version: 66.13
glider: 141
mission: 11
dive: 75
start: 6 12 119 9 23 43
data:
$ID,141
$MISSION,11
$DIVE,75
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00281838
$HD_B,0.0139236
$HD_C,5.7000002e-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,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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,120619,091135,5846.4937,-2231.9941,27,0.9,31,-12.9,0.5,74.4,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.0
$GPS2,120619,092252,5846.4956,-2231.8435,10,0.9,16,-12.9,0.0,81.3,10,9.7
$SPEED_LIMITS,0.191,0.263
$TGT_NAME,T
$TGT_LATLONG,5840.000,-2320.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,288.2,47913,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.53,-194.6,217,2720,1690,1740,0.0,0.0,0,93,0.00,0.00,-79.55,0.005,16390,0.000,0.000,217,2720,3744,3671,3817,0,0,0,0,0,0,14.59,13.62,14.62
$GC,98,-0.53,-194.6,217,2720,3671,3818,4.5,-6.5,8,115,11.77,2.45,0.00,0.000,2596,0.418,0.043,2610,1270,3745,3672,3818,0,0,0,0,0,0,14.22,14.42,14.40
$GC,220,-0.53,-194.6,2609,1268,3677,3816,32.0,-11.5,31,228,0.00,2.53,0.00,0.000,1030,0.000,0.074,2606,2703,3746,3677,3815,0,0,0,0,0,0,14.54,14.45,14.56
$GC,407,-0.53,-194.6,2609,2703,3678,3812,58.3,-14.6,50,413,0.00,2.15,0.00,0.000,260,0.000,0.090,2610,3938,3745,3678,3813,0,0,0,0,0,0,14.73,14.51,14.74
$GC,451,-0.53,-194.6,2609,3938,3678,3812,64.3,-12.1,58,457,0.00,2.05,0.00,0.000,1030,0.000,0.038,2610,2670,3746,3679,3813,0,0,0,0,0,0,14.62,14.56,14.63
$GC,646,-0.53,-194.6,2609,2669,3679,3812,90.0,-14.4,78,652,0.00,2.22,0.00,0.000,516,0.000,0.044,2610,1306,3745,3679,3812,0,0,0,0,0,0,14.77,14.59,14.78
$GC,691,-0.53,-194.6,2609,1305,3679,3812,96.1,-13.1,86,697,0.00,2.45,0.00,0.000,1030,0.000,0.074,2610,2712,3745,3679,3812,0,0,0,0,0,0,14.65,14.57,14.66
$GC,885,-0.53,-194.6,2609,2712,3678,3812,123.6,-15.0,106,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2713,3745,3679,3812,0,0,0,0,0,0,14.79,14.81,14.81
$GC,1076,-0.53,-194.6,2609,2711,3679,3812,150.6,-13.9,125,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2712,3746,3680,3812,0,0,0,0,0,0,14.81,14.83,14.82
$GC,1266,-0.53,-194.6,2609,2712,3679,3812,177.3,-14.3,144,1272,0.00,2.33,0.00,0.000,516,0.000,0.046,2609,1304,3745,3679,3812,0,0,0,0,0,0,14.83,14.52,14.84
$GC,1305,-0.53,-194.6,2609,1302,3679,3812,182.8,-11.7,151,1313,0.00,2.45,0.00,0.000,1030,0.000,0.073,2610,2715,3746,3680,3812,0,0,0,0,0,0,14.67,14.59,14.69
$GC,1492,-0.53,-194.6,2609,2715,3679,3812,208.0,-14.0,170,1497,0.00,2.12,0.00,0.000,260,0.000,0.090,2610,3944,3746,3680,3812,0,0,0,0,0,0,14.83,14.61,14.85
