version: 66.13
glider: 202
mission: 2
dive: 13
start: 3 18 117 15 9 33
data:
$ID,202
$MISSION,2
$DIVE,13
$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,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,1800
$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,75
$R_STBD_OVSHOOT,59
$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
$GPS1,180317,150332,2909.5198,-7604.1626,14,1.7,41,-9.0,0.5,73.5,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.9
$GPS2,180317,150915,2909.5728,-7604.0298,10,1.6,14,-9.0,0.7,94.6,8,4.4
$SPEED_LIMITS,0.208,0.347
$TGT_NAME,WS
$TGT_LATLONG,2906.500,-7615.500
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,271.9,19413,-15.6,-12.000,-19.10,3089
$D_GRID,5090
$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,11,-0.70,-243.3,187,2610,1217,1395,0.0,0.0,0,81,0.00,0.00,-65.90,0.000,16386,0.000,0.000,187,2610,3263,3314,3212,0,0,0,0,0,0,26.83,28.83,26.83
$GC,82,-0.70,-243.3,189,2611,3314,3213,3.1,-5.7,11,114,9.85,1.90,-13.38,0.000,18724,0.226,1.265,2778,3810,3963,4037,3890,0,0,0,0,0,0,26.36,25.60,26.58
$GC,337,-0.70,-243.3,2779,3810,4038,3891,39.3,-13.7,61,347,0.00,1.77,0.00,0.000,1030,0.000,0.026,2778,2582,3962,4035,3890,0,0,0,0,0,0,26.74,26.72,26.75
$GC,530,-0.70,-243.3,2777,2582,4040,3892,64.6,-12.2,88,537,0.00,1.85,0.00,0.000,260,0.000,0.044,2770,3811,3964,4038,3890,0,0,0,0,0,0,27.04,26.73,27.04
$GC,605,-0.70,-243.3,2769,3812,4040,3891,74.8,-13.6,103,614,0.00,1.75,0.00,0.000,1030,0.000,0.026,2770,2597,3964,4038,3891,0,0,0,0,0,0,26.86,26.84,26.86
$GC,911,-0.70,-243.3,2768,2598,4040,3891,115.7,-13.3,134,918,0.00,1.85,0.00,0.000,260,0.000,0.044,2762,3804,3964,4038,3890,0,0,0,0,0,0,27.14,26.84,27.14
$GC,941,-0.70,-243.3,2761,3805,4040,3891,119.9,-14.3,140,949,0.10,1.67,0.00,0.000,3078,0.135,0.026,2796,2599,3964,4038,3890,0,0,0,0,0,0,26.77,26.91,26.90
$GC,1252,-0.70,-243.3,2795,2599,4040,3891,154.3,-10.4,172,1259,0.00,1.85,0.00,0.000,292,0.000,0.044,2788,3807,3964,4038,3890,0,0,0,0,0,0,27.19,26.89,27.19
$GC,1298,-0.70,-243.3,2787,3808,4040,3891,159.3,-10.9,181,1307,0.00,1.73,0.00,0.000,1062,0.000,0.025,2788,2599,3964,4038,3890,0,0,0,0,0,0,26.98,26.96,27.00
$GC,1603,-0.70,-243.3,2789,2600,4038,3891,191.3,-10.3,212,1606,0.00,0.00,0.00,0.000,38,0.000,0.000,2788,2599,3964,4039,3890,0,0,0,0,0,0,27.22,27.22,27.22
$GC,1903,-0.70,-243.3,2789,2600,4038,3891,222.9,-10.3,228,1910,0.00,1.85,0.00,0.000,292,0.000,0.044,2780,3808,3963,4035,3891,0,0,0,0,0,0,27.24,26.94,27.24
$GC,1949,-0.70,-243.3,2781,3809,4038,3891,227.7,-11.1,237,1956,0.00,1.73,0.00,0.000,1062,0.000,0.025,2780,2598,3964,4038,3890,0,0,0,0,0,0,27.02,27.01,27.04
