version: 66.13
glider: 202
mission: 2
dive: 11
start: 3 18 117 10 55 4
data:
$ID,202
$MISSION,2
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,20
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51899
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,208
$PITCH_MAX,3892
$C_PITCH,3020
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,25
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,303
$ROLL_MAX,3831
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,89
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3154
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-61.796719
$PRESSURE_SLOPE,0.0001168043
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,51
$LOGGERDEVICE2,85
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404821
$SEABIRD_T_H,0.00064488029
$SEABIRD_T_I,2.8507879e-05
$SEABIRD_T_J,3.3644449e-06
$SEABIRD_C_G,-9.8029137
$SEABIRD_C_H,1.1050078
$SEABIRD_C_I,-0.0015785076
$SEABIRD_C_J,0.00020331096
$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,0.0
$GPS1,180317,104726,2909.0469,-7605.7612,38,1.5,43,-9.0,0.3,47.8,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.7
$GPS2,180317,105445,2909.1360,-7605.6890,24,1.8,28,-9.0,0.4,18.4,9,4.5
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,274.2,16608,-15.6,-12.000,-19.10,3089
$D_GRID,5049
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,10,-0.70,-243.3,185,2688,1236,1375,0.0,0.0,0,81,0.00,0.00,-66.07,0.000,16386,0.000,0.000,185,2688,3264,3312,3216,0,0,0,0,0,0,26.77,28.83,26.77
$GC,82,-0.70,-243.3,186,2689,3309,3217,3.2,-6.2,11,114,9.93,1.85,-13.23,0.000,18724,0.229,1.271,2778,3845,3963,4035,3892,0,0,0,0,0,0,26.30,25.53,26.52
$GC,337,-0.70,-243.3,2778,3846,4038,3892,42.0,-16.0,61,346,0.00,1.80,0.00,0.000,1030,0.000,0.027,2779,2611,3961,4035,3888,0,0,0,0,0,0,26.69,26.66,26.70
$GC,530,-0.70,-243.3,2780,2614,4036,3892,61.5,-8.0,86,537,0.00,1.83,0.00,0.000,292,0.000,0.047,2771,3820,3964,4036,3892,0,0,0,0,0,0,27.00,26.69,26.99
$GC,630,-0.70,-243.3,2770,3824,4038,3893,73.6,-11.4,106,637,0.00,1.77,0.00,0.000,1062,0.000,0.027,2771,2598,3963,4035,3892,0,0,0,0,0,0,26.82,26.80,26.84
$GC,941,-0.70,-243.3,2770,2599,4038,3893,117.9,-13.0,138,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2598,3963,4035,3892,0,0,0,0,0,0,27.11,27.11,27.12
$GC,1241,-0.70,-243.3,2770,2599,4037,3893,155.9,-11.5,168,1245,0.00,0.00,0.00,0.000,38,0.000,0.000,2770,2599,3964,4036,3892,0,0,0,0,0,0,27.17,27.17,27.17
$GC,1541,-0.70,-243.3,2771,2599,4036,3892,191.6,-11.4,198,1549,0.00,1.83,0.00,0.000,292,0.000,0.044,2768,3819,3964,4036,3892,0,0,0,0,0,0,27.20,26.90,27.20
$GC,1577,-0.70,-243.3,2763,3820,4036,3893,195.7,-12.1,205,1587,0.08,1.77,0.00,0.000,3078,0.128,0.026,2791,2594,3964,4036,3892,0,0,0,0,0,0,26.84,26.97,26.92
$GC,1893,-0.70,-243.3,2791,2594,4038,3893,227.8,-10.3,219,1900,0.00,1.85,0.00,0.000,292,0.000,0.045,2783,3829,3964,4036,3892,0,0,0,0,0,0,27.23,26.93,27.22
$GC,1923,-0.70,-243.3,2784,3830,4036,3893,231.1,-11.0,225,1931,0.00,1.77,0.00,0.000,1062,0.000,0.027,2784,2595,3964,4036,3892,0,0,0,0,0,0,27.02,27.00,27.04
$GC,2255,-0.70,-243.3,2785,2595,4036,3894,265.7,-10.3,241,2258,0.00,0.00,0.00,0.000,38,0.000,0.000,2784,2595,3964,4036,3892,0,0,0,0,0,0,27.24,27.24,27.25
$GC,2555,-0.70,-243.3,2779,2595,4038,3893,296.4,-10.1,251,2562,0.00,1.83,0.00,0.000,292,0.000,0.045,2776,3818,3964,4036,3892,0,0,0,0,0,0,27.26,26.96,27.27
$GC,2615,-0.70,-243.3,2777,3819,4035,3893,302.8,-10.2,263,2622,0.00,1.75,0.00,0.000,1062,0.000,0.028,2776,2600,3964,4036,3892,0,0,0,0,0,0,27.05,27.03,27.07
$GC,2946,-0.70,-243.3,2775,2600,4038,3893,338.7,-10.7,279,2952,0.00,1.83,0.00,0.000,292,0.000,0.046,2769,3821,3964,4036,3892,0,0,0,0,0,0,27.27,26.97,27.27
$GC,3006,-0.70,-243.3,2768,3822,4037,3892,345.8,-11.8,291,3013,0.00,1.75,0.00,0.000,1062,0.000,0.027,2768,2600,3964,4036,3892,0,0,0,0,0,0,27.07,27.04,27.08
