version: 66.13
glider: 144
mission: 6
dive: 14
start: 8 31 117 10 20 44
data:
$ID,144
$MISSION,6
$DIVE,14
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,840
$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,280
$T_MISSION,350
$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,46
$R_STBD_OVSHOOT,22
$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,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
$GPS1,310817,100933,1059.7382,-12458.8896,56,1.0,57,9.2,0.6,130.4,8,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.0
$GPS2,310817,102019,1059.5792,-12458.7930,7,0.9,10,9.2,0.0,166.4,9,9.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,193.5,89565,-17.6,-10.000,-21.24,2209
$D_GRID,840
$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,-146.0,17,2602,891,841,0.0,0.0,0,107,0.00,0.00,-85.40,0.000,16390,0.000,0.000,13,2603,3497,3513,3482,0,0,0,0,0,0,14.73,13.78,14.77
$GC,108,-0.70,-146.0,14,2604,3513,3484,6.8,-9.8,3,134,13.60,2.38,0.00,0.000,2308,0.445,0.052,2622,4012,3498,3513,3483,0,0,0,0,0,0,14.36,14.58,14.61
$GC,230,-0.39,-146.0,2622,4012,3513,3484,68.4,-35.7,21,239,0.22,2.33,0.00,0.000,3206,0.219,0.034,2701,2597,3497,3513,3482,0,0,0,0,0,0,14.53,14.65,14.69
$GC,553,-0.50,-146.0,2702,2595,3519,3484,98.4,-7.5,34,561,0.00,2.40,0.00,0.000,420,0.000,0.076,2695,3994,3498,3513,3483,0,0,0,0,0,0,14.89,14.71,14.92
$GC,629,-0.65,-146.0,2696,3994,3514,3483,102.5,-5.5,45,637,0.12,2.28,0.00,0.000,5286,0.076,0.030,2631,2565,3497,3511,3483,0,0,0,0,0,0,14.75,14.78,14.78
$GC,944,-0.65,-146.0,2631,2565,3514,3484,131.1,-9.2,55,953,0.00,2.45,0.00,0.000,292,0.000,0.077,2626,3993,3498,3513,3483,0,0,0,0,0,0,14.95,14.77,14.98
$GC,986,-0.65,-146.0,2629,3993,3513,3483,135.1,-9.5,61,995,0.08,2.22,0.00,0.000,3110,0.238,0.030,2648,2595,3498,3513,3483,0,0,0,0,0,0,14.69,14.82,14.79
$GC,1338,-0.72,-146.0,2648,2595,3514,3483,164.8,-8.4,69,1345,0.00,2.17,0.00,0.000,676,0.000,0.042,2648,1225,3497,3513,3482,0,0,0,0,0,0,14.98,14.83,15.01
$GC,1378,-0.84,-146.0,2648,1227,3513,3483,168.1,-7.4,75,1388,0.10,2.35,0.00,0.000,5286,0.102,0.061,2593,2604,3497,3512,3482,0,0,0,0,0,0,14.81,14.81,14.85
$GC,1730,-0.79,-146.0,2594,2604,3509,3481,207.7,-11.5,83,1734,0.10,0.00,0.00,0.000,2182,0.317,0.000,2612,2604,3494,3509,3480,0,0,0,0,0,0,14.71,14.90,14.88
$GC,2065,-0.79,-146.0,2613,2604,3507,3477,241.5,-9.9,89,2070,0.00,0.00,0.00,0.000,38,0.000,0.000,2612,2604,3492,3507,3477,0,0,0,0,0,0,15.01,15.04,15.03
