version: 66.12
glider: 141
mission: 23
dive: 249
start: 10 12 115 18 3 39
data:
$ID,141
$MISSION,23
$DIVE,249
$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,47
$R_STBD_OVSHOOT,50
$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
$GPS1,121015,175732,752.8012,8411.2832,268,2.3,301,-2.1,0.4,217.9,4,17.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.35
$_SM_ANGLEo,-74.0
$GPS2,121015,180305,752.7925,8411.2441,19,1.3,30,-2.1,0.3,302.4,8,9.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,287.2,271379,-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,-194.6,36,2677,991,1110,0.0,0.0,0,114,0.00,0.00,-86.40,0.000,16386,0.000,0.000,36,2678,3457,3531,3384,0,0,0,0,0,0,14.89,28.83,14.92
$GC,123,-0.62,-194.6,36,2678,3531,3385,6.4,-6.7,9,148,11.77,2.28,-6.10,0.000,18948,0.404,0.064,2506,1245,3923,3999,3848,0,0,0,0,0,0,14.26,13.79,14.51
$GC,244,-0.62,-194.6,2506,1246,3999,3852,54.5,-28.3,34,250,0.00,2.25,0.00,0.000,1030,0.000,0.054,2498,2631,3925,3998,3852,0,0,0,0,0,0,14.73,14.64,14.77
$GC,559,-0.62,-194.6,2498,2630,3998,3854,132.0,-19.5,52,566,0.00,2.33,0.00,0.000,260,0.000,0.077,2487,4036,3926,3999,3854,0,0,0,0,0,0,15.05,14.62,15.08
$GC,776,-0.62,-194.6,2487,4036,3999,3858,168.8,-15.7,95,780,0.00,2.20,0.00,0.000,1030,0.000,0.033,2487,2647,3928,3999,3858,0,0,0,0,0,0,14.74,14.71,14.78
$GC,1082,-0.62,-194.6,2487,2646,3998,3859,207.0,-11.1,111,1087,0.00,2.17,0.00,0.000,516,0.000,0.050,2487,1262,3929,3999,3859,0,0,0,0,0,0,15.10,14.72,15.13
$GC,1166,-0.62,-194.6,2487,1262,3999,3860,216.7,-11.5,128,1173,0.15,2.22,0.00,0.000,3078,0.243,0.053,2514,2653,3929,3999,3859,0,0,0,0,0,0,14.52,14.75,14.76
$GC,1483,-0.62,-194.6,2514,2653,3997,3860,246.4,-8.6,146,1488,0.00,2.30,0.00,0.000,260,0.000,0.080,2506,4040,3928,3997,3859,0,0,0,0,0,0,15.12,14.66,15.16
$GC,1527,-0.62,-194.6,2505,4040,3997,3860,250.7,-9.6,155,1532,0.00,2.15,0.00,0.000,1030,0.000,0.031,2506,2643,3928,3996,3860,0,0,0,0,0,0,14.90,14.83,14.91
$GC,1843,-0.62,-194.6,2505,2643,3990,3859,285.3,-11.4,163,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2643,3925,3991,3859,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2142,-0.62,-194.6,2506,2643,3984,3860,316.3,-10.1,168,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2643,3921,3984,3859,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2443,-0.62,-194.6,2505,2643,3979,3859,345.2,-9.7,173,2447,0.00,2.20,0.00,0.000,516,0.000,0.052,2506,1259,3918,3978,3859,0,0,0,0,0,0,15.15,14.76,15.19
$GC,2476,-0.62,-194.6,2506,1259,3978,3859,348.7,-9.5,179,2482,0.00,2.28,0.00,0.000,1030,0.000,0.054,2501,2661,3919,3978,3860,0,0,0,0,0,0,14.87,14.76,14.90
$GC,2808,-0.62,-194.6,2500,2661,3973,3860,380.3,-9.5,190,2813,0.00,2.28,0.00,0.000,260,0.000,0.082,2490,4033,3916,3973,3860,0,0,0,0,0,0,15.15,14.63,15.19
$GC,2837,-0.62,-194.6,2490,4033,3973,3858,383.5,-11.1,196,2843,0.00,2.15,0.00,0.000,1030,0.000,0.032,2490,2645,3915,3973,3858,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3168,-0.62,-194.6,2490,2645,3967,3856,417.6,-10.3,207,3173,0.00,2.20,0.00,0.000,516,0.000,0.054,2490,1259,3911,3967,3856,0,0,0,0,0,0,15.16,14.69,15.19
$GC,3204,-0.62,-194.6,2490,1259,3967,3856,421.2,-9.9,214,3210,0.10,2.22,0.00,0.000,3078,0.207,0.055,2514,2641,3911,3967,3856,0,0,0,0,0,0,14.46,14.69,14.61
$GC,3534,-0.62,-194.6,2514,2641,3962,3854,446.9,-7.8,224,3540,0.00,2.35,0.00,0.000,260,0.000,0.083,2505,4042,3908,3962,3854,0,0,0,0,0,0,15.14,14.60,15.16
