version: 66.13
glider: 144
mission: 6
dive: 381
start: 11 6 117 5 49 20
data:
$ID,144
$MISSION,6
$DIVE,381
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,360
$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,120
$T_MISSION,160
$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,78
$R_STBD_OVSHOOT,28
$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,1.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,061117,054116,949.9523,-12504.4893,25,0.9,39,9.1,0.9,348.3,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.3
$GPS2,061117,054900,949.9900,-12504.4346,11,0.8,20,9.1,0.6,29.1,11,9.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,264.5,1033,-27.2,-10.000,-30.00,972
$D_GRID,360
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-0.88,-63.6,52,2569,871,827,0.0,0.0,0,113,0.00,0.00,-75.93,0.000,16390,0.000,0.000,49,2567,3163,3178,3148,0,0,0,0,0,0,14.76,12.64,14.79
$GC,116,-0.88,-63.6,50,2567,3179,3150,7.6,-11.1,3,146,13.18,2.35,0.00,0.000,2308,0.424,0.030,2581,4010,3165,3181,3150,0,0,0,0,0,0,14.04,14.47,14.31
$GC,165,-0.50,-63.6,2580,4010,3184,3151,35.1,-38.7,10,181,0.38,2.20,0.00,0.000,3206,0.213,0.025,2680,2610,3167,3184,3150,0,0,0,0,0,0,14.26,14.54,14.49
$GC,481,-1.09,-105.9,2680,2608,3187,3151,54.9,-5.5,22,495,0.38,2.33,0.00,0.000,4772,0.083,0.031,2531,1203,3168,3187,3150,0,0,0,0,0,0,14.58,14.62,14.63
$GC,550,-1.38,-107.3,2531,1204,3188,3150,61.8,-9.9,31,564,0.15,2.42,0.00,0.000,5286,0.130,0.051,2469,2597,3168,3187,3150,0,0,0,0,0,0,14.52,14.54,14.62
$GC,887,-1.53,-130.8,2469,2597,3191,3150,93.9,-7.5,45,901,0.00,0.00,0.00,0.000,166,0.000,0.000,2469,2598,3170,3190,3150,0,0,0,0,0,0,14.92,14.95,14.95
$GC,1192,-1.70,-136.2,2469,2596,3193,3150,121.8,-9.4,52,1206,0.12,2.30,0.00,0.000,4772,0.132,0.030,2408,1207,3171,3193,3150,0,0,0,0,0,0,14.66,14.69,14.69
$GC,1219,-1.82,-138.8,2409,1207,3193,3150,124.7,-9.7,55,1232,0.00,2.42,0.00,0.000,1190,0.000,0.050,2402,2611,3171,3192,3150,0,0,0,0,0,0,14.75,14.65,14.78
$GC,1540,-1.82,-138.8,2403,2610,3193,3150,166.7,-13.1,65,1553,0.00,2.33,0.00,0.000,516,0.000,0.033,2402,1211,3171,3192,3150,0,0,0,0,0,0,14.99,14.64,15.02
$GC,1680,-1.90,-138.8,2403,1212,3193,3150,185.1,-13.4,84,1694,0.10,2.42,0.00,0.000,5254,0.162,0.054,2367,2599,3171,3192,3150,0,0,0,0,0,0,14.59,14.62,14.71
$GC,2002,-1.85,-138.8,2367,2598,3191,3150,237.6,-16.7,94,2015,0.00,2.33,0.00,0.000,644,0.000,0.034,2369,1206,3170,3190,3150,0,0,0,0,0,0,15.00,14.68,15.02
$GC,2090,-1.85,-138.8,2367,1207,3191,3150,251.4,-15.0,106,2105,0.12,2.45,0.00,0.000,3078,0.322,0.052,2382,2610,3170,3190,3150,0,0,0,0,0,0,14.24,14.63,14.55
$GC,2461,-1.85,-138.8,2382,2609,3186,3150,303.6,-14.0,116,2474,0.00,2.35,0.00,0.000,516,0.000,0.034,2382,1213,3167,3184,3150,0,0,0,0,0,0,15.01,14.69,15.03
$GC,2557,-1.91,-138.8,2382,1214,3185,3150,316.6,-13.1,129,2571,0.00,2.40,0.00,0.000,1158,0.000,0.053,2374,2598,3167,3184,3150,0,0,0,0,0,0,14.75,14.64,14.77
$STATE,2860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2860,begin apogee
$GC,2867,-0.15,0.0,2374,2862,3182,3147,362.4,-15.2,137,2935,1.50,0.00,56.50,1.339,10246,0.269,0.000,2756,2862,2899,2937,2861,0,0,0,0,0,0,14.12,14.42,13.52
$STATE,2935,end apogee,CONTROL_FINISHED_OK
$STATE,2936,begin climb
$GC,2939,0.97,138.8,2757,2863,2935,2855,363.6,0.0,138,3073,0.73,1.98,117.68,1.322,10500,0.059,0.064,3022,3979,2329,2411,2247,0,0,0,0,0,0,14.52,14.21,13.38
