version: 66.13
glider: 133
mission: 4
dive: 6
start: 1 5 117 21 30 22
data:
$ID,133
$MISSION,4
$DIVE,6
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,050117,212607,4743.8154,-12224.6592,32,1.3,37,16.6,0.3,2.7,8,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.6
$GPS2,050117,212943,4743.8413,-12224.6543,19,1.3,23,16.6,0.3,13.7,8,9.4
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,221.7,765,-12.6,-10.000,-17.99,1979
$D_GRID,174
$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,-0.60,-146.6,145,2500,456,554,0.0,0.0,0,118,0.00,0.00,-109.28,0.000,16390,0.000,0.000,145,2501,3799,3855,3743,0,0,0,0,0,0,14.83,13.85,14.83
$GC,120,-0.60,-146.6,145,2500,3855,3743,3.4,-4.7,19,146,18.52,2.30,0.00,0.000,2596,0.510,0.044,3289,1091,3801,3856,3747,0,0,0,0,0,0,14.40,14.61,14.57
$GC,288,-0.69,-146.6,3289,1091,3850,3752,29.3,-10.6,51,295,0.00,2.38,0.00,0.000,1158,0.000,0.060,3282,2506,3800,3849,3752,0,0,0,0,0,0,14.73,14.65,14.74
$GC,476,-0.76,-146.6,3282,2505,3848,3753,46.0,-7.5,88,484,0.12,2.25,0.00,0.000,4516,0.146,0.080,3231,3820,3800,3847,3753,0,0,0,0,0,0,14.68,14.69,14.72
$GC,605,-0.76,-146.6,3231,3820,3847,3753,58.8,-10.5,113,612,0.00,2.12,0.00,0.000,1030,0.000,0.042,3232,2490,3800,3847,3753,0,0,0,0,0,0,14.81,14.76,14.82
$GC,793,-0.76,-146.6,3231,2490,3847,3753,79.9,-11.4,150,801,0.00,2.30,0.00,0.000,260,0.000,0.083,3230,3825,3799,3846,3753,0,0,0,0,0,0,14.95,14.73,14.97
$GC,856,-0.76,-146.6,3230,3825,3846,3753,87.1,-11.2,162,864,0.00,2.12,0.00,0.000,1030,0.000,0.043,3230,2494,3799,3846,3753,0,0,0,0,0,0,14.83,14.79,14.85
$GC,1046,-0.76,-146.6,3230,2494,3846,3753,105.4,-9.9,199,1052,0.00,0.00,0.00,0.000,38,0.000,0.000,3231,2494,3799,3846,3753,0,0,0,0,0,0,14.98,15.00,15.00
$GC,1232,-0.76,-146.6,3230,2494,3846,3753,126.2,-12.0,236,1239,0.00,2.28,0.00,0.000,260,0.000,0.083,3227,3819,3799,3846,3753,0,0,0,0,0,0,14.99,14.76,15.01
$GC,1261,-0.76,-146.6,3227,3819,3846,3753,130.0,-13.3,241,1268,0.10,2.10,0.00,0.000,3078,0.214,0.043,3246,2499,3799,3846,3753,0,0,0,0,0,0,14.69,14.83,14.83
$GC,1450,-0.76,-146.6,3246,2499,3846,3753,148.7,-9.3,278,1456,0.00,0.00,0.00,0.000,38,0.000,0.000,3246,2499,3799,3846,3753,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,1466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1466,begin apogee
$GC,1469,-0.17,0.0,3246,2499,3846,3753,150.3,-9.5,281,1607,0.47,0.00,126.15,1.385,10246,0.282,0.000,3370,2499,3199,3193,3205,0,0,0,0,1,0,14.64,14.12,13.52
$STATE,1608,end apogee,CONTROL_FINISHED_OK
$STATE,1608,begin climb