$GC,1516,-0.53,-194.6,2609,3944,3680,3811,211.5,-13.8,174,1522,0.00,2.03,0.00,0.000,1030,0.000,0.042,2610,2702,3745,3679,3812,0,0,0,0,0,0,14.72,14.67,14.73
$GC,1711,-0.53,-194.6,2609,2701,3678,3812,237.6,-13.5,194,1717,0.00,2.30,0.00,0.000,516,0.000,0.044,2610,1285,3746,3680,3812,0,0,0,0,0,0,14.85,14.66,14.86
$GC,1781,-0.53,-194.6,2609,1280,3679,3812,245.8,-10.7,207,1789,0.00,2.47,0.00,0.000,1030,0.000,0.073,2610,2715,3746,3680,3812,0,0,0,0,0,0,14.72,14.64,14.73
$GC,1978,-0.53,-194.6,2609,2715,3680,3811,270.7,-13.0,219,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2715,3748,3686,3811,0,0,0,0,0,0,14.85,14.87,14.87
$GC,2278,-0.53,-194.6,2609,2715,3680,3810,310.2,-13.3,234,2284,0.00,2.35,0.00,0.000,516,0.000,0.047,2610,1288,3745,3679,3811,0,0,0,0,0,0,14.86,14.69,14.88
$GC,2337,-0.53,-194.6,2609,1285,3679,3811,317.4,-11.0,245,2344,0.00,2.47,0.00,0.000,1030,0.000,0.073,2609,2712,3746,3680,3812,0,0,0,0,0,0,14.75,14.67,14.77
$GC,2643,-0.53,-194.6,2610,2712,3680,3810,356.6,-13.1,261,2649,0.00,2.35,0.00,0.000,516,0.000,0.046,2609,1284,3745,3680,3810,0,0,0,0,0,0,14.89,14.71,14.90
$GC,2676,-0.53,-194.6,2609,1282,3679,3810,361.1,-12.8,267,2684,0.00,2.50,0.00,0.000,1030,0.000,0.075,2607,2714,3745,3680,3810,0,0,0,0,0,0,14.75,14.66,14.76
$GC,2993,-0.53,-194.6,2609,2714,3680,3810,401.9,-12.5,284,2998,0.00,2.35,0.00,0.000,516,0.000,0.045,2610,1290,3745,3680,3810,0,0,0,0,0,0,14.90,14.70,14.91
$GC,3022,-0.53,-194.6,2610,1288,3680,3810,405.8,-12.6,289,3028,0.00,2.45,0.00,0.000,1030,0.000,0.074,2610,2704,3745,3680,3810,0,0,0,0,0,0,14.73,14.68,14.76
$GC,3342,-0.53,-194.6,2609,2704,3680,3809,445.5,-12.4,307,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2704,3745,3680,3810,0,0,0,0,0,0,14.90,14.91,14.91
$GC,3642,-0.53,-194.6,2609,2704,3680,3809,482.5,-12.4,322,3648,0.00,2.33,0.00,0.000,516,0.000,0.048,2609,1294,3744,3679,3809,0,0,0,0,0,0,14.90,14.71,14.92
$GC,3680,-0.53,-194.6,2609,1292,3680,3809,487.1,-10.8,329,3687,0.00,2.45,0.00,0.000,1030,0.000,0.076,2610,2706,3744,3680,3809,0,0,0,0,0,0,14.76,14.68,14.78
$GC,3986,-0.53,-194.6,2609,2707,3680,3809,522.9,-11.6,345,3992,0.00,2.33,0.00,0.000,516,0.000,0.047,2610,1297,3743,3679,3808,0,0,0,0,0,0,14.90,14.72,14.92
$GC,4031,-0.53,-194.6,2609,1296,3680,3809,527.9,-10.4,353,4036,0.00,2.45,0.00,0.000,1030,0.000,0.075,2610,2712,3744,3680,3809,0,0,0,0,0,0,14.78,14.70,14.79
$GC,4357,-0.53,-194.6,2609,2712,3680,3807,566.3,-12.2,372,4362,0.00,2.35,0.00,0.000,516,0.000,0.047,2609,1288,3743,3680,3807,0,0,0,0,0,0,14.90,14.71,14.92
