version: 66.13
glider: 141
mission: 11
dive: 70
start: 6 11 119 9 28 19
data:
$ID,141
$MISSION,11
$DIVE,70
$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,310
$T_MISSION,340
$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,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55610
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.0139236
$HD_C,5.7000002e-06
$HEADING,0
$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,2790
$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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,110619,091605,5841.6772,-2239.9531,35,0.9,39,-12.9,0.4,80.0,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-74.7
$GPS2,110619,092732,5841.6787,-2239.6448,9,0.9,17,-12.9,0.9,204.8,10,9.2
$SPEED_LIMITS,0.184,0.248
$TGT_NAME,HEADING
$TGT_LATLONG,5852.478,-2239.645
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,12.9,20000,-18.5,-10.645,-23.24,2517
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,12,-0.55,-175.2,217,2707,1692,1733,0.0,0.0,0,93,0.00,0.00,-76.65,0.005,16390,0.000,0.000,217,2707,3665,3598,3733,0,0,0,0,0,0,14.58,13.62,14.60
$GC,97,-0.55,-175.2,217,2707,3598,3733,5.0,-8.0,8,118,11.80,2.17,0.00,0.000,2340,0.421,0.072,2596,3939,3666,3599,3733,0,0,0,0,0,0,14.22,14.40,14.45
$GC,247,-0.55,-175.2,2596,3939,3601,3733,41.4,-13.3,37,253,0.00,2.08,0.00,0.000,1030,0.000,0.040,2596,2671,3666,3602,3731,0,0,0,0,0,0,14.54,14.50,14.55
$GC,433,-0.55,-175.2,2596,2670,3604,3729,70.5,-16.0,56,438,0.00,2.25,0.00,0.000,516,0.000,0.044,2596,1296,3666,3604,3729,0,0,0,0,0,0,14.71,14.54,14.73
$GC,497,-0.55,-175.2,2596,1294,3604,3729,79.9,-13.4,68,502,0.00,2.47,0.00,0.000,1030,0.000,0.074,2596,2710,3666,3604,3729,0,0,0,0,0,0,14.62,14.52,14.63
$GC,691,-0.55,-175.2,2596,2710,3605,3729,108.0,-15.5,88,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2710,3667,3605,3729,0,0,0,0,0,0,14.76,14.78,14.78
$GC,881,-0.55,-175.2,2596,2710,3605,3729,137.0,-15.1,107,886,0.00,2.33,0.00,0.000,516,0.000,0.041,2596,1294,3667,3605,3729,0,0,0,0,0,0,14.78,14.62,14.80
$GC,925,-0.55,-175.2,2596,1292,3606,3729,143.6,-13.5,115,930,0.00,2.47,0.00,0.000,1030,0.000,0.073,2596,2715,3667,3605,3729,0,0,0,0,0,0,14.65,14.57,14.66
$GC,1119,-0.55,-175.2,2596,2714,3605,3729,172.2,-15.0,135,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2715,3666,3605,3728,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1309,-0.55,-175.2,2595,2715,3605,3731,200.5,-15.3,154,1314,0.00,2.33,0.00,0.000,516,0.000,0.044,2596,1302,3666,3605,3728,0,0,0,0,0,0,14.83,14.65,14.85
