version: 66.13
glider: 204
mission: 18
dive: 2
start: 6 28 117 16 9 48
data:
$ID,204
$MISSION,18
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,180
$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,40
$T_MISSION,50
$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,31
$R_STBD_OVSHOOT,21
$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
$GPS1,280617,160720,4742.8799,-12224.3359,2,1.3,3,15.7,0.2,0.0,6,7.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-62.3
$GPS2,280617,160927,4742.8916,-12224.3203,2,1.3,18,15.7,0.1,0.0,6,2.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,327.0,1409,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.99,-146.6,202,2504,620,387,0.0,0.0,0,146,0.00,0.00,-132.50,0.000,16390,0.000,0.000,201,2502,3399,3339,3459,0,0,0,0,0,0,27.00,24.65,27.08
$GC,147,-0.99,-146.6,201,2503,3339,3459,2.9,-4.3,13,164,11.52,2.20,0.00,0.000,2596,0.259,0.052,2776,1092,3400,3344,3456,0,0,0,0,0,0,25.64,26.22,26.01
$GC,388,-0.99,-146.6,2775,1092,3352,3452,32.5,-10.1,61,394,0.00,2.28,0.00,0.000,1030,0.000,0.049,2766,2509,3402,3353,3451,0,0,0,0,0,0,26.13,26.08,26.20
$GC,718,-0.99,-146.6,2767,2510,3355,3450,61.9,-9.2,87,724,0.00,2.22,0.00,0.000,548,0.000,0.050,2776,1083,3401,3353,3449,0,0,0,0,0,0,27.15,25.94,27.21
$GC,947,-0.99,-146.6,2776,1085,3356,3450,86.2,-12.1,133,953,0.00,2.28,0.00,0.000,1030,0.000,0.050,2766,2491,3401,3354,3448,0,0,0,0,0,0,26.03,25.97,26.08
$GC,1259,-0.99,-146.6,2766,2492,3357,3448,117.5,-9.3,145,1263,0.00,2.20,0.00,0.000,548,0.000,0.049,2776,1084,3400,3354,3447,0,0,0,0,0,0,27.16,25.89,27.22
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1297,-0.21,0.0,2764,2709,3354,3447,120.2,-8.6,152,1429,0.98,0.00,129.48,0.597,10246,0.185,0.000,3012,2709,2797,2841,2753,0,0,0,0,0,0,24.34,25.22,24.41
$STATE,1431,end apogee,CONTROL_FINISHED_OK
$STATE,1431,begin climb
$GC,1432,0.99,146.6,3012,2710,2836,2752,121.0,0.0,156,1571,1.33,2.30,129.38,0.573,10756,0.145,0.046,3408,1296,2194,2262,2126,0,0,0,0,0,0,25.46,25.32,24.49
$GC,1685,0.99,146.6,3408,1298,2253,2124,95.6,12.3,200,1690,0.00,2.25,0.00,0.000,1030,0.000,0.044,3408,2708,2186,2250,2123,0,0,0,0,0,0,26.15,26.10,26.19
$GC,2015,1.01,171.2,3406,2708,2247,2120,62.1,9.2,216,2040,0.00,2.25,19.20,0.582,8740,0.000,0.047,3417,1295,2095,2163,2028,0,0,0,0,0,0,27.04,25.87,25.03
$GC,2135,1.01,171.2,3417,1296,2157,2027,49.6,11.0,240,2140,0.00,2.22,0.00,0.000,1030,0.000,0.045,3417,2694,2090,2154,2026,0,0,0,0,0,0,26.25,26.20,26.29
$GC,2445,1.02,178.6,3417,2695,2152,2025,18.0,9.8,272,2451,0.00,2.17,1.70,0.213,8740,0.000,0.041,3425,1295,2068,2137,2000,0,0,0,0,0,0,27.08,25.06,24.84
$STATE,2628,end climb,SURFACE_DEPTH_REACHED
$STATE,2628,begin surface coast
$FINISH,0.2,1.021302
$STATE,2649,end surface coast,CONTROL_FINISHED_OK
$STATE,2649,begin surface
$SM_CCo,2666,144.38,0.153,0,0,498,564.19
$SM_CCo,2811,-0.22,0.000,0,0,501,564.19
$SM_CCo,2813,0.17,0.601,0,0,497,564.19
$SM_GC,0.14,9.98,1.92,0.17,0.103,0.044,0.601,189,2505,497,-8.97,-0.82,564.19,0,0,0,0,0,0,26.51,26.19,25.37
$IRIDIUM_FIX,4743.02,-12222.38,280617,160419
$TT8_MAMPS,0.047187,0.305592
$HUMID,49.80
$INTERNAL_PRESSURE,8.8425
$TCM_TEMP,18.30
$XPDR_PINGS,11
$SC_FREEKB,3909344
$PM_FREEKB,60195968
$24V_AH,23.99,0.724
$10V_AH,9.67,0.628
$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,23.800,26.925,279.750,144.550,0.000,0.000,0.000,0.000,2.750,0.000,19.880,0.000,1563.104,546.568,761.251,14.563,0.000,822.783,0.000,567.799,0.000,0.543,0.000
$DEVICE_MAMPS,258.570,52.020,596.700,601.290,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2636.000,2633.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.042,40.148,0.000,0.000
$MEM,303920
$DATA_FILE_SIZE,10109,313
$CAP_FILE_SIZE,54774,0
$CFSIZE,260030464,258445312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,151.56,1
$GPS,280617,165711,4742.936,-12224.371,1,1.6,4,15.7,0.2,0.0,7,8.6