version: 66.13
glider: 144
mission: 6
dive: 265
start: 10 16 117 1 38 32
data:
$ID,144
$MISSION,6
$DIVE,265
$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,56
$R_STBD_OVSHOOT,24
$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
$GPS1,161017,012833,1015.4127,-12503.3809,31,0.7,31,9.2,0.8,45.0,11,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.2
$GPS2,161017,013812,1015.5955,-12503.2314,7,0.7,7,9.2,1.1,29.4,12,9.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,1013.500,-12513.710
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,247.8,19489,-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,-146.0,52,2615,604,599,0.0,0.0,0,106,0.00,0.00,-84.35,0.000,16386,0.000,0.000,50,2615,3196,3208,3184,0,0,0,0,0,0,14.70,28.83,14.72
$GC,109,-0.70,-146.0,51,2616,3209,3186,7.2,-10.6,3,135,13.80,2.62,-3.70,0.000,18948,0.435,1.995,2634,1199,3498,3523,3474,0,0,0,0,0,0,14.07,13.35,14.50
$GC,196,-0.92,-146.0,2634,1199,3528,3474,37.6,-10.0,16,204,0.12,2.50,0.00,0.000,5254,0.080,0.051,2573,2607,3500,3528,3473,0,0,0,0,0,0,14.45,14.44,14.50
$GC,526,-1.04,-146.0,2573,2608,3528,3475,81.3,-8.0,30,534,0.00,2.35,0.00,0.000,420,0.000,0.070,2569,3985,3500,3527,3474,0,0,0,0,0,0,14.82,14.52,14.84
$GC,560,-1.27,-146.0,2569,3986,3528,3475,83.7,-6.9,35,567,0.15,2.25,0.00,0.000,5286,0.072,0.023,2495,2579,3500,3527,3474,0,0,0,0,0,0,14.55,14.63,14.59
$GC,917,-1.27,-146.0,2491,2580,3530,3474,118.6,-10.1,47,925,0.10,2.42,0.00,0.000,2308,0.275,0.067,2501,3993,3501,3529,3474,0,0,0,0,0,0,14.40,14.56,14.61
$GC,952,-1.32,-146.0,2502,3993,3530,3475,121.9,-9.6,52,959,0.00,2.22,0.00,0.000,1190,0.000,0.024,2501,2598,3502,3530,3474,0,0,0,0,0,0,14.67,14.64,14.69
$GC,1309,-1.38,-146.0,2502,2597,3530,3475,155.3,-9.3,61,1316,0.00,2.30,0.00,0.000,676,0.000,0.034,2505,1222,3501,3529,3474,0,0,0,0,0,0,14.90,14.59,14.93
$GC,1387,-1.54,-146.0,2502,1222,3530,3475,161.7,-7.9,72,1394,0.17,2.38,0.00,0.000,5286,0.112,0.051,2432,2605,3501,3529,3474,0,0,0,0,0,0,14.61,14.60,14.70
$GC,1701,-1.44,-146.0,2432,2605,3529,3475,206.7,-14.9,82,1709,0.17,2.30,0.00,0.000,2692,0.268,0.034,2472,1219,3502,3530,3474,0,0,0,0,0,0,14.30,14.64,14.57
$GC,1743,-1.49,-146.0,2472,1220,3529,3475,211.7,-10.9,88,1750,0.00,2.42,0.00,0.000,1158,0.000,0.054,2472,2596,3501,3528,3474,0,0,0,0,0,0,14.56,14.50,14.59
$GC,2094,-1.49,-146.0,2472,2594,3523,3475,250.6,-11.3,96,2100,0.00,2.42,0.00,0.000,260,0.000,0.073,2472,3993,3500,3526,3474,0,0,0,0,0,0,14.90,14.54,14.92
