version: 66.13
glider: 141
mission: 11
dive: 76
start: 6 12 119 14 14 28
data:
$ID,141
$MISSION,11
$DIVE,76
$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,42
$R_STBD_OVSHOOT,31
$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
$GPS1,120619,140153,5846.6724,-2233.3691,37,1.1,41,-12.9,0.0,53.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-76.3
$GPS2,120619,141337,5846.6865,-2233.2275,9,1.0,16,-12.9,0.0,59.3,9,9.9
$SPEED_LIMITS,0.191,0.263
$TGT_NAME,T
$TGT_LATLONG,5840.000,-2320.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,276.1,46716,-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,12,-0.53,-194.6,217,2709,1691,1736,0.0,0.0,0,93,0.00,0.00,-78.75,0.005,16390,0.000,0.000,217,2709,3745,3672,3818,0,0,0,0,0,0,14.59,13.62,14.62
$GC,98,-0.53,-194.6,217,2707,3672,3818,4.8,-7.4,8,115,11.82,2.12,0.00,0.000,2852,0.418,0.065,2602,3939,3745,3672,3819,0,0,0,0,0,0,14.22,14.42,14.40
$GC,245,-0.53,-194.6,2602,3939,3677,3816,37.7,-13.1,36,251,0.00,2.08,0.00,0.000,1030,0.000,0.039,2602,2667,3746,3677,3815,0,0,0,0,0,0,14.55,14.51,14.56
$GC,440,-0.53,-194.6,2602,2666,3682,3813,68.9,-15.6,56,446,0.00,2.22,0.00,0.000,516,0.000,0.043,2602,1302,3745,3678,3813,0,0,0,0,0,0,14.74,14.53,14.76
$GC,518,-0.53,-194.6,2602,1302,3678,3813,80.0,-13.3,71,526,0.00,2.47,0.00,0.000,1030,0.000,0.073,2602,2705,3746,3679,3813,0,0,0,0,0,0,14.62,14.54,14.64
$GC,705,-0.53,-194.6,2602,2705,3679,3813,106.9,-14.7,90,711,0.00,2.30,0.00,0.000,516,0.000,0.044,2602,1311,3746,3679,3813,0,0,0,0,0,0,14.78,14.57,14.80
$GC,731,-0.53,-194.6,2601,1310,3679,3813,110.4,-14.7,94,737,0.00,2.45,0.00,0.000,1030,0.000,0.075,2602,2712,3746,3679,3813,0,0,0,0,0,0,14.66,14.57,14.68
$GC,925,-0.53,-194.6,2602,2712,3679,3813,139.2,-15.1,114,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2712,3746,3679,3813,0,0,0,0,0,0,14.80,14.82,14.82
$GC,1115,-0.53,-194.6,2602,2712,3679,3813,167.4,-14.5,133,1121,0.00,2.33,0.00,0.000,516,0.000,0.044,2602,1299,3746,3679,3813,0,0,0,0,0,0,14.83,14.61,14.85
$GC,1160,-0.53,-194.6,2602,1299,3679,3813,173.6,-12.6,141,1166,0.00,2.45,0.00,0.000,1030,0.000,0.073,2602,2709,3745,3680,3810,0,0,0,0,0,0,14.68,14.59,14.69
$GC,1355,-0.53,-194.6,2602,2709,3679,3813,201.4,-14.4,161,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2709,3746,3679,3813,0,0,0,0,0,0,14.85,14.86,14.86
$GC,1547,-0.53,-194.6,2602,2709,3679,3813,229.2,-14.7,180,1553,0.00,2.30,0.00,0.000,516,0.000,0.044,2602,1308,3746,3679,3813,0,0,0,0,0,0,14.85,14.67,14.87
