version: 66.12
glider: 141
mission: 23
dive: 6
start: 8 8 115 9 3 46
data:
$ID,141
$MISSION,23
$DIVE,6
$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,14
$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
$GPS1,080815,085528,805.5753,8533.3379,55,1.1,89,-1.9,1.5,18.0,5,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-72.1
$GPS2,080815,090316,805.7685,8533.5059,11,1.9,26,-1.9,1.1,49.7,5,10.0
$SPEED_LIMITS,0.173,0.307
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,225.4,422052,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.72,-214.1,16,2609,1020,1085,0.0,0.0,0,129,0.00,0.00,-99.75,0.000,16390,0.000,0.000,10,2609,3962,4034,3891,0,0,0,0,0,0,15.01,13.81,15.04
$GC,135,-0.72,-214.1,10,2609,4034,3893,7.5,-12.6,10,157,11.82,2.40,0.00,0.000,2564,0.419,0.090,2512,1186,3964,4031,3898,0,0,0,0,0,0,14.57,14.78,14.85
$GC,183,0.06,-214.1,2512,1186,4029,3901,39.2,-53.4,18,190,1.00,2.40,0.00,0.000,3078,0.282,0.102,2763,2601,3964,4028,3901,0,0,0,0,0,0,14.67,14.79,14.88
$GC,510,-0.48,-214.1,2763,2601,4025,3907,76.9,-12.3,39,516,0.50,2.47,0.00,0.000,4356,0.140,0.131,2595,4016,3966,4025,3907,0,0,0,0,0,0,14.90,14.86,14.95
$GC,557,-0.85,-214.1,2595,4016,4025,3907,81.2,-8.6,47,564,0.35,2.33,0.00,0.000,5126,0.102,0.080,2465,2596,3966,4025,3907,0,0,0,0,0,0,14.95,14.92,15.02
$GC,884,-0.54,-214.1,2464,2596,4025,3908,149.6,-20.2,66,891,0.38,2.47,0.00,0.000,2308,0.258,0.125,2560,4019,3966,4025,3908,0,0,0,0,0,0,14.83,14.91,14.95
$GC,970,-0.61,-214.1,2560,4019,4025,3909,158.3,-8.6,81,976,0.00,2.33,0.00,0.000,1030,0.000,0.079,2558,2597,3967,4025,3909,0,0,0,0,0,0,15.05,14.95,15.07
$GC,1272,-0.71,-214.1,2560,2597,4024,3912,187.8,-11.2,97,1278,0.12,2.35,0.00,0.000,4612,0.146,0.101,2497,1185,3968,4024,3913,0,0,0,0,0,0,15.01,14.94,15.07
$GC,1348,-0.67,-214.1,2497,1185,4024,3912,198.8,-14.5,111,1354,0.15,2.40,0.00,0.000,3078,0.257,0.104,2526,2601,3969,4025,3913,0,0,0,0,0,0,14.88,14.94,15.04
$GC,1665,-0.71,-214.1,2525,2601,4023,3913,230.8,-7.2,128,1672,0.00,2.42,0.00,0.000,260,0.000,0.124,2522,4012,3968,4024,3912,0,0,0,0,0,0,15.21,14.94,15.25
$GC,1737,-0.78,-214.1,2522,4012,4023,3912,235.8,-6.9,141,1742,0.00,2.30,0.00,0.000,1030,0.000,0.071,2521,2587,3968,4023,3913,0,0,0,0,0,0,15.08,14.98,15.10
$GC,2049,-0.81,-214.1,2522,2588,4021,3913,257.9,-7.4,157,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2588,3968,4025,3912,0,0,0,0,0,0,15.23,15.28,15.27
$GC,2348,-0.86,-214.1,2522,2588,4016,3912,283.5,-9.0,167,2350,0.15,0.00,0.00,0.000,4102,0.127,0.000,2460,2587,3964,4016,3912,0,0,0,0,0,0,15.04,15.12,15.11
$GC,2652,-0.74,-214.1,2459,2587,4014,3910,315.5,-9.5,177,2658,0.17,2.42,0.00,0.000,2308,0.248,0.105,2499,4013,3962,4014,3910,0,0,0,0,0,0,14.88,14.97,15.00
$GC,2699,-0.78,-214.1,2499,4013,4018,3909,319.5,-6.7,185,2705,0.00,2.28,0.00,0.000,1030,0.000,0.058,2495,2588,3961,4014,3909,0,0,0,0,0,0,15.10,15.01,15.12
$GC,3029,-0.78,-214.1,2499,2589,4011,3907,347.9,-10.1,199,3034,0.00,2.42,0.00,0.000,260,0.000,0.106,2496,4015,3959,4011,3907,0,0,0,0,0,0,15.22,14.97,15.26
$GC,3068,-0.78,-214.1,2496,4015,4011,3906,352.7,-10.7,206,3074,0.00,2.25,0.00,0.000,1030,0.000,0.056,2496,2594,3958,4011,3906,0,0,0,0,0,0,15.09,15.01,15.11
$STATE,3155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3155,begin apogee
$GC,3165,-0.18,0.0,2496,2474,4009,3906,363.4,-11.9,213,3318,0.65,0.08,148.55,1.345,10246,0.200,0.225,2689,2505,3086,3058,3115,0,0,0,0,0,0,14.90,14.31,13.83
$STATE,3320,end apogee,CONTROL_FINISHED_OK
$STATE,3320,begin climb
