version: 66.13
glider: 144
mission: 6
dive: 5
start: 8 30 117 0 55 47
data:
$ID,144
$MISSION,6
$DIVE,5
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,300817,004629,1111.4705,-12456.5000,5,0.8,11,9.2,0.0,85.0,10,9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.7
$GPS2,300817,005526,1111.4731,-12456.4365,5,1.1,17,9.2,0.0,101.8,9,8.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,197.1,111887,-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,16,-0.70,-146.0,26,1915,432,466,0.0,0.0,0,121,0.00,0.00,-100.40,0.000,16390,0.000,0.000,19,1919,3392,3411,3373,0,0,0,0,0,0,14.95,13.82,14.99
$GC,123,-0.70,-146.0,20,1919,3413,3374,2.6,-2.4,3,146,12.57,2.30,0.00,0.000,2308,0.422,0.052,2611,3327,3393,3413,3374,0,0,0,0,0,0,14.55,14.78,14.80
$GC,179,-0.28,-146.0,2611,3327,3413,3374,35.9,-37.2,12,188,0.35,2.35,0.00,0.000,3206,0.251,0.040,2709,1889,3393,3413,3374,0,0,0,0,0,0,14.65,14.80,14.77
$GC,509,-0.34,-146.0,2710,1888,3414,3375,78.3,-7.9,26,518,0.00,2.25,0.00,0.000,676,0.000,0.051,2710,485,3393,3413,3374,0,0,0,0,0,0,15.05,14.88,15.08
$GC,649,-0.49,-146.0,2710,486,3414,3374,87.2,-6.0,46,659,0.12,2.30,0.00,0.000,5286,0.139,0.049,2654,1907,3393,3413,3374,0,0,0,0,0,0,14.89,14.88,14.95
$GC,987,-0.53,-146.0,2654,1908,3414,3375,108.0,-6.9,59,995,0.00,2.28,0.00,0.000,676,0.000,0.050,2654,497,3396,3413,3379,0,0,0,0,0,0,15.09,14.92,15.11
$GC,1196,-0.68,-146.0,2653,497,3414,3374,123.3,-7.2,89,1205,0.00,2.33,0.00,0.000,1190,0.000,0.053,2653,1890,3392,3410,3374,0,0,0,0,0,0,14.95,14.90,14.98
$GC,1546,-0.78,-146.0,2652,1892,3411,3374,147.4,-6.9,97,1555,0.15,2.33,0.00,0.000,4516,0.129,0.070,2584,3309,3392,3410,3374,0,0,0,0,0,0,14.95,14.92,15.01
$GC,1784,-0.71,-146.0,2584,3310,3409,3371,173.9,-11.7,131,1793,0.12,2.28,0.00,0.000,3206,0.245,0.037,2620,1891,3389,3408,3371,0,0,0,0,0,0,14.79,14.95,14.91
$GC,2107,-0.76,-146.0,2620,1891,3407,3370,203.3,-8.9,142,2115,0.00,2.38,0.00,0.000,420,0.000,0.070,2616,3317,3388,3406,3370,0,0,0,0,0,0,15.10,14.92,15.14
$GC,2344,-0.80,-146.0,2614,3318,3406,3366,224.7,-9.1,176,2353,0.00,2.30,0.00,0.000,1190,0.000,0.038,2614,1895,3385,3404,3366,0,0,0,0,0,0,14.97,14.94,14.99
$GC,2667,-0.86,-146.0,2614,1896,3403,3365,253.0,-8.7,187,2675,0.00,2.38,0.00,0.000,420,0.000,0.073,2610,3314,3383,3401,3365,0,0,0,0,0,0,15.10,14.90,15.14
$STATE,2861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2861,begin apogee
$GC,2865,-0.15,0.0,2610,2754,3402,3362,270.2,-8.6,215,3002,0.47,0.10,130.48,1.369,10246,0.218,0.152,2746,2817,2794,2883,2706,0,0,0,0,0,0,14.81,14.32,13.77
$STATE,3006,end apogee,CONTROL_FINISHED_OK
$STATE,3006,begin climb
$GC,3008,0.70,146.0,2747,2817,2873,2683,272.7,0.0,217,3161,0.60,2.47,129.88,1.281,10756,0.157,0.052,2937,1395,2178,2277,2079,0,0,0,0,0,0,14.40,14.31,13.77
$GC,3207,0.82,175.1,2938,1395,2256,2074,259.5,8.6,250,3245,0.00,2.42,26.45,1.166,9382,0.000,0.061,2937,2787,2071,2163,1979,0,0,0,0,0,0,14.55,14.51,13.93
