version: 66.13
glider: 144
mission: 6
dive: 385
start: 11 6 117 14 4 59
data:
$ID,144
$MISSION,6
$DIVE,385
$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,110
$R_STBD_OVSHOOT,31
$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
$GPS1,061117,135755,949.7436,-12505.1611,3,0.8,8,9.1,0.0,32.8,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.5
$GPS2,061117,140439,949.7226,-12505.1416,6,0.8,9,9.1,0.0,126.5,10,9.9
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,28.6,575,-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,21,begin dive
$GC,24,-0.88,-63.6,69,2566,871,827,0.0,0.0,0,113,0.00,0.00,-77.15,0.000,16390,0.000,0.000,67,2566,3162,3180,3145,0,0,0,0,0,0,14.85,12.72,14.87
$GC,117,-0.88,-63.6,68,2566,3181,3147,7.0,-10.1,3,146,12.80,2.17,0.00,0.000,2564,0.420,0.028,2597,1248,3165,3183,3148,0,0,0,0,0,0,14.14,14.54,14.40
$GC,208,-1.27,-64.8,2598,1248,3189,3149,37.7,-9.9,16,221,0.28,2.35,0.00,0.000,5286,0.087,0.051,2490,2599,3168,3189,3148,0,0,0,0,0,0,14.64,14.60,14.71
$GC,545,-1.43,-75.1,2490,2599,3192,3149,79.6,-8.9,30,559,0.00,2.33,0.00,0.000,420,0.000,0.067,2481,3987,3169,3191,3148,0,0,0,0,0,0,14.96,14.59,14.99
$GC,690,-1.59,-75.1,2481,3988,3193,3149,93.5,-10.1,50,704,0.12,2.08,0.00,0.000,5254,0.135,0.023,2427,2635,3170,3192,3148,0,0,0,0,0,0,14.65,14.73,14.76
$GC,1032,-1.64,-75.1,2427,2636,3196,3149,131.6,-11.2,60,1046,0.00,2.33,0.00,0.000,644,0.000,0.034,2427,1218,3171,3195,3148,0,0,0,0,0,0,15.02,14.75,15.04
$GC,1164,-1.76,-75.1,2428,1219,3196,3149,145.6,-10.8,78,1178,0.00,2.38,0.00,0.000,1158,0.000,0.050,2417,2605,3172,3195,3149,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1492,-1.83,-75.1,2418,2604,3196,3149,185.5,-12.3,89,1505,0.10,2.30,0.00,0.000,4740,0.164,0.031,2381,1214,3171,3195,3148,0,0,0,0,0,0,14.75,14.76,14.81
$GC,1568,-1.87,-75.1,2382,1215,3196,3148,195.9,-13.8,99,1581,0.00,2.38,0.00,0.000,1158,0.000,0.050,2372,2599,3171,3195,3148,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1895,-1.84,-75.1,2372,2599,3193,3149,248.9,-16.5,110,1909,0.00,2.30,0.00,0.000,644,0.000,0.034,2372,1212,3170,3192,3148,0,0,0,0,0,0,15.04,14.70,15.07
$GC,1992,-1.87,-75.1,2372,1212,3193,3148,264.1,-15.5,123,2005,0.00,2.40,0.00,0.000,1158,0.000,0.051,2363,2606,3170,3192,3148,0,0,0,0,0,0,14.79,14.69,14.82
$GC,2354,-1.84,-75.1,2363,2606,3188,3148,322.5,-16.0,132,2368,0.12,2.30,0.00,0.000,2692,0.334,0.033,2391,1223,3167,3187,3148,0,0,0,0,0,0,14.33,14.64,14.51
$GC,2482,-1.93,-75.1,2391,1223,3186,3148,339.3,-12.7,149,2495,0.00,2.38,0.00,0.000,1158,0.000,0.054,2383,2601,3166,3185,3148,0,0,0,0,0,0,14.80,14.70,14.83
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2652,-0.15,0.0,2383,2855,3184,3145,362.6,-14.0,158,2720,1.40,0.00,56.80,1.326,10246,0.254,0.000,2752,2854,2899,2941,2857,0,0,0,0,0,0,14.23,14.45,13.56
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2721,begin climb
$GC,2724,0.89,75.1,2753,2855,2940,2853,363.5,0.0,159,2806,0.68,1.95,65.05,1.313,10500,0.067,0.064,2995,3975,2588,2663,2514,0,0,0,0,0,0,14.53,14.29,13.45
$GC,2954,0.53,80.3,2996,3975,2657,2511,357.3,9.4,194,2972,0.47,1.75,3.47,0.933,13478,0.371,0.026,2907,2839,2572,2647,2497,0,0,0,0,0,0,14.08,14.64,13.27
$GC,3331,0.49,115.8,2907,2839,2647,2492,332.4,6.2,205,3375,0.00,0.00,34.45,1.266,8870,0.000,0.000,2907,2839,2426,2512,2341,0,0,0,0,0,0,14.94,14.50,13.68
$GC,3732,0.46,121.3,2907,2839,2502,2328,297.5,9.4,218,3745,0.00,0.00,3.33,0.890,8358,0.000,0.000,2907,2839,2405,2491,2320,0,0,0,0,0,0,14.92,14.48,13.35
