version: 66.13
glider: 203
mission: 17
dive: 6
start: 10 8 117 4 30 41
data:
$ID,203
$MISSION,17
$DIVE,6
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,950
$D_ABORT,1010
$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,320
$T_MISSION,350
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52747
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.014
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,57.182999
$TGT_DEFAULT_LON,-151
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2540
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,3200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3400
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00132
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,3
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,10
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.43977
$PRESSURE_SLOPE,0.00010878081
$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,4
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$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,-1
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043963501
$SEABIRD_T_H,0.00063669891
$SEABIRD_T_I,2.4874016e-05
$SEABIRD_T_J,2.9344606e-06
$SEABIRD_C_G,-10.04379
$SEABIRD_C_H,1.1655113
$SEABIRD_C_I,-0.0016799819
$SEABIRD_C_J,0.00021581368
$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
$GPS1,081017,042200,1939.7557,-15602.8379,24,0.8,24,9.5,0.4,72.8,10,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.1
$GPS2,081017,043021,1939.7936,-15602.8193,2,0.8,3,9.5,0.3,7.0,10,6.9
$SPEED_LIMITS,0.171,0.222
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,298.0,1888,-26.6,-9.896,-30.00,1346
$D_GRID,1010
$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,14,-1.27,-86.9,179,2403,982,930,0.0,0.0,0,98,0.00,0.00,-82.38,0.000,16386,0.000,0.000,180,2402,3441,3485,3398,0,0,0,0,0,0,26.66,28.83,26.74
$GC,100,-1.27,-86.9,179,2403,3485,3398,6.4,-12.2,8,117,7.45,2.33,-4.97,0.000,18692,0.212,1.217,2104,3802,3754,3810,3698,0,0,0,0,0,0,25.77,24.84,26.13
$GC,183,-1.27,-86.9,2105,3802,3817,3699,30.6,-19.8,24,187,0.00,2.05,0.00,0.000,1030,0.000,0.024,2103,2318,3756,3814,3698,0,0,0,0,0,0,26.55,26.51,26.57
$GC,493,-1.31,-86.9,2106,2318,3818,3699,91.0,-18.4,42,498,0.00,2.33,0.00,0.000,388,0.000,0.047,2093,3801,3757,3816,3698,0,0,0,0,0,0,26.99,26.39,27.05
$GC,722,-1.37,-86.9,2093,3803,3820,3699,134.1,-18.0,88,727,0.00,2.03,0.00,0.000,1158,0.000,0.024,2093,2296,3759,3819,3699,0,0,0,0,0,0,26.79,26.74,26.82
$GC,1033,-1.50,-86.9,2092,2297,3822,3699,179.1,-14.0,100,1038,0.00,2.35,0.00,0.000,388,0.000,0.047,2081,3802,3760,3822,3698,0,0,0,0,0,0,27.16,26.46,27.22
$GC,1164,-1.64,-86.9,2080,3804,3823,3698,196.3,-14.0,126,1168,0.15,2.03,0.00,0.000,5254,0.070,0.023,1982,2292,3760,3823,3698,0,0,0,0,0,0,26.74,26.84,26.80
$GC,1484,-1.64,-86.9,1981,2292,3825,3699,249.2,-16.7,140,1489,0.08,2.35,0.00,0.000,2308,0.197,0.045,1987,3802,3762,3826,3698,0,0,0,0,0,0,26.94,26.48,26.96
$GC,1713,-1.64,-86.9,1988,3803,3828,3699,288.5,-16.1,186,1718,0.00,2.05,0.00,0.000,1030,0.000,0.023,1987,2314,3762,3826,3698,0,0,0,0,0,0,26.89,26.87,26.91
$GC,2024,-1.67,-86.9,1986,2312,3826,3699,335.8,-15.2,193,2030,0.00,2.33,0.00,0.000,388,0.000,0.048,1974,3801,3762,3826,3698,0,0,0,0,0,0,27.24,26.46,27.31
