version: 66.13
glider: 141
mission: 11
dive: 12
start: 5 30 119 13 21 30
data:
$ID,141
$MISSION,11
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,2
$D_TGT,600
$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,200
$T_MISSION,240
$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,400
$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,2830
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,40
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,2
$ROLL_MIN,276
$ROLL_MAX,3935
$ROLL_DEG,0
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,55
$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,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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
$GPS1,300519,130844,5821.8535,-2406.6946,39,0.8,52,-13.4,2.5,284.6,9,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.8
$GPS2,300519,132043,5821.9590,-2406.9668,13,0.8,21,-13.4,0.6,249.5,10,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,C3
$TGT_LATLONG,5800.000,-2336.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,150.0,50769,-18.4,-10.000,-21.03,2244
$D_GRID,600
$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,-0.48,-146.0,219,2749,1290,1319,0.0,0.0,0,114,0.00,0.00,-97.75,0.005,16390,0.000,0.000,219,2750,3546,3481,3611,0,0,0,0,0,0,14.57,13.63,14.59
$GC,118,-0.48,-146.0,219,2750,3481,3611,3.6,-5.7,10,135,12.23,0.00,0.00,0.000,2342,0.432,0.000,2667,2750,3546,3482,3611,0,0,0,0,0,0,14.23,14.49,14.45
$GC,324,-0.48,-146.0,2666,2750,3490,3606,34.1,-9.6,32,329,0.00,0.00,0.00,0.000,294,0.000,0.000,2667,2750,3548,3490,3606,0,0,0,0,0,0,14.69,14.71,14.71
$GC,518,-0.48,-146.0,2666,2750,3490,3605,52.7,-9.3,52,523,0.00,0.00,0.00,0.000,294,0.000,0.000,2666,2749,3548,3491,3606,0,0,0,0,0,0,14.74,14.76,14.76
$GC,712,-0.48,-146.0,2666,2750,3490,3605,70.8,-9.3,72,717,0.00,0.00,0.00,0.000,294,0.000,0.000,2665,2750,3548,3491,3606,0,0,0,0,0,0,14.77,14.79,14.79
$GC,906,-0.48,-146.0,2667,2750,3490,3605,88.3,-9.8,92,911,0.00,0.00,0.00,0.000,294,0.000,0.000,2667,2750,3547,3490,3605,0,0,0,0,0,0,14.79,14.82,14.81
$GC,1100,-0.51,-146.0,2666,2750,3491,3605,107.5,-10.0,112,1105,0.00,0.00,0.00,0.000,422,0.000,0.000,2667,2749,3547,3490,3605,0,0,0,0,0,0,14.83,14.84,14.84
$GC,1294,-0.54,-146.0,2667,2750,3490,3605,126.8,-10.0,132,1299,0.00,0.00,0.00,0.000,390,0.000,0.000,2666,2750,3547,3490,3604,0,0,0,0,0,0,14.84,14.86,14.85
$GC,1489,-0.58,-146.0,2666,2750,3491,3605,147.3,-10.5,152,1494,0.00,0.00,0.00,0.000,390,0.000,0.000,2667,2750,3548,3491,3605,0,0,0,0,0,0,14.85,14.87,14.87
$GC,1683,-0.61,-146.0,2666,2750,3491,3605,167.7,-10.8,172,1688,0.12,0.00,0.00,0.000,4486,0.160,0.000,2624,2750,3547,3490,3605,0,0,0,0,0,0,14.66,14.73,14.72
$GC,1877,-0.61,-146.0,2623,2750,3491,3605,193.2,-13.6,192,1882,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2749,3547,3490,3605,0,0,0,0,0,0,14.85,14.88,14.87
$GC,2070,-0.61,-146.0,2623,2750,3491,3605,219.1,-13.2,212,2075,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3548,3491,3605,0,0,0,0,0,0,14.85,14.88,14.88
$GC,2264,-0.61,-146.0,2624,2750,3491,3605,243.7,-12.9,232,2269,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3548,3491,3605,0,0,0,0,0,0,14.87,14.89,14.89