$GC,1377,-0.55,-175.2,2596,1300,3606,3729,210.4,-13.3,167,1384,0.00,2.45,0.00,0.000,1030,0.000,0.074,2596,2712,3667,3606,3729,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1563,-0.55,-175.2,2596,2712,3605,3728,239.8,-16.3,186,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2712,3667,3606,3728,0,0,0,0,0,0,14.85,14.87,14.86
$GC,1753,-0.55,-175.2,2596,2711,3605,3728,268.6,-15.0,199,1759,0.00,2.33,0.00,0.000,516,0.000,0.045,2596,1299,3667,3606,3728,0,0,0,0,0,0,14.85,14.68,14.87
$GC,1802,-0.55,-175.2,2596,1297,3606,3728,276.3,-14.6,208,1808,0.00,2.45,0.00,0.000,1030,0.000,0.074,2596,2709,3667,3606,3728,0,0,0,0,0,0,14.73,14.64,14.75
$GC,2121,-0.55,-175.2,2596,2709,3603,3728,324.0,-15.0,226,2127,0.00,2.33,0.00,0.000,516,0.000,0.046,2596,1297,3667,3606,3728,0,0,0,0,0,0,14.87,14.67,14.88
$GC,2170,-0.55,-175.2,2596,1296,3605,3728,330.9,-13.1,235,2175,0.00,2.45,0.00,0.000,1030,0.000,0.073,2596,2709,3666,3605,3728,0,0,0,0,0,0,14.74,14.64,14.75
$GC,2489,-0.55,-175.2,2596,2709,3606,3727,377.0,-14.6,253,2494,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1296,3666,3606,3726,0,0,0,0,0,0,14.88,14.70,14.89
$GC,2517,-0.55,-175.2,2596,1294,3606,3727,381.2,-14.7,258,2522,0.00,2.45,0.00,0.000,1030,0.000,0.075,2596,2707,3666,3606,3727,0,0,0,0,0,0,14.76,14.67,14.78
$GC,2836,-0.55,-175.2,2596,2707,3606,3727,425.6,-13.5,276,2842,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1295,3666,3606,3727,0,0,0,0,0,0,14.88,14.71,14.90
$GC,2874,-0.55,-175.2,2596,1294,3605,3727,430.7,-12.2,283,2881,0.00,2.45,0.00,0.000,1030,0.000,0.074,2596,2707,3666,3606,3727,0,0,0,0,0,0,14.76,14.67,14.77
$GC,3180,-0.55,-175.2,2596,2709,3606,3726,471.8,-14.0,299,3186,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1298,3666,3606,3726,0,0,0,0,0,0,14.88,14.71,14.90
$GC,3225,-0.55,-175.2,2596,1298,3606,3726,477.7,-12.7,307,3230,0.00,2.45,0.00,0.000,1030,0.000,0.074,2596,2713,3666,3606,3726,0,0,0,0,0,0,14.73,14.66,14.75
$GC,3549,-0.55,-175.2,2595,2713,3605,3725,520.7,-14.1,326,3554,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1300,3665,3605,3725,0,0,0,0,0,0,14.90,14.72,14.91
$GC,3613,-0.55,-175.2,2596,1298,3605,3725,528.8,-11.4,338,3618,0.00,2.45,0.00,0.000,1030,0.000,0.075,2595,2713,3665,3606,3725,0,0,0,0,0,0,14.77,14.69,14.79
$GC,3938,-0.55,-175.2,2596,2718,3606,3724,571.2,-13.0,357,3943,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1302,3664,3605,3724,0,0,0,0,0,0,14.90,14.69,14.92
$GC,4006,-0.55,-175.2,2595,1300,3607,3724,579.8,-11.5,370,4011,0.00,2.45,0.00,0.000,1030,0.000,0.075,2596,2712,3664,3606,3723,0,0,0,0,0,0,14.78,14.69,14.79
$GC,4325,-0.55,-175.2,2596,2712,3606,3723,620.5,-12.5,388,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2712,3664,3606,3723,0,0,0,0,0,0,14.92,14.93,14.93
$GC,4625,-0.55,-175.2,2595,2712,3606,3721,657.2,-12.0,403,4630,0.00,2.33,0.00,0.000,516,0.000,0.047,2596,1299,3664,3606,3722,0,0,0,0,0,0,14.92,14.71,14.94
