version: 66.12
glider: 141
mission: 23
dive: 270
start: 10 17 115 11 43 36
data:
$ID,141
$MISSION,23
$DIVE,270
$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,48
$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
$GPS1,171015,060904,757.4318,8327.9639,303,99.0,303,-2.1,0.3,272.9,7,8.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.27
$_SM_ANGLEo,-73.7
$GPS2,171015,114304,757.0965,8325.5459,120,0.9,149,-2.1,0.4,284.9,8,8.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,228.7,187319,-27.2,-10.000,-30.00,965
$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,-1.10,-63.0,28,2673,709,849,0.0,0.0,0,124,0.00,0.00,-92.72,0.000,16390,0.000,0.000,28,2673,3385,3453,3317,0,0,0,0,0,0,14.92,13.05,14.93
$GC,130,-1.10,-122.4,28,2673,3453,3319,4.9,-3.7,9,150,11.02,2.17,-3.42,0.000,19204,0.404,0.079,2342,4036,3628,3692,3565,0,0,0,0,0,0,14.28,13.74,14.69
$GC,383,-1.10,-122.4,2342,4038,3692,3569,113.5,-35.8,61,387,0.00,2.15,0.00,0.000,1030,0.000,0.033,2342,2650,3630,3692,3569,0,0,0,0,0,0,14.82,14.76,14.84
$GC,707,-1.10,-122.4,2342,2649,3692,3574,188.6,-18.3,80,713,0.00,2.28,0.00,0.000,260,0.000,0.073,2332,4023,3633,3692,3574,0,0,0,0,0,0,15.09,14.66,15.11
$GC,943,-1.10,-122.4,2332,4023,3692,3574,235.3,-21.0,127,947,0.00,2.17,0.00,0.000,1030,0.000,0.031,2332,2644,3633,3692,3574,0,0,0,0,0,0,14.77,14.74,14.80
$GC,1269,-1.10,-122.4,2332,2644,3690,3573,294.5,-18.3,136,1275,0.00,2.28,0.00,0.000,260,0.000,0.072,2322,4026,3631,3689,3574,0,0,0,0,0,0,15.13,14.68,15.16
$GC,1373,-1.10,-122.4,2322,4026,3688,3574,314.5,-19.0,157,1378,0.17,2.12,0.00,0.000,3078,0.312,0.032,2357,2644,3631,3688,3574,0,0,0,0,0,0,14.37,14.84,14.70
$GC,1696,-1.10,-122.4,2357,2644,3683,3574,364.7,-15.7,165,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2644,3628,3683,3574,0,0,0,0,0,0,15.11,15.16,15.15
$GC,1993,-1.10,-122.4,2357,2643,3673,3574,412.5,-15.8,170,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2644,3623,3673,3574,0,0,0,0,0,0,15.15,15.19,15.19
$GC,2293,-1.10,-122.4,2357,2644,3667,3574,456.6,-14.6,175,2298,0.00,2.30,0.00,0.000,260,0.000,0.076,2349,4029,3620,3666,3574,0,0,0,0,0,0,15.15,14.66,15.19
$GC,2341,-1.10,-122.4,2349,4029,3666,3574,464.4,-15.9,185,2346,0.00,2.12,0.00,0.000,1030,0.000,0.033,2349,2655,3620,3666,3574,0,0,0,0,0,0,14.90,14.84,14.93
$GC,2655,-1.10,-122.4,2349,2655,3659,3574,510.9,-14.9,192,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2655,3616,3659,3574,0,0,0,0,0,0,15.16,15.20,15.19
$GC,2956,-1.10,-122.4,2349,2655,3654,3573,554.6,-14.5,197,2960,0.00,2.30,0.00,0.000,260,0.000,0.077,2339,4027,3613,3654,3573,0,0,0,0,0,0,15.16,14.69,15.19
$GC,2988,-1.10,-122.4,2339,4028,3654,3571,559.7,-15.0,203,2994,0.00,2.15,0.00,0.000,1030,0.000,0.034,2339,2650,3612,3654,3571,0,0,0,0,0,0,14.89,14.83,14.91
$GC,3320,-1.10,-122.4,2339,2650,3650,3569,605.5,-13.7,214,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2650,3609,3650,3569,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3620,-1.10,-122.4,2338,2650,3647,3567,648.0,-14.3,219,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2650,3606,3646,3567,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3919,-1.10,-122.4,2339,2649,3642,3566,691.7,-14.5,224,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2649,3603,3642,3565,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4219,-1.10,-122.4,2339,2649,3639,3563,735.4,-14.6,227,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2649,3601,3639,3563,0,0,0,0,0,0,15.16,15.20,15.19
