version: 66.13
glider: 144
mission: 6
dive: 4
start: 8 29 117 23 5 52
data:
$ID,144
$MISSION,6
$DIVE,4
$N_DIVES,8
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,270
$D_ABORT,350
$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,90
$T_MISSION,135
$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,576.75757
$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,2780
$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,1900
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$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,2795
$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,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
$GPS1,290817,230256,1111.6409,-12456.3486,5,0.7,9,9.2,0.0,171.8,11,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.8
$GPS2,290817,230533,1111.6365,-12456.3359,5,0.6,9,9.2,0.0,143.4,12,9.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,198.2,112228,-17.6,-10.000,-21.24,2209
$D_GRID,270
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.70,-146.0,81,1879,427,463,0.0,0.0,0,122,0.00,0.00,-100.78,0.000,16390,0.000,0.000,76,1881,3391,3411,3371,0,0,0,0,0,0,15.09,13.84,15.11
$GC,124,-0.70,-146.0,77,1880,3412,3371,2.3,-1.9,3,147,11.88,2.35,0.00,0.000,2308,0.409,0.047,2610,3331,3392,3412,3372,0,0,0,0,0,0,14.64,14.89,14.90
$GC,179,-0.31,-146.0,2611,3329,3414,3372,34.1,-36.1,12,189,0.30,2.28,0.00,0.000,3206,0.243,0.037,2710,1912,3393,3414,3372,0,0,0,0,0,0,14.74,14.90,14.92
$GC,509,-0.39,-146.0,2710,1910,3414,3372,74.7,-7.9,26,518,0.00,2.25,0.00,0.000,676,0.000,0.049,2710,493,3392,3413,3372,0,0,0,0,0,0,15.11,14.94,15.14
$GC,685,-0.61,-146.0,2710,493,3414,3372,85.3,-5.3,51,693,0.20,2.28,0.00,0.000,5286,0.099,0.047,2616,1907,3392,3413,3372,0,0,0,0,0,0,14.97,14.94,15.02
$GC,1014,-0.58,-146.0,2617,1910,3413,3372,110.1,-8.0,63,1022,0.15,2.25,0.00,0.000,2724,0.264,0.048,2652,497,3392,3412,3372,0,0,0,0,0,0,14.81,14.97,14.97
$GC,1251,-0.72,-146.0,2652,497,3411,3372,126.9,-6.7,97,1260,0.08,2.30,0.00,0.000,5286,0.088,0.050,2597,1894,3391,3410,3372,0,0,0,0,0,0,14.93,14.93,14.97
$GC,1574,-0.72,-146.0,2598,1896,3407,3372,154.9,-8.9,108,1582,0.10,2.30,0.00,0.000,2340,0.294,0.066,2610,3309,3388,3406,3371,0,0,0,0,0,0,14.82,14.94,14.99
$GC,1811,-0.75,-146.0,2610,3310,3406,3367,175.8,-8.6,142,1821,0.00,2.25,0.00,0.000,1190,0.000,0.036,2610,1902,3385,3405,3366,0,0,0,0,0,0,15.00,14.97,15.02
$GC,2134,-0.80,-146.0,2610,1902,3402,3366,202.8,-8.4,153,2142,0.00,2.33,0.00,0.000,420,0.000,0.069,2610,3304,3383,3401,3365,0,0,0,0,0,0,15.13,14.93,15.16
$GC,2371,-0.85,-146.0,2610,3304,3401,3361,222.2,-8.2,187,2380,0.00,2.25,0.00,0.000,1190,0.000,0.037,2610,1903,3380,3400,3360,0,0,0,0,0,0,14.98,14.95,15.00
$GC,2695,-0.92,-146.0,2610,1903,3398,3359,247.5,-7.8,198,2704,0.12,2.35,0.00,0.000,4516,0.139,0.067,2542,3310,3379,3401,3358,0,0,0,0,0,0,14.93,14.92,14.97
$STATE,2882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2882,begin apogee
$GC,2886,-0.15,0.0,2543,2761,3396,3357,270.6,-12.6,225,3017,0.73,0.00,125.78,1.247,10246,0.245,0.000,2743,2761,2793,2884,2702,0,0,0,0,0,0,14.76,14.43,13.88
