version: 66.12
glider: 141
mission: 23
dive: 308
start: 10 26 115 0 36 24
data:
$ID,141
$MISSION,23
$DIVE,308
$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,-2
$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,40
$R_STBD_OVSHOOT,37
$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
$GPS1,261015,002944,800.4496,8206.4668,89,99.0,129,-2.2,0.2,121.2,3,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,-72.7
$GPS2,261015,003552,800.4746,8206.3887,39,1.2,65,-2.2,1.0,323.2,6,9.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,298.3,42078,-14.9,-10.000,-18.74,2959
$D_GRID,3672
$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,-194.6,7,2671,807,930,0.0,0.0,0,128,0.00,0.00,-96.88,0.000,16386,0.000,0.000,5,2672,3611,3683,3540,0,0,0,0,0,0,14.90,28.83,14.94
$GC,134,-0.62,-194.6,5,2672,3683,3541,7.5,-8.9,10,156,12.18,2.30,-3.70,0.000,18692,0.410,0.088,2497,4036,3925,4003,3848,0,0,0,0,0,0,14.21,13.28,14.47
$GC,194,-0.62,-194.6,2498,4036,4003,3853,41.8,-45.0,22,198,0.00,2.22,0.00,0.000,1030,0.000,0.037,2497,2638,3927,4003,3852,0,0,0,0,0,0,14.75,14.68,14.77
$GC,518,-0.62,-194.6,2497,2637,4004,3856,129.6,-17.5,40,523,0.00,2.33,0.00,0.000,260,0.000,0.079,2486,4026,3929,4003,3856,0,0,0,0,0,0,15.04,14.61,15.08
$GC,562,-0.62,-194.6,2486,4026,4004,3856,137.1,-16.0,49,569,0.12,2.15,0.00,0.000,3078,0.262,0.031,2513,2634,3929,4003,3856,0,0,0,0,0,0,14.47,14.78,14.74
$GC,880,-0.62,-194.6,2513,2634,4003,3860,173.7,-10.4,67,885,0.00,2.33,0.00,0.000,260,0.000,0.078,2505,4029,3931,4003,3860,0,0,0,0,0,0,15.09,14.64,15.13
$GC,900,-0.62,-194.6,2504,4029,4003,3860,176.3,-12.1,71,906,0.00,2.10,0.00,0.000,1030,0.000,0.031,2505,2653,3931,4003,3860,0,0,0,0,0,0,14.81,14.77,14.85
$GC,1220,-0.62,-194.6,2504,2652,4003,3860,217.3,-13.8,90,1224,0.00,2.22,0.00,0.000,516,0.000,0.050,2505,1246,3931,4002,3860,0,0,0,0,0,0,15.11,14.75,15.15
$GC,1259,-0.62,-194.6,2504,1246,4002,3860,222.4,-12.7,97,1264,0.00,2.30,0.00,0.000,1030,0.000,0.053,2496,2647,3931,4002,3860,0,0,0,0,0,0,14.74,14.67,14.79
$GC,1604,-0.62,-194.6,2495,2647,3997,3860,265.5,-11.6,111,1609,0.00,2.20,0.00,0.000,516,0.000,0.050,2496,1259,3928,3997,3860,0,0,0,0,0,0,15.13,14.71,15.16
$GC,1653,-0.62,-194.6,2495,1259,3997,3860,270.7,-9.8,121,1661,0.00,2.25,0.00,0.000,1030,0.000,0.054,2486,2659,3928,3997,3860,0,0,0,0,0,0,14.81,14.75,14.83
$GC,1964,-0.62,-194.6,2486,2659,3990,3860,302.3,-10.2,128,1970,0.12,2.30,0.00,0.000,2308,0.256,0.079,2511,4032,3925,3990,3860,0,0,0,0,0,0,14.54,14.64,14.66
$GC,2004,-0.62,-194.6,2511,4032,3990,3860,306.2,-9.1,136,2009,0.00,2.12,0.00,0.000,1030,0.000,0.031,2511,2639,3925,3990,3860,0,0,0,0,0,0,14.82,14.78,14.85
