version: 66.13
glider: 144
mission: 6
dive: 243
start: 10 12 117 1 58 11
data:
$ID,144
$MISSION,6
$DIVE,243
$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,75
$R_STBD_OVSHOOT,27
$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,3
$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
$GPS1,121017,014827,1001.2338,-12444.1104,41,0.7,41,9.1,1.0,175.1,11,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-77.5
$GPS2,121017,015752,1001.1581,-12444.0791,5,0.7,9,9.1,0.7,151.5,11,9.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NE_r
$TGT_LATLONG,1013.500,-12446.290
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,335.1,23210,-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,18,-0.70,-146.0,63,2579,867,799,0.0,0.0,0,105,0.00,0.00,-81.62,0.000,16390,0.000,0.000,61,2581,3500,3506,3495,0,0,0,0,0,0,14.70,12.93,14.73
$GC,108,-0.70,-146.0,62,2581,3507,3496,10.8,-16.7,3,133,13.95,2.42,0.00,0.000,2308,0.448,0.053,2622,3995,3503,3510,3496,0,0,0,0,0,0,14.14,14.51,14.50
$GC,180,-0.70,-146.0,2622,3993,3519,3496,46.2,-21.5,14,190,0.00,2.25,0.00,0.000,1030,0.000,0.025,2622,2605,3505,3515,3496,0,0,0,0,0,0,14.56,14.53,14.57
$GC,496,-0.91,-146.0,2623,2604,3517,3496,74.9,-8.4,26,505,0.12,2.28,0.00,0.000,4772,0.135,0.034,2565,1208,3506,3516,3496,0,0,0,0,0,0,14.57,14.58,14.65
$GC,566,-1.05,-146.0,2565,1208,3516,3497,80.8,-8.7,36,573,0.00,2.40,0.00,0.000,1190,0.000,0.051,2565,2606,3506,3516,3496,0,0,0,0,0,0,14.66,14.56,14.67
$GC,917,-1.24,-146.0,2565,2605,3521,3496,103.9,-5.7,49,923,0.15,2.33,0.00,0.000,4516,0.119,0.070,2500,3985,3508,3520,3496,0,0,0,0,0,0,14.64,14.57,14.71
$GC,1057,-1.31,-146.0,2500,3985,3520,3496,116.3,-8.8,69,1064,0.00,2.17,0.00,0.000,1190,0.000,0.025,2500,2585,3508,3520,3496,0,0,0,0,0,0,14.74,14.69,14.76
$GC,1420,-1.37,-146.0,2500,2584,3521,3497,151.7,-9.7,79,1427,0.00,2.25,0.00,0.000,676,0.000,0.034,2500,1226,3508,3520,3496,0,0,0,0,0,0,14.91,14.62,14.94
$GC,1490,-1.50,-146.0,2500,1227,3521,3496,158.2,-8.8,89,1498,0.15,2.35,0.00,0.000,5286,0.123,0.054,2439,2600,3508,3520,3496,0,0,0,0,0,0,14.63,14.61,14.71
$GC,1812,-1.42,-146.0,2439,2600,3520,3496,204.6,-14.9,100,1815,0.17,0.00,0.00,0.000,2182,0.265,0.000,2478,2600,3507,3519,3496,0,0,0,0,0,0,14.33,14.67,14.59
$GC,2148,-1.44,-146.0,2479,2600,3515,3496,243.5,-11.3,106,2156,0.00,2.28,0.00,0.000,644,0.000,0.036,2478,1220,3505,3514,3496,0,0,0,0,0,0,14.92,14.60,14.95
