version: 66.13
glider: 204
mission: 18
dive: 4
start: 6 28 117 18 18 13
data:
$ID,204
$MISSION,18
$DIVE,4
$N_DIVES,5
$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,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,32
$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
$GPS1,280617,181543,4743.2979,-12224.2031,2,1.5,4,15.7,0.2,0.0,5,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-64.4
$GPS2,280617,181752,4743.3154,-12224.1689,3,1.5,5,15.7,0.3,0.0,5,6.0
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,257.3,1090,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.99,-146.6,200,2309,619,395,0.0,0.0,0,148,0.00,0.00,-131.77,0.000,16390,0.000,0.000,201,2309,3399,3338,3460,0,0,0,0,0,0,26.91,24.52,26.98
$GC,149,-0.99,-146.6,200,2309,3338,3460,3.1,-4.2,13,166,11.55,2.25,0.00,0.000,2596,0.261,0.054,2773,887,3400,3343,3458,0,0,0,0,0,0,25.58,25.98,25.81
$GC,234,-0.95,-146.6,2774,887,3353,3455,18.3,-11.6,30,242,0.00,2.25,0.00,0.000,1158,0.000,0.047,2764,2287,3401,3350,3453,0,0,0,0,0,0,26.09,26.03,26.16
$GC,540,-0.95,-146.6,2765,2288,3353,3453,50.7,-8.2,61,541,0.00,0.00,0.00,0.000,38,0.000,0.000,2764,2288,3402,3353,3452,0,0,0,0,0,0,27.08,27.14,27.13
$GC,840,-0.95,-146.6,2765,2288,3355,3453,80.2,-10.3,71,846,0.00,2.33,0.00,0.000,260,0.000,0.070,2754,3710,3402,3353,3452,0,0,0,0,0,0,27.11,25.51,27.17
$GC,875,-0.89,-146.6,2755,3712,3354,3452,84.1,-11.2,78,881,0.10,2.28,0.00,0.000,3206,0.158,0.049,2793,2288,3401,3353,3449,0,0,0,0,0,0,25.60,26.06,25.67
$GC,1201,-0.89,-146.6,2793,2289,3353,3451,111.6,-8.4,93,1206,0.00,2.20,0.00,0.000,548,0.000,0.052,2802,893,3401,3353,3450,0,0,0,0,0,0,27.13,25.72,27.19
$GC,1255,-0.89,-146.6,2802,894,3354,3451,116.1,-8.2,104,1263,0.00,2.28,0.00,0.000,1062,0.000,0.050,2793,2298,3402,3354,3450,0,0,0,0,0,0,25.82,25.76,25.88
$GC,1561,-0.89,-146.6,2794,2299,3355,3450,140.9,-8.3,115,1562,0.00,0.00,0.00,0.000,38,0.000,0.000,2793,2298,3401,3353,3449,0,0,0,0,0,0,27.13,27.20,27.19
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1682,-0.21,0.0,2793,2299,3353,3450,150.5,-8.0,119,1822,0.85,0.00,136.40,0.615,10246,0.173,0.000,3013,2299,2797,2837,2757,0,0,0,0,0,0,24.21,25.10,24.24
$STATE,1823,end apogee,CONTROL_FINISHED_OK
$STATE,1823,begin climb
$GC,1824,0.99,146.6,3015,2300,2836,2754,153.2,0.0,123,1970,1.30,2.33,136.65,0.585,10756,0.144,0.051,3408,901,2194,2261,2127,0,0,0,0,0,0,25.31,25.15,24.34
$GC,2004,0.99,146.6,3408,902,2251,2127,139.2,10.8,159,2010,0.00,2.25,0.00,0.000,1030,0.000,0.044,3408,2299,2187,2249,2126,0,0,0,0,0,0,25.86,25.82,25.91
$GC,2334,0.99,146.6,3407,2299,2243,2122,105.1,10.4,175,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,2299,2182,2243,2121,0,0,0,0,0,0,26.93,26.99,26.99
$GC,2635,1.00,164.4,3409,2300,2243,2122,77.5,9.4,185,2656,0.00,2.28,13.25,0.610,8740,0.000,0.049,3417,883,2121,2185,2058,0,0,0,0,0,0,27.04,25.84,24.96
$GC,2700,1.00,164.4,3417,884,2180,2057,70.7,10.7,198,2706,0.00,2.25,0.00,0.000,1030,0.000,0.041,3417,2305,2118,2180,2056,0,0,0,0,0,0,26.27,26.22,26.32
$GC,3006,1.01,168.3,3417,2305,2177,2055,38.5,9.9,219,3011,0.00,2.25,0.00,0.000,292,0.000,0.067,3412,3690,2115,2177,2054,0,0,0,0,0,0,27.05,25.47,27.10
$GC,3166,1.05,212.2,3412,3690,2177,2052,24.0,8.6,251,3188,0.00,2.12,18.25,0.199,9254,0.000,0.040,3421,2287,1931,2003,1859,0,0,0,0,0,0,26.37,26.30,25.59
$STATE,3405,end climb,SURFACE_DEPTH_REACHED
$STATE,3405,begin surface coast
$FINISH,0.4,1.021313
$STATE,3415,end surface coast,CONTROL_FINISHED_OK
$STATE,3415,begin surface
$SM_CCo,3430,155.20,0.148,0,0,498,564.19
$SM_CCo,3587,-0.28,0.000,0,0,501,564.19
$SM_CCo,3588,0.25,0.486,0,0,497,564.19
$SM_GC,0.16,10.10,0.00,0.25,0.108,0.000,0.486,189,2287,497,-8.97,-0.37,564.19,0,0,0,0,0,0,26.37,27.13,25.40
$IRIDIUM_FIX,4742.53,-12217.96,280617,181224
$TT8_MAMPS,0.047187,0.30709
$HUMID,50.51
$INTERNAL_PRESSURE,8.82297
$TCM_TEMP,15.00
$XPDR_PINGS,4
$SC_FREEKB,3908704
$PM_FREEKB,56473920
$24V_AH,23.83,0.853
$10V_AH,9.67,0.768
$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,23.900,27.050,304.550,155.450,0.000,0.000,0.000,0.000,1.000,0.000,6.478,0.000,2337.896,578.120,715.382,15.694,0.000,849.586,0.000,534.205,0.000,0.544,0.000
$DEVICE_MAMPS,260.865,69.615,615.060,485.775,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3410.000,3407.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.296,37.273,0.000,0.000
$MEM,303944
$DATA_FILE_SIZE,10148,278
$CAP_FILE_SIZE,57935,0
$CFSIZE,260030464,258314240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,76.59,1
$GPS,280617,191901,4743.361,-12224.352,34,0.9,34,15.7,0.3,22.8,8,7.4