version: 66.13
glider: 144
mission: 6
dive: 382
start: 11 6 117 7 51 25
data:
$ID,144
$MISSION,6
$DIVE,382
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,360
$D_ABORT,900
$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,120
$T_MISSION,160
$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,500
$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,2600
$C_ROLL_CLIMB,2840
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,2900
$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,3
$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,300.0
$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,1.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,061117,074401,949.8711,-12505.1250,9,0.7,40,9.1,0.0,134.2,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.5
$GPS2,061117,075105,949.8513,-12505.0889,9,0.8,9,9.1,0.0,0.0,10,7.1
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,32.4,319,-27.2,-10.000,-30.00,972
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.88,-63.6,60,2610,873,830,0.0,0.0,0,113,0.00,0.00,-76.40,0.000,16390,0.000,0.000,57,2609,3161,3176,3146,0,0,0,0,0,0,14.82,12.74,14.85
$GC,117,-0.88,-63.6,58,2610,3178,3148,7.5,-11.0,3,146,12.90,2.35,0.00,0.000,2564,0.420,0.022,2597,1160,3164,3180,3149,0,0,0,0,0,0,14.11,14.51,14.38
$GC,231,-1.31,-65.1,2597,1161,3185,3149,39.6,-9.8,19,245,0.30,2.50,0.00,0.000,5286,0.088,0.051,2480,2595,3167,3185,3149,0,0,0,0,0,0,14.61,14.58,14.69
$GC,576,-1.47,-87.7,2481,2595,3189,3149,79.4,-7.6,34,589,0.00,2.35,0.00,0.000,420,0.000,0.065,2471,3986,3168,3188,3149,0,0,0,0,0,0,14.95,14.62,14.97
$GC,737,-1.63,-94.0,2472,3987,3190,3149,94.9,-9.3,56,751,0.12,2.20,0.00,0.000,5286,0.130,0.024,2415,2571,3169,3189,3149,0,0,0,0,0,0,14.68,14.77,14.77
$GC,1094,-1.66,-94.0,2416,2569,3191,3149,135.2,-11.5,65,1107,0.00,2.22,0.00,0.000,644,0.000,0.035,2416,1211,3169,3190,3149,0,0,0,0,0,0,15.00,14.73,15.04
$GC,1183,-1.76,-94.0,2416,1212,3191,3149,145.5,-11.6,77,1196,0.00,2.40,0.00,0.000,1158,0.000,0.050,2406,2611,3170,3190,3150,0,0,0,0,0,0,14.79,14.69,14.82
$GC,1552,-1.80,-94.0,2406,2610,3191,3149,193.7,-13.2,87,1565,0.00,2.30,0.00,0.000,644,0.000,0.034,2406,1218,3169,3190,3149,0,0,0,0,0,0,15.02,14.73,15.04
$GC,1677,-1.89,-94.0,2406,1219,3191,3149,209.8,-13.0,104,1690,0.10,2.38,0.00,0.000,5254,0.163,0.053,2367,2599,3170,3190,3151,0,0,0,0,0,0,14.64,14.69,14.76
$GC,2012,-1.85,-94.0,2367,2598,3187,3148,261.3,-15.6,116,2025,0.00,2.30,0.00,0.000,644,0.000,0.034,2366,1212,3167,3186,3148,0,0,0,0,0,0,15.02,14.73,15.05
$GC,2143,-1.85,-94.0,2367,1212,3186,3149,280.3,-14.1,134,2157,0.12,2.40,0.00,0.000,3078,0.324,0.053,2381,2603,3167,3185,3149,0,0,0,0,0,0,14.30,14.68,14.61
$GC,2471,-1.85,-94.0,2381,2602,3181,3147,327.9,-14.6,145,2484,0.00,2.30,0.00,0.000,516,0.000,0.034,2381,1215,3163,3181,3146,0,0,0,0,0,0,15.03,14.72,15.05
$GC,2619,-1.93,-94.0,2381,1216,3181,3147,347.8,-13.4,165,2632,0.00,2.40,0.00,0.000,1158,0.000,0.053,2374,2603,3163,3179,3147,0,0,0,0,0,0,14.78,14.67,14.81
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2712,-0.15,0.0,2376,2855,3180,3145,361.4,-15.1,170,2779,1.48,0.00,56.42,1.325,10246,0.269,0.000,2752,2854,2899,2937,2861,0,0,0,0,0,0,14.17,14.44,13.55
$STATE,2780,end apogee,CONTROL_FINISHED_OK
$STATE,2780,begin climb
$GC,2784,0.92,94.0,2753,2855,2935,2855,362.8,0.0,171,2881,0.70,0.00,81.47,1.315,10246,0.062,0.000,3007,2855,2512,2592,2432,0,0,0,0,0,0,14.53,14.23,13.44
$GC,3214,0.64,94.0,3007,2855,2585,2421,331.9,11.5,179,3228,0.32,2.35,0.00,0.000,4740,0.350,0.035,2946,1453,2501,2583,2420,0,0,0,0,0,0,14.12,14.50,14.36
