version: 66.13
glider: 144
mission: 6
dive: 383
start: 11 6 117 9 58 54
data:
$ID,144
$MISSION,6
$DIVE,383
$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,103
$R_STBD_OVSHOOT,32
$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
$GPS1,061117,095134,950.1347,-12504.9062,12,0.7,13,9.1,0.0,0.0,11,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.1
$GPS2,061117,095833,950.1241,-12504.8682,10,0.7,10,9.1,0.0,136.5,11,9.0
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,PICKUP
$TGT_LATLONG,950.000,-12505.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,212.7,333,-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,23,-0.88,-63.6,61,2670,875,830,0.0,0.0,0,113,0.00,0.00,-76.18,0.000,16390,0.000,0.000,59,2671,3162,3179,3146,0,0,0,0,0,0,14.83,13.60,14.86
$GC,117,-0.88,-63.6,60,2673,3180,3147,7.8,-11.6,3,146,12.98,2.15,0.00,0.000,2308,0.423,0.034,2581,3996,3165,3181,3149,0,0,0,0,0,0,14.14,14.54,14.40
$GC,200,-1.27,-63.6,2581,3997,3186,3149,39.7,-11.7,15,214,0.22,2.12,0.00,0.000,5254,0.089,0.024,2485,2638,3167,3186,3148,0,0,0,0,0,0,14.64,14.69,14.70
$GC,545,-1.42,-81.0,2486,2637,3190,3149,79.3,-8.2,30,559,0.00,2.35,0.00,0.000,676,0.000,0.032,2485,1205,3168,3189,3148,0,0,0,0,0,0,14.95,14.70,14.98
$GC,585,-1.64,-93.8,2485,1206,3191,3149,83.3,-8.6,35,599,0.17,2.40,0.00,0.000,5286,0.113,0.050,2414,2602,3169,3190,3148,0,0,0,0,0,0,14.68,14.67,14.76
$GC,920,-1.64,-93.8,2414,2601,3193,3149,120.4,-11.6,46,933,0.00,2.30,0.00,0.000,516,0.000,0.032,2414,1206,3170,3192,3148,0,0,0,0,0,0,15.00,14.74,15.03
$GC,1082,-1.73,-93.8,2414,1208,3193,3149,139.8,-11.9,68,1095,0.00,2.40,0.00,0.000,1158,0.000,0.050,2404,2609,3170,3192,3148,0,0,0,0,0,0,14.80,14.71,14.83
$GC,1437,-1.76,-93.8,2405,2608,3193,3149,185.2,-12.9,76,1451,0.00,2.33,0.00,0.000,644,0.000,0.034,2404,1206,3170,3192,3148,0,0,0,0,0,0,15.00,14.74,15.03
$GC,1631,-1.85,-93.8,2405,1207,3193,3149,210.5,-13.0,103,1645,0.00,2.40,0.00,0.000,1158,0.000,0.054,2402,2597,3170,3192,3148,0,0,0,0,0,0,14.80,14.70,14.83
$GC,1952,-1.90,-93.8,2403,2597,3190,3149,254.2,-13.6,113,1966,0.10,2.33,0.00,0.000,4740,0.163,0.033,2366,1198,3168,3188,3148,0,0,0,0,0,0,14.71,14.73,14.78
$GC,2000,-1.90,-93.8,2366,1198,3189,3149,261.0,-14.5,119,2014,0.00,2.42,0.00,0.000,1030,0.000,0.052,2357,2603,3168,3188,3149,0,0,0,0,0,0,14.78,14.69,14.81
$GC,2356,-1.85,-93.8,2357,2603,3183,3149,317.7,-16.0,127,2369,0.12,2.35,0.00,0.000,2692,0.340,0.032,2383,1205,3165,3182,3148,0,0,0,0,0,0,14.28,14.61,14.47
$GC,2497,-1.92,-93.8,2383,1205,3182,3148,336.4,-12.9,146,2511,0.00,2.42,0.00,0.000,1158,0.000,0.053,2375,2600,3164,3181,3148,0,0,0,0,0,0,14.78,14.69,14.81
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2709,-0.15,0.0,2374,2854,3181,3144,366.4,-14.3,154,2777,1.48,0.00,56.50,1.349,10246,0.264,0.000,2755,2853,2899,2937,2861,0,0,0,0,0,0,14.19,14.44,13.56
$STATE,2778,end apogee,CONTROL_FINISHED_OK
$STATE,2778,begin climb
$GC,2781,0.92,93.8,2756,2853,2936,2857,367.3,0.0,155,2882,0.70,1.92,81.25,1.323,10500,0.065,0.063,3006,3981,2512,2590,2434,0,0,0,0,0,0,14.52,14.28,13.44
$GC,2979,0.54,93.8,3006,3981,2587,2429,360.0,12.2,185,2992,0.43,1.83,0.00,0.000,5254,0.361,0.026,2913,2842,2506,2586,2427,0,0,0,0,0,0,14.07,14.56,14.47
$GC,3335,0.48,99.9,2913,2840,2586,2418,325.9,9.4,193,3353,0.00,2.35,3.00,0.810,8868,0.000,0.037,2922,1451,2492,2577,2408,0,0,0,0,0,0,14.93,14.52,13.32
$GC,3387,0.47,113.2,2923,1452,2578,2409,321.3,8.6,200,3419,0.15,2.38,16.17,1.246,13478,0.283,0.050,2891,2832,2433,2520,2347,0,0,0,0,0,0,14.32,14.67,13.71