$GC,2332,-0.62,-194.6,2511,2639,3983,3860,333.0,-8.2,145,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2639,3921,3983,3860,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2628,-0.62,-194.6,2511,2639,3980,3860,357.6,-8.3,150,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2639,3920,3980,3860,0,0,0,0,0,0,15.15,15.19,15.18
$GC,2929,-0.62,-194.6,2511,2639,3975,3860,383.2,-8.5,155,2935,0.00,2.17,0.00,0.000,516,0.000,0.053,2511,1266,3917,3974,3860,0,0,0,0,0,0,15.15,14.69,15.18
$GC,2973,-0.62,-194.6,2511,1266,3974,3860,387.2,-8.6,164,2979,0.00,2.25,0.00,0.000,1030,0.000,0.055,2504,2654,3917,3974,3860,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3290,-0.62,-194.6,2504,2654,3971,3857,416.9,-9.6,172,3295,0.00,2.22,0.00,0.000,516,0.000,0.053,2504,1262,3914,3971,3857,0,0,0,0,0,0,15.15,14.67,15.18
$GC,3324,-0.62,-194.6,2504,1262,3970,3857,420.3,-9.8,179,3330,0.00,2.22,0.00,0.000,1030,0.000,0.055,2498,2646,3913,3970,3857,0,0,0,0,0,0,14.76,14.67,14.78
$GC,3653,-0.62,-194.6,2498,2646,3966,3854,449.7,-8.9,189,3659,0.00,2.33,0.00,0.000,260,0.000,0.084,2487,4036,3910,3966,3854,0,0,0,0,0,0,15.13,14.58,15.16
$GC,3714,-0.62,-194.6,2487,4036,3966,3852,455.1,-8.5,201,3720,0.00,2.12,0.00,0.000,1030,0.000,0.034,2487,2656,3909,3966,3852,0,0,0,0,0,0,14.78,14.74,14.80
$GC,4078,-0.62,-194.6,2487,2657,3961,3851,485.1,-8.4,218,4082,0.00,2.25,0.00,0.000,516,0.000,0.056,2487,1256,3906,3961,3852,0,0,0,0,0,0,15.12,14.70,15.16
$GC,4101,-0.62,-194.6,2487,1256,3960,3851,487.5,-9.1,222,4106,0.15,2.28,0.00,0.000,3078,0.230,0.057,2516,2652,3906,3961,3851,0,0,0,0,0,0,14.47,14.70,14.71
$GC,4450,-0.62,-194.6,2516,2652,3959,3850,512.6,-7.2,235,4456,0.00,2.35,0.00,0.000,260,0.000,0.086,2508,4039,3904,3959,3850,0,0,0,0,0,0,15.12,14.54,15.15
$GC,4494,-0.62,-194.6,2507,4039,3958,3849,516.2,-8.0,244,4500,0.00,2.17,0.00,0.000,1030,0.000,0.036,2508,2650,3903,3958,3848,0,0,0,0,0,0,14.85,14.78,14.88
$GC,4811,-0.62,-194.6,2507,2650,3956,3848,540.4,-7.7,252,4816,0.00,2.25,0.00,0.000,516,0.000,0.057,2507,1255,3902,3956,3848,0,0,0,0,0,0,15.14,14.62,15.17
$GC,4860,-0.62,-194.6,2507,1255,3956,3848,544.5,-8.1,262,4864,0.00,2.30,0.00,0.000,1030,0.000,0.058,2500,2659,3902,3956,3848,0,0,0,0,0,0,14.79,14.68,14.83
$GC,5173,-0.62,-194.6,2500,2659,3952,3846,570.1,-8.2,269,5179,0.00,2.33,0.00,0.000,260,0.000,0.087,2490,4037,3899,3952,3846,0,0,0,0,0,0,15.14,14.52,15.17
$GC,5205,-0.62,-194.6,2489,4037,3951,3846,572.7,-8.7,275,5210,0.00,2.15,0.00,0.000,1030,0.000,0.037,2490,2656,3898,3951,3845,0,0,0,0,0,0,14.74,14.71,14.78
