version: 66.13
glider: 141
mission: 11
dive: 29
start: 6 2 119 15 6 30
data:
$ID,141
$MISSION,11
$DIVE,29
$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,360
$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,45
$R_STBD_OVSHOOT,36
$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
$GPS1,020619,145300,5801.8584,-2335.5222,88,1.1,93,-13.1,1.0,318.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.9
$GPS2,020619,150543,5801.9004,-2335.2585,8,0.9,17,-13.1,0.7,96.0,9,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,C3
$TGT_LATLONG,5800.000,-2336.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,249.8,3594,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.54,-146.0,218,2714,1690,1731,0.0,0.0,0,95,0.00,0.00,-78.10,0.005,16390,0.000,0.000,218,2726,3547,3486,3609,0,0,0,0,0,0,14.55,13.66,14.57
$GC,99,-0.54,-146.0,218,2726,3486,3609,3.4,-4.6,8,117,12.15,2.15,0.00,0.000,2340,0.431,0.077,2622,3923,3546,3486,3607,0,0,0,0,0,0,14.21,14.36,14.42
$GC,239,-0.54,-146.0,2622,3924,3489,3607,28.9,-10.9,34,246,0.00,2.05,0.00,0.000,1030,0.000,0.041,2622,2667,3548,3489,3607,0,0,0,0,0,0,14.53,14.48,14.54
$GC,435,-0.54,-146.0,2622,2669,3490,3606,53.2,-12.8,54,441,0.00,2.25,0.00,0.000,516,0.000,0.047,2622,1295,3548,3490,3606,0,0,0,0,0,0,14.69,14.52,14.71
$GC,510,-0.54,-146.0,2622,1295,3490,3605,61.8,-9.8,68,516,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2702,3549,3490,3608,0,0,0,0,0,0,14.60,14.52,14.62
$GC,705,-0.54,-146.0,2622,2701,3486,3605,85.1,-12.1,88,711,0.00,2.15,0.00,0.000,260,0.000,0.088,2622,3944,3548,3491,3605,0,0,0,0,0,0,14.75,14.54,14.76
$GC,745,-0.54,-146.0,2622,3944,3491,3605,90.0,-12.1,95,752,0.00,2.03,0.00,0.000,1030,0.000,0.041,2622,2700,3548,3491,3605,0,0,0,0,0,0,14.64,14.59,14.65
$GC,931,-0.54,-146.0,2622,2700,3491,3602,113.2,-12.6,114,937,0.00,2.30,0.00,0.000,516,0.000,0.044,2622,1286,3548,3491,3605,0,0,0,0,0,0,14.78,14.62,14.80
$GC,1022,-0.54,-146.0,2622,1286,3491,3605,123.9,-11.2,131,1029,0.00,2.45,0.00,0.000,1030,0.000,0.072,2622,2701,3547,3491,3604,0,0,0,0,0,0,14.66,14.59,14.68
$GC,1207,-0.54,-146.0,2622,2701,3492,3604,147.2,-13.1,150,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2701,3547,3491,3604,0,0,0,0,0,0,14.81,14.83,14.82
$GC,1398,-0.54,-146.0,2621,2701,3492,3604,171.9,-13.0,169,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2702,3548,3491,3605,0,0,0,0,0,0,14.81,14.83,14.83
$GC,1587,-0.54,-146.0,2621,2701,3491,3605,196.1,-12.7,188,1593,0.00,2.30,0.00,0.000,516,0.000,0.044,2622,1298,3548,3492,3604,0,0,0,0,0,0,14.81,14.65,14.83
$GC,1636,-0.54,-146.0,2622,1298,3492,3604,202.5,-12.3,197,1643,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2715,3547,3491,3604,0,0,0,0,0,0,14.69,14.62,14.70
$GC,1822,-0.54,-146.0,2622,2715,3491,3604,226.2,-13.1,216,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2716,3548,3492,3604,0,0,0,0,0,0,14.83,14.85,14.85
$GC,2022,-0.54,-146.0,2621,2715,3491,3604,252.7,-13.2,235,2028,0.00,2.33,0.00,0.000,516,0.000,0.045,2622,1294,3547,3491,3604,0,0,0,0,0,0,14.84,14.67,14.84
$GC,2071,-0.54,-146.0,2621,1294,3492,3604,259.2,-12.7,244,2077,0.00,2.45,0.00,0.000,1030,0.000,0.075,2622,2710,3547,3490,3604,0,0,0,0,0,0,14.72,14.65,14.74
$GC,2391,-0.54,-146.0,2621,2710,3491,3604,301.0,-13.2,262,2397,0.00,2.33,0.00,0.000,516,0.000,0.044,2622,1288,3547,3491,3604,0,0,0,0,0,0,14.87,14.69,14.89
