version: 66.13
glider: 144
mission: 6
dive: 6
start: 8 30 117 2 44 9
data:
$ID,144
$MISSION,6
$DIVE,6
$N_DIVES,10
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,420
$D_ABORT,550
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,140
$T_MISSION,175
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,54057
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,576.75757
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,90
$PITCH_MAX,3390
$C_PITCH,2790
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.89999998
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.70467
$PRESSURE_SLOPE,0.00010862818
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043846737
$SEABIRD_T_H,0.00063297339
$SEABIRD_T_I,2.9422619e-05
$SEABIRD_T_J,2.7498099e-06
$SEABIRD_C_G,-9.6551037
$SEABIRD_C_H,1.1199346
$SEABIRD_C_I,-0.0013566012
$SEABIRD_C_J,0.00017920439
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,300817,023647,1111.2679,-12456.4990,5,1.1,40,9.2,0.2,47.4,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.1
$GPS2,300817,024350,1111.2760,-12456.4424,5,0.7,14,9.2,0.0,70.8,10,9.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.2,111533,-17.6,-10.000,-21.24,2209
$D_GRID,420
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-146.0,20,2432,432,463,0.0,0.0,0,122,0.00,0.00,-100.38,0.000,16390,0.000,0.000,16,2433,3392,3414,3371,0,0,0,0,0,0,14.92,13.83,14.95
$GC,124,-0.70,-146.0,17,2433,3415,3371,2.5,-2.2,3,146,12.82,2.28,0.00,0.000,2308,0.428,0.051,2620,3818,3392,3414,3371,0,0,0,0,0,0,14.50,14.75,14.69
$GC,172,-0.10,-146.0,2620,3817,3416,3371,33.8,-46.0,11,182,0.52,2.25,0.00,0.000,3206,0.248,0.035,2763,2408,3393,3415,3371,0,0,0,0,0,0,14.63,14.76,14.79
$GC,509,-0.26,-146.0,2763,2407,3415,3371,69.7,-6.1,26,517,0.12,2.33,0.00,0.000,4516,0.141,0.071,2707,3800,3393,3415,3371,0,0,0,0,0,0,14.84,14.83,14.90
$GC,627,-0.47,-146.0,2707,3800,3415,3371,79.3,-7.0,43,638,0.00,2.25,0.00,0.000,1190,0.000,0.031,2706,2389,3392,3414,3370,0,0,0,0,0,0,14.90,14.87,14.91
$GC,959,-0.69,-146.0,2706,2390,3415,3371,97.8,-4.9,57,967,0.17,2.20,0.00,0.000,4772,0.112,0.041,2621,994,3392,3414,3371,0,0,0,0,0,0,14.90,14.91,14.94
$GC,1132,-0.72,-146.0,2622,994,3417,3371,109.5,-7.4,82,1141,0.00,2.33,0.00,0.000,1190,0.000,0.057,2615,2383,3392,3414,3371,0,0,0,0,0,0,14.91,14.87,14.95
$GC,1462,-0.72,-146.0,2616,2384,3414,3371,137.9,-8.9,94,1470,0.00,2.38,0.00,0.000,292,0.000,0.074,2608,3818,3391,3413,3369,0,0,0,0,0,0,15.09,14.90,15.11
$GC,1658,-0.72,-146.0,2609,3819,3411,3370,156.8,-9.3,122,1666,0.10,2.22,0.00,0.000,3110,0.278,0.034,2629,2403,3390,3410,3370,0,0,0,0,0,0,14.80,14.94,14.95
$GC,2022,-0.78,-146.0,2629,2402,3411,3368,185.9,-7.9,132,2030,0.00,2.40,0.00,0.000,420,0.000,0.076,2625,3827,3388,3409,3367,0,0,0,0,0,0,15.09,14.90,15.12
$GC,2063,-0.83,-146.0,2625,3827,3410,3367,189.3,-8.3,138,2072,0.00,2.30,0.00,0.000,1190,0.000,0.036,2625,2392,3387,3408,3367,0,0,0,0,0,0,14.97,14.94,14.99
$GC,2414,-0.89,-146.0,2625,2391,3407,3364,217.5,-8.1,146,2422,0.12,2.40,0.00,0.000,4516,0.140,0.075,2567,3820,3385,3406,3364,0,0,0,0,0,0,14.94,14.90,15.00
