version: 66.12
glider: 141
mission: 23
dive: 264
start: 10 16 115 3 3 14
data:
$ID,141
$MISSION,23
$DIVE,264
$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,30
$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
$GPS1,161015,025645,756.2835,8340.2168,82,2.7,122,-2.1,0.4,297.6,5,25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-75.0
$GPS2,161015,030240,756.2951,8340.1396,11,1.1,51,-2.1,0.4,235.0,7,10.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,280.4,214116,-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,-194.6,35,2670,1037,1149,0.0,0.0,0,115,0.00,0.00,-86.62,0.000,16386,0.000,0.000,34,2671,3557,3632,3483,0,0,0,0,0,0,14.89,28.83,14.93
$GC,124,-0.62,-194.6,33,2671,3632,3485,7.4,-9.0,9,146,11.75,2.30,-4.57,0.000,18948,0.402,0.062,2508,1219,3923,3999,3848,0,0,0,0,0,0,14.27,13.79,14.50
$GC,298,-0.62,-194.6,2508,1219,3997,3853,67.7,-25.3,44,304,0.00,2.28,0.00,0.000,1030,0.000,0.050,2500,2634,3926,3999,3853,0,0,0,0,0,0,14.68,14.62,14.71
$GC,618,-0.62,-194.6,2500,2634,3998,3856,145.7,-20.7,63,623,0.00,2.33,0.00,0.000,260,0.000,0.079,2489,4033,3927,3999,3855,0,0,0,0,0,0,15.06,14.62,15.09
$GC,799,-0.62,-194.6,2489,4033,3999,3859,175.7,-16.3,99,805,0.00,2.17,0.00,0.000,1030,0.000,0.031,2489,2626,3929,3999,3859,0,0,0,0,0,0,14.86,14.79,14.89
$GC,1121,-0.62,-194.6,2490,2625,3999,3860,216.9,-11.3,118,1126,0.00,2.15,0.00,0.000,516,0.000,0.049,2489,1258,3929,3999,3860,0,0,0,0,0,0,15.10,14.72,15.14
$GC,1156,-0.62,-194.6,2489,1258,3999,3860,221.1,-10.8,125,1162,0.08,2.30,0.00,0.000,3078,0.213,0.052,2513,2659,3929,3999,3860,0,0,0,0,0,0,14.52,14.68,14.76
$GC,1502,-0.62,-194.6,2513,2659,3998,3860,256.9,-9.8,141,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2659,3929,3998,3860,0,0,0,0,0,0,15.12,15.16,15.15
$GC,1801,-0.62,-194.6,2512,2659,3992,3860,283.2,-8.6,146,1807,0.00,2.28,0.00,0.000,260,0.000,0.080,2504,4033,3925,3991,3860,0,0,0,0,0,0,15.14,14.66,15.17
$GC,1866,-0.62,-194.6,2504,4033,3991,3860,289.4,-9.8,159,1871,0.00,2.12,0.00,0.000,1030,0.000,0.031,2505,2647,3926,3992,3860,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2221,-0.62,-194.6,2504,2647,3986,3860,326.4,-10.6,175,2226,0.00,2.17,0.00,0.000,516,0.000,0.052,2504,1268,3923,3986,3860,0,0,0,0,0,0,15.15,14.71,15.18
$GC,2265,-0.62,-194.6,2504,1268,3986,3860,331.4,-10.7,184,2271,0.00,2.22,0.00,0.000,1030,0.000,0.054,2497,2651,3922,3984,3860,0,0,0,0,0,0,14.86,14.76,14.90
$GC,2581,-0.62,-194.6,2497,2650,3979,3860,365.9,-10.9,192,2587,0.00,2.30,0.00,0.000,260,0.000,0.081,2486,4033,3919,3979,3860,0,0,0,0,0,0,15.15,14.63,15.18
