version: 66.13
glider: 144
mission: 6
dive: 386
start: 11 6 117 16 14 14
data:
$ID,144
$MISSION,6
$DIVE,386
$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,88
$R_STBD_OVSHOOT,36
$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
$GPS1,061117,160649,950.1251,-12504.9736,13,0.8,35,9.1,0.0,20.4,10,5.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-77.0
$GPS2,061117,161354,950.1091,-12504.9385,7,0.8,10,9.1,0.0,31.5,11,9.4
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,189.1,231,-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,-63.6,59,2615,875,836,0.0,0.0,0,113,0.00,0.00,-76.43,0.000,16390,0.000,0.000,57,2615,3161,3178,3145,0,0,0,0,0,0,14.84,12.75,14.87
$GC,116,-0.88,-63.6,58,2616,3179,3147,7.3,-10.7,3,145,12.77,2.35,0.00,0.000,2564,0.418,0.044,2597,1239,3164,3180,3148,0,0,0,0,0,0,14.14,14.54,14.41
$GC,258,-1.31,-69.6,2598,1239,3186,3149,46.9,-9.4,23,273,0.30,2.35,-0.22,0.000,21670,0.087,0.051,2482,2597,3190,3219,3161,0,0,0,0,0,0,14.63,14.61,14.71
$GC,604,-1.47,-85.9,2482,2597,3224,3162,85.5,-8.3,38,617,0.00,2.33,0.00,0.000,420,0.000,0.066,2471,3985,3192,3222,3162,0,0,0,0,0,0,14.96,14.65,14.99
$GC,693,-1.61,-100.1,2473,3987,3224,3162,94.1,-8.5,50,707,0.12,2.10,0.00,0.000,5286,0.134,0.024,2418,2613,3192,3224,3161,0,0,0,0,0,0,14.70,14.78,14.79
$GC,1035,-1.65,-100.1,2418,2610,3227,3162,131.4,-11.3,60,1049,0.00,2.28,0.00,0.000,644,0.000,0.034,2418,1211,3193,3226,3161,0,0,0,0,0,0,15.02,14.75,15.04
$GC,1218,-1.75,-100.1,2418,1212,3226,3162,152.8,-11.8,85,1231,0.00,2.38,0.00,0.000,1158,0.000,0.050,2408,2607,3193,3226,3161,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1553,-1.80,-100.1,2408,2607,3226,3162,198.7,-13.9,97,1566,0.00,2.28,0.00,0.000,644,0.000,0.034,2408,1220,3193,3225,3162,0,0,0,0,0,0,15.02,14.76,15.05
$GC,1686,-1.91,-100.1,2409,1220,3226,3162,215.3,-12.2,115,1700,0.10,2.38,0.00,0.000,5254,0.161,0.053,2365,2606,3193,3225,3161,0,0,0,0,0,0,14.66,14.71,14.78
$GC,2015,-1.87,-100.1,2365,2606,3222,3162,269.4,-16.9,126,2028,0.00,2.28,0.00,0.000,644,0.000,0.033,2365,1220,3191,3222,3161,0,0,0,0,0,0,15.03,14.70,15.06
$GC,2138,-1.87,-100.1,2365,1221,3221,3162,289.7,-15.6,143,2153,0.12,2.38,0.00,0.000,3078,0.318,0.053,2380,2600,3190,3219,3161,0,0,0,0,0,0,14.34,14.71,14.64
$GC,2473,-1.87,-100.1,2380,2599,3215,3162,342.5,-15.7,155,2487,0.00,2.30,0.00,0.000,516,0.000,0.034,2381,1210,3187,3214,3161,0,0,0,0,0,0,15.04,14.74,15.06
$GC,2557,-1.96,-100.1,2381,1211,3215,3162,354.5,-14.1,166,2570,0.00,2.40,0.00,0.000,1158,0.000,0.054,2373,2603,3187,3214,3161,0,0,0,0,0,0,14.79,14.69,14.83
$STATE,2594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2594,begin apogee
$GC,2601,-0.15,0.0,2372,2857,3213,3161,360.5,-14.9,171,2673,1.45,0.00,60.97,1.290,10246,0.260,0.000,2752,2856,2900,2947,2854,0,0,0,0,0,0,14.22,14.45,13.57
$STATE,2674,end apogee,CONTROL_FINISHED_OK
$STATE,2674,begin climb
$GC,2677,0.92,100.1,2753,2857,2941,2848,362.1,0.0,172,2776,0.70,1.98,84.88,1.309,10500,0.063,0.063,3005,3981,2487,2571,2403,0,0,0,0,0,0,14.52,14.28,13.46
$GC,2861,0.55,100.1,3006,3981,2565,2399,358.2,12.1,194,2874,0.47,1.83,0.00,0.000,5254,0.367,0.027,2916,2808,2481,2564,2398,0,0,0,0,0,0,14.07,14.54,14.47
$GC,3224,0.48,103.3,2916,2807,2563,2389,322.5,9.7,203,3237,0.00,0.00,0.00,0.000,166,0.000,0.000,2916,2807,2475,2562,2388,0,0,0,0,0,0,14.94,14.97,14.96
$GC,3574,0.41,111.3,2916,2807,2559,2385,291.2,9.2,209,3592,0.17,0.00,8.57,1.208,12454,0.327,0.000,2880,2807,2445,2533,2358,0,0,0,0,0,0,14.29,14.62,13.76
