version: 66.13
glider: 204
mission: 18
dive: 1
start: 6 28 117 15 28 36
data:
$ID,204
$MISSION,18
$DIVE,1
$N_DIVES,1
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$D_ABORT,150
$D_NO_BLEED,200
$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,20
$T_MISSION,35
$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,0.30000001
$D_OFFGRID,180
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52148
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.029999999
$HD_C,4.7e-07
$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,692.04858
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,2
$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,3090
$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,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,-6.8056469e+38
$LOITER_DBDW,-6.8056469e+38
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.15587
$PRESSURE_SLOPE,0.00010934046
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$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
$GPS1,280617,152545,4742.8877,-12224.3311,1,1.1,3,15.7,0.3,99.8,7,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-60.6
$GPS2,280617,152808,4742.8926,-12224.3174,2,1.1,3,15.7,0.1,0.0,7,8.7
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,307.2,1410,-20.2,-10.000,-28.63,3184
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.99,-146.6,190,2479,633,370,0.0,0.0,0,147,0.00,0.00,-132.40,0.000,16390,0.000,0.000,189,2479,3398,3340,3456,0,0,0,0,0,0,27.05,24.70,27.13
$GC,148,-0.99,-146.6,189,2480,3340,3458,2.3,-4.2,13,165,11.68,2.17,0.00,0.000,2596,0.256,0.056,2774,1094,3399,3345,3454,0,0,0,0,0,0,25.48,26.10,25.87
$GC,389,-0.99,-146.6,2774,1095,3355,3451,30.3,-11.7,61,395,0.00,2.25,0.00,0.000,1030,0.000,0.047,2765,2503,3401,3353,3449,0,0,0,0,0,0,26.14,26.09,26.20
$GC,710,-0.99,-146.6,2764,2506,3355,3448,57.2,-7.8,88,715,0.00,2.22,0.00,0.000,548,0.000,0.052,2774,1087,3400,3353,3447,0,0,0,0,0,0,27.17,25.89,27.23
$STATE,743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,743,begin apogee
$GC,748,-0.21,0.0,2764,2708,3355,3447,60.2,-8.9,95,930,0.98,0.00,179.25,0.545,10246,0.182,0.000,3013,2708,2799,2844,2754,0,0,0,0,0,0,24.69,25.24,24.44
$STATE,932,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,933,0.99,146.6,3014,2709,2841,2753,62.7,0.0,101,1067,1.30,1.70,126.43,0.539,11012,0.145,0.073,3397,3691,2195,2264,2126,0,0,0,0,0,0,25.49,25.37,24.56
$GC,1166,0.99,146.6,3398,3692,2256,2115,43.4,12.1,147,1172,0.00,1.55,0.00,0.000,1030,0.000,0.040,3402,2687,2184,2254,2114,0,0,0,0,0,0,26.34,26.31,26.39
$GC,1476,1.01,174.2,3403,2687,2254,2115,14.6,9.1,179,1489,0.00,2.20,9.35,0.188,8740,0.000,0.047,3413,1303,2088,2160,2016,0,0,0,0,0,0,27.07,25.65,25.25
$STATE,1612,end climb,SURFACE_DEPTH_REACHED
$STATE,1612,begin surface coast
$FINISH,0.2,1.021226
$STATE,1632,end surface coast,CONTROL_FINISHED_OK
$STATE,1632,begin surface
$SM_CCo,1649,147.57,0.145,0,0,497,564.19
$SM_CCo,1798,-0.25,0.000,0,0,501,564.19
$SM_CCo,1800,0.17,0.603,0,0,498,564.19
$SM_GC,0.13,9.90,1.92,0.17,0.103,0.046,0.603,190,2505,498,-8.96,-0.71,564.19,0,0,0,0,0,0,26.54,26.20,25.29
$IRIDIUM_FIX,4741.80,-12232.20,280617,152254
$TT8_MAMPS,0.046438,0.305592
$HUMID,47.20
$INTERNAL_PRESSURE,8.91087
$TCM_TEMP,18.80
$XPDR_PINGS,15
$SC_FREEKB,3909664
$PM_FREEKB,61424320
$24V_AH,24.03,0.664
$10V_AH,9.73,0.568
$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,23.850,16.625,315.025,147.750,0.000,0.000,0.000,0.000,3.750,0.000,4.862,0.000,747.394,561.198,535.297,20.757,0.000,772.254,0.000,395.221,0.000,0.545,0.000
$DEVICE_MAMPS,255.510,72.675,544.680,602.820,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1627.000,1623.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.162,39.965,0.000,0.000
$MEM,304148
$DATA_FILE_SIZE,6836,210
$CAP_FILE_SIZE,65986,0
$CFSIZE,260030464,258494464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,181.26,1
$GPS,280617,155906,4742.845,-12224.395,1,1.3,4,15.7,0.7,55.2,6,6.1