version: 66.13
glider: 178
mission: 31
dive: 412
start: 1 14 120 22 36 34
data:
$ID,178
$MISSION,31
$DIVE,412
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,2
$T_BOOST,0
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53923
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00316228
$HD_B,0.010145
$HD_C,5.7000002e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,165
$PITCH_MAX,3805
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,625
$ROLL_MAX,3950
$ROLL_DEG,40
$C_ROLL_DIVE,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00038000001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,3
$PITCH_W_DBAND,0.5
$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,-157.45766
$PRESSURE_SLOPE,0.0001061024
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,53
$LOGGERDEVICE2,83
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SEABIRD_T_G,0.0043966938
$SEABIRD_T_H,0.00063700025
$SEABIRD_T_I,2.5067597e-05
$SEABIRD_T_J,2.9826379e-06
$SEABIRD_C_G,-9.7293062
$SEABIRD_C_H,1.1206031
$SEABIRD_C_I,0.00047059715
$SEABIRD_C_J,5.505409e-05
$SC_RECORDABOVE,2000.0
$SC_PROFILE,7.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,7.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,1.0
$PM_SENDDEPTH,1.0
$GPS1,140120,222701,1326.8668,14436.4053,32,0.7,39,0.6,1.0,9.6,10,2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-49.7
$GPS2,140120,223546,1326.9998,14436.3975,2,0.6,4,0.6,0.2,8.7,12,3.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,PICKUP_S
$TGT_LATLONG,1326.000,14436.300
$TGT_RADIUS,1500.000
$MHEAD_RNG_PITCHd_Wd,184.8,1860,-16.2,-10.000,-19.76,2609
$D_GRID,222
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.74,-170.3,152,2740,577,409,0.0,0.0,0,135,0.00,0.00,-106.65,0.005,16386,0.000,0.000,152,2740,3210,3238,3183,0,0,0,0,0,0,15.39,28.83,15.41
$GC,141,-0.74,-170.3,149,2741,3238,3182,4.1,-7.7,11,164,8.12,2.30,-7.72,0.018,18980,0.378,0.057,1876,1335,3666,3724,3608,0,0,0,0,0,0,14.54,14.19,14.80
$GC,398,-0.74,-170.3,1876,1335,3722,3611,74.3,-22.2,61,407,0.00,2.35,0.00,0.000,1030,0.000,0.051,1873,2738,3665,3722,3608,0,0,0,0,0,0,15.16,15.11,15.19
$GC,587,-0.74,-170.3,1872,2738,3724,3608,113.5,-15.8,81,592,0.00,2.05,0.00,0.000,260,0.000,0.078,1874,3951,3665,3723,3608,0,0,0,0,0,0,15.46,15.11,15.47
$GC,676,-0.74,-170.3,1873,3951,3722,3608,130.3,-18.6,97,681,0.00,1.95,0.00,0.000,1030,0.000,0.028,1872,2696,3665,3722,3608,0,0,0,0,0,0,15.32,15.28,15.33
$GC,871,-0.74,-170.3,1872,2688,3723,3608,160.7,-16.5,117,880,0.00,2.20,0.00,0.000,516,0.000,0.042,1873,1323,3665,3723,3608,0,0,0,0,0,0,15.43,15.13,15.45
$GC,958,-0.74,-170.3,1872,1323,3723,3606,177.4,-16.4,134,968,0.00,2.45,0.00,0.000,1030,0.000,0.047,1873,2756,3665,3723,3608,0,0,0,0,0,0,15.14,15.08,15.16
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,994,-0.21,0.0,1872,1683,3723,3608,181.4,-15.2,137,1146,0.62,0.00,145.68,0.834,10246,0.207,0.000,2052,1683,2969,3052,2887,0,0,0,0,0,0,14.90,14.71,14.31
$STATE,1149,end apogee,CONTROL_FINISHED_OK
$STATE,1149,begin climb
$GC,1152,0.74,170.3,2052,1683,3052,2886,187.2,0.0,153,1314,0.98,1.75,149.40,0.828,10756,0.132,0.063,2363,649,2271,2346,2196,0,0,0,0,0,0,14.83,14.70,14.30
