version: 66.13
glider: 204
mission: 20
dive: 50
start: 9 8 117 13 30 19
data:
$ID,204
$MISSION,20
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,140
$D_NO_BLEED,50
$D_BOOST,50
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52283
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0099999998
$HD_C,2.53195e-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,588.77728
$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,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3430
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0014
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0.5
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,20
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.0345
$PRESSURE_SLOPE,0.00010934046
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,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,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$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,147
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043580476
$SEABIRD_T_H,0.00063004985
$SEABIRD_T_I,2.4557072e-05
$SEABIRD_T_J,2.6474129e-06
$SEABIRD_C_G,-10.262359
$SEABIRD_C_H,1.1522416
$SEABIRD_C_I,-0.00012417733
$SEABIRD_C_J,0.00011025551
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_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,1.0
$GPS1,080917,132456,4806.6177,-12222.6719,1,1.1,3,15.8,0.2,157.0,8,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-72.1
$GPS2,080917,133000,4806.5898,-12222.6562,2,1.1,4,15.8,0.2,158.4,8,5.3
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,313.3,870,-18.5,-10.000,-20.79,2247
$D_GRID,105
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.04,-146.6,188,2701,1109,954,0.0,0.0,0,137,0.00,0.00,-121.93,0.000,16386,0.000,0.000,188,2701,3834,3749,3920,0,0,0,0,0,0,26.77,28.83,26.84
$GC,139,-1.04,-146.6,188,2702,3751,3921,3.6,-6.9,12,161,12.25,2.40,-2.72,0.000,18980,0.265,1.224,2809,1296,3963,3899,4027,0,0,0,0,0,0,25.31,24.16,24.14
$GC,191,-0.84,-146.6,2808,1297,3901,4029,14.2,-12.2,22,198,0.28,2.25,0.00,0.000,3206,0.203,0.054,2865,2707,3964,3901,4028,0,0,0,0,0,0,25.41,26.05,25.77
$GC,502,-0.76,-146.6,2863,2708,3903,4028,44.7,-9.8,54,504,0.12,0.00,0.00,0.000,2182,0.200,0.000,2892,2707,3966,3903,4029,0,0,0,0,0,0,26.24,26.34,26.29
$GC,802,-0.76,-146.6,2892,2708,3904,4028,70.9,-8.7,68,803,0.00,0.00,0.00,0.000,38,0.000,0.000,2893,2707,3965,3903,4028,0,0,0,0,0,0,26.64,26.72,26.70
$GC,1102,-0.76,-146.6,2892,2708,3903,4027,96.5,-8.5,78,1103,0.00,0.00,0.00,0.000,38,0.000,0.000,2893,2707,3966,3905,4027,0,0,0,0,0,0,26.91,26.98,26.97
$STATE,1221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1224,-0.23,0.0,2892,2708,3903,4028,106.9,-8.7,82,1350,0.65,0.00,122.62,0.581,10246,0.181,0.000,3060,2706,3427,3447,3407,0,0,0,0,0,0,24.46,25.33,24.59
$STATE,1352,end apogee,CONTROL_FINISHED_OK
$STATE,1352,begin climb
$GC,1353,1.04,146.6,3058,2707,3440,3401,111.2,0.0,86,1495,1.35,2.33,135.95,0.539,10756,0.138,0.042,3474,1290,2824,2858,2791,0,0,0,0,0,0,25.34,25.32,24.57
$GC,1520,1.02,170.7,3474,1290,2844,2786,102.5,8.9,106,1551,0.00,2.30,22.58,0.526,9382,0.000,0.048,3473,2695,2722,2752,2693,0,0,0,0,0,0,25.77,25.74,24.59
$GC,1857,0.96,170.7,3474,2697,2735,2686,69.8,9.7,123,1862,0.00,1.62,0.00,0.000,388,0.000,0.062,3474,3707,2709,2732,2686,0,0,0,0,0,0,26.84,25.76,26.90
$GC,1947,0.84,170.7,3472,3707,2731,2685,60.2,10.6,141,1952,0.17,1.58,0.00,0.000,5254,0.160,0.042,3415,2703,2708,2731,2685,0,0,0,0,0,0,25.29,26.15,25.52
$GC,2257,1.00,233.0,3415,2704,2731,2685,37.3,7.2,167,2288,0.15,0.00,26.65,0.210,10406,0.158,0.000,3450,2702,2476,2520,2433,0,0,0,0,0,0,25.34,25.70,25.32
$GC,2587,1.11,259.9,3449,2705,2534,2435,7.7,8.8,200,2610,0.15,1.67,13.23,0.152,10660,0.132,0.065,3503,3698,2365,2418,2313,0,0,0,0,0,0,26.33,25.71,25.38
$GC,2630,1.07,259.9,3504,3699,2425,2314,3.0,10.9,208,2636,0.00,1.52,0.00,0.000,1158,0.000,0.040,3510,2701,2369,2424,2314,0,0,0,0,0,0,26.27,26.24,26.31
$STATE,2640,end climb,SURFACE_DEPTH_REACHED
$STATE,2640,begin surface coast
$FINISH,1.0,1.020637
$STATE,2650,end surface coast,CONTROL_FINISHED_OK
$STATE,2650,begin surface
$SM_CCo,2667,147.55,0.132,0,0,1028,588.97
$SM_GC,0.37,9.88,0.00,147.55,0.084,0.000,0.132,188,2701,1028,-9.11,0.00,588.97,0,0,0,0,0,0,26.38,27.01,25.53
$IRIDIUM_FIX,4807.51,-12223.57,080917,123357
$TT8_MAMPS,0.047936,0.291361
$HUMID,51.77
$INTERNAL_PRESSURE,8.58859
$TCM_TEMP,14.80
$XPDR_PINGS,243
$PM_FREEKB_00,32083328
$PM_FREEKB_01,34709760
$PM_FREEKB_02,62267648
$PM_FREEKB_03,62335808
$PM_FREEKB_04,62336320
$PM_FREEKB_05,62335808
$PM_FREEKB_06,62335808
$PM_FREEKB_07,62336576
$PM_ACTIVECARD,1
$24V_AH,24.14,18.738
$10V_AH,9.76,14.842
$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,25.000,15.675,321.025,147.550,0.000,0.000,0.000,196.150,60.750,0.000,5.484,0.000,1689.331,577.955,792.226,74.638,0.000,995.455,0.000,421.563,0.000,0.834,0.000
$DEVICE_MAMPS,265.455,1224.000,581.400,132.345,0.000,0.000,0.000,94.860,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2657.000,2663.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.296,42.282,0.000,0.000
$MEM,188256
$DATA_FILE_SIZE,6795,211
$CAP_FILE_SIZE,38206,0
$CFSIZE,260030464,255565824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2630.41,0x2342ba,1,24
$CURRENT,0.041,135.92,1
$GPS,080917,141805,4806.779,-12222.845,13,1.6,15,15.8,0.1,0.0,6,7.2