version: 66.12
glider: 141
mission: 23
dive: 231
start: 10 8 115 17 25 54
data:
$ID,141
$MISSION,23
$DIVE,231
$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,48
$R_STBD_OVSHOOT,48
$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
$GPS1,081015,171915,753.1894,8441.6621,138,99.0,178,-2.0,0.0,228.0,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.30
$_SM_ANGLEo,-74.2
$GPS2,081015,172521,753.1539,8441.5967,45,1.3,66,-2.0,0.9,274.3,7,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,279.8,326962,-14.9,-10.000,-18.74,2959
$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,-0.62,-194.6,13,2676,1009,1115,0.0,0.0,0,114,0.00,0.00,-86.10,0.000,16386,0.000,0.000,11,2677,3449,3523,3376,0,0,0,0,0,0,14.90,28.83,14.95
$GC,123,-0.62,-194.6,11,2677,3523,3377,6.3,-6.0,9,148,11.88,2.28,-6.18,0.000,18948,0.407,0.067,2508,1247,3923,3998,3848,0,0,0,0,0,0,14.28,13.82,14.53
$GC,183,-0.62,-194.6,2507,1247,3998,3852,36.2,-33.8,22,188,0.00,2.30,0.00,0.000,1030,0.000,0.056,2500,2630,3925,3998,3852,0,0,0,0,0,0,14.66,14.60,14.71
$GC,490,-0.62,-194.6,2499,2630,3998,3853,124.7,-21.8,40,496,0.00,2.33,0.00,0.000,260,0.000,0.077,2489,4042,3925,3998,3853,0,0,0,0,0,0,15.04,14.64,15.07
$GC,686,-0.62,-194.6,2488,4043,3998,3856,157.7,-15.2,79,690,0.00,2.20,0.00,0.000,1030,0.000,0.032,2489,2649,3927,3998,3856,0,0,0,0,0,0,14.76,14.73,14.79
$GC,992,-0.62,-194.6,2489,2648,3998,3859,202.3,-14.0,95,997,0.00,2.30,0.00,0.000,260,0.000,0.077,2479,4042,3928,3998,3859,0,0,0,0,0,0,15.11,14.68,15.14
$GC,1061,-0.62,-194.6,2478,4042,3998,3859,212.1,-12.9,109,1066,0.15,2.15,0.00,0.000,3078,0.240,0.031,2514,2645,3928,3998,3859,0,0,0,0,0,0,14.55,14.83,14.78
$GC,1377,-0.62,-194.6,2514,2645,3997,3859,245.6,-10.2,126,1382,0.00,2.17,0.00,0.000,516,0.000,0.050,2514,1260,3928,3997,3859,0,0,0,0,0,0,15.11,14.75,15.15
$GC,1417,-0.62,-194.6,2514,1260,3997,3859,249.9,-11.0,134,1422,0.00,2.20,0.00,0.000,1030,0.000,0.053,2514,2647,3928,3997,3859,0,0,0,0,0,0,14.79,14.72,14.84
$GC,1740,-0.62,-194.6,2513,2647,3991,3859,280.2,-9.4,143,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2646,3925,3991,3859,0,0,0,0,0,0,15.11,15.16,15.15
$GC,2036,-0.62,-194.6,2513,2647,3987,3859,304.7,-8.1,148,2042,0.00,2.30,0.00,0.000,260,0.000,0.081,2503,4039,3922,3986,3859,0,0,0,0,0,0,15.16,14.69,15.19
$GC,2086,-0.62,-194.6,2503,4039,3986,3859,309.2,-9.1,158,2093,0.00,2.15,0.00,0.000,1030,0.000,0.032,2503,2639,3923,3987,3859,0,0,0,0,0,0,14.92,14.87,14.95
$GC,2397,-0.62,-194.6,2503,2639,3980,3859,340.7,-10.4,165,2401,0.00,2.20,0.00,0.000,516,0.000,0.052,2503,1249,3919,3980,3859,0,0,0,0,0,0,15.15,14.78,15.19
$GC,2434,-0.62,-194.6,2503,1248,3981,3859,344.7,-10.7,172,2441,0.00,2.28,0.00,0.000,1030,0.000,0.054,2501,2661,3919,3980,3859,0,0,0,0,0,0,14.89,14.78,14.92
$GC,2764,-0.62,-194.6,2500,2660,3974,3859,376.7,-9.7,182,2770,0.00,2.28,0.00,0.000,260,0.000,0.082,2490,4029,3916,3974,3859,0,0,0,0,0,0,15.14,14.66,15.16
$GC,2804,-0.62,-194.6,2490,4029,3974,3858,381.3,-10.9,190,2810,0.00,2.10,0.00,0.000,1030,0.000,0.033,2490,2660,3916,3974,3858,0,0,0,0,0,0,14.85,14.81,14.85
$GC,3124,-0.62,-194.6,2490,2660,3969,3856,414.6,-10.4,199,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2660,3912,3969,3856,0,0,0,0,0,0,15.16,15.20,15.19
$GC,3424,-0.62,-194.6,2490,2659,3966,3855,445.7,-10.3,204,3430,0.00,2.22,0.00,0.000,516,0.000,0.054,2490,1256,3909,3965,3854,0,0,0,0,0,0,15.16,14.71,15.20
