version: 66.12
glider: 141
mission: 23
dive: 18
start: 8 10 115 14 40 4
data:
$ID,141
$MISSION,23
$DIVE,18
$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,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,180
$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,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,25
$R_STBD_OVSHOOT,34
$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,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,-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
$GPS1,100815,143033,811.7553,8526.8994,186,1.8,212,-1.9,1.4,60.7,7,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-72.6
$GPS2,100815,143935,811.9291,8527.1504,10,1.1,21,-1.9,1.1,72.7,6,8.5
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,235.2,410856,-15.8,-10.000,-19.55,2669
$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,26,-0.65,-175.2,5,2680,963,1044,0.0,0.0,0,118,0.00,0.00,-89.07,0.000,16386,0.000,0.000,5,2681,3536,3606,3466,0,0,0,0,0,0,14.86,28.83,14.90
$GC,124,-0.65,-175.2,5,2681,3606,3467,5.9,-6.7,9,147,12.00,2.33,-3.65,0.000,18692,0.425,0.103,2491,4032,3806,3876,3737,0,0,0,0,0,0,14.47,13.83,14.73
$GC,173,-0.65,-175.2,2490,4032,3876,3739,30.7,-43.9,17,178,0.00,2.22,0.00,0.000,1030,0.000,0.054,2491,2655,3807,3875,3739,0,0,0,0,0,0,14.79,14.71,14.81
$GC,499,-0.65,-175.2,2490,2654,3876,3740,121.1,-22.4,37,505,0.00,2.38,0.00,0.000,260,0.000,0.102,2480,4038,3807,3875,3740,0,0,0,0,0,0,15.02,14.78,15.05
$GC,519,-0.65,-175.2,2480,4038,3875,3740,126.6,-23.7,40,527,0.00,2.22,0.00,0.000,1030,0.000,0.048,2480,2638,3808,3875,3741,0,0,0,0,0,0,14.91,14.84,14.92
$GC,825,-0.65,-175.2,2480,2636,3876,3743,174.1,-13.1,56,831,0.00,2.40,0.00,0.000,260,0.000,0.110,2470,4033,3810,3876,3744,0,0,0,0,0,0,15.08,14.81,15.11
$GC,881,-0.65,-175.2,2470,4033,3875,3743,181.2,-13.2,66,887,0.15,2.20,0.00,0.000,3078,0.265,0.048,2505,2644,3809,3876,3743,0,0,0,0,0,0,14.78,14.90,14.92
$GC,1198,-0.65,-175.2,2504,2644,3876,3744,214.1,-11.2,83,1204,0.00,2.25,0.00,0.000,516,0.000,0.070,2505,1240,3810,3876,3744,0,0,0,0,0,0,15.11,14.90,15.14
$GC,1294,-0.65,-175.2,2505,1239,3875,3744,225.8,-11.7,101,1299,0.00,2.28,0.00,0.000,1030,0.000,0.069,2505,2651,3809,3875,3744,0,0,0,0,0,0,15.01,14.92,15.02
$GC,1630,-0.65,-175.2,2504,2651,3871,3744,267.3,-13.4,117,1635,0.00,2.33,0.00,0.000,260,0.000,0.095,2498,4048,3807,3870,3744,0,0,0,0,0,0,15.14,14.92,15.18
$GC,1699,-0.65,-175.2,2497,4048,3870,3744,276.5,-12.9,130,1705,0.00,2.22,0.00,0.000,1030,0.000,0.043,2498,2633,3807,3870,3744,0,0,0,0,0,0,15.03,14.96,15.04
$GC,2034,-0.65,-175.2,2497,2633,3865,3744,310.7,-9.8,145,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2632,3804,3865,3744,0,0,0,0,0,0,15.14,15.19,15.19