$GC,4395,-0.53,-194.6,2609,1288,3680,3807,571.2,-11.5,379,4404,0.00,2.47,0.00,0.000,1030,0.000,0.073,2610,2711,3743,3679,3807,0,0,0,0,0,0,14.78,14.70,14.80
$GC,4702,-0.53,-194.6,2609,2710,3680,3806,607.9,-12.3,395,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2710,3743,3680,3806,0,0,0,0,0,0,14.91,14.93,14.92
$GC,5001,-0.53,-194.6,2609,2710,3680,3805,645.9,-12.7,410,5007,0.00,2.35,0.00,0.000,516,0.000,0.047,2610,1287,3742,3680,3805,0,0,0,0,0,0,14.92,14.71,14.93
$GC,5040,-0.53,-194.6,2609,1285,3680,3807,650.9,-11.9,417,5047,0.00,2.45,0.00,0.000,1030,0.000,0.074,2610,2702,3742,3680,3805,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5346,-0.53,-194.6,2609,2702,3679,3804,688.3,-12.3,433,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2701,3742,3680,3804,0,0,0,0,0,0,14.92,14.93,14.93
$GC,5647,-0.53,-194.6,2610,2702,3680,3803,726.4,-12.4,448,5652,0.00,2.35,0.00,0.000,516,0.000,0.050,2609,1295,3741,3680,3803,0,0,0,0,0,0,14.92,14.71,14.93
$GC,5692,-0.53,-194.6,2609,1294,3680,3803,731.8,-10.5,456,5698,0.00,2.45,0.00,0.000,1030,0.000,0.076,2610,2702,3741,3680,3803,0,0,0,0,0,0,14.77,14.68,14.79
$GC,6017,-0.53,-194.6,2609,2701,3680,3802,769.1,-11.2,475,6024,0.00,2.35,0.00,0.000,516,0.000,0.048,2610,1286,3741,3680,3802,0,0,0,0,0,0,14.91,14.73,14.93
$GC,6057,-0.53,-194.6,2609,1283,3680,3802,773.4,-10.1,482,6064,0.00,2.47,0.00,0.000,1030,0.000,0.078,2609,2708,3741,3680,3802,0,0,0,0,0,0,14.78,14.70,14.80
$GC,6363,-0.53,-194.6,2609,2709,3680,3801,806.3,-10.9,498,6368,0.00,2.35,0.00,0.000,516,0.000,0.050,2609,1291,3741,3680,3802,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6391,-0.53,-194.6,2609,1289,3680,3802,809.5,-11.2,503,6398,0.00,2.47,0.00,0.000,1030,0.000,0.078,2609,2712,3741,3680,3802,0,0,0,0,0,0,14.79,14.70,14.81
$GC,6712,-0.53,-194.6,2609,2712,3680,3801,843.9,-10.7,521,6717,0.00,2.35,0.00,0.000,516,0.000,0.051,2609,1299,3740,3680,3801,0,0,0,0,0,0,14.92,14.71,14.94
$GC,6745,-0.53,-194.6,2609,1298,3680,3800,847.5,-10.3,527,6752,0.00,2.45,0.00,0.000,1030,0.000,0.078,2610,2705,3740,3680,3801,0,0,0,0,0,0,14.76,14.68,14.78
$GC,7062,-0.53,-194.6,2609,2705,3680,3800,881.4,-10.8,544,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2609,2705,3740,3680,3800,0,0,0,0,0,0,14.91,14.93,14.93
$GC,7361,-0.53,-194.6,2609,2705,3680,3798,913.5,-10.7,559,7367,0.00,2.35,0.00,0.000,516,0.000,0.053,2609,1293,3739,3680,3798,0,0,0,0,0,0,14.89,14.72,14.92
$GC,7420,-0.53,-194.6,2610,1292,3680,3799,919.5,-9.3,570,7428,0.00,2.47,0.00,0.000,1030,0.000,0.080,2610,2701,3739,3680,3798,0,0,0,0,0,0,14.78,14.69,14.81
