version: 66.13
glider: 144
mission: 6
dive: 184
start: 10 1 117 8 10 32
data:
$ID,144
$MISSION,6
$DIVE,184
$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,72
$R_STBD_OVSHOOT,23
$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
$GPS1,011017,080002,1000.6678,-12445.7305,37,0.9,37,9.1,0.0,0.0,9,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.3
$GPS2,011017,081012,1000.6409,-12445.7285,10,0.9,10,9.1,0.0,0.0,9,9.5
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NE_r
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,349.1,23837,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.70,-146.0,69,2612,810,766,0.0,0.0,0,109,0.00,0.00,-84.07,0.000,16390,0.000,0.000,68,2613,3500,3513,3487,0,0,0,0,0,0,14.71,13.19,14.74
$GC,111,-0.70,-146.0,71,2613,3510,3488,8.8,-13.4,3,135,13.98,0.00,0.00,0.000,2310,0.452,0.000,2631,2613,3501,3512,3490,0,0,0,0,0,0,14.20,14.58,14.52
$GC,442,-0.86,-146.0,2631,2613,3518,3490,79.1,-9.0,18,451,0.12,2.28,0.00,0.000,4772,0.136,0.031,2568,1219,3503,3517,3490,0,0,0,0,0,0,14.61,14.59,14.64
$GC,505,-0.98,-146.0,2567,1219,3518,3490,84.4,-8.6,27,514,0.00,2.38,0.00,0.000,1190,0.000,0.053,2566,2604,3504,3519,3490,0,0,0,0,0,0,14.69,14.59,14.71
$GC,835,-1.13,-146.0,2568,2604,3521,3490,107.7,-6.8,39,845,0.10,2.35,0.00,0.000,4516,0.158,0.070,2522,3986,3506,3522,3490,0,0,0,0,0,0,14.65,14.62,14.71
$GC,920,-1.28,-146.0,2522,3987,3521,3490,114.1,-7.3,51,929,0.00,2.22,0.00,0.000,1190,0.000,0.024,2522,2590,3505,3520,3490,0,0,0,0,0,0,14.73,14.71,14.74
$GC,1285,-1.37,-146.0,2522,2590,3522,3491,143.4,-8.0,61,1293,0.12,2.22,0.00,0.000,4772,0.134,0.031,2467,1214,3505,3521,3490,0,0,0,0,0,0,14.67,14.69,14.71
$GC,1333,-1.37,-146.0,2465,1214,3522,3490,148.4,-10.7,68,1343,0.15,2.38,0.00,0.000,3078,0.271,0.055,2492,2606,3505,3521,3490,0,0,0,0,0,0,14.46,14.66,14.68
$GC,1677,-1.41,-146.0,2493,2605,3521,3490,183.4,-10.2,75,1686,0.00,2.38,0.00,0.000,388,0.000,0.073,2486,3993,3505,3521,3490,0,0,0,0,0,0,14.91,14.59,14.93
$GC,1712,-1.47,-146.0,2487,3994,3519,3492,186.8,-9.8,80,1720,0.00,2.22,0.00,0.000,1190,0.000,0.024,2486,2600,3505,3520,3490,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2070,-1.51,-146.0,2487,2598,3516,3490,223.0,-10.3,89,2078,0.10,2.25,0.00,0.000,4740,0.156,0.032,2445,1215,3502,3516,3488,0,0,0,0,0,0,14.66,14.69,14.72
$GC,2138,-1.51,-146.0,2445,1215,3516,3490,231.2,-11.8,99,2148,0.00,2.42,0.00,0.000,1030,0.000,0.057,2444,2601,3502,3514,3490,0,0,0,0,0,0,14.69,14.64,14.73
