version: 66.13
glider: 137
mission: 4
dive: 4
start: 1 5 117 19 11 56
data:
$ID,137
$MISSION,4
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$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,720
$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,54823
$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,689.58417
$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,3250
$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,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3920
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2400
$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,-84.992554
$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,2
$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
$GPS1,050117,190834,4742.8657,-12224.6338,8,1.3,25,16.3,0.0,0.0,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.8
$GPS2,050117,191122,4742.8677,-12224.6367,10,1.1,25,16.3,0.0,282.5,7,9.8
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,335.8,1255,-18.2,-10.000,-20.99,2236
$D_GRID,179
$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,-1.39,-146.6,98,2065,342,559,0.0,0.0,0,118,0.00,0.00,-108.38,0.000,16386,0.000,0.000,99,2065,2926,2843,3009,0,0,0,0,0,0,14.84,28.83,14.87
$GC,119,-1.39,-146.6,98,2065,2844,3008,4.4,-11.8,19,146,19.05,2.70,-1.15,0.000,18692,0.559,2.238,2930,3468,3000,2904,3096,0,0,0,0,0,0,14.39,13.78,14.57
$GC,304,-1.21,-146.6,2930,3468,2904,3098,47.2,-16.4,54,311,0.25,2.45,0.00,0.000,3206,0.294,0.067,2985,2058,3001,2904,3098,0,0,0,0,0,0,14.48,14.62,14.66
$GC,492,-1.21,-146.6,2984,2058,2904,3098,72.6,-13.3,91,499,0.00,2.45,0.00,0.000,516,0.000,0.086,2985,653,3001,2904,3098,0,0,0,0,0,0,14.88,14.64,14.90
$GC,585,-1.21,-146.6,2985,652,2904,3098,86.0,-14.1,109,593,0.00,2.42,0.00,0.000,1030,0.000,0.070,2979,2066,3001,2904,3098,0,0,0,0,0,0,14.76,14.68,14.77
$GC,775,-1.21,-146.6,2979,2066,2904,3098,115.3,-14.8,146,782,0.00,2.47,0.00,0.000,516,0.000,0.085,2979,645,3001,2904,3098,0,0,0,0,0,0,14.92,14.69,14.94
$GC,828,-1.21,-146.6,2979,645,2904,3098,123.9,-16.7,156,835,0.00,2.42,0.00,0.000,1030,0.000,0.070,2976,2061,3001,2904,3098,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,993,-0.33,0.0,2976,2062,2904,3098,150.4,-15.2,188,1159,0.75,0.00,152.62,1.655,10246,0.277,0.000,3171,2062,2399,2301,2497,0,0,0,0,1,0,14.60,13.93,13.26
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1161,1.39,146.6,3171,2062,2301,2497,158.8,0.0,216,1309,1.40,2.70,133.15,1.694,10500,0.226,0.090,3547,3476,1801,1685,1917,0,0,0,0,1,0,13.87,13.85,13.21
$GC,1391,1.38,207.2,3547,3476,1684,1917,153.8,7.2,257,1462,0.00,2.53,60.22,1.571,9382,0.000,0.070,3550,2059,1555,1423,1687,0,0,0,0,1,0,14.30,14.22,13.33
$GC,1644,1.44,254.4,3550,2059,1419,1687,134.1,7.8,305,1705,0.00,2.55,49.95,1.509,8740,0.000,0.092,3558,653,1360,1215,1506,0,0,0,0,1,0,14.59,14.08,13.47
$GC,1836,1.46,270.4,3558,652,1214,1506,115.5,9.3,341,1861,0.00,2.53,19.42,1.370,9254,0.000,0.071,3558,2070,1295,1142,1448,0,0,0,0,0,0,14.44,14.35,13.75
$GC,2043,1.54,270.4,3558,2070,1128,1444,94.0,10.2,381,2051,0.10,2.55,0.00,0.000,2692,0.156,0.087,3593,644,1286,1128,1444,0,0,0,0,0,0,14.47,14.44,14.52
$GC,2187,1.54,270.4,3592,644,1127,1444,75.9,12.8,409,2195,0.00,2.47,0.00,0.000,1030,0.000,0.072,3593,2066,1285,1127,1444,0,0,0,0,0,0,14.62,14.54,14.64
$GC,2377,1.54,270.4,3592,2065,1126,1444,51.4,14.6,446,2384,0.00,2.55,0.00,0.000,516,0.000,0.090,3599,644,1285,1126,1444,0,0,0,0,0,0,14.82,14.59,14.85
$GC,2505,1.54,270.4,3598,644,1125,1444,32.3,15.6,471,2511,0.00,2.47,0.00,0.000,1030,0.000,0.073,3599,2063,1284,1125,1444,0,0,0,0,0,0,14.72,14.64,14.73
$GC,2693,1.54,270.4,3598,2063,1125,1444,5.3,13.9,508,2699,0.00,2.50,0.00,0.000,516,0.000,0.090,3606,652,1284,1125,1444,0,0,0,0,0,0,14.89,14.66,14.91
$STATE,2710,end climb,SURFACE_DEPTH_REACHED
$STATE,2710,begin surface coast
$FINISH,0.3,1.010066
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2731,begin surface
$SM_CCo,2751,106.38,0.109,0,0,448,478.33
$SM_CCo,2860,-0.20,0.000,0,0,451,478.33
$SM_CCo,2862,0.25,0.143,0,0,449,478.33
$SM_GC,1.28,10.77,2.50,0.25,0.119,0.074,0.143,102,2058,449,-14.44,-0.82,478.33,0,0,0,0,0,0,14.63,14.68,14.59
$IRIDIUM_FIX,4722.92,-12225.08,050117,190411
$TT8_MAMPS,0.024717,0.167027
$HUMID,47.99
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,20.30
$XPDR_PINGS,16
$24V_AH,13.21,3.119
$10V_AH,13.29,0.000
$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,32.325,40.275,415.375,106.625,0.000,0.000,0.000,0.000,4.000,0.000,26.599,1088.322,463.783,606.176,771.959,25.214,0.000,1058.694,0.000,743.557,0.000,0.998,0.000
$DEVICE_MAMPS,559.215,2238.390,1693.710,143.055,0.000,0.000,0.000,0.000,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194364
$DATA_FILE_SIZE,20125,515
$CAP_FILE_SIZE,68302,0
$CFSIZE,260034560,258969600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.050,10.71,1
$GPS,050117,200059,4743.280,-12224.485,13,1.6,46,16.3,0.0,0.0,8,9.7