$GC,4663,-0.55,-175.2,2595,1299,3606,3722,661.8,-11.1,410,4670,0.00,2.45,0.00,0.000,1030,0.000,0.076,2596,2710,3664,3606,3722,0,0,0,0,0,0,14.79,14.70,14.81
$GC,4969,-0.55,-175.2,2596,2708,3606,3722,699.2,-12.7,426,4975,0.00,2.33,0.00,0.000,516,0.000,0.048,2596,1297,3664,3606,3722,0,0,0,0,0,0,14.92,14.73,14.94
$GC,5013,-0.55,-175.2,2596,1295,3606,3722,704.7,-12.1,434,5019,0.00,2.45,0.00,0.000,1030,0.000,0.075,2596,2709,3664,3606,3722,0,0,0,0,0,0,14.79,14.71,14.81
$GC,5338,-0.55,-175.2,2596,2709,3606,3721,746.5,-13.0,453,5343,0.00,2.33,0.00,0.000,516,0.000,0.049,2596,1300,3663,3606,3721,0,0,0,0,0,0,14.90,14.73,14.92
$GC,5371,-0.55,-175.2,2596,1299,3605,3721,750.9,-12.5,459,5377,0.00,2.45,0.00,0.000,1030,0.000,0.076,2596,2708,3663,3605,3721,0,0,0,0,0,0,14.79,14.70,14.81
$GC,5685,-0.55,-175.2,2596,2708,3605,3719,788.8,-11.9,476,5691,0.00,2.35,0.00,0.000,516,0.000,0.050,2597,1299,3662,3606,3719,0,0,0,0,0,0,14.92,14.70,14.94
$GC,5730,-0.55,-175.2,2596,1300,3606,3719,793.9,-10.8,484,5735,0.00,2.45,0.00,0.000,1030,0.000,0.077,2596,2709,3662,3605,3719,0,0,0,0,0,0,14.79,14.71,14.81
$GC,6054,-0.55,-175.2,2594,2709,3606,3718,832.4,-11.9,503,6060,0.00,2.33,0.00,0.000,516,0.000,0.050,2596,1303,3661,3605,3718,0,0,0,0,0,0,14.92,14.73,14.93
$GC,6098,-0.55,-175.2,2596,1302,3606,3719,837.7,-11.3,511,6104,0.00,2.47,0.00,0.000,1030,0.000,0.077,2596,2715,3662,3606,3718,0,0,0,0,0,0,14.79,14.71,14.81
$GC,6423,-0.55,-175.2,2596,2715,3605,3717,877.2,-12.4,530,6428,0.00,2.33,0.00,0.000,516,0.000,0.048,2596,1302,3661,3605,3717,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6461,-0.55,-175.2,2596,1302,3606,3717,881.9,-11.5,537,6468,0.00,2.45,0.00,0.000,1030,0.000,0.077,2596,2709,3661,3605,3717,0,0,0,0,0,0,14.79,14.71,14.81
$GC,6767,-0.55,-175.2,2596,2709,3607,3716,919.7,-12.4,553,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2709,3661,3606,3716,0,0,0,0,0,0,14.92,14.95,14.95
$GC,7067,-0.55,-175.2,2595,2709,3606,3714,956.7,-12.4,568,7073,0.00,2.33,0.00,0.000,516,0.000,0.051,2596,1306,3660,3605,3716,0,0,0,0,0,0,14.92,14.73,14.95
$GC,7135,-0.55,-175.2,2596,1307,3606,3715,964.7,-10.9,581,7141,0.00,2.45,0.00,0.000,1030,0.000,0.077,2596,2709,3660,3606,3715,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,7351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7352,begin apogee
$GC,7360,-0.14,0.0,2596,2504,3605,3714,990.4,-11.7,594,7518,0.52,0.00,154.07,2.009,10246,0.235,0.000,2739,2504,2952,2991,2913,0,0,0,0,0,0,14.62,13.87,13.17
$STATE,7520,end apogee,CONTROL_FINISHED_OK
$STATE,7520,begin climb
$GC,7523,0.55,175.2,2739,2504,2991,2909,996.0,0.0,602,7698,0.80,2.53,161.25,1.960,10756,0.169,0.054,2964,1097,2235,2285,2185,0,0,0,0,0,0,13.84,13.59,13.05
