version: 66.13
glider: 144
mission: 6
dive: 95
start: 9 15 117 6 20 3
data:
$ID,144
$MISSION,6
$DIVE,95
$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,64
$R_STBD_OVSHOOT,20
$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,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,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,150917,060956,1000.4699,-12501.2197,70,0.8,70,9.1,0.0,0.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.9
$GPS2,150917,061943,1000.4674,-12501.0693,6,0.9,11,9.1,1.0,9.2,10,9.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,SW
$TGT_LATLONG,946.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,221.2,34661,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.70,-146.0,1,2681,579,585,0.0,0.0,0,108,0.00,0.00,-85.43,0.000,16386,0.000,0.000,0,2680,3148,3165,3132,0,0,0,0,0,0,14.73,28.83,14.76
$GC,110,-0.70,-146.0,1,2681,3166,3133,6.2,-8.8,3,137,13.75,2.67,-4.38,0.000,19204,0.441,2.059,2634,1213,3500,3531,3469,0,0,0,0,0,0,14.31,13.58,14.60
$GC,164,-0.34,-146.0,2634,1214,3536,3471,33.5,-35.9,11,173,0.30,2.40,0.00,0.000,3206,0.218,0.064,2714,2604,3504,3536,3472,0,0,0,0,0,0,14.45,14.54,14.61
$GC,500,-0.83,-146.0,2714,2603,3536,3472,63.3,-12.0,26,509,0.35,2.33,0.00,0.000,4484,0.133,0.071,2601,3988,3504,3536,3472,0,0,0,0,0,0,14.64,14.66,14.73
$GC,548,-1.26,-146.0,2602,3989,3537,3472,67.6,-7.7,33,559,0.22,2.22,0.00,0.000,5286,0.092,0.024,2501,2573,3504,3536,3472,0,0,0,0,0,0,14.67,14.72,14.74
$GC,892,-1.22,-146.0,2502,2574,3536,3472,109.1,-11.3,45,900,0.10,2.40,0.00,0.000,2436,0.288,0.071,2513,3993,3504,3537,3472,0,0,0,0,0,0,14.61,14.71,14.78
$GC,912,-1.22,-146.0,2513,3993,3538,3472,111.2,-10.7,48,921,0.00,2.17,0.00,0.000,1030,0.000,0.024,2512,2615,3504,3537,3472,0,0,0,0,0,0,14.79,14.77,14.81
$GC,1228,-1.27,-146.0,2512,2615,3540,3472,143.2,-10.1,58,1237,0.00,2.22,0.00,0.000,644,0.000,0.036,2512,1219,3505,3539,3472,0,0,0,0,0,0,14.95,14.78,14.97
$GC,1270,-1.39,-146.0,2513,1219,3540,3472,147.2,-9.1,64,1279,0.08,2.38,0.00,0.000,5286,0.103,0.056,2470,2604,3505,3539,3472,0,0,0,0,0,0,14.73,14.74,14.78
$GC,1621,-1.39,-146.0,2470,2605,3540,3472,189.5,-12.3,72,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2605,3505,3539,3472,0,0,0,0,0,0,14.97,15.00,15.00
$GC,1957,-1.39,-146.0,2471,2605,3536,3472,230.5,-12.4,78,1966,0.00,2.22,0.00,0.000,516,0.000,0.035,2470,1217,3503,3535,3472,0,0,0,0,0,0,14.97,14.80,15.00
$GC,1991,-1.45,-146.0,2471,1220,3536,3472,234.8,-12.2,83,2000,0.00,2.38,0.00,0.000,1158,0.000,0.057,2469,2596,3503,3535,3472,0,0,0,0,0,0,14.81,14.76,14.84