$GC,2265,-0.70,-243.3,2781,2598,4038,3891,261.9,-10.8,250,2272,0.00,1.85,0.00,0.000,292,0.000,0.045,2772,3837,3964,4038,3890,0,0,0,0,0,0,27.26,26.96,27.26
$GC,2295,-0.70,-243.3,2773,3838,4038,3890,265.3,-11.5,256,2302,0.00,1.77,0.00,0.000,1062,0.000,0.026,2772,2599,3963,4036,3891,0,0,0,0,0,0,27.03,27.01,27.06
$GC,2626,-0.70,-243.3,2774,2599,4038,3891,301.3,-10.6,272,2633,0.00,1.80,0.00,0.000,292,0.000,0.045,2765,3811,3962,4035,3890,0,0,0,0,0,0,27.27,26.96,27.27
$GC,2671,-0.70,-243.3,2766,3811,4038,3891,306.4,-11.1,281,2679,0.00,1.67,0.00,0.000,1062,0.000,0.026,2765,2598,3964,4038,3890,0,0,0,0,0,0,27.08,27.03,27.10
$GC,2988,-0.70,-243.3,2765,2600,4038,3891,341.3,-10.8,294,2991,0.00,0.00,0.00,0.000,38,0.000,0.000,2764,2598,3964,4038,3891,0,0,0,0,0,0,27.28,27.28,27.28
$STATE,3166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3167,begin apogee
$GC,3169,-0.20,0.0,2764,2708,4039,3891,361.1,-11.1,300,3322,0.52,0.00,147.38,1.088,10246,0.101,0.000,2953,2708,3155,3179,3131,0,0,0,0,0,0,26.91,25.27,24.61
$STATE,3324,end apogee,CONTROL_FINISHED_OK
$STATE,3324,begin loiter
$GC,3617,-0.15,154.6,2954,2710,3180,3131,382.5,-5.1,315,3741,0.00,0.00,115.50,1.092,8230,0.000,0.000,2953,2708,2523,2532,2514,0,0,0,0,0,0,26.78,25.22,24.59
$GC,4037,-0.15,154.6,2953,2708,2534,2516,371.5,4.4,329,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2706,2523,2532,2515,0,0,0,0,0,0,26.77,26.77,26.77
$GC,4338,-0.15,154.6,2952,2709,2533,2516,354.8,5.7,339,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2709,2523,2531,2515,0,0,0,0,0,0,26.98,26.98,26.98
$GC,4637,-0.15,154.6,2954,2709,2530,2515,337.5,5.6,349,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2709,2523,2531,2515,0,0,0,0,0,0,27.08,27.08,27.08
$GC,4937,-0.15,154.6,2954,2709,2529,2515,324.1,4.0,359,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2709,2522,2529,2515,0,0,0,0,0,0,27.14,27.15,27.15
$STATE,5146,end loiter,LOITER_COMPLETE
$STATE,5147,begin climb
$GC,5147,0.70,243.3,2952,2709,2531,2516,316.6,0.0,366,5222,0.80,2.17,65.88,1.046,10756,0.067,0.028,3264,1316,2162,2162,2162,0,0,0,0,0,0,26.86,25.70,24.99
$GC,5340,0.72,318.7,3263,1317,2161,2163,301.7,9.5,404,5408,0.00,2.10,59.20,1.031,9254,0.000,0.031,3264,2687,1855,1838,1872,0,0,0,0,0,0,26.32,26.29,24.77
$GC,5721,0.72,321.9,3265,2687,1834,1873,256.9,11.9,430,5735,0.00,1.77,3.92,0.803,8484,0.000,0.046,3264,3821,1842,1812,1872,0,0,0,0,0,0,26.79,26.41,25.69
$GC,5858,0.72,321.9,3264,3821,1812,1872,237.1,14.1,457,5865,0.00,1.62,0.00,0.000,1030,0.000,0.026,3267,2695,1842,1812,1872,0,0,0,0,0,0,26.66,26.64,26.67
