version: 66.13
glider: 137
mission: 5
dive: 4
start: 3 4 117 9 28 8
data:
$ID,137
$MISSION,5
$DIVE,4
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,040317,092325,1339.4731,6124.7427,11,1.3,26,-0.7,0.0,242.3,7,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-68.2
$GPS2,040317,092732,1339.4630,6124.7095,9,1.1,34,-0.7,0.5,311.1,7,9.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,180.6,434819,-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,-146.0,93,2053,377,600,0.0,0.0,0,121,0.00,0.00,-110.00,0.000,16390,0.000,0.000,92,2057,3386,3305,3468,0,0,0,0,0,0,15.02,13.91,15.02
$GC,123,-1.40,-146.0,92,2057,3305,3468,4.8,-11.0,19,148,16.33,2.42,0.00,0.000,2564,0.499,0.067,2897,619,3387,3305,3469,0,0,0,0,0,0,14.53,14.76,14.79
$GC,265,-1.36,-146.0,2897,619,3306,3469,39.8,-16.0,46,273,0.00,2.38,0.00,0.000,1158,0.000,0.060,2889,2028,3387,3306,3469,0,0,0,0,0,0,14.90,14.81,14.91
$GC,580,-1.36,-146.0,2889,2028,3306,3469,90.9,-17.2,83,588,0.00,2.38,0.00,0.000,260,0.000,0.079,2878,3436,3387,3306,3469,0,0,0,0,0,0,15.13,14.88,15.15
$GC,623,-1.36,-146.0,2879,3436,3306,3469,98.9,-17.2,92,631,0.08,2.35,0.00,0.000,3078,0.258,0.056,2898,2040,3388,3306,3470,0,0,0,0,0,0,14.76,14.90,14.89
$GC,931,-1.40,-146.0,2897,2040,3306,3470,137.7,-11.2,123,940,0.00,2.38,0.00,0.000,388,0.000,0.078,2889,3444,3388,3306,3470,0,0,0,0,0,0,15.17,14.92,15.19
$GC,1032,-1.46,-146.0,2889,3444,3306,3470,151.7,-14.7,143,1041,0.00,2.33,0.00,0.000,1158,0.000,0.057,2889,2033,3387,3305,3470,0,0,0,0,0,0,15.02,14.94,15.03
$GC,1343,-1.53,-146.0,2889,2033,3306,3471,184.6,-8.0,175,1352,0.00,2.38,0.00,0.000,420,0.000,0.080,2880,3437,3388,3306,3471,0,0,0,0,0,0,15.19,14.94,15.21
$GC,1496,-1.62,-146.0,2880,3437,3306,3471,202.6,-12.5,206,1505,0.10,2.38,0.00,0.000,5254,0.112,0.057,2836,2024,3388,3306,3470,0,0,0,0,0,0,14.95,14.95,15.02
$GC,1803,-1.62,-146.0,2835,2023,3306,3471,247.0,-12.4,237,1807,0.00,2.33,0.00,0.000,516,0.000,0.080,2836,625,3388,3306,3471,0,0,0,0,0,0,15.21,14.95,15.22
$GC,1877,-1.62,-146.0,2835,625,3306,3471,255.8,-11.1,252,1882,0.10,2.35,0.00,0.000,3078,0.306,0.060,2843,2035,3388,3306,3471,0,0,0,0,0,0,14.85,14.96,15.02
$GC,2189,-1.62,-146.0,2843,2035,3306,3470,285.5,-10.0,264,2193,0.00,2.38,0.00,0.000,260,0.000,0.086,2835,3435,3388,3305,3471,0,0,0,0,0,0,15.22,14.97,15.24
$GC,2253,-1.66,-146.0,2834,3435,3305,3471,292.9,-10.8,277,2257,0.00,2.33,0.00,0.000,1158,0.000,0.060,2835,2032,3388,3305,3471,0,0,0,0,0,0,15.06,14.98,15.07
$GC,2575,-1.66,-146.0,2834,2031,3303,3471,327.7,-10.6,291,2579,0.00,2.38,0.00,0.000,516,0.000,0.081,2835,616,3386,3302,3470,0,0,0,0,0,0,15.22,14.97,15.25
$GC,2614,-1.66,-146.0,2834,615,3302,3471,332.6,-12.2,299,2619,0.00,2.35,0.00,0.000,1030,0.000,0.062,2824,2035,3386,3302,3471,0,0,0,0,0,0,15.07,14.98,15.08
$STATE,2870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2870,begin apogee
$GC,2874,-0.33,0.0,2824,2134,3300,3470,362.5,-12.1,310,3030,1.10,0.00,152.05,1.554,10246,0.253,0.000,3125,2135,2789,2668,2910,0,0,0,0,0,0,14.86,14.31,13.70
$STATE,3031,end apogee,CONTROL_FINISHED_OK
$STATE,3031,begin climb
$GC,3032,1.40,146.0,3125,2135,2663,2906,365.8,0.0,315,3156,1.23,2.50,115.00,1.609,10500,0.152,0.086,3497,3527,2186,2037,2335,0,0,0,0,0,0,14.24,14.14,13.64