$GC,3219,0.61,138.8,3022,3979,2398,2246,337.0,19.6,180,3233,0.50,1.77,0.00,0.000,5254,0.372,0.026,2929,2833,2321,2397,2245,0,0,0,0,0,0,14.04,14.57,14.45
$GC,3561,0.54,138.8,2929,2831,2392,2237,293.0,13.0,191,3591,0.00,2.30,0.00,0.000,644,0.000,0.040,2938,1458,2314,2392,2237,0,0,0,0,0,0,14.89,14.64,14.92
$GC,3637,0.51,138.8,2938,1458,2390,2236,281.8,11.9,196,3644,0.17,2.40,0.00,0.000,5254,0.290,0.050,2902,2834,2312,2389,2236,0,0,0,0,0,0,14.19,14.58,14.54
$GC,3994,0.51,138.8,2902,2833,2389,2232,243.0,10.8,205,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2833,2310,2388,2232,0,0,0,0,0,0,14.90,14.93,14.93
$GC,4330,0.51,138.8,2902,2833,2387,2231,208.8,10.0,211,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2833,2308,2386,2230,0,0,0,0,0,0,14.91,14.94,14.94
$GC,4666,0.51,138.8,2901,2833,2385,2229,171.3,11.2,217,4673,0.00,1.98,0.00,0.000,260,0.000,0.067,2901,3985,2306,2384,2228,0,0,0,0,0,0,14.90,14.48,14.92
$GC,4715,0.44,138.8,2902,3986,2384,2229,165.6,12.1,224,4723,0.00,1.83,0.00,0.000,1158,0.000,0.028,2908,2832,2306,2384,2228,0,0,0,0,0,0,14.65,14.63,14.67
$GC,5059,0.44,138.8,2908,2832,2383,2228,129.7,10.4,231,5066,0.12,2.30,0.00,0.000,4612,0.317,0.037,2893,1464,2304,2381,2227,0,0,0,0,0,0,14.21,14.52,14.44
$GC,5114,0.57,151.8,2893,1465,2379,2230,124.8,8.6,239,5129,0.00,2.40,8.07,1.075,9382,0.000,0.051,2893,2838,2278,2356,2201,0,0,0,0,0,0,14.65,14.56,13.76
$GC,5453,0.65,171.9,2893,2839,2353,2197,95.6,7.9,253,5480,0.12,2.00,21.70,1.040,10660,0.138,0.069,2946,3991,2195,2268,2123,0,0,0,0,0,0,14.58,14.59,13.82
$GC,5528,0.53,171.9,2946,3992,2265,2123,86.9,12.9,264,5536,0.17,1.85,0.00,0.000,5254,0.311,0.028,2912,2848,2193,2264,2122,0,0,0,0,0,0,14.12,14.59,14.33
$GC,5843,0.68,228.8,2913,2846,2264,2115,65.0,4.0,276,5906,0.10,2.38,55.50,0.975,10916,0.172,0.040,2961,1441,1962,2030,1894,0,0,0,0,0,0,14.53,14.46,13.77
$GC,6081,0.91,307.3,2961,1443,2021,1882,57.1,1.7,310,6165,0.10,2.45,73.70,0.922,11430,0.167,0.049,2999,2844,1641,1692,1591,0,0,0,0,0,0,14.40,14.46,13.70
$GC,6487,1.11,365.4,2999,2844,1680,1590,28.6,3.9,335,6544,0.12,2.00,46.97,0.860,10660,0.136,0.066,3045,3989,1403,1454,1352,0,0,0,0,0,0,14.55,14.45,13.82
$STATE,6715,end climb,SURFACE_DEPTH_REACHED
$STATE,6715,begin surface coast
$FINISH,1.5,1.022439
$STATE,6722,end surface coast,CONTROL_FINISHED_OK
$STATE,6722,begin surface
$SM_CCo,6750,52.30,0.116,0,0,860,500.17
$SM_GC,1.43,8.52,2.28,52.30,0.065,0.026,0.116,72,2614,860,-12.42,1.78,500.17,0,0,0,0,0,0,14.57,14.62,14.44
$IRIDIUM_FIX,947.01,-12505.80,061117,013410
$TT8_MAMPS,0.035952,0.42693
$HUMID,49.64
$INTERNAL_PRESSURE,8.69498
$TCM_TEMP,22.70
$XPDR_PINGS,9
$SC_FREEKB,3764192
$TM_FREEKB,0
$24V_AH,12.64,170.868
$10V_AH,13.64,0.000
$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,26.600,58.650,380.125,52.300,0.000,0.000,0.000,237.900,2.250,0.000,21.490,0.000,5196.692,528.162,1251.610,283.571,0.000,1311.578,0.000,535.161,0.000,0.538,0.000
$DEVICE_MAMPS,423.810,71.145,1338.750,115.515,0.000,0.000,0.000,156.060,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6745.000,3308.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.998,17.470,0.000,0.000
$MEM,303368
$DATA_FILE_SIZE,13450,369
$CAP_FILE_SIZE,68800,0
$CFSIZE,260165632,211361792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.053,268.51,1
$GPS,061117,074401,949.871,-12505.125,9,0.7,40,9.1,0.0,134.2,11,3.9