version: 66.12
glider: 141
mission: 23
dive: 244
start: 10 11 115 15 10 7
data:
$ID,141
$MISSION,23
$DIVE,244
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,111015,150339,752.8868,8419.7363,204,1.5,244,-2.0,0.4,179.3,6,12.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.21
$_SM_ANGLEo,-73.6
$GPS2,111015,150933,752.8747,8419.7090,14,1.4,41,-2.0,0.3,144.7,8,8.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,290.9,286879,-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,26,-0.62,-194.6,32,2661,560,699,0.0,0.0,0,128,0.00,0.00,-96.72,0.000,16386,0.000,0.000,29,2661,3356,3417,3296,0,0,0,0,0,0,14.89,28.83,14.92
$GC,134,-0.62,-194.6,29,2661,3417,3297,5.7,-5.2,10,160,11.85,2.33,-7.95,0.000,18948,0.409,0.073,2506,1244,3923,3992,3855,0,0,0,0,0,0,14.28,13.37,14.53
$GC,221,-0.62,-194.6,2506,1244,3992,3859,40.8,-29.7,28,229,0.00,2.28,0.00,0.000,1030,0.000,0.057,2498,2652,3925,3992,3859,0,0,0,0,0,0,14.66,14.61,14.70
$GC,543,-0.62,-194.6,2498,2652,3992,3859,128.2,-22.8,47,548,0.00,2.30,0.00,0.000,260,0.000,0.077,2487,4043,3925,3992,3859,0,0,0,0,0,0,15.04,14.64,15.07
$GC,696,-0.62,-194.6,2487,4043,3992,3860,154.9,-15.6,77,701,0.00,2.17,0.00,0.000,1030,0.000,0.032,2487,2637,3926,3992,3860,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1011,-0.62,-194.6,2486,2636,3992,3863,203.2,-14.7,94,1016,0.00,2.33,0.00,0.000,260,0.000,0.078,2476,4035,3927,3992,3862,0,0,0,0,0,0,15.10,14.68,15.14
$GC,1055,-0.62,-194.6,2476,4035,3992,3862,210.0,-15.3,103,1061,0.15,2.15,0.00,0.000,3078,0.246,0.031,2511,2641,3927,3992,3863,0,0,0,0,0,0,14.54,14.83,14.78
$GC,1371,-0.62,-194.6,2511,2641,3991,3862,241.8,-9.6,121,1376,0.00,2.20,0.00,0.000,516,0.000,0.050,2512,1253,3927,3992,3863,0,0,0,0,0,0,15.11,14.78,15.15
$GC,1420,-0.62,-194.6,2511,1253,3991,3863,246.4,-9.1,130,1426,0.00,2.25,0.00,0.000,1030,0.000,0.051,2505,2659,3927,3991,3863,0,0,0,0,0,0,14.83,14.78,14.84
$GC,1779,-0.62,-194.6,2505,2659,3986,3863,286.0,-11.9,140,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2659,3925,3987,3863,0,0,0,0,0,0,15.12,15.16,15.16
$GC,2076,-0.62,-194.6,2505,2659,3981,3863,316.4,-9.6,145,2080,0.00,2.25,0.00,0.000,516,0.000,0.051,2506,1248,3922,3981,3863,0,0,0,0,0,0,15.15,14.78,15.19
$GC,2114,-0.62,-194.6,2505,1248,3981,3863,319.5,-7.9,152,2120,0.00,2.25,0.00,0.000,1030,0.000,0.053,2498,2651,3921,3980,3863,0,0,0,0,0,0,14.89,14.78,14.92
$GC,2441,-0.62,-194.6,2498,2650,3973,3862,347.2,-9.0,162,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2650,3918,3974,3862,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2740,-0.62,-194.6,2498,2650,3969,3862,375.0,-9.2,167,2745,0.00,2.30,0.00,0.000,260,0.000,0.081,2488,4035,3914,3968,3861,0,0,0,0,0,0,15.16,14.67,15.19
$GC,2784,-0.62,-194.6,2487,4035,3968,3860,379.4,-9.6,176,2791,0.00,2.15,0.00,0.000,1030,0.000,0.033,2488,2646,3914,3968,3860,0,0,0,0,0,0,14.92,14.85,14.94
$GC,3101,-0.62,-194.6,2487,2646,3964,3860,411.5,-10.3,184,3107,0.00,2.20,0.00,0.000,516,0.000,0.053,2488,1257,3911,3963,3860,0,0,0,0,0,0,15.16,14.72,15.19
$GC,3140,-0.62,-194.6,2487,1258,3963,3860,415.9,-11.1,192,3147,0.15,2.25,0.00,0.000,3078,0.240,0.054,2516,2648,3911,3963,3860,0,0,0,0,0,0,14.53,14.76,14.77
$GC,3466,-0.62,-194.6,2516,2647,3960,3857,445.6,-9.2,201,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2648,3908,3959,3858,0,0,0,0,0,0,15.14,15.18,15.16
