version: 66.12
glider: 141
mission: 23
dive: 326
start: 10 30 115 5 19 27
data:
$ID,141
$MISSION,23
$DIVE,326
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,301015,051244,756.6531,8150.0229,94,3.0,134,-2.3,0.0,147.5,4,17.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.43
$_SM_ANGLEo,-74.2
$GPS2,301015,051852,756.6602,8150.0356,35,1.2,39,-2.3,0.4,288.1,7,8.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,IOMRC
$TGT_LATLONG,800.000,8143.450
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,340.0,13570,-14.9,-10.000,-18.74,2959
$D_GRID,2019
$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,-194.6,35,2674,891,1004,0.0,0.0,0,114,0.00,0.00,-86.43,0.000,16386,0.000,0.000,33,2675,3372,3438,3307,0,0,0,0,0,0,14.90,28.83,14.93
$GC,123,-0.62,-194.6,33,2674,3438,3308,6.4,-6.7,9,149,11.88,2.38,-7.28,0.000,18948,0.402,0.076,2505,1236,3924,3999,3849,0,0,0,0,0,0,14.19,13.19,14.45
$GC,230,-0.62,-194.6,2504,1235,3998,3853,51.2,-29.0,31,237,0.00,2.28,0.00,0.000,1030,0.000,0.055,2497,2634,3926,3999,3853,0,0,0,0,0,0,14.64,14.59,14.69
$GC,540,-0.62,-194.6,2497,2635,3999,3857,121.3,-15.2,48,546,0.00,2.33,0.00,0.000,260,0.000,0.078,2486,4045,3927,3998,3857,0,0,0,0,0,0,15.06,14.62,15.09
$GC,625,-0.62,-194.6,2485,4045,3998,3859,134.9,-16.1,65,630,0.12,2.17,0.00,0.000,3078,0.259,0.032,2512,2633,3929,3999,3859,0,0,0,0,0,0,14.47,14.78,14.75
$GC,944,-0.62,-194.6,2512,2632,3998,3861,174.5,-13.7,83,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2632,3929,3999,3860,0,0,0,0,0,0,15.10,15.14,15.14
$GC,1246,-0.62,-194.6,2512,2632,3999,3861,206.3,-10.4,98,1251,0.00,2.35,0.00,0.000,260,0.000,0.080,2504,4036,3930,3999,3861,0,0,0,0,0,0,15.11,14.65,15.15
$GC,1275,-0.62,-194.6,2504,4036,3998,3861,210.0,-12.2,104,1282,0.00,2.15,0.00,0.000,1030,0.000,0.032,2504,2645,3929,3998,3861,0,0,0,0,0,0,14.89,14.83,14.91
$GC,1586,-0.62,-194.6,2503,2644,3997,3860,245.4,-10.2,121,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2645,3928,3996,3861,0,0,0,0,0,0,15.13,15.16,15.16
$GC,1890,-0.62,-194.6,2504,2645,3991,3860,273.0,-9.0,128,1896,0.00,2.35,0.00,0.000,260,0.000,0.082,2494,4040,3925,3990,3861,0,0,0,0,0,0,15.11,14.65,15.15
$GC,1932,-0.62,-194.6,2493,4040,3991,3861,277.0,-8.9,136,1938,0.00,2.12,0.00,0.000,1030,0.000,0.033,2493,2651,3925,3990,3861,0,0,0,0,0,0,14.81,14.78,14.83
$GC,2253,-0.62,-194.6,2493,2651,3985,3861,306.5,-9.2,145,2257,0.00,2.22,0.00,0.000,516,0.000,0.053,2493,1252,3922,3984,3861,0,0,0,0,0,0,15.14,14.76,15.17
$GC,2286,-0.62,-194.6,2493,1252,3983,3861,309.7,-8.9,151,2292,0.12,2.28,0.00,0.000,3078,0.244,0.055,2514,2660,3921,3983,3860,0,0,0,0,0,0,14.54,14.74,14.76