$GC,2121,-1.53,-146.0,2470,3993,3522,3474,253.7,-11.4,100,2128,0.00,2.22,0.00,0.000,1158,0.000,0.025,2472,2608,3497,3521,3474,0,0,0,0,0,0,14.68,14.67,14.70
$GC,2485,-1.53,-146.0,2472,2606,3516,3474,293.9,-11.0,110,2493,0.00,2.33,0.00,0.000,516,0.000,0.036,2472,1221,3494,3515,3474,0,0,0,0,0,0,14.91,14.57,14.94
$GC,2570,-1.65,-146.0,2472,1222,3515,3475,302.0,-9.2,122,2583,0.15,2.40,0.00,0.000,5286,0.126,0.055,2414,2609,3493,3513,3474,0,0,0,0,0,0,14.57,14.55,14.68
$GC,2939,-1.52,-146.0,2414,2610,3508,3474,360.0,-16.3,132,2953,0.15,2.33,0.00,0.000,2692,0.278,0.033,2450,1211,3490,3507,3474,0,0,0,0,0,0,14.26,14.57,14.45
$GC,2979,-1.52,-146.0,2450,1211,3508,3474,365.6,-13.3,137,2993,0.00,2.40,0.00,0.000,1030,0.000,0.056,2446,2598,3490,3507,3474,0,0,0,0,0,0,14.74,14.64,14.78
$GC,3341,-1.49,-146.0,2447,2598,3505,3470,411.8,-12.7,146,3354,0.00,0.00,0.00,0.000,134,0.000,0.000,2446,2598,3487,3504,3470,0,0,0,0,0,0,15.00,15.03,15.02
$GC,3677,-1.47,-146.0,2446,2598,3502,3467,452.8,-12.2,152,3691,0.12,2.33,0.00,0.000,2692,0.295,0.034,2477,1211,3484,3501,3467,0,0,0,0,0,0,14.32,14.58,14.47
$GC,3732,-1.61,-146.0,2477,1211,3502,3467,458.1,-8.6,159,3746,0.12,2.45,0.00,0.000,5286,0.145,0.056,2427,2613,3484,3501,3467,0,0,0,0,0,0,14.60,14.63,14.72
$GC,4074,-1.54,-146.0,2427,2612,3500,3464,502.7,-13.4,166,4088,0.12,2.33,0.00,0.000,2692,0.283,0.033,2457,1218,3481,3499,3464,0,0,0,0,0,0,14.29,14.57,14.45
$GC,4122,-1.62,-146.0,2457,1219,3500,3464,508.1,-10.4,172,4135,0.00,2.38,0.00,0.000,1158,0.000,0.057,2457,2594,3481,3499,3464,0,0,0,0,0,0,14.64,14.58,14.69
$GC,4477,-1.65,-146.0,2457,2593,3497,3461,544.5,-10.3,180,4490,0.10,0.00,0.00,0.000,4230,0.167,0.000,2420,2593,3478,3497,3460,0,0,0,0,0,0,14.69,14.81,14.78
$GC,4813,-1.57,-146.0,2420,2594,3495,3459,588.3,-13.3,186,4827,0.12,2.30,0.00,0.000,2692,0.288,0.034,2449,1216,3476,3494,3458,0,0,0,0,0,0,14.26,14.54,14.42
$GC,4867,-1.66,-146.0,2449,1216,3495,3459,594.2,-9.7,193,4881,0.00,2.42,0.00,0.000,1190,0.000,0.057,2444,2603,3476,3493,3459,0,0,0,0,0,0,14.72,14.60,14.76
$GC,5210,-1.66,-146.0,2444,2603,3493,3456,633.2,-11.7,200,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2603,3474,3492,3456,0,0,0,0,0,0,15.02,15.04,15.04
$GC,5547,-1.66,-146.0,2444,2603,3491,3457,674.8,-12.5,206,5561,0.00,2.35,0.00,0.000,516,0.000,0.037,2444,1210,3472,3491,3454,0,0,0,0,0,0,15.02,14.64,15.04
