version: 66.12
glider: 141
mission: 23
dive: 226
start: 10 7 115 17 33 38
data:
$ID,141
$MISSION,23
$DIVE,226
$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,-5
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,071015,120604,754.3766,8451.5479,304,99.0,304,-2.0,0.9,241.4,6,8.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.20
$_SM_ANGLEo,-71.1
$GPS2,071015,173303,754.1583,8449.4873,166,1.3,200,-2.0,0.3,283.4,8,8.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,228.8,341360,-27.2,-10.000,-30.00,965
$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,25,-1.10,-63.0,0,2665,355,370,0.0,0.0,0,137,0.00,0.00,-106.05,0.000,16386,0.000,0.000,1,2666,3340,3399,3281,0,0,0,0,0,0,14.92,28.83,14.96
$GC,143,-1.10,-116.6,0,2666,3399,3282,5.2,-4.3,11,165,11.32,2.35,-4.00,0.000,18948,0.412,0.073,2348,1230,3606,3663,3550,0,0,0,0,0,0,14.32,13.43,14.57
$GC,183,-1.10,-116.6,2347,1230,3662,3550,25.3,-45.6,20,188,0.00,2.33,0.00,0.000,1030,0.000,0.054,2340,2637,3605,3661,3550,0,0,0,0,0,0,14.78,14.64,14.80
$GC,493,-1.10,-116.6,2340,2637,3657,3549,129.7,-22.7,39,499,0.00,2.30,0.00,0.000,260,0.000,0.074,2329,4038,3603,3657,3550,0,0,0,0,0,0,15.03,14.68,15.07
$GC,719,-1.10,-116.6,2328,4037,3657,3549,180.4,-22.2,84,726,0.15,2.17,0.00,0.000,3078,0.328,0.034,2357,2629,3604,3658,3550,0,0,0,0,0,0,14.40,14.82,14.73
$GC,1035,-1.10,-116.6,2356,2629,3658,3550,241.6,-18.6,102,1040,0.00,2.17,0.00,0.000,516,0.000,0.049,2357,1245,3603,3657,3549,0,0,0,0,0,0,15.11,14.79,15.13
$GC,1059,-1.10,-116.6,2357,1245,3658,3550,246.0,-18.3,106,1063,0.00,2.25,0.00,0.000,1030,0.000,0.050,2349,2657,3603,3657,3550,0,0,0,0,0,0,14.88,14.79,14.91
$GC,1384,-1.10,-116.6,2349,2657,3654,3549,304.0,-17.8,115,1389,0.00,2.28,0.00,0.000,260,0.000,0.076,2339,4042,3601,3654,3549,0,0,0,0,0,0,15.12,14.72,15.16
$GC,1432,-1.10,-116.6,2338,4042,3654,3549,313.5,-19.0,125,1439,0.00,2.15,0.00,0.000,1030,0.000,0.033,2338,2648,3601,3654,3549,0,0,0,0,0,0,14.92,14.86,14.94
$GC,1743,-1.10,-116.6,2338,2648,3646,3549,365.7,-16.5,132,1749,0.00,2.20,0.00,0.000,516,0.000,0.050,2339,1256,3597,3646,3549,0,0,0,0,0,0,15.14,14.80,15.17
$GC,1781,-1.10,-116.6,2338,1256,3645,3550,371.8,-15.6,140,1786,0.15,2.25,0.00,0.000,3078,0.308,0.052,2358,2659,3597,3645,3549,0,0,0,0,0,0,14.45,14.80,14.76
$GC,2104,-1.10,-116.6,2357,2659,3636,3549,418.4,-14.6,148,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2659,3593,3636,3550,0,0,0,0,0,0,15.13,15.17,15.16
$GC,2401,-1.10,-116.6,2357,2659,3630,3550,464.2,-15.2,153,2407,0.00,2.22,0.00,0.000,516,0.000,0.052,2358,1260,3589,3629,3549,0,0,0,0,0,0,15.15,14.77,15.19
