version: 66.13
glider: 144
mission: 6
dive: 134
start: 9 22 117 7 26 47
data:
$ID,144
$MISSION,6
$DIVE,134
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,220917,071632,1013.6162,-12447.6934,40,0.7,40,9.1,0.0,0.0,11,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-75.9
$GPS2,220917,072620,1013.5982,-12447.6084,6,0.7,8,9.1,0.7,169.7,11,10.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,265.7,47573,-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,19,-0.70,-146.0,43,2599,883,835,0.0,0.0,0,107,0.00,0.00,-81.72,0.000,16390,0.000,0.000,40,2600,3499,3513,3485,0,0,0,0,0,0,14.74,13.42,14.77
$GC,109,-0.70,-146.0,41,2600,3513,3487,9.9,-15.3,3,136,13.32,2.35,0.00,0.000,2564,0.435,0.038,2640,1194,3501,3516,3487,0,0,0,0,0,0,14.29,14.57,14.57
$GC,233,-0.96,-146.0,2640,1195,3521,3487,47.5,-8.6,21,241,0.20,2.40,0.00,0.000,5286,0.109,0.055,2559,2604,3504,3521,3487,0,0,0,0,0,0,14.59,14.58,14.67
$GC,555,-1.04,-146.0,2559,2603,3523,3487,90.7,-9.3,34,564,0.00,2.35,0.00,0.000,420,0.000,0.073,2553,3990,3504,3521,3487,0,0,0,0,0,0,14.85,14.64,14.88
$GC,590,-1.13,-146.0,2553,3990,3523,3487,94.5,-10.9,39,599,0.00,2.25,0.00,0.000,1158,0.000,0.025,2553,2575,3504,3522,3487,0,0,0,0,0,0,14.73,14.71,14.74
$GC,948,-1.28,-146.0,2553,2575,3526,3487,121.7,-7.2,49,956,0.12,2.42,0.00,0.000,4516,0.136,0.070,2489,3991,3506,3525,3487,0,0,0,0,0,0,14.73,14.69,14.76
$GC,1010,-1.33,-146.0,2490,3991,3526,3487,128.6,-11.2,58,1019,0.00,2.20,0.00,0.000,1158,0.000,0.025,2492,2600,3506,3526,3486,0,0,0,0,0,0,14.80,14.76,14.80
$GC,1340,-1.33,-146.0,2490,2600,3526,3487,164.1,-10.6,70,1349,0.00,2.20,0.00,0.000,516,0.000,0.035,2489,1221,3506,3526,3487,0,0,0,0,0,0,14.93,14.75,14.96
$GC,1403,-1.42,-146.0,2490,1221,3526,3487,170.2,-9.1,79,1411,0.00,2.38,0.00,0.000,1190,0.000,0.056,2486,2603,3506,3526,3487,0,0,0,0,0,0,14.76,14.71,14.79
$GC,1733,-1.45,-146.0,2487,2604,3524,3487,205.2,-10.9,91,1741,0.00,2.35,0.00,0.000,388,0.000,0.074,2477,3987,3505,3523,3487,0,0,0,0,0,0,14.94,14.71,14.98
$GC,1760,-1.48,-146.0,2478,3989,3523,3487,208.5,-11.5,95,1768,0.00,2.20,0.00,0.000,1158,0.000,0.026,2477,2605,3504,3522,3487,0,0,0,0,0,0,14.81,14.78,14.85
$GC,2124,-1.48,-146.0,2477,2603,3519,3487,250.8,-11.7,105,2132,0.00,2.22,0.00,0.000,516,0.000,0.036,2476,1217,3501,3517,3486,0,0,0,0,0,0,14.95,14.76,14.98
$GC,2200,-1.60,-146.0,2478,1217,3517,3487,259.0,-9.8,116,2209,0.10,2.40,0.00,0.000,5286,0.103,0.056,2408,2603,3501,3516,3487,0,0,0,0,0,0,14.71,14.69,14.79