$GC,2402,-0.79,-146.0,2613,2604,3505,3475,273.2,-9.4,95,2406,0.00,0.00,0.00,0.000,38,0.000,0.000,2612,2604,3489,3504,3474,0,0,0,0,0,0,15.02,15.05,15.05
$GC,2737,-0.79,-146.0,2613,2604,3502,3470,305.9,-9.8,101,2741,0.00,0.00,0.00,0.000,38,0.000,0.000,2612,2604,3487,3504,3470,0,0,0,0,0,0,15.02,15.05,15.05
$GC,3074,-0.82,-146.0,2613,2604,3501,3469,339.3,-9.9,107,3082,0.00,2.22,0.00,0.000,676,0.000,0.046,2613,1229,3483,3499,3468,0,0,0,0,0,0,15.02,14.86,15.04
$GC,3108,-0.88,-146.0,2612,1228,3500,3469,342.7,-9.7,112,3117,0.00,2.35,0.00,0.000,1190,0.000,0.066,2611,2597,3483,3499,3468,0,0,0,0,0,0,14.89,14.84,14.92
$GC,3466,-0.91,-146.0,2611,2598,3497,3466,378.2,-10.0,121,3474,0.00,2.38,0.00,0.000,420,0.000,0.086,2611,3990,3481,3497,3465,0,0,0,0,0,0,15.02,14.83,15.04
$GC,3493,-0.94,-146.0,2612,3988,3497,3465,381.0,-10.0,125,3502,0.08,2.22,0.00,0.000,5254,0.100,0.035,2568,2606,3480,3496,3465,0,0,0,0,0,0,14.85,14.88,14.93
$GC,3858,-0.87,-146.0,2568,2604,3495,3463,425.9,-12.4,135,3867,0.15,2.22,0.00,0.000,2692,0.308,0.046,2598,1214,3478,3494,3463,0,0,0,0,0,0,14.72,14.86,14.90
$GC,3977,-0.93,-146.0,2599,1214,3494,3463,437.4,-9.1,152,3986,0.00,2.35,0.00,0.000,1190,0.000,0.067,2598,2601,3478,3493,3463,0,0,0,0,0,0,14.92,14.84,14.93
$GC,4306,-0.93,-146.0,2598,2602,3493,3460,470.0,-10.0,164,4314,0.00,2.25,0.00,0.000,548,0.000,0.044,2598,1208,3475,3492,3459,0,0,0,0,0,0,15.02,14.86,15.04
$GC,4340,-0.96,-146.0,2598,1207,3493,3460,473.4,-9.8,169,4349,0.00,2.40,0.00,0.000,1190,0.000,0.067,2598,2600,3475,3492,3459,0,0,0,0,0,0,14.88,14.82,14.92
$GC,4698,-0.96,-146.0,2598,2601,3491,3458,508.6,-10.0,178,4707,0.00,2.38,0.00,0.000,292,0.000,0.087,2598,3989,3473,3490,3457,0,0,0,0,0,0,15.02,14.83,15.04
$GC,4746,-1.00,-146.0,2599,3989,3490,3458,513.6,-10.0,185,4757,0.08,2.25,0.00,0.000,5286,0.097,0.035,2554,2589,3473,3489,3458,0,0,0,0,0,0,14.84,14.88,14.89
$GC,5090,-0.92,-146.0,2555,2589,3489,3455,558.2,-13.2,192,5099,0.15,2.20,0.00,0.000,2692,0.315,0.047,2585,1218,3471,3488,3455,0,0,0,0,0,0,14.71,14.85,14.89
$GC,5152,-0.96,-146.0,2585,1217,3489,3455,565.1,-10.2,201,5161,0.00,2.40,0.00,0.000,1158,0.000,0.067,2582,2606,3471,3488,3455,0,0,0,0,0,0,14.88,14.83,14.90
$GC,5482,-0.96,-146.0,2582,2607,3488,3453,600.1,-10.7,213,5490,0.00,2.25,0.00,0.000,516,0.000,0.045,2582,1215,3469,3487,3452,0,0,0,0,0,0,15.02,14.86,15.04
$GC,5516,-0.96,-146.0,2582,1214,3487,3453,603.7,-10.4,218,5525,0.00,2.40,0.00,0.000,1030,0.000,0.068,2582,2601,3470,3487,3453,0,0,0,0,0,0,14.88,14.83,14.90
$GC,5874,-0.96,-146.0,2582,2602,3486,3451,640.2,-10.2,227,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2601,3468,3485,3451,0,0,0,0,0,0,15.02,15.05,15.04
