version: 66.13
glider: 144
mission: 6
dive: 387
start: 11 6 117 18 19 45
data:
$ID,144
$MISSION,6
$DIVE,387
$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,74
$R_STBD_OVSHOOT,29
$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
$GPS1,061117,181231,949.6997,-12505.1699,5,0.7,28,9.1,0.0,128.7,10,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-76.6
$GPS2,061117,181925,949.7116,-12505.1592,7,0.8,7,9.1,0.0,0.0,10,10.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,30.4,608,-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,-63.6,57,2585,873,836,0.0,0.0,0,113,0.00,0.00,-76.22,0.000,16390,0.000,0.000,56,2585,3162,3179,3146,0,0,0,0,0,0,14.85,12.74,14.87
$GC,116,-0.88,-63.6,57,2586,3180,3152,7.6,-11.2,3,145,12.93,2.33,0.00,0.000,2308,0.423,0.037,2577,4005,3164,3179,3149,0,0,0,0,0,0,14.13,14.54,14.40
$GC,213,-1.16,-63.6,2578,4006,3186,3149,45.6,-14.3,17,227,0.15,2.20,0.00,0.000,5254,0.112,0.025,2509,2604,3167,3186,3148,0,0,0,0,0,0,14.64,14.69,14.71
$GC,543,-1.38,-85.1,2510,2602,3190,3149,81.4,-7.7,30,557,0.00,2.35,0.00,0.000,420,0.000,0.066,2500,3987,3169,3189,3149,0,0,0,0,0,0,14.96,14.64,14.99
$GC,612,-1.61,-111.3,2501,3987,3191,3149,86.6,-7.2,39,626,0.20,2.17,0.00,0.000,5286,0.102,0.024,2418,2581,3169,3190,3148,0,0,0,0,0,0,14.71,14.78,14.79
$GC,975,-1.64,-111.3,2418,2583,3194,3149,128.5,-12.2,50,988,0.00,2.22,0.00,0.000,644,0.000,0.034,2418,1208,3171,3193,3149,0,0,0,0,0,0,15.02,14.71,15.04
$GC,1183,-1.74,-111.3,2419,1209,3194,3149,153.8,-12.0,79,1196,0.00,2.38,0.00,0.000,1158,0.000,0.051,2408,2599,3170,3192,3149,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1545,-1.79,-111.3,2409,2599,3193,3149,199.6,-12.8,88,1559,0.00,2.28,0.00,0.000,644,0.000,0.034,2408,1213,3170,3193,3148,0,0,0,0,0,0,15.06,14.73,15.07
$GC,1635,-1.90,-111.3,2409,1214,3194,3149,211.6,-13.3,100,1649,0.10,2.40,0.00,0.000,5254,0.169,0.053,2368,2604,3171,3193,3149,0,0,0,0,0,0,14.64,14.69,14.78
$GC,2005,-1.86,-111.3,2368,2603,3190,3149,271.9,-16.3,110,2018,0.00,2.30,0.00,0.000,644,0.000,0.034,2368,1205,3169,3189,3149,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2123,-1.90,-111.3,2368,1205,3189,3149,289.4,-14.6,126,2136,0.00,2.40,0.00,0.000,1158,0.000,0.054,2360,2605,3168,3188,3149,0,0,0,0,0,0,14.81,14.71,14.83
$GC,2464,-1.86,-111.3,2360,2605,3185,3147,343.8,-16.0,139,2478,0.12,2.30,0.00,0.000,2692,0.340,0.033,2387,1213,3165,3184,3147,0,0,0,0,0,0,14.31,14.62,14.50
$STATE,2586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2589,begin apogee
$GC,2598,-0.15,0.0,2378,2844,3183,3147,360.8,-12.8,156,2665,1.45,0.00,56.08,1.320,10246,0.261,0.000,2756,2844,2899,2939,2860,0,0,0,0,0,0,14.22,14.45,13.56
$STATE,2666,end apogee,CONTROL_FINISHED_OK
$STATE,2666,begin climb
$GC,2669,0.94,111.3,2756,2844,2938,2856,362.3,0.0,157,2776,0.70,0.00,95.12,1.314,10502,0.061,0.000,3013,2844,2443,2526,2360,0,0,0,0,0,0,14.55,14.24,13.47
$GC,3093,0.66,111.3,3013,2844,2514,2348,322.6,14.5,172,3107,0.35,0.00,0.00,0.000,4230,0.350,0.000,2940,2844,2430,2513,2347,0,0,0,0,0,0,14.16,14.65,14.57
$GC,3440,0.55,111.3,2940,2844,2513,2343,285.2,10.8,178,3443,0.15,0.00,0.00,0.000,4230,0.346,0.000,2911,2843,2427,2512,2343,0,0,0,0,0,0,14.27,14.69,14.62