$GC,3324,0.72,214.1,2689,2505,3057,3113,374.0,0.0,218,3491,0.88,2.58,151.40,1.367,10500,0.100,0.110,2982,3912,2211,2173,2249,0,0,0,0,0,0,14.42,14.25,13.71
$GC,3510,0.38,214.1,2982,3912,2174,2245,360.2,16.7,247,3517,0.47,2.38,0.00,0.000,5126,0.291,0.078,2878,2518,2209,2174,2245,0,0,0,0,0,0,14.33,14.45,14.51
$GC,3836,0.33,214.1,2877,2519,2171,2245,324.9,10.5,260,3842,0.00,2.42,0.00,0.000,516,0.000,0.099,2883,1080,2208,2171,2245,0,0,0,0,0,0,14.99,14.76,15.02
$GC,3872,0.33,219.1,2883,1080,2172,2244,320.9,9.8,266,3882,0.00,2.38,3.70,0.844,9222,0.000,0.080,2883,2504,2194,2155,2233,0,0,0,0,0,0,14.87,14.78,14.15
$GC,4208,0.29,219.1,2883,2505,2156,2232,286.8,11.1,282,4214,0.12,2.38,0.00,0.000,4356,0.262,0.103,2848,3910,2194,2156,2232,0,0,0,0,0,0,14.78,14.85,14.89
$GC,4259,0.29,219.1,2849,3910,2157,2230,280.9,11.2,291,4264,0.00,2.30,0.00,0.000,1030,0.000,0.063,2850,2488,2193,2157,2230,0,0,0,0,0,0,14.98,14.90,15.00
$GC,4583,0.38,262.6,2850,2488,2155,2230,250.8,8.6,304,4623,0.00,2.40,30.95,1.196,8708,0.000,0.095,2850,1095,2013,1953,2073,0,0,0,0,0,0,15.14,14.71,14.23
$GC,4661,0.59,322.7,2850,1094,1954,2072,244.6,8.1,318,4711,0.28,2.33,42.08,1.160,11270,0.089,0.073,2963,2504,1768,1680,1857,0,0,0,0,0,0,14.82,14.78,14.08
$GC,5009,0.39,322.7,2963,2504,1680,1852,193.5,12.5,343,5016,0.30,2.35,0.00,0.000,4356,0.260,0.098,2881,3903,1765,1679,1852,0,0,0,0,0,0,14.69,14.77,14.81
$GC,5051,0.49,425.3,2881,3903,1682,1848,189.4,6.8,350,5128,0.00,2.28,69.38,1.099,9222,0.000,0.063,2883,2500,1350,1226,1475,0,0,0,0,0,0,14.92,14.83,14.03
$GC,5439,0.78,515.7,2883,2500,1226,1476,164.9,7.1,382,5512,0.32,2.50,61.47,1.099,10756,0.096,0.102,3021,1093,980,847,1114,0,0,0,0,0,0,14.80,14.48,14.05
$GC,5594,0.66,515.7,3022,1093,848,1110,136.2,18.7,412,5601,0.25,2.35,0.00,0.000,5126,0.259,0.076,2961,2500,979,848,1110,0,0,0,0,0,0,14.55,14.66,14.72
$GC,5913,0.80,597.3,2961,2500,846,1110,104.1,7.4,429,5975,0.15,2.45,54.88,0.995,10500,0.128,0.104,3022,3912,647,507,788,0,0,0,0,0,0,14.86,14.50,14.14
$GC,5999,0.64,597.3,3021,3910,508,787,92.4,18.0,439,6005,0.28,2.35,0.00,0.000,5126,0.256,0.074,2956,2505,648,509,787,0,0,0,0,0,0,14.54,14.63,14.70
$GC,6326,1.13,597.3,2956,2503,512,787,62.5,14.1,458,6333,0.45,2.38,0.00,0.000,2564,0.145,0.089,3106,1085,650,513,787,0,0,0,0,0,0,14.80,14.81,14.87
$GC,6388,1.46,597.3,3106,1085,519,781,54.2,11.9,469,6397,0.32,2.35,0.00,0.000,3078,0.088,0.085,3231,2497,650,520,780,0,0,0,0,0,0,14.88,14.83,14.94
$STATE,6539,end climb,SURFACE_DEPTH_REACHED
$STATE,6539,begin surface coast
$FINISH,1.3,1.011410
$STATE,6551,end surface coast,CONTROL_FINISHED_OK
$STATE,6551,begin surface
$SM_CCo,6635,0.00,0.000,0,0,649,598.04
$SM_GC,2.45,8.88,0.20,0.00,0.068,0.145,0.000,43,2612,649,-8.40,-0.37,598.04,0,0,0,0,0,0,14.89,14.89,14.97
$IRIDIUM_FIX,802.52,8710.00,080815,065733
$TT8_MAMPS,0.02247,0.02247
$HUMID,51.10
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.40
$XPDR_PINGS,1
$SC_FREEKB,4018176
$24V_AH,13.71,6.817
$10V_AH,13.51,0.000
$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,28.000,71.850,562.400,0.000,0.000,0.000,0.000,261.100,0.250,0.000,31.764,990.447,4082.828,642.873,1031.221,356.479,0.000,1390.797,0.000,731.284,0.000,0.544,0.000
$DEVICE_MAMPS,419.220,224.910,1367.055,0.000,0.000,0.000,0.000,227.205,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6556.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.448,0.000,0.000,0.000
$MEM,261468
$DATA_FILE_SIZE,16769,485
$CAP_FILE_SIZE,88542,0
$CFSIZE,260034560,250638336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.395,50.43,1
$GPS,080815,105703,806.105,8533.884,78,1.8,118,-1.9,0.3,57.0,8,12.1