$GC,5594,-1.73,-146.0,2444,1211,3491,3454,680.6,-11.9,212,5607,0.12,2.42,0.00,0.000,5254,0.144,0.059,2395,2603,3472,3490,3454,0,0,0,0,0,0,14.57,14.59,14.70
$GC,5949,-1.62,-146.0,2395,2603,3488,3452,738.0,-16.5,220,5963,0.15,2.33,0.00,0.000,2692,0.301,0.034,2431,1217,3469,3487,3452,0,0,0,0,0,0,14.15,14.47,14.33
$GC,5975,-1.55,-146.0,2431,1217,3488,3452,741.9,-16.0,223,5989,0.10,2.45,0.00,0.000,3206,0.287,0.059,2450,2607,3469,3488,3451,0,0,0,0,0,0,14.32,14.57,14.57
$GC,6295,-1.59,-146.0,2450,2607,3487,3449,777.0,-10.9,233,6308,0.00,0.00,0.00,0.000,134,0.000,0.000,2450,2607,3467,3486,3449,0,0,0,0,0,0,15.00,15.04,15.03
$GC,6632,-1.64,-146.0,2450,2607,3485,3447,810.0,-9.7,239,6646,0.00,2.35,0.00,0.000,676,0.000,0.037,2450,1222,3465,3485,3446,0,0,0,0,0,0,15.00,14.60,15.02
$GC,6672,-1.73,-146.0,2450,1222,3486,3447,813.6,-9.7,244,6685,0.15,2.42,0.00,0.000,5286,0.132,0.059,2397,2605,3466,3485,3447,0,0,0,0,0,0,14.55,14.55,14.67
$STATE,6919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6919,begin apogee
$GC,6926,-0.15,0.0,2395,2861,3482,3446,847.2,-13.7,251,7088,1.38,0.00,151.45,1.805,10246,0.249,0.000,2756,2861,2899,2968,2831,0,0,0,0,0,0,14.14,14.05,13.16
$STATE,7089,end apogee,CONTROL_FINISHED_OK
$STATE,7089,begin climb
$GC,7091,0.70,146.0,2757,2860,2963,2820,851.7,0.0,253,7265,0.57,2.53,153.75,1.782,10756,0.072,0.041,2967,1450,2293,2362,2224,0,0,0,0,0,0,14.14,13.91,13.02
$GC,7487,0.30,146.0,2967,1452,2346,2202,815.5,17.3,310,7501,0.50,2.45,0.00,0.000,5254,0.320,0.054,2857,2836,2274,2346,2202,0,0,0,0,0,0,14.03,14.41,14.38
$GC,7829,0.06,146.0,2857,2835,2346,2197,771.8,12.3,323,7842,0.20,1.98,0.00,0.000,4484,0.328,0.070,2810,3989,2271,2346,2197,0,0,0,0,0,0,14.13,14.47,14.35
$GC,7869,-0.13,146.0,2810,3989,2346,2197,766.7,11.6,328,7882,0.22,1.83,0.00,0.000,5254,0.306,0.028,2767,2823,2271,2345,2197,0,0,0,0,0,0,14.17,14.62,14.53
$GC,8231,-0.05,211.3,2767,2821,2346,2192,740.7,7.0,337,8313,0.00,2.40,69.88,1.624,8740,0.000,0.044,2775,1467,2033,2105,1962,0,0,0,0,0,0,14.90,14.29,13.43
$GC,8402,0.13,264.0,2776,1468,2097,1950,727.8,7.5,361,8478,0.15,2.45,62.17,1.561,11430,0.127,0.054,2833,2841,1821,1884,1758,0,0,0,0,0,0,14.39,14.40,13.32
$GC,8791,0.06,264.0,2834,2840,1869,1746,677.1,13.4,381,8804,0.12,2.35,0.00,0.000,4740,0.277,0.037,2812,1461,1807,1868,1746,0,0,0,0,0,0,14.21,14.48,14.38
$GC,8852,0.13,265.0,2812,1462,1869,1743,670.5,10.0,389,8865,0.00,2.42,0.00,0.000,1190,0.000,0.056,2812,2840,1805,1868,1742,0,0,0,0,0,0,14.61,14.51,14.64
