version: 66.12
glider: 141
mission: 23
dive: 237
start: 10 10 115 1 39 54
data:
$ID,141
$MISSION,23
$DIVE,237
$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,37
$R_STBD_OVSHOOT,41
$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
$GPS1,101015,012809,753.4815,8431.3770,118,3.4,158,-2.0,0.6,190.1,4,29.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.19
$_SM_ANGLEo,-73.2
$GPS2,101015,013923,753.3848,8431.2842,41,1.2,41,-2.0,0.6,228.5,6,9.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,292.0,308047,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-0.62,-194.6,10,2667,991,1092,0.0,0.0,0,114,0.00,0.00,-86.35,0.000,16386,0.000,0.000,9,2667,3432,3504,3360,0,0,0,0,0,0,14.87,28.83,14.91
$GC,123,-0.62,-194.6,9,2667,3505,3360,5.9,-5.8,9,148,12.00,2.35,-6.47,0.000,18948,0.409,0.072,2506,1239,3927,4000,3854,0,0,0,0,0,0,14.26,13.35,14.51
$GC,240,-0.62,-194.6,2507,1238,3999,3858,51.5,-27.0,33,245,0.00,2.30,0.00,0.000,1030,0.000,0.057,2499,2643,3928,3999,3858,0,0,0,0,0,0,14.74,14.64,14.78
$GC,564,-0.62,-194.6,2499,2642,3998,3860,130.8,-17.3,52,570,0.00,2.33,0.00,0.000,260,0.000,0.080,2488,4042,3929,3999,3860,0,0,0,0,0,0,15.05,14.65,15.08
$GC,727,-0.62,-194.6,2488,4042,3999,3861,158.5,-14.3,84,733,0.00,2.15,0.00,0.000,1030,0.000,0.031,2489,2641,3930,3999,3861,0,0,0,0,0,0,14.78,14.77,14.83
$GC,1048,-0.62,-194.6,2488,2640,3999,3862,207.4,-14.8,103,1053,0.00,2.17,0.00,0.000,516,0.000,0.050,2489,1251,3930,3999,3862,0,0,0,0,0,0,15.10,14.76,15.14
$GC,1088,-0.62,-194.6,2488,1251,3999,3862,212.7,-12.8,111,1094,0.10,2.22,0.00,0.000,3078,0.220,0.052,2509,2657,3930,3999,3862,0,0,0,0,0,0,14.50,14.73,14.66
$GC,1410,-0.62,-194.6,2508,2657,3998,3862,243.9,-8.3,130,1415,0.00,2.28,0.00,0.000,260,0.000,0.081,2501,4035,3930,3998,3862,0,0,0,0,0,0,15.12,14.69,15.16
$GC,1455,-0.62,-194.6,2500,4035,3997,3862,247.9,-8.5,139,1460,0.00,2.10,0.00,0.000,1030,0.000,0.031,2500,2650,3930,3998,3862,0,0,0,0,0,0,14.85,14.83,14.88
$GC,1793,-0.62,-194.6,2500,2650,3991,3862,283.1,-11.0,148,1799,0.00,2.17,0.00,0.000,516,0.000,0.050,2500,1261,3926,3991,3862,0,0,0,0,0,0,15.12,14.76,15.16
$GC,1838,-0.62,-194.6,2500,1260,3991,3862,289.5,-12.9,157,1842,0.00,2.22,0.00,0.000,1030,0.000,0.054,2493,2651,3926,3991,3862,0,0,0,0,0,0,14.89,14.78,14.92
$GC,2156,-0.62,-194.6,2492,2651,3984,3862,330.0,-12.6,165,2161,0.00,2.30,0.00,0.000,260,0.000,0.080,2482,4036,3922,3983,3862,0,0,0,0,0,0,15.15,14.73,15.19
$GC,2194,-0.62,-194.6,2482,4036,3982,3862,334.6,-11.3,172,2201,0.12,2.15,0.00,0.000,3078,0.242,0.032,2511,2637,3922,3983,3862,0,0,0,0,0,0,14.57,14.86,14.81