$GC,6174,0.72,322.4,3266,2696,1812,1870,198.2,12.0,470,6181,0.00,1.75,0.00,0.000,292,0.000,0.045,3267,3814,1841,1810,1872,0,0,0,0,0,0,27.03,26.72,27.03
$GC,6265,0.72,322.4,3268,3814,1810,1872,185.6,14.1,488,6272,0.00,1.60,0.00,0.000,1030,0.000,0.026,3268,2669,1841,1810,1872,0,0,0,0,0,0,26.86,26.83,26.88
$GC,6575,0.72,329.5,3267,2669,1811,1873,148.0,11.8,520,6589,0.00,1.75,6.43,0.845,8484,0.000,0.043,3268,3826,1810,1782,1838,0,0,0,0,0,0,27.13,26.57,26.01
$GC,6647,0.72,329.5,3267,3826,1784,1838,138.4,13.4,534,6654,0.00,1.58,0.00,0.000,1030,0.000,0.026,3270,2691,1810,1783,1837,0,0,0,0,0,0,26.86,26.82,26.86
$GC,6958,0.73,354.4,3271,2691,1782,1838,102.6,11.2,566,6977,0.00,1.75,10.77,0.729,8484,0.000,0.044,3270,3814,1707,1679,1735,0,0,0,0,0,0,27.13,26.65,26.06
$GC,7040,0.73,354.4,3269,3814,1679,1736,91.9,13.5,582,7047,0.00,1.58,0.00,0.000,1030,0.000,0.026,3269,2691,1706,1676,1736,0,0,0,0,0,0,26.82,26.78,26.83
$GC,7351,0.73,354.4,3271,2692,1673,1736,52.0,12.8,614,7358,0.00,1.75,0.00,0.000,260,0.000,0.044,3271,3819,1704,1674,1735,0,0,0,0,0,0,27.12,26.82,27.12
$GC,7427,0.73,354.4,3271,3820,1673,1736,41.6,13.7,629,7435,0.00,1.60,0.00,0.000,1030,0.000,0.026,3275,2701,1704,1674,1735,0,0,0,0,0,0,26.93,26.90,26.94
$GC,7613,0.73,354.4,3270,2701,1675,1736,17.6,12.6,666,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,2700,1703,1673,1733,0,0,0,0,0,0,27.17,27.17,27.17
$STATE,7738,end climb,SURFACE_DEPTH_REACHED
$STATE,7738,begin surface coast
$FINISH,0.3,0.999552
$STATE,7754,end surface coast,CONTROL_FINISHED_OK
$STATE,7754,begin surface
$SM_CCo,7775,35.55,0.129,0,0,1317,450.13
$SM_GC,1.28,7.65,0.08,35.55,0.025,0.100,0.129,178,2599,1317,-8.79,2.21,450.13,0,0,0,0,0,0,26.94,26.98,26.69
$IRIDIUM_FIX,2855.60,-7605.60,180317,124527
$TT8_MAMPS,0.050183,0.274134
$HUMID,34.87
$INTERNAL_PRESSURE,9.66051
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,7892544
$PM_FREEKB,61880512
$24V_AH,24.59,2.715
$10V_AH,10.41,1.990
$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,18.925,46.275,409.075,35.550,0.000,0.000,0.000,245.475,0.250,0.000,15.868,0.000,5844.407,560.265,1708.148,47.651,0.000,1427.536,0.000,999.225,0.000,0.551,0.000
$DEVICE_MAMPS,226.440,1265.310,1092.420,128.520,0.000,0.000,0.000,104.040,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7742.000,7747.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.348,11.791,0.000,0.000
$MEM,152992
$DATA_FILE_SIZE,23342,694
$CAP_FILE_SIZE,80906,0
$CFSIZE,1024409600,1018232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.416,89.64,1
$GPS,180317,172050,2909.835,-7603.129,12,1.5,39,-9.0,0.8,62.4,9,4.2