$GC,2425,-0.54,-146.0,2622,1286,3492,3604,305.7,-13.6,268,2430,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2705,3546,3488,3604,0,0,0,0,0,0,14.73,14.65,14.74
$GC,2739,-0.54,-146.0,2621,2705,3492,3603,344.8,-12.5,285,2745,0.00,2.33,0.00,0.000,516,0.000,0.045,2622,1296,3547,3492,3603,0,0,0,0,0,0,14.88,14.69,14.89
$GC,2774,-0.54,-146.0,2621,1296,3492,3603,349.0,-11.7,291,2780,0.00,2.45,0.00,0.000,1030,0.000,0.076,2621,2712,3546,3491,3602,0,0,0,0,0,0,14.76,14.68,14.77
$GC,3089,-0.54,-146.0,2622,2712,3492,3602,385.4,-11.2,308,3095,0.00,2.35,0.00,0.000,516,0.000,0.045,2622,1288,3546,3491,3602,0,0,0,0,0,0,14.86,14.70,14.89
$GC,3128,-0.54,-146.0,2621,1288,3492,3602,389.7,-10.0,315,3135,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2705,3547,3492,3602,0,0,0,0,0,0,14.74,14.66,14.76
$GC,3434,-0.54,-146.0,2621,2704,3492,3602,421.5,-10.5,331,3439,0.00,2.30,0.00,0.000,516,0.000,0.045,2622,1298,3547,3492,3602,0,0,0,0,0,0,14.88,14.71,14.90
$GC,3488,-0.54,-146.0,2621,1298,3492,3602,426.9,-9.0,341,3494,0.00,2.45,0.00,0.000,1030,0.000,0.074,2622,2712,3547,3492,3602,0,0,0,0,0,0,14.64,14.57,14.66
$GC,3802,-0.54,-146.0,2621,2712,3492,3601,458.1,-10.1,358,3809,0.00,2.35,0.00,0.000,516,0.000,0.046,2622,1287,3546,3492,3601,0,0,0,0,0,0,14.88,14.70,14.90
$GC,3848,-0.54,-146.0,2621,1291,3492,3601,462.5,-8.9,366,3854,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2709,3546,3492,3601,0,0,0,0,0,0,14.74,14.67,14.76
$GC,4174,-0.54,-146.0,2621,2709,3492,3600,494.2,-9.6,385,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2709,3544,3489,3600,0,0,0,0,0,0,14.89,14.91,14.90
$GC,4473,-0.54,-146.0,2621,2709,3492,3600,523.3,-9.7,400,4479,0.00,2.33,0.00,0.000,516,0.000,0.044,2621,1285,3546,3492,3600,0,0,0,0,0,0,14.90,14.72,14.92
$GC,4527,-0.54,-146.0,2622,1285,3492,3599,528.3,-8.8,410,4534,0.00,2.45,0.00,0.000,1030,0.000,0.073,2622,2704,3546,3492,3600,0,0,0,0,0,0,14.78,14.70,14.79
$GC,4843,-0.54,-146.0,2621,2705,3492,3598,559.6,-10.1,427,4849,0.00,2.30,0.00,0.000,516,0.000,0.046,2622,1299,3545,3492,3599,0,0,0,0,0,0,14.90,14.73,14.91
$GC,4877,-0.54,-146.0,2622,1298,3492,3599,563.3,-9.9,433,4882,0.00,2.45,0.00,0.000,1030,0.000,0.075,2622,2715,3545,3492,3598,0,0,0,0,0,0,14.78,14.70,14.80
$GC,5191,-0.54,-146.0,2622,2716,3492,3597,595.7,-10.8,450,5198,0.00,2.33,0.00,0.000,516,0.000,0.047,2622,1297,3545,3492,3598,0,0,0,0,0,0,14.91,14.73,14.92
$GC,5236,-0.54,-146.0,2621,1297,3492,3598,600.5,-10.4,458,5243,0.00,2.45,0.00,0.000,1030,0.000,0.076,2622,2713,3545,3492,3598,0,0,0,0,0,0,14.78,14.69,14.79
$GC,5562,-0.54,-146.0,2621,2714,3492,3598,635.8,-11.2,477,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2714,3544,3492,3597,0,0,0,0,0,0,14.90,14.92,14.92
$GC,5862,-0.54,-146.0,2621,2714,3492,3596,669.9,-11.5,492,5868,0.00,2.33,0.00,0.000,516,0.000,0.047,2622,1294,3543,3491,3596,0,0,0,0,0,0,14.90,14.73,14.92
$GC,5927,-0.54,-146.0,2622,1294,3491,3595,677.1,-10.8,504,5933,0.00,2.45,0.00,0.000,1030,0.000,0.076,2622,2709,3544,3492,3596,0,0,0,0,0,0,14.79,14.71,14.80
$GC,6252,-0.54,-146.0,2621,2710,3492,3595,714.2,-11.6,523,6258,0.00,2.35,0.00,0.000,516,0.000,0.045,2622,1287,3543,3492,3594,0,0,0,0,0,0,14.91,14.72,14.92
$GC,6291,-0.54,-146.0,2621,1286,3492,3594,718.8,-10.9,530,6299,0.00,2.45,0.00,0.000,1030,0.000,0.075,2622,2704,3543,3492,3594,0,0,0,0,0,0,14.78,14.70,14.80
