version: 66.13
glider: 133
mission: 4
dive: 4
start: 1 5 117 19 16 37
data:
$ID,133
$MISSION,4
$DIVE,4
$N_DIVES,4
$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,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,54033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0015
$HD_B,0.0055999998
$HD_C,1.8999999e-05
$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,662.11102
$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,150
$PITCH_MAX,3830
$C_PITCH,3415
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,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,-24.286779
$PRESSURE_SLOPE,0.000156489
$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,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$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,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,050117,191330,4742.8047,-12224.3701,15,1.1,21,16.6,0.0,0.0,10,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.9
$GPS2,050117,191558,4742.8027,-12224.3662,19,1.1,23,16.6,0.0,0.0,10,9.9
$SPEED_LIMITS,0.173,0.308
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,331.1,1513,-12.6,-10.000,-17.99,1979
$D_GRID,173
$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,-0.60,-146.6,139,2521,452,548,0.0,0.0,0,118,0.00,0.00,-109.45,0.000,16386,0.000,0.000,139,2521,3764,3818,3710,0,0,0,0,0,0,14.85,28.83,14.88
$GC,120,-0.60,-146.6,139,2521,3819,3710,3.4,-4.7,19,147,17.12,2.35,-0.62,0.000,19236,0.478,2.189,3272,3804,3799,3841,3758,0,0,0,0,0,0,14.42,13.82,14.67
$GC,374,-0.65,-146.6,3272,3803,3841,3758,37.4,-9.6,68,381,0.00,2.10,0.00,0.000,1190,0.000,0.045,3272,2493,3800,3841,3759,0,0,0,0,0,0,14.73,14.69,14.75
$GC,563,-0.70,-146.6,3272,2493,3841,3758,54.2,-8.3,105,569,0.00,2.25,0.00,0.000,420,0.000,0.083,3265,3807,3800,3841,3759,0,0,0,0,0,0,14.90,14.69,14.93
$GC,627,-0.75,-146.6,3266,3808,3841,3758,60.2,-9.9,117,633,0.00,2.10,0.00,0.000,1190,0.000,0.044,3265,2490,3799,3840,3759,0,0,0,0,0,0,14.79,14.75,14.81
$GC,816,-0.80,-146.6,3265,2490,3840,3759,78.0,-8.9,154,823,0.10,0.00,0.00,0.000,4262,0.174,0.000,3229,2490,3799,3840,3759,0,0,0,0,0,0,14.71,14.78,14.77
$GC,1005,-0.80,-146.6,3229,2490,3839,3759,95.6,-9.8,191,1011,0.00,2.22,0.00,0.000,292,0.000,0.082,3229,3798,3799,3839,3759,0,0,0,0,0,0,14.97,14.73,14.98
$GC,1063,-0.80,-146.6,3228,3798,3839,3759,102.7,-13.1,202,1071,0.00,2.10,0.00,0.000,1030,0.000,0.044,3229,2489,3799,3840,3759,0,0,0,0,0,0,14.84,14.80,14.85
$GC,1253,-0.80,-146.6,3229,2489,3839,3759,121.6,-7.9,239,1260,0.00,2.25,0.00,0.000,548,0.000,0.048,3229,1093,3799,3839,3759,0,0,0,0,0,0,14.98,14.78,15.00
$GC,1367,-0.80,-146.6,3228,1093,3839,3759,130.3,-8.0,261,1374,0.00,2.28,0.00,0.000,1062,0.000,0.060,3224,2482,3799,3839,3759,0,0,0,0,0,0,14.85,14.78,14.86
$GC,1555,-0.80,-146.6,3224,2482,3839,3759,145.8,-8.9,298,1562,0.00,0.00,0.00,0.000,38,0.000,0.000,3224,2481,3799,3839,3759,0,0,0,0,0,0,15.00,15.02,15.02
