version: 66.13
glider: 137
mission: 5
dive: 3
start: 3 4 117 7 36 43
data:
$ID,137
$MISSION,5
$DIVE,3
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,360
$D_ABORT,450
$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,120
$T_MISSION,150
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54893
$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,7156.2998
$TGT_DEFAULT_LON,2002.3
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$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,100
$PITCH_MAX,3680
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2030
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2790
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,1
$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,-84.34626
$PRESSURE_SLOPE,0.0001160319
$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,200
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.004399877
$SEABIRD_T_H,0.00063904078
$SEABIRD_T_I,2.611986e-05
$SEABIRD_T_J,3.2216672e-06
$SEABIRD_C_G,-9.9096279
$SEABIRD_C_H,1.1330101
$SEABIRD_C_I,-0.0017902254
$SEABIRD_C_J,0.00021440489
$GPS1,040317,073237,1340.0383,6125.3677,10,0.9,44,-0.7,0.4,4.7,9,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.3
$GPS2,040317,073608,1340.0378,6125.3555,11,0.9,19,-0.7,0.5,57.0,9,9.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,191.8,436234,-18.2,-10.000,-21.02,2236
$D_GRID,360
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.40,-146.0,93,2049,369,607,0.0,0.0,0,123,0.00,0.00,-109.93,0.000,16390,0.000,0.000,92,2050,3386,3309,3463,0,0,0,0,0,0,15.12,14.23,15.09
$GC,124,-1.40,-146.0,92,2050,3309,3463,5.1,-12.5,20,150,16.17,2.42,0.00,0.000,2564,0.496,0.067,2897,615,3386,3309,3464,0,0,0,0,0,0,14.61,14.80,14.85
$GC,282,-1.35,-146.0,2897,616,3309,3464,41.0,-16.1,50,289,0.00,2.38,0.00,0.000,1158,0.000,0.060,2889,2029,3386,3309,3464,0,0,0,0,0,0,14.95,14.87,14.96
$GC,591,-1.35,-146.0,2888,2030,3310,3464,89.6,-16.0,86,595,0.00,2.35,0.00,0.000,260,0.000,0.082,2878,3438,3386,3309,3464,0,0,0,0,0,0,15.17,14.91,15.19
$GC,636,-1.35,-146.0,2878,3437,3309,3464,97.0,-15.2,95,643,0.12,2.38,0.00,0.000,3078,0.281,0.060,2904,2016,3386,3309,3464,0,0,0,0,0,0,14.80,14.93,14.98
$GC,943,-1.41,-146.0,2903,2016,3309,3464,138.5,-13.3,126,948,0.00,2.42,0.00,0.000,388,0.000,0.080,2895,3442,3386,3309,3464,0,0,0,0,0,0,15.20,14.94,15.22
$GC,1045,-1.51,-146.0,2895,3442,3309,3464,150.3,-10.2,146,1051,0.10,2.33,0.00,0.000,5254,0.179,0.057,2861,2029,3386,3309,3464,0,0,0,0,0,0,14.95,14.96,15.03
$GC,1357,-1.51,-146.0,2860,2028,3309,3464,188.5,-13.1,178,1362,0.00,2.42,0.00,0.000,260,0.000,0.087,2852,3437,3387,3310,3464,0,0,0,0,0,0,15.22,14.95,15.24
$GC,1483,-1.55,-146.0,2852,3437,3309,3464,203.8,-10.9,203,1490,0.00,2.35,0.00,0.000,1158,0.000,0.060,2852,2020,3386,3309,3464,0,0,0,0,0,0,15.05,14.98,15.07
$GC,1789,-1.55,-146.0,2852,2020,3309,3464,233.3,-11.5,234,1793,0.00,2.33,0.00,0.000,516,0.000,0.081,2852,622,3386,3309,3464,0,0,0,0,0,0,15.23,14.96,15.24
$GC,1844,-1.55,-146.0,2852,622,3308,3464,240.7,-13.8,245,1850,0.00,2.35,0.00,0.000,1030,0.000,0.062,2844,2044,3386,3309,3464,0,0,0,0,0,0,15.06,14.98,15.07
$GC,2160,-1.55,-146.0,2844,2045,3306,3464,278.1,-10.4,261,2164,0.00,2.38,0.00,0.000,260,0.000,0.088,2834,3442,3384,3305,3464,0,0,0,0,0,0,15.23,14.97,15.26
$GC,2204,-1.59,-146.0,2833,3442,3305,3464,283.0,-10.8,270,2209,0.00,2.38,0.00,0.000,1158,0.000,0.061,2834,2021,3384,3305,3464,0,0,0,0,0,0,15.07,14.99,15.09
$GC,2516,-1.59,-146.0,2833,2020,3302,3464,317.0,-11.1,282,2520,0.00,2.35,0.00,0.000,516,0.000,0.084,2834,614,3383,3302,3464,0,0,0,0,0,0,15.24,14.97,15.26
$GC,2555,-1.59,-146.0,2833,613,3301,3464,322.4,-12.3,290,2561,0.12,2.35,0.00,0.000,3078,0.284,0.064,2849,2031,3382,3301,3464,0,0,0,0,0,0,14.86,14.99,15.04