$GC,2183,-1.53,-146.0,2479,1220,3515,3496,247.4,-10.9,111,2190,0.00,2.42,0.00,0.000,1158,0.000,0.056,2478,2602,3505,3514,3496,0,0,0,0,0,0,14.62,14.57,14.67
$GC,2540,-1.57,-146.0,2478,2602,3512,3494,286.0,-10.9,120,2547,0.12,2.40,0.00,0.000,4484,0.139,0.074,2429,3993,3502,3510,3494,0,0,0,0,0,0,14.61,14.54,14.66
$GC,2575,-1.52,-146.0,2429,3993,3510,3494,290.7,-14.0,125,2582,0.08,2.22,0.00,0.000,3206,0.251,0.028,2461,2607,3501,3509,3493,0,0,0,0,0,0,14.26,14.66,14.57
$GC,2932,-1.52,-146.0,2462,2605,3508,3490,336.0,-12.6,134,2945,0.00,2.30,0.00,0.000,516,0.000,0.038,2462,1212,3498,3507,3490,0,0,0,0,0,0,14.99,14.68,15.02
$GC,2978,-1.60,-146.0,2462,1212,3508,3490,341.6,-11.3,140,2992,0.00,2.40,0.00,0.000,1158,0.000,0.057,2460,2607,3498,3507,3490,0,0,0,0,0,0,14.76,14.64,14.79
$GC,3334,-1.60,-146.0,2460,2606,3505,3486,384.6,-12.1,148,3347,0.00,2.38,0.00,0.000,260,0.000,0.075,2451,3988,3495,3505,3486,0,0,0,0,0,0,15.00,14.62,15.03
$GC,3359,-1.60,-146.0,2451,3988,3501,3486,387.8,-11.9,151,3372,0.00,2.20,0.00,0.000,1030,0.000,0.028,2451,2602,3494,3503,3485,0,0,0,0,0,0,14.82,14.76,14.84
$GC,3678,-1.58,-146.0,2451,2600,3502,3483,428.7,-12.9,161,3692,0.00,2.28,0.00,0.000,644,0.000,0.039,2451,1214,3491,3501,3482,0,0,0,0,0,0,15.02,14.69,15.04
$GC,3753,-1.65,-146.0,2451,1214,3501,3483,437.4,-10.5,171,3767,0.00,2.40,0.00,0.000,1158,0.000,0.058,2446,2609,3491,3500,3482,0,0,0,0,0,0,14.76,14.65,14.79
$GC,4080,-1.62,-146.0,2446,2609,3500,3480,479.0,-13.0,182,4093,0.00,0.00,0.00,0.000,134,0.000,0.000,2446,2609,3489,3499,3480,0,0,0,0,0,0,15.02,15.04,15.04
$GC,4416,-1.62,-146.0,2449,2609,3498,3477,522.0,-12.8,188,4430,0.00,2.33,0.00,0.000,516,0.000,0.038,2446,1215,3487,3497,3477,0,0,0,0,0,0,15.02,14.69,15.04
$GC,4456,-1.65,-146.0,2446,1215,3497,3477,526.9,-12.5,193,4469,0.00,2.40,0.00,0.000,1158,0.000,0.060,2444,2602,3487,3497,3477,0,0,0,0,0,0,14.76,14.64,14.79
$GC,4817,-1.65,-146.0,2444,2602,3495,3474,570.3,-12.0,202,4831,0.00,2.30,0.00,0.000,516,0.000,0.037,2444,1215,3484,3494,3474,0,0,0,0,0,0,15.02,14.68,15.05
$GC,4865,-1.71,-146.0,2445,1216,3495,3475,575.5,-10.8,208,4878,0.10,2.40,0.00,0.000,5254,0.166,0.060,2405,2598,3484,3494,3474,0,0,0,0,0,0,14.59,14.63,14.73
$GC,5220,-1.60,-146.0,2406,2599,3492,3471,626.4,-14.8,216,5233,0.15,0.00,0.00,0.000,2182,0.297,0.000,2435,2599,3481,3491,3471,0,0,0,0,0,0,14.27,14.67,14.57
$GC,5556,-1.60,-146.0,2435,2599,3491,3469,667.2,-11.9,222,5570,0.00,2.33,0.00,0.000,516,0.000,0.040,2435,1219,3479,3490,3468,0,0,0,0,0,0,15.02,14.64,15.04
