version: 66.13
glider: 136
mission: 4
dive: 6
start: 7 5 117 20 38 6
data:
$ID,136
$MISSION,4
$DIVE,6
$N_DIVES,6
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,185
$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,53
$T_MISSION,70
$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,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,22
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,48
$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
$GPS1,050717,203438,4742.6885,-12225.4717,7,1.1,23,16.3,0.7,195.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-79.4
$GPS2,050717,203748,4742.6309,-12225.4893,9,1.1,20,16.3,0.5,198.0,8,9.4
$SPEED_LIMITS,0.174,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,5.4,1721,-18.3,-10.063,-21.06,2226
$D_GRID,189
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,7,-0.68,-146.6,61,2357,462,485,0.0,0.0,0,137,0.00,0.00,-127.00,0.000,16386,0.000,0.000,60,2357,3380,3375,3385,0,0,0,0,0,0,15.05,28.83,15.08
$GC,138,-0.68,-146.6,59,2358,3374,3385,3.9,-12.4,23,168,19.42,0.00,-4.20,0.000,19206,0.506,0.000,3472,2357,3598,3565,3632,0,0,0,0,0,0,14.59,14.30,14.86
$GC,347,-0.60,-146.6,3473,2358,3566,3634,45.6,-17.9,64,354,0.12,2.40,0.00,0.000,2436,0.345,0.079,3489,3737,3598,3563,3633,0,0,0,0,0,0,14.69,14.78,14.87
$GC,382,-0.69,-146.6,3488,3738,3562,3633,51.1,-14.2,71,391,0.00,2.33,0.00,0.000,1158,0.000,0.048,3488,2355,3597,3562,3633,0,0,0,0,0,0,14.87,14.83,14.89
$GC,570,-0.69,-146.6,3489,2351,3563,3634,76.3,-14.9,108,577,0.00,2.38,0.00,0.000,516,0.000,0.055,3488,935,3597,3562,3633,0,0,0,0,0,0,15.04,14.85,15.06
$GC,600,-0.79,-146.6,3488,935,3562,3634,80.0,-12.1,114,608,0.08,2.42,0.00,0.000,5254,0.129,0.068,3452,2327,3597,3562,3633,0,0,0,0,0,0,14.83,14.83,14.88
$GC,787,-0.79,-146.6,3453,2329,3562,3634,107.6,-15.2,151,794,0.00,2.47,0.00,0.000,260,0.000,0.079,3448,3759,3597,3561,3633,0,0,0,0,0,0,15.06,14.84,15.08
$GC,813,-0.79,-146.6,3448,3760,3560,3633,111.5,-15.7,156,820,0.00,2.38,0.00,0.000,1030,0.000,0.048,3448,2342,3596,3560,3633,0,0,0,0,0,0,14.92,14.88,14.93
$GC,999,-0.79,-146.6,3449,2337,3561,3634,141.7,-18.1,193,1006,0.00,2.35,0.00,0.000,516,0.000,0.057,3448,938,3596,3559,3633,0,0,0,0,0,0,15.05,14.88,15.08
$GC,1030,-0.79,-146.6,3448,937,3559,3633,147.1,-17.5,199,1038,0.00,2.47,0.00,0.000,1030,0.000,0.070,3447,2361,3596,3559,3633,0,0,0,0,0,0,14.92,14.86,14.94
$STATE,1106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1106,begin apogee
$GC,1108,-0.17,0.0,3449,2362,3560,3634,160.2,-17.1,214,1351,0.52,0.00,236.52,1.103,10246,0.280,0.000,3584,2361,2997,2859,3136,0,0,0,0,0,0,14.76,14.26,13.84
$STATE,1352,end apogee,CONTROL_FINISHED_OK
$STATE,1352,begin climb
$GC,1353,0.68,146.6,3585,2361,2855,3131,169.7,0.0,256,1542,0.70,2.53,178.15,1.129,10756,0.207,0.060,3788,936,2385,2278,2493,0,0,0,0,0,0,14.17,14.19,13.78
