version: 66.13
glider: 136
mission: 6
dive: 5
start: 11 17 117 20 24 5
data:
$ID,136
$MISSION,6
$DIVE,5
$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,17
$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
$GPS1,171117,201938,4743.6089,-12224.1611,33,1.0,41,16.3,0.0,0.0,7,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-78.5
$GPS2,171117,202346,4743.6221,-12224.1396,9,1.0,18,16.3,0.0,0.0,7,9.6
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,161.8,1165,-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,8,-0.92,-146.6,190,2153,675,407,0.0,0.0,0,152,0.00,0.00,-141.40,0.004,16390,0.000,0.000,189,2152,3598,3551,3646,0,0,0,0,0,0,14.88,13.90,14.90
$GC,154,-0.92,-146.6,190,2151,3552,3646,4.4,-10.7,26,175,17.02,2.40,0.00,0.000,2308,0.473,0.068,3353,3569,3599,3552,3647,0,0,0,0,0,0,14.47,14.68,14.71
$PING,22.5,23.7,9000.0,0.00,0.00
$GC,224,-0.92,-146.6,3354,3571,3549,3653,27.4,-14.2,39,231,0.00,2.53,0.00,0.000,1030,0.000,0.063,3353,2122,3599,3547,3652,0,0,0,0,0,0,14.76,14.70,14.78
$PING,33.0,33.9,9000.0,0.00,0.00
$PING,64.7,6.7,9000.0,0.00,0.00
$GC,530,-0.88,-146.6,3354,2119,3547,3653,70.0,-13.2,86,535,0.12,2.58,0.00,0.000,2436,0.291,0.083,3369,3575,3599,3545,3653,0,0,0,0,0,0,14.65,14.75,14.81
$PING,74.9,5.7,9000.0,0.00,0.00
$GC,675,-0.97,-146.6,3368,3575,3544,3654,83.3,-8.6,115,682,0.00,2.47,0.00,0.000,1190,0.000,0.061,3369,2144,3598,3544,3653,0,0,0,0,0,0,14.85,14.79,14.87
$PING,85.6,5.8,9000.0,-0.42,0.78
$PING,96.4,5.8,9000.0,-0.46,0.78
$PING,107.6,5.8,9000.0,-0.01,0.39
$PING,117.6,5.9,9000.0,0.00,0.77
$GC,980,-0.97,-146.6,3369,2141,3545,3654,117.1,-12.1,146,986,0.00,2.53,0.00,0.000,260,0.000,0.083,3365,3571,3598,3544,3653,0,0,0,0,0,0,15.01,14.80,15.03
$GC,1061,-1.07,-146.6,3365,3571,3545,3653,126.2,-10.6,162,1066,0.12,2.45,0.00,0.000,5254,0.122,0.060,3301,2138,3598,3543,3653,0,0,0,0,0,0,14.85,14.83,14.90
$PING,128.7,5.8,9000.0,0.00,0.48
$PING,139.8,5.8,9000.0,0.00,0.30
$PING,151.5,5.9,9000.0,0.00,0.05
$PING,162.2,5.8,9000.0,-0.00,0.09
$STATE,1279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1279,begin apogee
$PING,168.1,5.9,9000.0,0.00,0.30
$GC,1283,-0.19,0.0,3301,2130,3544,3653,166.3,-19.6,185,1403,0.88,0.12,116.80,1.558,10246,0.278,0.122,3525,2203,3000,2936,3064,0,0,0,0,0,0,14.69,14.16,13.61
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1407,0.92,146.6,3526,2203,2935,3063,170.4,0.0,197,1535,0.80,2.50,117.93,1.502,11012,0.147,0.075,3770,3575,2400,2396,2405,0,0,0,0,0,0,14.14,13.97,13.52
$PING,157.6,5.8,9000.0,0.00,0.13
$PING,147.3,5.9,9000.0,-0.00,0.12
