version: 66.13
glider: 136
mission: 6
dive: 4
start: 11 17 117 19 27 36
data:
$ID,136
$MISSION,6
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,165
$D_ABORT,185
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$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,55
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_T,0
$EXEC_N,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,52462
$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,2
$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,5
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3825
$C_PITCH,3570
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,26
$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,2142
$C_ROLL_CLIMB,2142
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,50
$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,0.0015
$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
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,1
$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,-157.5
$PRESSURE_SLOPE,0.00013795
$AD7714Ch0Gain,32
$COMPASS_USE,4
$ALTIM_PING_FIT,785
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$SEABIRD_T_G,0.0043053483
$SEABIRD_T_H,0.00061913603
$SEABIRD_T_I,2.1829283e-05
$SEABIRD_T_J,2.2134634e-06
$SEABIRD_C_G,-9.8781624
$SEABIRD_C_H,1.1419371
$SEABIRD_C_I,-0.0019727764
$SEABIRD_C_J,0.00023907225
$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
$GPS1,171117,192330,4744.0317,-12223.8545,6,1.3,19,16.3,0.0,0.0,6,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-79.2
$GPS2,171117,192717,4744.0273,-12223.8564,9,1.3,24,16.3,0.0,0.0,6,9.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,184.5,1911,-18.2,-10.000,-20.99,2236
$D_GRID,170
$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,8,-0.92,-146.6,199,2090,673,408,0.0,0.0,0,158,0.00,0.10,-143.82,0.004,16390,0.000,0.600,198,2176,3598,3551,3645,0,0,0,0,0,0,14.94,14.15,14.95
$GC,161,-0.92,-146.6,199,2177,3552,3646,5.0,-14.0,27,181,16.80,0.00,0.00,0.000,2310,0.473,0.000,3362,2174,3598,3551,3646,0,0,0,0,0,0,14.50,14.78,14.75
$PING,21.5,22.6,9000.0,0.00,0.00
$PING,31.6,32.4,9000.0,0.00,0.00
$PING,41.9,42.7,9000.0,0.00,0.00
$PING,53.2,54.2,9000.0,0.00,0.00
$PING,63.8,5.7,9000.0,-0.12,0.01
$GC,481,-0.87,-146.6,3362,2175,3546,3652,65.1,-13.1,79,486,0.00,2.33,0.00,0.000,388,0.000,0.082,3355,3520,3598,3545,3652,0,0,0,0,0,0,14.97,14.77,15.00
$PING,73.9,6.7,9000.0,-0.83,0.41
$PING,83.9,5.8,9000.0,-1.16,0.66
$GC,640,-0.87,-146.6,3356,3521,3544,3651,85.0,-11.0,111,646,0.08,2.42,0.00,0.000,3078,0.221,0.060,3375,2128,3597,3543,3652,0,0,0,0,0,0,14.69,14.80,14.79
$PING,94.9,5.8,9000.0,-0.93,0.50
$PING,106.0,5.9,9000.0,-0.00,0.04
$PING,116.8,5.9,9000.0,-0.01,0.41
$GC,951,-0.87,-146.6,3376,2124,3544,3652,119.0,-10.9,143,955,0.00,2.45,0.00,0.000,260,0.000,0.082,3367,3523,3597,3543,3652,0,0,0,0,0,0,15.02,14.82,15.05
$GC,1006,-0.95,-146.6,3369,3524,3543,3652,124.4,-8.8,154,1013,0.00,2.42,0.00,0.000,1190,0.000,0.061,3367,2135,3597,3542,3652,0,0,0,0,0,0,14.92,14.83,14.93
$PING,126.9,5.9,9000.0,0.00,0.58
$PING,137.9,5.9,9000.0,0.00,0.28
$PING,148.6,5.9,9000.0,-0.00,0.06
$GC,1311,-0.95,-146.6,3368,2131,3543,3652,156.3,-9.3,185,1314,0.00,2.42,0.00,0.000,292,0.000,0.083,3359,3519,3597,3542,3652,0,0,0,0,0,0,15.04,14.84,15.07
$PING,158.9,5.9,9000.0,0.00,0.73