$GC,2462,-1.45,-146.0,2445,2602,3513,3487,275.8,-14.0,110,2467,0.12,0.00,0.00,0.000,2182,0.314,0.000,2470,2602,3499,3512,3487,0,0,0,0,0,0,14.40,14.73,14.66
$GC,2797,-1.45,-146.0,2470,2602,3511,3483,316.4,-12.0,116,2812,0.00,2.28,0.00,0.000,516,0.000,0.034,2470,1216,3496,3510,3483,0,0,0,0,0,0,14.96,14.71,14.99
$GC,2859,-1.55,-146.0,2470,1217,3511,3483,323.1,-10.2,124,2875,0.00,2.38,0.00,0.000,1158,0.000,0.057,2470,2602,3496,3509,3483,0,0,0,0,0,0,14.79,14.69,14.82
$GC,3202,-1.55,-146.0,2470,2603,3507,3480,361.3,-11.2,137,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2603,3492,3506,3479,0,0,0,0,0,0,14.97,15.01,15.00
$GC,3538,-1.58,-146.0,2470,2603,3504,3477,397.8,-10.8,143,3553,0.10,0.00,0.00,0.000,4230,0.161,0.000,2430,2602,3489,3502,3476,0,0,0,0,0,0,14.73,14.85,14.82
$GC,3874,-1.51,-146.0,2430,2603,3501,3479,444.8,-14.2,149,3889,0.12,2.30,0.00,0.000,2692,0.292,0.034,2459,1217,3487,3500,3474,0,0,0,0,0,0,14.40,14.69,14.57
$GC,3957,-1.61,-146.0,2459,1217,3501,3474,454.2,-10.0,160,3971,0.00,2.38,0.00,0.000,1158,0.000,0.057,2458,2602,3487,3500,3474,0,0,0,0,0,0,14.81,14.71,14.84
$GC,4278,-1.61,-146.0,2458,2603,3499,3470,491.3,-11.8,170,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2601,3484,3498,3470,0,0,0,0,0,0,14.98,15.01,15.01
$GC,4614,-1.61,-146.0,2459,2602,3497,3468,529.7,-11.3,176,4629,0.00,2.28,0.00,0.000,516,0.000,0.036,2458,1221,3482,3497,3468,0,0,0,0,0,0,15.00,14.74,15.02
$GC,4655,-1.68,-146.0,2459,1221,3497,3468,534.2,-11.2,181,4669,0.12,2.38,0.00,0.000,5254,0.145,0.059,2410,2601,3482,3496,3468,0,0,0,0,0,0,14.69,14.70,14.81
$GC,5018,-1.58,-146.0,2410,2601,3494,3465,587.1,-14.8,190,5032,0.12,2.28,0.00,0.000,2692,0.304,0.034,2439,1220,3479,3493,3465,0,0,0,0,0,0,14.39,14.67,14.56
$GC,5086,-1.64,-146.0,2439,1221,3495,3465,595.2,-10.6,199,5101,0.00,2.38,0.00,0.000,1158,0.000,0.058,2434,2600,3478,3493,3463,0,0,0,0,0,0,14.80,14.69,14.83
$GC,5422,-1.60,-146.0,2434,2600,3492,3461,636.0,-12.3,211,5436,0.00,0.00,0.00,0.000,134,0.000,0.000,2433,2599,3476,3492,3461,0,0,0,0,0,0,14.99,15.02,15.02
$GC,5758,-1.57,-146.0,2434,2600,3491,3459,677.3,-12.3,217,5772,0.00,2.25,0.00,0.000,644,0.000,0.035,2433,1220,3476,3492,3460,0,0,0,0,0,0,14.99,14.73,15.02
$GC,5799,-1.57,-146.0,2434,1219,3491,3459,682.3,-12.3,222,5813,0.00,2.40,0.00,0.000,1030,0.000,0.060,2431,2600,3474,3490,3459,0,0,0,0,0,0,14.79,14.68,14.83
$GC,6162,-1.54,-146.0,2431,2600,3489,3457,726.7,-12.4,231,6176,0.10,0.00,0.00,0.000,2182,0.333,0.000,2449,2599,3472,3488,3457,0,0,0,0,0,0,14.40,14.76,14.66
