version: 66.13
glider: 144
mission: 6
dive: 8
start: 8 30 117 8 20 39
data:
$ID,144
$MISSION,6
$DIVE,8
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,600
$D_ABORT,750
$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,200
$T_MISSION,250
$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,2800
$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,2600
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,78
$R_STBD_OVSHOOT,47
$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
$GPS1,300817,081154,1109.8632,-12456.4385,41,1.4,44,9.2,1.1,70.1,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.2
$GPS2,300817,082019,1109.8798,-12456.3447,5,0.9,15,9.2,0.0,118.2,8,8.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.7,109107,-17.6,-10.000,-21.24,2209
$D_GRID,600
$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,-146.0,1,2635,436,466,0.0,0.0,0,122,0.00,0.00,-100.07,0.000,16390,0.000,0.000,0,2635,3393,3413,3374,0,0,0,0,0,0,14.83,13.80,14.86
$GC,124,-0.70,-146.0,1,2635,3413,3375,2.4,-2.2,3,146,13.43,0.00,0.00,0.000,2822,0.440,0.000,2637,2635,3393,3413,3374,0,0,0,0,0,0,14.43,14.68,14.62
$GC,438,-0.58,-146.0,2637,2635,3414,3374,85.5,-13.1,18,448,0.15,2.25,0.00,0.000,2692,0.296,0.039,2671,1213,3393,3413,3374,0,0,0,0,0,0,14.64,14.79,14.81
$GC,459,-0.58,-146.0,2671,1213,3414,3374,87.7,-10.1,21,469,0.00,2.30,0.00,0.000,1030,0.000,0.058,2667,2576,3393,3413,3374,0,0,0,0,0,0,14.81,14.76,14.83
$GC,775,-0.58,-146.0,2667,2576,3414,3374,111.0,-8.1,31,783,0.00,2.40,0.00,0.000,292,0.000,0.077,2663,3995,3393,3413,3374,0,0,0,0,0,0,15.00,14.81,15.02
$GC,991,-0.70,-146.0,2664,3995,3413,3374,127.3,-7.5,62,1003,0.00,2.20,0.00,0.000,1190,0.000,0.031,2662,2615,3393,3412,3374,0,0,0,0,0,0,14.90,14.87,14.91
$GC,1335,-0.79,-146.0,2664,2615,3413,3372,151.8,-7.0,69,1343,0.12,2.22,0.00,0.000,4772,0.138,0.041,2609,1204,3392,3412,3372,0,0,0,0,0,0,14.88,14.88,14.93
$GC,1551,-0.79,-146.0,2609,1203,3410,3372,171.7,-9.4,100,1562,0.08,2.38,0.00,0.000,3110,0.260,0.060,2622,2603,3391,3410,3372,0,0,0,0,0,0,14.74,14.85,14.85
$GC,1896,-0.82,-146.0,2623,2604,3409,3368,201.9,-8.9,107,1903,0.00,2.33,0.00,0.000,420,0.000,0.079,2614,3986,3387,3408,3367,0,0,0,0,0,0,15.04,14.85,15.08
$GC,1951,-0.82,-146.0,2614,3986,3407,3368,207.2,-9.6,115,1959,0.00,2.17,0.00,0.000,1062,0.000,0.034,2614,2603,3386,3406,3367,0,0,0,0,0,0,14.96,14.91,14.97
$GC,2287,-0.82,-146.0,2614,2600,3406,3364,237.1,-8.7,128,2295,0.00,2.20,0.00,0.000,548,0.000,0.045,2614,1206,3384,3405,3364,0,0,0,0,0,0,15.04,14.88,15.08