$GC,1655,0.76,146.6,3770,3577,2397,2399,140.2,16.5,247,1659,0.20,1.62,0.00,0.000,5254,0.328,0.067,3738,2665,2397,2396,2398,0,0,0,0,0,0,14.31,14.42,14.49
$PING,137.0,5.9,9000.0,-0.00,0.55
$PING,126.7,5.9,9000.0,-0.00,0.24
$PING,116.1,5.8,9000.0,0.00,0.00
$PING,106.0,5.8,9000.0,0.00,0.70
$PING,95.1,5.8,9000.0,0.00,0.99
$GC,1965,0.68,146.6,3738,2664,2394,2396,95.1,12.4,279,1968,0.00,1.58,0.00,0.000,388,0.000,0.070,3734,3567,2394,2393,2396,0,0,0,0,0,0,14.84,14.68,14.86
$PING,84.9,5.8,9000.0,0.00,0.74
$PING,74.6,5.8,9000.0,0.00,0.60
$GC,2119,0.61,146.6,3736,3566,2394,2396,73.2,14.0,310,2127,0.15,2.55,0.00,0.000,5254,0.309,0.070,3701,2142,2394,2393,2396,0,0,0,0,0,0,14.59,14.71,14.78
$PING,63.5,5.7,9000.0,0.00,0.60
$PING,53.0,5.7,9000.0,0.00,0.78
$PING,43.0,5.6,9000.0,0.01,0.92
$GC,2425,0.62,149.4,3701,2140,2390,2397,42.5,9.9,348,2430,0.00,0.00,0.00,0.000,38,0.000,0.000,3701,2139,2392,2389,2395,0,0,0,0,0,0,14.97,14.99,14.99
$PING,32.6,5.5,9000.0,0.01,0.96
$PING,22.3,21.5,9000.0,-0.31,0.49
$PING,11.8,11.4,9000.0,-0.27,0.39
$GC,2730,0.62,150.0,3701,2140,2389,2395,10.8,10.0,409,2736,0.00,2.53,0.00,0.000,292,0.000,0.083,3700,3570,2391,2388,2395,0,0,0,0,0,0,15.00,14.80,15.02
$GC,2745,0.62,150.0,3700,3571,2388,2396,9.0,11.0,412,2752,0.00,2.53,0.00,0.000,1030,0.000,0.070,3708,2150,2391,2388,2395,0,0,0,0,0,0,14.85,14.81,14.88
$STATE,2805,end climb,SURFACE_DEPTH_REACHED
$STATE,2805,begin surface coast
$FINISH,0.5,1.022763
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2848,221.05,0.117,0,0,539,603.43
$SM_GC,1.18,10.12,0.00,221.05,0.071,0.000,0.117,192,2132,539,-15.47,-0.28,603.43,0,0,0,0,0,0,14.81,15.03,14.68
$IRIDIUM_FIX,4742.65,-12129.11,171117,192410
$TT8_MAMPS,0.03745,0.138565
$HUMID,41.37
$INTERNAL_PRESSURE,7.9916
$TCM_TEMP,132.30
$XPDR_PINGS,0
$PM_FREEKB_00,124738496
$24V_AH,13.52,1.028
$10V_AH,13.73,0.000
$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,29.425,28.375,234.725,221.050,0.000,0.000,0.000,161.550,8.000,0.000,19.585,0.000,1667.103,576.413,1014.864,74.734,0.000,1101.495,0.000,618.252,0.000,50.700,0.000
$DEVICE_MAMPS,472.770,122.400,1558.305,117.045,0.000,0.000,0.000,139.230,420.000,0.000,11.240,0.000,2.190,10.720,30.190,37.680,0.000,15.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PMAR,nil,nil,nil
$SENSOR_SECS,244.000,0.000,0.000,0.000,0.000,0.000,2842.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,15.986,0.000,0.000,0.000
$MEM,303780
$DATA_FILE_SIZE,16825,429
$CAP_FILE_SIZE,53600,0
$CFSIZE,260034560,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.143,182.27,1
$GPS,171117,211621,4743.195,-12224.339,18,1.7,36,16.3,0.0,0.0,6,9.9