$GC,3732,0.48,121.2,2892,2832,2517,2340,290.0,9.2,214,3743,0.00,0.00,7.65,1.213,8230,0.000,0.000,2891,2832,2404,2491,2318,0,0,0,0,0,0,14.91,14.57,13.72
$GC,4068,0.49,129.2,2891,2832,2484,2312,259.4,9.2,220,4083,0.00,1.92,8.12,1.198,8484,0.000,0.065,2891,3989,2369,2453,2286,0,0,0,0,0,0,14.91,14.37,13.75
$GC,4096,0.49,135.6,2891,3990,2452,2287,256.8,9.3,224,4110,0.00,1.85,7.15,1.189,9254,0.000,0.028,2898,2815,2344,2425,2263,0,0,0,0,0,0,14.71,14.68,13.73
$GC,4462,0.50,141.9,2898,2815,2422,2258,221.9,9.3,234,4474,0.00,2.03,5.57,1.157,8484,0.000,0.067,2898,3982,2321,2401,2242,0,0,0,0,0,0,14.90,14.61,13.68
$GC,4502,0.45,141.9,2898,3982,2400,2243,217.5,10.9,240,4509,0.00,1.80,0.00,0.000,1158,0.000,0.027,2906,2834,2320,2399,2242,0,0,0,0,0,0,14.69,14.66,14.71
$GC,4853,0.45,141.9,2907,2833,2396,2240,181.1,10.5,248,4859,0.00,2.28,0.00,0.000,516,0.000,0.038,2915,1462,2317,2395,2240,0,0,0,0,0,0,14.90,14.63,14.92
$GC,4922,0.49,142.3,2915,1464,2391,2240,173.9,10.0,258,4930,0.00,2.40,0.00,0.000,1190,0.000,0.050,2914,2844,2315,2390,2240,0,0,0,0,0,0,14.70,14.61,14.72
$GC,5244,0.49,142.3,2918,2843,2391,2239,139.5,10.7,269,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2843,2315,2391,2239,0,0,0,0,0,0,14.92,14.95,14.95
$GC,5581,0.50,149.8,2915,2843,2390,2239,107.8,9.2,275,5595,0.00,1.98,8.38,1.077,8484,0.000,0.067,2914,3984,2287,2361,2213,0,0,0,0,0,0,14.92,14.64,13.81
$GC,5650,0.42,149.8,2915,3985,2358,2213,100.3,11.5,285,5658,0.15,1.80,0.00,0.000,5254,0.298,0.027,2885,2857,2284,2357,2212,0,0,0,0,0,0,14.19,14.66,14.40
$GC,5976,0.55,190.0,2885,2858,2357,2209,79.1,5.8,301,6021,0.10,0.00,41.88,1.011,10662,0.171,0.000,2921,2857,2124,2194,2055,0,0,0,0,0,0,14.57,14.49,13.81
$GC,6311,0.72,247.2,2921,2858,2187,2039,59.0,4.0,316,6372,0.10,2.42,55.30,0.954,10916,0.158,0.039,2969,1453,1888,1953,1823,0,0,0,0,0,0,14.57,14.45,13.78
$GC,6477,0.93,304.2,2971,1454,1946,1812,52.0,4.0,340,6540,0.00,2.42,55.03,0.923,9382,0.000,0.048,2970,2842,1654,1707,1602,0,0,0,0,0,0,14.57,14.49,13.72
$GC,6871,1.19,357.9,2971,2842,1694,1599,28.4,4.3,363,6926,0.22,2.00,43.42,0.864,10660,0.100,0.065,3058,3989,1433,1481,1385,0,0,0,0,0,0,14.55,14.47,13.83
$GC,7058,1.16,357.9,3058,3990,1475,1385,6.8,14.8,390,7067,0.08,1.85,0.00,0.000,5254,0.306,0.028,3048,2839,1429,1474,1385,0,0,0,0,0,0,14.18,14.56,14.35
$STATE,7090,end climb,SURFACE_DEPTH_REACHED
$STATE,7090,begin surface coast
$FINISH,0.2,1.013495
$STATE,7118,end surface coast,CONTROL_FINISHED_OK
$STATE,7118,begin surface
$SM_CCo,7144,54.72,0.116,0,0,860,500.17
$SM_GC,1.20,8.52,0.35,54.72,0.068,0.050,0.116,83,2546,860,-12.36,1.78,500.17,0,0,0,0,0,0,14.60,14.68,14.46
$IRIDIUM_FIX,949.15,-12505.80,061117,074732
$TT8_MAMPS,0.035952,0.421687
$HUMID,49.88
$INTERNAL_PRESSURE,8.71452
$TCM_TEMP,22.80
$XPDR_PINGS,11
$SC_FREEKB,3763424
$TM_FREEKB,0
$24V_AH,13.23,171.245
$10V_AH,12.84,0.000
$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,25.525,62.050,389.425,54.725,0.000,0.000,0.000,217.625,2.750,0.000,12.197,0.000,5554.387,551.037,1231.098,285.824,0.000,1316.044,0.000,569.200,0.000,0.538,0.000
$DEVICE_MAMPS,423.045,136.170,1349.460,115.515,0.000,0.000,0.000,141.525,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7138.000,3593.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.903,17.500,0.000,0.000
$MEM,303360
$DATA_FILE_SIZE,13474,393
$CAP_FILE_SIZE,71440,0
$CFSIZE,260165632,211243008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.090,269.37,1
$GPS,061117,120002,949.567,-12505.494,29,0.8,29,9.1,0.0,0.0,10,6.8