version: 66.13
glider: 141
mission: 11
dive: 45
start: 6 6 119 2 33 50
data:
$ID,141
$MISSION,11
$DIVE,45
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,990
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,370
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55610
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0040899999
$HD_B,0.0102
$HD_C,4.5000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3920
$C_PITCH,2815
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,276
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3935
$C_VBD,2950
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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,-166.67619
$PRESSURE_SLOPE,0.00010932798
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,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,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043955045
$SEABIRD_T_H,0.00063085643
$SEABIRD_T_I,2.5021687e-05
$SEABIRD_T_J,3.0087358e-06
$SEABIRD_C_G,-9.7732916
$SEABIRD_C_H,1.1286387
$SEABIRD_C_I,-0.0014607979
$SEABIRD_C_J,0.00018615076
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,060619,022017,5825.7139,-2316.1965,27,1.3,44,-13.1,0.7,342.2,6,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-72.8
$GPS2,060619,023301,5825.7002,-2316.0630,9,1.1,23,-13.1,0.0,165.9,7,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,A2
$TGT_LATLONG,5812.700,-2350.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,243.5,40937,-18.4,-10.000,-21.03,2244
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-0.54,-146.0,220,2727,1692,1732,0.0,0.0,0,94,0.00,0.00,-76.22,0.005,16390,0.000,0.000,220,2727,3545,3482,3609,0,0,0,0,0,0,14.57,13.66,14.59
$GC,98,-0.54,-146.0,220,2727,3484,3609,4.0,-5.9,8,116,12.05,2.20,0.00,0.000,2340,0.427,0.080,2622,3930,3547,3485,3609,0,0,0,0,0,0,14.21,14.40,14.38
$GC,250,-0.54,-146.0,2621,3930,3488,3607,34.5,-13.2,37,257,0.00,2.05,0.00,0.000,1030,0.000,0.041,2621,2688,3547,3488,3607,0,0,0,0,0,0,14.54,14.50,14.57
$GC,436,-0.54,-146.0,2621,2687,3489,3605,59.7,-13.4,56,442,0.00,2.30,0.00,0.000,516,0.000,0.047,2621,1297,3547,3489,3605,0,0,0,0,0,0,14.71,14.52,14.72
$GC,521,-0.54,-146.0,2621,1296,3489,3605,70.2,-11.9,72,527,0.00,2.47,0.00,0.000,1030,0.000,0.072,2621,2708,3547,3489,3605,0,0,0,0,0,0,14.59,14.52,14.61
$GC,716,-0.54,-146.0,2621,2708,3490,3605,95.8,-13.4,92,721,0.00,2.15,0.00,0.000,260,0.000,0.090,2621,3942,3547,3490,3605,0,0,0,0,0,0,14.76,14.54,14.78
$GC,754,-0.54,-146.0,2621,3942,3490,3604,100.5,-11.5,99,761,0.00,2.05,0.00,0.000,1030,0.000,0.039,2621,2679,3547,3490,3604,0,0,0,0,0,0,14.66,14.62,14.67
$GC,940,-0.54,-146.0,2621,2679,3490,3604,123.5,-12.0,118,947,0.00,2.25,0.00,0.000,516,0.000,0.044,2621,1299,3547,3490,3604,0,0,0,0,0,0,14.79,14.62,14.81