$GC,2349,-1.45,-146.0,2469,2599,3527,3473,280.4,-12.8,92,2357,0.00,2.22,0.00,0.000,516,0.000,0.035,2469,1214,3499,3527,3471,0,0,0,0,0,0,14.97,14.79,15.00
$GC,2390,-1.52,-146.0,2469,1214,3528,3472,285.4,-11.6,98,2400,0.00,2.38,0.00,0.000,1158,0.000,0.058,2469,2599,3499,3527,3471,0,0,0,0,0,0,14.83,14.78,14.85
$GC,2741,-1.52,-146.0,2469,2599,3521,3472,326.5,-11.6,106,2756,0.00,2.35,0.00,0.000,260,0.000,0.076,2460,3988,3495,3520,3471,0,0,0,0,0,0,15.00,14.81,15.03
$GC,2789,-1.55,-146.0,2460,3988,3519,3472,331.9,-11.2,112,2803,0.00,2.15,0.00,0.000,1158,0.000,0.027,2460,2599,3494,3518,3471,0,0,0,0,0,0,14.92,14.88,14.93
$GC,3144,-1.55,-146.0,2460,2597,3516,3468,371.1,-11.0,120,3158,0.00,2.20,0.00,0.000,516,0.000,0.038,2460,1220,3491,3516,3467,0,0,0,0,0,0,15.04,14.86,15.06
$GC,3198,-1.64,-146.0,2460,1219,3517,3467,376.6,-9.3,127,3213,0.10,2.35,0.00,0.000,5286,0.174,0.059,2425,2605,3491,3515,3468,0,0,0,0,0,0,14.81,14.83,14.91
$GC,3542,-1.55,-146.0,2425,2605,3513,3465,423.3,-14.1,134,3557,0.12,2.22,0.00,0.000,2692,0.304,0.033,2454,1223,3488,3512,3464,0,0,0,0,0,0,14.67,14.86,14.81
$GC,3583,-1.58,-146.0,2455,1223,3513,3465,428.3,-11.3,139,3597,0.00,2.33,0.00,0.000,1158,0.000,0.060,2454,2601,3488,3512,3464,0,0,0,0,0,0,14.92,14.84,14.95
$GC,3945,-1.58,-146.0,2454,2602,3510,3461,469.0,-11.4,148,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2602,3485,3509,3461,0,0,0,0,0,0,15.04,15.07,15.07
$GC,4281,-1.58,-146.0,2455,2602,3508,3459,508.2,-11.7,154,4296,0.00,2.25,0.00,0.000,516,0.000,0.037,2454,1221,3484,3507,3461,0,0,0,0,0,0,15.04,14.88,15.07
$GC,4329,-1.65,-146.0,2454,1221,3507,3459,513.5,-10.6,160,4344,0.10,2.35,0.00,0.000,5254,0.177,0.060,2420,2612,3482,3507,3458,0,0,0,0,0,0,14.83,14.85,14.92
$GC,4685,-1.58,-146.0,2420,2613,3504,3456,562.1,-14.0,168,4699,0.12,0.00,0.00,0.000,2182,0.321,0.000,2444,2612,3480,3504,3456,0,0,0,0,0,0,14.66,14.92,14.88
$GC,5021,-1.58,-146.0,2445,2613,3502,3454,602.8,-12.1,174,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2613,3477,3501,3453,0,0,0,0,0,0,15.05,15.09,15.08
$GC,5357,-1.58,-146.0,2445,2613,3500,3451,643.5,-12.1,180,5371,0.00,2.25,0.00,0.000,516,0.000,0.037,2445,1224,3475,3500,3451,0,0,0,0,0,0,15.06,14.88,15.08
$GC,5397,-1.62,-146.0,2445,1224,3500,3451,648.3,-12.1,185,5411,0.00,2.33,0.00,0.000,1158,0.000,0.061,2443,2597,3475,3500,3451,0,0,0,0,0,0,14.94,14.85,14.96