$GC,3206,1.26,146.0,3496,3527,2034,2325,352.6,13.3,352,3211,0.15,2.42,0.00,0.000,5254,0.356,0.068,3474,2126,2179,2034,2325,0,0,0,0,0,0,14.35,14.48,14.54
$GC,3523,1.19,146.0,3474,2124,2026,2325,314.1,12.3,365,3528,0.00,2.45,0.00,0.000,644,0.000,0.086,3481,706,2175,2025,2325,0,0,0,0,0,0,15.02,14.78,15.05
$GC,3702,1.10,146.0,3481,706,2021,2325,290.9,12.7,401,3707,0.12,2.42,0.00,0.000,5254,0.310,0.070,3441,2114,2173,2021,2325,0,0,0,0,0,0,14.70,14.83,14.91
$GC,4029,1.10,146.0,3441,2114,2019,2325,254.7,11.0,416,4033,0.00,2.47,0.00,0.000,516,0.000,0.094,3447,702,2172,2019,2325,0,0,0,0,0,0,15.14,14.88,15.16
$GC,4085,1.10,146.0,3447,702,2018,2325,248.3,11.5,427,4090,0.00,2.40,0.00,0.000,1030,0.000,0.074,3447,2119,2171,2017,2325,0,0,0,0,0,0,14.99,14.90,15.01
$GC,4397,1.10,147.3,3446,2119,2017,2325,216.2,9.9,459,4406,0.00,2.45,0.00,0.000,548,0.000,0.096,3450,706,2170,2016,2325,0,0,0,0,0,0,15.16,14.90,15.19
$GC,4520,1.11,157.7,3450,706,2015,2325,204.4,9.5,484,4532,0.00,2.40,7.10,1.376,9254,0.000,0.071,3443,2119,2146,1992,2301,0,0,0,0,0,0,15.01,14.92,14.26
$GC,4832,1.11,157.7,3443,2119,1984,2297,175.6,12.3,516,4836,0.00,2.45,0.00,0.000,516,0.000,0.090,3446,708,2140,1983,2297,0,0,0,0,0,0,15.15,14.90,15.17
$GC,4878,1.11,157.7,3445,708,1983,2297,169.8,13.0,525,4882,0.00,2.38,0.00,0.000,1030,0.000,0.070,3441,2122,2139,1982,2297,0,0,0,0,0,0,15.00,14.91,15.02
$GC,5183,1.25,271.2,3441,2122,1982,2297,144.0,4.8,556,5285,0.12,2.58,94.15,1.364,10532,0.145,0.092,3487,3537,1675,1524,1826,0,0,0,0,0,0,14.93,14.40,13.90
$GC,5381,1.26,273.0,3487,3536,1523,1814,126.0,9.9,595,5389,0.12,2.45,0.00,0.000,5158,0.329,0.067,3474,2117,1668,1523,1814,0,0,0,0,0,0,14.50,14.62,14.69
$GC,5688,1.30,273.0,3474,2118,1518,1813,92.4,12.3,626,5692,0.00,2.42,0.00,0.000,644,0.000,0.093,3474,703,1665,1517,1814,0,0,0,0,0,0,15.04,14.78,15.07
$GC,5759,1.34,273.0,3474,703,1515,1814,83.5,11.7,640,5769,0.10,2.40,0.00,0.000,3206,0.160,0.068,3502,2128,1664,1515,1814,0,0,0,0,0,0,14.83,14.82,14.91
$GC,6069,1.34,273.0,3501,2129,1514,1813,40.6,13.4,678,6076,0.00,2.47,0.00,0.000,516,0.000,0.091,3508,707,1664,1515,1814,0,0,0,0,0,0,15.10,14.85,15.13
$GC,6173,1.34,273.0,3507,707,1514,1814,26.7,13.5,698,6180,0.00,2.38,0.00,0.000,1030,0.000,0.069,3508,2122,1664,1514,1814,0,0,0,0,0,0,14.97,14.88,14.99
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6351,begin surface coast
$FINISH,0.7,1.023897
$STATE,6372,end surface coast,CONTROL_FINISHED_OK
$STATE,6372,begin surface
$SM_CCo,6388,128.52,0.079,0,0,488,564.18
$SM_GC,1.41,10.05,0.20,128.52,0.100,0.104,0.079,90,2013,488,-14.25,0.57,564.18,0,0,0,0,0,0,14.86,14.92,14.84
$IRIDIUM_FIX,1334.19,6124.97,040317,073318
$TT8_MAMPS,0.023968,0.156541
$HUMID,49.29
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,24.10
$XPDR_PINGS,8
$24V_AH,13.64,4.355
$10V_AH,13.46,0.000
$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,29.600,72.550,368.300,128.525,0.000,0.000,0.000,162.300,4.250,0.000,35.727,1437.354,3418.817,621.292,1273.286,39.699,0.000,1394.024,0.000,1058.954,0.000,16.043,0.000
$DEVICE_MAMPS,498.780,166.005,1608.795,78.795,0.000,0.000,0.000,169.065,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,223616
$DATA_FILE_SIZE,30125,737
$CAP_FILE_SIZE,80275,0
$CFSIZE,260034560,258899968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.140,280.92,1
$GPS,040317,111744,1338.744,6124.116,10,1.2,25,-0.7,0.6,277.6,7,9.7