$GC,2621,-0.62,-194.6,2514,2660,3979,3861,333.3,-7.1,162,2626,0.00,2.22,0.00,0.000,516,0.000,0.054,2514,1263,3919,3979,3860,0,0,0,0,0,0,15.13,14.69,15.16
$GC,2675,-0.62,-194.6,2514,1263,3978,3861,337.5,-7.3,173,2680,0.00,2.30,0.00,0.000,1030,0.000,0.055,2509,2654,3919,3977,3861,0,0,0,0,0,0,14.73,14.65,14.78
$GC,2981,-0.62,-194.6,2509,2654,3974,3860,361.3,-8.0,179,2986,0.00,2.30,0.00,0.000,260,0.000,0.084,2499,4032,3917,3974,3860,0,0,0,0,0,0,15.15,14.60,15.18
$GC,3017,-0.62,-194.6,2499,4032,3974,3859,364.6,-9.7,186,3022,0.00,2.12,0.00,0.000,1030,0.000,0.033,2499,2646,3916,3974,3859,0,0,0,0,0,0,14.80,14.76,14.82
$GC,3342,-0.62,-194.6,2498,2646,3969,3857,396.7,-10.0,196,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2646,3913,3969,3857,0,0,0,0,0,0,15.14,15.18,15.17
$GC,3641,-0.62,-194.6,2498,2646,3966,3855,428.3,-10.6,201,3645,0.00,2.35,0.00,0.000,260,0.000,0.085,2489,4037,3910,3966,3855,0,0,0,0,0,0,15.15,14.64,15.19
$GC,3680,-0.62,-194.6,2489,4038,3966,3854,433.0,-12.1,208,3685,0.00,2.15,0.00,0.000,1030,0.000,0.034,2489,2647,3910,3966,3854,0,0,0,0,0,0,14.78,14.75,14.82
$GC,4010,-0.62,-194.6,2489,2647,3961,3852,470.5,-11.2,218,4016,0.00,2.22,0.00,0.000,516,0.000,0.057,2489,1256,3906,3961,3852,0,0,0,0,0,0,15.14,14.65,15.18
$GC,4059,-0.62,-194.6,2488,1256,3961,3852,476.0,-11.0,228,4067,0.15,2.28,0.00,0.000,3078,0.226,0.057,2516,2651,3906,3961,3852,0,0,0,0,0,0,14.47,14.70,14.71
$GC,4374,-0.62,-194.6,2516,2651,3959,3851,504.2,-9.0,235,4380,0.00,2.33,0.00,0.000,260,0.000,0.087,2509,4033,3905,3959,3851,0,0,0,0,0,0,15.11,14.55,15.15
$GC,4403,-0.62,-194.6,2509,4033,3959,3850,507.2,-9.3,241,4408,0.00,2.15,0.00,0.000,1030,0.000,0.035,2509,2650,3904,3959,3850,0,0,0,0,0,0,14.86,14.78,14.88
$GC,4737,-0.62,-194.6,2509,2650,3957,3849,535.6,-8.4,252,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2650,3902,3957,3848,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5038,-0.62,-194.6,2509,2650,3954,3847,559.6,-8.0,257,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2650,3900,3954,3847,0,0,0,0,0,0,15.14,15.18,15.17
$GC,5338,-0.62,-194.6,2509,2650,3951,3846,582.7,-7.6,262,5343,0.00,2.25,0.00,0.000,516,0.000,0.058,2510,1254,3898,3950,3846,0,0,0,0,0,0,15.14,14.60,15.18
$GC,5367,-0.62,-194.6,2509,1254,3950,3846,585.1,-8.9,268,5374,0.00,2.28,0.00,0.000,1030,0.000,0.060,2501,2645,3898,3950,3846,0,0,0,0,0,0,14.68,14.64,14.72
$GC,5702,-0.62,-194.6,2501,2645,3948,3845,612.8,-8.4,279,5707,0.00,2.35,0.00,0.000,260,0.000,0.090,2491,4037,3897,3949,3845,0,0,0,0,0,0,15.12,14.50,15.15
