version: 66.13
glider: 133
mission: 4
dive: 3
start: 1 5 117 18 19 11
data:
$ID,133
$MISSION,4
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,65
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,54033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,662.11102
$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,150
$PITCH_MAX,3830
$C_PITCH,3415
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1991
$C_ROLL_CLIMB,1991
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3220
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-24.286779
$PRESSURE_SLOPE,0.000156489
$AD7714Ch0Gain,128
$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,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,050117,181445,4742.6499,-12224.4990,17,1.0,20,16.6,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.0
$GPS2,050117,181834,4742.6304,-12224.5029,18,1.0,21,16.6,0.0,0.0,9,9.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,7.4,1725,-17.5,-10.000,-21.04,2225
$D_GRID,168
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.76,-146.6,144,1990,467,567,0.0,0.0,0,119,0.00,0.00,-110.00,0.000,16386,0.000,0.000,144,1990,3750,3802,3698,0,0,0,0,0,0,14.89,28.83,14.92
$GC,121,-0.76,-146.6,144,1991,3802,3698,3.3,-5.3,19,148,17.67,2.62,-1.17,0.000,18724,0.500,2.191,3232,3394,3819,3856,3783,0,0,0,0,0,0,14.40,13.81,14.61
$GC,265,-0.86,-146.6,3232,3394,3857,3785,28.0,-11.2,46,272,0.00,2.28,0.00,0.000,1158,0.000,0.043,3232,1977,3820,3856,3784,0,0,0,0,0,0,14.71,14.66,14.73
$GC,455,-0.99,-146.6,3232,1976,3856,3785,50.7,-13.0,83,462,0.12,2.40,0.00,0.000,4484,0.143,0.073,3179,3394,3820,3856,3785,0,0,0,0,0,0,14.66,14.67,14.71
$GC,613,-0.99,-146.6,3179,3394,3856,3785,75.1,-14.7,114,621,0.00,2.25,0.00,0.000,1030,0.000,0.041,3179,1978,3820,3856,3785,0,0,0,0,0,0,14.79,14.74,14.81
$GC,803,-1.03,-146.6,3179,1978,3856,3785,102.6,-13.2,151,810,0.00,2.42,0.00,0.000,388,0.000,0.076,3173,3400,3820,3856,3785,0,0,0,0,0,0,14.95,14.72,14.97
$GC,1036,-1.03,-146.6,3173,3401,3856,3785,140.7,-14.8,197,1043,0.00,2.25,0.00,0.000,1030,0.000,0.041,3173,1980,3821,3857,3785,0,0,0,0,0,0,14.84,14.79,14.85
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1112,-0.17,0.0,3173,1978,3856,3785,150.2,-13.3,211,1245,0.77,0.00,120.65,1.442,10246,0.279,0.000,3373,1977,3218,3213,3224,0,0,0,0,1,0,14.60,14.09,13.50
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1247,0.76,146.6,3372,1977,3213,3223,158.7,0.0,234,1377,0.73,0.00,118.32,1.462,10758,0.203,0.000,3576,1977,2621,2592,2650,0,0,0,0,1,0,14.01,13.97,13.40
$GC,1561,1.11,225.4,3575,1977,2586,2642,141.8,6.4,292,1640,0.25,2.42,67.00,1.383,11172,0.148,0.059,3659,608,2299,2265,2334,0,0,0,0,1,0,14.38,14.12,13.55
$GC,1721,1.26,225.4,3659,608,2264,2328,127.4,11.8,321,1729,0.12,2.38,0.00,0.000,3206,0.155,0.054,3711,1995,2296,2264,2328,0,0,0,0,0,0,14.33,14.33,14.40
$GC,1911,1.31,225.4,3710,1994,2262,2326,101.0,16.2,358,1918,0.00,2.42,0.00,0.000,388,0.000,0.080,3711,3398,2294,2262,2326,0,0,0,0,0,0,14.73,14.50,14.75
$GC,2024,1.31,225.4,3710,3398,2259,2326,80.4,18.4,380,2031,0.00,2.28,0.00,0.000,1030,0.000,0.046,3711,1999,2292,2259,2326,0,0,0,0,0,0,14.66,14.60,14.68
$GC,2213,1.36,225.4,3711,1999,2258,2326,48.5,16.9,417,2219,0.00,2.42,0.00,0.000,388,0.000,0.079,3712,3399,2292,2258,2326,0,0,0,0,0,0,14.85,14.63,14.88
$GC,2321,1.36,225.4,3711,3400,2257,2325,29.4,16.9,438,2327,0.00,2.28,0.00,0.000,1030,0.000,0.047,3715,1991,2290,2256,2325,0,0,0,0,0,0,14.76,14.69,14.77
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2487,begin surface coast
$FINISH,0.4,1.022258
$STATE,2504,end surface coast,CONTROL_FINISHED_OK
$STATE,2504,begin surface
$SM_CCo,2520,225.62,0.106,0,0,518,662.30
$SM_GC,1.32,10.65,0.00,225.62,0.095,0.000,0.106,143,1990,518,-15.00,-0.03,662.30,0,0,0,0,0,0,14.67,14.94,14.58
$IRIDIUM_FIX,4722.92,-12225.08,050117,181140
$TT8_MAMPS,0.024717,0.150549
$HUMID,45.15
$INTERNAL_PRESSURE,8.39665
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,13.40,1.540
$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,30.325,28.425,305.975,225.625,0.000,0.000,0.000,0.000,0.000,0.000,21.817,1044.754,436.420,628.504,704.566,22.163,0.000,1035.240,0.000,685.670,0.000,0.542,0.000
$DEVICE_MAMPS,499.545,2190.960,1461.915,105.570,0.000,0.000,0.000,0.000,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194348
$DATA_FILE_SIZE,20188,474
$CAP_FILE_SIZE,59695,0
$CFSIZE,260034560,258908160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.106,221.45,1
$GPS,050117,190609,4742.820,-12224.380,36,1.0,40,16.6,0.0,0.0,10,9.9