$GC,4820,-1.10,-122.4,2339,2649,3633,3560,823.7,-14.8,232,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2649,3596,3633,3559,0,0,0,0,0,0,15.16,15.19,15.19
$GC,5419,-1.10,-122.4,2339,2649,3629,3556,914.4,-15.1,237,5424,0.00,2.28,0.00,0.000,516,0.000,0.060,2339,1260,3591,3627,3556,0,0,0,0,0,0,15.16,14.65,15.19
$GC,5447,-1.10,-122.4,2339,1260,3628,3556,918.7,-14.5,242,5454,0.12,2.28,0.00,0.000,3078,0.306,0.061,2352,2638,3591,3627,3556,0,0,0,0,0,0,14.28,14.66,14.59
$STATE,6019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6030,-0.20,0.0,2353,2462,3623,3553,994.3,-13.0,265,6127,1.10,0.00,94.15,2.223,10246,0.248,0.000,2646,2462,3126,3080,3172,0,0,0,0,0,0,14.23,14.21,13.31
$STATE,6129,end apogee,CONTROL_FINISHED_OK
$STATE,6129,begin climb
$GC,6133,1.10,122.4,2646,2462,3079,3169,994.3,0.0,265,6245,1.30,2.47,99.93,2.144,10756,0.117,0.073,3074,1089,2624,2553,2695,0,0,0,0,0,0,14.19,14.05,13.18
$GC,6289,1.10,122.4,3074,1089,2557,2689,976.0,19.6,318,6293,0.00,2.38,0.00,0.000,1030,0.000,0.063,3074,2468,2623,2557,2689,0,0,0,0,0,0,14.32,14.22,14.34
$GC,6987,1.10,122.4,3074,2468,2565,2672,834.9,19.9,342,6992,0.00,2.45,0.00,0.000,260,0.000,0.091,3075,3886,2618,2566,2671,0,0,0,0,0,0,14.98,14.55,15.02
$GC,7080,1.10,122.4,3074,3886,2567,2670,815.3,20.3,360,7086,0.00,2.28,0.00,0.000,1030,0.000,0.054,3085,2501,2618,2567,2669,0,0,0,0,0,0,14.76,14.66,14.79
$GC,7712,1.10,122.4,3084,2501,2567,2664,690.6,19.8,371,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2501,2615,2567,2663,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8011,1.10,122.4,3084,2502,2567,2662,632.2,19.4,376,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2501,2614,2567,2662,0,0,0,0,0,0,15.08,15.12,15.12
$GC,8311,1.10,122.4,3084,2500,2567,2661,575.2,19.1,381,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2500,2614,2567,2661,0,0,0,0,0,0,15.09,15.13,15.13
$GC,8611,1.10,122.4,3084,2501,2567,2659,518.7,18.9,386,8615,0.00,2.40,0.00,0.000,260,0.000,0.090,3085,3880,2613,2569,2658,0,0,0,0,0,0,15.11,14.56,15.14
$GC,8633,1.10,122.4,3084,3880,2569,2657,514.0,20.4,390,8638,0.00,2.30,0.00,0.000,1030,0.000,0.051,3094,2469,2613,2569,2657,0,0,0,0,0,0,14.80,14.71,14.84
$GC,8978,1.10,122.4,3095,2469,2569,2656,450.2,18.4,403,8984,0.00,2.42,0.00,0.000,260,0.000,0.089,3095,3877,2613,2569,2657,0,0,0,0,0,0,15.11,14.50,15.14
$GC,9022,1.10,122.4,3095,3877,2569,2656,441.5,20.2,412,9028,0.17,2.30,0.00,0.000,5126,0.347,0.052,3073,2467,2613,2570,2656,0,0,0,0,0,0,14.18,14.70,14.61
$GC,9342,1.10,122.4,3073,2467,2569,2655,388.4,16.6,420,9343,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2467,2612,2569,2655,0,0,0,0,0,0,15.09,15.13,15.11
$GC,9638,1.10,122.4,3072,2467,2569,2655,336.4,17.4,425,9644,0.00,2.45,0.00,0.000,260,0.000,0.087,3073,3882,2612,2570,2655,0,0,0,0,0,0,15.12,14.47,15.16
