version: 66.13
glider: 141
mission: 11
dive: 73
start: 6 11 119 23 43 5
data:
$ID,141
$MISSION,11
$DIVE,73
$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,300
$T_MISSION,330
$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,200
$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,330
$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,64
$R_STBD_OVSHOOT,43
$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
$GPS1,110619,233034,5846.0879,-2231.7729,38,0.9,41,-12.8,0.5,74.5,9,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.0
$GPS2,110619,234215,5846.0698,-2231.5913,9,0.9,16,-12.8,0.8,99.1,9,9.4
$SPEED_LIMITS,0.191,0.263
$TGT_NAME,HEADING
$TGT_LATLONG,5855.422,-2242.052
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,342.8,20000,-17.9,-11.000,-22.70,2705
$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,-0.53,-194.6,221,2671,1695,1737,0.0,0.0,0,94,0.00,0.00,-78.85,0.005,16390,0.000,0.000,220,2667,3745,3674,3817,0,0,0,0,0,0,14.59,13.63,14.62
$GC,98,-0.53,-194.6,221,2667,3674,3818,5.0,-7.9,8,115,11.73,2.22,0.00,0.000,2340,0.416,0.068,2604,3924,3746,3675,3818,0,0,0,0,0,0,14.25,14.42,14.46
$GC,270,-0.53,-194.6,2603,3924,3678,3816,43.3,-12.8,41,276,0.00,2.00,0.00,0.000,1030,0.000,0.039,2603,2695,3746,3678,3815,0,0,0,0,0,0,14.57,14.52,14.59
$GC,456,-0.53,-194.6,2603,2695,3679,3814,70.1,-14.9,60,461,0.00,2.28,0.00,0.000,516,0.000,0.043,2603,1300,3747,3679,3815,0,0,0,0,0,0,14.74,14.52,14.76
$GC,514,-0.53,-194.6,2603,1295,3680,3814,78.0,-12.0,71,520,0.00,2.42,0.00,0.000,1030,0.000,0.073,2604,2693,3746,3679,3814,0,0,0,0,0,0,14.63,14.54,14.64
$GC,700,-0.53,-194.6,2604,2693,3679,3814,104.3,-14.4,90,705,0.00,2.15,0.00,0.000,260,0.000,0.089,2604,3934,3746,3679,3813,0,0,0,0,0,0,14.78,14.55,14.79
$GC,728,-0.53,-194.6,2603,3935,3679,3813,108.2,-14.0,95,735,0.00,2.03,0.00,0.000,1030,0.000,0.041,2604,2686,3746,3679,3813,0,0,0,0,0,0,14.66,14.60,14.67
$GC,914,-0.53,-194.6,2603,2685,3680,3813,134.3,-14.3,114,920,0.00,2.25,0.00,0.000,516,0.000,0.045,2603,1302,3747,3680,3814,0,0,0,0,0,0,14.80,14.62,14.82
$GC,978,-0.53,-194.6,2603,1300,3680,3813,142.6,-11.6,126,984,0.00,2.45,0.00,0.000,1030,0.000,0.073,2604,2713,3746,3680,3813,0,0,0,0,0,0,14.69,14.61,14.71
$GC,1172,-0.53,-194.6,2603,2718,3680,3813,169.4,-14.3,146,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2714,3746,3680,3813,0,0,0,0,0,0,14.82,14.84,14.83
$GC,1362,-0.53,-194.6,2603,2714,3680,3813,196.0,-14.1,165,1368,0.00,2.33,0.00,0.000,516,0.000,0.045,2603,1305,3746,3680,3813,0,0,0,0,0,0,14.83,14.65,14.84
$GC,1407,-0.53,-194.6,2604,1303,3680,3813,201.8,-12.2,173,1412,0.00,2.42,0.00,0.000,1030,0.000,0.073,2604,2703,3746,3680,3813,0,0,0,0,0,0,14.71,14.63,14.73