$GC,5538,-0.62,-194.6,2489,2656,3950,3844,601.0,-8.7,286,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2657,3897,3950,3844,0,0,0,0,0,0,15.11,15.16,15.15
$GC,5835,-0.62,-194.6,2489,2656,3949,3843,627.3,-8.8,291,5840,0.00,2.28,0.00,0.000,516,0.000,0.060,2489,1252,3895,3948,3843,0,0,0,0,0,0,15.14,14.58,15.18
$GC,5859,-0.62,-194.6,2489,1252,3948,3843,629.7,-9.0,296,5866,0.10,2.28,0.00,0.000,3078,0.193,0.060,2512,2642,3895,3948,3843,0,0,0,0,0,0,14.37,14.61,14.50
$GC,6198,-0.62,-194.6,2511,2642,3946,3843,654.7,-7.4,308,6204,0.00,2.38,0.00,0.000,260,0.000,0.090,2502,4035,3894,3946,3842,0,0,0,0,0,0,15.11,14.47,15.15
$GC,6238,-0.62,-194.6,2503,4035,3946,3842,658.2,-8.1,316,6243,0.00,2.17,0.00,0.000,1030,0.000,0.037,2503,2646,3894,3946,3842,0,0,0,0,0,0,14.75,14.71,14.77
$GC,6561,-0.62,-194.6,2502,2646,3944,3841,683.9,-8.1,325,6567,0.00,2.28,0.00,0.000,516,0.000,0.061,2503,1247,3892,3944,3841,0,0,0,0,0,0,15.11,14.56,15.14
$GC,6616,-0.62,-194.6,2503,1247,3943,3841,689.0,-8.6,336,6620,0.00,2.38,0.00,0.000,1030,0.000,0.062,2496,2672,3892,3944,3840,0,0,0,0,0,0,14.73,14.59,14.78
$GC,6923,-0.62,-194.6,2495,2672,3942,3839,714.1,-8.3,341,6929,0.00,2.33,0.00,0.000,260,0.000,0.091,2485,4038,3890,3942,3838,0,0,0,0,0,0,15.13,14.46,15.16
$GC,6958,-0.62,-194.6,2485,4038,3942,3838,717.3,-9.1,348,6964,0.12,2.22,0.00,0.000,3078,0.227,0.039,2514,2640,3890,3942,3838,0,0,0,0,0,0,14.43,14.72,14.65
$GC,7648,-0.62,-194.6,2514,2641,3940,3837,764.7,-6.8,370,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2641,3888,3939,3837,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8245,-0.62,-194.6,2514,2641,3937,3835,810.4,-7.7,375,8250,0.00,2.28,0.00,0.000,516,0.000,0.065,2515,1257,3885,3936,3835,0,0,0,0,0,0,15.14,14.50,15.16
$GC,8268,-0.62,-194.6,2514,1258,3937,3835,812.5,-9.4,380,8275,0.00,2.35,0.00,0.000,1030,0.000,0.067,2513,2657,3886,3937,3835,0,0,0,0,0,0,14.71,14.57,14.76
$GC,8968,-0.62,-194.6,2513,2657,3935,3833,867.2,-7.7,404,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3884,3935,3833,0,0,0,0,0,0,15.09,15.14,15.13
$GC,9564,-0.62,-194.6,2514,2657,3932,3831,910.8,-7.3,409,9566,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3882,3932,3832,0,0,0,0,0,0,15.13,15.17,15.16
$GC,10165,-0.62,-194.6,2513,2657,3931,3830,953.6,-7.1,414,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2657,3880,3931,3830,0,0,0,0,0,0,15.12,15.16,15.16
$STATE,10761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10761,begin apogee
$GC,10770,-0.20,0.0,2514,2473,3928,3829,992.5,-6.4,419,10931,0.47,0.00,157.05,2.205,10246,0.171,0.000,2650,2473,3125,3056,3195,0,0,0,0,0,0,14.32,14.04,13.11
$STATE,10932,end apogee,CONTROL_FINISHED_OK