$GC,5603,-1.65,-146.0,2436,1219,3491,3469,672.7,-11.1,228,5616,0.00,2.40,0.00,0.000,1158,0.000,0.060,2431,2601,3479,3490,3469,0,0,0,0,0,0,14.72,14.60,14.76
$GC,5958,-1.62,-146.0,2431,2600,3488,3466,715.6,-12.3,236,5971,0.00,2.42,0.00,0.000,388,0.000,0.080,2430,3985,3476,3487,3465,0,0,0,0,0,0,15.02,14.54,15.04
$GC,5991,-1.62,-146.0,2431,3987,3487,3466,719.6,-12.4,240,6004,0.00,2.20,0.00,0.000,1030,0.000,0.030,2430,2607,3475,3486,3465,0,0,0,0,0,0,14.80,14.73,14.81
$GC,6359,-1.58,-146.0,2431,2605,3487,3463,766.4,-12.7,250,6373,0.00,2.35,0.00,0.000,644,0.000,0.042,2430,1205,3473,3485,3462,0,0,0,0,0,0,15.02,14.60,15.04
$GC,6455,-1.64,-146.0,2430,1206,3486,3462,777.4,-11.1,263,6469,0.00,2.45,0.00,0.000,1158,0.000,0.061,2430,2607,3473,3485,3462,0,0,0,0,0,0,14.71,14.58,14.74
$GC,6817,-1.64,-146.0,2430,2608,3485,3460,821.4,-12.2,272,6831,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2607,3471,3483,3460,0,0,0,0,0,0,15.00,15.03,15.02
$STATE,6983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6983,begin apogee
$GC,6988,-0.15,0.0,2431,2850,3483,3459,841.6,-12.0,275,7149,1.20,0.00,150.05,1.815,10246,0.236,0.000,2753,2850,2899,2968,2831,0,0,0,0,0,0,14.23,14.05,13.10
$STATE,7150,end apogee,CONTROL_FINISHED_OK
$STATE,7150,begin climb
$GC,7153,0.70,146.0,2753,2850,2966,2823,846.2,0.0,277,7321,0.60,2.58,151.85,1.801,11012,0.084,0.045,2964,1447,2299,2371,2227,0,0,0,0,0,0,14.12,13.91,12.95
$GC,7361,0.30,146.0,2964,1447,2365,2212,841.3,16.2,314,7376,0.47,2.50,0.00,0.000,5254,0.324,0.056,2860,2833,2287,2363,2211,0,0,0,0,0,0,13.83,14.12,14.14
$GC,7718,0.06,146.0,2861,2832,2362,2202,796.5,12.1,322,7731,0.22,2.35,0.00,0.000,4740,0.328,0.038,2817,1444,2281,2361,2201,0,0,0,0,0,0,14.13,14.46,14.34
$GC,7751,-0.07,146.0,2817,1445,2360,2200,793.1,10.0,326,7765,0.17,2.47,0.00,0.000,5286,0.252,0.058,2778,2843,2279,2359,2200,0,0,0,0,0,0,14.23,14.51,14.53
$GC,8121,0.01,207.6,2778,2842,2359,2197,766.4,7.1,336,8203,0.00,2.42,66.47,1.648,8740,0.000,0.044,2785,1446,2047,2120,1975,0,0,0,0,0,0,14.87,14.29,13.38
$GC,8252,0.14,252.0,2786,1447,2116,1966,756.4,7.9,354,8318,0.12,2.47,51.28,1.637,11430,0.140,0.058,2836,2836,1869,1934,1804,0,0,0,0,0,0,14.34,14.34,13.29
$GC,8631,0.04,252.0,2836,2836,1921,1796,704.3,14.3,373,8645,0.15,2.35,0.00,0.000,4740,0.282,0.038,2809,1452,1857,1920,1795,0,0,0,0,0,0,14.21,14.49,14.39
$GC,8685,0.10,252.0,2809,1453,1920,1793,698.1,10.6,380,8699,0.00,2.45,0.00,0.000,1158,0.000,0.059,2809,2842,1856,1920,1792,0,0,0,0,0,0,14.62,14.52,14.65
