version: 66.13
glider: 136
mission: 4
dive: 3
start: 7 5 117 17 24 3
data:
$ID,136
$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,1440
$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,52940
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,603.23999
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,65
$PITCH_MAX,3825
$C_PITCH,3630
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,340
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,22
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,68
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3850
$C_VBD,3000
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00050000002
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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,-41.742687
$PRESSURE_SLOPE,0.000118715
$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,1
$ALTIM_PING_DEPTH,140
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5910001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,83
$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,0.0043825558
$SEABIRD_T_H,0.00063970225
$SEABIRD_T_I,2.6438678e-05
$SEABIRD_T_J,2.9658677e-06
$SEABIRD_C_G,-10.004207
$SEABIRD_C_H,1.1260015
$SEABIRD_C_I,-0.0020273947
$SEABIRD_C_J,0.00024312122
$PM_RECORDABOVE,1000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,050717,172055,4743.7466,-12224.2139,5,1.7,30,16.3,0.0,0.0,4,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-80.9
$GPS2,050717,172344,4743.7158,-12224.2119,7,1.7,30,16.3,0.0,152.9,4,9.8
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,245.6,1060,-18.2,-10.000,-20.99,2236
$D_GRID,173
$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,6,-0.68,-146.6,63,2362,504,578,0.0,0.0,0,136,0.00,0.00,-127.40,0.000,16386,0.000,0.000,62,2362,3415,3412,3419,0,0,0,0,0,0,15.05,28.83,15.08
$GC,137,-0.68,-146.6,62,2362,3412,3420,3.6,-11.3,23,168,19.02,2.60,-3.38,0.000,18692,0.496,2.187,3466,3760,3600,3571,3629,0,0,0,0,0,0,14.59,14.02,14.88
$GC,261,-0.76,-146.6,3467,3760,3570,3630,31.5,-12.0,47,269,0.00,2.25,0.00,0.000,1158,0.000,0.047,3466,2421,3599,3569,3629,0,0,0,0,0,0,14.85,14.81,14.88
$GC,448,-0.76,-146.6,3466,2417,3568,3630,57.5,-12.7,84,455,0.00,2.38,0.00,0.000,516,0.000,0.055,3466,994,3598,3568,3629,0,0,0,0,0,0,15.06,14.87,15.08
$GC,529,-0.86,-146.6,3467,993,3570,3630,66.8,-9.9,100,536,0.00,2.38,0.00,0.000,1190,0.000,0.070,3461,2361,3598,3568,3629,0,0,0,0,0,0,14.92,14.86,14.94
$GC,715,-0.86,-146.6,3460,2361,3568,3630,90.6,-12.3,137,722,0.00,2.50,0.00,0.000,260,0.000,0.082,3455,3801,3599,3568,3630,0,0,0,0,0,0,15.10,14.84,15.12
$GC,786,-1.03,-146.6,3455,3802,3567,3630,98.2,-9.0,151,794,0.12,2.35,0.00,0.000,5286,0.105,0.047,3398,2393,3598,3567,3629,0,0,0,0,0,0,14.90,14.92,14.95
$GC,973,-0.89,-146.6,3399,2389,3568,3630,134.1,-20.1,188,980,0.17,2.30,0.00,0.000,2692,0.325,0.056,3440,1001,3597,3566,3629,0,0,0,0,0,0,14.76,14.91,14.96
$GC,1044,-0.96,-146.6,3439,1000,3566,3630,144.9,-12.0,202,1051,0.00,2.42,0.00,0.000,1158,0.000,0.070,3432,2403,3597,3566,3629,0,0,0,0,0,0,14.95,14.90,14.98
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1081,begin apogee
