version: 66.12
glider: 141
mission: 23
dive: 305
start: 10 25 115 8 5 2
data:
$ID,141
$MISSION,23
$DIVE,305
$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,39
$R_STBD_OVSHOOT,51
$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
$GPS1,251015,075803,800.5344,8211.7021,171,99.0,211,-2.2,1.0,277.5,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.33
$_SM_ANGLEo,-71.6
$GPS2,251015,080428,800.6076,8211.5713,12,1.5,52,-2.2,0.7,284.8,6,10.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,298.5,51586,-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,21,begin dive
$GC,25,-0.62,-194.6,1,2682,731,863,0.0,0.0,0,127,0.00,0.00,-96.12,0.000,16386,0.000,0.000,0,2681,3492,3567,3417,0,0,0,0,0,0,14.90,28.83,14.93
$GC,133,-0.62,-194.6,0,2681,3568,3419,6.5,-6.5,10,158,12.27,2.22,-5.50,0.000,18692,0.413,0.086,2497,4025,3922,3998,3847,0,0,0,0,0,0,14.22,13.77,14.48
$GC,349,-0.62,-194.6,2496,4025,3997,3852,91.4,-30.5,54,354,0.00,2.17,0.00,0.000,1030,0.000,0.035,2497,2638,3924,3997,3852,0,0,0,0,0,0,14.79,14.72,14.81
$GC,673,-0.62,-194.6,2496,2637,3997,3855,152.4,-15.5,73,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2638,3927,3998,3856,0,0,0,0,0,0,15.07,15.11,15.10
$GC,973,-0.62,-194.6,2496,2637,3997,3858,188.9,-12.0,88,978,0.00,2.30,0.00,0.000,260,0.000,0.078,2486,4019,3928,3998,3858,0,0,0,0,0,0,15.10,14.66,15.14
$GC,1042,-0.62,-194.6,2486,4019,3997,3858,198.1,-13.3,102,1047,0.12,2.12,0.00,0.000,3078,0.246,0.031,2514,2636,3927,3997,3858,0,0,0,0,0,0,14.54,14.83,14.77
$GC,1359,-0.62,-194.6,2514,2637,3996,3858,230.7,-9.8,119,1364,0.00,2.17,0.00,0.000,516,0.000,0.050,2515,1253,3926,3995,3858,0,0,0,0,0,0,15.12,14.73,15.15
$GC,1413,-0.62,-194.6,2514,1253,3995,3858,236.0,-9.4,130,1418,0.00,2.25,0.00,0.000,1030,0.000,0.053,2510,2623,3926,3994,3858,0,0,0,0,0,0,14.73,14.68,14.78
$GC,1739,-0.62,-194.6,2509,2624,3989,3858,267.5,-9.6,141,1745,0.00,2.35,0.00,0.000,260,0.000,0.080,2499,4039,3923,3989,3858,0,0,0,0,0,0,15.14,14.66,15.17
$GC,1849,-0.62,-194.6,2499,4039,3989,3858,278.3,-9.8,163,1855,0.00,2.15,0.00,0.000,1030,0.000,0.031,2499,2643,3923,3989,3858,0,0,0,0,0,0,14.87,14.84,14.92
$GC,2159,-0.62,-194.6,2498,2643,3982,3858,311.8,-11.0,170,2163,0.00,2.20,0.00,0.000,516,0.000,0.051,2499,1258,3920,3982,3858,0,0,0,0,0,0,15.14,14.77,15.18
$GC,2187,-0.62,-194.6,2498,1258,3982,3858,315.0,-12.1,175,2193,0.00,2.25,0.00,0.000,1030,0.000,0.053,2491,2656,3920,3982,3858,0,0,0,0,0,0,14.87,14.76,14.90
$GC,2523,-0.62,-194.6,2491,2656,3975,3858,352.0,-10.9,187,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2656,3916,3975,3858,0,0,0,0,0,0,15.14,15.19,15.18