$GC,6499,-1.54,-146.0,2449,2599,3487,3455,762.7,-10.6,237,6513,0.00,2.28,0.00,0.000,516,0.000,0.037,2449,1223,3470,3486,3454,0,0,0,0,0,0,14.97,14.70,15.00
$GC,6553,-1.64,-146.0,2449,1222,3487,3454,768.2,-9.1,244,6568,0.00,2.40,0.00,0.000,1190,0.000,0.060,2446,2599,3470,3486,3454,0,0,0,0,0,0,14.78,14.66,14.81
$GC,6896,-1.64,-146.0,2447,2598,3485,3452,803.2,-10.3,251,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2598,3467,3484,3451,0,0,0,0,0,0,14.97,15.00,14.99
$GC,7233,-1.64,-146.0,2447,2598,3483,3450,838.0,-10.2,257,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2598,3466,3483,3449,0,0,0,0,0,0,14.97,15.00,14.99
$STATE,7286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7287,begin apogee
$GC,7291,-0.15,0.0,2447,2851,3483,3449,844.0,-10.3,258,7454,1.12,0.00,150.32,1.779,10246,0.233,0.000,2753,2850,2899,2970,2828,0,0,0,0,0,0,14.38,14.10,13.38
$STATE,7455,end apogee,CONTROL_FINISHED_OK
$STATE,7455,begin climb
$GC,7457,0.70,146.0,2754,2851,2966,2820,848.9,0.0,260,7631,0.57,2.05,152.23,1.773,11012,0.080,0.068,2949,3988,2297,2367,2228,0,0,0,0,0,0,14.16,13.82,13.25
$GC,7775,0.16,146.0,2949,3989,2352,2227,822.4,19.8,313,7792,0.62,1.85,0.00,0.000,5254,0.371,0.028,2828,2845,2289,2351,2227,0,0,0,0,0,0,14.05,14.38,14.37
$GC,8141,-0.01,146.0,2828,2844,2352,2212,780.6,10.7,322,8155,0.17,0.00,0.00,0.000,4230,0.308,0.000,2790,2843,2282,2351,2213,0,0,0,0,0,0,14.31,14.64,14.59
$GC,8477,-0.03,175.8,2791,2843,2352,2208,751.4,8.6,328,8524,0.00,2.38,30.92,1.620,8868,0.000,0.044,2799,1444,2179,2256,2102,0,0,0,0,0,0,14.86,14.52,13.83
$GC,8571,-0.01,195.0,2799,1445,2252,2096,743.0,9.1,341,8612,0.00,2.45,23.20,1.614,9254,0.000,0.057,2798,2840,2101,2180,2023,0,0,0,0,0,0,14.57,14.50,13.71
$GC,8934,-0.05,195.0,2799,2840,2171,2017,704.3,10.9,357,8949,0.00,2.33,0.00,0.000,644,0.000,0.041,2807,1453,2093,2170,2016,0,0,0,0,0,0,14.78,14.59,14.81
$GC,8989,-0.05,195.0,2807,1454,2168,2015,698.4,10.4,364,9004,0.12,2.45,0.00,0.000,5126,0.246,0.057,2781,2847,2092,2170,2014,0,0,0,0,0,0,14.38,14.59,14.63
$GC,9332,-0.03,211.1,2781,2847,2168,2012,665.9,9.3,371,9365,0.00,2.42,18.95,1.543,8740,0.000,0.041,2789,1446,2034,2115,1954,0,0,0,0,0,0,14.86,14.62,13.95
$GC,9398,0.08,241.7,2789,1447,2110,1952,660.2,8.6,380,9453,0.00,2.45,38.50,1.532,9382,0.000,0.057,2788,2846,1911,1985,1837,0,0,0,0,0,0,14.64,14.56,13.72
$GC,9786,0.12,252.2,2789,2846,1974,1831,623.3,9.5,393,9815,0.10,2.42,11.98,1.519,10916,0.168,0.043,2841,1456,1867,1938,1796,0,0,0,0,0,0,14.57,14.57,13.89
