version: 66.13
glider: 135
mission: 3
dive: 5
start: 9 1 117 18 57 48
data:
$ID,135
$MISSION,3
$DIVE,5
$N_DIVES,6
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$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,75
$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,52614
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,644.20441
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3614
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3914
$ROLL_DEG,40
$C_ROLL_DIVE,2035
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,555
$VBD_MAX,3820
$C_VBD,3222
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$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,-179.11746
$PRESSURE_SLOPE,0.00014124101
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,5
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.2
$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,0.0044371909
$SEABIRD_T_H,0.00065826153
$SEABIRD_T_I,2.8239041e-05
$SEABIRD_T_J,3.618936e-06
$SEABIRD_C_G,-10.007341
$SEABIRD_C_H,1.1492573
$SEABIRD_C_I,-0.0014272812
$SEABIRD_C_J,0.00020546536
$GPS1,010917,185431,4743.0283,-12224.8730,20,1.5,25,16.6,0.3,219.5,5,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.3
$GPS2,010917,185709,4743.0015,-12224.8955,17,1.5,31,16.6,0.4,209.8,5,9.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,360.0,932,-17.5,-10.000,-21.04,2225
$D_GRID,178
$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,7,-1.05,-146.6,141,2022,545,644,0.0,0.0,0,120,0.00,0.00,-110.72,0.000,16386,0.000,0.000,141,2022,3645,3599,3691,0,0,0,0,0,0,14.97,28.83,15.00
$PING,11.6,12.2,9000.0,0.0
$GC,122,-1.05,-146.6,141,2022,3600,3692,3.3,-4.0,19,150,16.73,2.62,-3.15,0.000,19236,0.522,2.167,2930,3442,3820,3770,3871,0,0,0,0,0,0,14.52,13.93,14.78
$GC,167,-0.66,-146.6,2929,3442,3770,3872,15.5,-22.4,26,175,0.40,2.35,0.00,0.000,3206,0.247,0.060,3033,2032,3821,3770,3872,0,0,0,0,0,0,14.58,14.69,14.74
$PING,21.7,21.4,9000.0,0.0
$PING,31.9,32.2,9000.0,0.0
$GC,359,-0.90,-146.6,3033,2027,3770,3872,31.4,-7.6,63,367,0.17,2.47,0.00,0.000,4516,0.125,0.086,2959,3449,3821,3770,3872,0,0,0,0,0,0,14.75,14.74,14.80
$GC,390,-1.01,-146.6,2958,3449,3770,3872,34.6,-10.9,68,397,0.00,2.35,0.00,0.000,1158,0.000,0.058,2959,2033,3821,3770,3873,0,0,0,0,0,0,14.85,14.78,14.87
$PING,42.0,42.2,9000.0,0.0
$PING,52.1,52.4,52.3,1.0
$GC,580,-1.11,-146.6,2958,2031,3770,3872,55.4,-10.5,105,587,0.12,0.00,0.00,0.000,4230,0.151,0.000,2909,2030,3821,3770,3872,0,0,0,0,0,0,14.80,14.87,14.85
$PING,62.2,62.6,62.7,1.0
$PING,72.7,73.5,73.3,1.0
$GC,771,-1.11,-146.6,2909,2030,3770,3872,80.6,-13.3,142,778,0.12,2.35,0.00,0.000,2564,0.256,0.071,2942,630,3821,3770,3872,0,0,0,0,0,0,14.71,14.83,14.83
$PING,83.1,83.9,83.9,1.0
$GC,806,-1.20,-146.6,2941,630,3770,3872,85.1,-12.0,148,813,0.00,2.40,0.00,0.000,1158,0.000,0.070,2933,2045,3821,3770,3872,0,0,0,0,0,0,14.92,14.84,14.94
$PING,93.2,93.8,94.0,1.0
$PING,103.2,95.8,9000.0,0.8
$GC,995,-1.20,-146.6,2933,2045,3770,3872,107.3,-11.9,185,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2046,3821,3770,3872,0,0,0,0,0,0,15.09,15.11,15.11
$PING,113.4,11.9,-49.6,-1.1
$PING,123.6,11.6,9000.0,-2.2
$GC,1185,-1.29,-146.6,2933,2046,3770,3872,129.5,-11.0,222,1192,0.12,2.42,0.00,0.000,4740,0.149,0.072,2883,622,3821,3770,3872,0,0,0,0,0,0,14.85,14.87,14.90
$PING,134.0,68.4,9000.0,-1.3
$GC,1251,-1.29,-146.6,2882,622,3770,3872,138.8,-15.0,234,1257,0.00,2.40,0.00,0.000,1030,0.000,0.067,2875,2046,3821,3770,3872,0,0,0,0,0,0,14.96,14.88,14.97
$PING,144.1,53.5,9000.0,-0.3