$GC,6597,-0.54,-146.0,2622,2704,3491,3594,753.6,-11.6,546,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2704,3542,3491,3594,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6897,-0.54,-146.0,2622,2704,3492,3593,788.2,-11.5,561,6903,0.00,2.33,0.00,0.000,516,0.000,0.048,2622,1289,3542,3491,3593,0,0,0,0,0,0,14.90,14.73,14.92
$GC,6951,-0.54,-146.0,2622,1289,3492,3593,794.3,-10.5,571,6957,0.00,2.47,0.00,0.000,1030,0.000,0.077,2622,2715,3542,3492,3593,0,0,0,0,0,0,14.77,14.69,14.79
$GC,7266,-0.54,-146.0,2624,2715,3491,3592,830.0,-11.4,588,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2715,3542,3492,3592,0,0,0,0,0,0,14.92,14.94,14.93
$GC,7567,-0.54,-146.0,2621,2715,3492,3592,863.0,-10.8,603,7572,0.00,2.35,0.00,0.000,516,0.000,0.052,2622,1294,3542,3492,3592,0,0,0,0,0,0,14.92,14.72,14.94
$GC,7645,-0.54,-146.0,2622,1294,3492,3592,870.9,-9.3,618,7653,0.00,2.45,0.00,0.000,1030,0.000,0.076,2622,2706,3542,3492,3592,0,0,0,0,0,0,14.79,14.71,14.81
$GC,7952,-0.54,-146.0,2621,2706,3492,3591,901.7,-10.1,634,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2706,3541,3492,3591,0,0,0,0,0,0,14.92,14.93,14.93
$GC,8251,-0.54,-146.0,2621,2706,3492,3590,931.1,-9.5,649,8257,0.00,2.33,0.00,0.000,516,0.000,0.048,2622,1293,3541,3492,3590,0,0,0,0,0,0,14.92,14.76,14.93
$GC,8320,-0.54,-146.0,2621,1292,3492,3590,937.1,-8.0,662,8326,0.00,2.47,0.00,0.000,1030,0.000,0.077,2622,2715,3541,3492,3590,0,0,0,0,0,0,14.78,14.70,14.81
$GC,8641,-0.54,-146.0,2622,2715,3492,3589,965.4,-8.9,680,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2715,3540,3491,3589,0,0,0,0,0,0,14.91,14.93,14.93
$STATE,8938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8938,begin apogee
$GC,8946,-0.14,0.0,2622,2496,3492,3589,991.6,-8.6,695,9079,0.52,0.00,128.05,2.025,10246,0.232,0.000,2765,2495,2949,2981,2918,0,0,0,0,0,0,14.64,13.85,13.18
$STATE,9081,end apogee,CONTROL_FINISHED_OK
$STATE,9081,begin climb
$GC,9085,0.54,146.0,2766,2495,2982,2916,994.3,0.0,702,9225,0.77,0.00,135.40,1.974,11014,0.157,0.000,2985,2495,2354,2400,2309,0,0,0,0,0,0,13.85,13.71,13.07
$GC,9520,0.54,146.0,2985,2495,2393,2299,947.9,12.2,733,9526,0.00,2.58,0.00,0.000,260,0.000,0.089,2985,3912,2346,2393,2299,0,0,0,0,0,0,14.50,14.31,14.52
$GC,9549,0.54,146.0,2985,3912,2398,2299,943.9,13.8,738,9555,0.00,2.40,0.00,0.000,1030,0.000,0.049,2990,2509,2345,2392,2299,0,0,0,0,0,0,14.40,14.35,14.42
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$STATE,18101,end climb,SURFACE_DEPTH_REACHED
$STATE,18101,begin surface coast
$FINISH,0.6,1.026939
$STATE,18122,end surface coast,CONTROL_FINISHED_OK
$STATE,18122,begin surface
$SM_CCo,18144,125.53,0.594,1,0,1726,300.00
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$IRIDIUM_FIX,5803.22,-2339.16,020619,092111
$TT8_MAMPS,0.020223,0.767725
$HUMID,42.16
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.30
$XPDR_PINGS,4
$SC_FREEKB,3886016
$24V_AH,13.07,11.066
$10V_AH,13.18,0.000
$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,22.025,220.475,301.525,125.525,0.000,0.000,0.000,521.700,1.000,0.000,28.573,3502.082,11445.949,804.852,2799.786,489.303,0.000,2497.390,0.000,2199.448,0.000,0.535,0.000
$DEVICE_MAMPS,431.460,96.390,2024.955,593.640,0.000,0.000,0.000,211.905,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18161.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.083,0.000,0.000,0.000
$MEM,335632
$DATA_FILE_SIZE,53315,1441
$CAP_FILE_SIZE,179855,0
$CFSIZE,260034560,254509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.317,58.08,1
$GPS,020619,201310,5802.331,-2333.868,67,0.8,76,-13.0,1.5,12.0,9,9.7