30,0.00,0.000,1030,0.000,0.072,2520,2590,3962,4020,3904,0,0,0,0,0,0,15.09,14.99,15.11
$GC,2471,-0.78,-214.1,2520,2590,4016,3903,286.9,-8.6,187,2476,0.00,2.45,0.00,0.000,260,0.000,0.118,2513,4022,3959,4015,3904,0,0,0,0,0,0,15.21,14.95,15.26
$GC,2497,-0.82,-214.1,2512,4022,4015,3904,289.8,-9.7,191,2502,0.00,2.30,0.00,0.000,1030,0.000,0.067,2513,2590,3959,4015,3904,0,0,0,0,0,0,15.09,15.00,15.11
$GC,2813,-0.82,-214.1,2513,2591,4013,3903,324.4,-11.4,203,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2590,3957,4012,3903,0,0,0,0,0,0,15.23,15.28,15.26
$GC,3113,-0.82,-214.1,2513,2590,4008,3902,358.4,-11.1,213,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2591,3954,4007,3902,0,0,0,0,0,0,15.24,15.28,15.28
$STATE,3139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3139,begin apogee
$GC,3148,-0.18,0.0,2513,2490,4008,3902,361.7,-11.0,214,3301,0.60,0.00,148.80,1.303,10246,0.196,0.000,2691,2490,3085,3057,3114,0,0,0,0,0,0,14.90,14.41,13.86
$STATE,3304,end apogee,CONTROL_FINISHED_OK
$STATE,3304,begin climb
$GC,3308,0.72,214.1,2691,2490,3056,3110,370.2,0.0,219,3468,0.85,0.00,152.10,1.404,10758,0.100,0.000,2982,2490,2211,2171,2252,0,0,0,0,0,0,14.44,14.30,13.69
$GC,3749,0.41,214.1,2982,2490,2168,2245,307.5,17.2,254,3751,0.38,0.00,0.00,0.000,4102,0.275,0.000,2889,2490,2206,2168,2245,0,0,0,0,0,0,14.66,14.88,14.84
$GC,4049,0.36,214.1,2889,2489,2165,2245,273.9,11.3,264,4055,0.00,2.45,0.00,0.000,260,0.000,0.109,2888,3910,2205,2165,2246,0,0,0,0,0,0,15.09,14.83,15.13
$GC,4095,0.27,214.1,2888,3910,2167,2241,267.8,13.9,272,4101,0.20,2.30,0.00,0.000,5126,0.254,0.072,2838,2512,2204,2167,2241,0,0,0,0,0,0,14.78,14.89,14.96
$GC,4413,0.51,360.3,2838,2511,2164,2240,244.8,5.4,287,4524,0.20,2.50,99.70,1.246,10756,0.112,0.104,2929,1083,1614,1513,1716,0,0,0,0,0,0,14.93,14.36,13.94
$GC,4573,0.53,380.1,2928,1083,1514,1712,229.8,9.4,318,4594,0.00,2.42,14.80,1.152,9222,0.000,0.087,2928,2507,1536,1430,1642,0,0,0,0,0,0,14.69,14.59,14.02
$GC,4905,0.46,380.1,2928,2507,1428,1637,192.5,13.0,338,4911,0.00,2.42,0.00,0.000,516,0.000,0.104,2928,1086,1531,1427,1636,0,0,0,0,0,0,15.03,14.78,15.07
$GC,4947,0.46,380.1,2928,1086,1432,1634,187.8,10.5,345,4954,0.00,2.35,0.00,0.000,1030,0.000,0.080,2929,2504,1529,1429,1630,0,0,0,0,0,0,14.91,14.82,14.93
$GC,5251,0.46,380.1,2928,2504,1429,1633,152.6,10.6,361,5257,0.00,2.38,0.00,0.000,260,0.000,0.106,2928,3910,1531,1429,1633,0,0,0,0,0,0,15.11,14.85,15.14
$GC,5297,0.46,380.1,2928,3910,1433,1626,147.2,12.3,369,5303,0.00,2.30,0.00,0.000,1030,0.000,0.070,2929,2498,1529,1434,1625,0,0,0,0,0,0,14.99,14.90,15.01
$GC,5624,0.61,441.3,2928,2499,1432,1625,118.6,8.1,388,5672,0.00,2.40,41.38,1.050,8708,0.000,0.102,2929,1089,1284,1165,1404,0,0,0,0,0,0,15.14,14.70,14.26
$GC,5711,0.84,477.2,2928,1090,1166,1402,111.6,8.9,404,5746,0.28,2.35,25.27,1.034,11270,0.097,0.080,3037,2500,1137,1010,1265,0,0,0,0,0,0,14.80,14.76,14.18
$GC,6057,0.74,477.2,3037,2500,1010,1262,55.6,10.7,427,6064,0.17,2.42,0.00,0.000,4356,0.262,0.110,2991,3916,1137,1010,1265,0,0,0,0,0,0,14.73,14.81,14.85
$GC,6164,0.79,483.2,2990,3916,1011,1261,45.3,9.8,446,6173,0.00,2.33,4.15,0.763,9222,0.000,0.075,2991,2501,1117,996,1238,0,0,0,0,0,0,14.94,14.85,14.29
$GC,6477,0.87,483.2,2990,2501,1008,1238,15.1,10.3,477,6483,0.12,2.40,0.00,0.000,2564,0.140,0.110,3051,1088,1123,1008,1238,0,0,0,0,0,0,14.95,14.87,14.97
$STATE,6571,end climb,SURFACE_DEPTH_REACHED
$STATE,6571,begin surface coast
$FINISH,1.5,1.009920
$STATE,6592,end surface coast,CONTROL_FINISHED_OK
$STATE,6593,begin surface
$SM_CCo,6619,7.20,0.053,0,0,1046,500.17
$SM_GC,1.99,8.32,2.60,7.20,0.067,0.093,0.053,43,2602,1046,-8.39,-0.45,500.17,0,0,0,0,0,0,14.94,14.90,14.96
$IRIDIUM_FIX,800.34,8533.91,080815,045946
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.92
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,24.00
$XPDR_PINGS,0
$SC_FREEKB,4018496
$24V_AH,13.69,6.568
$10V_AH,13.28,0.000
$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,24.375,67.200,486.200,7.200,0.000,0.000,0.000,271.950,0.000,0.000,39.859,1045.557,4048.875,593.191,1075.973,356.473,0.000,1340.806,0.000,753.110,0.000,0.544,0.000
$DEVICE_MAMPS,423.045,146.115,1403.775,52.785,0.000,0.000,0.000,218.025,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6603.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.688,0.000,0.000,0.000
$MEM,261468
$DATA_FILE_SIZE,16803,499
$CAP_FILE_SIZE,87598,0
$CFSIZE,260034560,250699776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.351,40.11,1
$GPS,080815,085528,805.575,8533.338,55,1.1,89,-1.9,1.5,18.0,5,9.7