version: 66.13
glider: 204
mission: 18
dive: 3
start: 6 28 117 17 8 49
data:
$ID,204
$MISSION,18
$DIVE,3
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,24
$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
$GPS1,280617,170624,4743.0137,-12224.2295,1,1.5,3,15.7,0.2,0.0,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-64.6
$GPS2,280617,170828,4743.0298,-12224.1963,2,1.5,3,15.7,0.3,61.5,7,7.6
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,302.4,1327,-20.2,-10.000,-28.63,3184
$D_GRID,174
$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,-146.6,195,2491,618,389,0.0,0.0,0,146,0.00,0.00,-131.73,0.000,16390,0.000,0.000,194,2490,3398,3338,3458,0,0,0,0,0,0,26.95,24.58,27.01
$GC,147,-0.99,-146.6,193,2491,3339,3459,3.2,-4.8,13,164,11.68,2.22,0.00,0.000,2596,0.265,0.049,2776,1086,3400,3344,3457,0,0,0,0,0,0,25.65,26.22,26.03
$GC,388,-0.99,-146.6,2775,1086,3352,3453,33.6,-10.3,61,394,0.00,2.25,0.00,0.000,1030,0.000,0.047,2767,2496,3402,3353,3452,0,0,0,0,0,0,26.10,26.06,26.16
$GC,709,-0.99,-146.6,2768,2496,3355,3451,61.2,-8.6,86,714,0.00,2.22,0.00,0.000,548,0.000,0.054,2776,1089,3401,3353,3450,0,0,0,0,0,0,27.11,25.83,27.19
$GC,937,-0.99,-146.6,2775,1089,3353,3450,83.6,-10.1,132,944,0.00,2.28,0.00,0.000,1030,0.000,0.047,2767,2505,3402,3354,3450,0,0,0,0,0,0,26.01,25.96,26.08
$GC,1249,-0.99,-146.6,2767,2506,3356,3450,112.6,-8.9,144,1249,0.00,0.00,0.00,0.000,38,0.000,0.000,2767,2506,3401,3353,3449,0,0,0,0,0,0,27.15,27.22,27.20
$GC,1548,-0.99,-146.6,2765,2505,3353,3449,141.0,-10.1,154,1554,0.00,2.22,0.00,0.000,516,0.000,0.050,2776,1089,3401,3354,3449,0,0,0,0,0,0,27.15,25.77,27.21
$STATE,1647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1647,begin apogee
$GC,1651,-0.21,0.0,2768,2403,3356,3449,150.1,-8.6,174,1789,0.95,0.00,135.12,0.611,10246,0.175,0.000,3013,2403,2796,2838,2754,0,0,0,0,0,0,24.23,25.18,24.34
$STATE,1791,end apogee,CONTROL_FINISHED_OK
$STATE,1791,begin climb
$GC,1792,0.99,146.6,3015,2404,2837,2754,151.8,0.0,178,1938,1.30,2.22,135.55,0.588,10500,0.144,0.073,3399,3693,2194,2262,2126,0,0,0,0,0,0,25.39,25.25,24.39
$GC,2011,0.99,146.6,3397,3693,2253,2118,129.7,12.9,222,2017,0.00,2.03,0.00,0.000,1030,0.000,0.038,3407,2383,2186,2254,2118,0,0,0,0,0,0,26.20,26.17,26.24
$GC,2332,0.99,146.6,3406,2383,2252,2117,94.6,10.7,236,2337,0.00,2.12,0.00,0.000,516,0.000,0.046,3417,1008,2184,2252,2117,0,0,0,0,0,0,26.98,26.07,27.05
$GC,2376,0.99,151.2,3417,1009,2252,2118,90.1,9.9,245,2382,0.00,2.22,0.00,0.000,1062,0.000,0.045,3417,2401,2185,2253,2117,0,0,0,0,0,0,26.12,26.07,26.18
$GC,2692,0.99,153.1,3418,2402,2251,2118,58.0,9.9,258,2697,0.00,2.12,0.00,0.000,292,0.000,0.071,3412,3694,2183,2249,2117,0,0,0,0,0,0,27.08,25.41,27.14
$GC,2711,0.99,153.1,3412,3695,2253,2117,55.8,11.0,262,2718,0.00,2.00,0.65,0.228,9222,0.000,0.040,3420,2402,2173,2242,2104,0,0,0,0,0,0,26.38,26.35,24.79
$GC,3022,1.08,235.3,3419,2401,2251,2105,28.6,7.4,290,3061,0.00,2.20,32.53,0.216,8740,0.000,0.047,3430,1000,1836,1914,1759,0,0,0,0,0,0,27.11,25.84,25.39
$GC,3240,1.12,235.3,3431,1000,1922,1759,6.5,10.6,333,3247,0.00,2.22,0.00,0.000,1158,0.000,0.042,3423,2402,1839,1919,1759,0,0,0,0,0,0,26.10,26.04,26.14
$STATE,3284,end climb,SURFACE_DEPTH_REACHED
$STATE,3284,begin surface coast
$FINISH,0.4,1.021290
$STATE,3295,end surface coast,CONTROL_FINISHED_OK
$STATE,3295,begin surface
$SM_CCo,3311,125.05,0.158,0,0,497,564.19
$SM_CCo,3437,-0.25,0.000,0,0,502,564.19
$SM_CCo,3439,0.25,0.485,0,0,497,564.19
$SM_GC,0.15,10.00,0.15,0.25,0.103,0.093,0.485,191,2508,497,-8.96,-0.90,564.19,0,0,0,0,0,0,26.44,26.70,25.39
$IRIDIUM_FIX,4743.62,-12225.08,280617,170320
$TT8_MAMPS,0.046438,0.310835
$HUMID,50.31
$INTERNAL_PRESSURE,8.82297
$TCM_TEMP,14.80
$XPDR_PINGS,0
$SC_FREEKB,3909024
$PM_FREEKB,57890560
$24V_AH,23.91,0.787
$10V_AH,9.66,0.701
$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,23.925,30.625,303.850,125.300,0.000,0.000,0.000,0.000,0.000,0.000,5.303,0.000,2113.460,548.132,817.351,17.369,0.000,856.883,0.000,625.029,0.000,0.543,0.000
$DEVICE_MAMPS,264.690,92.565,611.235,485.010,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3289.000,3287.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.491,42.566,0.000,0.000
$MEM,303904
$DATA_FILE_SIZE,10128,339
$CAP_FILE_SIZE,60335,0
$CFSIZE,260030464,258375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,55.99,1
$GPS,280617,180637,4743.227,-12224.354,2,1.6,5,15.7,0.3,39.2,5,8.8