$GC,1601,-0.53,-194.6,2603,2703,3680,3813,228.2,-13.7,193,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2703,3746,3680,3813,0,0,0,0,0,0,14.85,14.86,14.86
$GC,1801,-0.53,-194.6,2603,2703,3680,3813,256.4,-14.2,211,1806,0.00,2.30,0.00,0.000,516,0.000,0.045,2603,1305,3746,3680,3813,0,0,0,0,0,0,14.87,14.68,14.88
$GC,1834,-0.53,-194.6,2602,1303,3680,3813,261.2,-14.0,217,1839,0.00,2.42,0.00,0.000,1030,0.000,0.076,2604,2703,3746,3680,3813,0,0,0,0,0,0,14.73,14.65,14.76
$GC,2148,-0.53,-194.6,2603,2703,3680,3813,305.0,-14.1,234,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2703,3746,3680,3812,0,0,0,0,0,0,14.88,14.90,14.88
$GC,2448,-0.53,-194.6,2603,2704,3681,3812,347.9,-14.2,249,2453,0.00,2.30,0.00,0.000,516,0.000,0.045,2604,1300,3746,3680,3812,0,0,0,0,0,0,14.88,14.70,14.89
$GC,2495,-0.53,-194.6,2603,1298,3680,3812,354.1,-11.7,258,2501,0.00,2.45,0.00,0.000,1030,0.000,0.074,2604,2715,3746,3680,3812,0,0,0,0,0,0,14.73,14.65,14.75
$GC,2815,-0.53,-194.6,2603,2715,3680,3812,396.7,-13.4,276,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2715,3746,3680,3812,0,0,0,0,0,0,14.89,14.91,14.91
$GC,3114,-0.53,-194.6,2603,2715,3680,3812,435.5,-12.5,291,3120,0.00,2.33,0.00,0.000,516,0.000,0.047,2604,1301,3745,3680,3811,0,0,0,0,0,0,14.90,14.71,14.91
$GC,3193,-0.53,-194.6,2603,1299,3681,3811,444.5,-10.4,306,3199,0.00,2.45,0.00,0.000,1030,0.000,0.076,2603,2714,3746,3680,3812,0,0,0,0,0,0,14.77,14.69,14.79
$GC,3499,-0.53,-194.6,2603,2715,3680,3811,482.2,-12.8,322,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2715,3745,3680,3811,0,0,0,0,0,0,14.90,14.92,14.91
$GC,3799,-0.53,-194.6,2603,2715,3680,3810,520.9,-12.9,337,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2715,3745,3680,3810,0,0,0,0,0,0,14.92,14.94,14.94
$GC,4099,-0.53,-194.6,2603,2715,3680,3810,558.4,-12.3,352,4104,0.00,2.30,0.00,0.000,516,0.000,0.046,2604,1308,3744,3680,3809,0,0,0,0,0,0,14.92,14.73,14.94
$GC,4157,-0.53,-194.6,2603,1306,3680,3809,565.3,-10.4,363,4164,0.00,2.42,0.00,0.000,1030,0.000,0.074,2604,2710,3745,3680,3810,0,0,0,0,0,0,14.79,14.71,14.81
$GC,4463,-0.53,-194.6,2603,2710,3680,3809,603.8,-12.9,379,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2711,3744,3680,3809,0,0,0,0,0,0,14.92,14.95,14.94
$GC,4763,-0.53,-194.6,2603,2710,3680,3811,641.6,-12.3,394,4769,0.00,2.30,0.00,0.000,516,0.000,0.047,2603,1308,3744,3680,3808,0,0,0,0,0,0,14.94,14.73,14.95
$GC,4848,-0.53,-194.6,2603,1306,3680,3808,650.8,-10.1,410,4853,0.00,2.42,0.00,0.000,1030,0.000,0.075,2604,2711,3744,3680,3808,0,0,0,0,0,0,14.80,14.71,14.82