$GC,2540,-0.81,-146.0,2567,3820,3410,3363,232.0,-11.9,164,2549,0.17,2.25,0.00,0.000,3206,0.274,0.037,2608,2398,3384,3405,3363,0,0,0,0,0,0,14.78,14.95,14.96
$GC,2863,-0.84,-146.0,2609,2397,3403,3361,261.2,-9.0,175,2871,0.00,2.40,0.00,0.000,420,0.000,0.077,2600,3814,3381,3402,3360,0,0,0,0,0,0,15.09,14.90,15.13
$GC,2931,-0.84,-146.0,2601,3815,3402,3359,267.9,-9.6,185,2941,0.00,2.30,0.00,0.000,1062,0.000,0.037,2600,2395,3380,3401,3359,0,0,0,0,0,0,14.95,14.92,14.97
$GC,3254,-0.84,-146.0,2603,2393,3401,3357,297.7,-9.2,196,3263,0.00,2.40,0.00,0.000,292,0.000,0.077,2595,3814,3378,3399,3357,0,0,0,0,0,0,15.09,14.90,15.11
$GC,3338,-0.84,-146.0,2596,3814,3399,3356,305.9,-9.8,208,3346,0.00,2.30,0.00,0.000,1062,0.000,0.038,2595,2395,3377,3399,3355,0,0,0,0,0,0,14.97,14.92,14.99
$GC,3702,-0.84,-146.0,2595,2394,3399,3354,340.7,-9.5,218,3711,0.00,2.40,0.00,0.000,292,0.000,0.079,2592,3814,3375,3397,3353,0,0,0,0,0,0,15.09,14.89,15.11
$GC,3764,-0.84,-146.0,2592,3814,3396,3353,346.8,-9.6,227,3774,0.00,2.30,0.00,0.000,1062,0.000,0.039,2592,2399,3374,3396,3352,0,0,0,0,0,0,14.95,14.92,14.97
$GC,4095,-0.84,-146.0,2592,2400,3396,3351,376.2,-8.7,239,4104,0.00,2.40,0.00,0.000,292,0.000,0.078,2584,3814,3372,3394,3350,0,0,0,0,0,0,15.09,14.88,15.11
$GC,4143,-0.84,-146.0,2584,3814,3395,3350,380.7,-9.3,246,4154,0.08,2.30,0.00,0.000,3110,0.267,0.038,2604,2396,3372,3394,3350,0,0,0,0,0,0,14.74,14.92,14.87
$GC,4487,-0.89,-146.0,2605,2397,3394,3347,408.0,-7.9,253,4495,0.00,2.42,0.00,0.000,420,0.000,0.080,2597,3816,3370,3393,3347,0,0,0,0,0,0,15.08,14.85,15.11
$GC,4591,-0.91,-146.0,2597,3816,3392,3347,417.1,-8.8,268,4602,0.00,2.30,0.00,0.000,1190,0.000,0.039,2597,2404,3368,3391,3346,0,0,0,0,0,0,14.94,14.91,14.96
$STATE,4653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4653,begin apogee
$GC,4657,-0.15,0.0,2598,2620,3392,3347,422.7,-8.9,270,4808,0.57,0.00,144.45,1.480,10246,0.234,0.000,2762,2619,2791,2883,2699,0,0,0,0,0,0,14.76,14.25,13.66
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4813,0.70,146.0,2760,2620,2874,2683,424.7,0.0,272,4973,0.60,0.00,145.43,1.394,10246,0.142,0.000,2946,2619,2198,2299,2097,0,0,0,0,0,0,14.33,14.20,13.69
$GC,5272,0.70,146.0,2947,2620,2257,2070,384.1,10.3,281,5279,0.00,2.33,0.00,0.000,260,0.000,0.079,2947,3981,2162,2256,2069,0,0,0,0,0,0,14.88,14.69,14.90
$GC,5368,0.61,146.0,2947,3982,2254,2069,371.9,12.6,295,5378,0.10,2.28,0.00,0.000,5254,0.294,0.041,2929,2615,2161,2253,2069,0,0,0,0,0,0,14.61,14.75,14.73
$GC,5719,0.66,158.1,2929,2613,2252,2068,338.7,9.4,303,5729,0.00,2.33,1.55,0.114,8612,0.000,0.076,2929,3979,2145,2238,2053,0,0,0,0,0,0,14.99,14.80,14.76
$GC,5776,0.66,158.1,2929,3975,2239,2055,332.1,12.0,311,5785,0.00,2.25,0.00,0.000,1030,0.000,0.043,2935,2595,2148,2240,2056,0,0,0,0,0,0,14.90,14.83,14.91
$GC,6113,0.66,158.1,2935,2593,2245,2063,296.8,10.5,324,6121,0.00,2.38,0.00,0.000,260,0.000,0.079,2935,3983,2153,2244,2063,0,0,0,0,0,0,15.02,14.83,15.04
$GC,6196,0.62,158.1,2935,3983,2245,2064,286.6,12.2,336,6204,0.00,2.30,0.00,0.000,1158,0.000,0.042,2939,2599,2153,2244,2063,0,0,0,0,0,0,14.90,14.85,14.92
