version: 66.12
glider: 141
mission: 23
dive: 323
start: 10 29 115 12 29 5
data:
$ID,141
$MISSION,23
$DIVE,323
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,291015,122303,756.8811,8151.0190,273,99.0,301,-2.3,0.6,324.9,6,-1.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.36
$_SM_ANGLEo,-72.6
$GPS2,291015,122833,756.9314,8150.9409,10,1.3,37,-2.3,0.7,334.8,9,7.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,332.5,14867,-14.9,-10.000,-18.74,2959
$D_GRID,2270
$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,20,begin dive
$GC,25,-0.62,-194.6,35,2674,482,622,0.0,0.0,0,127,0.00,0.00,-96.53,0.000,16386,0.000,0.000,35,2675,3235,3289,3181,0,0,0,0,0,0,14.90,28.83,14.95
$GC,133,-0.62,-194.6,35,2675,3289,3182,5.1,-3.8,10,161,11.82,2.28,-10.27,0.000,18692,0.402,0.091,2497,4039,3922,3991,3854,0,0,0,0,0,0,14.21,13.76,14.47
$GC,340,-0.62,-194.6,2496,4039,3991,3858,81.7,-28.0,52,345,0.00,2.22,0.00,0.000,1030,0.000,0.034,2496,2647,3924,3991,3858,0,0,0,0,0,0,14.69,14.66,14.72
$GC,646,-0.62,-194.6,2496,2646,3991,3860,141.0,-14.8,68,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2646,3925,3991,3860,0,0,0,0,0,0,15.07,15.11,15.11
$GC,947,-0.62,-194.6,2496,2646,3991,3861,179.2,-12.0,83,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2646,3926,3992,3861,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1246,-0.62,-194.6,2496,2646,3991,3861,213.9,-12.1,98,1251,0.00,2.22,0.00,0.000,516,0.000,0.050,2497,1239,3926,3991,3862,0,0,0,0,0,0,15.13,14.77,15.15
$GC,1275,-0.62,-194.6,2496,1239,3991,3861,217.2,-12.0,103,1280,0.00,2.22,0.00,0.000,1030,0.000,0.051,2489,2638,3926,3991,3861,0,0,0,0,0,0,14.78,14.73,14.82
$GC,1610,-0.62,-194.6,2488,2637,3988,3862,258.1,-11.8,120,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2638,3924,3987,3861,0,0,0,0,0,0,15.13,15.17,15.16
$GC,1910,-0.62,-194.6,2488,2638,3982,3861,291.9,-11.3,125,1916,0.00,2.33,0.00,0.000,260,0.000,0.080,2478,4032,3921,3981,3861,0,0,0,0,0,0,15.14,14.66,15.17
$GC,1982,-0.62,-194.6,2477,4032,3981,3861,300.0,-11.7,139,1988,0.10,2.12,0.00,0.000,3078,0.200,0.031,2508,2638,3921,3981,3862,0,0,0,0,0,0,14.50,14.79,14.64
$GC,2335,-0.62,-194.6,2508,2638,3974,3861,330.8,-8.7,154,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2638,3917,3974,3861,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2633,-0.62,-194.6,2508,2639,3968,3861,358.6,-9.4,159,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2638,3914,3968,3861,0,0,0,0,0,0,15.14,15.19,15.17
$GC,2932,-0.62,-194.6,2508,2638,3964,3860,386.1,-9.0,164,2938,0.00,2.35,0.00,0.000,260,0.000,0.082,2500,4036,3911,3963,3860,0,0,0,0,0,0,15.15,14.62,15.19