$GC,5172,-0.53,-194.6,2603,2712,3680,3806,688.2,-11.5,429,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2713,3744,3680,3809,0,0,0,0,0,0,14.91,14.93,14.93
$GC,5472,-0.53,-194.6,2603,2712,3680,3806,721.0,-11.0,444,5477,0.00,2.33,0.00,0.000,516,0.000,0.052,2604,1306,3742,3680,3805,0,0,0,0,0,0,14.92,14.73,14.94
$GC,5545,-0.53,-194.6,2603,1305,3680,3805,728.6,-9.4,458,5551,0.00,2.42,0.00,0.000,1030,0.000,0.076,2604,2705,3742,3680,3805,0,0,0,0,0,0,14.80,14.71,14.81
$GC,5860,-0.53,-194.6,2603,2705,3680,3804,763.8,-11.5,475,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2705,3742,3680,3804,0,0,0,0,0,0,14.92,14.94,14.94
$GC,6159,-0.53,-194.6,2603,2705,3680,3803,797.8,-11.3,490,6165,0.00,2.30,0.00,0.000,516,0.000,0.052,2604,1316,3740,3678,3803,0,0,0,0,0,0,14.93,14.73,14.94
$GC,6203,-0.53,-194.6,2603,1314,3680,3803,802.6,-10.1,498,6209,0.00,2.42,0.00,0.000,1030,0.000,0.080,2603,2706,3742,3680,3804,0,0,0,0,0,0,14.78,14.69,14.80
$GC,6528,-0.53,-194.6,2603,2706,3680,3802,838.5,-11.3,517,6530,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2706,3741,3680,3802,0,0,0,0,0,0,14.92,14.95,14.95
$GC,6827,-0.53,-194.6,2603,2706,3680,3802,872.3,-11.4,532,6833,0.00,2.33,0.00,0.000,516,0.000,0.053,2604,1305,3741,3680,3802,0,0,0,0,0,0,14.92,14.73,14.95
$GC,6881,-0.53,-194.6,2603,1304,3680,3801,878.1,-10.0,542,6886,0.00,2.45,0.00,0.000,1030,0.000,0.076,2604,2716,3741,3680,3802,0,0,0,0,0,0,14.80,14.71,14.81
$GC,7195,-0.53,-194.6,2603,2716,3680,3801,913.0,-11.2,559,7201,0.00,2.35,0.00,0.000,516,0.000,0.049,2604,1304,3740,3680,3801,0,0,0,0,0,0,14.92,14.74,14.94
$GC,7228,-0.53,-194.6,2603,1303,3680,3801,916.9,-10.7,565,7234,0.00,2.45,0.00,0.000,1030,0.000,0.079,2603,2709,3740,3680,3801,0,0,0,0,0,0,14.80,14.71,14.81
$GC,7543,-0.53,-194.6,2605,2709,3680,3800,952.1,-11.6,582,7549,0.00,2.35,0.00,0.000,516,0.000,0.053,2604,1305,3740,3680,3800,0,0,0,0,0,0,14.91,14.73,14.93
$GC,7587,-0.53,-194.6,2603,1303,3680,3799,957.0,-10.3,590,7593,0.00,2.45,0.00,0.000,1030,0.000,0.077,2609,2714,3740,3680,3800,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,7888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7888,begin apogee
$GC,7896,-0.14,0.0,2604,2506,3680,3798,991.8,-11.5,608,8071,0.50,0.00,171.25,2.009,10246,0.225,0.000,2741,2506,2952,2996,2908,0,0,0,0,0,0,14.62,13.85,13.16
$STATE,8073,end apogee,CONTROL_FINISHED_OK
$STATE,8073,begin climb
$GC,8076,0.53,194.6,2741,2506,2996,2906,998.6,0.0,617,8266,0.77,2.53,179.05,1.963,10756,0.164,0.056,2958,1107,2155,2209,2101,0,0,0,0,0,0,13.83,13.66,13.01
$GC,8289,0.54,254.0,2958,1107,2207,2097,984.5,8.7,660,8354,0.00,2.58,56.58,1.899,9254,0.000,0.067,2958,2503,1914,1968,1860,0,0,0,0,0,0,13.89,13.81,13.01