$STATE,3156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3156,begin apogee
$GC,3158,-0.20,0.0,2770,2725,4036,3893,362.8,-11.4,301,3311,0.52,0.00,147.57,1.091,10246,0.100,0.000,2957,2725,3155,3181,3129,0,0,0,0,0,0,26.91,25.22,24.55
$STATE,3313,end apogee,CONTROL_FINISHED_OK
$STATE,3313,begin climb
$GC,3314,0.70,243.3,2957,2725,3183,3131,369.9,0.0,306,3515,0.82,2.17,183.38,1.094,10756,0.060,0.028,3265,1314,2161,2155,2168,0,0,0,0,0,0,25.49,25.06,24.51
$GC,3558,0.72,299.7,3265,1314,2154,2168,361.4,10.1,355,3611,0.00,2.10,44.83,1.059,9254,0.000,0.031,3264,2686,1932,1920,1945,0,0,0,0,0,0,25.87,25.81,24.62
$GC,3915,0.72,309.1,3265,2686,1917,1945,320.0,11.7,376,3931,0.00,1.80,8.23,0.943,8484,0.000,0.046,3264,3818,1892,1876,1909,0,0,0,0,0,0,26.72,26.25,25.56
$GC,4005,0.72,309.1,3265,3819,1881,1909,308.2,13.3,394,4012,0.00,1.62,0.00,0.000,1030,0.000,0.026,3265,2703,1894,1879,1909,0,0,0,0,0,0,26.51,26.48,26.51
$GC,4335,0.72,309.1,3264,2703,1881,1909,267.2,12.4,410,4342,0.00,1.75,0.00,0.000,260,0.000,0.045,3265,3818,1894,1880,1909,0,0,0,0,0,0,26.96,26.65,26.95
$GC,4416,0.72,309.1,3265,3818,1880,1910,256.2,14.0,426,4423,0.00,1.62,0.00,0.000,1030,0.000,0.026,3270,2691,1894,1879,1909,0,0,0,0,0,0,26.77,26.76,26.79
$GC,4726,0.72,309.1,3265,2692,1878,1910,216.0,13.0,438,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2691,1894,1879,1909,0,0,0,0,0,0,27.08,27.08,27.08
$GC,5027,0.72,309.1,3266,2692,1877,1910,178.1,12.3,458,5034,0.00,1.75,0.00,0.000,260,0.000,0.045,3265,3816,1893,1878,1909,0,0,0,0,0,0,27.13,26.84,27.13
$GC,5107,0.72,309.1,3265,3818,1878,1910,166.4,14.0,474,5114,0.00,1.60,0.00,0.000,1030,0.000,0.027,3265,2710,1893,1877,1909,0,0,0,0,0,0,26.94,26.91,26.96
$GC,5418,0.72,309.1,3266,2711,1877,1910,124.3,12.2,506,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2711,1893,1877,1909,0,0,0,0,0,0,27.18,27.18,27.18
$GC,5718,0.73,338.0,3263,2711,1878,1910,88.8,11.0,536,5734,0.00,0.00,12.45,0.691,8230,0.000,0.000,3265,2711,1774,1753,1796,0,0,0,0,0,0,27.21,26.70,26.17
$GC,6028,0.73,338.0,3264,2710,1750,1797,51.8,12.1,567,6035,0.00,1.73,0.00,0.000,260,0.000,0.044,3265,3821,1771,1748,1795,0,0,0,0,0,0,27.13,26.82,27.13
$GC,6129,0.73,338.0,3266,3822,1747,1796,38.4,14.5,587,6138,0.00,1.62,0.00,0.000,1030,0.000,0.025,3265,2684,1771,1748,1795,0,0,0,0,0,0,26.95,26.93,26.96
$GC,6317,0.76,439.9,3265,2685,1747,1796,15.6,8.6,624,6366,0.00,1.77,38.97,0.159,8484,0.000,0.046,3265,3816,1355,1320,1391,0,0,0,0,0,0,27.18,26.76,26.63
$GC,6389,0.76,439.9,3266,3817,1317,1387,6.7,14.0,637,6397,0.00,1.60,0.00,0.000,1030,0.000,0.027,3266,2699,1354,1317,1391,0,0,0,0,0,0,26.86,26.84,26.87
$STATE,6425,end climb,SURFACE_DEPTH_REACHED
$STATE,6425,begin surface coast
$FINISH,0.4,1.000606
$STATE,6440,end surface coast,CONTROL_FINISHED_OK
$STATE,6440,begin surface
$SM_CCo,6462,3.08,0.168,0,0,1317,450.13
$SM_GC,1.79,7.70,0.08,3.08,0.028,0.103,0.168,185,2599,1317,-8.78,2.21,450.13,0,0,0,0,0,0,26.83,26.88,26.68
$IRIDIUM_FIX,2858.06,-7610.39,180317,065936
$TT8_MAMPS,0.051681,0.287616
$HUMID,34.91
$INTERNAL_PRESSURE,9.64098
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,7894496
$PM_FREEKB,61963840
$24V_AH,24.51,2.454
$10V_AH,10.42,1.829
$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,19.050,43.000,435.425,3.075,0.000,0.000,0.000,316.100,0.000,0.000,29.019,0.000,4658.733,505.093,1692.501,49.418,0.000,1430.603,0.000,932.130,0.000,0.551,0.000
$DEVICE_MAMPS,228.735,1271.430,1093.950,168.300,0.000,0.000,0.000,108.630,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6443.000,6453.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.662,11.800,0.000,0.000
$MEM,152988
$DATA_FILE_SIZE,23386,647
$CAP_FILE_SIZE,76280,0
$CFSIZE,1024409600,1018494976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.441,82.47,1
$GPS,180317,124356,2909.291,-7605.131,13,1.5,40,-9.0,0.6,69.3,9,4.4