$GC,3455,-0.62,-194.6,2490,1256,3965,3854,448.8,-11.0,210,3460,0.00,2.25,0.00,0.000,1030,0.000,0.056,2485,2656,3909,3965,3854,0,0,0,0,0,0,14.78,14.72,14.82
$GC,3785,-0.62,-194.6,2484,2656,3961,3852,481.9,-10.0,221,3790,0.12,2.33,0.00,0.000,2308,0.259,0.081,2510,4035,3906,3960,3852,0,0,0,0,0,0,14.53,14.69,14.65
$GC,3824,-0.62,-194.6,2510,4035,3961,3851,485.6,-8.4,228,3831,0.00,2.15,0.00,0.000,1030,0.000,0.033,2510,2646,3906,3961,3851,0,0,0,0,0,0,14.91,14.84,14.93
$GC,4155,-0.62,-194.6,2510,2647,3959,3850,514.6,-9.0,238,4160,0.00,2.20,0.00,0.000,516,0.000,0.055,2510,1260,3904,3959,3850,0,0,0,0,0,0,15.13,14.69,15.16
$GC,4189,-0.62,-194.6,2510,1260,3958,3850,518.4,-10.0,245,4193,0.00,2.25,0.00,0.000,1030,0.000,0.056,2505,2652,3904,3958,3850,0,0,0,0,0,0,14.86,14.75,14.90
$GC,4522,-0.62,-194.6,2505,2652,3955,3848,549.1,-9.3,255,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2652,3901,3954,3848,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4818,-0.62,-194.6,2505,2652,3951,3847,573.4,-8.0,260,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2653,3899,3951,3847,0,0,0,0,0,0,15.16,15.20,15.19
$GC,5118,-0.62,-194.6,2505,2652,3949,3846,596.0,-7.5,265,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2652,3897,3949,3845,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5418,-0.62,-194.6,2505,2652,3947,3844,619.2,-7.8,270,5424,0.00,2.25,0.00,0.000,516,0.000,0.057,2505,1255,3895,3947,3844,0,0,0,0,0,0,15.16,14.64,15.19
$GC,5442,-0.62,-194.6,2505,1255,3947,3844,621.4,-8.7,275,5448,0.00,2.28,0.00,0.000,1030,0.000,0.058,2501,2647,3895,3947,3844,0,0,0,0,0,0,14.84,14.73,14.88
$GC,5782,-0.62,-194.6,2501,2648,3944,3843,649.6,-8.4,287,5788,0.00,2.35,0.00,0.000,260,0.000,0.089,2491,4039,3893,3944,3842,0,0,0,0,0,0,15.13,14.57,15.16
$GC,5806,-0.62,-194.6,2490,4039,3943,3842,652.1,-8.7,291,5812,0.00,2.17,0.00,0.000,1030,0.000,0.037,2490,2658,3893,3944,3842,0,0,0,0,0,0,14.88,14.80,14.90
$GC,6151,-0.62,-194.6,2490,2658,3941,3840,682.7,-9.1,304,6157,0.00,2.28,0.00,0.000,516,0.000,0.060,2490,1251,3890,3941,3840,0,0,0,0,0,0,15.12,14.62,15.15
$GC,6196,-0.62,-194.6,2490,1251,3941,3840,687.5,-9.3,313,6201,0.12,2.30,0.00,0.000,3078,0.245,0.061,2513,2651,3890,3941,3840,0,0,0,0,0,0,14.48,14.69,14.72
$GC,6515,-0.62,-194.6,2513,2651,3940,3839,712.2,-7.7,320,6521,0.00,2.35,0.00,0.000,260,0.000,0.092,2505,4038,3889,3940,3839,0,0,0,0,0,0,15.14,14.54,15.18
$GC,6551,-0.62,-194.6,2504,4038,3940,3838,715.0,-8.3,327,6556,0.00,2.17,0.00,0.000,1030,0.000,0.039,2505,2650,3888,3939,3838,0,0,0,0,0,0,14.76,14.71,14.80
$GC,7240,-0.62,-194.6,2504,2649,3937,3836,766.7,-7.5,349,7244,0.00,2.30,0.00,0.000,516,0.000,0.062,2505,1244,3886,3937,3836,0,0,0,0,0,0,15.12,14.65,15.15
$GC,7288,-0.62,-194.6,2504,1244,3936,3835,771.1,-7.6,358,7294,0.00,2.30,0.00,0.000,1030,0.000,0.064,2501,2643,3886,3937,3835,0,0,0,0,0,0,14.67,14.60,14.73
$GC,7968,-0.62,-194.6,2501,2643,3932,3834,825.3,-8.0,378,7973,0.00,2.40,0.00,0.000,260,0.000,0.095,2491,4039,3883,3932,3834,0,0,0,0,0,0,15.11,14.51,15.15
$GC,8012,-0.62,-194.6,2490,4040,3932,3832,829.4,-8.7,387,8017,0.00,2.22,0.00,0.000,1030,0.000,0.041,2491,2645,3882,3932,3832,0,0,0,0,0,0,14.82,14.73,14.85
$GC,8688,-0.62,-194.6,2490,2644,3930,3831,889.3,-8.9,407,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2644,3881,3931,3831,0,0,0,0,0,0,15.14,15.17,15.16
$GC,9288,-0.62,-194.6,2490,2644,3928,3830,941.2,-8.6,412,9294,0.00,2.30,0.00,0.000,516,0.000,0.067,2490,1251,3878,3927,3830,0,0,0,0,0,0,15.14,14.51,15.17