$GC,1596,-0.53,-194.6,2602,1306,3681,3813,236.2,-12.7,189,1602,0.00,2.42,0.00,0.000,1030,0.000,0.073,2602,2706,3744,3675,3813,0,0,0,0,0,0,14.69,14.62,14.71
$GC,1783,-0.53,-194.6,2602,2706,3679,3813,262.9,-14.9,204,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2705,3745,3679,3812,0,0,0,0,0,0,14.85,14.87,14.87
$GC,2082,-0.53,-194.6,2602,2706,3679,3812,306.0,-14.1,219,2089,0.00,2.30,0.00,0.000,516,0.000,0.047,2602,1310,3745,3679,3812,0,0,0,0,0,0,14.87,14.69,14.89
$GC,2137,-0.53,-194.6,2602,1308,3679,3812,313.4,-11.6,229,2143,0.00,2.42,0.00,0.000,1030,0.000,0.073,2602,2704,3745,3679,3812,0,0,0,0,0,0,14.73,14.66,14.76
$GC,2451,-0.53,-194.6,2602,2706,3680,3812,357.9,-14.4,246,2457,0.00,2.30,0.00,0.000,516,0.000,0.047,2602,1310,3745,3679,3812,0,0,0,0,0,0,14.89,14.69,14.92
$GC,2479,-0.53,-194.6,2602,1308,3679,3812,362.0,-13.9,251,2486,0.00,2.42,0.00,0.000,1030,0.000,0.076,2602,2706,3745,3679,3812,0,0,0,0,0,0,14.76,14.67,14.77
$GC,2800,-0.53,-194.6,2602,2706,3679,3811,407.2,-14.2,269,2807,0.00,2.28,0.00,0.000,516,0.000,0.046,2602,1311,3745,3679,3811,0,0,0,0,0,0,14.89,14.69,14.90
$GC,2825,-0.53,-194.6,2602,1308,3679,3811,411.0,-15.4,273,2830,0.00,2.42,0.00,0.000,1030,0.000,0.076,2602,2705,3744,3679,3809,0,0,0,0,0,0,14.75,14.66,14.76
$GC,3150,-0.53,-194.6,2602,2706,3679,3810,455.6,-13.6,292,3155,0.00,2.30,0.00,0.000,516,0.000,0.046,2602,1306,3745,3680,3810,0,0,0,0,0,0,14.90,14.71,14.91
$GC,3195,-0.53,-194.6,2602,1306,3679,3808,461.3,-11.5,300,3201,0.00,2.42,0.00,0.000,1030,0.000,0.075,2602,2706,3744,3679,3810,0,0,0,0,0,0,14.76,14.67,14.76
$GC,3520,-0.53,-194.6,2602,2706,3679,3809,502.8,-12.8,319,3526,0.00,2.30,0.00,0.000,516,0.000,0.047,2602,1310,3744,3679,3809,0,0,0,0,0,0,14.90,14.71,14.92
$GC,3549,-0.53,-194.6,2602,1308,3678,3809,506.8,-13.1,324,3555,0.00,2.42,0.00,0.000,1030,0.000,0.076,2602,2704,3744,3679,3809,0,0,0,0,0,0,14.78,14.69,14.80
$GC,3869,-0.53,-194.6,2602,2705,3679,3809,546.3,-12.5,342,3875,0.00,2.30,0.00,0.000,516,0.000,0.047,2602,1306,3744,3680,3809,0,0,0,0,0,0,14.91,14.73,14.92
$GC,3914,-0.53,-194.6,2602,1306,3679,3808,551.5,-11.0,350,3920,0.00,2.42,0.00,0.000,1030,0.000,0.075,2602,2706,3743,3679,3808,0,0,0,0,0,0,14.78,14.70,14.81
$GC,4239,-0.53,-194.6,2602,2706,3679,3806,591.2,-12.1,369,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2706,3744,3679,3809,0,0,0,0,0,0,14.91,14.93,14.93
$GC,4539,-0.53,-194.6,2602,2706,3679,3803,627.8,-12.2,384,4545,0.00,2.30,0.00,0.000,516,0.000,0.048,2602,1314,3742,3679,3806,0,0,0,0,0,0,14.92,14.73,14.96