$STATE,10933,begin climb
$GC,10937,0.62,194.6,2650,2473,3055,3191,996.2,0.0,420,11111,0.80,2.55,164.02,2.131,10756,0.112,0.079,2920,1095,2328,2237,2420,0,0,0,0,0,0,14.07,13.72,12.83
$GC,11130,0.62,194.6,2920,1095,2241,2413,981.1,12.2,469,11137,0.00,2.45,0.00,0.000,1030,0.000,0.065,2920,2472,2326,2240,2413,0,0,0,0,0,0,13.97,13.87,13.98
$GC,11846,0.62,194.6,2920,2472,2248,2400,882.0,13.8,497,11852,0.00,2.42,0.00,0.000,260,0.000,0.096,2920,3877,2323,2249,2398,0,0,0,0,0,0,14.94,14.47,14.97
$GC,11931,0.62,194.6,2920,3877,2257,2390,869.9,14.1,514,11935,0.00,2.30,0.00,0.000,1030,0.000,0.055,2930,2485,2323,2257,2390,0,0,0,0,0,0,14.72,14.64,14.76
$GC,12570,0.62,194.6,2930,2485,2256,2389,786.2,13.0,526,12574,0.00,2.40,0.00,0.000,516,0.000,0.079,2941,1064,2322,2256,2389,0,0,0,0,0,0,15.04,14.58,15.07
$GC,12587,0.62,194.6,2941,1064,2258,2388,783.8,13.2,529,12594,0.00,2.38,0.00,0.000,1030,0.000,0.067,2941,2478,2323,2258,2388,0,0,0,0,0,0,14.74,14.62,14.79
$GC,13234,0.62,194.6,2940,2478,2257,2387,688.9,15.0,555,13239,0.00,2.40,0.00,0.000,260,0.000,0.096,2941,3873,2322,2258,2386,0,0,0,0,0,0,15.07,14.47,15.11
$GC,13328,0.62,194.6,2940,3873,2261,2381,672.6,17.5,574,13333,0.17,2.30,0.00,0.000,5126,0.278,0.055,2914,2473,2321,2261,2381,0,0,0,0,0,0,14.30,14.67,14.64
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$GC,16435,0.62,196.4,2922,2475,2270,2376,294.5,9.9,696,16440,0.00,2.40,0.00,0.000,260,0.000,0.092,2922,3880,2323,2270,2376,0,0,0,0,0,0,15.12,14.41,15.15
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$STATE,19423,end climb,SURFACE_DEPTH_REACHED
$STATE,19423,begin surface coast
$STATE,19444,end surface coast,CONTROL_FINISHED_OK
$STATE,19444,begin surface
$SM_CCo,19528,0.00,0.000,0,0,885,549.96
$SM_GC,3.71,8.02,0.28,0.00,0.050,0.098,0.000,42,2662,885,-8.29,-0.96,549.96,0,0,0,0,0,0,14.66,14.70,14.76
$IRIDIUM_FIX,755.99,8210.36,251015,185853
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.37
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.10
$XPDR_PINGS,4
$24V_AH,12.83,99.721
$10V_AH,11.80,0.000
$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,22.550,148.025,575.675,0.000,0.000,0.000,0.000,188.425,1.000,0.000,67.779,637.680,16069.028,620.668,1982.977,578.816,0.000,1729.325,0.000,1339.918,0.000,0.542,0.000
$DEVICE_MAMPS,410.040,97.920,2205.495,0.000,0.000,0.000,0.000,240.975,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271768
$DATA_FILE_SIZE,40071,931
$CAP_FILE_SIZE,161482,0
$CFSIZE,260034560,228429824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201,149.02,1
$GPS,261015,060515,759.896,8204.940,119,1.5,159,-2.2,0.5,331.5,5,11.7