$GC,9029,0.10,252.0,2809,2842,1918,1791,658.4,11.5,387,9042,0.00,2.40,0.00,0.000,516,0.000,0.044,2817,1446,1854,1917,1791,0,0,0,0,0,0,14.88,14.61,14.90
$GC,9082,0.15,252.0,2818,1446,1918,1790,652.7,10.4,394,9097,0.00,2.47,0.00,0.000,1158,0.000,0.060,2817,2842,1853,1917,1789,0,0,0,0,0,0,14.69,14.58,14.72
$GC,9425,0.12,252.0,2818,2842,1916,1789,613.5,11.4,401,9439,0.00,2.35,0.00,0.000,644,0.000,0.044,2826,1454,1852,1916,1788,0,0,0,0,0,0,14.92,14.63,14.95
$GC,9507,0.12,252.0,2826,1455,1916,1788,604.9,10.3,412,9521,0.00,2.42,0.00,0.000,1030,0.000,0.059,2826,2841,1851,1915,1787,0,0,0,0,0,0,14.71,14.61,14.76
$GC,9827,0.06,252.0,2826,2841,1915,1788,566.8,12.0,422,9840,0.10,0.00,0.00,0.000,4230,0.252,0.000,2806,2841,1850,1914,1787,0,0,0,0,0,0,14.46,14.72,14.66
$GC,10163,0.06,252.0,2806,2841,1914,1787,530.1,10.8,428,10177,0.00,2.35,0.00,0.000,516,0.000,0.044,2814,1454,1849,1912,1787,0,0,0,0,0,0,14.95,14.64,14.99
$GC,10266,0.13,254.7,2815,1455,1912,1786,519.6,9.9,442,10279,0.00,2.45,0.00,0.000,1190,0.000,0.059,2814,2847,1849,1912,1786,0,0,0,0,0,0,14.71,14.60,14.76
$GC,10620,0.13,254.7,2816,2847,1913,1785,479.9,11.3,450,10634,0.00,2.38,0.00,0.000,516,0.000,0.043,2823,1450,1849,1913,1785,0,0,0,0,0,0,14.97,14.64,15.00
$GC,10675,0.17,254.8,2823,1449,1913,1785,474.3,10.0,457,10689,0.00,2.45,0.00,0.000,1190,0.000,0.059,2823,2848,1848,1912,1784,0,0,0,0,0,0,14.71,14.59,14.76
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$STATE,14993,end climb,SURFACE_DEPTH_REACHED
$STATE,14993,begin surface coast
$FINISH,0.1,1.000239
$STATE,15022,end surface coast,CONTROL_FINISHED_OK
$STATE,15022,begin surface
$SM_CCo,15109,0.00,0.000,0,0,683,543.83
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$TT8_MAMPS,0.035952,0.460635
$HUMID,47.00
$INTERNAL_PRESSURE,8.63639
$TCM_TEMP,23.10
$XPDR_PINGS,11
$SC_FREEKB,3817216
$TM_FREEKB,1255808
$24V_AH,12.93,115.235
$10V_AH,13.21,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.450,148.800,734.400,0.000,0.000,0.000,0.000,343.175,2.750,0.000,10.606,0.000,12241.720,900.582,2188.181,335.864,0.000,2341.811,0.000,1000.943,0.000,0.538,0.000
$DEVICE_MAMPS,448.290,81.090,1815.345,0.000,0.000,0.000,0.000,160.650,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.947,18.648,0.000,0.000
$MEM,303584
$DATA_FILE_SIZE,26715,698
$CAP_FILE_SIZE,129451,0
$CFSIZE,260165632,225243136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.054,145.18,1
$GPS,121017,061102,1002.689,-12443.975,26,0.7,26,9.1,0.6,178.8,11,9.0