version: 66.13
glider: 196
mission: 12
dive: 3
start: 6 6 117 18 19 11
data:
$ID,196
$MISSION,12
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$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,1440
$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,0.050000001
$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,55142
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031999999
$HD_B,0.0103
$HD_C,1.06e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,7100
$TGT_DEFAULT_LON,-14430
$TGT_AUTO_DEFAULT,0
$SM_CC,627.77997
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3950
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,38
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,218
$ROLL_MAX,3787
$ROLL_DEG,40
$C_ROLL_DIVE,1000
$C_ROLL_CLIMB,1000
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3100
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00069999998
$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
$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,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-162.24501
$PRESSURE_SLOPE,0.00010687162
$AD7714Ch0Gain,1
$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,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,0.75
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,135
$LOGGERDEVICE3,83
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,1125
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043055275
$SEABIRD_T_H,0.00061896152
$SEABIRD_T_I,2.1649632e-05
$SEABIRD_T_J,2.1628491e-06
$SEABIRD_C_G,-9.8804169
$SEABIRD_C_H,1.1388741
$SEABIRD_C_I,-0.0017082796
$SEABIRD_C_J,0.00021409935
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$CP_RECORDABOVE,200.0
$CP_PROFILE,3.0
$CP_XMITPROFILE,3.0
$CP_UPLOADMAX,100000.0
$CP_STARTS,4.0
$CP_NDIVE,1.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_NDIVE,1.0
$PM_XMITRAW,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,0.0
$GPS1,060617,181442,4743.5269,-12224.5879,6,1.0,10,16.3,0.0,195.7,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.0
$GPS2,060617,181838,4743.4746,-12224.6035,8,0.8,12,16.3,0.0,201.6,10,8.7
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,264.8,496,-26.6,-10.000,-29.27,1048
$D_GRID,175
$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,32,end surface,CONTROL_FINISHED_OK
$STATE,32,begin dive
$GC,35,-0.75,-68.7,204,987,538,535,0.0,0.0,0,149,0.00,0.00,-111.93,0.000,16386,0.000,0.000,204,987,3168,3123,3214,0,0,0,0,0,0,14.64,28.83,14.71
$GC,152,-0.78,-116.9,205,988,3124,3216,3.1,-5.3,20,177,11.45,0.00,-9.00,0.000,18470,0.428,0.000,2388,984,3580,3549,3611,0,0,0,0,0,0,14.12,13.28,14.46
$GC,357,-0.64,-116.9,2387,984,3547,3611,46.6,-20.9,60,363,0.20,0.00,0.00,0.000,2182,0.323,0.000,2434,984,3579,3547,3611,0,0,0,0,0,0,14.07,14.35,14.26
$GC,543,-0.69,-116.9,2434,984,3547,3612,77.2,-14.1,97,548,0.00,0.00,0.00,0.000,134,0.000,0.000,2434,984,3579,3547,3611,0,0,0,0,0,0,14.63,14.65,14.65
$GC,728,-0.76,-116.9,2434,985,3549,3608,104.3,-14.5,134,734,0.00,0.00,0.00,0.000,134,0.000,0.000,2434,984,3579,3547,3611,0,0,0,0,0,0,14.62,14.64,14.64
$GC,915,-0.86,-116.9,2435,985,3548,3611,129.1,-12.8,171,920,0.15,0.00,0.00,0.000,4230,0.121,0.000,2366,984,3579,3547,3611,0,0,0,0,0,0,14.38,14.45,14.42
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1028,-0.13,0.0,2367,987,3549,3612,150.2,-19.9,193,1145,0.90,0.00,111.05,1.057,10246,0.276,0.000,2587,984,3095,3098,3093,0,0,0,0,0,0,14.11,14.09,13.64
$STATE,1150,end apogee,CONTROL_FINISHED_OK
$STATE,1150,begin climb
$GC,1152,0.78,116.9,2588,985,3096,3087,155.4,0.0,213,1269,1.00,0.00,113.00,1.008,10246,0.130,0.000,2895,984,2624,2653,2595,0,0,0,0,0,0,14.09,14.00,13.57
$GC,1450,0.55,116.9,2896,985,2630,2568,116.9,19.2,264,1456,0.28,0.00,0.00,0.000,4230,0.329,0.000,2836,983,2598,2630,2567,0,0,0,0,0,0,13.91,14.17,14.10
$GC,1636,0.47,116.9,2835,984,2629,2566,88.9,13.8,301,1642,0.12,0.00,0.00,0.000,4230,0.322,0.000,2810,984,2597,2628,2566,0,0,0,0,0,0,14.01,14.33,14.28
$GC,1822,0.45,116.9,2811,984,2629,2566,66.6,11.9,338,1828,0.00,0.00,0.00,0.000,134,0.000,0.000,2810,984,2592,2623,2562,0,0,0,0,0,0,14.57,14.59,14.60
$GC,2008,0.45,118.6,2810,984,2627,2565,47.6,9.8,375,2013,0.00,0.00,0.00,0.000,38,0.000,0.000,2810,984,2595,2627,2564,0,0,0,0,0,0,14.59,14.61,14.61
$GC,2193,0.45,127.8,2810,985,2627,2564,30.3,9.1,412,2200,0.00,0.00,3.17,0.177,8230,0.000,0.000,2813,984,2578,2609,2548,0,0,0,0,0,0,14.62,14.40,14.20
$GC,2380,0.47,148.0,2811,985,2620,2564,16.6,8.0,449,2398,0.00,0.00,12.80,0.203,8230,0.000,0.000,2810,984,2494,2526,2463,0,0,0,0,0,0,14.61,14.45,14.23
$GC,2578,0.60,270.2,2810,985,2528,2474,7.4,-1.9,488,2643,0.00,0.00,62.33,0.181,8358,0.000,0.000,2810,984,1993,2015,1972,0,0,0,0,0,0,14.61,14.41,14.24
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,0.6,1.019000
$STATE,2771,end surface coast,CONTROL_FINISHED_OK
$STATE,2771,begin surface
$SM_CCo,2790,175.30,0.161,0,0,539,627.97
$SM_GC,1.13,7.88,0.00,175.30,0.080,0.000,0.161,200,984,539,-7.60,-0.45,627.97,0,0,0,0,0,0,14.39,14.65,14.26
$RAFOS_CLK,36
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4743.02,-12222.38,060617,181110
$TT8_MAMPS,0.040446,0.783454
$HUMID,41.06
$INTERNAL_PRESSURE,8.11356
$TCM_TEMP,18.20
$XPDR_PINGS,8
$SC_FREEKB,4016032
$CP_FREE,16017752064.000000
$PM_FREEKB,62277056
$24V_AH,13.28,38.649
$10V_AH,13.57,0.000
$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,21.975,0.000,302.350,175.300,0.000,0.000,0.000,0.000,2.000,0.000,13.379,0.000,1358.518,531.910,1080.563,73.898,0.000,981.035,0.000,758.494,0.000,0.547,0.000
$DEVICE_MAMPS,427.635,0.000,1057.230,160.650,0.000,0.000,0.000,0.000,420.000,0.000,22.470,0.000,2.190,13.970,33.440,38.690,0.000,10.000,0.000,0.750,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,NCP,PMAR,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2759.000,2753.000,2734.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.305,111.000,16.688,0.000
$MEM,301748
$DATA_FILE_SIZE,16788,525
$CAP_FILE_SIZE,65352,0
$CFSIZE,2097872896,2092564480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1484.4
$CURRENT,0.139,202.12,1
$GPS,060617,190914,4743.234,-12224.682,1,0.8,7,16.3,0.0,216.4,10,8.3