version: 66.12
glider: 141
mission: 23
dive: 7
start: 8 8 115 11 4 37
data:
$ID,141
$MISSION,23
$DIVE,7
$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,15
$R_STBD_OVSHOOT,20
$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
$GPS1,080815,105703,806.1054,8533.8838,78,1.8,118,-1.9,0.3,57.0,8,12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.9
$GPS2,080815,110403,806.2679,8534.0684,18,1.8,42,-1.9,0.5,55.9,7,9.0
$SPEED_LIMITS,0.173,0.307
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,225.3,423107,-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,-214.1,9,2620,605,700,0.0,0.0,0,139,0.00,0.00,-110.43,0.000,16386,0.000,0.000,7,2620,3810,3895,3725,0,0,0,0,0,0,15.01,28.83,15.05
$GC,145,-0.72,-214.1,7,2620,3895,3725,6.0,-8.5,11,168,11.80,2.40,-1.90,0.000,18948,0.420,0.106,2512,1175,3965,4028,3902,0,0,0,0,0,0,14.59,13.86,14.88
$GC,217,-0.33,-214.1,2511,1175,4027,3905,41.2,-29.5,23,224,0.52,2.40,0.00,0.000,3078,0.279,0.093,2636,2604,3966,4027,3905,0,0,0,0,0,0,14.67,14.81,14.85
$GC,535,-0.36,-214.1,2636,2604,4025,3908,91.3,-10.0,41,540,0.00,2.45,0.00,0.000,260,0.000,0.125,2633,4013,3966,4025,3908,0,0,0,0,0,0,15.12,14.86,15.16
$GC,575,-0.54,-214.1,2633,4010,4025,3908,94.4,-6.7,48,583,0.17,2.33,0.00,0.000,5126,0.117,0.073,2564,2596,3966,4025,3908,0,0,0,0,0,0,14.95,14.91,15.01
$GC,881,-0.43,-214.1,2563,2596,4025,3909,142.4,-16.2,64,887,0.15,2.45,0.00,0.000,2308,0.262,0.119,2595,4015,3966,4024,3909,0,0,0,0,0,0,14.83,14.90,14.95
$GC,912,-0.47,-214.1,2595,4015,4024,3909,147.3,-14.3,69,917,0.00,2.30,0.00,0.000,1030,0.000,0.073,2595,2598,3967,4025,3909,0,0,0,0,0,0,15.04,14.92,15.06
$GC,1234,-0.62,-214.1,2595,2598,4021,3912,176.3,-4.9,87,1240,0.12,2.45,0.00,0.000,4356,0.148,0.123,2529,4012,3968,4024,3912,0,0,0,0,0,0,15.00,14.92,15.04
$GC,1308,-0.67,-214.1,2529,4012,4024,3912,180.6,-5.0,100,1314,0.00,2.30,0.00,0.000,1030,0.000,0.071,2529,2589,3968,4024,3912,0,0,0,0,0,0,15.04,14.95,15.07
$GC,1629,-0.67,-214.1,2529,2589,4024,3913,198.1,-9.6,118,1635,0.00,2.33,0.00,0.000,516,0.000,0.097,2529,1183,3968,4024,3913,0,0,0,0,0,0,15.20,14.95,15.24
$GC,1685,-0.73,-214.1,2529,1183,4023,3914,204.9,-12.1,128,1691,0.00,2.35,0.00,0.000,1030,0.000,0.094,2526,2601,3968,4024,3913,0,0,0,0,0,0,15.07,14.96,15.09
$GC,2001,-0.73,-214.1,2526,2601,4022,3913,246.4,-12.9,145,2006,0.00,2.40,0.00,0.000,260,0.000,0.113,2515,4019,3970,4022,3919,0,0,0,0,0,0,15.21,14.95,15.24
$GC,2120,-0.76,-214.1,2515,4019,4021,3913,260.6,-11.1,167,2125,0.00,2.28,0.00,0.000,1030,0.000,0.063,2516,2595,3966,4021,3912,0,0,0,0,0,0,15.08,15.00,15.11
$GC,2436,-0.76,-214.1,2516,2595,4017,3911,293.1,-10.2,179,2442,0.00,2.30,0.00,0.000,516,0.000,0.089,2516,1185,3964,4016,3913,0,0,0,0,0,0,15.22,14.98,15.26
$GC,2503,-0.80,-214.1,2516,1184,4015,3913,300.4,-11.2,191,2508,0.00,2.33,0.00,0.000,1030,0.000,0.085,2514,2602,3964,4015,3913,0,0,0,0,0,0,15.08,14.98,15.11
$GC,2843,-0.80,-214.1,2512,2602,4012,3910,330.9,-7.4,207,2848,0.00,2.38,0.00,0.000,260,0.000,0.105,2501,4020,3961,4013,3910,0,0,0,0,0,0,15.21,14.96,15.25
$GC,2909,-0.80,-214.1,2501,4020,4013,3908,335.5,-6.3,219,2915,0.00,2.28,0.00,0.000,1030,0.000,0.054,2501,2586,3960,4013,3908,0,0,0,0,0,0,15.09,15.01,15.11
$GC,3249,-0.80,-214.1,2500,2587,4009,3908,358.4,-7.5,235,3255,0.00,2.40,0.00,0.000,260,0.000,0.101,2492,4019,3958,4009,3908,0,0,0,0,0,0,15.22,14.97,15.25
$STATE,3260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3260,begin apogee
$GC,3272,-0.18,0.0,2492,2493,4008,3908,360.0,-8.1,237,3424,0.68,0.00,148.85,1.342,10246,0.202,0.000,2691,2492,3086,3058,3115,0,0,0,0,0,0,14.90,14.38,13.83
$STATE,3427,end apogee,CONTROL_FINISHED_OK