$GC,2431,-1.10,-116.6,2358,1260,3629,3549,468.7,-15.3,159,2437,0.00,2.25,0.00,0.000,1030,0.000,0.053,2350,2659,3589,3629,3549,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2762,-1.10,-116.6,2350,2659,3623,3546,516.4,-14.5,170,2766,0.00,2.30,0.00,0.000,260,0.000,0.080,2340,4036,3584,3623,3546,0,0,0,0,0,0,15.16,14.72,15.19
$GC,2800,-1.10,-116.6,2339,4036,3623,3545,522.4,-16.1,177,2806,0.00,2.15,0.00,0.000,1030,0.000,0.035,2339,2651,3584,3623,3545,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3126,-1.10,-116.6,2339,2651,3618,3544,573.9,-15.9,187,3131,0.00,2.20,0.00,0.000,516,0.000,0.054,2340,1260,3581,3618,3544,0,0,0,0,0,0,15.16,14.72,15.19
$GC,3179,-1.10,-116.6,2339,1260,3618,3543,582.6,-15.6,198,3185,0.05,2.30,0.00,0.000,3078,0.297,0.055,2353,2646,3580,3617,3544,0,0,0,0,0,0,14.40,14.69,14.73
$GC,3489,-1.10,-116.6,2352,2646,3613,3542,624.5,-13.5,204,3494,0.00,2.30,0.00,0.000,260,0.000,0.081,2345,4035,3577,3613,3542,0,0,0,0,0,0,15.14,14.65,15.16
$GC,3512,-1.10,-116.6,2344,4035,3613,3541,628.4,-15.3,209,3519,0.00,2.17,0.00,0.000,1030,0.000,0.036,2344,2649,3577,3613,3541,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3848,-1.10,-116.6,2344,2649,3610,3539,672.6,-13.2,221,3855,0.00,2.25,0.00,0.000,516,0.000,0.057,2344,1257,3574,3609,3539,0,0,0,0,0,0,15.16,14.75,15.19
$GC,3879,-1.10,-116.6,2344,1257,3609,3539,676.8,-14.1,227,3884,0.00,2.25,0.00,0.000,1030,0.000,0.057,2334,2649,3574,3609,3539,0,0,0,0,0,0,14.77,14.71,14.81
$GC,4209,-1.10,-116.6,2334,2649,3607,3536,726.9,-15.3,237,4215,0.00,2.33,0.00,0.000,260,0.000,0.083,2324,4037,3570,3606,3535,0,0,0,0,0,0,15.15,14.62,15.19
$GC,4303,-1.10,-116.6,2323,4037,3607,3534,743.0,-17.2,256,4310,0.15,2.17,0.00,0.000,3078,0.316,0.038,2353,2653,3570,3607,3534,0,0,0,0,0,0,14.33,14.81,14.68
$GC,4933,-1.10,-116.6,2352,2654,3600,3532,826.7,-13.0,266,4937,0.00,2.28,0.00,0.000,516,0.000,0.060,2353,1248,3565,3599,3532,0,0,0,0,0,0,15.13,14.71,15.16
$GC,4961,-1.10,-116.6,2352,1248,3599,3532,830.9,-13.2,271,4967,0.00,2.30,0.00,0.000,1030,0.000,0.061,2345,2646,3565,3599,3532,0,0,0,0,0,0,14.83,14.71,14.88
$GC,5658,-1.10,-116.6,2344,2646,3592,3529,928.4,-14.3,295,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2646,3561,3593,3529,0,0,0,0,0,0,15.14,15.19,15.18
$STATE,6133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6133,begin apogee
$GC,6143,-0.20,0.0,2345,2465,3590,3526,995.3,-13.9,299,6234,1.15,0.00,87.53,2.179,10246,0.262,0.000,2647,2465,3126,3078,3174,0,0,0,0,0,0,14.35,14.26,13.40
$STATE,6236,end apogee,CONTROL_FINISHED_OK
$STATE,6237,begin climb
