version: 66.13
glider: 144
mission: 6
dive: 7
start: 8 30 117 5 29 54
data:
$ID,144
$MISSION,6
$DIVE,7
$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,67
$R_STBD_OVSHOOT,64
$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
$GPS1,300817,052100,1110.6237,-12456.5078,19,0.8,21,9.2,0.6,338.6,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.7
$GPS2,300817,052935,1110.6285,-12456.4531,20,0.9,22,9.2,0.4,113.2,8,8.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.4,110378,-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,17,-0.70,-146.0,12,2446,436,462,0.0,0.0,0,121,0.00,0.00,-99.53,0.000,16390,0.000,0.000,3,2449,3392,3412,3372,0,0,0,0,0,0,14.85,13.78,14.88
$GC,123,-0.70,-146.0,4,2449,3413,3373,2.7,-2.7,3,145,12.93,2.20,0.00,0.000,2308,0.428,0.046,2620,3795,3392,3413,3372,0,0,0,0,0,0,14.45,14.69,14.64
$GC,156,0.37,-146.0,2621,3796,3414,3373,28.8,-58.0,9,166,0.88,2.25,0.00,0.000,3206,0.268,0.038,2869,2427,3393,3413,3373,0,0,0,0,0,0,14.54,14.69,14.71
$GC,479,-0.12,-146.0,2869,2426,3414,3373,58.8,-8.5,22,488,0.32,2.28,0.00,0.000,4516,0.130,0.069,2758,3776,3393,3414,3372,0,0,0,0,0,0,14.75,14.78,14.81
$GC,563,-0.43,-146.0,2758,3776,3414,3373,65.5,-6.9,34,572,0.20,2.20,0.00,0.000,5286,0.122,0.031,2680,2369,3393,3413,3373,0,0,0,0,0,0,14.81,14.83,14.88
$GC,899,-0.49,-146.0,2678,2370,3413,3373,91.1,-5.4,49,907,0.00,2.38,0.00,0.000,420,0.000,0.071,2678,3781,3393,3413,3373,0,0,0,0,0,0,15.01,14.83,15.04
$GC,1017,-0.61,-146.0,2679,3782,3414,3373,97.7,-5.7,66,1026,0.05,2.20,0.00,0.000,5286,0.114,0.032,2640,2407,3393,3413,3373,0,0,0,0,0,0,14.81,14.86,14.86
$GC,1347,-0.65,-146.0,2641,2405,3414,3373,123.0,-7.8,75,1355,0.00,2.22,0.00,0.000,676,0.000,0.046,2640,995,3393,3413,3373,0,0,0,0,0,0,15.05,14.88,15.07
$GC,1459,-0.75,-146.0,2640,996,3413,3376,132.0,-8.0,91,1467,0.00,2.25,0.00,0.000,1190,0.000,0.058,2638,2364,3392,3413,3372,0,0,0,0,0,0,14.95,14.87,14.96
$GC,1795,-0.82,-146.0,2639,2364,3412,3371,158.6,-7.8,104,1805,0.10,2.42,0.00,0.000,4516,0.168,0.076,2596,3817,3391,3411,3371,0,0,0,0,0,0,14.88,14.87,14.95
$GC,1886,-0.79,-146.0,2597,3819,3410,3371,168.1,-10.8,117,1895,0.00,2.28,0.00,0.000,1158,0.000,0.035,2597,2406,3389,3409,3370,0,0,0,0,0,0,14.95,14.90,14.95
$GC,2244,-0.79,-146.0,2597,2405,3409,3368,202.8,-9.5,126,2252,0.00,2.38,0.00,0.000,292,0.000,0.077,2596,3814,3387,3407,3367,0,0,0,0,0,0,15.07,14.88,15.10
$GC,2334,-0.79,-146.0,2597,3813,3407,3367,211.7,-9.7,139,2343,0.05,2.30,0.00,0.000,3110,0.258,0.037,2611,2389,3386,3406,3366,0,0,0,0,0,0,14.76,14.90,14.88
$GC,2692,-0.83,-146.0,2610,2388,3405,3364,241.1,-8.0,148,2701,0.00,2.42,0.00,0.000,420,0.000,0.076,2602,3816,3383,3404,3363,0,0,0,0,0,0,15.07,14.88,15.09
$GC,2734,-0.83,-146.0,2602,3816,3404,3363,244.6,-8.4,154,2742,0.00,2.30,0.00,0.000,1062,0.000,0.037,2602,2394,3383,3403,3363,0,0,0,0,0,0,14.96,14.91,14.96
