version: 66.13
glider: 137
mission: 4
dive: 6
start: 1 5 117 21 4 1
data:
$ID,137
$MISSION,4
$DIVE,6
$N_DIVES,6
$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,3270
$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,1750
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3900
$C_VBD,2100
$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,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
$GPS1,050117,205954,4743.6274,-12224.7725,5,1.1,20,16.3,0.0,0.0,9,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.1
$GPS2,050117,210327,4743.6572,-12224.7656,9,1.0,25,16.3,0.0,358.2,9,9.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,201.0,412,-18.2,-10.000,-20.99,2236
$D_GRID,175
$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,-146.6,100,1747,352,542,0.0,0.0,0,111,0.00,0.00,-99.25,0.000,16390,0.000,0.000,100,1747,2699,2634,2764,0,0,0,0,0,0,14.79,13.84,14.80
$GC,113,-1.39,-146.6,100,1748,2634,2764,3.7,-8.3,18,139,19.20,2.45,0.00,0.000,2596,0.555,0.079,2959,336,2700,2633,2768,0,0,0,0,0,0,14.33,14.52,14.50
$GC,260,-1.10,-146.6,2959,336,2630,2771,35.5,-16.5,46,268,0.32,2.45,0.00,0.000,3206,0.321,0.066,3028,1753,2700,2629,2772,0,0,0,0,0,0,14.46,14.59,14.64
$GC,449,-1.10,-146.6,3028,1754,2629,2774,58.1,-11.4,83,456,0.00,2.45,0.00,0.000,260,0.000,0.085,3020,3161,2701,2629,2774,0,0,0,0,0,0,14.86,14.64,14.89
$GC,533,-1.20,-146.6,3019,3161,2629,2774,67.5,-11.3,99,540,0.00,2.42,0.00,0.000,1158,0.000,0.067,3020,1742,2701,2629,2774,0,0,0,0,0,0,14.75,14.68,14.76
$GC,721,-1.20,-146.6,3019,1742,2629,2774,87.7,-11.6,136,729,0.00,2.50,0.00,0.000,260,0.000,0.083,3010,3162,2701,2629,2774,0,0,0,0,0,0,14.92,14.69,14.94
$GC,785,-1.20,-146.6,3010,3162,2629,2774,95.1,-12.3,148,793,0.00,2.40,0.00,0.000,1030,0.000,0.067,3010,1752,2701,2629,2774,0,0,0,0,0,0,14.79,14.72,14.81
$GC,975,-1.20,-146.6,3010,1751,2628,2774,118.0,-11.0,185,982,0.00,2.47,0.00,0.000,260,0.000,0.082,3001,3168,2701,2628,2774,0,0,0,0,0,0,14.95,14.72,14.97
$GC,1063,-1.20,-146.6,3000,3168,2628,2774,128.1,-11.6,202,1070,0.00,2.45,0.00,0.000,1030,0.000,0.067,3000,1743,2701,2628,2774,0,0,0,0,0,0,14.82,14.75,14.83
$STATE,1251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1251,begin apogee
$GC,1254,-0.33,0.0,3001,1743,2628,2774,150.3,-11.1,239,1395,0.75,0.00,132.02,1.808,10246,0.281,0.000,3194,1743,2100,1993,2207,0,0,0,0,1,0,14.63,13.96,13.29
$STATE,1397,end apogee,CONTROL_FINISHED_OK
$STATE,1397,begin climb
$GC,1398,1.39,146.6,3194,1743,1992,2207,156.1,0.0,263,1546,1.38,2.67,133.82,1.686,10756,0.229,0.096,3569,340,1500,1362,1638,0,0,0,0,1,0,13.88,13.85,13.23
$GC,1607,1.39,146.6,3568,340,1362,1638,143.4,10.5,300,1615,0.00,2.53,0.00,0.000,1030,0.000,0.067,3569,1751,1499,1361,1638,0,0,0,0,0,0,14.25,14.17,14.26
$GC,1797,1.39,146.6,3569,1753,1356,1638,122.9,10.3,337,1803,0.00,2.47,0.00,0.000,260,0.000,0.086,3569,3158,1497,1356,1638,0,0,0,0,0,0,14.65,14.43,14.67
$GC,1870,1.39,146.6,3568,3158,1355,1638,114.7,12.0,351,1876,0.00,2.45,0.00,0.000,1030,0.000,0.073,3570,1750,1496,1354,1638,0,0,0,0,0,0,14.57,14.50,14.59
$GC,2057,1.39,146.6,3569,1750,1354,1638,93.3,10.9,388,2065,0.00,2.47,0.00,0.000,260,0.000,0.086,3570,3161,1496,1354,1638,0,0,0,0,0,0,14.79,14.57,14.81
$GC,2121,1.39,146.6,3569,3161,1353,1638,86.2,11.4,400,2129,0.00,2.47,0.00,0.000,1030,0.000,0.073,3571,1746,1495,1353,1638,0,0,0,0,0,0,14.68,14.61,14.70
$GC,2311,1.39,146.6,3570,1746,1352,1638,64.5,10.9,437,2317,0.00,2.47,0.00,0.000,516,0.000,0.096,3580,339,1495,1352,1638,0,0,0,0,0,0,14.86,14.64,14.88
$GC,2425,1.39,146.6,3580,339,1351,1638,51.3,11.6,459,2432,0.00,2.42,0.00,0.000,1030,0.000,0.067,3580,1750,1495,1352,1638,0,0,0,0,0,0,14.75,14.68,14.77
$GC,2613,1.39,146.6,3580,1751,1351,1638,30.1,10.7,496,2621,0.00,2.42,0.00,0.000,260,0.000,0.088,3580,3158,1494,1351,1638,0,0,0,0,0,0,14.91,14.70,14.94
$GC,2692,1.39,146.6,3580,3158,1351,1638,21.1,11.7,511,2699,0.00,2.42,0.00,0.000,1030,0.000,0.073,3583,1748,1494,1351,1638,0,0,0,0,0,0,14.79,14.71,14.81
$STATE,2874,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,0.3,1.000019
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2923,131.20,0.109,0,0,449,404.74
$SM_CCo,3057,-0.15,0.000,0,0,450,404.74
$SM_CCo,3059,0.15,0.168,0,0,449,404.74
$SM_GC,1.15,10.65,0.00,0.15,0.115,0.000,0.168,97,1748,449,-14.55,-0.06,404.74,0,0,0,0,0,0,14.70,14.97,14.63
$IRIDIUM_FIX,4722.92,-12225.08,050117,201034
$TT8_MAMPS,0.024717,0.100366
$HUMID,47.79
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,20.20
$XPDR_PINGS,7
$24V_AH,13.23,3.460
$10V_AH,13.64,0.000
$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,32.300,44.425,265.850,131.350,0.000,0.000,0.000,142.375,1.750,0.000,26.622,1247.272,536.579,517.251,969.088,31.428,0.000,1120.299,0.000,798.772,0.000,1.287,0.000
$DEVICE_MAMPS,555.390,95.625,1808.460,167.535,0.000,0.000,0.000,172.890,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194348
$DATA_FILE_SIZE,20092,553
$CAP_FILE_SIZE,55162,0
$CFSIZE,260034560,258908160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
$CURRENT,0.174,24.29,1
$GPS,050117,215601,4743.717,-12224.997,9,1.4,26,16.3,0.0,0.0,6,10.0