$GC,9193,0.13,265.0,2811,2839,1865,1742,633.1,11.0,402,9206,0.00,2.35,0.00,0.000,516,0.000,0.040,2819,1458,1803,1864,1742,0,0,0,0,0,0,14.87,14.60,14.90
$GC,9247,0.18,265.7,2820,1459,1866,1741,627.5,10.0,409,9260,0.00,2.42,0.00,0.000,1190,0.000,0.056,2819,2842,1802,1864,1740,0,0,0,0,0,0,14.67,14.57,14.73
$GC,9590,0.15,265.7,2820,2842,1864,1740,588.2,11.6,416,9603,0.00,2.38,0.00,0.000,644,0.000,0.042,2828,1461,1801,1863,1740,0,0,0,0,0,0,14.90,14.62,14.92
$GC,9672,0.18,265.7,2828,1462,1864,1739,579.3,10.7,427,9686,0.00,2.42,0.00,0.000,1158,0.000,0.057,2828,2844,1801,1863,1739,0,0,0,0,0,0,14.69,14.59,14.73
$GC,9992,0.14,265.7,2828,2843,1863,1738,539.4,12.6,437,10005,0.00,2.35,0.00,0.000,644,0.000,0.042,2837,1466,1800,1863,1738,0,0,0,0,0,0,14.94,14.61,14.97
$GC,10045,0.14,265.7,2837,1467,1863,1738,532.9,11.8,444,10059,0.00,2.42,0.00,0.000,1030,0.000,0.056,2837,2841,1800,1862,1738,0,0,0,0,0,0,14.69,14.59,14.73
$GC,10389,0.07,265.7,2837,2841,1862,1738,486.9,13.5,451,10403,0.12,2.33,0.00,0.000,4740,0.257,0.038,2813,1466,1800,1862,1738,0,0,0,0,0,0,14.26,14.53,14.42
$GC,10443,0.15,265.7,2814,1467,1862,1737,480.8,10.3,458,10458,0.00,2.42,0.00,0.000,1158,0.000,0.057,2814,2849,1798,1861,1736,0,0,0,0,0,0,14.69,14.57,14.73
$GC,10787,0.15,265.7,2813,2849,1862,1736,440.9,11.8,465,10800,0.00,2.38,0.00,0.000,516,0.000,0.040,2822,1465,1798,1861,1736,0,0,0,0,0,0,14.95,14.61,14.98
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$STATE,15048,end climb,SURFACE_DEPTH_REACHED
$STATE,15049,begin surface coast
$FINISH,0.4,1.022014
$STATE,15079,end surface coast,CONTROL_FINISHED_OK
$STATE,15080,begin surface
$SM_CCo,15107,3.40,0.121,0,0,860,500.17
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$TT8_MAMPS,0.035952,0.42693
$HUMID,47.59
$INTERNAL_PRESSURE,8.64615
$TCM_TEMP,23.10
$XPDR_PINGS,8
$SC_FREEKB,3808736
$TM_FREEKB,874016
$24V_AH,13.02,124.267
$10V_AH,12.92,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.325,156.200,666.025,3.400,0.000,0.000,0.000,352.050,2.000,0.000,8.023,0.000,12239.687,859.304,2223.318,362.543,0.000,2290.912,0.000,1019.512,0.000,0.538,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.931,18.644,0.000,0.000
$MEM,303592
$DATA_FILE_SIZE,26794,711
$CAP_FILE_SIZE,134248,0
$CFSIZE,260165632,222859264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,100.12,1
$GPS,161017,055132,1015.314,-12504.542,32,0.7,32,9.2,0.0,0.0,11,8.1