$GC,5759,-1.62,-146.0,2444,2598,3498,3448,692.6,-12.3,194,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2597,3472,3496,3448,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6095,-1.62,-146.0,2443,2598,3497,3446,734.0,-12.2,200,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2597,3471,3496,3446,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6431,-1.62,-146.0,2444,2598,3495,3444,774.1,-11.8,206,6446,0.00,2.22,0.00,0.000,516,0.000,0.037,2443,1225,3469,3494,3444,0,0,0,0,0,0,15.06,14.87,15.09
$GC,6478,-1.69,-146.0,2444,1226,3495,3444,779.6,-11.6,212,6492,0.00,2.35,0.00,0.000,1158,0.000,0.062,2443,2608,3468,3493,3443,0,0,0,0,0,0,14.93,14.85,14.95
$GC,6833,-1.69,-146.0,2443,2609,3496,3441,819.2,-11.3,220,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2608,3466,3492,3441,0,0,0,0,0,0,15.05,15.08,15.07
$STATE,7056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7056,begin apogee
$GC,7060,-0.15,0.0,2444,2847,3491,3440,843.4,-10.7,224,7262,1.12,0.00,190.25,1.630,10246,0.234,0.000,2759,2848,2900,2972,2828,0,0,0,0,0,0,14.66,14.12,13.52
$STATE,7264,end apogee,CONTROL_FINISHED_OK
$STATE,7264,begin climb
$GC,7266,0.70,146.0,2759,2848,2966,2819,850.8,0.0,227,7442,0.57,2.10,152.25,1.821,10500,0.081,0.071,2955,3986,2293,2364,2222,0,0,0,0,0,0,14.21,13.98,13.35
$GC,7523,0.15,146.0,2956,3987,2347,2220,832.7,19.2,269,7538,0.65,1.88,0.00,0.000,5254,0.369,0.031,2827,2839,2283,2346,2220,0,0,0,0,0,0,14.12,14.33,14.35
$GC,7851,-0.01,146.0,2827,2838,2346,2205,792.2,11.6,280,7866,0.15,2.30,0.00,0.000,4740,0.309,0.039,2798,1445,2274,2345,2204,0,0,0,0,0,0,14.42,14.62,14.57
$GC,7919,0.03,175.1,2799,1445,2346,2198,786.1,8.6,289,7968,0.00,2.40,30.35,1.652,9254,0.000,0.057,2800,2844,2177,2256,2098,0,0,0,0,0,0,14.69,14.62,13.77
$GC,8309,-0.02,175.1,2799,2844,2245,2084,747.2,10.1,302,8324,0.00,2.30,0.00,0.000,644,0.000,0.041,2807,1451,2163,2244,2083,0,0,0,0,0,0,14.83,14.67,14.86
$GC,8384,-0.01,184.0,2807,1452,2241,2082,739.9,9.6,312,8399,0.00,2.38,1.42,0.164,9254,0.000,0.057,2807,2839,2149,2230,2069,0,0,0,0,0,0,14.75,14.68,14.50
$GC,8712,-0.08,184.0,2807,2839,2236,2076,704.9,10.9,323,8727,0.12,2.28,0.00,0.000,4740,0.275,0.036,2784,1452,2154,2233,2076,0,0,0,0,0,0,14.57,14.75,14.71
$GC,8745,-0.06,197.8,2784,1452,2236,2076,701.7,9.4,327,8786,0.00,2.38,27.40,1.545,9254,0.000,0.057,2784,2844,2092,2175,2010,0,0,0,0,0,0,14.82,14.74,13.96
$GC,9114,-0.04,217.6,2784,2844,2150,1987,668.2,9.1,344,9152,0.00,2.40,20.58,1.577,8740,0.000,0.042,2784,1452,2006,2087,1926,0,0,0,0,0,0,14.86,14.57,13.94
$GC,9212,0.10,259.2,2785,1452,2081,1923,659.7,8.1,358,9282,0.10,2.40,52.75,1.558,11430,0.177,0.057,2826,2839,1839,1910,1769,0,0,0,0,0,0,14.57,14.59,13.69