$GC,4598,-0.53,-194.6,2602,1313,3680,3805,634.6,-10.0,395,4606,0.00,2.42,0.00,0.000,1030,0.000,0.075,2602,2708,3742,3679,3805,0,0,0,0,0,0,14.77,14.69,14.79
$GC,4904,-0.53,-194.6,2602,2708,3679,3804,671.7,-12.5,411,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2708,3741,3679,3803,0,0,0,0,0,0,14.92,14.94,14.94
$GC,5204,-0.53,-194.6,2602,2708,3679,3804,708.1,-12.0,426,5209,0.00,2.30,0.00,0.000,516,0.000,0.049,2602,1314,3741,3679,3803,0,0,0,0,0,0,14.92,14.74,14.94
$GC,5268,-0.53,-194.6,2602,1312,3679,3803,715.2,-10.1,438,5274,0.00,2.42,0.00,0.000,1030,0.000,0.074,2602,2704,3741,3680,3803,0,0,0,0,0,0,14.80,14.71,14.81
$GC,5593,-0.53,-194.6,2602,2705,3679,3802,754.3,-12.3,457,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2705,3740,3679,3802,0,0,0,0,0,0,14.92,14.95,14.94
$GC,5893,-0.53,-194.6,2602,2705,3679,3798,791.5,-12.5,472,5899,0.00,2.30,0.00,0.000,516,0.000,0.049,2602,1313,3740,3679,3802,0,0,0,0,0,0,14.92,14.74,14.95
$GC,5953,-0.53,-194.6,2600,1311,3679,3802,798.4,-10.6,483,5961,0.00,2.42,0.00,0.000,1030,0.000,0.076,2602,2706,3740,3679,3802,0,0,0,0,0,0,14.80,14.71,14.82
$GC,6259,-0.53,-194.6,2602,2706,3679,3801,834.6,-12.0,499,6265,0.00,2.33,0.00,0.000,516,0.000,0.050,2602,1311,3740,3679,3801,0,0,0,0,0,0,14.93,14.73,14.95
$GC,6289,-0.53,-194.6,2602,1309,3678,3801,838.3,-13.0,504,6294,0.00,2.42,0.00,0.000,1030,0.000,0.078,2603,2703,3741,3681,3801,0,0,0,0,0,0,14.80,14.71,14.82
$GC,6608,-0.53,-194.6,2602,2703,3679,3800,875.7,-11.7,522,6614,0.00,2.33,0.00,0.000,516,0.000,0.047,2602,1301,3739,3679,3799,0,0,0,0,0,0,14.92,14.73,14.94
$GC,6647,-0.53,-194.6,2602,1300,3679,3800,880.2,-10.8,529,6654,0.00,2.45,0.00,0.000,1030,0.000,0.076,2602,2709,3739,3679,3800,0,0,0,0,0,0,14.79,14.71,14.81
$GC,6953,-0.53,-194.6,2602,2710,3679,3798,916.2,-12.0,545,6958,0.00,2.33,0.00,0.000,516,0.000,0.049,2602,1305,3738,3679,3798,0,0,0,0,0,0,14.93,14.72,14.95
$GC,6982,-0.53,-194.6,2602,1308,3679,3798,919.7,-12.0,550,6987,0.00,2.45,0.00,0.000,1030,0.000,0.077,2602,2709,3738,3679,3798,0,0,0,0,0,0,14.78,14.69,14.79
$GC,7302,-0.53,-194.6,2601,2710,3679,3797,957.2,-11.6,568,7307,0.00,2.33,0.00,0.000,516,0.000,0.049,2602,1303,3738,3679,3797,0,0,0,0,0,0,14.91,14.73,14.92
$GC,7335,-0.53,-194.6,2602,1302,3679,3798,961.2,-10.8,574,7341,0.00,2.45,0.00,0.000,1030,0.000,0.078,2602,2709,3738,3679,3797,0,0,0,0,0,0,14.76,14.68,14.78
$STATE,7606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7607,begin apogee
$GC,7615,-0.14,0.0,2602,2500,3679,3796,991.6,-11.1,589,7791,0.50,0.00,171.98,2.008,10246,0.230,0.000,2739,2500,2950,2994,2907,0,0,0,0,0,0,14.62,13.85,13.16