$STATE,1602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1603,begin apogee
$GC,1606,-0.17,0.0,3224,2482,3839,3758,150.4,-10.0,307,1790,0.60,0.00,176.82,1.120,10246,0.293,0.000,3375,2482,3195,3188,3203,0,0,0,0,0,0,14.64,14.14,13.71
$STATE,1790,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1792,0.60,146.6,3375,2482,3184,3198,157.5,0.0,339,1987,0.65,2.38,183.25,1.016,10756,0.227,0.047,3546,1106,2591,2558,2625,0,0,0,0,0,0,14.03,14.06,13.67
$GC,2034,0.94,233.3,3546,1105,2553,2616,150.2,5.5,382,2150,0.28,2.40,105.38,1.001,11430,0.177,0.057,3622,2500,2239,2197,2281,0,0,0,0,0,0,14.20,14.25,13.68
$GC,2333,1.07,269.8,3622,2500,2183,2269,128.1,8.1,438,2381,0.10,2.35,40.40,1.011,10916,0.216,0.050,3650,1105,2091,2046,2137,0,0,0,0,0,0,14.40,14.22,13.88
$GC,2413,1.13,269.8,3652,1104,2037,2124,119.3,11.5,452,2420,0.00,2.40,0.00,0.000,1158,0.000,0.062,3652,2498,2080,2037,2124,0,0,0,0,0,0,14.42,14.35,14.44
$GC,2602,1.16,269.8,3651,2498,2032,2124,96.5,13.0,489,2608,0.00,2.30,0.00,0.000,644,0.000,0.051,3654,1111,2077,2032,2123,0,0,0,0,0,0,14.73,14.54,14.76
$GC,2640,1.23,269.8,3654,1111,2032,2123,91.9,12.8,496,2647,0.12,2.35,0.00,0.000,3206,0.168,0.061,3690,2501,2077,2032,2123,0,0,0,0,0,0,14.50,14.54,14.62
$GC,2828,1.23,269.8,3690,2500,2031,2122,65.0,15.6,533,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3690,2501,2076,2031,2122,0,0,0,0,0,0,14.83,14.85,14.85
$GC,3016,1.23,269.8,3690,2501,2031,2122,37.6,15.4,570,3023,0.00,2.30,0.00,0.000,516,0.000,0.053,3691,1103,2076,2031,2122,0,0,0,0,0,0,14.88,14.69,14.90
$GC,3040,1.23,269.8,3691,1103,2031,2122,34.0,14.6,574,3047,0.00,2.35,0.00,0.000,1030,0.000,0.062,3691,2502,2076,2031,2122,0,0,0,0,0,0,14.75,14.66,14.77
$GC,3229,1.23,269.8,3690,2502,2031,2121,7.7,13.6,611,3236,0.00,2.28,0.00,0.000,260,0.000,0.086,3691,3820,2075,2030,2121,0,0,0,0,0,0,14.92,14.69,14.95
$STATE,3262,end climb,SURFACE_DEPTH_REACHED
$STATE,3262,begin surface coast
$FINISH,0.2,1.022410
$STATE,3283,end surface coast,CONTROL_FINISHED_OK
$STATE,3283,begin surface
$SM_CCo,3301,198.43,0.106,0,0,498,662.30
$SM_GC,1.45,10.60,2.17,198.43,0.097,0.043,0.106,143,2499,498,-14.99,1.64,662.30,0,0,0,0,0,0,14.68,14.76,14.59
$IRIDIUM_FIX,4726.11,-12226.80,050117,191000
$TT8_MAMPS,0.025466,0.1498
$HUMID,45.03
$INTERNAL_PRESSURE,8.40642
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,13.67,1.744
$10V_AH,13.82,0.000
$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,29.575,40.925,505.850,198.425,0.000,0.000,0.000,0.000,0.000,0.000,23.530,1311.154,565.658,770.675,918.380,27.973,0.000,1313.205,0.000,893.439,0.000,0.544,0.000
$DEVICE_MAMPS,478.125,2188.665,1119.960,106.335,0.000,0.000,0.000,0.000,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.862,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,194348
$DATA_FILE_SIZE,23442,621
$CAP_FILE_SIZE,72086,0
$CFSIZE,260034560,258854912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,168.77,1
$GPS,050117,201609,4743.312,-12224.425,36,1.1,40,16.6,0.0,0.0,9,9.9