$GC,2617,-0.62,-194.6,2486,4033,3979,3860,369.7,-11.3,199,2622,0.00,2.12,0.00,0.000,1030,0.000,0.033,2486,2650,3919,3979,3860,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2946,-0.62,-194.6,2486,2650,3974,3860,402.6,-9.9,209,2951,0.12,2.35,0.00,0.000,2308,0.244,0.080,2512,4035,3916,3973,3859,0,0,0,0,0,0,14.53,14.67,14.64
$GC,2975,-0.62,-194.6,2512,4035,3973,3859,405.6,-8.6,214,2981,0.00,2.12,0.00,0.000,1030,0.000,0.032,2512,2650,3915,3973,3858,0,0,0,0,0,0,14.81,14.78,14.84
$GC,3311,-0.62,-194.6,2511,2649,3968,3857,430.7,-7.5,226,3316,0.00,2.20,0.00,0.000,516,0.000,0.054,2512,1268,3912,3967,3857,0,0,0,0,0,0,15.15,14.68,15.19
$GC,3346,-0.62,-194.6,2511,1267,3967,3857,433.4,-7.8,233,3350,0.00,2.25,0.00,0.000,1030,0.000,0.055,2506,2655,3912,3968,3857,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3675,-0.62,-194.6,2504,2656,3964,3854,457.7,-7.4,243,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2655,3908,3963,3854,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3975,-0.62,-194.6,2505,2655,3960,3852,483.1,-8.5,248,3981,0.00,2.25,0.00,0.000,516,0.000,0.054,2506,1267,3906,3960,3852,0,0,0,0,0,0,15.16,14.69,15.19
$GC,4000,-0.62,-194.6,2505,1268,3960,3852,485.4,-9.9,253,4004,0.00,2.25,0.00,0.000,1030,0.000,0.056,2498,2651,3906,3960,3852,0,0,0,0,0,0,14.84,14.73,14.88
$GC,4339,-0.62,-194.6,2498,2652,3958,3850,516.1,-9.2,265,4343,0.00,2.35,0.00,0.000,260,0.000,0.086,2488,4038,3903,3958,3849,0,0,0,0,0,0,15.15,14.62,15.18
$GC,4397,-0.62,-194.6,2487,4038,3958,3848,521.7,-10.1,276,4401,0.00,2.22,0.00,0.000,1030,0.000,0.034,2488,2650,3903,3958,3848,0,0,0,0,0,0,14.72,14.69,14.76
$GC,4707,-0.62,-194.6,2487,2650,3954,3847,551.3,-9.7,282,4712,0.00,2.25,0.00,0.000,516,0.000,0.057,2487,1250,3901,3954,3848,0,0,0,0,0,0,15.12,14.63,15.16
$GC,4746,-0.62,-194.6,2487,1250,3954,3847,555.9,-10.1,290,4753,0.15,2.30,0.00,0.000,3078,0.227,0.057,2515,2657,3900,3954,3847,0,0,0,0,0,0,14.47,14.69,14.65
$GC,5071,-0.62,-194.6,2514,2657,3950,3847,583.0,-8.4,299,5076,0.00,2.35,0.00,0.000,260,0.000,0.089,2506,4040,3898,3950,3846,0,0,0,0,0,0,15.12,14.53,15.15
$GC,5110,-0.62,-194.6,2506,4041,3949,3845,586.7,-9.0,307,5116,0.00,2.20,0.00,0.000,1030,0.000,0.036,2506,2641,3898,3950,3846,0,0,0,0,0,0,14.85,14.78,14.88
$GC,5432,-0.62,-194.6,2506,2641,3948,3845,613.4,-8.3,316,5438,0.00,2.22,0.00,0.000,516,0.000,0.059,2506,1259,3895,3947,3844,0,0,0,0,0,0,15.14,14.59,15.17
$GC,5462,-0.62,-194.6,2506,1259,3948,3844,616.0,-8.5,322,5468,0.00,2.28,0.00,0.000,1030,0.000,0.060,2500,2647,3896,3949,3844,0,0,0,0,0,0,14.69,14.63,14.73