$GC,9625,0.06,259.2,2827,2840,1895,1765,609.0,12.7,374,9640,0.10,2.30,0.00,0.000,4740,0.288,0.037,2814,1452,1832,1900,1764,0,0,0,0,0,0,14.48,14.64,14.65
$GC,9693,0.11,259.2,2814,1451,1894,1762,601.0,10.6,383,9708,0.00,2.40,0.00,0.000,1158,0.000,0.058,2814,2846,1827,1893,1761,0,0,0,0,0,0,14.71,14.64,14.73
$GC,10028,0.11,259.2,2814,2846,1892,1761,559.6,12.6,395,10042,0.00,2.33,0.00,0.000,516,0.000,0.041,2821,1443,1827,1891,1763,0,0,0,0,0,0,14.90,14.73,14.93
$GC,10089,0.17,259.2,2821,1443,1892,1759,552.2,11.7,403,10104,0.00,2.40,0.00,0.000,1158,0.000,0.059,2821,2846,1824,1891,1758,0,0,0,0,0,0,14.80,14.73,14.83
$GC,10431,0.17,259.2,2821,2845,1891,1759,508.8,12.7,416,10445,0.00,2.30,0.00,0.000,516,0.000,0.042,2826,1448,1824,1890,1758,0,0,0,0,0,0,14.94,14.76,14.97
$GC,10478,0.20,259.2,2826,1448,1891,1758,503.4,11.0,422,10493,0.00,2.38,0.00,0.000,1158,0.000,0.058,2826,2840,1823,1890,1757,0,0,0,0,0,0,14.85,14.76,14.87
$GC,10835,0.17,259.2,2826,2841,1890,1757,462.4,11.4,430,10850,0.00,2.28,0.00,0.000,644,0.000,0.041,2834,1453,1823,1890,1757,0,0,0,0,0,0,14.96,14.80,15.00
$GC,10897,0.17,259.2,2834,1452,1890,1757,455.6,10.4,438,10912,0.00,2.38,0.00,0.000,1030,0.000,0.058,2834,2846,1822,1889,1756,0,0,0,0,0,0,14.88,14.78,14.88
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$STATE,15014,end climb,SURFACE_DEPTH_REACHED
$STATE,15015,begin surface coast
$FINISH,0.0,1.009532
$STATE,15041,end surface coast,CONTROL_FINISHED_OK
$STATE,15041,begin surface
$SM_CCo,15070,12.68,0.124,0,0,860,500.17
$SM_GC,0.94,8.45,0.38,12.68,0.085,0.050,0.124,79,2542,860,-12.40,1.50,500.17,0,0,0,0,0,0,14.60,14.69,14.57
$IRIDIUM_FIX,1002.22,-12456.11,150917,014951
$TT8_MAMPS,0.035952,0.232939
$HUMID,44.80
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,22.60
$XPDR_PINGS,2
$SC_FREEKB,3874048
$TM_FREEKB,3827328
$PM_FREEKB,54007104
$24V_AH,13.35,53.373
$10V_AH,13.51,0.000
$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,27.250,134.700,698.075,12.675,0.000,0.000,0.000,390.100,0.500,0.000,12.375,0.000,12056.254,865.353,2516.719,232.262,0.000,2402.194,0.000,1175.019,0.000,0.537,0.000
$DEVICE_MAMPS,441.405,2058.615,1820.700,123.930,0.000,0.000,0.000,160.650,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15047.000,5589.000,15041.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.927,18.721,4.453,0.000
$MEM,303592
$DATA_FILE_SIZE,23364,661
$CAP_FILE_SIZE,127435,0
$CFSIZE,260165632,242200576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,9119.23,0x23411a,1,24
$CURRENT,0.044,160.89,1
$GPS,150917,103236,959.095,-12502.768,24,0.7,28,9.1,0.5,23.8,10,9.3