$GC,2525,-0.62,-194.6,2510,2637,3978,3862,363.9,-8.7,182,2530,0.00,2.35,0.00,0.000,260,0.000,0.082,2502,4039,3919,3977,3862,0,0,0,0,0,0,15.14,14.67,15.17
$GC,2554,-0.62,-194.6,2502,4039,3977,3862,367.1,-9.8,188,2561,0.00,2.15,0.00,0.000,1030,0.000,0.032,2502,2647,3920,3978,3862,0,0,0,0,0,0,14.92,14.86,14.95
$GC,2889,-0.62,-194.6,2502,2647,3972,3861,398.6,-9.5,199,2894,0.00,2.20,0.00,0.000,516,0.000,0.053,2502,1252,3916,3971,3861,0,0,0,0,0,0,15.14,14.72,15.17
$GC,2928,-0.62,-194.6,2502,1253,3972,3861,402.7,-9.2,207,2934,0.00,2.25,0.00,0.000,1030,0.000,0.055,2498,2650,3916,3971,3861,0,0,0,0,0,0,14.88,14.77,14.91
$GC,3249,-0.62,-194.6,2498,2650,3966,3860,433.0,-9.5,216,3255,0.00,2.30,0.00,0.000,260,0.000,0.083,2487,4035,3912,3966,3859,0,0,0,0,0,0,15.16,14.66,15.19
$GC,3279,-0.62,-194.6,2487,4035,3966,3858,436.0,-10.4,222,3285,0.00,2.12,0.00,0.000,1030,0.000,0.033,2488,2655,3912,3966,3858,0,0,0,0,0,0,14.85,14.83,14.88
$GC,3613,-0.62,-194.6,2487,2655,3962,3856,468.7,-9.9,233,3617,0.00,2.25,0.00,0.000,516,0.000,0.054,2487,1252,3908,3962,3855,0,0,0,0,0,0,15.14,14.76,15.17
$GC,3636,-0.62,-194.6,2487,1252,3961,3856,471.6,-10.5,237,3641,0.15,2.28,0.00,0.000,3078,0.239,0.056,2516,2658,3908,3961,3856,0,0,0,0,0,0,14.53,14.76,14.77
$GC,3985,-0.62,-194.6,2515,2658,3959,3853,501.6,-8.7,250,3990,0.00,2.30,0.00,0.000,260,0.000,0.086,2507,4033,3906,3959,3853,0,0,0,0,0,0,15.14,14.62,15.17
$GC,4014,-0.62,-194.6,2507,4034,3958,3853,504.6,-9.5,256,4021,0.00,2.15,0.00,0.000,1030,0.000,0.034,2507,2647,3905,3958,3853,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4349,-0.62,-194.6,2507,2647,3955,3852,533.1,-8.5,267,4355,0.00,2.20,0.00,0.000,516,0.000,0.055,2507,1262,3903,3955,3851,0,0,0,0,0,0,15.14,14.67,15.16
$GC,4373,-0.62,-194.6,2507,1262,3955,3852,535.6,-9.1,272,4380,0.00,2.25,0.00,0.000,1030,0.000,0.057,2501,2649,3902,3954,3851,0,0,0,0,0,0,14.85,14.74,14.89
$GC,4709,-0.62,-194.6,2500,2648,3950,3849,565.6,-9.0,284,4715,0.00,2.33,0.00,0.000,260,0.000,0.087,2490,4033,3899,3950,3849,0,0,0,0,0,0,15.16,14.60,15.19
$GC,4749,-0.62,-194.6,2490,4034,3950,3848,569.4,-10.1,292,4755,0.00,2.17,0.00,0.000,1030,0.000,0.035,2490,2645,3899,3950,3848,0,0,0,0,0,0,14.89,14.82,14.91
$GC,5073,-0.62,-194.6,2490,2644,3949,3847,599.7,-9.5,301,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2644,3898,3949,3847,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5371,-0.62,-194.6,2490,2644,3947,3846,627.3,-9.2,306,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2644,3896,3947,3846,0,0,0,0,0,0,15.15,15.19,15.19