$GC,2517,-1.45,-146.0,2408,2603,3513,3484,311.1,-17.1,126,2532,0.25,2.25,0.00,0.000,2692,0.284,0.032,2471,1215,3498,3513,3484,0,0,0,0,0,0,14.52,14.78,14.69
$GC,2550,-1.45,-146.0,2471,1215,3513,3484,316.2,-14.7,130,2566,0.00,2.38,0.00,0.000,1030,0.000,0.060,2471,2603,3498,3512,3484,0,0,0,0,0,0,14.85,14.75,14.86
$GC,2922,-1.45,-146.0,2471,2603,3511,3480,359.0,-11.6,140,2936,0.00,2.38,0.00,0.000,260,0.000,0.079,2471,3984,3495,3510,3480,0,0,0,0,0,0,14.99,14.76,15.02
$GC,2984,-1.51,-146.0,2471,3984,3509,3478,365.9,-10.8,148,2998,0.00,2.20,0.00,0.000,1158,0.000,0.028,2471,2589,3493,3509,3478,0,0,0,0,0,0,14.90,14.85,14.90
$GC,3325,-1.51,-146.0,2471,2587,3508,3475,405.4,-11.7,161,3339,0.00,2.22,0.00,0.000,516,0.000,0.038,2471,1218,3491,3507,3476,0,0,0,0,0,0,15.02,14.81,15.04
$GC,3401,-1.61,-146.0,2471,1217,3511,3476,413.4,-10.1,171,3416,0.12,2.35,0.00,0.000,5254,0.147,0.059,2422,2604,3491,3507,3476,0,0,0,0,0,0,14.79,14.78,14.88
$GC,3729,-1.51,-146.0,2422,2604,3504,3472,462.6,-15.4,182,3743,0.15,0.00,0.00,0.000,2182,0.292,0.000,2454,2604,3487,3503,3472,0,0,0,0,0,0,14.55,14.85,14.79
$GC,4065,-1.51,-146.0,2454,2604,3502,3470,503.8,-12.0,188,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2604,3485,3501,3469,0,0,0,0,0,0,15.02,15.04,15.04
$GC,4401,-1.51,-146.0,2454,2604,3501,3467,543.7,-11.9,194,4416,0.00,2.38,0.00,0.000,260,0.000,0.080,2454,3990,3483,3500,3467,0,0,0,0,0,0,15.04,14.76,15.06
$GC,4434,-1.51,-146.0,2454,3989,3500,3467,547.9,-12.3,198,4450,0.00,2.17,0.00,0.000,1030,0.000,0.029,2454,2600,3482,3498,3467,0,0,0,0,0,0,14.92,14.88,14.94
$GC,4805,-1.51,-146.0,2454,2597,3499,3464,592.0,-11.9,208,4820,0.00,2.22,0.00,0.000,516,0.000,0.039,2454,1221,3480,3497,3464,0,0,0,0,0,0,15.03,14.81,15.06
$GC,4923,-1.60,-146.0,2454,1219,3498,3464,604.8,-10.2,224,4937,0.00,2.38,0.00,0.000,1158,0.000,0.060,2454,2601,3480,3497,3464,0,0,0,0,0,0,14.90,14.78,14.91
$GC,5264,-1.60,-146.0,2454,2602,3495,3460,644.5,-11.8,237,5279,0.00,2.40,0.00,0.000,260,0.000,0.080,2454,3987,3477,3494,3460,0,0,0,0,0,0,15.02,14.76,15.05
$GC,5312,-1.65,-146.0,2454,3987,3495,3459,650.0,-11.8,243,5327,0.10,2.20,0.00,0.000,5254,0.155,0.029,2411,2599,3477,3494,3460,0,0,0,0,0,0,14.78,14.86,14.88
$GC,5668,-1.56,-146.0,2413,2597,3493,3458,702.7,-15.1,251,5682,0.12,2.25,0.00,0.000,2692,0.316,0.038,2440,1212,3475,3492,3459,0,0,0,0,0,0,14.50,14.78,14.68
$GC,5757,-1.62,-146.0,2441,1213,3493,3458,713.5,-10.8,263,5772,0.00,2.40,0.00,0.000,1158,0.000,0.060,2436,2609,3474,3490,3458,0,0,0,0,0,0,14.88,14.77,14.90