$GC,3762,-0.62,-194.6,2516,2648,3957,3855,471.8,-8.7,206,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2648,3906,3957,3855,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4063,-0.62,-194.6,2516,2647,3952,3853,497.3,-8.4,211,4068,0.00,2.33,0.00,0.000,260,0.000,0.086,2509,4035,3902,3951,3853,0,0,0,0,0,0,15.16,14.62,15.19
$GC,4086,-0.62,-194.6,2509,4035,3951,3852,499.4,-8.0,215,4092,0.00,2.17,0.00,0.000,1030,0.000,0.033,2510,2647,3901,3951,3852,0,0,0,0,0,0,14.90,14.83,14.92
$GC,4428,-0.62,-194.6,2509,2647,3949,3850,528.3,-8.5,228,4434,0.00,2.25,0.00,0.000,516,0.000,0.055,2509,1243,3899,3948,3851,0,0,0,0,0,0,15.16,14.70,15.19
$GC,4458,-0.62,-194.6,2509,1243,3949,3850,531.0,-9.0,234,4463,0.00,2.28,0.00,0.000,1030,0.000,0.056,2502,2654,3899,3949,3850,0,0,0,0,0,0,14.74,14.68,14.79
$GC,4788,-0.62,-194.6,2502,2653,3946,3848,560.8,-9.0,245,4793,0.00,2.35,0.00,0.000,260,0.000,0.086,2492,4042,3896,3946,3847,0,0,0,0,0,0,15.15,14.64,15.19
$GC,4821,-0.62,-194.6,2491,4042,3946,3847,564.0,-9.8,251,4827,0.00,2.17,0.00,0.000,1030,0.000,0.036,2492,2653,3896,3946,3847,0,0,0,0,0,0,14.88,14.81,14.90
$GC,5157,-0.62,-194.6,2491,2653,3943,3846,594.1,-9.0,262,5162,0.00,2.25,0.00,0.000,516,0.000,0.057,2492,1251,3894,3943,3846,0,0,0,0,0,0,15.13,14.64,15.16
$GC,5196,-0.62,-194.6,2491,1251,3942,3846,598.2,-9.5,270,5201,0.00,2.28,0.00,0.000,1030,0.000,0.058,2488,2653,3894,3942,3846,0,0,0,0,0,0,14.72,14.65,14.76
$GC,5517,-0.62,-194.6,2488,2652,3940,3845,627.2,-9.1,279,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2652,3892,3940,3845,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5816,-0.62,-194.6,2488,2653,3939,3843,655.7,-9.6,284,5823,0.00,2.28,0.00,0.000,516,0.000,0.057,2488,1254,3891,3939,3843,0,0,0,0,0,0,15.15,14.65,15.18
$GC,5841,-0.62,-194.6,2488,1255,3938,3843,658.4,-10.1,289,5846,0.00,2.30,0.00,0.000,1030,0.000,0.060,2487,2657,3890,3938,3843,0,0,0,0,0,0,14.82,14.69,14.86
$GC,6181,-0.62,-194.6,2486,2657,3937,3841,691.7,-9.9,301,6183,0.12,0.00,0.00,0.000,2054,0.252,0.000,2515,2658,3889,3937,3841,0,0,0,0,0,0,14.53,14.80,14.72
$GC,6540,-0.62,-194.6,2514,2658,3935,3840,721.1,-8.2,305,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2657,3887,3935,3840,0,0,0,0,0,0,15.15,15.19,15.19
$GC,7141,-0.62,-194.6,2514,2658,3931,3838,768.5,-7.9,310,7146,0.00,2.28,0.00,0.000,516,0.000,0.060,2515,1262,3883,3930,3837,0,0,0,0,0,0,15.14,14.58,15.18
$GC,7170,-0.62,-194.6,2515,1262,3931,3837,771.0,-9.4,316,7177,0.00,2.30,0.00,0.000,1030,0.000,0.062,2513,2648,3884,3931,3838,0,0,0,0,0,0,14.79,14.66,14.83
$GC,7865,-0.62,-194.6,2513,2647,3927,3835,825.3,-7.8,339,7870,0.00,2.38,0.00,0.000,260,0.000,0.094,2503,4028,3880,3926,3835,0,0,0,0,0,0,15.12,14.46,15.15
$GC,7900,-0.62,-194.6,2503,4028,3926,3835,828.3,-8.3,346,7905,0.00,2.15,0.00,0.000,1030,0.000,0.039,2503,2664,3880,3926,3835,0,0,0,0,0,0,14.71,14.67,14.74
$GC,8588,-0.62,-194.6,2503,2664,3924,3833,880.3,-7.5,368,8594,0.00,2.33,0.00,0.000,516,0.000,0.064,2503,1247,3878,3924,3833,0,0,0,0,0,0,15.11,14.52,15.15
$GC,8652,-0.62,-194.6,2503,1247,3924,3833,885.8,-7.5,381,8657,0.00,2.35,0.00,0.000,1030,0.000,0.067,2501,2650,3878,3924,3833,0,0,0,0,0,0,14.74,14.60,14.78
$GC,9315,-0.62,-194.6,2501,2650,3922,3830,936.5,-7.7,397,9319,0.00,2.45,0.00,0.000,260,0.000,0.099,2491,4042,3876,3922,3830,0,0,0,0,0,0,15.11,14.47,15.14
$GC,9353,-0.62,-194.6,2490,4042,3921,3830,939.9,-8.5,404,9360,0.00,2.25,0.00,0.000,1030,0.000,0.042,2491,2643,3876,3922,3830,0,0,0,0,0,0,14.78,14.70,14.82