$GC,7726,-0.53,-194.6,2609,2701,3680,3797,952.1,-11.0,586,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2701,3736,3676,3797,0,0,0,0,0,0,14.91,14.93,14.92
$GC,8026,-0.53,-194.6,2609,2702,3680,3796,984.3,-10.5,601,8032,0.00,2.35,0.00,0.000,516,0.000,0.051,2610,1286,3738,3680,3796,0,0,0,0,0,0,14.91,14.72,14.92
$GC,8075,-0.53,-194.6,2609,1285,3680,3796,989.1,-9.0,610,8081,0.00,2.47,0.00,0.000,1030,0.000,0.080,2610,2703,3738,3680,3796,0,0,0,0,0,0,14.76,14.68,14.78
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8086,begin apogee
$GC,8094,-0.14,0.0,2610,2487,3680,3796,990.2,-8.7,612,8269,0.47,0.00,171.98,2.007,10246,0.227,0.000,2741,2486,2950,2994,2906,0,0,0,0,0,0,14.60,13.85,13.16
$STATE,8271,end apogee,CONTROL_FINISHED_OK
$STATE,8271,begin climb
$GC,8274,0.53,194.6,2741,2487,2995,2905,995.7,0.0,621,8466,0.77,2.47,179.05,1.958,10756,0.164,0.054,2958,1107,2155,2208,2102,0,0,0,0,0,0,13.82,13.66,13.01
$GC,8520,0.55,194.6,2957,1107,2205,2095,977.3,9.9,668,8527,0.00,2.58,0.00,0.000,1094,0.000,0.067,2958,2507,2150,2205,2095,0,0,0,0,0,0,13.98,13.91,14.00
$GC,8826,0.56,194.6,2957,2508,2202,2092,945.0,10.5,684,8832,0.00,2.53,0.00,0.000,324,0.000,0.089,2954,3915,2144,2197,2092,0,0,0,0,0,0,14.50,14.30,14.52
$GC,8871,0.56,194.6,2958,3915,2200,2092,939.7,11.7,692,8877,0.00,2.42,0.00,0.000,1030,0.000,0.049,2959,2500,2146,2201,2092,0,0,0,0,0,0,14.42,14.36,14.44
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$STATE,16427,end climb,SURFACE_DEPTH_REACHED
$STATE,16427,begin surface coast
$FINISH,0.3,1.026850
$STATE,16450,end surface coast,CONTROL_FINISHED_OK
$STATE,16450,begin surface
$SM_CCo,16472,122.10,0.575,1,0,1726,300.00
$SM_GC,1.36,8.38,0.40,122.10,0.092,0.087,0.575,217,2709,1726,-7.99,-0.74,300.00,0,0,0,0,1,0,14.64,14.67,13.98
$IRIDIUM_FIX,5845.99,-2234.32,120619,042814
$TT8_MAMPS,0.020972,0.590212
$HUMID,41.17
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.40
$XPDR_PINGS,2
$SC_FREEKB,3842496
$24V_AH,13.01,29.807
$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,21.525,211.975,351.025,122.100,0.000,0.000,0.000,439.650,0.500,0.000,27.764,3157.435,10339.825,808.475,2514.313,466.820,0.000,2339.670,0.000,2001.676,0.000,0.535,0.000
$DEVICE_MAMPS,418.455,89.505,2006.595,574.515,0.000,0.000,0.000,209.610,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16490.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.600,0.000,0.000,0.000
$MEM,335760
$DATA_FILE_SIZE,46594,1304
$CAP_FILE_SIZE,167311,0
$CFSIZE,260034560,247738368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.148,89.91,1
$GPS,120619,140153,5846.672,-2233.369,37,1.1,41,-12.9,0.0,53.0,8,9.4