$GC,1084,-0.17,0.0,3432,2175,3565,3630,150.0,-15.2,209,1326,0.60,0.00,236.00,1.103,10246,0.287,0.000,3587,2171,2996,2858,3135,0,0,0,0,0,0,14.78,14.35,13.93
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1328,0.68,146.6,3587,2172,2851,3134,160.6,0.0,251,1512,0.65,2.45,175.68,1.128,10756,0.190,0.064,3784,811,2393,2281,2505,0,0,0,0,0,0,14.27,14.29,13.89
$GC,1566,0.77,168.4,3783,811,2269,2500,147.8,9.0,293,1597,0.00,2.47,24.60,1.093,9382,0.000,0.067,3784,2200,2307,2211,2403,0,0,0,0,0,0,14.53,14.49,14.01
$GC,1775,0.77,168.4,3785,2201,2196,2396,125.1,10.8,334,1783,0.00,2.47,0.00,0.000,260,0.000,0.076,3784,3616,2294,2194,2395,0,0,0,0,0,0,14.88,14.68,14.90
$GC,1816,0.77,168.4,3783,3617,2194,2391,120.4,11.8,342,1824,0.00,2.40,0.00,0.000,1030,0.000,0.059,3794,2224,2292,2194,2390,0,0,0,0,0,0,14.76,14.71,14.78
$GC,2002,0.77,168.4,3794,2224,2196,2391,98.2,12.2,379,2009,0.00,2.45,0.00,0.000,516,0.000,0.068,3804,795,2293,2195,2391,0,0,0,0,0,0,14.99,14.79,15.02
$GC,2043,0.77,168.4,3804,795,2193,2391,93.2,11.4,387,2050,0.00,2.45,0.00,0.000,1030,0.000,0.068,3804,2203,2291,2193,2390,0,0,0,0,0,0,14.85,14.80,14.88
$GC,2229,0.77,168.4,3804,2204,2192,2391,69.7,13.8,424,2237,0.00,2.42,0.00,0.000,260,0.000,0.080,3804,3604,2291,2192,2391,0,0,0,0,0,0,15.04,14.84,15.07
$GC,2296,0.77,168.4,3805,3604,2194,2391,61.0,13.2,437,2303,0.00,2.42,0.00,0.000,1030,0.000,0.062,3814,2196,2291,2192,2390,0,0,0,0,0,0,14.90,14.86,14.92
$GC,2482,0.72,168.4,3815,2196,2194,2391,34.9,13.2,474,2489,0.15,2.40,0.00,0.000,4740,0.373,0.066,3796,782,2291,2192,2390,0,0,0,0,0,0,14.73,14.88,14.95
$GC,2563,0.80,196.7,3797,782,2192,2391,26.0,8.7,490,2599,0.00,2.45,30.55,1.132,9382,0.000,0.067,3796,2200,2192,2113,2272,0,0,0,0,0,0,14.94,14.89,14.33
$GC,2778,0.90,246.0,3797,2201,2098,2260,3.4,7.7,532,2793,0.12,0.00,12.75,0.127,10658,0.133,0.000,3844,2201,2084,2026,2142,0,0,0,0,0,0,14.84,28.83,14.90
$STATE,2793,end climb,SURFACE_DEPTH_REACHED
$STATE,2793,begin surface coast
$FINISH,-0.3,1.020010
$STATE,2826,end surface coast,CONTROL_FINISHED_OK
$STATE,2826,begin surface
$SM_CCo,2843,208.62,0.128,0,0,539,603.43
$SM_GC,0.37,11.30,0.35,208.62,0.107,0.076,0.128,56,2422,539,-16.38,-0.59,603.43,0,0,0,0,0,0,14.80,14.86,14.73
$IRIDIUM_FIX,4744.97,-12226.80,050717,171622
$TT8_MAMPS,0.044191,0.162533
$HUMID,49.09
$INTERNAL_PRESSURE,8.11856
$TCM_TEMP,132.40
$XPDR_PINGS,0
$PM_FREEKB,124780736
$24V_AH,13.89,2.693
$10V_AH,13.97,0.000
$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,32.150,44.375,479.575,208.625,0.000,0.000,0.000,0.000,1.000,0.000,31.265,0.000,1276.681,785.532,1038.761,26.564,0.000,1261.558,0.000,774.927,0.000,9.645,0.000
$DEVICE_MAMPS,495.720,2187.135,1132.200,127.755,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,10.720,30.190,37.680,0.000,15.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PMAR,nil,nil,nil
$SENSOR_SECS,356.237,0.000,0.000,0.000,0.000,0.000,2821.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,16.009,0.000,0.000,0.000
$MEM,304088
$DATA_FILE_SIZE,20165,541
$CAP_FILE_SIZE,68360,0
$CFSIZE,260034560,258682880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129,184.02,1
$GPS,050717,181552,4743.505,-12224.656,11,0.9,37,16.3,0.3,184.5,6,9.9