$GC,2961,-0.62,-194.6,2500,4036,3963,3859,388.8,-9.5,170,2966,0.00,2.15,0.00,0.000,1030,0.000,0.033,2500,2647,3910,3963,3858,0,0,0,0,0,0,14.90,14.83,14.92
$GC,3296,-0.62,-194.6,2500,2647,3959,3856,420.2,-9.5,181,3302,0.00,2.20,0.00,0.000,516,0.000,0.054,2500,1263,3907,3959,3856,0,0,0,0,0,0,15.14,14.71,15.18
$GC,3340,-0.62,-194.6,2500,1263,3959,3855,424.4,-9.5,190,3345,0.00,2.25,0.00,0.000,1030,0.000,0.055,2493,2647,3907,3959,3855,0,0,0,0,0,0,14.84,14.73,14.88
$GC,3664,-0.62,-194.6,2493,2646,3956,3853,454.9,-9.7,198,3668,0.00,2.38,0.00,0.000,260,0.000,0.084,2483,4045,3904,3956,3853,0,0,0,0,0,0,15.12,14.64,15.16
$GC,3717,-0.62,-194.6,2483,4045,3956,3851,460.4,-9.7,208,3724,0.12,2.17,0.00,0.000,3078,0.233,0.034,2513,2653,3903,3956,3851,0,0,0,0,0,0,14.52,14.81,14.73
$GC,4032,-0.62,-194.6,2512,2653,3950,3850,485.0,-7.8,215,4037,0.00,2.22,0.00,0.000,516,0.000,0.055,2513,1259,3900,3950,3850,0,0,0,0,0,0,15.13,14.66,15.16
$GC,4086,-0.62,-194.6,2512,1259,3950,3850,490.1,-8.4,226,4092,0.00,2.33,0.00,0.000,1030,0.000,0.057,2509,2648,3900,3950,3850,0,0,0,0,0,0,14.69,14.62,14.73
$GC,4395,-0.62,-194.6,2509,2649,3948,3848,516.9,-8.8,232,4400,0.00,2.33,0.00,0.000,260,0.000,0.086,2499,4032,3897,3948,3847,0,0,0,0,0,0,15.12,14.56,15.15
$GC,4430,-0.62,-194.6,2499,4032,3948,3847,520.3,-9.3,239,4435,0.00,2.12,0.00,0.000,1030,0.000,0.034,2499,2660,3897,3948,3847,0,0,0,0,0,0,14.78,14.76,14.81
$GC,4759,-0.62,-194.6,2499,2660,3946,3846,548.8,-8.7,249,4765,0.00,2.25,0.00,0.000,516,0.000,0.056,2499,1255,3895,3945,3846,0,0,0,0,0,0,15.11,14.62,15.15
$GC,4798,-0.62,-194.6,2498,1255,3945,3846,552.8,-9.1,257,4805,0.00,2.30,0.00,0.000,1030,0.000,0.058,2495,2657,3895,3944,3846,0,0,0,0,0,0,14.80,14.68,14.83
$GC,5123,-0.62,-194.6,2495,2657,3942,3845,580.8,-8.8,266,5128,0.00,2.35,0.00,0.000,260,0.000,0.088,2484,4036,3893,3942,3844,0,0,0,0,0,0,15.11,14.59,15.14
$GC,5157,-0.62,-194.6,2484,4036,3942,3843,584.3,-9.6,272,5163,0.12,2.17,0.00,0.000,3078,0.229,0.036,2513,2647,3893,3942,3844,0,0,0,0,0,0,14.48,14.77,14.70
$GC,5492,-0.62,-194.6,2513,2647,3940,3843,611.3,-8.3,283,5497,0.00,2.22,0.00,0.000,516,0.000,0.058,2513,1266,3891,3939,3843,0,0,0,0,0,0,15.11,14.60,15.15
$GC,5536,-0.62,-194.6,2513,1266,3939,3843,615.4,-8.1,292,5542,0.00,2.25,0.00,0.000,1030,0.000,0.060,2512,2639,3890,3939,3842,0,0,0,0,0,0,14.66,14.60,14.71
$GC,5855,-0.62,-194.6,2511,2639,3937,3841,640.8,-8.2,300,5860,0.00,2.40,0.00,0.000,260,0.000,0.090,2501,4046,3889,3937,3841,0,0,0,0,0,0,15.11,14.50,15.14