$GC,9312,-0.62,-194.6,2490,1250,3927,3830,943.6,-8.9,417,9318,0.12,2.35,0.00,0.000,3078,0.241,0.068,2515,2656,3878,3927,3830,0,0,0,0,0,0,14.43,14.62,14.67
$STATE,10012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10012,begin apogee
$GC,10022,-0.20,0.0,2514,2460,3924,3829,992.6,-6.9,441,10176,0.45,0.00,151.43,2.134,10246,0.177,0.000,2646,2460,3125,3058,3193,0,0,0,0,0,0,14.45,14.08,13.24
$STATE,10178,end apogee,CONTROL_FINISHED_OK
$STATE,10178,begin climb
$GC,10183,0.62,194.6,2646,2461,3058,3190,996.6,0.0,442,10350,0.82,2.45,158.23,2.080,10756,0.119,0.077,2920,1091,2329,2238,2420,0,0,0,0,0,0,14.09,13.69,13.04
$GC,10419,0.62,194.6,2920,1091,2244,2410,975.2,13.0,499,10425,0.00,2.42,0.00,0.000,1030,0.000,0.065,2921,2473,2327,2245,2409,0,0,0,0,0,0,14.19,14.09,14.21
$GC,11094,0.62,194.6,2920,2473,2251,2398,880.6,14.0,519,11100,0.00,2.42,0.00,0.000,260,0.000,0.096,2921,3877,2324,2251,2397,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11189,0.62,194.6,2920,3877,2261,2388,865.7,15.8,538,11195,0.00,2.30,0.00,0.000,1030,0.000,0.056,2931,2486,2324,2261,2388,0,0,0,0,0,0,14.71,14.62,14.74
$GC,11815,0.62,194.6,2931,2485,2259,2386,775.1,14.4,548,11821,0.00,2.38,0.00,0.000,516,0.000,0.081,2941,1071,2323,2260,2387,0,0,0,0,0,0,15.02,14.52,15.06
$GC,11859,0.62,194.6,2941,1071,2261,2385,769.1,12.8,557,11864,0.00,2.38,0.00,0.000,1030,0.000,0.068,2941,2484,2323,2261,2385,0,0,0,0,0,0,14.73,14.60,14.78
$GC,12478,0.62,194.6,2941,2484,2260,2384,688.4,12.9,577,12482,0.00,2.42,0.00,0.000,260,0.000,0.099,2941,3879,2322,2260,2384,0,0,0,0,0,0,15.07,14.52,15.10
$GC,12536,0.62,194.6,2941,3879,2264,2378,679.9,14.7,588,12541,0.17,2.35,0.00,0.000,5126,0.291,0.056,2914,2481,2321,2264,2379,0,0,0,0,0,0,14.29,14.61,14.65
$GC,12845,0.62,194.6,2914,2481,2265,2379,644.3,11.5,594,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2481,2321,2264,2378,0,0,0,0,0,0,15.05,15.09,15.09
$GC,13142,0.62,194.6,2914,2481,2265,2379,608.1,12.1,599,13149,0.00,2.38,0.00,0.000,516,0.000,0.080,2923,1067,2321,2265,2378,0,0,0,0,0,0,15.09,14.51,15.12
$GC,13172,0.62,194.6,2923,1066,2265,2378,604.2,11.8,605,13177,0.00,2.38,0.00,0.000,1030,0.000,0.067,2923,2485,2321,2265,2378,0,0,0,0,0,0,14.76,14.62,14.81
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$GC,15381,0.62,194.6,2936,2470,2271,2373,317.5,10.5,713,15382,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2470,2322,2271,2373,0,0,0,0,0,0,15.11,15.15,15.14
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$STATE,18352,end climb,SURFACE_DEPTH_REACHED
$STATE,18352,begin surface coast
$STATE,18370,end surface coast,CONTROL_FINISHED_OK
$STATE,18370,begin surface
$SM_CCo,18457,0.00,0.000,0,0,530,637.04
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$IRIDIUM_FIX,747.28,8446.17,081015,120437
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.59
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,13.04,73.676
$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
$DEVICE_SECS,22.250,143.575,619.300,0.000,0.000,0.000,0.000,186.575,0.250,0.000,68.312,612.566,15049.989,624.173,1962.667,567.188,0.000,1740.211,0.000,1348.974,0.000,0.542,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260264
$DATA_FILE_SIZE,40055,935
$CAP_FILE_SIZE,153076,0
$CFSIZE,260034560,233164800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,142.07,1
$GPS,081015,223545,753.198,8439.740,50,2.4,90,-2.0,0.4,192.7,5,15.0