version: 66.13
glider: 141
mission: 11
dive: 30
start: 6 2 119 20 26 27
data:
$ID,141
$MISSION,11
$DIVE,30
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,020619,201310,5802.3306,-2333.8677,67,0.8,76,-13.0,1.5,12.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.0
$GPS2,020619,202540,5802.3120,-2333.5513,8,0.8,22,-13.0,1.2,341.7,8,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,C3
$TGT_LATLONG,5800.000,-2336.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,258.2,4910,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-0.54,-146.0,217,2725,1693,1731,0.0,0.0,0,93,0.00,0.00,-76.90,0.005,16390,0.000,0.000,217,2725,3546,3481,3611,0,0,0,0,0,0,14.56,13.67,14.58
$GC,97,-0.54,-146.0,217,2725,3480,3612,4.0,-6.0,8,115,12.15,2.17,0.00,0.000,2340,0.431,0.076,2625,3938,3547,3482,3612,0,0,0,0,0,0,14.22,14.39,14.44
$GC,240,-0.54,-146.0,2625,3938,3487,3609,31.8,-12.0,35,247,0.00,2.08,0.00,0.000,1030,0.000,0.041,2625,2672,3548,3487,3609,0,0,0,0,0,0,14.52,14.47,14.54
$GC,426,-0.54,-146.0,2625,2671,3489,3608,55.6,-13.7,54,433,0.00,2.25,0.00,0.000,516,0.000,0.044,2625,1300,3548,3489,3608,0,0,0,0,0,0,14.71,14.52,14.72
$GC,486,-0.54,-146.0,2625,1300,3489,3607,63.0,-11.9,65,492,0.00,2.45,0.00,0.000,1030,0.000,0.073,2625,2700,3548,3490,3607,0,0,0,0,0,0,14.57,14.49,14.59
$GC,672,-0.54,-146.0,2625,2700,3489,3607,87.7,-13.4,84,677,0.00,2.33,0.00,0.000,516,0.000,0.044,2625,1292,3548,3489,3608,0,0,0,0,0,0,14.73,14.57,14.76
$GC,719,-0.54,-146.0,2625,1291,3489,3608,94.2,-12.3,93,726,0.00,2.47,0.00,0.000,1030,0.000,0.076,2624,2709,3549,3490,3608,0,0,0,0,0,0,14.62,14.54,14.64
$GC,906,-0.54,-146.0,2624,2709,3490,3607,118.7,-13.1,112,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2709,3548,3490,3607,0,0,0,0,0,0,14.78,14.80,14.80
$GC,1097,-0.54,-146.0,2624,2709,3490,3607,143.8,-13.1,131,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2709,3548,3490,3607,0,0,0,0,0,0,14.80,14.81,14.81
$GC,1286,-0.54,-146.0,2624,2709,3491,3607,167.7,-12.2,150,1293,0.00,2.33,0.00,0.000,516,0.000,0.044,2625,1294,3548,3490,3607,0,0,0,0,0,0,14.80,14.64,14.81
$GC,1322,-0.54,-146.0,2624,1294,3490,3608,172.0,-12.1,156,1327,0.00,2.47,0.00,0.000,1030,0.000,0.077,2625,2714,3549,3490,3608,0,0,0,0,0,0,14.69,14.61,14.71
$GC,1516,-0.54,-146.0,2624,2714,3490,3608,195.4,-12.3,176,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2714,3548,3490,3607,0,0,0,0,0,0,14.82,14.85,14.84
$GC,1707,-0.54,-146.0,2624,2714,3486,3607,217.8,-11.5,195,1712,0.00,2.35,0.00,0.000,516,0.000,0.045,2625,1292,3548,3490,3607,0,0,0,0,0,0,14.82,14.66,14.84