$GC,5910,-0.62,-194.6,2501,4046,3937,3839,645.8,-8.9,311,5914,0.00,2.25,0.00,0.000,1030,0.000,0.037,2501,2657,3888,3937,3839,0,0,0,0,0,0,14.67,14.62,14.71
$GC,6219,-0.62,-194.6,2501,2657,3934,3839,670.2,-7.9,317,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2657,3887,3936,3838,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6515,-0.62,-194.6,2501,2657,3934,3838,692.0,-7.2,322,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2657,3886,3934,3838,0,0,0,0,0,0,15.14,15.18,15.17
$GC,6876,-0.62,-194.6,2501,2657,3932,3837,716.1,-6.6,326,6881,0.00,2.30,0.00,0.000,516,0.000,0.060,2501,1249,3884,3932,3837,0,0,0,0,0,0,15.12,14.62,15.15
$GC,6934,-0.62,-194.6,2501,1249,3932,3837,720.4,-7.3,337,6945,0.00,2.35,0.00,0.000,1030,0.000,0.063,2497,2660,3884,3932,3836,0,0,0,0,0,0,14.74,14.61,14.78
$GC,7606,-0.62,-194.6,2498,2659,3929,3834,771.6,-7.6,355,7611,0.00,2.33,0.00,0.000,516,0.000,0.061,2497,1248,3881,3928,3834,0,0,0,0,0,0,15.13,14.53,15.16
$GC,7630,-0.62,-194.6,2497,1248,3928,3834,773.6,-7.9,360,7636,0.00,2.35,0.00,0.000,1030,0.000,0.064,2488,2654,3880,3928,3833,0,0,0,0,0,0,14.72,14.59,14.77
$GC,8329,-0.62,-194.6,2488,2654,3925,3831,829.1,-8.1,384,8335,0.00,2.40,0.00,0.000,260,0.000,0.099,2477,4035,3878,3925,3831,0,0,0,0,0,0,15.10,14.38,15.13
$GC,8394,-0.62,-194.6,2477,4035,3925,3830,835.0,-9.0,397,8401,0.10,2.20,0.00,0.000,3078,0.190,0.041,2509,2650,3877,3925,3830,0,0,0,0,0,0,14.29,14.64,14.42
$GC,9054,-0.62,-194.6,2508,2650,3924,3830,879.6,-6.7,413,9060,0.00,2.30,0.00,0.000,516,0.000,0.065,2508,1248,3875,3922,3829,0,0,0,0,0,0,15.11,14.47,15.14
$GC,9098,-0.62,-194.6,2508,1248,3923,3830,883.1,-7.2,422,9103,0.00,2.38,0.00,0.000,1030,0.000,0.067,2506,2657,3876,3923,3830,0,0,0,0,0,0,14.68,14.54,14.73
$GC,9778,-0.62,-194.6,2506,2657,3920,3830,933.7,-7.6,442,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2657,3874,3920,3829,0,0,0,0,0,0,15.11,15.16,15.15
$GC,10378,-0.62,-194.6,2506,2657,3917,3829,979.4,-7.4,447,10379,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2657,3873,3917,3829,0,0,0,0,0,0,15.12,15.16,15.15
$STATE,10613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10613,begin apogee
$GC,10623,-0.20,0.0,2506,2466,3915,3829,993.3,-6.4,449,10783,0.50,0.00,156.30,2.213,10246,0.178,0.000,2649,2466,3125,3056,3195,0,0,0,0,0,0,14.29,14.04,13.08
$STATE,10785,end apogee,CONTROL_FINISHED_OK
$STATE,10785,begin climb
$GC,10789,0.62,194.6,2648,2466,3055,3191,995.3,0.0,450,10959,0.80,0.00,164.40,2.172,10758,0.118,0.000,2908,2466,2332,2238,2426,0,0,0,0,0,0,14.05,13.70,12.77