$GC,2331,-0.65,-175.2,2497,2633,3860,3744,341.1,-10.5,155,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2634,3802,3860,3744,0,0,0,0,0,0,15.17,15.22,15.21
$GC,2631,-0.65,-175.2,2497,2632,3854,3744,372.0,-10.2,165,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2632,3799,3854,3745,0,0,0,0,0,0,15.18,15.22,15.21
$GC,2932,-0.65,-175.2,2498,2632,3848,3744,400.6,-9.7,175,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2632,3796,3848,3744,0,0,0,0,0,0,15.18,15.23,15.22
$GC,3231,-0.65,-175.2,2498,2632,3845,3744,427.3,-8.6,185,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2632,3794,3844,3744,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3531,-0.65,-175.2,2497,2632,3840,3742,450.9,-7.9,195,3536,0.00,2.22,0.00,0.000,516,0.000,0.068,2497,1237,3790,3839,3742,0,0,0,0,0,0,15.18,14.98,15.22
$GC,3556,-0.65,-175.2,2497,1237,3839,3742,453.0,-8.4,199,3562,0.00,2.28,0.00,0.000,1030,0.000,0.067,2498,2653,3790,3839,3742,0,0,0,0,0,0,15.07,14.98,15.09
$GC,3875,-0.65,-175.2,2497,2653,3837,3740,481.1,-9.0,211,3881,0.00,2.30,0.00,0.000,260,0.000,0.095,2487,4047,3789,3839,3740,0,0,0,0,0,0,15.17,14.96,15.21
$GC,3945,-0.65,-175.2,2487,4042,3837,3739,488.5,-9.8,224,3952,0.00,2.20,0.00,0.000,1030,0.000,0.044,2487,2643,3788,3837,3739,0,0,0,0,0,0,15.07,15.00,15.09
$GC,4281,-0.65,-175.2,2487,2643,3833,3739,522.1,-9.8,239,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2643,3786,3833,3739,0,0,0,0,0,0,15.18,15.22,15.21
$GC,4578,-0.65,-175.2,2487,2642,3831,3737,551.7,-9.9,249,4583,0.00,2.40,0.00,0.000,260,0.000,0.109,2480,4047,3783,3830,3737,0,0,0,0,0,0,15.19,14.92,15.22
$GC,4623,-0.65,-175.2,2480,4047,3829,3736,556.5,-10.1,257,4629,0.00,2.20,0.00,0.000,1030,0.000,0.044,2480,2639,3782,3829,3736,0,0,0,0,0,0,15.07,15.00,15.09
$GC,4952,-0.65,-175.2,2480,2639,3827,3736,589.5,-10.1,271,4957,0.00,2.22,0.00,0.000,516,0.000,0.071,2481,1247,3781,3827,3736,0,0,0,0,0,0,15.17,14.96,15.21
$GC,4982,-0.65,-175.2,2480,1247,3827,3735,593.1,-10.7,276,4989,0.00,2.28,0.00,0.000,1030,0.000,0.069,2477,2660,3781,3827,3735,0,0,0,0,0,0,15.06,14.97,15.07
$GC,5288,-0.65,-175.2,2477,2660,3829,3733,625.1,-10.8,287,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2660,3779,3825,3733,0,0,0,0,0,0,15.19,15.23,15.22
$GC,5588,-0.65,-175.2,2477,2661,3824,3732,656.9,-10.3,297,5594,0.00,2.28,0.00,0.000,516,0.000,0.070,2476,1247,3777,3823,3731,0,0,0,0,0,0,15.18,14.96,15.21
$GC,5614,-0.65,-175.2,2476,1247,3823,3731,659.6,-10.7,301,5620,0.12,2.28,0.00,0.000,3078,0.269,0.070,2500,2652,3777,3823,3731,0,0,0,0,0,0,14.88,14.97,15.04