$GC,5751,-0.62,-194.6,2491,4038,3949,3843,617.6,-9.3,289,5755,0.00,2.17,0.00,0.000,1030,0.000,0.037,2490,2655,3895,3948,3843,0,0,0,0,0,0,14.83,14.75,14.85
$GC,6069,-0.62,-194.6,2490,2655,3947,3842,646.8,-9.3,296,6075,0.00,2.25,0.00,0.000,516,0.000,0.060,2491,1260,3895,3947,3843,0,0,0,0,0,0,15.11,14.57,15.14
$GC,6123,-0.62,-194.6,2490,1260,3947,3842,652.6,-9.8,307,6129,0.12,2.35,0.00,0.000,3078,0.233,0.063,2512,2643,3895,3947,3843,0,0,0,0,0,0,14.42,14.54,14.64
$GC,6433,-0.62,-194.6,2512,2643,3945,3842,677.3,-8.0,313,6438,0.00,2.40,0.00,0.000,260,0.000,0.093,2503,4042,3893,3944,3842,0,0,0,0,0,0,15.11,14.52,15.14
$GC,6502,-0.62,-194.6,2503,4042,3944,3840,683.3,-8.0,326,6508,0.00,2.20,0.00,0.000,1030,0.000,0.038,2504,2647,3892,3944,3841,0,0,0,0,0,0,14.81,14.73,14.83
$GC,6858,-0.62,-194.6,2503,2647,3942,3840,710.9,-7.7,341,6862,0.00,2.28,0.00,0.000,516,0.000,0.062,2504,1254,3891,3942,3840,0,0,0,0,0,0,15.14,14.62,15.16
$GC,6891,-0.62,-194.6,2503,1254,3942,3840,713.5,-8.0,347,6896,0.00,2.30,0.00,0.000,1030,0.000,0.063,2496,2647,3891,3942,3840,0,0,0,0,0,0,14.62,14.55,14.67
$GC,7582,-0.62,-194.6,2495,2647,3940,3837,768.8,-8.0,370,7587,0.00,2.38,0.00,0.000,260,0.000,0.095,2485,4036,3888,3939,3837,0,0,0,0,0,0,15.14,14.40,15.16
$GC,7636,-0.62,-194.6,2485,4036,3940,3835,773.3,-8.3,381,7641,0.12,2.20,0.00,0.000,3078,0.225,0.040,2515,2654,3887,3939,3836,0,0,0,0,0,0,14.41,14.69,14.63
$GC,8310,-0.62,-194.6,2514,2654,3937,3835,815.2,-6.2,399,8315,0.00,2.30,0.00,0.000,516,0.000,0.064,2515,1248,3886,3937,3835,0,0,0,0,0,0,15.11,14.50,15.14
$GC,8338,-0.62,-194.6,2514,1248,3936,3835,817.0,-6.1,405,8343,0.00,2.35,0.00,0.000,1030,0.000,0.067,2513,2652,3885,3936,3835,0,0,0,0,0,0,14.70,14.56,14.75
$GC,9037,-0.62,-194.6,2513,2653,3934,3833,859.1,-6.0,428,9043,0.00,2.40,0.00,0.000,260,0.000,0.099,2502,4036,3883,3934,3833,0,0,0,0,0,0,15.10,14.36,15.13
$GC,9076,-0.62,-194.6,2503,4036,3933,3833,862.2,-7.2,436,9083,0.00,2.22,0.00,0.000,1030,0.000,0.043,2503,2652,3883,3933,3833,0,0,0,0,0,0,14.75,14.66,14.78
$GC,9761,-0.62,-194.6,2502,2652,3932,3831,909.9,-7.2,457,9765,0.00,2.33,0.00,0.000,516,0.000,0.067,2503,1248,3881,3931,3831,0,0,0,0,0,0,15.09,14.52,15.12
$GC,9814,-0.62,-194.6,2502,1248,3931,3831,914.2,-7.7,467,9820,0.00,2.35,0.00,0.000,1030,0.000,0.070,2499,2644,3881,3931,3831,0,0,0,0,0,0,14.51,14.43,14.58
$GC,10488,-0.62,-194.6,2498,2644,3930,3830,965.0,-7.7,486,10493,0.00,2.45,0.00,0.000,260,0.000,0.103,2487,4038,3880,3930,3830,0,0,0,0,0,0,15.10,14.29,15.13
$GC,10548,-0.62,-194.6,2487,4038,3930,3829,970.0,-7.8,498,10553,0.00,2.22,0.00,0.000,1030,0.000,0.045,2487,2656,3880,3930,3830,0,0,0,0,0,0,14.61,14.56,14.64