$GC,1548,0.77,256.1,2364,650,2342,2190,169.1,6.6,231,1635,0.00,1.75,74.62,0.810,9254,0.000,0.031,2363,1725,1923,2009,1838,0,0,0,0,0,0,15.15,15.10,14.40
$GC,1815,0.80,321.7,2363,1725,2008,1832,148.3,7.4,266,1878,0.00,0.00,58.10,0.793,8742,0.000,0.000,2363,1725,1655,1746,1565,0,0,0,0,0,0,15.36,14.97,14.45
$GC,2057,0.85,449.8,2363,1725,1746,1560,127.1,5.0,294,2179,0.12,2.30,111.12,0.781,10532,0.151,0.052,2413,3084,1132,1223,1042,0,0,0,0,0,0,15.10,14.76,14.38
$GC,2346,0.90,449.8,2412,3084,1224,1039,99.4,8.2,348,2358,0.00,2.28,0.00,0.000,1094,0.000,0.039,2412,1711,1130,1223,1038,0,0,0,0,0,0,15.10,15.03,15.12
$GC,2537,0.94,552.4,2413,1711,1224,1038,90.1,6.0,368,2635,0.00,2.42,86.88,0.749,8484,0.000,0.052,2412,3087,715,819,611,0,0,0,0,0,0,15.42,14.97,14.47
$GC,2707,0.97,614.3,2412,3086,818,609,79.2,7.6,401,2764,0.00,2.38,45.55,0.725,9254,0.000,0.039,2413,1700,499,588,411,0,0,0,0,0,0,15.04,14.99,14.46
$GC,2955,1.02,750.5,2411,1700,584,410,64.3,4.6,432,2962,0.12,0.00,0.00,0.000,2086,0.151,0.000,2460,1700,496,583,410,0,0,0,0,0,0,15.10,15.19,15.17
$GC,3144,1.05,850.0,2459,1700,583,410,52.5,6.1,451,3151,0.00,2.30,0.00,0.000,292,0.000,0.052,2460,3074,496,583,410,0,0,0,0,0,0,15.44,15.13,15.45
$GC,3206,1.08,921.3,2459,3078,583,409,48.4,7.2,461,3215,0.00,2.28,0.00,0.000,1062,0.000,0.041,2460,1695,496,583,409,0,0,0,0,0,0,15.19,15.16,15.22
$GC,3395,1.10,979.4,2459,1695,582,409,32.9,7.7,481,3403,0.00,2.35,0.00,0.000,292,0.000,0.051,2460,3084,495,583,408,0,0,0,0,0,0,15.43,15.14,15.45
$GC,3445,1.12,1033.4,2459,3084,583,408,28.9,7.9,489,3453,0.00,2.28,0.00,0.000,1062,0.000,0.039,2460,1698,495,583,408,0,0,0,0,0,0,15.23,15.17,15.25
$GC,3636,1.17,1033.4,2460,1698,583,408,14.3,8.4,509,3646,0.12,0.00,0.00,0.000,2118,0.151,0.000,2508,1698,498,583,414,0,0,0,0,0,0,15.15,15.23,15.22
$STATE,3751,end climb,SURFACE_DEPTH_REACHED
$STATE,3751,begin surface coast
$STATE,3771,end surface coast,CONTROL_FINISHED_OK
$STATE,3771,begin surface
$SM_CCo,3854,0.00,0.000,0,0,495,606.63
$SM_GC,0.28,6.72,1.75,0.00,0.066,0.044,0.000,153,2736,495,-6.10,-1.50,606.63,0,0,0,0,0,0,15.21,15.25,15.30
$IRIDIUM_FIX,1326.30,14436.50,140120,210420
$TT8_MAMPS,0.019474,0.158039
$HUMID,52.36
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,27.20
$XPDR_PINGS,0
$SC_FREEKB,3696800
$PM_FREEKB_00,58040768
$PM_FREEKB_01,85563520
$PM_FREEKB_02,59195968
$PM_FREEKB_03,57643712
$PM_ACTIVECARD,3
$24V_AH,14.19,169.462
$10V_AH,11.84,0.000
$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,16.825,38.875,671.350,0.000,0.000,0.000,0.000,242.800,0.000,0.000,16.301,299.538,1443.472,477.663,1859.731,315.864,0.000,1463.659,0.000,1486.088,0.000,0.554,0.000
$DEVICE_MAMPS,377.910,78.030,833.850,0.000,0.000,0.000,0.000,173.655,420.000,0.000,9.740,9.070,2.190,9.070,28.550,33.790,0.000,10.400,0.000,17.230,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3802.000,3787.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.104,9.985,0.000,0.000
$MEM,270324
$DATA_FILE_SIZE,16795,523
$CAP_FILE_SIZE,57887,0
$CFSIZE,260034560,194445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,140120,234155,1326.698,14436.395,7,0.8,8,0.6,0.3,0.0,8,6.1