$GC,6241,1.10,116.6,2647,2465,3077,3170,995.3,0.0,299,6341,1.33,0.00,96.15,2.124,10246,0.122,0.000,3067,2464,2650,2578,2723,0,0,0,0,0,0,14.25,14.07,13.26
$GC,6861,1.10,116.6,3067,2464,2583,2700,895.1,18.4,305,6867,0.00,2.45,0.00,0.000,260,0.000,0.089,3068,3884,2641,2583,2699,0,0,0,0,0,0,14.90,14.49,14.92
$GC,6945,1.10,116.6,3067,3884,2584,2697,877.5,20.0,322,6950,0.00,2.30,0.00,0.000,1030,0.000,0.054,3077,2494,2640,2584,2697,0,0,0,0,0,0,14.72,14.64,14.76
$GC,7584,1.10,116.6,3077,2494,2584,2691,756.6,18.9,334,7589,0.00,2.40,0.00,0.000,260,0.000,0.087,3077,3882,2637,2584,2691,0,0,0,0,0,0,15.04,14.59,15.07
$GC,7617,1.10,116.6,3077,3882,2585,2690,749.6,21.1,340,7623,0.00,2.30,0.00,0.000,1030,0.000,0.054,3087,2472,2637,2585,2690,0,0,0,0,0,0,14.79,14.70,14.83
$GC,8251,1.10,116.6,3087,2473,2585,2687,628.6,18.9,365,8258,0.00,2.42,0.00,0.000,260,0.000,0.088,3088,3881,2636,2586,2687,0,0,0,0,0,0,15.07,14.54,15.10
$GC,8336,1.10,116.6,3087,3882,2586,2686,610.9,20.3,382,8341,0.00,2.30,0.00,0.000,1030,0.000,0.054,3098,2476,2636,2586,2686,0,0,0,0,0,0,14.81,14.71,14.84
$GC,8675,1.10,116.6,3098,2475,2586,2685,552.1,16.9,394,8679,0.00,2.38,0.00,0.000,516,0.000,0.076,3109,1063,2635,2586,2685,0,0,0,0,0,0,15.09,14.61,15.13
$GC,8703,1.10,116.6,3109,1063,2590,2680,547.5,16.2,399,8709,0.17,2.35,0.00,0.000,5126,0.334,0.064,3076,2476,2635,2591,2680,0,0,0,0,0,0,14.23,14.66,14.62
$GC,9043,1.10,116.6,3076,2476,2591,2679,498.7,14.4,411,9048,0.00,2.40,0.00,0.000,260,0.000,0.090,3076,3879,2635,2591,2680,0,0,0,0,0,0,15.07,14.53,15.11
$GC,9142,1.10,116.6,3075,3879,2590,2679,480.6,18.9,431,9148,0.00,2.30,0.00,0.000,1030,0.000,0.053,3083,2469,2634,2590,2679,0,0,0,0,0,0,14.81,14.71,14.85
$GC,9464,1.10,116.6,3083,2469,2590,2679,426.7,16.8,440,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2469,2634,2590,2679,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9762,1.10,116.6,3083,2469,2590,2679,377.5,16.4,445,9768,0.00,2.42,0.00,0.000,260,0.000,0.088,3084,3881,2635,2591,2679,0,0,0,0,0,0,15.12,14.52,15.16
$GC,9817,1.10,116.6,3083,3881,2591,2679,368.0,18.0,456,9821,0.00,2.35,0.00,0.000,1030,0.000,0.052,3094,2470,2635,2591,2679,0,0,0,0,0,0,14.81,14.66,14.85
$GC,10123,1.10,116.6,3093,2470,2590,2679,315.3,17.4,462,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2470,2635,2591,2679,0,0,0,0,0,0,15.11,15.16,15.15
$GC,10423,1.10,116.6,3094,2470,2591,2679,256.1,20.0,467,10428,0.00,2.42,0.00,0.000,260,0.000,0.086,3094,3885,2635,2592,2679,0,0,0,0,0,0,15.13,14.54,15.16
$GC,10477,1.10,116.6,3094,3884,2592,2679,244.7,21.1,478,10483,0.17,2.35,0.00,0.000,5126,0.353,0.050,3072,2468,2634,2590,2679,0,0,0,0,0,0,14.22,14.67,14.66
