version: 66.13
glider: 144
mission: 1
dive: 4
start: 2 7 117 21 1 24
data:
$ID,144
$MISSION,1
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53744
$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,680.27417
$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,2680
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3815
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-154.35532
$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,25
$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
$GPS1,070217,205753,4742.9248,-12225.3145,2,1.0,11,16.3,0.0,182.7,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.2
$GPS2,070217,210104,4742.9053,-12225.3301,3,1.0,13,16.3,0.0,185.1,8,9.6
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,15.2,1176,-17.6,-10.000,-21.21,2209
$D_GRID,190
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-146.6,84,2712,392,422,0.0,0.0,0,177,0.00,0.00,-152.12,0.000,16390,0.000,0.000,84,2712,3699,3713,3686,0,0,0,0,0,0,14.82,13.74,14.84
$GC,179,-0.70,-146.6,85,2713,3713,3688,3.9,-8.1,27,200,12.75,0.00,0.00,0.000,2342,0.465,0.000,2519,2712,3701,3714,3688,0,0,0,0,0,0,14.39,14.64,14.57
$GC,380,-0.46,-146.6,2519,2712,3715,3687,44.1,-15.4,66,390,0.22,2.40,0.00,0.000,2692,0.346,0.050,2571,1267,3700,3714,3686,0,0,0,0,0,0,14.47,14.63,14.62
$GC,436,-0.79,-146.6,2571,1268,3715,3687,49.9,-8.5,76,445,0.22,2.50,0.00,0.000,5286,0.125,0.085,2489,2697,3700,3714,3687,0,0,0,0,0,0,14.64,14.63,14.71
$GC,626,-0.47,-146.6,2489,2698,3715,3687,78.8,-15.9,113,635,0.32,2.25,0.00,0.000,2436,0.304,0.090,2562,3989,3700,3714,3687,0,0,0,0,0,0,14.53,14.66,14.67
$GC,650,-0.40,-146.6,2562,3990,3714,3687,82.0,-12.9,117,660,0.12,2.17,0.00,0.000,3206,0.273,0.049,2589,2679,3700,3713,3687,0,0,0,0,0,0,14.57,14.68,14.73
$GC,840,-0.67,-146.6,2589,2678,3714,3687,96.4,-7.4,154,850,0.17,0.00,0.00,0.000,4262,0.132,0.000,2522,2677,3700,3714,3686,0,0,0,0,0,0,14.69,14.76,14.73
$GC,1030,-0.60,-146.6,2521,2678,3714,3686,118.7,-12.3,191,1040,0.12,2.33,0.00,0.000,2436,0.316,0.090,2541,3992,3699,3713,3686,0,0,0,0,0,0,14.54,14.69,14.69
$GC,1080,-0.73,-146.6,2541,3990,3713,3687,124.3,-10.2,200,1089,0.00,2.15,0.00,0.000,1158,0.000,0.047,2541,2691,3703,3712,3695,0,0,0,0,0,0,14.78,14.72,14.80
$GC,1269,-0.80,-146.6,2541,2690,3713,3687,144.0,-10.0,237,1278,0.12,0.00,0.00,0.000,4230,0.164,0.000,2491,2691,3699,3712,3686,0,0,0,0,0,0,14.68,14.76,14.73
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1320,-0.15,0.0,2492,2692,3712,3687,150.3,-13.4,246,1491,0.57,0.00,157.65,1.302,10246,0.293,0.000,2638,2691,3094,3147,3042,0,0,0,0,1,0,14.57,14.11,13.58
$STATE,1496,end apogee,CONTROL_FINISHED_OK
$STATE,1496,begin climb
$GC,1497,0.70,146.6,2638,2692,3142,3033,156.7,0.0,274,1680,0.70,2.50,164.15,1.181,10756,0.217,0.060,2839,1299,2492,2589,2395,0,0,0,0,0,0,14.09,14.07,13.61