$GC,5935,-0.65,-175.2,2500,2652,3821,3730,685.6,-7.7,313,5940,0.00,2.33,0.00,0.000,260,0.000,0.103,2495,4038,3775,3820,3730,0,0,0,0,0,0,15.17,14.92,15.21
$GC,6004,-0.65,-175.2,2495,4038,3820,3729,691.7,-8.4,326,6010,0.00,2.17,0.00,0.000,1030,0.000,0.047,2495,2652,3774,3820,3729,0,0,0,0,0,0,15.06,14.99,15.07
$GC,6339,-0.65,-175.2,2495,2652,3819,3729,717.5,-7.7,341,6341,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2652,3773,3819,3728,0,0,0,0,0,0,15.17,15.21,15.21
$GC,6636,-0.65,-175.2,2495,2652,3817,3728,741.6,-8.2,351,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2650,3772,3817,3728,0,0,0,0,0,0,15.17,15.21,15.21
$GC,6936,-0.65,-175.2,2495,2651,3815,3727,767.6,-8.8,361,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2652,3771,3815,3728,0,0,0,0,0,0,15.19,15.22,15.21
$GC,7236,-0.65,-175.2,2494,2652,3813,3727,795.1,-9.2,371,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2652,3769,3813,3726,0,0,0,0,0,0,15.17,15.21,15.20
$GC,7536,-0.65,-175.2,2495,2652,3812,3726,823.8,-9.5,381,7542,0.00,2.28,0.00,0.000,516,0.000,0.077,2495,1246,3768,3811,3726,0,0,0,0,0,0,15.17,14.95,15.21
$GC,7562,-0.65,-175.2,2495,1246,3811,3725,826.2,-9.7,385,7568,0.00,2.33,0.00,0.000,1030,0.000,0.091,2495,2640,3768,3811,3726,0,0,0,0,0,0,15.04,14.92,15.04
$GC,7882,-0.65,-175.2,2495,2641,3810,3724,854.8,-8.8,397,7888,0.00,2.42,0.00,0.000,260,0.000,0.116,2485,4054,3767,3810,3724,0,0,0,0,0,0,15.16,14.90,15.19
$GC,7942,-0.65,-175.2,2485,4054,3810,3723,860.8,-9.9,408,7950,0.00,2.22,0.00,0.000,1030,0.000,0.052,2485,2653,3766,3810,3723,0,0,0,0,0,0,15.04,14.97,15.06
$GC,8252,-0.65,-175.2,2485,2653,3809,3723,887.1,-8.3,419,8257,0.00,2.30,0.00,0.000,516,0.000,0.080,2485,1237,3766,3809,3723,0,0,0,0,0,0,15.16,14.93,15.19
$GC,8297,-0.65,-175.2,2485,1237,3809,3723,891.4,-9.5,427,8302,0.00,2.33,0.00,0.000,1030,0.000,0.078,2485,2658,3765,3808,3723,0,0,0,0,0,0,15.03,14.94,15.05
$GC,8627,-0.65,-175.2,2485,2658,3808,3722,917.7,-8.1,441,8632,0.00,2.35,0.00,0.000,260,0.000,0.109,2474,4042,3765,3808,3722,0,0,0,0,0,0,15.15,14.93,15.19
$GC,8663,-0.65,-175.2,2475,4042,3808,3721,921.2,-9.0,447,8669,0.12,2.22,0.00,0.000,3078,0.252,0.054,2504,2645,3765,3808,3722,0,0,0,0,0,0,14.84,14.95,15.00
$GC,9000,-0.65,-175.2,2504,2645,3806,3721,944.5,-6.7,463,9005,0.00,2.28,0.00,0.000,516,0.000,0.080,2504,1245,3763,3806,3721,0,0,0,0,0,0,15.15,14.92,15.19
$GC,9030,-0.65,-175.2,2504,1245,3806,3721,946.7,-7.6,468,9038,0.00,2.30,0.00,0.000,1030,0.000,0.079,2504,2651,3763,3806,3721,0,0,0,0,0,0,15.02,14.92,15.07
$GC,9336,-0.65,-175.2,2504,2651,3804,3720,968.1,-7.1,479,9342,0.00,2.40,0.00,0.000,260,0.000,0.112,2494,4040,3762,3804,3720,0,0,0,0,0,0,15.14,14.88,15.18