$GC,2239,-1.67,-86.9,1977,3802,3825,3699,371.2,-17.1,236,2244,0.00,2.05,0.00,0.000,1030,0.000,0.024,1974,2320,3760,3822,3698,0,0,0,0,0,0,26.88,26.85,26.90
$GC,2565,-1.70,-86.9,1975,2321,3819,3700,425.0,-16.6,246,2570,0.00,2.35,0.00,0.000,388,0.000,0.050,1964,3803,3757,3817,3698,0,0,0,0,0,0,25.55,26.01,25.79
$GC,2794,-1.70,-86.9,1963,3803,3813,3699,465.6,-18.4,292,2800,0.05,2.08,0.00,0.000,3078,0.166,0.025,1978,2345,3755,3812,3698,0,0,0,0,0,0,26.51,26.82,26.54
$GC,3105,-1.75,-86.9,1977,2345,3805,3699,511.6,-14.4,299,3110,0.00,2.33,0.00,0.000,388,0.000,0.051,1969,3803,3752,3806,3698,0,0,0,0,0,0,25.57,26.01,25.79
$GC,3279,-1.75,-86.9,1968,3803,3801,3698,540.8,-16.6,334,3286,0.00,2.10,0.00,0.000,1030,0.000,0.026,1969,2338,3749,3802,3697,0,0,0,0,0,0,26.82,26.79,26.83
$GC,3586,-1.79,-86.9,1968,2339,3796,3699,588.3,-15.5,340,3590,0.00,2.35,0.00,0.000,388,0.000,0.053,1959,3802,3747,3796,3698,0,0,0,0,0,0,25.58,26.01,25.80
$GC,3745,-1.79,-86.9,1958,3803,3792,3699,613.0,-15.0,372,3750,0.00,2.10,0.00,0.000,1030,0.000,0.028,1958,2354,3745,3792,3698,0,0,0,0,0,0,26.78,26.75,26.81
$GC,4066,-1.79,-86.9,1957,2354,3787,3699,658.6,-14.2,381,4071,0.00,2.30,0.00,0.000,260,0.000,0.054,1946,3799,3742,3787,3698,0,0,0,0,0,0,27.24,26.25,27.31
$GC,4231,-2.71,-146.0,1947,3800,3787,3699,673.0,-3.3,414,4236,0.73,2.00,0.00,0.000,5286,0.048,0.030,1657,2421,3741,3785,3698,0,0,0,0,0,0,26.58,26.68,26.65
$STATE,4425,end dive,NO_VERTICAL_VELOCITY
$STATE,4425,begin apogee
$GC,4430,-0.22,0.0,1657,3205,3781,3696,673.5,0.0,420,4513,2.08,0.00,79.78,0.890,10246,0.033,0.000,2483,3205,3399,3441,3358,0,0,0,0,0,0,26.70,25.60,24.87
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4517,1.35,146.0,2483,3206,3430,3350,673.8,0.0,421,4690,1.25,1.15,166.73,0.746,11012,0.036,0.061,2969,3845,2801,2836,2766,0,0,0,0,0,0,25.86,25.28,24.63
$GC,4915,1.52,275.8,2970,3845,2815,2752,674.1,-0.0,502,4923,0.10,0.93,5.50,0.738,11298,0.057,0.032,3028,3241,2750,2784,2717,0,0,0,0,0,0,26.19,26.30,26.24
$FREEZE,673.92,0.000,0.000,0,1,0
$STATE,4924,end climb,NO_VERTICAL_VELOCITY
$STATE,4924,begin surface
$SM_CCo,4928,495.55,1.464,1,0,498,711.37
$SM_GC,0.87,7.55,1.25,0.00,0.054,0.027,0.000,205,2329,488,-7.24,1.13,714.31,0,0,0,0,0,0,26.72,26.95,26.80
$IRIDIUM_FIX,1935.48,-15604.81,081017,002213
$TT8_MAMPS,0.05243,0.340046
$HUMID,62.16
$INTERNAL_PRESSURE,8.9603
$TCM_TEMP,18.00
$XPDR_PINGS,269
$PM_FREEKB_00,51427520
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_FREEKB_04,62343040
$PM_FREEKB_05,62343040
$PM_FREEKB_06,62343040
$PM_FREEKB_07,62343040
$PM_ACTIVECARD,0
$24V_AH,23.41,5.711
$10V_AH,10.32,1.535
$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,19.425,44.200,252.000,495.550,0.000,0.000,0.000,330.675,67.250,0.000,4.845,0.000,6981.350,831.650,1482.839,161.597,0.000,1643.061,0.000,816.235,0.000,0.555,0.000
$DEVICE_MAMPS,211.905,1217.115,890.460,1464.210,0.000,0.000,0.000,120.105,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4943.000,4946.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.422,40.393,0.000,0.000
$MEM,331652
$DATA_FILE_SIZE,16761,503
$CAP_FILE_SIZE,74992,0
$CFSIZE,1024393216,1021952000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.015,339.26,1
$GPS,081017,070101,1940.464,-15602.876,13,0.9,24,9.5,0.4,25.3,8,2.7