version: 66.13
glider: 144
mission: 3
dive: 4
start: 2 13 117 20 6 2
data:
$ID,144
$MISSION,3
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,170
$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,1440
$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,53744
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,651.5741
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,90
$PITCH_MAX,3390
$C_PITCH,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,34
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,270
$ROLL_MAX,3990
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,403
$VBD_MAX,3787
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.89999998
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-154.64253
$PRESSURE_SLOPE,0.00010862818
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,67
$LOGGERDEVICE3,85
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043846737
$SEABIRD_T_H,0.00063297339
$SEABIRD_T_I,2.9422619e-05
$SEABIRD_T_J,2.7498099e-06
$SEABIRD_C_G,-9.6551037
$SEABIRD_C_H,1.1199346
$SEABIRD_C_I,-0.0013566012
$SEABIRD_C_J,0.00017920439
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,130217,195809,4743.9033,-12225.0049,4,1.0,9,16.3,0.0,0.0,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.2
$GPS2,130217,200543,4743.9570,-12224.9463,5,0.9,10,16.3,0.0,140.4,8,9.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,166.2,849,-17.6,-10.000,-21.21,2209
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-146.6,81,2820,440,455,0.0,0.0,0,173,0.00,0.00,-147.32,0.000,16390,0.000,0.000,80,2821,3699,3710,3688,0,0,0,0,0,0,14.78,14.02,14.81
$GC,175,-0.70,-146.6,80,2821,3711,3688,3.9,-8.9,26,196,12.95,2.42,0.00,0.000,2596,0.471,0.051,2525,1376,3699,3710,3688,0,0,0,0,0,0,14.38,14.58,14.55
$GC,422,-0.70,-146.6,2525,1375,3712,3686,50.4,-16.1,74,431,0.00,2.47,0.00,0.000,1030,0.000,0.084,2516,2784,3699,3711,3688,0,0,0,0,0,0,14.73,14.64,14.74
$GC,611,-0.59,-146.6,2516,2785,3711,3686,83.4,-17.2,111,621,0.12,2.33,0.00,0.000,2692,0.343,0.048,2545,1383,3699,3711,3688,0,0,0,0,0,0,14.56,14.70,14.69
$GC,686,-0.67,-146.6,2545,1385,3711,3688,94.2,-12.7,125,697,0.00,2.47,0.00,0.000,1158,0.000,0.086,2539,2802,3699,3711,3688,0,0,0,0,0,0,14.76,14.69,14.79
$GC,877,-0.67,-146.6,2540,2804,3710,3688,118.2,-14.3,162,886,0.00,2.05,0.00,0.000,260,0.000,0.093,2532,3986,3699,3711,3688,0,0,0,0,0,0,14.89,14.70,14.91
$GC,961,-0.67,-146.6,2532,3986,3711,3688,128.9,-11.7,178,970,0.00,1.95,0.00,0.000,1030,0.000,0.044,2532,2780,3699,3710,3688,0,0,0,0,0,0,14.79,14.73,14.81
$STATE,1118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1118,begin apogee
$GC,1122,-0.15,0.0,2534,2780,3711,3688,150.5,-14.4,209,1315,0.43,0.00,184.05,1.107,10246,0.265,0.000,2645,2777,3098,3145,3051,0,0,0,0,0,0,14.62,14.16,13.72
$STATE,1319,end apogee,CONTROL_FINISHED_OK
$STATE,1319,begin climb
$GC,1320,0.70,146.6,2646,2779,3140,3044,162.5,0.0,241,1496,0.68,0.00,157.38,1.086,10502,0.211,0.000,2833,2782,2494,2596,2392,0,0,0,0,0,0,14.16,14.14,13.69