$STATE,1323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1323,begin apogee
$PING,151.6,7.5,9000.0,0.4
$GC,1327,-0.25,0.0,2874,2310,3770,3872,150.4,-16.0,248,1581,0.88,0.00,244.75,0.968,10246,0.266,0.000,3114,2310,3216,3136,3297,0,0,0,0,0,0,14.75,14.28,13.88
$STATE,1582,end apogee,CONTROL_FINISHED_OK
$STATE,1582,begin climb
$GC,1583,1.05,146.6,3114,2310,3132,3293,158.6,0.0,292,1790,0.95,2.50,194.80,0.968,10500,0.158,0.089,3408,3703,2612,2536,2688,0,0,0,0,0,0,14.21,14.20,13.85
$PING,141.6,142.2,9000.0,0.5
$GC,1883,0.95,146.6,3407,3703,2527,2672,136.7,11.8,345,1890,0.15,2.38,0.00,0.000,5254,0.315,0.058,3383,2302,2598,2526,2671,0,0,0,0,0,0,14.37,14.50,14.54
$PING,131.3,74.0,9000.0,-2.7
$GC,2072,0.95,146.6,3383,2299,2520,2671,118.7,10.4,382,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2299,2595,2520,2671,0,0,0,0,0,0,14.88,14.90,14.90
$PING,110.4,110.4,9000.0,-1.7
$PING,100.3,5.6,9000.0,0.3
$GC,2261,0.97,168.4,3383,2298,2519,2670,101.2,9.0,419,2290,0.00,2.53,22.35,0.998,8484,0.000,0.087,3382,3707,2527,2445,2609,0,0,0,0,0,0,14.97,14.62,14.26
$GC,2332,0.99,184.2,3381,3707,2437,2594,94.9,9.3,431,2357,0.00,2.38,15.38,0.979,9254,0.000,0.059,3382,2297,2461,2377,2546,0,0,0,0,0,0,14.75,14.69,14.21
$PING,90.2,90.0,9000.0,1.2
$PING,79.7,79.5,9000.0,0.1
$GC,2540,1.09,215.3,3381,2296,2361,2532,75.3,8.6,471,2589,0.12,2.53,38.05,0.967,10660,0.161,0.093,3428,3695,2329,2244,2414,0,0,0,0,0,0,14.69,14.52,14.17
$PING,69.5,72.3,9000.0,0.0
$GC,2636,1.02,215.3,3428,3695,2237,2398,64.2,13.2,488,2643,0.17,2.35,0.00,0.000,5254,0.301,0.063,3394,2302,2317,2237,2398,0,0,0,0,0,0,14.50,14.62,14.66
$PING,59.1,58.6,9000.0,-0.9
$PING,48.9,48.4,49.0,1.0
$GC,2826,1.10,217.5,3394,2299,2228,2397,45.9,9.9,525,2833,0.00,2.45,0.00,0.000,420,0.000,0.089,3393,3713,2312,2227,2397,0,0,0,0,0,0,14.94,14.70,14.96
$GC,2864,1.10,217.5,3393,3713,2227,2396,41.7,11.3,532,2870,0.00,2.35,0.00,0.000,1030,0.000,0.059,3393,2299,2311,2227,2396,0,0,0,0,0,0,14.81,14.75,14.83
$PING,38.8,38.2,38.2,1.0
$PING,28.6,27.9,27.2,1.1
$GC,3055,1.22,240.9,3392,2297,2225,2396,24.1,8.9,569,3087,0.15,2.53,25.95,0.936,10660,0.145,0.088,3450,3706,2233,2145,2322,0,0,0,0,0,0,14.76,14.64,14.29
$PING,18.4,17.4,17.5,1.0
$GC,3116,1.14,240.9,3450,3706,2132,2301,16.9,14.0,579,3123,0.15,2.38,0.00,0.000,5254,0.307,0.067,3420,2297,2216,2131,2301,0,0,0,0,0,0,14.57,14.70,14.75
$PING,8.3,6.9,7.1,1.0
$STATE,3250,end climb,SURFACE_DEPTH_REACHED
$STATE,3250,begin surface coast
$FINISH,0.9,1.009555
$STATE,3281,end surface coast,CONTROL_FINISHED_OK
$STATE,3281,begin surface
$SM_CCo,3297,195.02,0.118,0,0,595,644.39
$SM_GC,1.67,9.68,0.43,195.02,0.105,0.073,0.118,145,2017,595,-13.87,0.99,644.39,0,0,0,0,0,0,14.72,14.78,14.65
$IRIDIUM_FIX,4744.97,-12226.80,010917,185213
$TT8_MAMPS,0.020972,0.146055
$HUMID,53.89
$INTERNAL_PRESSURE,8.1597
$TCM_TEMP,20.30
$XPDR_PINGS,18
$ALTIM_TOP_PING,8.3,7.1
$ALTIM_BOTTOM_PING,113.4,49.6
$24V_AH,13.85,1.546
$10V_AH,14.05,0.000
$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,29.925,44.575,541.275,195.025,0.000,0.000,0.000,0.000,11.750,0.000,31.652,1306.487,526.729,797.440,930.083,34.064,0.000,1344.199,0.000,877.826,0.000,47.836,0.000
$DEVICE_MAMPS,521.730,2167.245,998.325,117.810,0.000,0.000,0.000,0.000,420.000,0.000,20.220,10.920,2.190,10.920,30.400,34.140,0.000,10.800,0.000,18.720,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,304304
$DATA_FILE_SIZE,23452,611
$CAP_FILE_SIZE,77442,0
$CFSIZE,260034560,258301952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.257,214.02,1
$GPS,010917,195705,4743.093,-12225.284,15,1.2,31,16.6,0.0,211.4,5,9.8