$GC,9863,0.09,252.2,2842,1456,1936,1794,614.7,11.5,404,9877,0.15,2.42,0.00,0.000,5254,0.252,0.057,2808,2839,1863,1934,1792,0,0,0,0,0,0,14.34,14.54,14.58
$GC,10185,0.09,252.2,2808,2840,1931,1791,581.1,10.3,414,10199,0.00,2.35,0.00,0.000,516,0.000,0.040,2816,1448,1860,1930,1791,0,0,0,0,0,0,14.83,14.64,14.86
$GC,10247,0.13,263.1,2816,1448,1930,1790,575.0,9.5,422,10274,0.00,2.42,13.23,1.483,9382,0.000,0.057,2816,2840,1827,1896,1758,0,0,0,0,0,0,14.71,14.62,13.95
$GC,10581,0.11,263.1,2817,2841,1887,1753,538.6,11.0,434,10595,0.00,2.33,0.00,0.000,644,0.000,0.040,2824,1455,1819,1886,1753,0,0,0,0,0,0,14.84,14.64,14.86
$GC,10628,0.14,263.1,2825,1456,1887,1752,533.3,10.5,440,10643,0.00,2.42,0.00,0.000,1158,0.000,0.058,2824,2846,1819,1886,1752,0,0,0,0,0,0,14.71,14.62,14.74
$GC,10985,0.10,263.1,2824,2846,1885,1751,490.2,12.1,448,10999,0.00,2.35,0.00,0.000,644,0.000,0.041,2832,1456,1818,1885,1751,0,0,0,0,0,0,14.90,14.62,14.92
$GC,11038,0.10,263.1,2830,1456,1885,1750,483.7,11.3,455,11054,0.00,2.42,0.00,0.000,1030,0.000,0.058,2832,2840,1817,1884,1750,0,0,0,0,0,0,14.75,14.66,14.78
$GC,11383,0.05,263.1,2832,2840,1885,1750,439.4,13.1,462,11397,0.12,2.33,0.00,0.000,4740,0.256,0.037,2809,1450,1816,1883,1749,0,0,0,0,0,0,14.40,14.65,14.56
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$STATE,15543,end climb,SURFACE_DEPTH_REACHED
$STATE,15543,begin surface coast
$FINISH,0.0,1.010766
$STATE,15571,end surface coast,CONTROL_FINISHED_OK
$STATE,15571,begin surface
$SM_CCo,15662,0.00,0.000,0,0,777,520.77
$SM_GC,1.14,8.38,0.38,0.00,0.063,0.047,0.000,79,2556,777,-12.37,1.87,520.77,0,0,0,0,0,0,14.54,14.60,14.61
$IRIDIUM_FIX,957.97,-12448.22,011017,034336
$TT8_MAMPS,0.035952,0.292859
$HUMID,45.19
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,22.40
$XPDR_PINGS,3
$SC_FREEKB,3839872
$TM_FREEKB,2290816
$PM_FREEKB,39420160
$24V_AH,13.19,91.323
$10V_AH,13.06,0.000
$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,27.100,132.675,706.650,0.000,0.000,0.000,0.000,369.275,0.750,0.000,13.274,0.000,12545.575,833.810,2569.189,319.106,0.000,2391.729,0.000,1224.969,0.000,0.538,0.000
$DEVICE_MAMPS,452.115,80.325,1779.390,0.000,0.000,0.000,0.000,160.650,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.927,18.666,3.900,0.000
$MEM,303584
$DATA_FILE_SIZE,23425,676
$CAP_FILE_SIZE,128103,0
$CFSIZE,260165632,231661568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.038,330.76,1
$GPS,011017,123257,1002.914,-12445.739,40,0.8,41,9.1,0.3,125.3,10,7.5