$GC,3594,0.87,175.1,2938,2788,2144,1969,219.2,10.5,263,3602,0.12,2.28,0.00,0.000,2692,0.145,0.051,2994,1389,2055,2143,1968,0,0,0,0,0,0,14.81,14.80,14.88
$GC,3642,0.84,175.1,2997,1390,2142,1968,213.2,12.8,270,3653,0.10,2.40,0.00,0.000,5254,0.243,0.061,2965,2800,2054,2140,1968,0,0,0,0,0,0,14.67,14.78,14.79
$GC,3985,0.84,175.1,2965,2800,2139,1966,170.1,12.4,277,3993,0.00,2.00,0.00,0.000,260,0.000,0.077,2964,3994,2051,2138,1965,0,0,0,0,0,0,15.04,14.85,15.07
$GC,4027,0.76,175.1,2966,3994,2138,1966,164.5,13.6,283,4036,0.08,1.95,0.00,0.000,5254,0.286,0.038,2951,2792,2053,2142,1965,0,0,0,0,0,0,14.73,14.89,14.84
$GC,4378,0.76,177.9,2951,2791,2138,1964,128.8,9.9,291,4386,0.00,2.25,0.00,0.000,548,0.000,0.052,2960,1405,2050,2137,1964,0,0,0,0,0,0,15.07,14.90,15.09
$GC,4412,0.85,201.7,2959,1405,2137,1964,125.6,8.9,296,4449,0.00,2.38,28.98,1.186,9382,0.000,0.062,2959,2806,1970,2060,1880,0,0,0,0,0,0,14.91,14.86,14.17
$GC,4771,0.93,231.9,2959,2807,2037,1859,93.0,8.6,313,4814,0.10,2.08,36.50,1.167,10660,0.174,0.077,3003,3983,1843,1929,1758,0,0,0,0,0,0,14.83,14.61,14.11
$GC,5043,1.07,342.5,3004,3983,1897,1752,65.8,4.9,349,5199,0.00,1.92,143.85,1.040,9254,0.000,0.036,3011,2780,1387,1447,1328,0,0,0,0,0,0,14.83,14.81,13.90
$GC,5520,1.58,438.2,3011,2780,1429,1316,39.5,5.5,384,5640,0.32,2.33,109.80,0.912,10916,0.126,0.050,3124,1417,996,1047,946,0,0,0,0,0,0,14.70,14.41,13.99
$GC,5743,1.66,438.2,3127,1417,1036,938,16.6,11.0,416,5752,0.00,2.33,0.00,0.000,1158,0.000,0.057,3126,2802,986,1035,937,0,0,0,0,0,0,14.69,14.62,14.71
$STATE,5854,end climb,SURFACE_DEPTH_REACHED
$STATE,5854,begin surface coast
$FINISH,0.4,1.022072
$STATE,5882,end surface coast,CONTROL_FINISHED_OK
$STATE,5882,begin surface
$SM_CCo,5912,66.47,0.120,0,0,440,576.95
$SM_GC,1.04,8.45,1.45,66.47,0.060,0.038,0.120,81,1909,440,-12.33,2.01,576.95,0,0,0,0,0,0,14.74,14.78,14.69
$IRIDIUM_FIX,1110.57,-12453.94,290817,230350
$TT8_MAMPS,0.035203,0.274134
$HUMID,44.56
$INTERNAL_PRESSURE,8.71452
$TCM_TEMP,23.10
$XPDR_PINGS,3
$SC_FREEKB,3908608
$TM_FREEKB,7782176
$PM_FREEKB,62180608
$24V_AH,13.77,4.692
$10V_AH,13.98,0.000
$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,23.575,54.625,605.925,66.475,0.000,0.000,0.000,312.500,0.750,0.000,19.497,0.000,4243.248,747.769,1399.000,137.202,0.000,1559.725,0.000,715.008,0.000,0.541,0.000
$DEVICE_MAMPS,421.515,152.235,1369.350,120.105,0.000,0.000,0.000,156.060,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5878.000,5892.000,5873.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.216,19.444,3.813,0.000
$MEM,303840
$DATA_FILE_SIZE,13470,424
$CAP_FILE_SIZE,65312,0
$CFSIZE,260165632,254500864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,95.75,1
$GPS,300817,023647,1111.268,-12456.499,5,1.1,40,9.2,0.2,47.4,8,9.6