$GC,1755,-0.54,-146.0,2625,1293,3490,3607,223.5,-10.8,204,1762,0.00,2.45,0.00,0.000,1030,0.000,0.074,2625,2705,3548,3490,3607,0,0,0,0,0,0,14.70,14.62,14.71
$GC,1942,-0.54,-146.0,2625,2705,3490,3605,244.3,-11.3,223,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2705,3548,3490,3607,0,0,0,0,0,0,14.84,14.86,14.85
$GC,2142,-0.54,-146.0,2624,2705,3490,3607,267.2,-11.6,236,2147,0.00,2.30,0.00,0.000,516,0.000,0.044,2625,1301,3548,3490,3607,0,0,0,0,0,0,14.84,14.67,14.85
$GC,2190,-0.54,-146.0,2630,1301,3490,3607,272.8,-10.5,245,2196,0.00,2.45,0.00,0.000,1030,0.000,0.075,2625,2716,3548,3490,3607,0,0,0,0,0,0,14.73,14.65,14.75
$GC,2510,-0.54,-146.0,2624,2716,3489,3607,308.8,-11.4,263,2516,0.00,2.33,0.00,0.000,516,0.000,0.046,2625,1298,3548,3490,3607,0,0,0,0,0,0,14.88,14.69,14.89
$GC,2544,-0.54,-146.0,2625,1299,3490,3606,312.9,-11.2,269,2550,0.00,2.45,0.00,0.000,1030,0.000,0.075,2624,2712,3548,3490,3607,0,0,0,0,0,0,14.74,14.66,14.76
$GC,2859,-0.54,-146.0,2625,2711,3490,3606,348.6,-11.4,286,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2712,3548,3491,3606,0,0,0,0,0,0,14.88,14.90,14.90
$GC,3159,-0.54,-146.0,2625,2712,3488,3606,382.6,-11.4,301,3164,0.00,2.33,0.00,0.000,516,0.000,0.044,2625,1290,3548,3490,3606,0,0,0,0,0,0,14.89,14.71,14.91
$GC,3223,-0.54,-146.0,2624,1289,3490,3605,389.6,-10.3,313,3229,0.00,2.47,0.00,0.000,1030,0.000,0.073,2625,2715,3548,3491,3606,0,0,0,0,0,0,14.77,14.69,14.78
$GC,3548,-0.54,-146.0,2624,2715,3491,3605,426.4,-11.6,332,3554,0.00,2.33,0.00,0.000,516,0.000,0.044,2625,1293,3547,3490,3604,0,0,0,0,0,0,14.90,14.70,14.91
$GC,3587,-0.54,-146.0,2625,1294,3490,3604,431.0,-11.0,339,3594,0.00,2.42,0.00,0.000,1030,0.000,0.073,2625,2701,3547,3490,3604,0,0,0,0,0,0,14.76,14.69,14.79
$GC,3894,-0.54,-146.0,2625,2701,3495,3603,466.2,-11.8,355,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2701,3546,3490,3603,0,0,0,0,0,0,14.89,14.91,14.91
$GC,4193,-0.54,-146.0,2625,2703,3491,3602,501.8,-11.6,370,4199,0.00,2.30,0.00,0.000,516,0.000,0.044,2625,1295,3546,3490,3602,0,0,0,0,0,0,14.90,14.71,14.92
$GC,4238,-0.54,-146.0,2625,1295,3490,3602,507.0,-11.0,378,4245,0.00,2.45,0.00,0.000,1030,0.000,0.074,2625,2711,3546,3490,3602,0,0,0,0,0,0,14.76,14.69,14.78
$GC,4564,-0.54,-146.0,2625,2711,3491,3602,546.7,-12.0,397,4570,0.00,2.30,0.00,0.000,516,0.000,0.044,2625,1301,3547,3492,3602,0,0,0,0,0,0,14.91,14.72,14.93
$GC,4629,-0.54,-146.0,2624,1301,3490,3602,553.9,-10.5,409,4635,0.00,2.42,0.00,0.000,1030,0.000,0.073,2625,2706,3546,3491,3602,0,0,0,0,0,0,14.78,14.71,14.80
