version: 66.13
glider: 136
mission: 4
dive: 4
start: 7 5 117 18 21 57
data:
$ID,136
$MISSION,4
$DIVE,4
$N_DIVES,5
$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,2350
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,22
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,65
$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
$GPS1,050717,181926,4743.4653,-12224.6611,5,0.9,17,16.3,0.0,182.3,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-81.6
$GPS2,050717,182137,4743.4380,-12224.6650,8,0.9,20,16.3,0.5,191.6,7,8.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,305.8,432,-22.9,-10.000,-25.31,1432
$D_GRID,175
$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,-0.81,-93.7,58,2379,506,577,0.0,0.0,0,131,0.00,0.00,-121.43,0.000,16386,0.000,0.000,56,2379,3253,3257,3249,0,0,0,0,0,0,14.98,28.83,15.00
$GC,132,-0.81,-93.7,56,2379,3257,3251,3.4,-10.1,22,162,19.58,2.47,-2.60,0.000,18692,0.509,2.190,3440,3720,3384,3365,3404,0,0,0,0,0,0,14.54,13.98,14.82
$GC,241,-0.81,-93.7,3440,3721,3367,3405,29.7,-16.1,43,248,0.00,2.28,0.00,0.000,1030,0.000,0.050,3440,2375,3385,3366,3404,0,0,0,0,0,0,14.79,14.76,14.82
$GC,426,-0.76,-93.7,3440,2373,3365,3404,58.9,-13.5,80,434,0.12,2.40,0.00,0.000,2692,0.355,0.056,3464,942,3384,3364,3404,0,0,0,0,0,0,14.66,14.81,14.86
$GC,488,-0.86,-93.7,3465,942,3366,3405,66.5,-11.5,92,495,0.00,2.40,0.00,0.000,1158,0.000,0.070,3461,2311,3384,3364,3404,0,0,0,0,0,0,14.87,14.82,14.89
$GC,673,-0.86,-93.7,3461,2313,3365,3405,91.7,-12.9,129,681,0.00,2.50,0.00,0.000,260,0.000,0.080,3452,3755,3383,3363,3404,0,0,0,0,0,0,15.04,14.82,15.07
$GC,744,-0.97,-93.7,3453,3756,3365,3405,100.5,-11.6,143,752,0.10,2.35,0.00,0.000,5254,0.106,0.048,3408,2348,3383,3363,3404,0,0,0,0,0,0,14.85,14.87,14.90
$GC,931,-0.90,-93.7,3407,2342,3363,3405,134.2,-17.8,180,932,0.12,0.00,0.00,0.000,2182,0.340,0.000,3428,2340,3383,3363,3404,0,0,0,0,0,0,14.73,14.96,14.92
$STATE,1038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1038,begin apogee
$GC,1041,-0.17,0.0,3429,2230,3363,3405,150.7,-14.6,201,1171,0.60,0.00,121.72,1.165,10246,0.295,0.000,3585,2228,2989,2870,3108,0,0,0,0,0,0,14.74,14.30,13.95
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1173,begin climb
$GC,1174,0.81,93.7,3586,2229,2869,3109,157.1,0.0,223,1300,0.77,2.65,114.93,1.111,10500,0.190,0.080,3809,3670,2599,2486,2713,0,0,0,0,0,0,14.33,14.24,13.85
$GC,1343,0.81,93.7,3808,3671,2477,2710,144.4,12.0,253,1350,0.00,2.45,0.00,0.000,1030,0.000,0.059,3818,2274,2591,2474,2709,0,0,0,0,0,0,14.48,14.45,14.51
$GC,1529,0.76,93.7,3818,2275,2467,2710,123.4,11.6,290,1537,0.12,2.47,0.00,0.000,4740,0.402,0.065,3809,832,2587,2466,2709,0,0,0,0,0,0,14.51,14.67,14.74
$GC,1576,0.77,120.3,3809,833,2467,2710,119.1,8.1,299,1607,0.00,2.50,27.08,1.126,9254,0.000,0.070,3809,2257,2509,2394,2624,0,0,0,0,0,0,14.75,14.71,14.17