$STATE,7793,end apogee,CONTROL_FINISHED_OK
$STATE,7793,begin climb
$GC,7796,0.53,194.6,2739,2500,2993,2905,997.5,0.0,598,7987,0.80,2.53,178.57,1.964,10756,0.168,0.055,2964,1105,2155,2208,2102,0,0,0,0,0,0,13.82,13.66,13.00
$GC,8011,0.53,194.6,2964,1105,2206,2100,981.7,10.5,638,8016,0.00,2.58,0.00,0.000,1030,0.000,0.067,2964,2504,2152,2206,2098,0,0,0,0,0,0,13.78,13.74,13.79
$GC,8335,0.53,194.6,2964,2504,2202,2093,945.0,11.4,657,8341,0.00,2.55,0.00,0.000,260,0.000,0.089,2964,3923,2147,2202,2093,0,0,0,0,0,0,14.50,14.29,14.52
$GC,8369,0.53,194.6,2963,3923,2200,2093,940.6,13.3,663,8376,0.00,2.42,0.00,0.000,1030,0.000,0.047,2964,2509,2146,2200,2093,0,0,0,0,0,0,14.41,14.35,14.42
$GC,8685,0.53,194.6,2964,2504,2198,2093,904.0,11.5,680,8691,0.00,2.42,0.00,0.000,516,0.000,0.058,2964,1085,2145,2198,2093,0,0,0,0,0,0,14.68,14.47,14.69
$GC,8751,0.54,194.6,2964,1085,2194,2093,896.9,10.5,692,8757,0.00,2.50,0.00,0.000,1094,0.000,0.068,2964,2510,2143,2194,2093,0,0,0,0,0,0,14.57,14.49,14.59
$GC,9076,0.54,194.6,2964,2511,2194,2092,859.8,11.4,711,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2511,2143,2194,2093,0,0,0,0,0,0,14.76,14.78,14.78
$GC,9376,0.54,194.6,2963,2510,2194,2092,826.0,11.2,726,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2511,2143,2194,2092,0,0,0,0,0,0,14.81,14.83,14.82
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$STATE,15970,end climb,SURFACE_DEPTH_REACHED
$STATE,15970,begin surface coast
$FINISH,0.2,1.026621
$STATE,15992,end surface coast,CONTROL_FINISHED_OK
$STATE,15992,begin surface
$SM_CCo,16014,78.47,0.425,1,0,1727,300.00
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$IRIDIUM_FIX,5844.99,-2228.90,120619,091517
$TT8_MAMPS,0.020223,0.661367
$HUMID,41.96
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.30
$XPDR_PINGS,1
$SC_FREEKB,3841600
$24V_AH,13.00,30.207
$10V_AH,13.23,0.000
$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
$DEVICE_SECS,21.650,202.225,401.725,78.475,0.000,0.000,0.000,463.275,0.250,0.000,26.758,3074.953,10022.758,774.927,2481.448,453.870,0.000,2311.187,0.000,1949.362,0.000,0.534,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16031.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.618,0.000,0.000,0.000
$MEM,335712
$DATA_FILE_SIZE,46594,1281
$CAP_FILE_SIZE,160920,0
$CFSIZE,260034560,247599104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.158,92.44,1
$GPS,120619,184407,5846.435,-2234.618,29,0.8,35,-12.9,0.0,91.5,11,9.7