version: 66.13
glider: 137
mission: 5
dive: 5
start: 3 4 117 11 22 2
data:
$ID,137
$MISSION,5
$DIVE,5
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,040317,111744,1338.7441,6124.1162,10,1.2,25,-0.7,0.6,277.6,7,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.7
$GPS2,040317,112127,1338.7402,6124.0732,12,1.2,27,-0.7,0.0,203.3,7,9.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,N
$TGT_LATLONG,1000.000,6000.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,169.4,433156,-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,-146.0,89,2007,376,601,0.0,0.0,0,121,0.00,0.00,-109.35,0.000,16390,0.000,0.000,89,2006,3387,3310,3464,0,0,0,0,0,0,15.01,13.93,15.01
$GC,123,-1.40,-146.0,89,2006,3310,3464,5.6,-13.7,19,149,16.45,2.35,0.00,0.000,2564,0.501,0.064,2898,618,3387,3310,3465,0,0,0,0,0,0,14.53,14.72,14.78
$GC,251,-1.36,-146.0,2898,618,3310,3465,38.1,-16.2,43,258,0.00,2.38,0.00,0.000,1158,0.000,0.057,2889,2044,3387,3310,3465,0,0,0,0,0,0,14.88,14.80,14.89
$GC,559,-1.32,-146.0,2889,2044,3310,3465,85.7,-14.5,81,565,0.12,2.35,0.00,0.000,2436,0.307,0.077,2910,3445,3387,3310,3465,0,0,0,0,0,0,14.75,14.86,14.88
$GC,612,-1.38,-146.0,2910,3444,3310,3465,92.5,-12.9,91,616,0.00,2.33,0.00,0.000,1158,0.000,0.054,2910,2033,3387,3310,3465,0,0,0,0,0,0,14.96,14.89,14.97
$GC,917,-1.44,-146.0,2910,2033,3310,3466,135.7,-12.9,122,927,0.10,2.35,0.00,0.000,4740,0.179,0.072,2878,614,3388,3310,3466,0,0,0,0,0,0,14.92,14.90,14.99
$GC,1019,-1.44,-146.0,2877,614,3310,3466,149.6,-13.3,142,1028,0.00,2.33,0.00,0.000,1030,0.000,0.056,2867,2032,3388,3310,3466,0,0,0,0,0,0,15.01,14.93,15.02
$GC,1329,-1.44,-146.0,2866,2032,3310,3467,182.3,-10.9,174,1337,0.00,2.35,0.00,0.000,260,0.000,0.078,2857,3433,3388,3310,3467,0,0,0,0,0,0,15.18,14.93,15.20
$GC,1511,-1.50,-146.0,2857,3433,3310,3466,205.5,-12.2,210,1520,0.00,2.30,0.00,0.000,1158,0.000,0.054,2857,2026,3388,3310,3467,0,0,0,0,0,0,15.03,14.96,15.04
$GC,1822,-1.53,-146.0,2857,2025,3310,3467,241.0,-10.4,242,1831,0.00,2.35,0.00,0.000,644,0.000,0.081,2857,621,3388,3310,3467,0,0,0,0,0,0,15.17,14.92,15.19
$GC,1855,-1.53,-146.0,2856,621,3310,3467,244.8,-10.8,249,1863,0.00,2.38,0.00,0.000,1030,0.000,0.061,2849,2027,3388,3310,3467,0,0,0,0,0,0,15.00,14.95,15.02
$GC,2182,-1.53,-146.0,2848,2027,3309,3467,286.2,-13.7,264,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2027,3388,3310,3467,0,0,0,0,0,0,15.21,15.23,15.23
$GC,2483,-1.57,-146.0,2848,2027,3307,3467,325.6,-12.7,274,2489,0.00,2.38,0.00,0.000,644,0.000,0.083,2849,628,3387,3307,3467,0,0,0,0,0,0,15.21,14.96,15.24
$GC,2535,-1.57,-146.0,2849,628,3307,3467,332.9,-13.3,285,2543,0.00,2.35,0.00,0.000,1030,0.000,0.063,2839,2043,3386,3306,3467,0,0,0,0,0,0,15.06,14.98,15.07
$STATE,2782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2782,begin apogee
$GC,2786,-0.33,0.0,2838,2128,3304,3467,362.5,-11.7,294,2927,1.05,0.00,131.52,1.793,10246,0.258,0.000,3124,2128,2789,2671,2907,0,0,0,0,1,0,14.86,14.25,13.52
$STATE,2928,end apogee,CONTROL_FINISHED_OK
$STATE,2928,begin climb
$GC,2929,1.40,146.0,3124,2128,2671,2907,365.9,0.0,298,3058,1.23,2.53,119.55,1.604,10500,0.152,0.090,3497,3520,2186,2041,2332,0,0,0,0,0,0,14.21,14.20,13.62
$GC,3118,1.26,146.0,3497,3520,2037,2326,350.7,14.6,341,3124,0.15,2.42,0.00,0.000,5254,0.345,0.070,3474,2123,2181,2037,2326,0,0,0,0,0,0,14.36,14.48,14.55