$GC,2823,-0.62,-194.6,2490,2656,3972,3856,383.4,-10.5,192,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2656,3914,3972,3856,0,0,0,0,0,0,15.16,15.19,15.19
$GC,3124,-0.62,-194.6,2491,2656,3967,3854,411.5,-9.2,197,3130,0.00,2.30,0.00,0.000,260,0.000,0.083,2480,4037,3910,3967,3854,0,0,0,0,0,0,15.16,14.62,15.19
$GC,3159,-0.62,-194.6,2480,4038,3967,3853,415.1,-10.1,204,3165,0.10,2.12,0.00,0.000,3078,0.199,0.032,2510,2648,3910,3967,3853,0,0,0,0,0,0,14.46,14.76,14.60
$GC,3488,-0.62,-194.6,2510,2649,3962,3852,443.6,-8.8,214,3493,0.00,2.25,0.00,0.000,516,0.000,0.054,2510,1257,3907,3962,3852,0,0,0,0,0,0,15.14,14.73,15.16
$GC,3537,-0.62,-194.6,2510,1257,3962,3852,448.6,-9.9,223,3543,0.00,2.25,0.00,0.000,1030,0.000,0.054,2510,2648,3906,3961,3852,0,0,0,0,0,0,14.73,14.67,14.78
$GC,3856,-0.62,-194.6,2510,2648,3959,3850,477.3,-9.2,231,3861,0.00,2.33,0.00,0.000,260,0.000,0.084,2501,4038,3904,3959,3849,0,0,0,0,0,0,15.13,14.58,15.16
$GC,3886,-0.62,-194.6,2501,4037,3959,3848,480.4,-9.4,237,3892,0.00,2.15,0.00,0.000,1030,0.000,0.033,2502,2653,3903,3959,3848,0,0,0,0,0,0,14.86,14.81,14.88
$GC,4220,-0.62,-194.6,2501,2653,3956,3848,511.5,-9.3,248,4226,0.00,2.22,0.00,0.000,516,0.000,0.055,2501,1262,3901,3956,3847,0,0,0,0,0,0,15.13,14.65,15.16
$GC,4244,-0.62,-194.6,2501,1262,3956,3847,514.1,-9.4,253,4251,0.00,2.28,0.00,0.000,1030,0.000,0.057,2496,2656,3901,3955,3847,0,0,0,0,0,0,14.82,14.71,14.85
$GC,4584,-0.62,-194.6,2496,2656,3950,3845,544.8,-9.1,265,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2656,3898,3951,3845,0,0,0,0,0,0,15.12,15.16,15.16
$GC,4881,-0.62,-194.6,2495,2656,3948,3844,571.2,-8.8,270,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2656,3896,3949,3844,0,0,0,0,0,0,15.15,15.19,15.19
$GC,5182,-0.62,-194.6,2496,2656,3948,3842,597.5,-8.8,275,5187,0.00,2.25,0.00,0.000,516,0.000,0.056,2496,1263,3894,3947,3842,0,0,0,0,0,0,15.14,14.62,15.18
$GC,5225,-0.62,-194.6,2496,1263,3947,3842,601.8,-9.3,284,5231,0.00,2.28,0.00,0.000,1030,0.000,0.058,2493,2646,3894,3947,3841,0,0,0,0,0,0,14.80,14.68,14.84
$GC,5545,-0.62,-194.6,2493,2646,3945,3841,631.0,-9.3,292,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2646,3892,3944,3840,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5842,-0.62,-194.6,2493,2646,3943,3839,657.7,-8.8,297,5848,0.00,2.35,0.00,0.000,260,0.000,0.088,2482,4033,3890,3943,3838,0,0,0,0,0,0,15.14,14.54,15.17
$GC,5888,-0.62,-194.6,2482,4033,3942,3838,661.9,-9.1,306,5893,0.12,2.17,0.00,0.000,3078,0.232,0.036,2511,2652,3890,3942,3838,0,0,0,0,0,0,14.45,14.76,14.68