$GC,991,-0.54,-146.0,2621,1299,3490,3604,129.2,-10.8,127,997,0.00,2.45,0.00,0.000,1030,0.000,0.074,2621,2704,3547,3491,3604,0,0,0,0,0,0,14.66,14.59,14.68
$GC,1176,-0.54,-146.0,2621,2704,3491,3604,149.3,-10.8,146,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2704,3547,3491,3603,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1367,-0.54,-146.0,2621,2704,3491,3604,170.5,-11.5,165,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2705,3547,3491,3604,0,0,0,0,0,0,14.82,14.83,14.83
$GC,1556,-0.54,-146.0,2621,2704,3491,3604,192.8,-11.9,184,1562,0.00,2.33,0.00,0.000,516,0.000,0.045,2621,1298,3547,3490,3604,0,0,0,0,0,0,14.83,14.64,14.84
$GC,1591,-0.54,-146.0,2621,1297,3491,3604,197.1,-12.3,190,1598,0.00,2.45,0.00,0.000,1030,0.000,0.074,2621,2705,3547,3491,3604,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1787,-0.54,-146.0,2621,2706,3491,3604,221.0,-12.6,210,1793,0.00,2.30,0.00,0.000,516,0.000,0.044,2621,1305,3547,3491,3604,0,0,0,0,0,0,14.84,14.67,14.85
$GC,1812,-0.54,-146.0,2621,1305,3491,3604,224.0,-12.3,214,1819,0.00,2.42,0.00,0.000,1030,0.000,0.075,2621,2701,3547,3491,3604,0,0,0,0,0,0,14.72,14.64,14.73
$GC,2008,-0.54,-146.0,2621,2701,3491,3604,248.2,-12.6,234,2014,0.00,2.15,0.00,0.000,260,0.000,0.090,2621,3942,3547,3491,3604,0,0,0,0,0,0,14.83,14.64,14.85
$GC,2042,-0.54,-146.0,2621,3942,3491,3603,252.8,-12.9,240,2048,0.00,2.03,0.00,0.000,1030,0.000,0.041,2621,2690,3547,3491,3604,0,0,0,0,0,0,14.73,14.69,14.75
$GC,2356,-0.54,-146.0,2618,2687,3491,3603,291.7,-12.2,257,2362,0.00,2.25,0.00,0.000,516,0.000,0.049,2622,1310,3547,3492,3603,0,0,0,0,0,0,14.86,14.66,14.86
$GC,2435,-0.54,-146.0,2621,1309,3491,3603,300.9,-10.5,272,2442,0.00,2.42,0.00,0.000,1030,0.000,0.074,2621,2706,3547,3491,3603,0,0,0,0,0,0,14.73,14.66,14.76
$GC,2741,-0.54,-146.0,2621,2706,3491,3603,336.2,-11.5,288,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2706,3547,3491,3603,0,0,0,0,0,0,14.88,14.90,14.90
$GC,3042,-0.54,-146.0,2621,2706,3491,3603,366.9,-10.1,303,3047,0.00,2.33,0.00,0.000,516,0.000,0.047,2621,1297,3546,3491,3602,0,0,0,0,0,0,14.89,14.71,14.90
$GC,3087,-0.54,-146.0,2621,1297,3491,3603,371.4,-8.5,311,3093,0.00,2.45,0.00,0.000,1030,0.000,0.075,2621,2709,3547,3491,3603,0,0,0,0,0,0,14.77,14.69,14.78
$GC,3412,-0.54,-146.0,2621,2708,3492,3602,406.6,-11.9,330,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2710,3546,3491,3602,0,0,0,0,0,0,14.90,14.91,14.91
$GC,3712,-0.54,-146.0,2619,2710,3486,3602,445.4,-13.3,345,3717,0.00,2.33,0.00,0.000,516,0.000,0.047,2621,1298,3546,3491,3602,0,0,0,0,0,0,14.90,14.70,14.91
$GC,3770,-0.54,-146.0,2621,1300,3491,3602,453.0,-11.7,356,3777,0.00,2.45,0.00,0.000,1030,0.000,0.075,2621,2713,3547,3493,3602,0,0,0,0,0,0,14.77,14.69,14.78