$GC,3895,0.44,129.2,2880,2807,2527,2349,263.5,8.1,215,3916,0.00,0.00,18.23,1.196,8230,0.000,0.000,2880,2807,2372,2458,2286,0,0,0,0,0,0,14.94,14.58,13.78
$GC,4231,0.49,141.4,2880,2807,2449,2278,234.4,8.7,221,4246,0.00,0.00,12.38,1.170,8358,0.000,0.000,2880,2806,2322,2404,2240,0,0,0,0,0,0,14.91,14.57,13.78
$GC,4568,0.57,153.5,2880,2807,2394,2234,205.0,8.7,227,4588,0.12,2.28,12.48,1.144,10916,0.154,0.041,2938,1460,2269,2345,2194,0,0,0,0,0,0,14.59,14.62,13.78
$GC,4651,0.57,153.5,2938,1461,2336,2194,196.3,10.8,239,4659,0.05,2.40,0.00,0.000,5126,0.272,0.050,2914,2827,2264,2336,2193,0,0,0,0,0,0,14.28,14.57,14.59
$GC,5016,0.57,153.5,2914,2826,2334,2192,156.9,10.8,249,5022,0.00,2.28,0.00,0.000,516,0.000,0.037,2922,1462,2262,2333,2191,0,0,0,0,0,0,14.91,14.63,14.93
$GC,5064,0.61,153.5,2922,1463,2331,2192,151.5,10.9,256,5072,0.00,2.40,0.00,0.000,1158,0.000,0.050,2922,2844,2260,2330,2191,0,0,0,0,0,0,14.69,14.59,14.72
$GC,5408,0.58,153.5,2922,2844,2329,2191,114.3,10.5,263,5415,0.00,1.92,0.00,0.000,388,0.000,0.067,2922,3986,2259,2328,2191,0,0,0,0,0,0,14.92,14.57,14.95
$GC,5451,0.48,153.5,2922,3987,2329,2191,109.3,12.0,269,5457,0.17,1.77,0.00,0.000,5254,0.317,0.028,2895,2831,2259,2327,2191,0,0,0,0,0,0,14.17,14.71,14.54
$GC,5772,0.58,181.5,2895,2829,2328,2189,82.8,7.0,280,5807,0.00,2.28,27.50,1.014,8868,0.000,0.041,2904,1459,2155,2220,2090,0,0,0,0,0,0,14.91,14.59,13.85
$GC,5871,0.76,208.1,2904,1459,2214,2087,76.9,7.2,294,5905,0.17,2.40,27.33,0.995,11430,0.121,0.052,2970,2839,2048,2112,1984,0,0,0,0,0,0,14.56,14.57,13.78
$GC,6222,0.85,287.1,2970,2839,2108,1970,59.5,1.7,311,6305,0.00,2.38,74.65,0.931,8996,0.000,0.039,2979,1451,1723,1779,1667,0,0,0,0,0,0,14.85,14.42,13.77
$GC,6430,1.07,324.7,2979,1453,1773,1660,48.2,6.0,341,6474,0.15,2.42,34.60,0.911,11430,0.129,0.049,3035,2847,1572,1618,1526,0,0,0,0,0,0,14.49,14.50,13.78
$GC,6783,1.16,352.8,3035,2846,1609,1524,17.7,7.0,358,6801,0.00,1.95,11.45,0.200,8612,0.000,0.065,3035,3982,1460,1507,1413,0,0,0,0,0,0,14.83,14.48,14.25
$GC,6851,1.19,352.8,3035,3982,1505,1413,10.4,11.9,368,6857,0.00,1.77,0.00,0.000,1158,0.000,0.028,3043,2845,1458,1504,1412,0,0,0,0,0,0,14.69,14.64,14.70
$STATE,6917,end climb,SURFACE_DEPTH_REACHED
$STATE,6917,begin surface coast
$FINISH,0.1,1.016268
$STATE,6945,end surface coast,CONTROL_FINISHED_OK
$STATE,6945,begin surface
$SM_CCo,6971,57.42,0.116,0,0,860,500.17
$SM_GC,1.24,8.50,0.35,57.42,0.070,0.054,0.116,74,2590,860,-12.40,1.92,500.17,0,0,0,0,0,0,14.62,14.71,14.49
$IRIDIUM_FIX,949.15,-12505.80,061117,140121
$TT8_MAMPS,0.035203,0.280875
$HUMID,50.27
$INTERNAL_PRESSURE,8.72428
$TCM_TEMP,22.80
$XPDR_PINGS,10
$SC_FREEKB,3762272
$TM_FREEKB,0
$24V_AH,12.75,171.838
$10V_AH,12.52,0.000
$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,25.400,58.600,373.025,57.425,0.000,0.000,0.000,223.075,2.500,0.000,11.000,0.000,5382.416,544.329,1251.644,278.304,0.000,1292.638,0.000,541.046,0.000,0.539,0.000
$DEVICE_MAMPS,417.690,71.145,1308.915,115.515,0.000,0.000,0.000,141.525,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6943.000,3417.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.841,17.513,0.000,0.000
$MEM,303392
$DATA_FILE_SIZE,13456,373
$CAP_FILE_SIZE,70915,0
$CFSIZE,260165632,211070976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,300.37,1
$GPS,061117,181231,949.700,-12505.170,5,0.7,28,9.1,0.0,128.7,10,5.1