$GC,3270,0.57,104.1,2946,1452,2581,2419,326.5,8.9,186,3290,0.15,2.40,8.23,1.226,13478,0.307,0.050,2917,2836,2475,2558,2393,0,0,0,0,0,0,14.22,14.63,13.69
$GC,3630,0.52,119.0,2917,2835,2552,2384,296.8,8.4,200,3654,0.00,2.35,15.15,1.226,8868,0.000,0.038,2925,1460,2410,2492,2328,0,0,0,0,0,0,14.91,14.62,13.74
$GC,3696,0.53,131.0,2925,1460,2487,2327,290.4,8.7,211,3716,0.00,2.40,12.80,1.213,9254,0.000,0.050,2925,2846,2361,2439,2283,0,0,0,0,0,0,14.69,14.61,13.71
$GC,4066,0.47,131.0,2925,2845,2434,2277,248.7,11.4,222,4074,0.15,2.33,0.00,0.000,4740,0.314,0.037,2904,1451,2354,2433,2276,0,0,0,0,0,0,14.23,14.63,14.58
$GC,4116,0.53,135.2,2905,1452,2428,2277,243.8,9.6,229,4124,0.00,2.42,0.00,0.000,1190,0.000,0.050,2905,2839,2352,2429,2276,0,0,0,0,0,0,14.69,14.60,14.71
$GC,4458,0.53,135.2,2904,2838,2428,2275,209.1,10.1,236,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2838,2351,2428,2274,0,0,0,0,0,0,14.92,14.95,14.95
$GC,4794,0.53,135.2,2905,2838,2426,2273,174.2,10.4,242,4802,0.00,2.33,0.00,0.000,516,0.000,0.038,2913,1450,2349,2425,2273,0,0,0,0,0,0,14.93,14.62,14.95
$GC,4864,0.58,135.2,2914,1451,2422,2273,167.3,10.0,252,4871,0.00,2.42,0.00,0.000,1158,0.000,0.050,2913,2844,2347,2421,2273,0,0,0,0,0,0,14.69,14.60,14.72
$GC,5187,0.58,139.1,2914,2843,2422,2273,135.8,9.6,263,5200,0.00,1.98,4.72,1.043,8484,0.000,0.067,2913,3993,2332,2405,2259,0,0,0,0,0,0,14.92,14.55,13.43
$GC,5221,0.51,139.1,2914,3991,2407,2260,132.0,10.9,268,5228,0.00,1.83,0.00,0.000,1158,0.000,0.028,2921,2842,2332,2406,2259,0,0,0,0,0,0,14.72,14.69,14.74
$GC,5579,0.49,143.8,2921,2842,2407,2259,96.8,9.5,277,5594,0.12,2.33,6.60,1.056,12964,0.324,0.037,2906,1450,2310,2383,2238,0,0,0,0,0,0,14.26,14.47,13.77
$GC,5648,0.60,163.4,2907,1450,2379,2237,91.3,7.9,287,5678,0.00,2.42,21.98,1.036,9382,0.000,0.050,2906,2838,2230,2299,2161,0,0,0,0,0,0,14.65,14.57,13.81
$GC,6002,0.69,201.4,2907,2838,2296,2153,65.0,6.0,304,6049,0.12,2.35,38.67,0.988,10916,0.135,0.039,2970,1455,2075,2141,2009,0,0,0,0,0,0,14.58,14.50,13.79
$GC,6229,0.83,270.6,2970,1456,2129,2003,52.5,2.7,337,6307,0.00,2.42,67.38,0.945,9382,0.000,0.049,2970,2846,1792,1851,1734,0,0,0,0,0,0,14.62,14.53,13.73
$GC,6618,1.01,321.2,2970,2846,1842,1726,36.0,4.7,359,6673,0.12,1.92,46.85,0.890,10660,0.141,0.063,3025,3988,1584,1632,1537,0,0,0,0,0,0,14.55,14.26,13.79
$GC,6723,1.04,321.2,3028,3989,1625,1537,28.1,10.1,374,6731,0.00,1.80,0.00,0.000,1158,0.000,0.029,3033,2848,1580,1624,1537,0,0,0,0,0,0,14.59,14.54,14.61
$STATE,7033,end climb,SURFACE_DEPTH_REACHED
$STATE,7033,begin surface coast
$FINISH,0.0,0.998473
$STATE,7061,end surface coast,CONTROL_FINISHED_OK
$STATE,7061,begin surface
$SM_CCo,7087,68.93,0.116,0,0,861,500.17
$SM_GC,1.05,8.62,0.35,68.93,0.083,0.044,0.116,83,2561,861,-12.36,1.95,500.17,0,0,0,0,0,0,14.62,14.74,14.47
$IRIDIUM_FIX,947.01,-12505.80,061117,054451
$TT8_MAMPS,0.035203,0.346038
$HUMID,48.07
$INTERNAL_PRESSURE,8.70475
$TCM_TEMP,22.80
$XPDR_PINGS,11
$SC_FREEKB,3763808
$TM_FREEKB,0
$24V_AH,12.74,171.053
$10V_AH,12.81,0.000
$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,25.350,64.925,360.275,68.925,0.000,0.000,0.000,222.500,2.750,0.000,11.166,0.000,5526.832,560.706,1216.409,278.590,0.000,1309.281,0.000,560.658,0.000,0.539,0.000
$DEVICE_MAMPS,419.985,71.910,1324.980,116.280,0.000,0.000,0.000,138.465,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7053.000,3588.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.939,17.560,0.000,0.000
$MEM,303388
$DATA_FILE_SIZE,13441,387
$CAP_FILE_SIZE,69882,0
$CFSIZE,260165632,211300352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.043,244.92,1
$GPS,061117,095134,950.135,-12504.906,12,0.7,13,9.1,0.0,0.0,11,7.7