$STATE,3021,end apogee,CONTROL_FINISHED_OK
$STATE,3021,begin climb
$GC,3023,0.70,146.0,2744,2761,2874,2683,273.3,0.0,227,3175,0.60,2.28,130.40,1.203,10756,0.145,0.052,2940,1402,2185,2286,2084,0,0,0,0,0,0,14.48,14.37,13.84
$GC,3214,0.79,161.3,2940,1403,2261,2076,260.3,9.3,258,3227,0.00,2.40,3.83,0.837,9382,0.000,0.060,2940,2791,2135,2229,2042,0,0,0,0,0,0,14.59,14.54,13.88
$GC,3558,0.79,161.3,2940,2792,2237,2056,225.6,10.1,265,3567,0.00,2.28,1.30,0.112,8708,0.000,0.048,2946,1391,2136,2227,2045,0,0,0,0,0,0,15.00,14.84,14.77
$GC,3592,0.85,180.2,2944,1392,2228,2045,222.3,9.1,270,3636,0.00,2.40,32.75,1.138,9382,0.000,0.060,2945,2802,2051,2144,1959,0,0,0,0,0,0,14.87,14.83,14.16
$GC,3950,0.85,180.2,2945,2803,2125,1948,184.3,10.7,286,3959,0.00,2.30,0.00,0.000,516,0.000,0.050,2949,1390,2036,2124,1948,0,0,0,0,0,0,15.01,14.88,15.05
$GC,3977,0.90,180.2,2949,1391,2124,1947,181.3,10.5,290,3988,0.05,2.40,0.00,0.000,3206,0.112,0.060,2993,2801,2035,2123,1947,0,0,0,0,0,0,14.82,14.83,14.88
$GC,4343,0.80,180.2,2993,2802,2120,1946,129.5,14.2,300,4348,0.17,0.00,0.00,0.000,4230,0.278,0.000,2953,2801,2031,2119,1944,0,0,0,0,0,0,14.74,14.97,14.95
$GC,4680,0.80,181.6,2954,2802,2120,1944,95.5,9.9,306,4689,0.00,2.03,0.00,0.000,292,0.000,0.076,2953,3987,2031,2119,1943,0,0,0,0,0,0,15.09,14.88,15.11
$GC,4708,0.80,181.6,2953,3988,2120,1944,92.4,10.7,310,4718,0.00,1.92,0.00,0.000,1030,0.000,0.040,2960,2795,2031,2118,1944,0,0,0,0,0,0,14.96,14.93,14.98
$GC,5045,1.07,314.2,2958,2796,2119,1942,70.9,3.8,325,5224,0.17,2.40,169.32,1.082,10916,0.125,0.053,3035,1406,1506,1567,1445,0,0,0,0,0,0,14.92,14.39,13.93
$GC,5397,1.34,404.1,3035,1405,1540,1433,48.5,5.8,375,5526,0.10,2.38,121.03,0.936,11430,0.082,0.057,3094,2800,1145,1198,1092,0,0,0,0,0,0,14.71,14.69,13.97
$STATE,5845,end climb,SURFACE_DEPTH_REACHED
$STATE,5845,begin surface coast
$FINISH,0.4,1.022050
$STATE,5873,end surface coast,CONTROL_FINISHED_OK
$STATE,5873,begin surface
$SM_CCo,5903,80.25,0.120,0,0,440,576.95
$SM_GC,1.04,8.45,1.48,80.25,0.073,0.050,0.120,85,1920,440,-12.32,1.81,576.95,0,0,0,0,0,0,14.78,14.83,14.73
$IRIDIUM_FIX,1108.61,-12507.99,290817,225955
$TT8_MAMPS,0.035203,0.32207
$HUMID,45.39
$INTERNAL_PRESSURE,8.74381
$TCM_TEMP,23.10
$XPDR_PINGS,7
$SC_FREEKB,3908992
$TM_FREEKB,7801024
$PM_FREEKB,62228736
$24V_AH,13.84,4.401
$10V_AH,14.05,0.000
$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,23.100,50.225,584.400,80.250,0.000,0.000,0.000,0.000,1.750,0.000,10.612,0.000,4240.834,733.243,1033.026,52.078,0.000,1210.700,0.000,686.047,0.000,0.542,0.000
$DEVICE_MAMPS,408.510,76.500,1246.950,120.105,0.000,0.000,0.000,0.000,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5857.000,5868.000,5853.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.310,19.453,3.829,0.000
$MEM,303848
$DATA_FILE_SIZE,13447,407
$CAP_FILE_SIZE,76276,0
$CFSIZE,260165632,254578688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,119.93,1
$GPS,300817,004629,1111.470,-12456.500,5,0.8,11,9.2,0.0,85.0,10,9.7