version: 66.13
glider: 204
mission: 19
dive: 39
start: 7 14 117 2 26 23
data:
$ID,204
$MISSION,19
$DIVE,39
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$D_ABORT,220
$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,35
$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,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1010
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52433
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0044816299
$HD_B,0.0200298
$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,400
$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,3075
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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,2941
$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
$PITCH_W_GAIN,7
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22
$MINV_10V,9
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-171.29309
$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
$GPS1,140717,022109,4748.6470,-12501.7246,1,1.1,3,16.2,0.1,0.0,9,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-69.4
$GPS2,140717,022604,4748.6157,-12501.7188,2,1.1,4,16.2,0.9,146.5,9,6.7
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,229.8,17729,-20.6,-10.000,-24.74,2995
$D_GRID,114
$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,-1.21,-194.6,192,2199,1384,1241,0.0,0.0,0,67,0.00,0.00,-52.97,0.000,16386,0.000,0.000,191,2198,2602,2570,2635,0,0,0,0,0,0,26.72,28.83,26.79
$GC,69,-1.21,-194.6,192,2198,2571,2634,3.2,-6.9,5,112,11.70,2.50,-24.48,0.000,18724,0.262,1.235,2664,3601,3736,3698,3775,0,0,0,0,0,0,24.91,24.20,25.13
$GC,265,-1.21,-194.6,2664,3601,3702,3775,38.9,-16.5,44,273,0.00,2.22,0.00,0.000,1030,0.000,0.044,2672,2197,3737,3700,3775,0,0,0,0,0,0,26.20,26.15,26.24
$GC,471,-1.21,-194.6,2672,2196,3702,3776,65.8,-13.0,57,478,0.00,2.25,0.00,0.000,260,0.000,0.061,2663,3601,3738,3701,3775,0,0,0,0,0,0,26.91,25.86,26.96
$GC,701,-1.21,-194.6,2664,3603,3702,3777,97.3,-12.9,103,707,0.00,2.22,0.00,0.000,1030,0.000,0.044,2672,2187,3737,3700,3775,0,0,0,0,0,0,26.26,26.22,26.30
$STATE,771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,771,begin apogee
$GC,774,-0.23,0.0,2673,2301,3702,3775,105.6,-11.9,107,1045,1.23,0.00,267.75,0.550,10246,0.183,0.000,2993,2301,2941,3014,2868,0,0,0,0,0,0,24.79,24.93,24.16
$STATE,1047,end apogee,CONTROL_FINISHED_OK
$STATE,1047,begin climb
$GC,1048,1.21,194.6,2994,2301,3008,2861,120.1,0.0,116,1256,1.58,2.35,199.77,0.537,10756,0.141,0.048,3460,903,2139,2226,2052,0,0,0,0,0,0,25.09,24.98,24.18
$GC,1395,1.21,194.6,3460,902,2202,2036,100.1,10.0,186,1401,0.00,2.20,0.00,0.000,1030,0.000,0.037,3451,2296,2118,2201,2035,0,0,0,0,0,0,26.03,26.00,26.08
$GC,1586,1.21,194.6,3452,2296,2199,2034,80.9,10.4,194,1591,0.00,2.28,0.00,0.000,260,0.000,0.066,3441,3688,2115,2197,2034,0,0,0,0,0,0,26.79,25.63,26.84
$GC,1676,1.21,194.6,3441,3688,2195,2034,71.0,11.4,212,1681,0.00,2.12,0.00,0.000,1030,0.000,0.039,3449,2288,2114,2194,2034,0,0,0,0,0,0,26.38,26.31,26.42
$GC,1886,1.21,194.6,3448,2289,2195,2036,50.6,9.6,224,1891,0.00,2.20,0.00,0.000,516,0.000,0.047,3460,908,2113,2193,2034,0,0,0,0,0,0,26.94,26.10,27.00
$GC,1916,1.29,255.1,3460,909,2194,2035,48.3,7.9,230,1953,0.12,2.17,29.58,0.227,11302,0.160,0.036,3492,2330,1897,1988,1807,0,0,0,0,0,0,25.97,26.24,24.93
$GC,2138,1.29,255.1,3492,2330,1998,1830,26.0,9.8,256,2144,0.00,2.22,2.03,0.184,8452,0.000,0.063,3492,3693,1897,1983,1811,0,0,0,0,0,0,26.91,25.32,25.17
$GC,2202,1.29,255.1,3492,3692,1989,1827,18.6,11.4,269,2210,0.00,2.15,0.00,0.000,1030,0.000,0.036,3501,2299,1908,1992,1825,0,0,0,0,0,0,26.41,26.37,26.44
$GC,2388,1.55,439.3,3502,2299,1996,1828,4.6,3.7,288,2462,0.22,0.00,71.50,0.150,11042,0.111,0.000,3572,2298,1322,1439,1205,0,0,0,0,0,0,26.27,28.83,26.36
$STATE,2463,end climb,SURFACE_DEPTH_REACHED
$STATE,2463,begin surface coast
$FINISH,-0.4,1.022623
$STATE,2487,end surface coast,CONTROL_FINISHED_OK
$STATE,2487,begin surface
$SM_CCo,2504,1.85,0.188,0,0,1309,400.08
$SM_GC,1.08,10.05,0.15,1.85,0.083,0.083,0.188,191,2196,1309,-8.91,1.05,400.08,0,0,0,0,0,0,26.27,26.49,25.22
$IRIDIUM_FIX,4751.40,-12457.94,140717,013752
$TT8_MAMPS,0.047936,0.296604
$HUMID,50.31
$INTERNAL_PRESSURE,8.68625
$TCM_TEMP,13.30
$XPDR_PINGS,33
$PM_FREEKB_00,124650816
$PM_FREEKB_01,124457088
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834880
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,24.16,4.486
$10V_AH,9.57,2.074
$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,24.900,27.225,570.625,1.850,0.000,0.000,0.000,203.225,8.250,0.000,5.856,0.000,1249.705,588.615,931.307,48.682,0.000,1107.939,0.000,532.178,0.000,0.540,0.000
$DEVICE_MAMPS,261.630,1234.710,550.035,188.190,0.000,0.000,0.000,90.270,420.000,0.000,12.730,0.000,2.190,13.320,44.030,55.260,0.000,11.400,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2490.000,2510.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.430,25.342,0.000,0.000
$MEM,278204
$DATA_FILE_SIZE,10106,303
$CAP_FILE_SIZE,41456,0
$CFSIZE,260030464,256368640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,166.76,1
$GPS,140717,030909,4748.455,-12502.039,8,1.1,25,16.2,0.2,0.0,11,4.2