$GC,4052,0.42,123.2,2908,2839,2490,2320,265.0,9.8,224,4060,0.12,2.30,0.00,0.000,4772,0.326,0.039,2892,1452,2404,2489,2320,0,0,0,0,0,0,14.31,14.66,14.59
$GC,4102,0.51,138.0,2892,1452,2486,2320,260.8,8.4,231,4130,0.00,2.38,19.00,1.186,9382,0.000,0.050,2892,2830,2332,2411,2254,0,0,0,0,0,0,14.75,14.64,13.76
$GC,4444,0.54,138.0,2893,2830,2406,2248,226.1,10.3,245,4451,0.00,2.30,0.00,0.000,644,0.000,0.037,2901,1457,2326,2404,2248,0,0,0,0,0,0,14.90,14.64,14.93
$GC,4472,0.59,139.0,2901,1457,2403,2249,223.3,9.9,249,4479,0.00,2.40,0.00,0.000,1190,0.000,0.050,2902,2840,2325,2402,2249,0,0,0,0,0,0,14.70,14.61,14.73
$GC,4837,0.59,139.0,2902,2839,2402,2248,185.8,10.1,259,4843,0.00,1.92,0.00,0.000,260,0.000,0.068,2901,3986,2324,2401,2247,0,0,0,0,0,0,14.92,14.58,14.95
$GC,4899,0.51,139.0,2902,3988,2401,2248,178.7,11.3,268,4906,0.00,1.83,0.00,0.000,1158,0.000,0.028,2909,2842,2323,2400,2247,0,0,0,0,0,0,14.69,14.66,14.71
$GC,5228,0.51,139.0,2910,2839,2397,2246,145.4,10.1,280,5235,0.00,2.30,0.00,0.000,516,0.000,0.038,2918,1456,2322,2398,2246,0,0,0,0,0,0,14.93,14.62,14.96
$GC,5264,0.56,146.8,2918,1457,2395,2249,142.1,9.2,285,5278,0.00,2.40,6.80,1.089,9382,0.000,0.050,2917,2840,2300,2373,2227,0,0,0,0,0,0,14.70,14.61,13.76
$GC,5621,0.56,148.3,2919,2839,2368,2225,106.6,9.8,294,5628,0.00,2.30,0.00,0.000,548,0.000,0.036,2927,1455,2294,2365,2224,0,0,0,0,0,0,14.92,14.64,14.95
$GC,5641,0.57,162.2,2928,1455,2367,2225,104.9,8.5,297,5664,0.00,2.42,17.70,1.051,9254,0.000,0.051,2927,2847,2240,2306,2174,0,0,0,0,0,0,14.63,14.53,13.83
$GC,5979,0.60,185.6,2926,2847,2299,2160,78.4,7.5,311,6009,0.00,2.40,24.08,1.011,8740,0.000,0.036,2937,1449,2138,2201,2076,0,0,0,0,0,0,14.89,14.56,13.83
$GC,6015,0.64,215.4,2937,1450,2202,2076,76.0,6.8,316,6051,0.00,2.45,30.70,0.990,9254,0.000,0.050,2937,2854,2021,2090,1953,0,0,0,0,0,0,14.66,14.57,13.75
$GC,6368,0.80,274.9,2937,2854,2084,1935,54.9,3.7,333,6430,0.10,2.00,56.50,0.936,10660,0.151,0.069,2977,3992,1774,1834,1714,0,0,0,0,0,0,14.59,14.45,13.78
$GC,6661,0.93,336.5,2977,3992,1823,1715,38.3,3.5,375,6725,0.00,1.80,56.45,0.877,9382,0.000,0.028,2985,2822,1523,1577,1470,0,0,0,0,0,0,14.66,14.60,13.80
$GC,7034,1.17,365.5,2986,2823,1569,1468,15.9,6.9,395,7053,0.17,2.28,11.55,0.188,10916,0.111,0.039,3063,1467,1409,1460,1358,0,0,0,0,0,0,14.53,14.57,14.31
$STATE,7150,end climb,SURFACE_DEPTH_REACHED
$STATE,7150,begin surface coast
$FINISH,2.2,1.022443
$STATE,7154,end surface coast,CONTROL_FINISHED_OK
$STATE,7155,begin surface
$SM_CCo,7182,54.30,0.114,0,0,860,500.17
$SM_GC,1.34,8.52,2.00,54.30,0.066,0.049,0.114,80,2605,860,-12.37,-1.02,500.17,0,0,0,0,0,0,14.63,14.64,14.48
$IRIDIUM_FIX,951.50,-12504.01,061117,120325
$TT8_MAMPS,0.035952,0.32956
$HUMID,49.44
$INTERNAL_PRESSURE,8.73405
$TCM_TEMP,23.10
$XPDR_PINGS,16
$SC_FREEKB,3762656
$TM_FREEKB,0
$24V_AH,12.72,171.653
$10V_AH,13.67,0.000
$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,24.900,67.275,385.875,54.300,0.000,0.000,0.000,204.000,4.000,0.000,10.963,0.000,5535.035,542.453,1285.306,280.536,0.000,1305.633,0.000,597.391,0.000,0.541,0.000
$DEVICE_MAMPS,419.985,71.910,1325.745,113.985,0.000,0.000,0.000,140.760,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7175.000,3453.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.857,17.563,0.000,0.000
$MEM,303376
$DATA_FILE_SIZE,13431,413
$CAP_FILE_SIZE,73563,0
$CFSIZE,260165632,211128320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,261.69,1
$GPS,061117,160649,950.125,-12504.974,13,0.8,35,9.1,0.0,20.4,10,5.3