$STATE,1399,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1399,begin apogee
$PING,165.8,5.8,9000.0,-0.00,0.04
$GC,1405,-0.19,0.0,3359,2145,3541,3653,165.3,-9.0,203,1524,0.62,0.00,116.22,1.557,10246,0.242,0.000,3525,2134,3000,2933,3067,0,0,0,0,0,0,14.72,14.19,13.62
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1527,0.92,146.6,3526,2135,2933,3068,167.5,0.0,215,1654,0.82,2.58,118.28,1.528,11012,0.145,0.083,3776,3522,2401,2393,2409,0,0,0,0,0,0,14.15,13.97,13.52
$PING,155.4,5.9,9000.0,-0.00,0.05
$GC,1698,0.75,146.6,3777,3524,2393,2403,149.8,19.4,248,1706,0.17,2.55,0.00,0.000,5254,0.330,0.072,3737,2145,2397,2392,2403,0,0,0,0,0,0,14.16,14.29,14.34
$PING,145.3,5.9,9000.0,-0.00,0.07
$PING,134.3,5.9,9000.0,-0.00,0.15
$PING,123.7,5.9,9000.0,-0.00,0.25
$PING,113.2,5.8,9000.0,0.00,0.57
$PING,102.1,5.8,9000.0,0.00,0.74
$GC,2004,0.67,146.6,3738,2142,2388,2402,102.1,15.7,279,2008,0.00,2.53,0.00,0.000,644,0.000,0.082,3746,711,2394,2387,2401,0,0,0,0,0,0,14.81,14.64,14.83
$GC,2058,0.62,146.6,3746,711,2387,2399,93.2,15.9,290,2063,0.20,2.50,0.00,0.000,5254,0.322,0.076,3705,2111,2392,2386,2398,0,0,0,0,0,0,14.52,14.66,14.73
$PING,91.7,5.8,9000.0,0.00,0.87
$PING,80.8,5.8,9000.0,0.00,0.75
$PING,70.1,5.7,9000.0,0.00,0.73
$PING,59.8,5.7,9000.0,0.00,0.78
$GC,2368,0.62,146.6,3706,2113,2385,2398,54.2,11.1,322,2372,0.00,2.53,0.00,0.000,260,0.000,0.083,3705,3563,2391,2384,2398,0,0,0,0,0,0,14.95,14.76,14.98
$PING,49.5,5.7,9000.0,0.00,0.92
$GC,2413,0.62,146.6,3706,3563,2385,2397,48.9,11.6,331,2420,0.00,2.53,0.00,0.000,1030,0.000,0.070,3713,2145,2390,2384,2397,0,0,0,0,0,0,14.81,14.77,14.87
$PING,39.4,39.5,9000.0,-0.64,0.49
$PING,29.1,29.0,9000.0,-0.78,0.62
$PING,18.7,18.5,9000.0,-0.47,0.27
$GC,2719,0.62,146.6,3713,2144,2384,2398,11.3,13.2,392,2727,0.00,2.47,0.00,0.000,516,0.000,0.080,3724,712,2390,2384,2397,0,0,0,0,0,0,15.00,14.79,15.02
$PING,8.5,7.9,9000.0,0.16,0.03
$GC,2771,0.69,146.6,3725,711,2384,2395,5.3,10.8,402,2778,0.00,2.53,0.00,0.000,1158,0.000,0.078,3724,2137,2388,2382,2395,0,0,0,0,0,0,14.88,14.80,14.90
$STATE,2791,end climb,SURFACE_DEPTH_REACHED
$STATE,2791,begin surface coast
$FINISH,0.3,1.022704
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2811,begin surface
$SM_CCo,2828,221.98,0.116,0,0,540,603.43
$SM_GC,1.27,10.32,0.00,221.98,0.084,0.000,0.116,190,2139,540,-15.48,-0.08,603.43,0,0,0,0,0,0,14.78,15.02,14.68
$IRIDIUM_FIX,4742.03,-12213.55,171117,192026
$TT8_MAMPS,0.039697,0.175266
$HUMID,42.20
$INTERNAL_PRESSURE,8.01113
$TCM_TEMP,132.20
$XPDR_PINGS,0
$PM_FREEKB_00,124763904
$24V_AH,13.52,0.877
$10V_AH,13.52,0.000
$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,29.025,34.925,234.500,221.975,0.000,0.000,0.000,0.000,7.750,0.000,25.030,0.000,1672.987,584.701,829.235,42.454,0.000,936.343,0.000,590.344,0.000,49.496,0.000
$DEVICE_MAMPS,472.770,599.760,1556.775,116.280,0.000,0.000,0.000,0.000,420.000,0.000,11.240,0.000,2.190,10.720,30.190,37.680,0.000,15.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PMAR,nil,nil,nil
$SENSOR_SECS,235.724,0.000,0.000,0.000,0.000,0.000,2814.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,16.019,0.000,0.000,0.000
$MEM,303828
$DATA_FILE_SIZE,16846,410
$CAP_FILE_SIZE,64931,0
$CFSIZE,260034560,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.093,152.43,1
$GPS,171117,201938,4743.609,-12224.161,33,1.0,41,16.3,0.0,0.0,7,9.5