$GC,4077,-0.54,-146.0,2621,2714,3491,3601,491.2,-11.8,372,4082,0.00,2.33,0.00,0.000,516,0.000,0.046,2621,1297,3546,3491,3601,0,0,0,0,0,0,14.88,14.71,14.90
$GC,4130,-0.54,-146.0,2620,1300,3491,3601,497.0,-9.9,382,4137,0.00,2.45,0.00,0.000,1030,0.000,0.075,2621,2711,3546,3491,3601,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4446,-0.54,-146.0,2620,2711,3490,3601,527.8,-9.7,399,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2711,3545,3491,3600,0,0,0,0,0,0,14.91,14.93,14.92
$GC,4746,-0.54,-146.0,2621,2711,3491,3600,560.7,-11.9,414,4753,0.00,2.33,0.00,0.000,516,0.000,0.047,2621,1297,3545,3491,3600,0,0,0,0,0,0,14.92,14.72,14.94
$GC,4805,-0.54,-146.0,2621,1297,3491,3600,567.9,-11.3,425,4812,0.00,2.45,0.00,0.000,1030,0.000,0.076,2621,2707,3548,3497,3599,0,0,0,0,0,0,14.78,14.69,14.79
$GC,5111,-0.54,-146.0,2621,2708,3491,3599,603.9,-11.5,441,5117,0.00,2.33,0.00,0.000,516,0.000,0.047,2621,1296,3540,3486,3595,0,0,0,0,0,0,14.90,14.73,14.92
$GC,5156,-0.54,-146.0,2621,1296,3491,3599,608.7,-9.9,449,5162,0.00,2.45,0.00,0.000,1030,0.000,0.076,2621,2708,3545,3491,3599,0,0,0,0,0,0,14.78,14.70,14.80
$GC,5481,-0.54,-146.0,2621,2709,3491,3598,640.6,-9.3,468,5487,0.00,2.33,0.00,0.000,516,0.000,0.048,2621,1300,3544,3491,3598,0,0,0,0,0,0,14.92,14.71,14.94
$GC,5505,-0.54,-146.0,2621,1300,3491,3598,642.9,-9.6,472,5510,0.00,2.45,0.00,0.000,1030,0.000,0.077,2621,2709,3544,3491,3598,0,0,0,0,0,0,14.79,14.71,14.81
$GC,5830,-0.54,-146.0,2619,2710,3492,3597,674.4,-9.9,491,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2710,3544,3491,3597,0,0,0,0,0,0,14.92,14.94,14.94
$GC,6129,-0.54,-146.0,2621,2710,3491,3594,705.1,-10.2,506,6136,0.00,2.33,0.00,0.000,516,0.000,0.050,2621,1302,3544,3491,3597,0,0,0,0,0,0,14.92,14.74,14.94
$GC,6159,-0.54,-146.0,2620,1302,3491,3597,708.2,-10.3,511,6165,0.00,2.45,0.00,0.000,1030,0.000,0.078,2621,2709,3543,3491,3596,0,0,0,0,0,0,14.80,14.71,14.82
$GC,6480,-0.54,-146.0,2621,2710,3491,3594,741.3,-10.6,529,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2710,3543,3491,3595,0,0,0,0,0,0,14.92,14.95,14.94
$GC,6779,-0.54,-146.0,2621,2710,3491,3594,774.3,-11.0,544,6785,0.00,2.30,0.00,0.000,516,0.000,0.050,2621,1305,3542,3491,3594,0,0,0,0,0,0,14.93,14.74,14.95
$GC,6844,-0.54,-146.0,2621,1305,3491,3594,781.2,-10.2,556,6850,0.00,2.45,0.00,0.000,1030,0.000,0.076,2621,2717,3542,3491,3594,0,0,0,0,0,0,14.81,14.72,14.83
$GC,7169,-0.54,-146.0,2621,2716,3491,3593,814.9,-10.3,575,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2716,3542,3491,3593,0,0,0,0,0,0,14.92,14.94,14.94
$GC,7469,-0.54,-146.0,2621,2717,3491,3593,844.9,-9.7,590,7475,0.00,2.33,0.00,0.000,516,0.000,0.048,2621,1306,3541,3491,3592,0,0,0,0,0,0,14.92,14.75,14.94
$GC,7523,-0.54,-146.0,2621,1306,3491,3592,850.2,-9.4,600,7529,0.00,2.45,0.00,0.000,1030,0.000,0.078,2621,2711,3541,3491,3592,0,0,0,0,0,0,14.80,14.72,14.82