$GC,8655,0.54,254.0,2957,2503,1959,1852,945.4,10.7,688,8660,0.00,2.58,0.00,0.000,260,0.000,0.090,2958,3920,1906,1959,1854,0,0,0,0,0,0,14.45,14.23,14.46
$GC,8683,0.54,254.0,2957,3920,1957,1854,942.0,12.7,693,8688,0.00,2.42,0.00,0.000,1030,0.000,0.047,2958,2512,1905,1957,1854,0,0,0,0,0,0,14.34,14.28,14.36
$GC,9002,0.54,254.0,2957,2508,1955,1854,906.8,11.1,711,9008,0.00,2.42,0.00,0.000,516,0.000,0.057,2958,1089,1904,1954,1854,0,0,0,0,0,0,14.63,14.45,14.65
$GC,9086,0.54,254.0,2958,1090,1951,1853,897.9,10.6,727,9092,0.00,2.47,0.00,0.000,1030,0.000,0.067,2958,2504,1902,1951,1853,0,0,0,0,0,0,14.47,14.45,14.47
$GC,9410,0.54,254.0,2957,2504,1952,1853,863.0,10.5,746,9416,0.00,2.50,0.00,0.000,260,0.000,0.090,2958,3923,1902,1951,1853,0,0,0,0,0,0,14.75,14.54,14.77
$GC,9439,0.54,254.0,2957,3923,1950,1853,859.3,11.9,751,9444,0.00,2.40,0.00,0.000,1030,0.000,0.047,2958,2493,1902,1950,1854,0,0,0,0,0,0,14.64,14.58,14.66
$GC,9758,0.54,254.0,2958,2489,1950,1850,824.9,10.9,769,9764,0.00,2.35,0.00,0.000,516,0.000,0.055,2958,1090,1901,1950,1853,0,0,0,0,0,0,14.81,14.62,14.83
$GC,9817,0.56,254.0,2958,1090,1948,1853,818.7,10.1,780,9824,0.00,2.47,0.00,0.000,1094,0.000,0.069,2958,2515,1900,1948,1853,0,0,0,0,0,0,14.69,14.61,14.71
$GC,10122,0.56,254.0,2959,2515,1948,1853,785.7,10.7,796,10128,0.00,2.45,0.00,0.000,260,0.000,0.090,2958,3913,1900,1948,1853,0,0,0,0,0,0,14.85,14.61,14.86
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$STATE,16666,end climb,SURFACE_DEPTH_REACHED
$STATE,16666,begin surface coast
$FINISH,0.3,1.021808
$STATE,16688,end surface coast,CONTROL_FINISHED_OK
$STATE,16688,begin surface
$SM_CCo,16710,77.72,0.414,1,0,1726,300.00
$SM_GC,1.40,8.32,0.43,77.72,0.087,0.090,0.414,217,2726,1726,-7.99,-0.34,300.00,0,0,0,0,1,0,14.66,14.69,14.15
$IRIDIUM_FIX,5844.70,-2219.65,110619,185620
$TT8_MAMPS,0.020972,0.61418
$HUMID,42.20
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,1
$SC_FREEKB,3844224
$24V_AH,13.01,29.027
$10V_AH,13.13,0.000
$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
$DEVICE_SECS,21.450,187.225,406.875,77.725,0.000,0.000,0.000,466.225,0.250,0.000,27.431,2840.750,10883.430,725.813,2598.143,452.843,0.000,2303.699,0.000,2056.503,0.000,0.535,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16725.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.584,0.000,0.000,0.000
$MEM,335760
$DATA_FILE_SIZE,49961,1346
$CAP_FILE_SIZE,162424,0
$CFSIZE,260034560,248020992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,120619,042434,5847.614,-2230.810,40,1.0,49,-12.9,0.5,261.8,8,9.9