version: 66.13
glider: 133
mission: 4
dive: 5
start: 1 5 117 20 26 43
data:
$ID,133
$MISSION,4
$DIVE,5
$N_DIVES,6
$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,0.0015
$HD_B,0.0055999998
$HD_C,1.8999999e-05
$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,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3200
$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,3
$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
$GPS1,050117,202327,4743.3550,-12224.4229,13,1.2,22,16.6,0.3,0.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.8
$GPS2,050117,202552,4743.3667,-12224.4219,15,0.9,19,16.6,0.0,0.0,11,10.0
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,283.9,761,-13.6,-10.000,-18.71,1795
$D_GRID,176
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.61,-130.6,143,2496,454,550,0.0,0.0,0,120,0.00,0.00,-108.32,0.000,16390,0.000,0.000,143,2496,3735,3789,3681,0,0,0,0,0,0,14.86,13.86,14.85
$GC,122,-0.63,-146.6,143,2497,3789,3681,3.5,-5.2,19,149,18.45,2.53,-1.10,0.000,19236,0.510,2.176,3263,3824,3800,3839,3762,0,0,0,0,0,0,14.39,13.81,14.57
$GC,375,-0.68,-146.6,3263,3824,3839,3763,38.6,-10.3,68,382,0.00,2.15,0.00,0.000,1158,0.000,0.043,3263,2493,3800,3838,3763,0,0,0,0,0,0,14.73,14.69,14.75
$GC,564,-0.75,-146.6,3262,2493,3839,3763,56.8,-8.6,105,570,0.00,2.28,0.00,0.000,420,0.000,0.083,3257,3821,3801,3839,3764,0,0,0,0,0,0,14.90,14.68,14.92
$GC,728,-0.81,-146.6,3256,3821,3839,3763,72.0,-8.1,137,734,0.00,2.10,0.00,0.000,1190,0.000,0.043,3257,2497,3801,3839,3763,0,0,0,0,0,0,14.81,14.76,14.82
$GC,916,-0.88,-146.6,3256,2497,3838,3763,89.4,-10.3,174,924,0.12,2.25,0.00,0.000,4740,0.157,0.043,3206,1099,3800,3838,3763,0,0,0,0,0,0,14.71,14.76,14.76
$GC,976,-0.88,-146.6,3205,1099,3838,3763,96.8,-12.5,185,982,0.00,2.33,0.00,0.000,1030,0.000,0.058,3203,2502,3800,3838,3763,0,0,0,0,0,0,14.82,14.75,14.83
$GC,1164,-0.84,-146.6,3203,2501,3838,3763,121.3,-13.7,222,1172,0.12,0.00,0.00,0.000,2182,0.310,0.000,3230,2501,3800,3838,3763,0,0,0,0,0,0,14.60,14.78,14.74
$GC,1355,-0.84,-146.6,3230,2501,3838,3763,140.1,-8.8,259,1360,0.00,0.00,0.00,0.000,38,0.000,0.000,3230,2501,3800,3838,3763,0,0,0,0,0,0,14.99,15.02,15.01
$STATE,1456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1456,begin apogee
$GC,1459,-0.17,0.0,3230,2501,3838,3763,150.2,-10.2,279,1671,0.55,0.00,203.90,1.043,10246,0.285,0.000,3373,2501,3192,3184,3201,0,0,0,0,0,0,14.64,14.13,13.70
$STATE,1672,end apogee,CONTROL_FINISHED_OK
$STATE,1672,begin climb
$GC,1673,0.63,146.6,3373,2501,3182,3198,159.6,0.0,316,1868,0.68,0.00,180.95,1.030,10502,0.230,0.000,3550,2501,2600,2567,2634,0,0,0,0,1,0,14.03,13.93,13.47
$GC,2051,0.93,215.3,3550,2501,2567,2634,141.4,6.1,386,2144,0.22,2.42,83.47,1.021,10916,0.174,0.051,3622,1091,2308,2267,2349,0,0,0,0,0,0,14.38,14.18,13.78
$GC,2181,1.05,215.3,3622,1091,2260,2336,129.8,10.0,409,2188,0.10,2.40,0.00,0.000,3206,0.179,0.060,3649,2500,2297,2258,2336,0,0,0,0,0,0,14.23,14.27,14.35
$GC,2370,1.11,215.3,3649,2500,2254,2333,108.3,11.9,446,2377,0.00,2.30,0.00,0.000,388,0.000,0.086,3649,3817,2293,2254,2333,0,0,0,0,0,0,14.71,14.48,14.72
$GC,2403,1.11,215.3,3649,3817,2253,2333,103.8,13.5,452,2410,0.00,2.15,0.00,0.000,1030,0.000,0.044,3649,2503,2293,2253,2333,0,0,0,0,0,0,14.60,14.55,14.62
$GC,2592,1.15,215.3,3649,2503,2251,2332,81.1,11.7,489,2598,0.00,2.33,0.00,0.000,644,0.000,0.052,3654,1098,2292,2251,2333,0,0,0,0,0,0,14.82,14.62,14.84
$GC,2645,1.20,215.3,3654,1098,2251,2332,74.9,11.2,499,2652,0.00,2.33,0.00,0.000,1158,0.000,0.060,3654,2499,2291,2251,2332,0,0,0,0,0,0,14.69,14.62,14.72
$GC,2833,1.20,215.3,3653,2499,2252,2331,52.9,11.8,536,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,3654,2499,2291,2251,2331,0,0,0,0,0,0,14.88,14.91,14.91
$GC,3021,1.25,215.3,3653,2499,2251,2331,31.0,11.5,573,3027,0.12,0.00,0.00,0.000,2182,0.165,0.000,3700,2499,2291,2251,2331,0,0,0,0,0,0,14.66,14.75,14.73
$GC,3209,1.21,215.3,3700,2499,2251,2331,6.1,13.1,610,3216,0.12,0.00,0.00,0.000,4230,0.208,0.000,3671,2500,2291,2251,2331,0,0,0,0,0,0,14.59,14.76,14.72
$STATE,3238,end climb,SURFACE_DEPTH_REACHED
$STATE,3238,begin surface coast
$FINISH,0.2,1.011657
$STATE,3260,end surface coast,CONTROL_FINISHED_OK
$STATE,3260,begin surface
$SM_CCo,3276,220.73,0.105,0,0,499,662.30
$SM_GC,1.42,10.57,0.00,220.73,0.103,0.000,0.105,145,2500,499,-14.99,0.00,662.30,0,0,0,0,0,0,14.71,14.97,14.61
$IRIDIUM_FIX,4722.92,-12222.38,050117,202012
$TT8_MAMPS,0.024717,0.148302
$HUMID,44.84
$INTERNAL_PRESSURE,8.39665
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,13.47,1.935
$10V_AH,13.73,0.000
$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,31.075,27.550,468.325,220.725,0.000,0.000,0.000,0.000,0.000,0.000,19.575,1324.073,578.625,757.200,911.290,27.343,0.000,1288.524,0.000,890.686,0.000,0.542,0.000
$DEVICE_MAMPS,510.255,2176.425,1043.460,104.805,0.000,0.000,0.000,0.000,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.317,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23493,619
$CAP_FILE_SIZE,70511,0
$CFSIZE,260034560,258813952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.172,81.26,1
$GPS,050117,212607,4743.815,-12224.659,32,1.3,37,16.6,0.3,2.7,8,7.5