$GC,9388,-0.65,-175.2,2497,4040,3804,3719,971.9,-7.5,488,9394,0.00,2.22,0.00,0.000,1030,0.000,0.056,2497,2649,3761,3804,3719,0,0,0,0,0,0,15.02,14.94,15.04
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9645,begin apogee
$GC,9655,-0.20,0.0,2497,2468,3804,3719,991.4,-7.4,499,9798,0.52,0.00,136.32,2.072,10246,0.199,0.000,2651,2467,3086,3044,3128,0,0,0,0,0,0,14.84,13.97,13.35
$STATE,9800,end apogee,CONTROL_FINISHED_OK
$STATE,9800,begin climb
$GC,9804,0.65,175.2,2651,2468,3044,3125,995.5,0.0,504,9962,0.82,2.50,144.60,2.054,10756,0.129,0.097,2927,1084,2370,2315,2426,0,0,0,0,0,0,14.15,13.98,13.30
$GC,10018,0.65,175.2,2927,1084,2317,2420,975.9,13.1,546,10024,0.00,2.45,0.00,0.000,1030,0.000,0.094,2928,2466,2368,2317,2419,0,0,0,0,0,0,14.37,14.27,14.39
$GC,10358,0.65,175.2,2927,2465,2321,2412,928.2,14.3,562,10363,0.00,2.47,0.00,0.000,260,0.000,0.108,2927,3890,2366,2321,2411,0,0,0,0,0,0,14.82,14.59,14.85
$GC,10439,0.65,175.2,2927,3890,2328,2402,915.1,15.5,577,10445,0.00,2.33,0.00,0.000,1030,0.000,0.069,2936,2491,2365,2329,2402,0,0,0,0,0,0,14.74,14.66,14.76
$GC,10766,0.65,175.2,2936,2491,2328,2402,866.9,14.9,590,10771,0.00,2.42,0.00,0.000,516,0.000,0.096,2945,1065,2365,2328,2402,0,0,0,0,0,0,14.95,14.71,14.99
$GC,10796,0.65,175.2,2945,1065,2329,2402,861.5,14.4,595,10803,0.00,2.42,0.00,0.000,1030,0.000,0.090,2945,2478,2364,2328,2401,0,0,0,0,0,0,14.82,14.71,14.83
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$STATE,17596,end climb,SURFACE_DEPTH_REACHED
$STATE,17596,begin surface coast
$FINISH,2.1,1.021892
$STATE,17617,end surface coast,CONTROL_FINISHED_OK
$STATE,17617,begin surface
$SM_CCo,17703,0.00,0.000,0,0,1039,502.37
$SM_GC,2.85,8.05,2.05,0.00,0.055,0.047,0.000,37,2639,1039,-8.30,0.68,502.37,0,0,0,0,0,0,14.80,14.81,14.87
$IRIDIUM_FIX,809.06,8529.56,100815,091453
$TT8_MAMPS,0.02247,0.02247
$HUMID,45.07
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,4014336
$24V_AH,13.30,10.886
$10V_AH,13.20,0.000
$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,22.150,168.275,503.725,0.000,0.000,0.000,0.000,312.550,0.000,0.000,24.366,2276.046,12642.884,690.266,1963.455,655.284,0.000,1955.428,0.000,1600.256,0.000,0.544,0.000
$DEVICE_MAMPS,425.340,116.280,2071.620,0.000,0.000,0.000,0.000,241.740,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17637.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.369,0.000,0.000,0.000
$MEM,261464
$DATA_FILE_SIZE,40023,1068
$CAP_FILE_SIZE,178948,0
$CFSIZE,260034560,249516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,46.55,1
$GPS,100815,193915,811.517,8526.129,163,1.3,203,-1.9,1.3,41.9,5,12.0