$GC,10783,1.10,116.6,3072,2468,2591,2679,199.8,12.4,494,10787,0.00,2.42,0.00,0.000,260,0.000,0.085,3072,3879,2635,2592,2679,0,0,0,0,0,0,15.12,14.59,15.16
$GC,10827,1.10,116.6,3072,3879,2592,2679,194.0,13.8,502,10831,0.00,2.28,0.00,0.000,1030,0.000,0.050,3080,2471,2635,2592,2678,0,0,0,0,0,0,14.83,14.73,14.86
$GC,11151,1.10,116.6,3080,2471,2592,2679,157.5,10.8,521,11157,0.00,2.30,0.00,0.000,516,0.000,0.070,3090,1078,2636,2594,2679,0,0,0,0,0,0,15.12,14.57,15.15
$GC,11357,1.11,157.1,3090,1078,2596,2675,140.1,5.7,562,11390,0.00,2.33,27.27,1.156,9222,0.000,0.059,3091,2488,2484,2430,2538,0,0,0,0,0,0,14.78,14.66,14.13
$GC,11698,1.11,186.8,3090,2487,2433,2529,114.9,6.8,584,11725,0.00,2.38,21.42,1.118,8452,0.000,0.086,3090,3884,2361,2304,2418,0,0,0,0,0,0,15.00,14.67,14.09
$GC,11941,1.11,244.8,3091,3883,2305,2418,93.3,3.8,633,11989,0.00,2.28,40.45,1.078,9222,0.000,0.044,3101,2464,2128,2038,2218,0,0,0,0,0,0,14.74,14.66,14.02
$GC,12305,1.12,267.3,3101,2465,2041,2213,72.5,7.6,659,12327,0.00,2.35,17.15,0.999,8708,0.000,0.064,3112,1078,2033,1927,2140,0,0,0,0,0,0,14.92,14.64,14.10
$GC,12472,1.12,267.3,3112,1078,1933,2135,56.0,10.3,693,12477,0.17,2.33,0.00,0.000,5126,0.278,0.052,3074,2474,2033,1932,2135,0,0,0,0,0,0,14.35,14.59,14.63
$GC,12778,1.12,267.3,3074,2474,1937,2135,28.4,11.3,720,12785,0.00,2.33,0.00,0.000,260,0.000,0.075,3074,3878,2036,1937,2135,0,0,0,0,0,0,15.01,14.58,15.04
$GC,12881,1.12,267.3,3074,3879,1942,2131,16.8,11.1,740,12887,0.00,2.20,0.00,0.000,1030,0.000,0.039,3080,2472,2036,1942,2130,0,0,0,0,0,0,14.72,14.69,14.76
$STATE,12997,end climb,SURFACE_DEPTH_REACHED
$STATE,12997,begin surface coast
$STATE,13018,end surface coast,CONTROL_FINISHED_OK
$STATE,13018,begin surface
$SM_CCo,13042,93.72,0.052,0,0,1086,500.17
$SM_GC,3.48,8.43,0.30,93.72,0.050,0.096,0.052,38,2659,1086,-8.29,-0.96,500.17,0,0,0,0,0,0,14.73,14.71,14.73
$IRIDIUM_FIX,747.28,8531.90,071015,120206
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.74
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,13.26,72.136
$10V_AH,12.84,0.000
$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,23.250,110.800,289.975,93.725,0.000,0.000,0.000,321.350,0.250,0.000,202.931,507.499,10464.805,505.873,1864.965,489.395,0.000,1521.167,0.000,1089.366,0.000,0.544,0.000
$DEVICE_MAMPS,412.335,96.390,2179.485,52.020,0.000,0.000,0.000,237.150,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260428
$DATA_FILE_SIZE,33425,755
$CAP_FILE_SIZE,122809,0
$CFSIZE,260034560,233496576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,48.211,220.91,1
$GPS,071015,173303,754.158,8449.487,301,99.0,301,-2.0,0.3,283.4,8,8.3