$GC,1610,0.60,146.6,3371,2499,3194,3205,155.7,0.0,305,1801,0.65,2.42,181.95,1.019,10756,0.229,0.047,3541,1104,2595,2559,2631,0,0,0,0,0,0,14.03,14.08,13.67
$GC,1828,0.95,232.2,3541,1104,2553,2621,147.6,5.6,343,1945,0.30,2.40,108.47,0.980,11430,0.168,0.056,3627,2504,2249,2206,2293,0,0,0,0,0,0,14.14,14.19,13.70
$GC,2128,1.02,238.8,3626,2504,2185,2275,119.9,9.7,399,2135,0.00,2.30,0.00,0.000,420,0.000,0.086,3627,3826,2230,2185,2275,0,0,0,0,0,0,14.64,14.42,14.66
$GC,2201,1.02,238.8,3626,3826,2183,2274,111.8,11.2,413,2208,0.00,2.17,0.00,0.000,1030,0.000,0.044,3627,2497,2228,2183,2274,0,0,0,0,0,0,14.58,14.54,14.59
$GC,2390,1.08,238.8,3627,2497,2183,2274,90.7,11.0,450,2397,0.10,2.28,0.00,0.000,2692,0.174,0.048,3657,1098,2228,2182,2274,0,0,0,0,0,0,14.56,14.61,14.66
$GC,2484,1.11,238.8,3657,1097,2184,2273,79.0,12.5,468,2490,0.00,2.33,0.00,0.000,1158,0.000,0.060,3657,2500,2227,2183,2272,0,0,0,0,0,0,14.70,14.63,14.72
$GC,2672,1.11,238.8,3656,2500,2184,2272,54.6,12.8,505,2679,0.00,2.25,0.00,0.000,260,0.000,0.083,3658,3821,2228,2184,2272,0,0,0,0,0,0,14.89,14.66,14.90
$GC,2726,1.11,238.8,3657,3821,2182,2273,47.6,13.5,515,2732,0.00,2.15,0.00,0.000,1030,0.000,0.044,3657,2490,2227,2183,2271,0,0,0,0,0,0,14.77,14.72,14.78
$GC,2913,1.11,238.8,3657,2490,2182,2271,24.0,12.5,552,2920,0.00,2.25,0.00,0.000,516,0.000,0.050,3663,1107,2227,2182,2272,0,0,0,0,0,0,14.92,14.73,14.95
$GC,2946,1.11,238.8,3663,1107,2182,2271,20.0,11.7,558,2954,0.00,2.33,0.00,0.000,1030,0.000,0.060,3663,2501,2226,2182,2271,0,0,0,0,0,0,14.80,14.73,14.81
$STATE,3100,end climb,SURFACE_DEPTH_REACHED
$STATE,3100,begin surface coast
$FINISH,0.4,1.011235
$STATE,3126,end surface coast,CONTROL_FINISHED_OK
$STATE,3126,begin surface
$SM_CCo,3142,212.38,0.105,0,0,498,662.30
$SM_GC,-0.04,10.50,0.00,212.38,0.098,0.000,0.105,143,2501,498,-14.99,0.03,662.30,0,0,0,0,0,0,14.72,14.98,14.62
$IRIDIUM_FIX,4726.11,-12226.80,050117,202405
$TT8_MAMPS,0.025466,0.099617
$HUMID,44.84
$INTERNAL_PRESSURE,8.39665
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,13.52,2.111
$10V_AH,13.77,0.000
$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,30.775,40.725,416.575,212.375,0.000,0.000,0.000,145.350,0.000,0.000,24.523,1278.339,554.674,714.980,1022.980,31.961,0.000,1374.811,0.000,855.640,0.000,0.543,0.000
$DEVICE_MAMPS,510.255,85.680,1385.415,104.805,0.000,0.000,0.000,146.880,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194332
$DATA_FILE_SIZE,23452,593
$CAP_FILE_SIZE,61042,0
$CFSIZE,260034560,258785280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.300,43.40,1
$GPS,050117,222741,4744.070,-12224.700,42,1.2,48,16.6,2.5,139.2,6,9.4