$GC,4954,-0.54,-146.0,2625,2706,3491,3601,589.5,-10.9,428,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2709,3545,3490,3601,0,0,0,0,0,0,14.91,14.94,14.93
$GC,5254,-0.54,-146.0,2624,2706,3496,3600,621.8,-10.8,443,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2706,3543,3487,3600,0,0,0,0,0,0,14.92,14.95,14.94
$GC,5553,-0.54,-146.0,2625,2706,3491,3600,653.6,-10.5,458,5560,0.00,2.30,0.00,0.000,516,0.000,0.047,2625,1303,3545,3490,3600,0,0,0,0,0,0,14.92,14.74,14.95
$GC,5625,-0.54,-146.0,2624,1303,3490,3600,660.7,-9.5,471,5630,0.00,2.42,0.00,0.000,1030,0.000,0.074,2625,2709,3545,3491,3599,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5944,-0.54,-146.0,2624,2709,3490,3598,693.5,-10.0,489,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2710,3545,3491,3599,0,0,0,0,0,0,14.92,14.95,14.94
$GC,6244,-0.54,-146.0,2624,2709,3491,3597,723.8,-10.2,504,6250,0.00,2.33,0.00,0.000,516,0.000,0.047,2625,1291,3544,3490,3598,0,0,0,0,0,0,14.92,14.73,14.95
$GC,6304,-0.54,-146.0,2625,1291,3490,3598,729.8,-9.8,515,6310,0.00,2.45,0.00,0.000,1030,0.000,0.075,2625,2709,3544,3491,3597,0,0,0,0,0,0,14.80,14.72,14.81
$GC,6609,-0.54,-146.0,2624,2709,3491,3597,760.6,-10.2,531,6615,0.00,2.33,0.00,0.000,516,0.000,0.047,2625,1294,3543,3490,3597,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6648,-0.54,-146.0,2624,1294,3491,3597,764.6,-9.9,538,6656,0.00,2.45,0.00,0.000,1030,0.000,0.076,2625,2709,3544,3491,3598,0,0,0,0,0,0,14.80,14.71,14.81
$GC,6954,-0.54,-146.0,2624,2709,3491,3596,795.4,-10.1,554,6960,0.00,2.33,0.00,0.000,516,0.000,0.047,2625,1291,3543,3490,3596,0,0,0,0,0,0,14.92,14.74,14.93
$GC,6988,-0.54,-146.0,2625,1291,3490,3596,799.1,-10.4,560,6994,0.00,2.45,0.00,0.000,1030,0.000,0.076,2625,2707,3543,3491,3596,0,0,0,0,0,0,14.80,14.72,14.81
$GC,7303,-0.54,-146.0,2624,2708,3490,3594,829.9,-9.8,577,7308,0.00,2.30,0.00,0.000,516,0.000,0.045,2625,1303,3542,3491,3594,0,0,0,0,0,0,14.92,14.74,14.93
$GC,7337,-0.54,-146.0,2625,1301,3490,3594,833.5,-10.1,583,7343,0.00,2.45,0.00,0.000,1030,0.000,0.076,2624,2716,3542,3491,3594,0,0,0,0,0,0,14.80,14.71,14.81
$GC,7651,-0.54,-146.0,2624,2716,3491,3594,865.4,-10.4,600,7657,0.00,2.33,0.00,0.000,516,0.000,0.048,2625,1302,3542,3491,3594,0,0,0,0,0,0,14.91,14.73,14.93
$GC,7685,-0.54,-146.0,2624,1301,3490,3593,868.9,-9.9,606,7692,0.00,2.45,0.00,0.000,1030,0.000,0.077,2625,2712,3542,3491,3593,0,0,0,0,0,0,14.78,14.69,14.79
$GC,8001,-0.54,-146.0,2624,2712,3490,3593,900.9,-10.2,623,8007,0.00,2.33,0.00,0.000,516,0.000,0.047,2625,1298,3542,3491,3593,0,0,0,0,0,0,14.91,14.71,14.92