$GC,1700,0.82,186.0,2839,1297,2571,2387,145.5,8.2,304,1752,0.00,2.53,40.65,1.138,9382,0.000,0.080,2839,2700,2331,2421,2242,0,0,0,0,0,0,14.25,14.16,13.66
$GC,1932,0.82,188.2,2839,2701,2401,2236,121.4,9.9,348,1941,0.00,2.28,0.00,0.000,292,0.000,0.089,2839,3993,2317,2401,2233,0,0,0,0,0,0,14.63,14.45,14.66
$GC,1991,0.72,188.2,2841,3990,2400,2234,114.2,12.4,359,2002,0.00,2.17,0.00,0.000,1158,0.000,0.054,2839,2710,2316,2399,2233,0,0,0,0,0,0,14.59,14.52,14.60
$GC,2182,0.72,188.2,2839,2709,2399,2233,95.1,10.1,396,2191,0.00,2.40,0.00,0.000,516,0.000,0.061,2839,1285,2315,2398,2232,0,0,0,0,0,0,14.76,14.58,14.78
$GC,2216,0.94,210.6,2839,1286,2395,2233,91.9,9.0,402,2250,0.15,2.47,26.42,1.158,11430,0.151,0.080,2895,2706,2240,2321,2160,0,0,0,0,0,0,14.60,14.59,13.98
$GC,2431,0.66,210.6,2894,2707,2294,2138,59.1,15.5,443,2441,0.28,2.25,0.00,0.000,4484,0.303,0.086,2827,3993,2215,2292,2138,0,0,0,0,0,0,14.45,14.56,14.57
$GC,2472,0.72,210.6,2827,3993,2292,2139,53.6,11.7,450,2481,0.00,2.20,0.00,0.000,1158,0.000,0.054,2827,2700,2214,2291,2138,0,0,0,0,0,0,14.66,14.59,14.68
$GC,2661,0.92,253.2,2827,2698,2291,2137,37.2,8.0,487,2720,0.15,2.40,48.72,1.144,10916,0.154,0.057,2889,1282,2056,2133,1980,0,0,0,0,0,0,14.62,14.31,13.92
$GC,2731,0.86,253.2,2889,1282,2122,1977,28.9,12.9,498,2740,0.10,2.53,0.00,0.000,5254,0.256,0.080,2870,2699,2047,2120,1975,0,0,0,0,0,0,14.30,14.38,14.45
$GC,2920,0.86,253.2,2869,2700,2119,1970,7.8,11.4,535,2931,0.00,2.28,0.00,0.000,260,0.000,0.089,2869,3991,2044,2119,1970,0,0,0,0,0,0,14.70,14.52,14.73
$STATE,2959,end climb,SURFACE_DEPTH_REACHED
$STATE,2959,begin surface coast
$FINISH,0.2,1.023512
$STATE,2979,end surface coast,CONTROL_FINISHED_OK
$STATE,2979,begin surface
$SM_CCo,3008,194.48,0.162,0,0,402,661.57
$SM_CCo,3205,-0.17,0.000,0,0,405,661.57
$SM_CCo,3207,0.57,0.183,0,0,401,661.57
$SM_GC,1.08,8.25,2.25,0.57,0.099,0.048,0.183,81,2680,401,-11.88,0.59,661.57,0,0,0,0,0,0,14.58,14.60,14.47
$IRIDIUM_FIX,4722.92,-12229.50,070217,205343
$TT8_MAMPS,0.035952,0.442659
$HUMID,35.86
$INTERNAL_PRESSURE,8.22622
$TCM_TEMP,15.30
$XPDR_PINGS,1
$SC_FREEKB,3908992
$TM_FREEKB,7816064
$PM_FREEKB,62276096
$24V_AH,13.58,1.533
$10V_AH,13.46,0.000
$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,24.275,42.050,437.600,195.050,0.000,0.000,0.000,0.000,0.250,0.000,14.847,0.000,970.046,712.769,1548.190,56.046,0.000,1307.099,0.000,1151.600,0.000,0.535,0.000
$DEVICE_MAMPS,465.120,90.270,1302.030,182.835,0.000,0.000,0.000,0.000,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2963.000,2968.000,2957.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.298,21.302,3.905,0.000
$MEM,193240
$DATA_FILE_SIZE,16780,546
$CAP_FILE_SIZE,85020,0
$CFSIZE,260165632,255361024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,1353.23,0x233da2,2,24
$CURRENT,0.091,241.62,1
$GPS,070217,215547,4743.166,-12225.272,2,1.0,14,16.3,0.0,0.0,8,9.7