$GC,3084,-0.85,-146.0,2603,2393,3402,3361,273.4,-8.1,162,3092,0.00,2.40,0.00,0.000,420,0.000,0.078,2596,3807,3381,3401,3361,0,0,0,0,0,0,15.07,14.88,15.09
$GC,3174,-0.85,-146.0,2596,3809,3401,3359,281.1,-8.4,175,3184,0.00,2.28,0.00,0.000,1062,0.000,0.038,2596,2403,3380,3402,3359,0,0,0,0,0,0,14.94,14.91,14.96
$GC,3532,-0.85,-146.0,2596,2403,3400,3357,312.1,-8.8,184,3542,0.00,2.40,0.00,0.000,292,0.000,0.077,2588,3814,3377,3398,3356,0,0,0,0,0,0,15.06,14.88,15.09
$GC,3630,-0.85,-146.0,2588,3815,3398,3356,321.9,-10.0,198,3639,0.00,2.30,0.00,0.000,1062,0.000,0.037,2587,2399,3377,3400,3355,0,0,0,0,0,0,14.94,14.91,14.96
$GC,3981,-0.85,-146.0,2588,2397,3397,3354,358.5,-10.6,206,3989,0.00,2.40,0.00,0.000,260,0.000,0.078,2580,3809,3375,3396,3354,0,0,0,0,0,0,15.07,14.87,15.09
$GC,4043,-0.82,-146.0,2580,3809,3396,3353,365.7,-11.6,215,4052,0.08,2.30,0.00,0.000,3206,0.260,0.037,2614,2390,3374,3395,3353,0,0,0,0,0,0,14.75,14.90,14.92
$GC,4373,-0.89,-146.0,2614,2389,3396,3351,396.7,-9.3,227,4381,0.00,2.42,0.00,0.000,420,0.000,0.080,2606,3807,3372,3394,3350,0,0,0,0,0,0,15.05,14.86,15.08
$GC,4463,-0.95,-146.0,2606,3807,3394,3348,405.4,-9.5,240,4473,0.05,2.30,0.00,0.000,5286,0.119,0.038,2570,2393,3371,3393,3349,0,0,0,0,0,0,14.83,14.90,14.90
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4596,begin apogee
$GC,4600,-0.15,0.0,2570,2609,3394,3350,420.1,-11.1,245,4951,0.68,0.00,345.17,1.131,10246,0.248,0.000,2756,2609,2793,2881,2706,0,0,0,0,0,0,14.75,14.23,13.75
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4955,0.70,146.0,2757,2609,2879,2699,429.9,0.0,251,5166,0.62,0.00,192.65,1.205,10758,0.146,0.000,2949,2609,2195,2296,2094,0,0,0,0,0,0,14.27,14.18,13.70
$GC,5493,0.70,146.0,2949,2609,2258,2076,374.8,11.8,296,5501,0.00,2.35,0.00,0.000,260,0.000,0.079,2949,3980,2167,2257,2077,0,0,0,0,0,0,14.85,14.67,14.88
$GC,5583,0.61,146.0,2949,3982,2261,2077,362.5,13.7,309,5593,0.10,2.28,0.00,0.000,5254,0.285,0.042,2930,2618,2166,2256,2076,0,0,0,0,0,0,14.58,14.72,14.71
$GC,5941,0.67,164.6,2931,2616,2255,2074,328.3,9.1,318,5964,0.00,2.40,12.30,1.255,8612,0.000,0.080,2931,3973,2120,2212,2029,0,0,0,0,0,0,14.97,14.70,14.20
$GC,6010,0.67,164.6,2931,3975,2202,2027,321.3,10.5,328,6019,0.00,2.30,0.00,0.000,1030,0.000,0.042,2935,2592,2113,2201,2026,0,0,0,0,0,0,14.79,14.75,14.81
$GC,6333,0.73,183.2,2937,2590,2199,2023,291.8,9.1,339,6370,0.00,2.47,26.62,1.194,8612,0.000,0.080,2935,3980,2043,2134,1953,0,0,0,0,0,0,14.97,14.62,14.16
$GC,6423,0.73,183.2,2938,3980,2120,1950,282.3,11.1,352,6432,0.00,2.33,0.00,0.000,1030,0.000,0.041,2942,2597,2033,2119,1948,0,0,0,0,0,0,14.73,14.71,14.76
$GC,6781,0.77,190.4,2943,2595,2119,1941,247.4,9.7,361,6791,0.00,2.45,1.67,0.123,8612,0.000,0.079,2946,3975,2015,2103,1927,0,0,0,0,0,0,14.96,14.77,14.71