$GC,5796,-0.62,-194.6,2499,2647,3945,3843,642.0,-7.8,333,5801,0.00,2.40,0.00,0.000,260,0.000,0.090,2489,4046,3894,3945,3843,0,0,0,0,0,0,15.11,14.57,15.15
$GC,5849,-0.62,-194.6,2489,4046,3945,3842,646.8,-8.6,343,5856,0.00,2.22,0.00,0.000,1030,0.000,0.037,2489,2644,3893,3945,3841,0,0,0,0,0,0,14.83,14.76,14.86
$GC,6165,-0.62,-194.6,2489,2644,3943,3841,672.4,-8.3,350,6170,0.00,2.25,0.00,0.000,516,0.000,0.060,2489,1254,3891,3943,3840,0,0,0,0,0,0,15.11,14.58,15.14
$GC,6209,-0.62,-194.6,2489,1254,3943,3841,676.5,-8.3,359,6215,0.12,2.33,0.00,0.000,3078,0.239,0.061,2512,2661,3892,3943,3841,0,0,0,0,0,0,14.45,14.65,14.68
$GC,6529,-0.62,-194.6,2511,2660,3941,3839,699.5,-7.2,367,6534,0.00,2.35,0.00,0.000,260,0.000,0.092,2503,4034,3890,3941,3839,0,0,0,0,0,0,15.11,14.50,15.14
$GC,6558,-0.62,-194.6,2503,4035,3941,3838,702.0,-8.4,372,6564,0.00,2.20,0.00,0.000,1030,0.000,0.037,2502,2647,3889,3941,3838,0,0,0,0,0,0,14.83,14.75,14.85
$GC,6955,-0.62,-194.6,2503,2646,3939,3837,732.7,-7.8,382,6960,0.00,2.28,0.00,0.000,516,0.000,0.061,2503,1251,3887,3938,3837,0,0,0,0,0,0,15.14,14.55,15.16
$GC,6979,-0.62,-194.6,2503,1251,3939,3837,734.8,-8.6,387,6985,0.00,2.30,0.00,0.000,1030,0.000,0.063,2496,2647,3887,3938,3837,0,0,0,0,0,0,14.66,14.59,14.71
$GC,7678,-0.62,-194.6,2494,2647,3936,3835,787.5,-7.5,411,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2647,3885,3936,3835,0,0,0,0,0,0,15.11,15.15,15.14
$GC,8275,-0.62,-194.6,2495,2647,3934,3833,830.2,-7.1,416,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2648,3883,3933,3833,0,0,0,0,0,0,15.13,15.17,15.16
$GC,8874,-0.62,-194.6,2495,2647,3932,3831,874.9,-7.5,421,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2647,3881,3931,3831,0,0,0,0,0,0,15.14,15.18,15.17
$GC,9475,-0.62,-194.6,2495,2647,3930,3830,928.5,-9.1,426,9476,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2648,3880,3930,3830,0,0,0,0,0,0,15.14,15.17,15.16
$GC,10075,-0.62,-194.6,2495,2647,3928,3829,982.8,-9.0,431,10080,0.00,2.33,0.00,0.000,516,0.000,0.066,2495,1254,3877,3926,3829,0,0,0,0,0,0,15.13,14.44,15.16
$GC,10099,-0.62,-194.6,2495,1254,3926,3829,985.0,-9.6,436,10106,0.00,2.38,0.00,0.000,1030,0.000,0.069,2489,2659,3877,3926,3829,0,0,0,0,0,0,14.69,14.55,14.74
$STATE,10155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10155,begin apogee
$GC,10165,-0.20,0.0,2489,2462,3925,3829,990.0,-8.0,448,10322,0.55,0.00,153.32,2.183,10246,0.186,0.000,2645,2462,3126,3057,3195,0,0,0,0,0,0,14.38,14.06,13.16
$STATE,10324,end apogee,CONTROL_FINISHED_OK
$STATE,10324,begin climb