$GC,6127,-1.62,-146.0,2436,2609,3491,3456,757.8,-12.1,273,6141,0.00,2.40,0.00,0.000,260,0.000,0.081,2431,3991,3472,3491,3454,0,0,0,0,0,0,15.03,14.75,15.05
$GC,6152,-1.62,-146.0,2431,3991,3490,3455,761.2,-12.1,276,6166,0.00,2.20,0.00,0.000,1030,0.000,0.030,2430,2594,3472,3489,3455,0,0,0,0,0,0,14.90,14.85,14.92
$GC,6473,-1.59,-146.0,2429,2592,3490,3453,800.5,-12.4,286,6488,0.00,2.22,0.00,0.000,644,0.000,0.041,2430,1218,3469,3489,3450,0,0,0,0,0,0,15.01,14.79,15.03
$GC,6521,-1.63,-146.0,2431,1219,3489,3453,806.0,-10.4,292,6535,0.00,2.38,0.00,0.000,1158,0.000,0.063,2430,2605,3470,3488,3452,0,0,0,0,0,0,14.86,14.76,14.89
$STATE,6819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6819,begin apogee
$GC,6823,-0.15,0.0,2431,2854,3487,3450,843.3,-12.5,299,6984,1.17,0.00,148.82,1.820,10246,0.241,0.000,2753,2853,2899,2972,2827,0,0,0,0,0,0,14.52,14.12,13.43
$STATE,6986,end apogee,CONTROL_FINISHED_OK
$STATE,6986,begin climb
$GC,6988,0.70,146.0,2754,2854,2967,2819,848.0,0.0,301,7162,0.60,2.53,149.93,1.822,10756,0.084,0.042,2966,1450,2295,2370,2221,0,0,0,0,0,0,14.19,14.00,13.32
$GC,7391,0.29,146.0,2967,1451,2355,2208,809.5,17.3,366,7406,0.50,2.40,0.00,0.000,5254,0.342,0.056,2857,2833,2280,2354,2207,0,0,0,0,0,0,14.22,14.48,14.51
$GC,7727,0.05,146.0,2858,2834,2354,2203,764.3,13.1,378,7741,0.25,0.00,0.00,0.000,4230,0.343,0.000,2804,2834,2277,2352,2202,0,0,0,0,0,0,14.40,14.71,14.66
$GC,8063,-0.03,158.9,2804,2834,2354,2200,731.3,9.4,384,8088,0.00,2.30,9.10,1.647,8868,0.000,0.042,2812,1446,2247,2327,2168,0,0,0,0,0,0,14.91,14.70,14.02
$GC,8135,-0.04,190.5,2812,1447,2326,2167,724.9,8.5,394,8190,0.12,2.40,39.72,1.610,13478,0.252,0.057,2786,2843,2121,2206,2037,0,0,0,0,0,0,14.51,14.66,13.78
$GC,8517,-0.00,218.2,2786,2843,2194,2029,691.7,8.7,413,8565,0.00,2.42,33.72,1.580,8740,0.000,0.042,2794,1454,2006,2086,1927,0,0,0,0,0,0,14.82,14.45,13.81
$GC,8613,0.10,252.8,2794,1454,2078,1921,683.6,8.4,426,8672,0.00,2.42,41.90,1.568,9382,0.000,0.058,2794,2843,1865,1936,1795,0,0,0,0,0,0,14.57,14.49,13.66
$GC,9028,0.13,252.8,2794,2843,1921,1789,641.8,10.4,443,9043,0.10,2.33,0.00,0.000,2692,0.180,0.040,2842,1452,1855,1921,1790,0,0,0,0,0,0,14.59,14.62,14.66
$GC,9124,0.13,252.8,2842,1451,1920,1788,630.2,12.1,456,9139,0.10,2.42,0.00,0.000,5126,0.256,0.060,2822,2849,1853,1919,1788,0,0,0,0,0,0,14.47,14.62,14.67