$GC,3441,1.20,146.0,3474,2123,2029,2326,310.2,12.6,355,3447,0.00,2.45,0.00,0.000,644,0.000,0.092,3476,702,2177,2029,2326,0,0,0,0,0,0,15.02,14.77,15.04
$GC,3599,1.12,146.0,3476,702,2025,2326,291.2,11.8,387,3604,0.15,2.38,0.00,0.000,5254,0.323,0.070,3447,2107,2175,2024,2326,0,0,0,0,0,0,14.70,14.83,14.90
$GC,3920,1.12,146.0,3446,2107,2023,2326,255.5,11.5,401,3925,0.00,2.45,0.00,0.000,516,0.000,0.093,3448,698,2174,2023,2326,0,0,0,0,0,0,15.13,14.88,15.15
$GC,3969,1.12,146.0,3447,698,2022,2326,249.4,12.0,411,3974,0.00,2.42,0.00,0.000,1030,0.000,0.073,3439,2130,2174,2022,2326,0,0,0,0,0,0,14.97,14.90,15.00
$GC,4281,1.14,161.2,3439,2130,2021,2326,216.7,9.3,443,4302,0.00,2.58,10.88,1.457,8740,0.000,0.096,3446,699,2124,1970,2278,0,0,0,0,0,0,15.16,14.82,14.25
$GC,4434,1.16,178.1,3446,699,1965,2278,201.0,9.2,473,4455,0.00,2.40,13.98,1.453,9254,0.000,0.070,3442,2123,2059,1904,2214,0,0,0,0,0,0,14.95,14.87,14.19
$GC,4754,1.16,178.1,3442,2124,1895,2212,171.8,10.2,507,4758,0.00,2.50,0.00,0.000,516,0.000,0.090,3447,698,2053,1895,2212,0,0,0,0,0,0,15.09,14.84,15.11
$GC,4799,1.16,178.1,3446,698,1894,2212,166.9,11.1,516,4804,0.00,2.40,0.00,0.000,1030,0.000,0.069,3442,2125,2053,1894,2212,0,0,0,0,0,0,14.95,14.87,14.97
$GC,5105,1.23,199.8,3442,2125,1894,2212,137.7,9.0,547,5129,0.10,2.45,17.80,1.372,10660,0.158,0.092,3476,3539,1967,1815,2120,0,0,0,0,0,0,14.92,14.77,14.23
$GC,5190,1.19,199.8,3476,3539,1815,2112,128.7,10.7,564,5197,0.12,2.40,0.00,0.000,5254,0.330,0.066,3463,2113,1963,1815,2112,0,0,0,0,0,0,14.68,14.81,14.87
$GC,5497,1.28,242.8,3463,2113,1811,2112,103.0,8.0,595,5536,0.00,0.00,33.88,1.295,8358,0.000,0.000,3463,2113,1791,1640,1942,0,0,0,0,0,0,15.11,14.58,14.16
$GC,5836,1.32,242.8,3463,2113,1630,1940,67.0,11.6,629,5841,0.10,2.40,0.00,0.000,2692,0.151,0.083,3507,708,1785,1630,1941,0,0,0,0,0,0,14.84,14.81,14.90
$GC,5898,1.32,242.8,3506,708,1628,1940,58.4,14.1,641,5902,0.00,2.38,0.00,0.000,1030,0.000,0.065,3507,2126,1784,1628,1940,0,0,0,0,0,0,14.92,14.83,14.94
$GC,6204,1.32,242.8,3506,2126,1628,1940,19.5,12.1,696,6211,0.00,2.45,0.00,0.000,516,0.000,0.084,3516,701,1784,1628,1940,0,0,0,0,0,0,15.11,14.86,15.13
$STATE,6341,end climb,SURFACE_DEPTH_REACHED
$STATE,6341,begin surface coast
$FINISH,0.6,1.019383
$STATE,6367,end surface coast,CONTROL_FINISHED_OK
$STATE,6368,begin surface
$SM_CCo,6386,140.90,0.079,0,0,489,564.18
$SM_GC,1.38,10.23,2.28,140.90,0.112,0.056,0.079,99,2045,489,-14.22,-0.54,564.18,0,0,0,0,0,0,14.84,14.90,14.83
$IRIDIUM_FIX,1331.97,6047.24,040317,092436
$TT8_MAMPS,0.023968,0.155792
$HUMID,47.51
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,24.30
$XPDR_PINGS,14
$24V_AH,13.52,4.547
$10V_AH,13.45,0.000
$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,29.800,67.175,327.600,140.900,0.000,0.000,0.000,145.325,5.750,0.000,28.198,1463.430,3432.147,604.612,1234.429,41.005,0.000,1349.737,0.000,1046.289,0.000,16.045,0.000
$DEVICE_MAMPS,501.075,138.465,1793.160,78.795,0.000,0.000,0.000,172.890,420.000,0.000,22.470,9.870,2.190,9.870,27.840,34.580,0.000,15.600,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,370.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,223604
$DATA_FILE_SIZE,30073,728
$CAP_FILE_SIZE,78539,0
$CFSIZE,260034560,258850816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.197,276.10,1
$GPS,040317,131208,1337.992,6123.457,38,0.7,45,-0.7,0.7,242.0,11,8.5