$STATE,10844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10844,begin apogee
$GC,10854,-0.20,0.0,2488,2455,3928,3829,995.2,-8.4,512,11015,0.57,0.00,157.50,2.206,10246,0.181,0.000,2651,2456,3126,3057,3195,0,0,0,0,0,0,14.28,14.02,13.06
$STATE,11017,end apogee,CONTROL_FINISHED_OK
$STATE,11017,begin climb
$GC,11021,0.62,194.6,2651,2455,3056,3191,999.8,0.0,513,11191,0.80,0.00,164.10,2.157,10758,0.114,0.000,2911,2456,2332,2240,2424,0,0,0,0,0,0,14.04,13.69,12.78
$GC,11808,0.62,194.6,2911,2456,2248,2402,922.5,10.9,565,11814,0.00,2.50,0.00,0.000,260,0.000,0.096,2911,3884,2324,2248,2401,0,0,0,0,0,0,14.90,14.46,14.93
$GC,11848,0.62,194.6,2910,3884,2253,2394,917.7,12.5,573,11855,0.00,2.33,0.00,0.000,1030,0.000,0.057,2922,2482,2324,2254,2394,0,0,0,0,0,0,14.70,14.61,14.73
$GC,12529,0.62,194.6,2921,2482,2254,2393,826.4,13.9,594,12534,0.00,2.40,0.00,0.000,516,0.000,0.081,2932,1067,2323,2254,2392,0,0,0,0,0,0,15.03,14.58,15.06
$GC,12563,0.62,194.6,2931,1067,2256,2391,822.1,13.1,600,12568,0.00,2.35,0.00,0.000,1030,0.000,0.069,2932,2467,2323,2256,2390,0,0,0,0,0,0,14.64,14.57,14.69
$GC,13253,0.62,194.6,2932,2467,2256,2390,725.9,14.1,623,13259,0.00,2.45,0.00,0.000,260,0.000,0.099,2932,3884,2323,2257,2389,0,0,0,0,0,0,15.07,14.47,15.11
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$STATE,19742,end climb,SURFACE_DEPTH_REACHED
$STATE,19742,begin surface coast
$STATE,19762,end surface coast,CONTROL_FINISHED_OK
$STATE,19762,begin surface
$SM_CCo,19846,0.00,0.000,0,0,624,613.99
$SM_GC,3.58,7.95,0.28,0.00,0.044,0.096,0.000,36,2656,624,-8.28,-0.99,613.99,0,0,0,0,0,0,14.70,14.70,14.78
$IRIDIUM_FIX,753.81,8044.43,291015,233635
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.52
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,23.10
$XPDR_PINGS,8
$24V_AH,12.78,106.120
$10V_AH,12.46,0.000
$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,22.450,176.850,621.000,0.000,0.000,0.000,0.000,212.025,2.000,0.000,41.315,698.380,16053.442,622.976,2193.662,639.781,0.000,1894.739,0.000,1541.023,0.000,0.542,0.000
$DEVICE_MAMPS,402.390,103.275,2206.260,0.000,0.000,0.000,0.000,239.445,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,SciConCT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1032.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,30.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,271736
$DATA_FILE_SIZE,46632,1073
$CAP_FILE_SIZE,168982,0
$CFSIZE,260034560,227246080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,153.79,1
$GPS,301015,105439,756.234,8150.192,183,1.4,223,-2.3,0.3,48.8,5,13.3