$GC,2458,-0.61,-146.0,2623,2750,3490,3605,268.7,-12.9,245,2463,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3548,3491,3605,0,0,0,0,0,0,14.87,14.89,14.88
$GC,2782,-0.61,-146.0,2623,2749,3491,3604,307.8,-11.5,264,2787,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3548,3491,3605,0,0,0,0,0,0,14.89,14.91,14.91
$GC,3106,-0.61,-146.0,2623,2749,3491,3604,344.1,-11.2,283,3111,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3547,3491,3604,0,0,0,0,0,0,14.90,14.92,14.91
$GC,3430,-0.61,-146.0,2624,2750,3491,3604,380.3,-11.4,302,3435,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2749,3547,3491,3604,0,0,0,0,0,0,14.90,14.92,14.92
$GC,3753,-0.61,-146.0,2623,2750,3491,3603,415.4,-10.7,321,3759,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3547,3491,3603,0,0,0,0,0,0,14.91,14.93,14.92
$GC,4078,-0.61,-146.0,2623,2750,3492,3599,451.7,-11.4,340,4083,0.00,0.00,0.00,0.000,262,0.000,0.000,2625,2750,3546,3491,3602,0,0,0,0,0,0,14.90,14.92,14.92
$GC,4402,-0.61,-146.0,2623,2749,3491,3602,486.6,-10.3,359,4406,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3546,3491,3602,0,0,0,0,0,0,14.91,14.93,14.93
$GC,4726,-0.61,-146.0,2623,2750,3491,3601,519.5,-10.4,378,4730,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3546,3491,3602,0,0,0,0,0,0,14.91,14.93,14.93
$GC,5049,-0.61,-146.0,2622,2750,3491,3601,554.7,-11.0,397,5055,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3546,3491,3601,0,0,0,0,0,0,14.92,14.94,14.94
$GC,5374,-0.61,-146.0,2623,2750,3491,3601,589.7,-10.8,416,5379,0.00,0.00,0.00,0.000,262,0.000,0.000,2624,2750,3546,3491,3601,0,0,0,0,0,0,14.93,14.95,14.95
$STATE,5475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5475,begin apogee
$GC,5483,-0.12,0.0,2624,2496,3490,3601,601.3,-11.2,424,5608,0.60,0.00,120.60,1.563,10246,0.230,0.000,2789,2496,2950,2985,2916,0,0,0,0,0,0,14.63,13.99,13.41
$STATE,5609,end apogee,CONTROL_FINISHED_OK
$STATE,5609,begin climb
$GC,5613,0.48,146.0,2789,2496,2985,2914,605.5,0.0,430,5746,0.65,0.00,126.43,1.512,10502,0.150,0.000,2978,2496,2353,2400,2307,0,0,0,0,0,0,13.97,13.85,13.28
$GC,6066,0.48,172.3,2978,2495,2394,2297,571.0,8.8,473,6092,0.00,0.00,22.55,1.414,8486,0.000,0.000,2978,2496,2247,2297,2198,0,0,0,0,0,0,14.61,14.30,13.71
$GC,6411,0.48,172.3,2977,2496,2294,2199,537.5,10.3,496,6416,0.00,0.00,0.00,0.000,262,0.000,0.000,2978,2495,2243,2294,2192,0,0,0,0,0,0,14.69,14.71,14.71
$GC,6735,0.48,172.3,2978,2495,2291,2192,504.0,10.3,515,6739,0.00,0.00,0.00,0.000,262,0.000,0.000,2978,2496,2242,2291,2193,0,0,0,0,0,0,14.77,14.79,14.79
$GC,7059,0.48,177.7,2978,2495,2290,2192,472.7,9.8,534,7069,0.00,0.00,5.22,1.026,8486,0.000,0.000,2978,2495,2225,2274,2176,0,0,0,0,0,0,14.82,14.50,14.02
$GC,7384,0.48,182.4,2978,2495,2272,2175,441.0,9.8,553,7395,0.00,0.00,5.78,1.049,8486,0.000,0.000,2978,2495,2206,2255,2157,0,0,0,0,0,0,14.83,14.50,14.02
$GC,7709,0.48,182.4,2978,2495,2253,2156,405.6,11.9,572,7714,0.00,0.00,0.00,0.000,262,0.000,0.000,2978,2496,2204,2252,2157,0,0,0,0,0,0,14.83,14.85,14.84
$GC,8032,0.48,182.4,2978,2495,2252,2156,369.2,11.3,591,8037,0.00,0.00,0.00,0.000,262,0.000,0.000,2978,2496,2204,2252,2156,0,0,0,0,0,0,14.86,14.88,14.88
