version: 66.12
glider: 141
mission: 23
dive: 256
start: 10 14 115 7 51 32
data:
$ID,141
$MISSION,23
$DIVE,256
$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,44
$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
$GPS1,141015,074515,753.1874,8358.4199,96,1.9,136,-2.1,0.6,259.7,5,17.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-73.1
$GPS2,141015,075058,753.1521,8358.3232,13,1.2,41,-2.1,0.7,230.7,7,7.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,312.7,247679,-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,-194.6,42,2669,792,938,0.0,0.0,0,127,0.00,0.00,-95.95,0.000,16386,0.000,0.000,42,2669,3582,3655,3510,0,0,0,0,0,0,14.89,28.83,14.93
$GC,133,-0.62,-194.6,42,2668,3655,3512,7.2,-8.2,10,155,11.70,2.30,-4.18,0.000,18692,0.402,0.093,2497,4033,3924,3999,3850,0,0,0,0,0,0,14.27,13.37,14.52
$GC,275,-0.62,-194.6,2497,4033,3998,3855,67.5,-31.3,39,281,0.00,2.17,0.00,0.000,1030,0.000,0.034,2497,2648,3926,3999,3854,0,0,0,0,0,0,14.76,14.70,14.79
$GC,591,-0.62,-194.6,2497,2647,3999,3858,145.2,-19.1,57,597,0.00,2.30,0.00,0.000,260,0.000,0.079,2487,4027,3928,3999,3858,0,0,0,0,0,0,15.05,14.62,15.08
$GC,692,-0.62,-194.6,2486,4027,3999,3860,161.0,-14.6,77,698,0.00,2.12,0.00,0.000,1030,0.000,0.033,2487,2646,3929,3999,3860,0,0,0,0,0,0,14.78,14.74,14.81
$GC,1012,-0.62,-194.6,2487,2646,3999,3860,206.9,-14.1,96,1014,0.12,0.00,0.00,0.000,2054,0.262,0.000,2513,2645,3930,3999,3861,0,0,0,0,0,0,14.55,14.83,14.76
$GC,1313,-0.62,-194.6,2513,2645,3999,3861,240.0,-9.9,111,1318,0.00,2.30,0.00,0.000,260,0.000,0.080,2505,4022,3929,3999,3860,0,0,0,0,0,0,15.12,14.64,15.15
$GC,1367,-0.62,-194.6,2505,4022,3999,3860,245.5,-10.1,122,1372,0.00,2.17,0.00,0.000,1030,0.000,0.033,2505,2646,3930,3999,3861,0,0,0,0,0,0,14.78,14.74,14.80
$GC,1676,-0.62,-194.6,2505,2646,3995,3861,275.8,-10.0,130,1680,0.00,2.22,0.00,0.000,516,0.000,0.054,2505,1256,3927,3994,3861,0,0,0,0,0,0,15.11,14.75,15.15
$GC,1748,-0.62,-194.6,2505,1256,3993,3861,284.2,-11.5,144,1754,0.00,2.25,0.00,0.000,1030,0.000,0.055,2498,2645,3926,3992,3861,0,0,0,0,0,0,14.85,14.75,14.89
$GC,2100,-0.62,-194.6,2498,2645,3987,3860,322.8,-10.9,159,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2645,3923,3987,3860,0,0,0,0,0,0,15.14,15.18,15.17
$GC,2400,-0.62,-194.6,2498,2644,3980,3861,350.1,-9.1,164,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2644,3921,3981,3861,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2700,-0.62,-194.6,2498,2644,3973,3860,379.6,-9.8,169,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2644,3918,3975,3861,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3000,-0.62,-194.6,2498,2645,3972,3860,408.3,-9.7,174,3004,0.00,2.25,0.00,0.000,516,0.000,0.054,2498,1250,3915,3971,3860,0,0,0,0,0,0,15.16,14.73,15.19
$GC,3028,-0.62,-194.6,2498,1250,3971,3860,411.4,-10.6,179,3033,0.00,2.28,0.00,0.000,1030,0.000,0.056,2490,2652,3915,3971,3860,0,0,0,0,0,0,14.85,14.74,14.89
$GC,3364,-0.62,-194.6,2490,2652,3967,3857,446.7,-10.4,191,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2652,3912,3967,3857,0,0,0,0,0,0,15.15,15.19,15.19
$GC,3664,-0.62,-194.6,2490,2652,3963,3854,476.3,-9.9,196,3669,0.00,2.33,0.00,0.000,260,0.000,0.086,2479,4040,3908,3962,3854,0,0,0,0,0,0,15.16,14.59,15.19
$GC,3688,-0.62,-194.6,2479,4041,3962,3853,479.0,-11.6,201,3695,0.15,2.17,0.00,0.000,3078,0.229,0.036,2516,2649,3907,3962,3853,0,0,0,0,0,0,14.50,14.81,14.73