$GC,9487,0.08,252.8,2822,2848,1918,1786,584.9,12.4,465,9502,0.00,2.33,0.00,0.000,644,0.000,0.044,2830,1451,1852,1917,1787,0,0,0,0,0,0,14.90,14.73,14.92
$GC,9534,0.08,252.8,2830,1451,1917,1786,579.4,11.4,471,9549,0.10,2.40,0.00,0.000,5126,0.251,0.058,2810,2846,1851,1916,1786,0,0,0,0,0,0,14.55,14.70,14.76
$GC,9890,0.08,252.8,2810,2847,1914,1786,540.7,10.9,479,9904,0.00,2.33,0.00,0.000,516,0.000,0.045,2818,1454,1850,1915,1785,0,0,0,0,0,0,14.95,14.76,14.97
$GC,9958,0.13,252.8,2818,1456,1916,1784,533.6,10.1,488,9972,0.00,2.38,0.00,0.000,1158,0.000,0.059,2818,2840,1849,1915,1784,0,0,0,0,0,0,14.83,14.74,14.85
$GC,10292,0.13,252.8,2818,2839,1915,1784,495.6,11.6,500,10306,0.00,2.30,0.00,0.000,516,0.000,0.043,2825,1447,1848,1914,1783,0,0,0,0,0,0,14.96,14.77,14.99
$GC,10354,0.16,252.8,2826,1448,1915,1783,488.8,10.9,508,10368,0.00,2.40,0.00,0.000,1158,0.000,0.059,2825,2847,1848,1914,1782,0,0,0,0,0,0,14.83,14.74,14.86
$GC,10695,0.12,252.8,2826,2847,1914,1782,447.7,12.1,521,10710,0.00,2.33,0.00,0.000,644,0.000,0.043,2834,1452,1848,1914,1782,0,0,0,0,0,0,14.95,14.76,14.98
$GC,10763,0.12,252.8,2834,1451,1914,1782,439.9,10.8,530,10778,0.00,2.38,0.00,0.000,1030,0.000,0.058,2834,2840,1847,1913,1781,0,0,0,0,0,0,14.84,14.75,14.86
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$STATE,14915,end climb,SURFACE_DEPTH_REACHED
$STATE,14915,begin surface coast
$FINISH,0.0,1.022516
$STATE,14943,end surface coast,CONTROL_FINISHED_OK
$STATE,14943,begin surface
$SM_CCo,14972,16.42,0.116,0,0,861,500.17
$SM_GC,1.17,8.43,0.38,16.42,0.077,0.055,0.116,75,2592,861,-12.38,1.98,500.17,0,0,0,0,0,0,14.62,14.63,14.53
$IRIDIUM_FIX,1011.50,-12558.26,220917,025817
$TT8_MAMPS,0.035203,0.431424
$HUMID,45.94
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,3859072
$TM_FREEKB,3152960
$PM_FREEKB,47593728
$24V_AH,13.32,69.920
$10V_AH,13.61,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,26.400,149.600,634.575,16.425,0.000,0.000,0.000,380.200,0.500,0.000,15.839,0.000,11806.495,813.210,2704.306,259.200,0.000,2414.453,0.000,1338.323,0.000,0.538,0.000
$DEVICE_MAMPS,434.520,81.855,1822.230,116.280,0.000,0.000,0.000,162.180,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14950.000,5678.000,14943.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.976,18.681,4.723,0.000
$MEM,303572
$DATA_FILE_SIZE,26695,772
$CAP_FILE_SIZE,132241,0
$CFSIZE,260165632,237510656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,202.82,1
$GPS,220917,113756,1013.584,-12449.538,37,0.7,37,9.1,0.7,217.2,11,10.0