$GC,1556,0.68,148.6,3789,936,2268,2486,156.6,10.0,291,1564,0.00,2.58,0.00,0.000,1062,0.000,0.068,3787,2354,2375,2265,2485,0,0,0,0,0,0,14.32,14.27,14.35
$GC,1743,0.68,148.6,3788,2354,2256,2485,136.0,13.0,328,1750,0.00,2.47,0.00,0.000,516,0.000,0.063,3797,941,2370,2256,2485,0,0,0,0,0,0,14.79,14.60,14.81
$GC,1774,0.68,148.6,3797,941,2254,2485,132.2,11.9,334,1781,0.00,2.50,0.00,0.000,1030,0.000,0.068,3797,2357,2369,2254,2485,0,0,0,0,0,0,14.66,14.62,14.69
$GC,1960,0.68,148.6,3797,2357,2253,2485,107.0,13.8,371,1968,0.00,2.45,0.00,0.000,260,0.000,0.079,3797,3755,2369,2253,2485,0,0,0,0,0,0,14.91,14.70,14.93
$GC,2006,0.68,148.6,3797,3756,2252,2478,100.4,13.8,380,2014,0.10,2.40,0.00,0.000,5126,0.364,0.057,3786,2359,2365,2253,2478,0,0,0,0,0,0,14.59,14.74,14.73
$GC,2192,0.68,148.6,3787,2358,2254,2479,79.5,11.4,417,2200,0.00,2.45,0.00,0.000,516,0.000,0.065,3795,926,2365,2253,2478,0,0,0,0,0,0,14.98,14.79,15.00
$GC,2303,0.68,148.6,3796,927,2253,2479,67.2,10.9,439,2312,0.00,2.50,0.00,0.000,1030,0.000,0.069,3795,2358,2364,2251,2478,0,0,0,0,0,0,14.85,14.80,14.88
$GC,2490,0.69,151.9,3794,2359,2251,2479,45.2,9.9,476,2491,0.00,0.00,0.00,0.000,38,0.000,0.000,3795,2358,2364,2251,2478,0,0,0,0,0,0,15.02,15.05,15.04
$GC,2670,0.70,174.1,3795,2359,2252,2479,28.4,9.0,512,2701,0.00,0.00,27.92,1.110,8742,0.000,0.000,3795,2358,2287,2194,2380,0,0,0,0,0,0,15.04,14.73,14.30
$GC,2879,0.70,176.2,3796,2359,2171,2358,7.4,10.0,553,2887,0.00,2.45,0.00,0.000,292,0.000,0.080,3795,3757,2263,2170,2357,0,0,0,0,0,0,14.96,14.75,14.98
$STATE,2930,end climb,SURFACE_DEPTH_REACHED
$STATE,2930,begin surface coast
$FINISH,1.6,1.019938
$STATE,2940,end surface coast,CONTROL_FINISHED_OK
$STATE,2940,begin surface
$SM_CCo,2959,234.70,0.128,0,0,537,603.43
$SM_GC,0.39,11.70,2.47,234.70,0.144,0.067,0.128,60,2339,537,-16.37,0.54,603.43,0,0,0,0,0,0,14.76,14.80,14.69
$IRIDIUM_FIX,4743.02,-12222.38,050717,203005
$TT8_MAMPS,0.043442,0.162533
$HUMID,48.58
$INTERNAL_PRESSURE,8.10879
$TCM_TEMP,133.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.7,7.3
$PM_FREEKB,124715712
$24V_AH,13.78,3.437
$10V_AH,13.70,0.000
$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,32.650,44.000,442.600,234.700,0.000,0.000,0.000,0.000,1.000,0.000,21.531,0.000,1367.540,794.526,1071.658,25.300,0.000,1282.081,0.000,808.633,0.000,9.738,0.000
$DEVICE_MAMPS,506.430,79.560,1129.140,127.755,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,10.720,30.190,37.680,0.000,15.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PMAR,nil,nil,nil
$SENSOR_SECS,373.319,0.000,0.000,0.000,0.000,0.000,2934.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,15.987,0.000,0.000,0.000
$MEM,304096
$DATA_FILE_SIZE,23423,565
$CAP_FILE_SIZE,70134,0
$CFSIZE,260034560,258551808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.269,220.52,1
$GPS,050717,213224,4742.692,-12225.683,15,1.1,44,16.3,0.3,204.1,7,9.0