$GC,3766,0.51,122.7,2911,2844,2511,2340,254.8,8.8,184,3777,0.00,0.00,8.45,1.180,8358,0.000,0.000,2911,2843,2399,2483,2315,0,0,0,0,0,0,14.94,14.60,13.78
$GC,4101,0.48,130.4,2911,2844,2476,2308,224.6,9.2,190,4116,0.00,2.30,7.95,1.165,8868,0.000,0.038,2919,1455,2364,2446,2283,0,0,0,0,0,0,14.93,14.39,13.78
$GC,4157,0.49,136.6,2919,1456,2441,2283,219.3,9.3,198,4172,0.00,2.40,6.47,1.155,9254,0.000,0.051,2918,2846,2339,2418,2261,0,0,0,0,0,0,14.73,14.64,13.75
$GC,4493,0.45,136.6,2920,2845,2414,2259,184.6,10.3,211,4501,0.15,1.90,0.00,0.000,4484,0.306,0.066,2888,3990,2335,2412,2259,0,0,0,0,0,0,14.25,14.57,14.56
$GC,4570,0.41,136.6,2889,3988,2412,2259,176.5,10.1,222,4577,0.00,1.83,0.00,0.000,1158,0.000,0.028,2895,2830,2336,2411,2261,0,0,0,0,0,0,14.65,14.62,14.66
$GC,4886,0.42,147.4,2896,2828,2412,2258,148.5,8.9,232,4906,0.00,2.33,11.10,1.108,8740,0.000,0.041,2906,1461,2294,2368,2221,0,0,0,0,0,0,14.92,14.64,13.83
$GC,4997,0.52,160.5,2905,1462,2362,2220,138.7,8.6,248,5018,0.00,2.40,14.35,1.084,9382,0.000,0.051,2905,2841,2242,2312,2173,0,0,0,0,0,0,14.69,14.61,13.83
$GC,5334,0.55,163.1,2906,2841,2308,2166,105.4,9.7,261,5336,0.00,0.00,0.00,0.000,166,0.000,0.000,2905,2841,2236,2307,2166,0,0,0,0,0,0,14.89,14.92,14.91
$GC,5641,0.65,193.2,2906,2841,2307,2165,81.2,6.8,270,5684,0.10,2.38,32.75,1.007,10916,0.157,0.039,2956,1463,2108,2172,2044,0,0,0,0,0,0,14.60,14.58,13.87
$GC,5712,0.74,240.8,2956,1463,2169,2042,77.9,5.0,280,5769,0.00,2.40,47.40,0.975,9382,0.000,0.050,2956,2848,1914,1979,1849,0,0,0,0,0,0,14.64,14.56,13.72
$GC,6092,0.91,306.6,2956,2848,1972,1835,54.6,3.0,301,6160,0.12,1.92,61.30,0.919,10660,0.142,0.064,3010,3987,1645,1694,1596,0,0,0,0,0,0,14.57,14.25,13.79
$GC,6212,0.81,306.6,3010,3988,1686,1597,44.4,12.5,318,6218,0.22,1.77,0.00,0.000,5254,0.331,0.028,2971,2856,1640,1685,1596,0,0,0,0,0,0,14.11,14.53,14.45
$GC,6539,1.09,357.4,2969,2854,1684,1592,24.4,4.6,332,6588,0.20,2.40,39.88,0.845,10916,0.110,0.040,3055,1447,1436,1488,1385,0,0,0,0,0,0,14.61,14.52,13.90
$STATE,6746,end climb,SURFACE_DEPTH_REACHED
$STATE,6746,begin surface coast
$FINISH,2.2,1.022425
$STATE,6753,end surface coast,CONTROL_FINISHED_OK
$STATE,6753,begin surface
$SM_CCo,6781,56.40,0.117,0,0,860,500.17
$SM_GC,1.42,8.88,2.03,56.40,0.099,0.044,0.117,80,2605,860,-12.38,-0.93,500.17,0,0,0,0,0,0,14.59,14.60,14.48
$IRIDIUM_FIX,951.19,-12502.75,061117,161018
$TT8_MAMPS,0.035203,0.452396
$HUMID,49.72
$INTERNAL_PRESSURE,8.72428
$TCM_TEMP,22.90
$XPDR_PINGS,11
$SC_FREEKB,3761888
$TM_FREEKB,0
$24V_AH,12.74,172.025
$10V_AH,12.85,0.000
$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,25.825,54.275,380.850,56.400,0.000,0.000,0.000,216.500,2.750,0.000,7.971,0.000,5277.867,543.477,1170.026,263.963,0.000,1249.250,0.000,526.484,0.000,0.539,0.000
$DEVICE_MAMPS,423.045,65.790,1320.390,117.045,0.000,0.000,0.000,140.760,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6751.000,3482.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.894,17.595,0.000,0.000
$MEM,303380
$DATA_FILE_SIZE,13493,363
$CAP_FILE_SIZE,66182,0
$CFSIZE,260165632,211017728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$CURRENT,0.039,335.31,1
$GPS,061117,201430,950.287,-12504.971,5,1.0,8,9.1,0.0,0.0,9,9.9