$GC,6210,-0.96,-146.0,2582,2602,3485,3449,673.5,-9.9,233,6218,0.00,2.25,0.00,0.000,548,0.000,0.045,2582,1215,3466,3484,3449,0,0,0,0,0,0,15.02,14.85,15.04
$GC,6244,-0.99,-146.0,2582,1215,3484,3449,677.0,-10.1,238,6253,0.00,2.40,0.00,0.000,1158,0.000,0.070,2582,2596,3466,3483,3449,0,0,0,0,0,0,14.88,14.83,14.90
$GC,6602,-0.99,-146.0,2582,2596,3481,3447,712.6,-10.0,247,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2596,3464,3482,3446,0,0,0,0,0,0,15.01,15.04,15.03
$GC,6938,-0.99,-146.0,2582,2595,3483,3446,747.3,-10.4,253,6946,0.00,2.25,0.00,0.000,516,0.000,0.047,2582,1216,3464,3481,3447,0,0,0,0,0,0,15.00,14.85,15.03
$GC,6979,-1.03,-146.0,2582,1217,3482,3445,751.6,-10.1,259,6989,0.00,2.40,0.00,0.000,1158,0.000,0.070,2582,2597,3463,3481,3445,0,0,0,0,0,0,14.87,14.81,14.90
$GC,7331,-1.03,-146.0,2582,2597,3481,3444,787.1,-10.2,267,7339,0.00,2.40,0.00,0.000,260,0.000,0.091,2582,3990,3461,3480,3443,0,0,0,0,0,0,15.00,14.81,15.03
$GC,7358,-1.03,-146.0,2582,3993,3480,3444,790.1,-11.0,271,7368,0.00,2.25,0.00,0.000,1030,0.000,0.036,2582,2595,3461,3479,3443,0,0,0,0,0,0,14.88,14.84,14.90
$GC,7723,-1.03,-146.0,2582,2595,3479,3442,826.2,-9.9,281,7731,0.00,2.22,0.00,0.000,548,0.000,0.047,2582,1215,3460,3478,3442,0,0,0,0,0,0,15.00,14.83,15.02
$GC,7772,-1.09,-146.0,2582,1215,3479,3442,831.5,-9.5,288,7782,0.12,2.40,0.00,0.000,5286,0.159,0.070,2538,2610,3460,3478,3442,0,0,0,0,0,0,14.79,14.81,14.88
$STATE,7889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7889,begin apogee
$GC,7893,-0.15,0.0,2537,2849,3478,3442,845.6,-11.7,291,8127,0.82,0.00,228.02,1.507,10246,0.272,0.000,2755,2847,2899,2970,2829,0,0,0,0,0,0,14.67,14.04,13.47
$STATE,8130,end apogee,CONTROL_FINISHED_OK
$STATE,8130,begin climb
$GC,8132,0.70,146.0,2755,2848,2962,2815,854.4,0.0,295,8391,0.60,2.50,235.75,1.464,11012,0.119,0.050,2955,1459,2292,2387,2198,0,0,0,0,0,0,14.13,14.02,13.45
$GC,8423,0.68,166.9,2955,1459,2368,2181,834.6,9.0,325,8456,0.00,2.47,24.62,1.524,9382,0.000,0.067,2954,2824,2216,2308,2125,0,0,0,0,0,0,14.23,14.19,13.60
$GC,8788,0.58,166.9,2955,2824,2284,2109,789.3,12.5,335,8793,0.17,0.00,0.00,0.000,4230,0.294,0.000,2918,2824,2194,2283,2106,0,0,0,0,0,0,14.44,14.64,14.62
$GC,9124,0.60,188.6,2918,2824,2280,2105,758.3,9.0,341,9167,0.00,2.30,35.25,1.409,8740,0.000,0.049,2925,1460,2127,2218,2037,0,0,0,0,0,0,14.84,14.36,13.95
$GC,9200,0.68,207.3,2926,1458,2204,2027,751.3,9.1,352,9240,0.00,2.45,32.65,1.418,9382,0.000,0.068,2925,2837,2054,2142,1967,0,0,0,0,0,0,14.52,14.48,13.80