$GC,3573,-0.62,-194.6,2505,4042,3962,3853,450.5,-8.4,232,3580,0.00,2.17,0.00,0.000,1030,0.000,0.034,2505,2643,3907,3962,3853,0,0,0,0,0,0,14.89,14.82,14.91
$GC,3898,-0.62,-194.6,2505,2643,3959,3852,476.9,-8.2,241,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2643,3905,3959,3852,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4195,-0.62,-194.6,2505,2642,3957,3850,500.7,-7.9,246,4200,0.00,2.22,0.00,0.000,516,0.000,0.056,2505,1253,3903,3957,3850,0,0,0,0,0,0,15.16,14.64,15.19
$GC,4224,-0.62,-194.6,2505,1253,3957,3850,503.2,-8.2,252,4231,0.00,2.30,0.00,0.000,1030,0.000,0.057,2501,2665,3903,3956,3850,0,0,0,0,0,0,14.83,14.71,14.88
$GC,4559,-0.62,-194.6,2500,2665,3952,3848,531.7,-8.7,263,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2666,3900,3952,3848,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4855,-0.62,-194.6,2500,2665,3950,3846,558.3,-8.9,268,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2665,3898,3950,3846,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5156,-0.62,-194.6,2500,2665,3948,3845,584.2,-8.6,273,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2665,3897,3949,3845,0,0,0,0,0,0,15.15,15.19,15.18
$GC,5456,-0.62,-194.6,2500,2665,3947,3843,608.3,-7.9,278,5461,0.00,2.28,0.00,0.000,516,0.000,0.057,2501,1260,3894,3946,3843,0,0,0,0,0,0,15.15,14.61,15.19
$GC,5484,-0.62,-194.6,2500,1261,3946,3843,610.6,-8.5,284,5491,0.00,2.28,0.00,0.000,1030,0.000,0.060,2498,2649,3894,3946,3843,0,0,0,0,0,0,14.81,14.69,14.85
$GC,5816,-0.62,-194.6,2498,2649,3942,3842,636.6,-7.9,295,5821,0.00,2.35,0.00,0.000,260,0.000,0.090,2487,4038,3892,3943,3842,0,0,0,0,0,0,15.15,14.51,15.18
$GC,5856,-0.62,-194.6,2487,4038,3943,3841,640.1,-8.8,303,5861,0.00,2.17,0.00,0.000,1030,0.000,0.037,2487,2655,3892,3943,3841,0,0,0,0,0,0,14.85,14.77,14.88
$GC,6180,-0.62,-194.6,2487,2655,3941,3840,668.1,-8.7,312,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2655,3890,3941,3840,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6477,-0.62,-194.6,2487,2655,3940,3838,694.0,-8.7,317,6481,0.00,2.30,0.00,0.000,516,0.000,0.060,2487,1246,3889,3940,3838,0,0,0,0,0,0,15.15,14.64,15.18
$GC,6499,-0.62,-194.6,2487,1246,3940,3837,696.3,-9.3,321,6504,0.12,2.33,0.00,0.000,3078,0.240,0.063,2514,2654,3889,3940,3838,0,0,0,0,0,0,14.46,14.66,14.69
$GC,6845,-0.62,-194.6,2513,2654,3938,3838,722.6,-7.6,332,6851,0.00,2.35,0.00,0.000,260,0.000,0.092,2506,4033,3887,3937,3837,0,0,0,0,0,0,15.14,14.50,15.17
$GC,6884,-0.62,-194.6,2505,4033,3937,3837,726.0,-8.6,340,6891,0.00,2.20,0.00,0.000,1030,0.000,0.038,2506,2645,3887,3937,3837,0,0,0,0,0,0,14.83,14.75,14.86
$GC,7569,-0.62,-194.6,2505,2645,3935,3835,785.3,-8.8,361,7573,0.00,2.30,0.00,0.000,516,0.000,0.062,2506,1245,3884,3934,3835,0,0,0,0,0,0,15.11,14.62,15.14
$GC,7618,-0.62,-194.6,2506,1245,3934,3835,789.9,-8.7,370,7623,0.00,2.33,0.00,0.000,1030,0.000,0.064,2501,2648,3884,3934,3835,0,0,0,0,0,0,14.64,14.56,14.69
$GC,8296,-0.62,-194.6,2501,2648,3932,3832,848.2,-8.5,390,8302,0.00,2.40,0.00,0.000,260,0.000,0.096,2490,4036,3881,3931,3832,0,0,0,0,0,0,15.11,14.43,15.14
$GC,8325,-0.62,-194.6,2490,4036,3931,3831,851.0,-8.7,396,8332,0.00,2.22,0.00,0.000,1030,0.000,0.041,2491,2646,3881,3931,3831,0,0,0,0,0,0,14.80,14.71,14.83
$GC,9020,-0.62,-194.6,2490,2646,3928,3830,903.0,-7.3,419,9026,0.00,2.30,0.00,0.000,516,0.000,0.066,2491,1249,3878,3927,3830,0,0,0,0,0,0,15.10,14.49,15.14