$GC,8040,-0.54,-146.0,2624,1297,3490,3593,905.0,-10.2,630,8048,0.00,2.45,0.00,0.000,1030,0.000,0.076,2625,2711,3541,3490,3593,0,0,0,0,0,0,14.78,14.70,14.80
$GC,8346,-0.54,-146.0,2625,2711,3491,3592,934.4,-9.5,646,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2711,3542,3492,3592,0,0,0,0,0,0,14.90,14.92,14.92
$GC,8646,-0.54,-146.0,2624,2711,3491,3592,963.1,-9.5,661,8651,0.00,2.33,0.00,0.000,516,0.000,0.049,2625,1299,3541,3491,3592,0,0,0,0,0,0,14.91,14.72,14.93
$GC,8700,-0.54,-146.0,2624,1298,3491,3592,968.3,-9.5,671,8706,0.00,2.45,0.00,0.000,1030,0.000,0.076,2625,2709,3541,3490,3592,0,0,0,0,0,0,14.78,14.70,14.80
$STATE,8931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8932,begin apogee
$GC,8939,-0.14,0.0,2625,2500,3492,3591,990.6,-9.7,684,9074,0.52,0.00,128.95,2.026,10246,0.233,0.000,2768,2500,2949,2981,2918,0,0,0,0,0,0,14.62,13.84,13.17
$STATE,9076,end apogee,CONTROL_FINISHED_OK
$STATE,9076,begin climb
$GC,9080,0.54,146.0,2769,2500,2982,2915,994.6,0.0,691,9229,0.77,2.50,134.75,1.977,10756,0.151,0.054,2990,1105,2353,2398,2309,0,0,0,0,0,0,13.85,13.73,13.06
$GC,9257,0.54,146.0,2990,1105,2396,2306,982.8,9.7,724,9262,0.00,2.55,0.00,0.000,1030,0.000,0.066,2990,2508,2350,2396,2305,0,0,0,0,0,0,14.01,13.93,14.02
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$STATE,18359,end climb,SURFACE_DEPTH_REACHED
$STATE,18359,begin surface coast
$FINISH,0.0,1.026962
$STATE,18383,end surface coast,CONTROL_FINISHED_OK
$STATE,18383,begin surface
$SM_CCo,18405,159.10,0.644,1,0,1726,300.00
$SM_GC,1.23,8.35,0.35,159.10,0.086,0.091,0.644,220,2719,1726,-8.06,-0.48,300.00,0,0,0,0,1,0,14.66,14.69,13.90
$IRIDIUM_FIX,5800.38,-2323.11,020619,145648
$TT8_MAMPS,0.020972,0.667359
$HUMID,40.78
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.30
$XPDR_PINGS,6
$SC_FREEKB,3884992
$24V_AH,13.06,11.447
$10V_AH,13.20,0.000
$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,21.925,191.825,263.700,159.100,0.000,0.000,0.000,504.275,1.500,0.000,33.487,3466.474,11863.917,772.133,2739.097,480.981,0.000,2417.828,0.000,2154.245,0.000,0.535,0.000
$DEVICE_MAMPS,430.695,91.035,2025.720,644.130,0.000,0.000,0.000,214.965,420.000,0.000,11.240,10.970,2.190,10.970,28.950,34.940,0.000,10.000,0.000,11.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18422.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.101,0.000,0.000,0.000
$MEM,335596
$DATA_FILE_SIZE,49896,1411
$CAP_FILE_SIZE,174279,0
$CFSIZE,260034560,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.327,62.26,1
$GPS,030619,013741,5802.880,-2332.142,40,1.4,55,-13.0,1.3,97.2,5,9.8