$GC,9682,1.10,122.4,3073,3882,2570,2655,327.9,18.2,434,9687,0.00,2.33,0.00,0.000,1030,0.000,0.050,3081,2465,2612,2570,2655,0,0,0,0,0,0,14.79,14.70,14.83
$GC,10002,1.10,122.4,3080,2465,2570,2655,274.8,16.5,442,10006,0.00,2.33,0.00,0.000,516,0.000,0.071,3091,1073,2613,2571,2655,0,0,0,0,0,0,15.12,14.59,15.15
$GC,10014,1.10,122.4,3091,1073,2572,2654,272.6,16.3,444,10020,0.00,2.35,0.00,0.000,1030,0.000,0.061,3091,2490,2613,2572,2654,0,0,0,0,0,0,14.77,14.65,14.83
$GC,10327,1.10,122.4,3090,2489,2571,2654,223.3,13.6,463,10332,0.00,2.38,0.00,0.000,516,0.000,0.069,3101,1069,2613,2572,2654,0,0,0,0,0,0,15.11,14.53,15.15
$GC,10350,1.10,122.4,3101,1069,2573,2654,219.9,13.3,468,10357,0.15,2.35,0.00,0.000,5126,0.311,0.061,3073,2476,2613,2573,2653,0,0,0,0,0,0,14.23,14.65,14.63
$GC,10667,1.10,122.4,3072,2476,2573,2653,183.7,11.1,486,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2476,2613,2573,2653,0,0,0,0,0,0,15.11,15.15,15.15
$GC,10967,1.11,158.1,3073,2476,2574,2653,156.2,6.2,501,10997,0.00,2.38,24.58,1.239,8708,0.000,0.067,3081,1079,2480,2431,2529,0,0,0,0,0,0,15.11,14.72,14.03
$GC,11090,1.11,185.6,3081,1078,2435,2523,148.3,7.1,525,11118,0.00,2.30,20.67,1.164,9222,0.000,0.057,3081,2480,2367,2312,2423,0,0,0,0,0,0,14.65,14.59,14.02
$GC,11432,1.11,185.9,3081,2481,2317,2416,116.4,10.0,548,11437,0.00,2.33,0.00,0.000,516,0.000,0.064,3091,1070,2366,2317,2415,0,0,0,0,0,0,14.97,14.54,15.00
$GC,11461,1.11,216.9,3090,1070,2320,2413,114.0,6.7,554,11490,0.00,2.33,23.35,1.128,9222,0.000,0.054,3090,2476,2240,2174,2307,0,0,0,0,0,0,14.73,14.63,14.01
$GC,11813,1.11,236.2,3090,2476,2177,2301,76.7,7.9,578,11834,0.00,2.40,14.82,1.060,8708,0.000,0.062,3101,1061,2161,2088,2235,0,0,0,0,0,0,14.97,14.68,14.05
$GC,11874,1.12,284.0,3100,1061,2088,2233,74.0,4.9,591,11915,0.00,2.30,34.03,1.076,9222,0.000,0.052,3101,2481,1967,1855,2079,0,0,0,0,0,0,14.67,14.59,13.97
$GC,12219,1.12,284.0,3101,2482,1860,2075,41.1,12.0,620,12226,0.00,2.30,0.00,0.000,260,0.000,0.076,3101,3870,1968,1861,2075,0,0,0,0,0,0,14.95,14.54,14.99
$GC,12447,1.12,284.0,3101,3870,1872,2066,10.5,12.5,665,12452,0.08,2.28,0.00,0.000,5126,0.280,0.039,3080,2465,1970,1873,2067,0,0,0,0,0,0,14.36,14.65,14.66
$STATE,12529,end climb,SURFACE_DEPTH_REACHED
$STATE,12529,begin surface coast
$STATE,12559,end surface coast,CONTROL_FINISHED_OK
$STATE,12559,begin surface
$SM_CCo,12583,87.07,0.054,0,0,1087,500.17
$SM_GC,3.45,8.52,0.30,87.07,0.059,0.093,0.054,34,2661,1087,-8.30,-1.13,500.17,0,0,0,0,0,0,14.71,14.71,14.72
$IRIDIUM_FIX,753.81,8324.92,171015,113510
$TT8_MAMPS,0.02247,0.02247
$HUMID,46.14
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,13.05,86.645
$10V_AH,12.26,0.000
$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,22.650,78.925,311.525,87.075,0.000,0.000,0.000,270.425,0.250,0.000,151.695,444.808,10309.840,426.062,1674.333,410.284,0.000,1345.549,0.000,984.564,0.000,0.544,0.000
$DEVICE_MAMPS,403.920,92.565,2223.090,53.550,0.000,0.000,0.000,238.680,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30073,677
$CAP_FILE_SIZE,112820,0
$CFSIZE,260034560,230817792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,335.37,1
$GPS,171015,152015,756.786,8324.178,240,1.6,280,-2.1,0.6,236.0,7,13.5