version: 66.13
glider: 204
mission: 20
dive: 24
start: 9 7 117 14 26 55
data:
$ID,204
$MISSION,20
$DIVE,24
$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,32
$R_STBD_OVSHOOT,16
$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
$GPS1,070917,142125,4806.5176,-12222.3994,34,0.8,34,15.8,0.1,0.0,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-73.4
$GPS2,070917,142636,4806.5259,-12222.3936,2,0.8,3,15.8,0.1,0.0,12,9.1
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,140.0,1089,-18.5,-10.000,-20.79,2247
$D_GRID,108
$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,-146.6,195,2704,1103,955,0.0,0.0,0,127,0.00,0.00,-112.40,0.000,16386,0.000,0.000,193,2704,3627,3556,3698,0,0,0,0,0,0,26.78,28.83,26.84
$GC,129,-1.04,-146.6,195,2704,3558,3701,3.5,-6.5,11,155,12.27,2.42,-7.18,0.000,18980,0.266,1.223,2807,1298,3962,3906,4019,0,0,0,0,0,0,25.30,24.20,24.07
$GC,241,-0.84,-146.6,2808,1299,3909,4020,21.5,-13.0,33,247,0.28,2.28,0.00,0.000,3206,0.204,0.055,2863,2707,3963,3908,4019,0,0,0,0,0,0,25.34,24.68,25.70
$GC,572,-0.77,-146.6,2864,2708,3910,4020,56.6,-9.4,63,577,0.00,2.22,0.00,0.000,676,0.000,0.050,2874,1296,3963,3908,4019,0,0,0,0,0,0,26.94,25.90,27.00
$GC,596,-0.73,-146.6,2875,1297,3910,4020,59.0,-9.4,68,603,0.10,2.30,0.00,0.000,3238,0.170,0.054,2893,2700,3963,3908,4019,0,0,0,0,0,0,25.46,25.87,25.56
$GC,902,-0.73,-146.6,2894,2702,3910,4020,85.4,-8.9,79,907,0.00,1.67,0.00,0.000,292,0.000,0.074,2888,3721,3963,3908,4019,0,0,0,0,0,0,26.92,25.50,26.98
$GC,932,-0.73,-146.6,2887,3721,3905,4020,88.2,-9.9,85,938,0.00,1.62,0.00,0.000,1030,0.000,0.049,2893,2704,3963,3908,4019,0,0,0,0,0,0,26.10,26.05,26.14
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1174,-0.23,0.0,2895,2705,3909,4020,109.3,-8.6,98,1299,0.65,0.00,122.00,0.585,10246,0.179,0.000,3062,2705,3428,3449,3407,0,0,0,0,0,0,24.52,25.31,24.54
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1302,1.04,146.6,3063,2704,3445,3399,113.2,0.0,102,1444,1.38,0.00,136.55,0.551,10502,0.135,0.000,3469,2704,2824,2859,2790,0,0,0,0,0,0,25.35,25.19,24.49
$GC,1743,1.01,169.2,3470,2705,2836,2783,79.5,9.0,122,1765,0.00,0.00,20.80,0.530,8358,0.000,0.000,3469,2703,2739,2768,2711,0,0,0,0,0,0,26.84,25.61,24.91
$GC,2043,1.00,193.6,3467,2704,2741,2695,52.4,8.9,132,2067,0.00,0.00,22.77,0.528,8614,0.000,0.000,3469,2702,2638,2670,2607,0,0,0,0,0,0,26.87,25.65,24.95
$GC,2372,1.03,214.2,3468,2704,2648,2594,21.6,9.1,168,2385,0.00,1.67,8.62,0.174,8484,0.000,0.063,3468,3701,2554,2590,2518,0,0,0,0,0,0,26.46,25.74,25.35
$GC,2465,1.05,228.2,3467,3701,2602,2522,12.7,9.4,186,2477,0.00,1.58,7.90,0.160,9254,0.000,0.042,3473,2684,2496,2538,2454,0,0,0,0,0,0,26.27,26.24,25.45
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,0.4,1.019480
$STATE,2635,end surface coast,CONTROL_FINISHED_OK
$STATE,2635,begin surface
$SM_CCo,2651,161.38,0.129,0,0,1026,588.97
$SM_GC,0.43,9.75,0.00,161.38,0.082,0.000,0.129,190,2684,1026,-9.13,-0.45,588.97,0,0,0,0,0,0,26.35,27.02,25.65
$IRIDIUM_FIX,4810.68,-12218.12,070917,133009
$TT8_MAMPS,0.047936,0.306341
$HUMID,51.61
$INTERNAL_PRESSURE,8.58859
$TCM_TEMP,15.20
$XPDR_PINGS,245
$PM_FREEKB_00,35648640
$PM_FREEKB_01,62336896
$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,0
$24V_AH,24.07,17.050
$10V_AH,9.58,13.381
$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,24.425,15.775,318.650,161.375,0.000,0.000,0.000,207.900,61.250,0.000,4.775,0.000,1691.447,590.424,790.119,69.005,0.000,1004.784,0.000,411.329,0.000,0.833,0.000
$DEVICE_MAMPS,266.220,1223.235,585.225,129.285,0.000,0.000,0.000,94.860,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2625.000,2631.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.526,42.360,0.000,0.000
$MEM,188292
$DATA_FILE_SIZE,6794,204
$CAP_FILE_SIZE,36410,0
$CFSIZE,260030464,256851968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,90.62,1
$GPS,070917,151428,4806.281,-12222.120,2,0.9,3,15.8,0.2,342.5,11,7.2