$GC,9044,-0.62,-194.6,2490,1250,3928,3830,905.1,-7.7,424,9051,0.00,2.35,0.00,0.000,1030,0.000,0.067,2486,2652,3879,3928,3830,0,0,0,0,0,0,14.73,14.60,14.78
$GC,9741,-0.62,-194.6,2486,2652,3925,3829,956.5,-7.4,448,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2651,3877,3925,3830,0,0,0,0,0,0,15.13,15.16,15.16
$STATE,10216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10216,begin apogee
$GC,10226,-0.20,0.0,2486,2468,3924,3829,996.4,-8.3,452,10382,0.57,0.00,152.75,2.167,10246,0.188,0.000,2649,2468,3126,3058,3194,0,0,0,0,0,0,14.37,14.07,13.20
$STATE,10384,end apogee,CONTROL_FINISHED_OK
$STATE,10384,begin climb
$GC,10388,0.62,194.6,2649,2468,3058,3191,1001.2,0.0,453,10559,0.82,2.50,161.32,2.101,10756,0.117,0.079,2927,1081,2329,2239,2419,0,0,0,0,0,0,14.08,13.66,13.00
$GC,10608,0.62,194.6,2926,1081,2244,2410,984.6,12.3,506,10612,0.00,2.45,0.00,0.000,1030,0.000,0.066,2927,2470,2327,2245,2410,0,0,0,0,0,0,14.11,14.01,14.14
$GC,11301,0.62,194.6,2927,2470,2252,2396,888.5,14.0,529,11308,0.00,2.45,0.00,0.000,260,0.000,0.097,2927,3877,2324,2253,2395,0,0,0,0,0,0,14.92,14.45,14.95
$GC,11372,0.62,194.6,2926,3877,2260,2388,877.3,15.9,543,11378,0.00,2.28,0.00,0.000,1030,0.000,0.057,2937,2495,2324,2261,2388,0,0,0,0,0,0,14.62,14.56,14.65
$GC,12022,0.62,194.6,2936,2495,2259,2387,777.4,15.4,558,12027,0.00,2.45,0.00,0.000,516,0.000,0.082,2947,1058,2323,2259,2387,0,0,0,0,0,0,15.03,14.55,15.06
$GC,12070,0.62,194.6,2947,1058,2261,2384,770.1,14.7,567,12077,0.15,2.40,0.00,0.000,5126,0.269,0.068,2915,2480,2322,2261,2384,0,0,0,0,0,0,14.33,14.60,14.57
$GC,12691,0.62,194.6,2914,2480,2261,2384,691.0,12.5,587,12696,0.00,2.42,0.00,0.000,260,0.000,0.097,2914,3880,2322,2261,2384,0,0,0,0,0,0,15.04,14.47,15.07
$GC,12774,0.62,194.6,2914,3880,2264,2378,679.1,13.5,604,12780,0.00,2.35,0.00,0.000,1030,0.000,0.056,2923,2464,2321,2265,2378,0,0,0,0,0,0,14.76,14.66,14.81
$GC,13111,0.62,194.6,2923,2464,2265,2378,635.8,13.0,616,13117,0.00,2.35,0.00,0.000,516,0.000,0.080,2934,1069,2321,2265,2378,0,0,0,0,0,0,15.07,14.50,15.11
$GC,13135,0.62,194.6,2933,1070,2266,2378,632.4,13.3,621,13142,0.00,2.38,0.00,0.000,1030,0.000,0.067,2933,2481,2321,2265,2378,0,0,0,0,0,0,14.74,14.61,14.79
$GC,13471,0.62,194.6,2933,2480,2265,2378,586.9,13.6,633,13477,0.00,2.42,0.00,0.000,260,0.000,0.098,2933,3877,2321,2265,2378,0,0,0,0,0,0,15.08,14.45,15.11
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$STATE,18665,end climb,SURFACE_DEPTH_REACHED
$STATE,18665,begin surface coast
$STATE,18686,end surface coast,CONTROL_FINISHED_OK
$STATE,18686,begin surface
$SM_CCo,18772,0.00,0.000,0,0,1020,516.60
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$TT8_MAMPS,0.023219,0.023219
$HUMID,46.33
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.90
$XPDR_PINGS,1
$24V_AH,13.00,79.639
$10V_AH,12.45,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.000,134.575,542.650,0.000,0.000,0.000,0.000,188.450,0.250,0.000,32.444,627.513,15335.019,560.930,2010.469,566.262,0.000,1683.855,0.000,1405.674,0.000,0.543,0.000
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$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260236
$DATA_FILE_SIZE,43302,977
$CAP_FILE_SIZE,155678,0
$CFSIZE,260034560,232046592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,141.04,1
$GPS,121015,231844,752.626,8409.448,49,4.4,89,-2.1,0.4,231.1,5,45.8