$GC,5670,-0.62,-194.6,2490,2644,3944,3845,654.2,-8.9,311,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2644,3894,3944,3845,0,0,0,0,0,0,15.16,15.20,15.19
$GC,5970,-0.62,-194.6,2490,2644,3942,3844,679.9,-8.6,316,5976,0.00,2.38,0.00,0.000,260,0.000,0.090,2481,4032,3892,3941,3843,0,0,0,0,0,0,15.16,14.56,15.19
$GC,6001,-0.62,-194.6,2481,4032,3941,3843,682.5,-9.5,322,6006,0.10,2.15,0.00,0.000,3078,0.195,0.037,2511,2655,3892,3941,3843,0,0,0,0,0,0,14.43,14.73,14.57
$GC,6394,-0.62,-194.6,2511,2655,3940,3842,709.2,-6.7,333,6399,0.00,2.28,0.00,0.000,516,0.000,0.060,2511,1257,3890,3939,3842,0,0,0,0,0,0,15.13,14.67,15.16
$GC,6432,-0.62,-194.6,2511,1257,3939,3842,712.3,-7.7,340,6439,0.00,2.30,0.00,0.000,1030,0.000,0.063,2511,2651,3890,3939,3842,0,0,0,0,0,0,14.81,14.68,14.85
$GC,7123,-0.62,-194.6,2511,2651,3936,3839,764.3,-7.7,362,7129,0.00,2.38,0.00,0.000,260,0.000,0.093,2502,4041,3887,3936,3839,0,0,0,0,0,0,15.12,14.50,15.16
$GC,7144,-0.62,-194.6,2502,4040,3935,3838,766.3,-7.7,366,7149,0.00,2.20,0.00,0.000,1030,0.000,0.039,2502,2655,3887,3936,3838,0,0,0,0,0,0,14.81,14.77,14.82
$GC,7848,-0.62,-194.6,2502,2655,3932,3837,819.7,-7.6,391,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2655,3884,3932,3836,0,0,0,0,0,0,15.11,15.16,15.15
$GC,8444,-0.62,-194.6,2502,2655,3930,3835,868.8,-8.3,396,8450,0.00,2.30,0.00,0.000,516,0.000,0.065,2502,1248,3882,3929,3835,0,0,0,0,0,0,15.15,14.53,15.18
$GC,8469,-0.62,-194.6,2502,1248,3929,3835,871.1,-9.2,401,8473,0.00,2.35,0.00,0.000,1030,0.000,0.067,2498,2656,3882,3929,3835,0,0,0,0,0,0,14.76,14.62,14.81
$GC,9172,-0.62,-194.6,2498,2656,3926,3832,933.4,-8.9,425,9176,0.00,2.42,0.00,0.000,260,0.000,0.099,2487,4045,3878,3925,3832,0,0,0,0,0,0,15.11,14.50,15.14
$GC,9220,-0.62,-194.6,2487,4045,3925,3830,938.3,-9.7,434,9226,0.00,2.22,0.00,0.000,1030,0.000,0.043,2487,2649,3878,3925,3831,0,0,0,0,0,0,14.69,14.64,14.72
$STATE,9892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9892,begin apogee
$GC,9906,-0.20,0.0,2488,2464,3924,3830,996.9,-8.4,454,10061,0.57,0.00,152.05,2.140,10246,0.190,0.000,2650,2463,3126,3058,3195,0,0,0,0,0,0,14.40,14.08,13.23
$STATE,10063,end apogee,CONTROL_FINISHED_OK
$STATE,10063,begin climb
$GC,10067,0.62,194.6,2650,2463,3058,3191,1000.8,0.0,455,10232,0.80,0.00,159.62,2.083,10758,0.119,0.000,2908,2463,2331,2237,2426,0,0,0,0,0,0,14.09,13.83,13.04
$GC,10855,0.62,194.6,2907,2463,2249,2401,911.3,12.4,507,10860,0.00,2.47,0.00,0.000,260,0.000,0.095,2908,3876,2325,2249,2401,0,0,0,0,0,0,14.88,14.45,14.90