$GC,2356,-0.87,-146.0,2614,1207,3405,3364,243.3,-8.9,138,2366,0.00,2.38,0.00,0.000,1190,0.000,0.063,2611,2604,3384,3404,3364,0,0,0,0,0,0,14.91,14.87,14.94
$GC,2679,-0.87,-146.0,2611,2605,3403,3361,273.7,-9.5,149,2684,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2605,3383,3402,3364,0,0,0,0,0,0,15.04,15.08,15.07
$GC,3015,-0.87,-146.0,2612,2605,3401,3358,305.0,-9.3,155,3019,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2605,3379,3400,3358,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3351,-0.87,-146.0,2611,2605,3399,3356,335.5,-9.0,161,3355,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2604,3376,3398,3355,0,0,0,0,0,0,15.06,15.09,15.09
$GC,3687,-0.87,-146.0,2612,2609,3397,3354,365.4,-8.9,167,3691,0.00,0.00,0.00,0.000,38,0.000,0.000,2611,2604,3375,3396,3354,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4023,-0.90,-146.0,2611,2605,3394,3351,395.0,-8.8,173,4027,0.00,0.00,0.00,0.000,166,0.000,0.000,2611,2604,3372,3394,3351,0,0,0,0,0,0,15.06,15.09,15.09
$GC,4360,-0.93,-146.0,2612,2605,3393,3349,424.4,-8.7,179,4364,0.00,0.00,0.00,0.000,166,0.000,0.000,2611,2605,3371,3393,3349,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4695,-0.96,-146.0,2612,2605,3392,3347,452.9,-8.4,185,4703,0.00,2.28,0.00,0.000,676,0.000,0.051,2611,1205,3368,3390,3347,0,0,0,0,0,0,15.05,14.89,15.09
$GC,4729,-1.03,-146.0,2611,1204,3391,3347,455.8,-8.4,190,4739,0.10,2.40,0.00,0.000,5286,0.098,0.068,2561,2601,3368,3390,3347,0,0,0,0,0,0,14.86,14.85,14.91
$GC,5088,-0.95,-146.0,2559,2602,3389,3345,496.0,-11.4,199,5096,0.15,2.25,0.00,0.000,2692,0.317,0.050,2593,1211,3365,3388,3343,0,0,0,0,0,0,14.72,14.87,14.91
$GC,5129,-0.99,-146.0,2593,1210,3389,3345,500.3,-9.8,205,5138,0.00,2.38,0.00,0.000,1190,0.000,0.067,2586,2596,3366,3388,3344,0,0,0,0,0,0,14.90,14.84,14.92
$GC,5480,-0.99,-146.0,2586,2596,3388,3343,535.2,-9.9,213,5488,0.00,2.38,0.00,0.000,292,0.000,0.086,2576,3990,3364,3387,3342,0,0,0,0,0,0,15.04,14.84,15.07
$GC,5514,-0.94,-146.0,2577,3990,3387,3342,539.0,-11.1,218,5524,0.00,2.25,0.00,0.000,1158,0.000,0.039,2577,2606,3363,3385,3342,0,0,0,0,0,0,14.92,14.89,14.94
$GC,5872,-0.91,-146.0,2577,2607,3386,3341,577.8,-10.9,227,5880,0.10,2.25,0.00,0.000,2692,0.331,0.051,2595,1203,3363,3386,3340,0,0,0,0,0,0,14.70,14.87,14.90
$GC,5928,-0.97,-146.0,2595,1203,3386,3341,583.4,-9.6,235,5936,0.00,2.38,0.00,0.000,1190,0.000,0.067,2588,2615,3363,3386,3341,0,0,0,0,0,0,14.93,14.85,14.95
$STATE,6094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6094,begin apogee