$GC,1676,0.70,146.6,2833,2779,2578,2376,135.5,10.0,302,1686,0.00,2.17,0.00,0.000,260,0.000,0.088,2833,3992,2477,2579,2376,0,0,0,0,0,0,14.66,14.47,14.68
$GC,1711,0.63,146.6,2833,3993,2579,2376,131.4,12.5,308,1721,0.10,2.08,0.00,0.000,5254,0.327,0.050,2821,2757,2477,2578,2376,0,0,0,0,0,0,14.40,14.53,14.58
$GC,1902,0.68,155.7,2821,2755,2578,2375,113.0,9.6,345,1912,0.00,2.17,1.40,0.150,8612,0.000,0.087,2821,3987,2463,2565,2362,0,0,0,0,0,0,14.78,14.60,14.52
$GC,1937,0.68,155.7,2821,3987,2566,2370,108.9,12.1,351,1946,0.00,2.08,0.00,0.000,1030,0.000,0.047,2824,2748,2467,2565,2370,0,0,0,0,0,0,14.71,14.65,14.75
$GC,2126,0.68,155.7,2824,2745,2569,2375,89.1,10.1,388,2135,0.00,2.17,0.00,0.000,260,0.000,0.087,2824,3987,2471,2568,2375,0,0,0,0,0,0,14.83,14.65,14.86
$GC,2185,0.68,155.7,2823,3987,2568,2376,81.9,12.3,399,2194,0.00,2.05,0.00,0.000,1030,0.000,0.048,2824,2749,2472,2568,2376,0,0,0,0,0,0,14.76,14.69,14.77
$GC,2375,0.72,155.7,2824,2748,2568,2376,61.4,10.4,436,2384,0.00,2.35,0.00,0.000,644,0.000,0.055,2824,1332,2473,2571,2375,0,0,0,0,0,0,14.87,14.71,14.90
$GC,2409,0.90,178.7,2825,1331,2567,2375,58.2,8.9,442,2456,0.17,2.45,36.47,1.040,11430,0.135,0.080,2890,2752,2363,2457,2269,0,0,0,0,0,0,14.71,14.68,14.12
$GC,2636,0.77,178.7,2890,2753,2436,2257,26.6,11.5,485,2645,0.15,0.00,0.00,0.000,4230,0.299,0.000,2853,2752,2346,2436,2256,0,0,0,0,0,0,14.48,14.66,14.60
$GC,2825,0.77,178.7,2854,2753,2436,2254,8.6,10.8,522,2836,0.00,2.40,0.00,0.000,516,0.000,0.060,2861,1335,2343,2433,2253,0,0,0,0,0,0,14.83,14.68,14.85
$GC,2851,0.91,215.5,2861,1334,2431,2254,6.4,8.3,526,2874,0.00,2.47,15.00,0.177,9382,0.000,0.086,2861,2753,2217,2308,2127,0,0,0,0,0,0,14.73,14.65,14.58
$STATE,2888,end climb,SURFACE_DEPTH_REACHED
$STATE,2888,begin surface coast
$FINISH,0.3,1.023214
$STATE,2918,end surface coast,CONTROL_FINISHED_OK
$STATE,2918,begin surface
$SM_CCo,2947,234.93,0.150,0,0,442,651.76
$SM_GC,1.04,8.10,0.10,234.93,0.093,0.140,0.150,81,2846,442,-11.87,-0.45,651.76,0,0,0,0,0,0,14.69,14.69,14.54
$IRIDIUM_FIX,4726.11,-12226.80,130217,185954
$TT8_MAMPS,0.035952,0.465878
$HUMID,35.15
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,15.30
$XPDR_PINGS,0
$SC_FREEKB,3908992
$TM_FREEKB,7813632
$PM_FREEKB,62265600
$24V_AH,13.69,2.717
$10V_AH,13.70,0.000
$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,22.700,36.200,394.300,234.925,0.000,0.000,0.000,294.950,0.000,0.000,11.521,0.000,979.427,702.347,1829.961,132.850,0.000,1569.730,0.000,1143.244,0.000,0.535,0.000
$DEVICE_MAMPS,471.240,139.995,1106.955,149.940,0.000,0.000,0.000,161.415,420.000,0.000,5.990,0.000,2.190,7.370,25.350,29.840,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2921.000,2925.000,2906.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.111,19.639,3.910,0.000
$MEM,193152
$DATA_FILE_SIZE,16744,538
$CAP_FILE_SIZE,62576,0
$CFSIZE,260165632,255696896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.165,12.87,1
$GPS,130217,205956,4743.863,-12224.806,4,1.0,11,16.3,0.0,0.0,6,8.8