$GC,10893,0.62,194.6,2907,3876,2256,2393,906.3,13.9,515,10899,0.00,2.30,0.00,0.000,1030,0.000,0.057,2918,2490,2324,2256,2393,0,0,0,0,0,0,14.68,14.59,14.71
$GC,11574,0.62,194.6,2917,2490,2256,2392,818.5,12.8,536,11580,0.00,2.40,0.00,0.000,516,0.000,0.080,2929,1064,2324,2256,2392,0,0,0,0,0,0,15.02,14.52,15.05
$GC,11604,0.62,194.6,2928,1064,2258,2389,814.7,12.4,542,11610,0.00,2.35,0.00,0.000,1030,0.000,0.068,2928,2470,2323,2258,2389,0,0,0,0,0,0,14.63,14.56,14.69
$GC,12295,0.62,194.6,2928,2471,2257,2388,718.4,14.1,565,12299,0.00,2.45,0.00,0.000,260,0.000,0.098,2928,3880,2323,2258,2388,0,0,0,0,0,0,15.07,14.53,15.10
$GC,12377,0.62,194.6,2928,3880,2262,2381,705.6,15.4,581,12382,0.00,2.35,0.00,0.000,1030,0.000,0.056,2939,2466,2321,2262,2381,0,0,0,0,0,0,14.77,14.67,14.81
$GC,13021,0.62,194.6,2938,2467,2261,2381,611.8,14.8,599,13026,0.00,2.45,0.00,0.000,260,0.000,0.095,2938,3876,2321,2262,2381,0,0,0,0,0,0,15.09,14.47,15.12
$GC,13060,0.62,194.6,2938,3876,2263,2379,605.3,16.3,607,13067,0.15,2.30,0.00,0.000,5126,0.295,0.056,2919,2478,2321,2264,2378,0,0,0,0,0,0,14.29,14.67,14.64
$GC,13385,0.62,194.6,2918,2478,2264,2379,562.4,13.2,616,13391,0.00,2.38,0.00,0.000,516,0.000,0.080,2927,1066,2321,2264,2378,0,0,0,0,0,0,15.07,14.50,15.10
$GC,13409,0.62,194.6,2927,1066,2265,2378,558.7,13.3,621,13414,0.00,2.38,0.00,0.000,1030,0.000,0.067,2927,2481,2321,2265,2378,0,0,0,0,0,0,14.76,14.62,14.81
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$STATE,18306,end climb,SURFACE_DEPTH_REACHED
$STATE,18306,begin surface coast
$STATE,18326,end surface coast,CONTROL_FINISHED_OK
$STATE,18326,begin surface
$SM_CCo,18410,0.00,0.000,0,0,521,639.25
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$IRIDIUM_FIX,749.46,8432.96,101015,013013
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.00
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,13.04,75.670
$10V_AH,12.81,0.000
$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
$DEVICE_SECS,22.400,157.375,621.475,0.000,0.000,0.000,0.000,394.850,0.000,0.000,43.381,634.661,15014.775,630.281,2201.103,594.979,0.000,1996.835,0.000,1402.990,0.000,0.544,0.000
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$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260164
$DATA_FILE_SIZE,43339,977
$CAP_FILE_SIZE,158260,0
$CFSIZE,260034560,232787968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,138.55,1
$GPS,101015,064945,753.199,8429.314,98,2.0,138,-2.0,0.5,171.4,6,13.9