$GC,6098,-0.15,0.0,2588,2815,3385,3340,600.2,-10.1,245,6451,0.65,0.00,346.00,1.188,10246,0.247,0.000,2766,2817,2794,2884,2705,0,0,0,0,0,0,14.70,14.16,13.67
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6456,0.70,146.0,2767,2817,2879,2697,611.1,0.0,251,6835,0.57,2.50,359.33,1.111,11012,0.111,0.054,2964,1409,2194,2290,2099,0,0,0,0,0,0,14.25,14.16,13.71
$GC,6860,0.66,146.0,2964,1409,2273,2088,573.8,11.6,284,6869,0.00,2.45,0.00,0.000,1158,0.000,0.066,2964,2783,2178,2270,2087,0,0,0,0,0,0,14.33,14.27,14.34
$GC,7211,0.57,146.0,2964,2783,2261,2084,528.7,13.0,292,7220,0.17,2.08,0.00,0.000,4484,0.291,0.083,2926,3993,2172,2260,2084,0,0,0,0,0,0,14.54,14.64,14.72
$GC,7308,0.54,146.0,2926,3993,2259,2084,517.3,11.0,306,7318,0.00,1.95,0.00,0.000,1158,0.000,0.041,2932,2805,2170,2257,2084,0,0,0,0,0,0,14.75,14.71,14.76
$GC,7659,0.56,162.1,2933,2804,2258,2082,484.4,9.3,314,7675,0.00,2.35,5.47,1.197,8740,0.000,0.057,2940,1407,2133,2224,2042,0,0,0,0,0,0,14.93,14.73,14.07
$GC,7728,0.65,194.9,2940,1407,2225,2045,478.3,8.5,324,7844,0.00,2.40,107.65,1.112,9382,0.000,0.067,2940,2798,2000,2090,1910,0,0,0,0,0,0,14.78,14.73,13.83
$GC,8157,0.68,194.9,2940,2798,2066,1891,435.7,10.2,350,8166,0.00,2.33,0.00,0.000,644,0.000,0.054,2942,1404,1977,2065,1890,0,0,0,0,0,0,14.82,14.66,14.85
$GC,8199,0.78,209.8,2943,1405,2064,1891,431.6,9.3,356,8224,0.05,2.42,14.30,1.312,11430,0.123,0.067,2987,2801,1937,2024,1851,0,0,0,0,0,0,14.68,14.66,14.09
$GC,8552,0.70,209.8,2988,2801,2007,1840,382.3,14.3,371,8560,0.12,2.03,0.00,0.000,4484,0.307,0.081,2957,3986,1922,2006,1839,0,0,0,0,0,0,14.57,14.71,14.71
$GC,8600,0.66,209.8,2957,3987,2005,1839,375.2,14.0,378,8611,0.00,1.95,0.00,0.000,1158,0.000,0.041,2964,2800,1922,2004,1840,0,0,0,0,0,0,14.78,14.76,14.81
$GC,8944,0.66,209.8,2964,2800,2004,1839,333.0,12.2,385,8952,0.00,2.28,0.00,0.000,516,0.000,0.054,2972,1401,1921,2003,1839,0,0,0,0,0,0,14.95,14.78,14.97
$GC,9006,0.70,209.8,2972,1403,2003,1839,325.8,11.0,394,9016,0.00,2.38,0.00,0.000,1158,0.000,0.067,2972,2808,1920,2002,1838,0,0,0,0,0,0,14.85,14.77,14.88
$GC,9336,0.70,209.8,2972,2809,2003,1837,285.8,12.1,406,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2808,1919,2002,1837,0,0,0,0,0,0,14.97,15.01,15.00
$GC,9672,0.70,209.8,2972,2809,2003,1837,244.4,12.4,412,9680,0.00,2.33,0.00,0.000,516,0.000,0.054,2978,1393,1919,2002,1836,0,0,0,0,0,0,14.98,14.82,15.01
$GC,9706,0.70,209.8,2978,1393,2003,1837,240.2,12.3,417,9716,0.08,2.42,0.00,0.000,5126,0.215,0.067,2956,2804,1921,2002,1840,0,0,0,0,0,0,14.69,14.79,14.81
$GC,10064,0.70,209.8,2956,2802,2002,1836,198.3,11.7,426,10073,0.00,2.30,0.00,0.000,516,0.000,0.054,2964,1404,1918,2001,1835,0,0,0,0,0,0,14.99,14.82,15.02