$GC,1786,0.77,120.3,3810,2258,2362,2608,94.3,12.6,340,1793,0.00,2.47,0.00,0.000,260,0.000,0.080,3810,3669,2484,2362,2607,0,0,0,0,0,0,14.92,14.71,14.94
$GC,1822,0.77,120.3,3810,3670,2363,2608,89.5,12.7,347,1829,0.08,2.45,0.00,0.000,5126,0.393,0.058,3804,2243,2484,2362,2607,0,0,0,0,0,0,14.57,14.75,14.73
$GC,2008,0.77,120.3,3805,2244,2362,2608,68.5,10.9,384,2015,0.00,2.40,0.00,0.000,516,0.000,0.064,3813,837,2483,2360,2607,0,0,0,0,0,0,15.00,14.80,15.02
$GC,2049,0.82,120.3,3813,836,2360,2608,64.0,11.0,392,2056,0.00,2.47,0.00,0.000,1158,0.000,0.070,3813,2257,2482,2358,2607,0,0,0,0,0,0,14.85,14.81,14.88
$GC,2234,0.82,120.3,3813,2257,2359,2608,39.2,12.2,429,2242,0.00,2.45,0.00,0.000,260,0.000,0.080,3813,3667,2482,2357,2607,0,0,0,0,0,0,15.04,14.83,15.06
$GC,2315,0.82,121.0,3812,3668,2358,2607,29.8,10.0,445,2323,0.00,2.42,0.00,0.000,1062,0.000,0.057,3823,2241,2482,2357,2607,0,0,0,0,0,0,14.90,14.86,14.92
$GC,2501,0.82,123.3,3824,2241,2358,2607,12.9,9.8,482,2509,0.00,2.40,0.00,0.000,548,0.000,0.067,3834,829,2481,2357,2606,0,0,0,0,0,0,15.07,14.87,15.09
$GC,2523,0.83,132.4,3834,829,2359,2608,11.0,9.3,486,2532,0.08,2.47,3.10,0.138,13350,0.379,0.070,3818,2255,2458,2340,2576,0,0,0,0,0,0,14.71,14.87,14.81
$GC,2711,0.94,255.0,3819,2256,2345,2577,4.9,1.2,523,2766,0.00,0.00,52.65,0.134,8610,0.000,0.000,3819,2255,2066,2019,2113,0,0,0,0,0,0,15.08,28.83,15.10
$STATE,2766,end climb,SURFACE_DEPTH_REACHED
$STATE,2766,begin surface coast
$FINISH,0.1,1.019510
$STATE,2829,end surface coast,CONTROL_FINISHED_OK
$STATE,2829,begin surface
$SM_CCo,2846,205.00,0.125,0,0,537,603.43
$SM_GC,0.37,11.77,0.17,205.00,0.152,0.105,0.125,62,2375,537,-16.35,-0.54,603.43,0,0,0,0,0,0,14.83,14.90,14.74
$IRIDIUM_FIX,4744.48,-12222.38,050717,181705
$TT8_MAMPS,0.041195,0.137816
$HUMID,49.01
$INTERNAL_PRESSURE,8.12832
$TCM_TEMP,132.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.7,48.5
$PM_FREEKB,124755264
$24V_AH,13.85,2.836
$10V_AH,13.99,0.000
$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,33.350,44.425,319.475,205.000,0.000,0.000,0.000,0.000,1.000,0.000,21.791,0.000,1381.154,663.750,1050.161,23.478,0.000,1116.993,0.000,780.710,0.000,10.486,0.000
$DEVICE_MAMPS,508.725,2190.195,1165.095,125.460,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,10.720,30.190,37.680,0.000,15.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PMAR,nil,nil,nil
$SENSOR_SECS,362.149,0.000,0.000,0.000,0.000,0.000,2824.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,16.001,0.000,0.000,0.000
$MEM,304064
$DATA_FILE_SIZE,20178,545
$CAP_FILE_SIZE,66366,0
$CFSIZE,260034560,258637824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.226,201.80,1
$GPS,050717,191329,4743.304,-12225.177,5,1.1,21,16.3,0.0,194.0,5,9.5