$GC,4028,-0.62,-194.6,2515,2648,3958,3853,506.9,-8.2,213,4034,0.00,2.22,0.00,0.000,516,0.000,0.057,2516,1267,3906,3959,3853,0,0,0,0,0,0,15.14,14.64,15.16
$GC,4063,-0.62,-194.6,2515,1267,3959,3853,510.3,-8.2,220,4069,0.00,2.28,0.00,0.000,1030,0.000,0.058,2514,2657,3905,3959,3852,0,0,0,0,0,0,14.83,14.71,14.86
$GC,4390,-0.62,-194.6,2513,2657,3956,3850,537.2,-8.4,230,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3903,3956,3850,0,0,0,0,0,0,15.14,15.19,15.18
$GC,4690,-0.62,-194.6,2513,2657,3952,3848,562.2,-8.3,235,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3900,3952,3849,0,0,0,0,0,0,15.15,15.19,15.18
$GC,4990,-0.62,-194.6,2513,2657,3950,3847,586.2,-8.0,240,4995,0.00,2.25,0.00,0.000,516,0.000,0.058,2514,1266,3898,3950,3847,0,0,0,0,0,0,15.14,14.62,15.18
$GC,5030,-0.62,-194.6,2513,1266,3950,3847,589.6,-8.5,248,5035,0.00,2.25,0.00,0.000,1030,0.000,0.060,2513,2640,3897,3949,3846,0,0,0,0,0,0,14.69,14.62,14.72
$GC,5353,-0.62,-194.6,2512,2640,3948,3845,615.5,-8.2,257,5359,0.00,2.38,0.00,0.000,260,0.000,0.092,2502,4031,3896,3947,3845,0,0,0,0,0,0,15.12,14.51,15.16
$GC,5398,-0.62,-194.6,2502,4032,3947,3844,619.9,-9.2,266,5403,0.00,2.20,0.00,0.000,1030,0.000,0.037,2502,2650,3895,3947,3844,0,0,0,0,0,0,14.84,14.77,14.88
$GC,5721,-0.62,-194.6,2502,2651,3945,3844,648.7,-9.0,274,5726,0.00,2.28,0.00,0.000,516,0.000,0.060,2502,1256,3894,3945,3844,0,0,0,0,0,0,15.12,14.66,15.15
$GC,5764,-0.62,-194.6,2502,1256,3945,3844,653.2,-9.6,282,5769,0.00,2.33,0.00,0.000,1030,0.000,0.063,2496,2659,3894,3944,3844,0,0,0,0,0,0,14.78,14.66,14.83
$GC,6090,-0.62,-194.6,2496,2659,3942,3842,683.4,-9.3,291,6095,0.00,2.35,0.00,0.000,260,0.000,0.093,2486,4035,3891,3941,3842,0,0,0,0,0,0,15.14,14.50,15.16
$GC,6129,-0.62,-194.6,2485,4034,3941,3841,687.5,-10.1,299,6135,0.12,2.20,0.00,0.000,3078,0.230,0.039,2515,2648,3891,3942,3841,0,0,0,0,0,0,14.47,14.74,14.69
$GC,6451,-0.62,-194.6,2515,2648,3940,3840,713.4,-8.0,307,6457,0.00,2.28,0.00,0.000,516,0.000,0.063,2515,1252,3890,3940,3840,0,0,0,0,0,0,15.13,14.57,15.16
$GC,6491,-0.62,-194.6,2515,1251,3940,3840,716.6,-7.8,315,6496,0.00,2.30,0.00,0.000,1030,0.000,0.063,2514,2644,3890,3940,3840,0,0,0,0,0,0,14.66,14.58,14.71
$GC,7175,-0.62,-194.6,2514,2644,3937,3837,769.0,-7.7,336,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2644,3886,3936,3837,0,0,0,0,0,0,15.11,15.15,15.14
$GC,7772,-0.62,-194.6,2514,2644,3934,3836,814.1,-7.5,341,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2644,3885,3934,3836,0,0,0,0,0,0,15.14,15.18,15.16
$GC,8371,-0.62,-194.6,2514,2644,3932,3834,856.9,-7.1,346,8375,0.00,2.42,0.00,0.000,260,0.000,0.099,2504,4039,3882,3931,3834,0,0,0,0,0,0,15.14,14.46,15.17
$GC,8394,-0.62,-194.6,2503,4039,3931,3833,858.6,-7.3,350,8399,0.00,2.22,0.00,0.000,1030,0.000,0.043,2504,2653,3882,3931,3833,0,0,0,0,0,0,14.79,14.70,14.83
$GC,9103,-0.62,-194.6,2503,2653,3929,3832,912.5,-7.8,375,9108,0.00,2.33,0.00,0.000,516,0.000,0.068,2504,1249,3880,3929,3831,0,0,0,0,0,0,15.11,14.47,15.13
$GC,9133,-0.62,-194.6,2504,1249,3928,3832,915.3,-9.1,381,9139,0.00,2.35,0.00,0.000,1030,0.000,0.070,2500,2652,3879,3928,3831,0,0,0,0,0,0,14.59,14.50,14.64
$GC,9824,-0.62,-194.6,2500,2652,3925,3830,971.3,-8.1,404,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2652,3878,3926,3830,0,0,0,0,0,0,15.12,15.16,15.16
$STATE,10059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10059,begin apogee
$GC,10069,-0.20,0.0,2500,2461,3925,3830,990.7,-8.1,406,10225,0.52,0.00,152.70,2.180,10246,0.181,0.000,2650,2461,3125,3055,3196,0,0,0,0,0,0,14.38,14.06,13.19