$GC,10328,0.62,194.6,2645,2462,3056,3191,994.2,0.0,449,10498,0.82,2.47,160.98,2.122,10756,0.119,0.076,2921,1087,2329,2239,2420,0,0,0,0,0,0,14.07,13.76,12.93
$GC,10573,0.62,194.6,2921,1087,2246,2409,972.2,13.1,507,10579,0.00,2.42,0.00,0.000,1030,0.000,0.068,2921,2469,2327,2246,2409,0,0,0,0,0,0,14.11,14.04,14.14
$GC,11238,0.62,194.6,2921,2469,2252,2398,875.5,14.6,525,11244,0.00,2.45,0.00,0.000,260,0.000,0.097,2921,3882,2324,2252,2396,0,0,0,0,0,0,14.90,14.45,14.95
$GC,11313,0.62,194.6,2920,3882,2261,2388,863.3,16.6,540,11319,0.00,2.30,0.00,0.000,1030,0.000,0.056,2931,2494,2324,2261,2388,0,0,0,0,0,0,14.71,14.61,14.73
$GC,11959,0.62,194.6,2931,2494,2259,2388,765.4,15.0,554,11963,0.00,2.42,0.00,0.000,516,0.000,0.081,2942,1068,2324,2260,2388,0,0,0,0,0,0,15.03,14.55,15.06
$GC,12012,0.62,194.6,2941,1068,2261,2385,757.8,14.4,564,12018,0.00,2.40,0.00,0.000,1030,0.000,0.069,2942,2489,2323,2261,2385,0,0,0,0,0,0,14.73,14.59,14.78
$GC,12626,0.62,194.6,2941,2489,2261,2384,669.9,14.3,584,12631,0.00,2.40,0.00,0.000,260,0.000,0.098,2942,3877,2322,2260,2384,0,0,0,0,0,0,15.05,14.45,15.08
$GC,12685,0.62,194.6,2941,3877,2265,2378,660.0,16.3,596,12691,0.12,2.30,0.00,0.000,5126,0.263,0.056,2921,2475,2322,2265,2379,0,0,0,0,0,0,14.23,14.62,14.43
$GC,13049,0.62,194.6,2920,2475,2265,2378,613.2,12.8,613,13055,0.00,2.38,0.00,0.000,516,0.000,0.080,2929,1066,2322,2266,2378,0,0,0,0,0,0,15.05,14.50,15.09
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$STATE,18632,end climb,SURFACE_DEPTH_REACHED
$STATE,18635,begin surface coast
$STATE,18650,end surface coast,CONTROL_FINISHED_OK
$STATE,18650,begin surface
$SM_CCo,18733,0.00,0.000,0,0,997,522.49
$SM_GC,3.47,8.00,0.32,0.00,0.048,0.086,0.000,34,2681,997,-8.31,-0.54,522.49,0,0,0,0,0,0,14.66,14.69,14.76
$IRIDIUM_FIX,751.63,8344.88,151015,213347
$TT8_MAMPS,0.02247,0.02247
$HUMID,48.26
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,12.93,84.712
$10V_AH,12.51,0.000
$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,22.125,148.525,545.050,0.000,0.000,0.000,0.000,190.475,0.000,0.000,53.417,649.792,15257.576,588.355,2006.442,581.482,0.000,1715.588,0.000,1385.695,0.000,0.543,0.000
$DEVICE_MAMPS,401.625,97.920,2183.310,0.000,0.000,0.000,0.000,236.385,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,991.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,260252
$DATA_FILE_SIZE,43453,961
$CAP_FILE_SIZE,159157,0
$CFSIZE,260034560,231124992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,116.77,1
$GPS,161015,081915,756.518,8337.833,144,1.5,184,-2.1,0.3,261.7,6,11.7