$GC,8357,0.48,202.8,2978,2496,2251,2156,337.6,9.1,610,8378,0.00,0.00,18.42,1.215,8486,0.000,0.000,2978,2495,2123,2171,2075,0,0,0,0,0,0,14.88,14.60,14.06
$GC,8676,0.49,245.1,2978,2495,2169,2071,310.4,8.1,629,8717,0.00,0.00,36.17,1.217,8486,0.000,0.000,2978,2495,1951,2000,1903,0,0,0,0,0,0,14.83,14.44,13.92
$GC,9019,0.53,254.5,2978,2495,1997,1895,279.5,9.6,652,9030,0.00,0.00,8.43,1.024,8614,0.000,0.000,2978,2496,1913,1963,1863,0,0,0,0,0,0,14.73,14.53,14.01
$GC,9337,0.58,254.5,2979,2495,1961,1859,247.0,10.3,671,9342,0.15,0.00,0.00,0.000,2438,0.150,0.000,3034,2496,1910,1961,1859,0,0,0,0,0,0,14.58,14.66,14.63
$GC,9531,0.58,254.5,3034,2495,1961,1859,219.8,13.7,691,9536,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2495,1910,1961,1859,0,0,0,0,0,0,14.81,14.83,14.83
$GC,9725,0.58,254.5,3034,2495,1961,1859,194.2,13.0,711,9730,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2497,1910,1961,1859,0,0,0,0,0,0,14.83,14.85,14.84
$GC,9918,0.58,254.5,3034,2495,1960,1859,168.9,13.4,731,9923,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2495,1909,1960,1859,0,0,0,0,0,0,14.84,14.86,14.85
$GC,10112,0.58,254.5,3033,2495,1960,1859,142.0,13.7,751,10117,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2495,1910,1961,1859,0,0,0,0,0,0,14.84,14.86,14.85
$GC,10306,0.58,254.5,3033,2496,1960,1859,116.2,13.2,771,10311,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2495,1909,1960,1859,0,0,0,0,0,0,14.85,14.88,14.87
$GC,10500,0.58,254.5,3034,2495,1960,1859,91.0,12.5,791,10505,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2496,1909,1960,1859,0,0,0,0,0,0,14.85,14.86,14.87
$GC,10693,0.58,254.5,3034,2495,1960,1859,65.7,13.3,811,10698,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2496,1910,1960,1860,0,0,0,0,0,0,14.84,14.88,14.87
$GC,10887,0.58,254.5,3034,2496,1960,1859,41.7,12.9,831,10892,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2496,1909,1960,1859,0,0,0,0,0,0,14.85,14.88,14.88
$GC,11080,0.58,254.5,3034,2496,1960,1859,16.4,14.1,851,11086,0.00,0.00,0.00,0.000,262,0.000,0.000,3034,2496,1909,1960,1859,0,0,0,0,0,0,14.87,14.89,14.88
$STATE,11182,end climb,SURFACE_DEPTH_REACHED
$STATE,11182,begin surface coast
$FINISH,0.1,1.026993
$STATE,11203,end surface coast,CONTROL_FINISHED_OK
$STATE,11203,begin surface
$SM_CCo,11225,155.12,0.651,1,0,1319,400.08
$SM_GC,0.93,8.55,0.32,155.12,0.109,0.077,0.651,224,2693,1319,-8.11,-1.47,400.08,0,0,0,0,1,0,14.64,14.70,13.88
$IRIDIUM_FIX,5820.09,-2403.57,300519,093439
$TT8_MAMPS,0.020972,0.559503
$HUMID,40.47
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,17.90
$XPDR_PINGS,6
$SC_FREEKB,3901216
$24V_AH,13.28,5.044
$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,22.300,0.725,343.600,155.125,0.000,0.000,0.000,490.250,1.500,0.000,32.298,2085.067,7207.585,641.481,1875.918,310.214,0.000,1833.972,0.000,1338.180,0.000,0.536,0.000
$DEVICE_MAMPS,432.225,77.265,1562.895,651.015,0.000,0.000,0.000,205.020,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.658,0.000,0.000,0.000
$MEM,335584
$DATA_FILE_SIZE,30058,864
$CAP_FILE_SIZE,92250,0
$CFSIZE,260034560,256913408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.257,310.87,1
$GPS,300519,163253,5822.151,-2409.913,45,0.7,49,-13.5,0.5,319.7,10,9.7