$GC,6211,-0.62,-194.6,2511,2652,3940,3837,683.9,-6.7,314,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2652,3888,3940,3837,0,0,0,0,0,0,15.12,15.16,15.15
$GC,6508,-0.62,-194.6,2511,2652,3939,3836,703.9,-6.7,319,6513,0.00,2.25,0.00,0.000,516,0.000,0.059,2512,1265,3887,3938,3836,0,0,0,0,0,0,15.14,14.57,15.18
$GC,6532,-0.62,-194.6,2511,1265,3938,3836,705.7,-8.3,324,6538,0.00,2.30,0.00,0.000,1030,0.000,0.061,2512,2653,3887,3938,3836,0,0,0,0,0,0,14.77,14.64,14.81
$GC,7228,-0.62,-194.6,2511,2653,3936,3833,757.5,-7.7,348,7234,0.00,2.35,0.00,0.000,260,0.000,0.092,2501,4033,3884,3936,3833,0,0,0,0,0,0,15.14,14.45,15.16
$GC,7257,-0.62,-194.6,2501,4033,3936,3832,760.0,-9.2,354,7262,0.00,2.20,0.00,0.000,1030,0.000,0.037,2501,2655,3884,3935,3833,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7956,-0.62,-194.6,2501,2655,3932,3830,823.7,-9.3,377,7962,0.00,2.30,0.00,0.000,516,0.000,0.061,2501,1248,3881,3932,3830,0,0,0,0,0,0,15.11,14.54,15.14
$GC,7995,-0.62,-194.6,2501,1248,3932,3830,827.8,-9.6,385,8002,0.00,2.35,0.00,0.000,1030,0.000,0.064,2498,2657,3881,3932,3830,0,0,0,0,0,0,14.72,14.59,14.77
$GC,8676,-0.62,-194.6,2498,2657,3929,3829,879.3,-7.1,406,8681,0.00,2.40,0.00,0.000,260,0.000,0.096,2488,4038,3879,3930,3829,0,0,0,0,0,0,15.13,14.46,15.16
$GC,8710,-0.62,-194.6,2487,4038,3929,3829,881.7,-7.6,412,8716,0.00,2.20,0.00,0.000,1030,0.000,0.040,2488,2655,3879,3930,3829,0,0,0,0,0,0,14.67,14.64,14.70
$GC,9404,-0.62,-194.6,2487,2655,3927,3828,932.0,-7.4,435,9410,0.00,2.33,0.00,0.000,516,0.000,0.064,2488,1245,3877,3926,3828,0,0,0,0,0,0,15.10,14.47,15.14
$GC,9438,-0.62,-194.6,2487,1245,3926,3828,935.0,-7.6,442,9443,0.12,2.38,0.00,0.000,3078,0.238,0.067,2513,2656,3877,3926,3828,0,0,0,0,0,0,14.35,14.54,14.57
$GC,10132,-0.62,-194.6,2512,2656,3924,3827,976.8,-6.0,464,10133,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2656,3876,3924,3828,0,0,0,0,0,0,15.09,15.14,15.12
$STATE,10364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10364,begin apogee
$GC,10373,-0.20,0.0,2513,2463,3924,3827,990.6,-5.9,466,10532,0.47,0.00,155.05,2.213,10246,0.173,0.000,2652,2462,3126,3058,3194,0,0,0,0,0,0,14.34,14.05,13.12
$STATE,10533,end apogee,CONTROL_FINISHED_OK
$STATE,10534,begin climb
$GC,10538,0.62,194.6,2651,2462,3058,3191,993.8,0.0,467,10709,0.80,0.00,162.77,2.153,10758,0.113,0.000,2912,2462,2330,2238,2422,0,0,0,0,0,0,14.07,13.74,12.86
$GC,11331,0.62,194.6,2912,2462,2248,2401,896.7,13.6,520,11338,0.00,2.45,0.00,0.000,260,0.000,0.094,2912,3872,2325,2250,2400,0,0,0,0,0,0,14.90,14.47,14.92
$GC,11372,0.62,194.6,2912,3872,2255,2393,890.1,15.3,528,11377,0.00,2.28,0.00,0.000,1030,0.000,0.054,2922,2490,2324,2255,2393,0,0,0,0,0,0,14.71,14.62,14.73