$STATE,3427,begin climb
$GC,3431,0.72,214.1,2691,2492,3057,3112,366.9,0.0,242,3598,0.88,2.58,150.15,1.362,10500,0.104,0.103,2983,3905,2210,2173,2247,0,0,0,0,0,0,14.40,14.23,13.70
$GC,3613,0.38,214.1,2983,3904,2173,2245,355.4,14.2,270,3619,0.50,2.38,0.00,0.000,5126,0.296,0.073,2874,2505,2209,2174,2245,0,0,0,0,0,0,14.31,14.42,14.49
$GC,3943,0.34,214.1,2873,2505,2169,2245,326.0,10.4,284,3949,0.00,2.38,0.00,0.000,516,0.000,0.098,2875,1086,2207,2169,2245,0,0,0,0,0,0,14.99,14.76,15.02
$GC,3979,0.34,214.1,2875,1086,2170,2244,321.6,10.2,290,3984,0.00,2.33,0.00,0.000,1030,0.000,0.075,2875,2501,2206,2170,2243,0,0,0,0,0,0,14.88,14.78,14.89
$GC,4318,0.38,248.1,2875,2500,2165,2243,289.3,8.9,306,4348,0.00,2.47,23.42,1.249,8452,0.000,0.101,2875,3913,2072,2019,2126,0,0,0,0,0,0,15.07,14.71,14.21
$GC,4373,0.38,248.1,2875,3913,2021,2121,283.3,11.0,316,4378,0.00,2.30,0.00,0.000,1030,0.000,0.062,2877,2496,2071,2021,2121,0,0,0,0,0,0,14.85,14.78,14.87
$GC,4693,0.42,295.0,2876,2496,2018,2120,253.3,8.5,328,4731,0.00,2.45,32.62,1.191,8708,0.000,0.093,2877,1085,1881,1800,1962,0,0,0,0,0,0,15.07,14.66,14.18
$GC,4790,0.62,398.2,2876,1084,1802,1960,246.0,6.7,346,4869,0.22,2.35,70.90,1.167,11270,0.096,0.073,2968,2505,1461,1347,1575,0,0,0,0,0,0,14.78,14.78,13.95
$GC,5187,0.42,398.2,2968,2505,1346,1569,182.4,17.9,379,5194,0.30,2.40,0.00,0.000,4612,0.260,0.093,2896,1090,1457,1346,1568,0,0,0,0,0,0,14.67,14.76,14.79
$GC,5249,0.63,458.3,2895,1090,1346,1566,175.4,8.1,390,5300,0.17,2.30,41.05,1.082,11270,0.115,0.067,2969,2504,1214,1086,1342,0,0,0,0,0,0,14.83,14.80,14.13
$GC,5621,0.58,458.3,2968,2504,1086,1336,120.3,14.7,418,5627,0.12,2.38,0.00,0.000,4356,0.259,0.096,2935,3911,1210,1086,1335,0,0,0,0,0,0,14.71,14.78,14.81
$GC,5652,0.62,458.3,2937,3911,1086,1335,116.1,12.8,423,5659,0.00,2.30,0.00,0.000,1030,0.000,0.060,2938,2500,1210,1086,1335,0,0,0,0,0,0,14.91,14.84,14.94
$GC,5975,0.86,563.7,2938,2500,1086,1334,91.4,6.7,441,6053,0.22,2.42,69.80,1.012,10756,0.101,0.099,3046,1084,784,649,919,0,0,0,0,0,0,14.92,14.49,14.14
$GC,6130,0.86,563.7,3046,1084,650,915,69.7,12.5,471,6136,0.00,2.38,0.00,0.000,1030,0.000,0.081,3046,2499,782,650,915,0,0,0,0,0,0,14.77,14.68,14.78
$GC,6447,0.75,563.7,3045,2499,652,915,18.9,15.3,497,6453,0.17,2.40,0.00,0.000,4356,0.262,0.105,2999,3911,783,651,915,0,0,0,0,0,0,14.73,14.80,14.84
$GC,6488,0.80,563.7,2999,3911,651,914,13.2,11.4,504,6495,0.00,2.30,0.00,0.000,1030,0.000,0.070,3000,2502,783,652,914,0,0,0,0,0,0,14.92,14.83,14.94
$STATE,6581,end climb,SURFACE_DEPTH_REACHED
$STATE,6581,begin surface coast
$FINISH,1.6,1.022406
$STATE,6607,end surface coast,CONTROL_FINISHED_OK
$STATE,6607,begin surface
$SM_CCo,6691,0.00,0.000,0,0,783,565.17
$SM_GC,2.32,8.15,0.20,0.00,0.057,0.125,0.000,37,2620,783,-8.41,-0.40,565.17,0,0,0,0,0,0,14.89,14.91,14.97
$IRIDIUM_FIX,804.70,8749.18,080815,085843
$TT8_MAMPS,0.02247,0.02247
$HUMID,49.01
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,4017856
$24V_AH,13.70,7.057
$10V_AH,13.47,0.000
$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,24.200,80.875,536.800,0.000,0.000,0.000,0.000,205.150,0.000,0.000,44.661,1039.687,4047.210,631.673,1036.134,360.982,0.000,1345.373,0.000,785.034,0.000,0.544,0.000
$DEVICE_MAMPS,419.985,125.460,1362.465,0.000,0.000,0.000,0.000,231.030,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6610.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.542,0.000,0.000,0.000
$MEM,261468
$DATA_FILE_SIZE,16744,516
$CAP_FILE_SIZE,89230,0
$CFSIZE,260034560,250580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.326,55.72,1
$GPS,080815,125757,806.391,8534.344,32,1.6,65,-1.9,1.6,35.2,8,8.4