$GC,10092,0.75,209.8,2965,1402,2002,1835,195.0,11.4,430,10102,0.00,2.40,0.00,0.000,1158,0.000,0.067,2964,2801,1918,2001,1836,0,0,0,0,0,0,14.84,14.79,14.87
$GC,10457,0.75,209.8,2963,2801,2002,1836,151.7,11.6,440,10466,0.00,2.03,0.00,0.000,260,0.000,0.084,2964,3989,1918,2001,1835,0,0,0,0,0,0,14.99,14.79,15.02
$GC,10477,0.75,209.8,2964,3989,2001,1836,149.0,11.7,443,10486,0.00,1.95,0.00,0.000,1030,0.000,0.040,2971,2798,1917,2000,1835,0,0,0,0,0,0,14.87,14.83,14.88
$GC,10793,0.75,209.8,2970,2794,2001,1836,113.5,11.0,453,10801,0.00,2.28,0.00,0.000,516,0.000,0.054,2980,1395,1917,1999,1835,0,0,0,0,0,0,14.99,14.83,15.02
$GC,10849,0.83,227.5,2978,1395,2001,1836,108.2,9.2,461,10885,0.00,2.38,25.50,1.000,9382,0.000,0.066,2980,2806,1864,1948,1781,0,0,0,0,0,0,14.88,14.80,14.23
$GC,11214,0.96,286.8,2978,2807,1934,1770,74.8,7.2,479,11362,0.12,2.40,138.62,0.924,11172,0.149,0.050,3051,1397,1620,1691,1549,0,0,0,0,0,0,14.76,14.21,13.88
$GC,11431,1.18,378.1,3051,1397,1673,1537,56.1,5.8,510,11645,0.00,2.47,203.82,0.857,9382,0.000,0.064,3051,2799,1253,1307,1200,0,0,0,0,0,0,14.48,14.42,13.81
$GC,11972,1.48,453.8,3051,2799,1286,1178,21.1,6.5,554,12107,0.22,0.00,128.98,0.793,10914,0.106,0.000,3144,2799,994,1043,945,0,0,0,0,0,0,14.64,28.83,14.69
$STATE,12107,end climb,SURFACE_DEPTH_REACHED
$STATE,12108,begin surface coast
$FINISH,1.0,1.022136
$STATE,12112,end surface coast,CONTROL_FINISHED_OK
$STATE,12112,begin surface
$SM_CCo,12141,72.50,0.125,0,0,440,576.95
$SM_GC,1.00,8.88,0.32,72.50,0.070,0.073,0.125,81,2613,440,-12.43,1.53,576.95,0,0,0,0,0,0,14.38,14.39,14.41
$IRIDIUM_FIX,1108.44,-12453.94,300817,052400
$TT8_MAMPS,0.035952,0.462133
$HUMID,41.80
$INTERNAL_PRESSURE,8.63639
$TCM_TEMP,22.90
$XPDR_PINGS,5
$SC_FREEKB,3907456
$TM_FREEKB,7684096
$PM_FREEKB,61939968
$24V_AH,13.67,6.085
$10V_AH,13.80,0.000
$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,25.000,92.500,1329.675,72.500,0.000,0.000,0.000,335.450,1.250,0.000,16.836,0.000,9212.269,1461.550,1877.480,174.823,0.000,2563.318,0.000,998.935,0.000,0.541,0.000
$DEVICE_MAMPS,439.875,92.565,1311.975,124.695,0.000,0.000,0.000,166.770,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12110.000,12125.000,12102.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.166,19.149,3.513,0.000
$MEM,303840
$DATA_FILE_SIZE,20051,574
$CAP_FILE_SIZE,98028,0
$CFSIZE,260165632,254164992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,83.45,1
$GPS,300817,114527,1108.688,-12456.653,21,1.0,33,9.2,0.0,41.5,6,10.0