$GC,9572,0.68,207.3,2926,2837,2124,1950,712.0,10.8,363,9580,0.00,2.30,0.00,0.000,516,0.000,0.051,2928,1459,2036,2119,1953,0,0,0,0,0,0,14.77,14.62,14.81
$GC,9634,0.75,207.3,2929,1459,2119,1950,705.5,10.1,372,9644,0.05,2.42,0.00,0.000,3206,0.133,0.069,2979,2840,2033,2117,1949,0,0,0,0,0,0,14.63,14.62,14.71
$GC,9965,0.63,207.3,2979,2837,2116,1949,655.3,15.4,384,9969,0.22,0.00,0.00,0.000,4230,0.295,0.000,2929,2837,2032,2115,1949,0,0,0,0,0,0,14.57,14.78,14.78
$GC,10300,0.63,207.3,2929,2837,2115,1948,617.3,11.1,390,10308,0.00,2.28,0.00,0.000,516,0.000,0.051,2937,1462,2032,2114,1950,0,0,0,0,0,0,14.90,14.75,14.93
$GC,10369,0.70,207.3,2937,1462,2114,1948,610.1,10.1,400,10379,0.00,2.40,0.00,0.000,1158,0.000,0.069,2937,2835,2031,2116,1947,0,0,0,0,0,0,14.78,14.73,14.81
$GC,10693,0.70,207.3,2938,2835,2114,1947,574.3,11.2,411,10701,0.00,2.28,0.00,0.000,516,0.000,0.050,2942,1457,2030,2113,1947,0,0,0,0,0,0,14.93,14.77,14.96
$GC,10734,0.75,209.7,2942,1457,2114,1947,570.0,9.9,417,10743,0.00,2.40,0.00,0.000,1190,0.000,0.069,2942,2835,2029,2113,1946,0,0,0,0,0,0,14.80,14.75,14.83
$GC,11085,0.75,209.7,2942,2835,2111,1946,532.2,10.8,425,11093,0.00,2.28,0.00,0.000,516,0.000,0.050,2946,1456,2029,2112,1946,0,0,0,0,0,0,14.95,14.78,14.97
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$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,-0.0,1.011715
$STATE,16098,end surface coast,CONTROL_FINISHED_OK
$STATE,16099,begin surface
$SM_CCo,16128,3.83,0.112,0,0,859,500.17
$SM_GC,0.88,8.88,0.38,3.83,0.062,0.060,0.112,85,2583,859,-12.37,1.87,500.17,0,0,0,0,0,0,14.35,14.40,14.31
$IRIDIUM_FIX,1059.68,-12455.74,310817,052651
$TT8_MAMPS,0.035952,0.416444
$HUMID,40.90
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3905152
$TM_FREEKB,7391904
$PM_FREEKB,61398784
$24V_AH,13.45,9.593
$10V_AH,13.64,0.000
$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,26.500,126.950,1191.975,3.825,0.000,0.000,0.000,457.400,0.500,0.000,17.303,0.000,12946.142,1290.433,2332.683,213.950,0.000,2663.343,0.000,1202.341,0.000,0.539,0.000
$DEVICE_MAMPS,445.230,91.035,1523.880,112.455,0.000,0.000,0.000,172.125,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16100.000,16118.000,16088.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.924,19.060,3.261,0.000
$MEM,303820
$DATA_FILE_SIZE,23358,676
$CAP_FILE_SIZE,121990,0
$CFSIZE,260165632,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042,57.18,1
$GPS,310817,145101,1058.023,-12459.558,38,0.8,43,9.2,0.3,114.7,10,9.2