$STATE,10226,end apogee,CONTROL_FINISHED_OK
$STATE,10227,begin climb
$GC,10231,0.62,194.6,2650,2461,3053,3192,995.3,0.0,407,10401,0.80,2.47,160.10,2.091,10756,0.116,0.080,2921,1085,2329,2237,2422,0,0,0,0,0,0,14.07,13.78,12.99
$GC,10460,0.62,194.6,2921,1085,2243,2411,976.1,13.1,462,10464,0.00,2.45,0.00,0.000,1030,0.000,0.070,2921,2468,2327,2243,2411,0,0,0,0,0,0,14.14,14.03,14.16
$GC,11148,0.62,194.6,2920,2468,2251,2399,876.5,14.5,484,11154,0.00,2.47,0.00,0.000,260,0.000,0.101,2921,3878,2324,2251,2398,0,0,0,0,0,0,14.92,14.43,14.95
$GC,11258,0.62,194.6,2920,3879,2260,2388,858.8,15.8,506,11262,0.00,2.30,0.00,0.000,1030,0.000,0.057,2931,2493,2323,2258,2388,0,0,0,0,0,0,14.71,14.61,14.74
$GC,11871,0.62,194.6,2931,2493,2259,2388,764.7,15.2,513,11878,0.00,2.40,0.00,0.000,516,0.000,0.082,2942,1070,2323,2259,2388,0,0,0,0,0,0,15.03,14.51,15.07
$GC,11891,0.62,194.6,2941,1070,2260,2386,761.8,14.5,517,11900,0.00,2.40,0.00,0.000,1030,0.000,0.070,2942,2490,2323,2260,2386,0,0,0,0,0,0,14.73,14.59,14.78
$GC,12535,0.62,194.6,2941,2490,2260,2386,678.9,12.0,542,12540,0.00,2.42,0.00,0.000,260,0.000,0.100,2942,3877,2322,2260,2385,0,0,0,0,0,0,15.06,14.51,15.09
$GC,12613,0.62,194.6,2941,3877,2263,2380,667.9,14.7,557,12621,0.17,2.33,0.00,0.000,5126,0.288,0.057,2915,2471,2321,2264,2379,0,0,0,0,0,0,14.26,14.66,14.63
$GC,12965,0.62,194.6,2915,2471,2264,2379,627.0,11.7,571,12970,0.00,2.38,0.00,0.000,516,0.000,0.080,2924,1074,2321,2264,2379,0,0,0,0,0,0,15.05,14.50,15.09
$GC,13008,0.62,194.6,2923,1074,2265,2379,621.2,11.4,580,13015,0.00,2.38,0.00,0.000,1030,0.000,0.067,2924,2483,2321,2264,2379,0,0,0,0,0,0,14.73,14.61,14.79
$GC,13325,0.62,194.6,2923,2484,2264,2379,582.3,12.5,588,13326,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2484,2321,2264,2379,0,0,0,0,0,0,15.09,15.12,15.12
$GC,13625,0.62,194.6,2923,2483,2264,2379,546.3,11.9,593,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2483,2321,2264,2379,0,0,0,0,0,0,15.09,15.13,15.12
$GC,13924,0.62,194.6,2924,2483,2264,2379,510.1,12.1,598,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2483,2321,2264,2379,0,0,0,0,0,0,15.10,15.14,15.14
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$GC,15782,0.62,194.6,2928,3873,2271,2375,286.0,11.2,691,15787,0.00,2.28,0.00,0.000,1030,0.000,0.054,2938,2476,2322,2270,2375,0,0,0,0,0,0,14.66,14.59,14.70
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$STATE,18676,end climb,SURFACE_DEPTH_REACHED
$STATE,18676,begin surface coast
$STATE,18697,end surface coast,CONTROL_FINISHED_OK
$STATE,18697,begin surface
$SM_CCo,18783,0.00,0.000,0,0,913,543.09
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$IRIDIUM_FIX,747.28,8400.26,141015,021948
$TT8_MAMPS,0.02247,0.02247
$HUMID,47.75
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.90
$XPDR_PINGS,1
$24V_AH,12.99,82.013
$10V_AH,12.43,0.000
$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,21.900,140.250,558.000,0.000,0.000,0.000,0.000,186.850,0.250,0.000,44.021,622.804,15370.138,584.501,1985.526,557.765,0.000,1703.794,0.000,1380.833,0.000,0.544,0.000
$DEVICE_MAMPS,402.390,100.980,2180.250,0.000,0.000,0.000,0.000,236.385,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43389,958
$CAP_FILE_SIZE,154439,0
$CFSIZE,260034560,231620608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15009.98,0x23402a,1,24
$CURRENT,0.106,181.14,1
$GPS,141015,130845,753.953,8356.517,166,2.0,206,-2.1,0.4,243.2,5,15.0