$GC,2878,-1.64,-146.0,2849,2031,3297,3464,357.5,-10.6,304,2879,0.00,0.00,0.00,0.000,134,0.000,0.000,2849,2031,3380,3297,3464,0,0,0,0,0,0,15.24,15.27,15.26
$STATE,2907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2907,begin apogee
$GC,2911,-0.33,0.0,2849,2128,3297,3464,360.6,-10.4,305,3059,1.00,0.00,143.68,1.569,10246,0.243,0.000,3128,2129,2788,2667,2909,0,0,0,0,0,0,14.87,14.35,13.76
$STATE,3060,end apogee,CONTROL_FINISHED_OK
$STATE,3060,begin climb
$GC,3061,1.40,146.0,3128,2129,2662,2905,362.8,0.0,310,3179,1.20,0.00,109.57,1.611,10502,0.138,0.000,3503,2129,2186,2033,2340,0,0,0,0,0,0,14.32,14.29,13.68
$GC,3478,1.29,146.0,3503,2129,2016,2338,318.9,12.4,344,3485,0.12,2.50,0.00,0.000,4740,0.341,0.089,3486,702,2176,2015,2338,0,0,0,0,0,0,14.64,14.78,14.80
$GC,3591,1.20,146.0,3487,702,2013,2338,304.5,14.0,367,3599,0.00,2.42,0.00,0.000,1158,0.000,0.073,3480,2117,2175,2013,2337,0,0,0,0,0,0,14.92,14.83,14.94
$GC,3898,1.14,146.0,3481,2117,2012,2336,267.1,12.2,378,3906,0.12,2.42,0.00,0.000,4740,0.359,0.089,3460,710,2173,2011,2336,0,0,0,0,0,0,14.73,14.88,14.89
$GC,3961,1.10,146.0,3460,710,2010,2336,259.7,11.4,391,3966,0.00,2.40,0.00,0.000,1158,0.000,0.073,3460,2127,2173,2010,2336,0,0,0,0,0,0,14.99,14.90,15.01
$GC,4268,1.12,167.0,3459,2127,2010,2334,225.8,9.0,420,4290,0.00,2.55,14.57,1.502,8740,0.000,0.093,3460,705,2100,1940,2261,0,0,0,0,0,0,15.18,14.81,14.23
$GC,4442,1.15,188.8,3460,705,1935,2260,211.5,9.0,454,4466,0.00,2.40,17.05,1.487,9254,0.000,0.073,3453,2123,2015,1854,2176,0,0,0,0,0,0,14.95,14.87,14.15
$GC,4772,1.15,188.8,3452,2123,1844,2174,172.7,12.9,490,4776,0.00,2.47,0.00,0.000,516,0.000,0.093,3460,714,2008,1844,2173,0,0,0,0,0,0,15.11,14.85,15.13
$GC,4791,1.15,188.8,3460,714,1843,2173,170.2,12.9,494,4798,0.00,2.42,0.00,0.000,1030,0.000,0.074,3454,2115,2008,1844,2173,0,0,0,0,0,0,14.90,14.86,14.94
$GC,5099,1.25,238.2,3454,2115,1843,2173,139.3,7.7,525,5143,0.00,2.47,38.75,1.382,8612,0.000,0.097,3454,3533,1811,1653,1969,0,0,0,0,0,0,15.16,14.58,14.11
$GC,5169,1.33,268.0,3454,3533,1653,1961,133.7,8.6,539,5200,0.10,2.45,24.02,1.340,11430,0.153,0.073,3499,2116,1690,1533,1847,0,0,0,0,0,0,14.70,14.69,14.02
$GC,5507,1.33,268.0,3499,2115,1517,1842,89.5,13.7,576,5516,0.00,2.42,0.00,0.000,516,0.000,0.091,3501,709,1679,1516,1842,0,0,0,0,0,0,15.04,14.79,15.07
$GC,5578,1.33,268.0,3501,709,1516,1842,79.6,13.9,590,5582,0.00,2.38,0.00,0.000,1030,0.000,0.067,3501,2122,1678,1515,1842,0,0,0,0,0,0,14.91,14.83,14.93
$GC,5884,1.33,268.0,3500,2122,1515,1842,40.2,12.8,628,5890,0.00,2.47,0.00,0.000,516,0.000,0.090,3501,698,1678,1515,1842,0,0,0,0,0,0,15.12,14.87,15.14
$GC,5987,1.33,268.0,3501,698,1515,1842,26.4,13.1,648,5994,0.00,2.38,0.00,0.000,1030,0.000,0.067,3501,2120,1678,1515,1842,0,0,0,0,0,0,14.97,14.89,15.00
$STATE,6170,end climb,SURFACE_DEPTH_REACHED
$STATE,6170,begin surface coast
$FINISH,0.5,1.023540
$STATE,6196,end surface coast,CONTROL_FINISHED_OK
$STATE,6196,begin surface
$SM_CCo,6212,129.32,0.078,0,0,488,564.18
$SM_GC,1.45,10.05,0.20,129.32,0.102,0.103,0.078,94,2007,488,-14.23,0.48,564.18,0,0,0,0,0,0,14.86,14.94,14.85
$IRIDIUM_FIX,1331.97,6127.98,040317,072808
$TT8_MAMPS,0.023968,0.15729
$HUMID,48.89
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,24.20
$XPDR_PINGS,18
$24V_AH,13.68,4.155
$10V_AH,13.50,0.000
$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,29.125,67.700,347.650,129.325,0.000,0.000,0.000,0.000,6.750,0.000,21.094,1397.392,3364.728,601.948,1026.880,38.206,0.000,1173.339,0.000,989.096,0.000,16.045,0.000
$DEVICE_MAMPS,495.720,126.990,1611.090,78.030,0.000,0.000,0.000,0.000,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.212,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,223640
$DATA_FILE_SIZE,30119,689
$CAP_FILE_SIZE,84660,0
$CFSIZE,260034560,258945024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.101,313.87,1
$GPS,040317,092325,1339.473,6124.743,11,1.3,26,-0.7,0.0,242.3,7,9.9