$GC,6844,0.77,190.4,2942,3976,2104,1928,240.4,11.0,370,6853,0.00,2.30,0.00,0.000,1030,0.000,0.042,2949,2593,2016,2105,1928,0,0,0,0,0,0,14.84,14.81,14.86
$GC,7175,0.81,194.0,2949,2591,2110,1939,207.8,9.8,382,7182,0.00,0.00,2.70,0.563,8358,0.000,0.000,2949,2591,2002,2089,1915,0,0,0,0,0,0,15.00,14.81,14.09
$GC,7511,0.83,194.0,2949,2594,2103,1932,173.4,10.4,388,7519,0.00,2.45,1.62,0.129,8580,0.000,0.079,2949,3976,2003,2089,1917,0,0,0,0,0,0,15.01,14.81,14.77
$GC,7629,0.83,194.0,2949,3978,2092,1926,158.9,11.9,405,7638,0.00,2.28,0.00,0.000,1030,0.000,0.043,2955,2602,2009,2092,1926,0,0,0,0,0,0,14.88,14.84,14.92
$GC,7959,0.87,197.8,2952,2600,2101,1931,125.7,9.8,417,7970,0.10,2.42,3.33,0.737,10660,0.175,0.079,2992,3976,1987,2074,1901,0,0,0,0,0,0,14.84,14.82,14.12
$GC,7995,0.76,197.8,2993,3976,2075,1909,121.0,13.0,422,8005,0.15,2.30,0.00,0.000,5254,0.282,0.044,2961,2597,1992,2075,1910,0,0,0,0,0,0,14.69,14.83,14.81
$GC,8319,0.88,253.7,2961,2594,2092,1923,92.7,7.4,431,8481,0.00,2.53,153.40,0.982,8612,0.000,0.077,2961,3973,1756,1843,1670,0,0,0,0,0,0,15.01,14.30,13.88
$GC,8696,1.20,356.5,2961,3973,1816,1669,69.3,5.2,485,8931,0.25,2.30,222.50,0.883,11430,0.076,0.039,3069,2586,1337,1393,1281,0,0,0,0,0,0,14.62,14.63,13.84
$GC,9245,1.39,410.8,3068,2587,1375,1269,28.1,7.5,530,9361,0.10,2.40,105.88,0.814,10916,0.162,0.055,3120,1204,1114,1166,1063,0,0,0,0,0,0,14.65,14.34,13.97
$GC,9429,1.54,424.2,3120,1203,1155,1056,9.2,9.4,556,9447,0.00,2.40,5.15,0.147,9382,0.000,0.058,3119,2590,1062,1116,1008,0,0,0,0,0,0,14.53,14.48,14.42
$STATE,9498,end climb,SURFACE_DEPTH_REACHED
$STATE,9498,begin surface coast
$FINISH,0.1,1.022086
$STATE,9526,end surface coast,CONTROL_FINISHED_OK
$STATE,9526,begin surface
$SM_CCo,9555,79.20,0.125,0,0,441,576.95
$SM_GC,1.02,8.75,0.30,79.20,0.082,0.061,0.125,79,2373,441,-12.40,1.58,576.95,0,0,0,0,0,0,14.62,14.66,14.57
$IRIDIUM_FIX,1113.05,-12455.20,300817,023932
$TT8_MAMPS,0.035952,0.35203
$HUMID,42.87
$INTERNAL_PRESSURE,8.66569
$TCM_TEMP,23.20
$XPDR_PINGS,10
$SC_FREEKB,3907840
$TM_FREEKB,7722464
$PM_FREEKB,62024960
$24V_AH,13.70,5.536
$10V_AH,13.84,0.000
$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,25.400,89.575,1073.000,79.200,0.000,0.000,0.000,338.050,2.500,0.000,23.569,0.000,6990.913,1211.384,1797.945,156.169,0.000,2258.436,0.000,956.585,0.000,0.539,0.000
$DEVICE_MAMPS,427.635,156.060,1254.600,124.695,0.000,0.000,0.000,162.945,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9525.000,9539.000,9516.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.604,19.294,3.773,0.000
$MEM,303848
$DATA_FILE_SIZE,20085,561
$CAP_FILE_SIZE,90247,0
$CFSIZE,260165632,254271488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,81.92,1
$GPS,300817,081154,1109.863,-12456.438,41,1.4,44,9.2,1.1,70.1,7,9.7