$GC,12053,0.62,194.6,2922,2490,2255,2392,800.2,12.8,549,12059,0.00,2.40,0.00,0.000,260,0.000,0.095,2922,3870,2323,2255,2392,0,0,0,0,0,0,15.03,14.50,15.06
$GC,12078,0.62,194.6,2922,3870,2257,2388,796.6,13.8,554,12082,0.00,2.30,0.00,0.000,1030,0.000,0.054,2932,2467,2323,2258,2388,0,0,0,0,0,0,14.77,14.68,14.81
$GC,12777,0.62,194.6,2932,2467,2257,2388,702.7,13.6,578,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2466,2322,2257,2388,0,0,0,0,0,0,15.07,15.11,15.11
$GC,13380,0.62,194.6,2932,2467,2257,2388,624.6,12.9,587,13385,0.00,2.45,0.00,0.000,260,0.000,0.094,2933,3876,2322,2258,2387,0,0,0,0,0,0,15.08,14.47,15.11
$GC,13433,0.62,194.6,2932,3876,2261,2382,616.3,15.0,598,13440,0.00,2.35,0.00,0.000,1030,0.000,0.054,2942,2475,2322,2262,2382,0,0,0,0,0,0,14.78,14.60,14.82
$GC,13740,0.62,194.6,2942,2476,2262,2382,574.4,13.7,604,13745,0.00,2.35,0.00,0.000,516,0.000,0.077,2952,1070,2321,2262,2381,0,0,0,0,0,0,15.09,14.50,15.12
$GC,13779,0.62,194.6,2952,1070,2262,2381,568.8,13.3,612,13786,0.15,2.35,0.00,0.000,5126,0.259,0.065,2919,2471,2322,2263,2381,0,0,0,0,0,0,14.31,14.61,14.64
$GC,14104,0.62,194.6,2919,2471,2262,2381,529.2,12.2,621,14110,0.00,2.40,0.00,0.000,260,0.000,0.093,2919,3876,2321,2263,2380,0,0,0,0,0,0,15.07,14.44,15.11
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$GC,16223,0.62,195.0,2933,2468,2270,2376,265.4,10.0,711,16224,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2467,2323,2270,2377,0,0,0,0,0,0,15.11,15.15,15.14
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$STATE,18941,end climb,SURFACE_DEPTH_REACHED
$STATE,18941,begin surface coast
$STATE,18962,end surface coast,CONTROL_FINISHED_OK
$STATE,18962,begin surface
$SM_CCo,19045,0.00,0.000,0,0,701,595.10
$SM_GC,3.59,8.07,0.28,0.00,0.054,0.093,0.000,40,2661,701,-8.30,-0.90,595.10,0,0,0,0,0,0,14.66,14.71,14.76
$IRIDIUM_FIX,758.17,8214.68,251015,022857
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.74
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,12.86,98.662
$10V_AH,12.69,0.000
$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,22.550,143.525,600.700,0.000,0.000,0.000,0.000,217.150,0.250,0.000,54.565,620.294,15587.325,608.466,2025.347,582.288,0.000,1782.931,0.000,1375.168,0.000,0.543,0.000
$DEVICE_MAMPS,413.100,95.625,2213.145,0.000,0.000,0.000,0.000,240.210,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40042,953
$CAP_FILE_SIZE,157264,0
$CFSIZE,260034560,228618240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,116.81,1
$GPS,251015,132733,801.443,8209.888,222,1.1,262,-2.2,1.2,326.8,8,9.3