$GC,7722,0.56,175.2,2964,1098,2281,2183,982.8,9.9,633,7727,0.00,2.60,0.00,0.000,1094,0.000,0.067,2964,2512,2231,2281,2182,0,0,0,0,0,0,13.95,13.87,13.96
$GC,8046,0.56,175.2,2963,2512,2277,2176,947.2,10.9,652,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2512,2226,2277,2176,0,0,0,0,0,0,14.52,14.54,14.54
$GC,8346,0.56,175.2,2964,2512,2276,2176,915.0,10.8,667,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2512,2223,2271,2176,0,0,0,0,0,0,14.67,14.69,14.69
$GC,8646,0.56,175.2,2964,2512,2273,2176,883.0,10.7,682,8651,0.00,2.40,0.00,0.000,516,0.000,0.057,2964,1107,2224,2273,2176,0,0,0,0,0,0,14.75,14.56,14.78
$GC,8679,0.57,175.2,2964,1105,2270,2175,879.5,10.0,688,8684,0.00,2.45,0.00,0.000,1094,0.000,0.069,2964,2509,2223,2270,2176,0,0,0,0,0,0,14.64,14.56,14.66
$GC,8993,0.57,175.2,2963,2509,2272,2176,845.9,10.5,705,8999,0.00,2.47,0.00,0.000,260,0.000,0.090,2964,3921,2223,2270,2176,0,0,0,0,0,0,14.80,14.59,14.82
$GC,9017,0.57,175.2,2963,3922,2270,2175,843.1,11.8,709,9023,0.00,2.38,0.00,0.000,1030,0.000,0.049,2964,2506,2223,2270,2176,0,0,0,0,0,0,14.67,14.62,14.69
$GC,9342,0.59,175.2,2964,2502,2269,2176,809.7,9.9,728,9347,0.00,2.38,0.00,0.000,580,0.000,0.057,2964,1087,2222,2269,2176,0,0,0,0,0,0,14.83,14.64,14.87
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$GC,14217,0.65,175.2,3020,2481,2261,2178,187.0,12.0,1069,14222,0.00,2.33,0.00,0.000,516,0.000,0.055,3020,1087,2219,2260,2178,0,0,0,0,0,0,14.87,14.69,14.89
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$STATE,15790,end climb,SURFACE_DEPTH_REACHED
$STATE,15790,begin surface coast
$FINISH,0.9,1.026805
$STATE,15814,end surface coast,CONTROL_FINISHED_OK
$STATE,15814,begin surface
$SM_CCo,15836,136.65,0.601,1,0,1726,300.00
$SM_GC,1.25,8.40,0.35,136.65,0.093,0.099,0.601,220,2708,1726,-7.98,-0.59,300.00,0,0,0,0,1,0,14.64,14.68,13.96
$IRIDIUM_FIX,5838.22,-2242.60,110619,042845
$TT8_MAMPS,0.020972,0.6741
$HUMID,41.37
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,1
$SC_FREEKB,3846912
$24V_AH,13.05,27.850
$10V_AH,13.26,0.000
$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,21.650,182.900,315.325,136.650,0.000,0.000,0.000,449.850,0.250,0.000,28.137,2693.233,10374.818,727.829,2433.119,441.893,0.000,2205.010,0.000,1910.957,0.000,0.534,0.000
$DEVICE_MAMPS,420.750,98.685,2008.890,601.290,0.000,0.000,0.000,208.845,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15848.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.599,0.000,0.000,0.000
$MEM,335760
$DATA_FILE_SIZE,46586,1252
$CAP_FILE_SIZE,154873,0
$CFSIZE,260034560,248451072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,110619,135628,5843.433,-2236.180,53,1.2,62,-12.9,0.3,61.3,7,9.5