$GC,6561,0.62,162.0,2939,2597,2245,2064,249.8,9.8,346,6570,0.00,2.42,2.75,0.604,8484,0.000,0.079,2939,3974,2131,2224,2039,0,0,0,0,0,0,15.04,14.84,14.09
$GC,6631,0.57,162.0,2939,3976,2229,2050,241.9,11.4,356,6640,0.10,2.30,0.00,0.000,5254,0.279,0.043,2920,2590,2139,2229,2050,0,0,0,0,0,0,14.71,14.86,14.84
$GC,6947,0.69,199.8,2920,2588,2236,2056,215.6,8.2,366,7054,0.00,2.53,99.55,1.128,8612,0.000,0.078,2919,3974,1977,2071,1884,0,0,0,0,0,0,15.04,14.40,13.93
$GC,7081,0.77,199.8,2920,3975,2053,1881,203.6,10.1,385,7089,0.12,2.30,0.00,0.000,3206,0.149,0.041,2969,2597,1966,2052,1881,0,0,0,0,0,0,14.50,14.50,14.57
$GC,7445,0.77,199.8,2970,2595,2046,1875,159.2,12.3,395,7454,0.00,2.38,0.00,0.000,260,0.000,0.078,2969,3974,1960,2045,1875,0,0,0,0,0,0,14.91,14.72,14.94
$GC,7542,0.71,199.8,2970,3975,2045,1875,145.8,13.6,409,7551,0.10,2.30,0.00,0.000,5254,0.269,0.041,2950,2596,1959,2044,1875,0,0,0,0,0,0,14.62,14.76,14.75
$GC,7893,0.77,214.4,2950,2594,2045,1873,112.4,9.3,417,7908,0.00,2.40,6.05,1.016,8612,0.000,0.079,2950,3981,1921,2009,1834,0,0,0,0,0,0,14.98,14.76,14.23
$GC,7934,0.77,214.4,2950,3982,2010,1835,108.3,10.1,423,7944,0.00,2.30,0.00,0.000,1030,0.000,0.041,2955,2596,1922,2009,1835,0,0,0,0,0,0,14.83,14.78,14.85
$GC,8258,0.92,284.1,2956,2594,2017,1846,82.0,6.8,434,8443,0.12,2.40,173.15,1.006,11172,0.148,0.056,3015,1187,1632,1705,1559,0,0,0,0,0,0,14.82,14.28,13.85
$GC,8469,1.17,367.7,3016,1187,1691,1550,66.3,6.1,464,8661,0.05,2.45,181.23,0.907,11430,0.116,0.059,3072,2585,1293,1347,1239,0,0,0,0,0,0,14.40,14.38,13.83
$GC,8989,1.34,417.5,3072,2583,1327,1224,23.9,7.7,505,9097,0.00,2.35,97.60,0.838,8868,0.000,0.053,3072,1190,1086,1139,1034,0,0,0,0,0,0,14.84,14.31,14.00
$GC,9164,1.69,486.9,3073,1190,1129,1027,11.1,6.8,530,9210,0.22,2.42,33.72,0.183,11430,0.068,0.055,3178,2596,806,842,771,0,0,0,0,0,0,14.54,14.52,14.45
$STATE,9241,end climb,SURFACE_DEPTH_REACHED
$STATE,9241,begin surface coast
$FINISH,0.1,1.013805
$STATE,9269,end surface coast,CONTROL_FINISHED_OK
$STATE,9269,begin surface
$SM_CCo,9299,48.58,0.126,0,0,440,576.95
$SM_GC,1.05,8.85,0.35,48.58,0.076,0.056,0.126,80,2359,440,-12.38,0.88,576.95,0,0,0,0,0,0,14.64,14.68,14.59
$IRIDIUM_FIX,1110.76,-12526.89,300817,005058
$TT8_MAMPS,0.035203,0.440412
$HUMID,44.32
$INTERNAL_PRESSURE,8.66569
$TCM_TEMP,23.00
$XPDR_PINGS,9
$SC_FREEKB,3908224
$TM_FREEKB,7752736
$PM_FREEKB,62103808
$24V_AH,13.66,5.089
$10V_AH,13.86,0.000
$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,24.975,95.050,885.475,48.575,0.000,0.000,0.000,262.900,2.250,0.000,15.605,0.000,6907.644,1040.126,1676.947,156.482,0.000,1974.635,0.000,921.702,0.000,0.542,0.000
$DEVICE_MAMPS,428.400,81.855,1479.510,126.225,0.000,0.000,0.000,161.415,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9264.000,9279.000,9259.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.649,19.292,3.775,0.000
$MEM,303820
$DATA_FILE_SIZE,20114,539
$CAP_FILE_SIZE,89389,0
$CFSIZE,260165632,254377984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,86.84,1
$GPS,300817,052100,1110.624,-12456.508,19,0.8,21,9.2,0.6,338.6,9,8.8