$GC,7838,-0.54,-146.0,2621,2711,3491,3591,881.0,-9.8,617,7843,0.00,2.33,0.00,0.000,516,0.000,0.049,2621,1306,3544,3491,3597,0,0,0,0,0,0,14.92,14.73,14.94
$GC,7886,-0.54,-146.0,2621,1306,3491,3592,885.9,-9.5,626,7893,0.00,2.45,0.00,0.000,1030,0.000,0.080,2621,2710,3541,3491,3592,0,0,0,0,0,0,14.78,14.69,14.79
$GC,8206,-0.54,-146.0,2621,2710,3491,3591,917.2,-9.9,644,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2710,3541,3491,3591,0,0,0,0,0,0,14.92,14.94,14.93
$GC,8507,-0.54,-146.0,2621,2710,3491,3590,945.8,-9.5,659,8513,0.00,2.33,0.00,0.000,516,0.000,0.053,2621,1309,3541,3491,3591,0,0,0,0,0,0,14.91,14.73,14.93
$GC,8552,-0.54,-146.0,2621,1308,3491,3591,950.0,-8.8,667,8558,0.00,2.45,0.00,0.000,1030,0.000,0.078,2621,2714,3540,3490,3590,0,0,0,0,0,0,14.79,14.71,14.81
$GC,8877,-0.54,-146.0,2621,2715,3491,3589,978.3,-8.6,686,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2715,3540,3491,3589,0,0,0,0,0,0,14.91,14.93,14.92
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9022,-0.14,0.0,2621,2490,3491,3589,990.7,-8.8,693,9156,0.52,0.00,128.05,2.015,10246,0.229,0.000,2765,2490,2950,2983,2918,0,0,0,0,0,0,14.62,13.88,13.19
$STATE,9158,end apogee,CONTROL_FINISHED_OK
$STATE,9158,begin climb
$GC,9161,0.54,146.0,2765,2490,2983,2916,993.6,0.0,700,9306,0.77,2.55,134.23,1.967,10756,0.151,0.055,2991,1111,2354,2399,2309,0,0,0,0,0,0,13.88,13.74,13.07
$GC,9315,0.54,146.0,2991,1110,2395,2308,982.9,10.8,728,9320,0.00,2.58,0.00,0.000,1030,0.000,0.070,2991,2504,2351,2396,2307,0,0,0,0,0,0,13.90,13.83,13.93
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$STATE,17750,end climb,SURFACE_DEPTH_REACHED
$STATE,17750,begin surface coast
$FINISH,0.2,1.026963
$STATE,17772,end surface coast,CONTROL_FINISHED_OK
$STATE,17772,begin surface
$SM_CCo,17794,157.43,0.640,1,0,1727,300.00
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$IRIDIUM_FIX,5828.78,-2320.56,050619,210309
$TT8_MAMPS,0.020972,0.564746
$HUMID,41.29
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.40
$XPDR_PINGS,4
$SC_FREEKB,3870464
$24V_AH,13.07,17.339
$10V_AH,13.34,0.000
$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,22.050,200.775,262.275,157.425,0.000,0.000,0.000,513.675,1.000,0.000,34.952,3391.776,11349.637,774.721,2726.748,481.664,0.000,2413.873,0.000,2135.660,0.000,0.535,0.000
$DEVICE_MAMPS,426.870,100.980,2015.010,639.540,0.000,0.000,0.000,208.080,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.483,0.000,0.000,0.000
$MEM,335592
$DATA_FILE_SIZE,49868,1387
$CAP_FILE_SIZE,174225,0
$CFSIZE,260034560,252112896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.156,69.82,1
$GPS,060619,073435,5824.708,-2316.603,36,0.9,40,-13.1,0.4,283.0,9,9.7