$GC,11577,0.62,194.6,2907,2466,2246,2403,902.9,12.4,502,11583,0.00,2.47,0.00,0.000,260,0.000,0.096,2907,3878,2325,2247,2403,0,0,0,0,0,0,14.90,14.47,14.93
$GC,11621,0.62,194.6,2907,3878,2252,2395,896.7,14.2,511,11625,0.00,2.30,0.00,0.000,1030,0.000,0.055,2918,2489,2324,2253,2395,0,0,0,0,0,0,14.69,14.62,14.74
$GC,12300,0.62,194.6,2917,2490,2252,2394,813.0,12.4,531,12304,0.00,2.40,0.00,0.000,516,0.000,0.080,2929,1069,2323,2252,2395,0,0,0,0,0,0,15.03,14.59,15.07
$GC,12323,0.62,194.6,2928,1068,2255,2392,810.1,12.2,535,12328,0.00,2.38,0.00,0.000,1030,0.000,0.069,2928,2471,2323,2255,2392,0,0,0,0,0,0,14.74,14.61,14.79
$GC,13027,0.62,194.6,2928,2471,2255,2391,718.8,13.0,560,13032,0.00,2.45,0.00,0.000,260,0.000,0.100,2929,3883,2323,2256,2391,0,0,0,0,0,0,15.07,14.47,15.11
$GC,13076,0.62,194.6,2928,3883,2259,2385,710.9,16.4,570,13082,0.00,2.33,0.00,0.000,1030,0.000,0.056,2939,2472,2322,2259,2385,0,0,0,0,0,0,14.78,14.68,14.81
$GC,13688,0.62,194.6,2938,2472,2259,2384,621.4,14.0,593,13693,0.00,2.35,0.00,0.000,516,0.000,0.080,2949,1069,2322,2260,2384,0,0,0,0,0,0,15.09,14.50,15.11
$GC,13713,0.62,194.6,2948,1069,2261,2384,617.8,13.5,598,13720,0.10,2.35,0.00,0.000,5126,0.227,0.069,2921,2468,2322,2261,2383,0,0,0,0,0,0,14.28,14.54,14.45
$GC,14055,0.62,194.6,2921,2468,2260,2383,577.6,11.7,610,14061,0.00,2.45,0.00,0.000,260,0.000,0.098,2921,3880,2322,2261,2383,0,0,0,0,0,0,15.07,14.45,15.10
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$STATE,19461,end climb,SURFACE_DEPTH_REACHED
$STATE,19461,begin surface coast
$STATE,19482,end surface coast,CONTROL_FINISHED_OK
$STATE,19482,begin surface
$SM_CCo,19567,0.00,0.000,0,0,984,525.43
$SM_GC,3.75,8.12,0.25,0.00,0.058,0.099,0.000,43,2657,984,-8.29,-1.07,525.43,0,0,0,0,0,0,14.66,14.73,14.77
$IRIDIUM_FIX,751.63,8150.65,291015,064742
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.01
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,23.20
$XPDR_PINGS,61
$24V_AH,12.77,105.042
$10V_AH,12.64,0.000
$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,22.100,153.850,561.550,0.000,0.000,0.000,0.000,175.525,15.250,0.000,39.997,653.458,16009.313,590.089,2020.293,615.498,0.000,1742.268,0.000,1420.711,0.000,0.543,0.000
$DEVICE_MAMPS,401.625,100.215,2213.145,0.000,0.000,0.000,0.000,244.035,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271716
$DATA_FILE_SIZE,43430,983
$CAP_FILE_SIZE,164485,0
$CFSIZE,260034560,227454976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,6937.24,0x234028,0,24
$CURRENT,0.281,164.91,1
$GPS,291015,175745,756.943,8150.153,69,1.7,109,-2.3,0.5,271.8,6,15.0