$STATE,10035,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10036,begin apogee
$GC,10049,-0.20,0.0,2491,2457,3918,3829,997.6,-8.4,426,10204,0.55,0.00,151.38,2.176,10246,0.187,0.000,2647,2457,3126,3055,3197,0,0,0,0,0,0,14.40,14.07,13.21
$STATE,10206,end apogee,CONTROL_FINISHED_OK
$STATE,10206,begin climb
$GC,10210,0.62,194.6,2647,2457,3054,3193,1002.6,0.0,427,10378,0.82,2.45,158.98,2.124,10756,0.119,0.076,2921,1090,2330,2236,2425,0,0,0,0,0,0,14.08,13.66,13.00
$GC,10426,0.62,194.6,2921,1089,2242,2413,987.0,11.8,480,10433,0.00,2.42,0.00,0.000,1030,0.000,0.065,2922,2470,2328,2243,2413,0,0,0,0,0,0,14.12,14.02,14.14
$GC,11118,0.62,194.6,2921,2471,2249,2401,898.7,12.8,503,11123,0.00,2.45,0.00,0.000,260,0.000,0.096,2921,3877,2325,2250,2400,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11242,0.62,194.6,2921,3877,2258,2391,880.5,14.4,528,11249,0.00,2.30,0.00,0.000,1030,0.000,0.056,2931,2487,2324,2259,2390,0,0,0,0,0,0,14.71,14.62,14.74
$GC,11958,0.62,194.6,2931,2487,2258,2389,775.4,15.0,556,11964,0.00,2.40,0.00,0.000,516,0.000,0.081,2942,1064,2323,2258,2389,0,0,0,0,0,0,15.04,14.51,15.07
$GC,11983,0.62,194.6,2942,1064,2259,2389,771.5,14.4,561,11987,0.00,2.38,0.00,0.000,1030,0.000,0.067,2942,2479,2324,2260,2388,0,0,0,0,0,0,14.74,14.61,14.79
$GC,12625,0.62,194.6,2941,2479,2259,2387,672.1,15.3,586,12631,0.00,2.42,0.00,0.000,260,0.000,0.096,2942,3880,2322,2259,2386,0,0,0,0,0,0,15.05,14.47,15.08
$GC,12734,0.62,194.6,2942,3880,2262,2381,653.5,16.6,608,12743,0.17,2.33,0.00,0.000,5126,0.295,0.056,2915,2469,2322,2263,2381,0,0,0,0,0,0,14.26,14.67,14.62
$GC,13048,0.62,194.6,2914,2470,2263,2381,613.2,12.9,615,13054,0.00,2.35,0.00,0.000,516,0.000,0.080,2923,1072,2322,2263,2381,0,0,0,0,0,0,15.06,14.50,15.09
$GC,13087,0.62,194.6,2923,1072,2263,2381,607.9,12.4,623,13093,0.00,2.35,0.00,0.000,1030,0.000,0.067,2923,2475,2322,2263,2381,0,0,0,0,0,0,14.74,14.61,14.80
$GC,13409,0.62,194.6,2922,2475,2263,2381,566.8,12.9,632,13415,0.00,2.42,0.00,0.000,260,0.000,0.096,2923,3877,2322,2263,2381,0,0,0,0,0,0,15.09,14.47,15.12
$GC,13458,0.62,194.6,2922,3877,2264,2379,559.4,15.3,642,13465,0.00,2.30,0.00,0.000,1030,0.000,0.054,2933,2477,2321,2265,2378,0,0,0,0,0,0,14.77,14.68,14.82
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$GC,15465,0.62,194.6,2927,2475,2270,2377,295.7,11.5,710,15470,0.00,2.35,0.00,0.000,516,0.000,0.075,2937,1070,2323,2269,2377,0,0,0,0,0,0,15.11,14.50,15.14
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$STATE,18532,end climb,SURFACE_DEPTH_REACHED
$STATE,18532,begin surface coast
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18641,0.00,0.000,0,0,1081,501.64
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$IRIDIUM_FIX,749.46,8421.92,111015,094538
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.95
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,13.00,78.004
$10V_AH,12.79,0.000
$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,22.175,144.175,523.475,0.000,0.000,0.000,0.000,199.650,0.250,0.000,44.106,646.225,15143.318,570.281,2078.682,551.779,0.000,1729.597,0.000,1446.809,0.000,0.543,0.000
$DEVICE_MAMPS,408.510,99.450,2176.425,0.000,0.000,0.000,0.000,237.915,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43381,1009
$CAP_FILE_SIZE,155083,0
$CFSIZE,260034560,232361984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,127.70,1
$GPS,111015,202345,752.432,8418.239,94,1.4,134,-2.0,0.9,187.9,5,13.7