version: 66.13
glider: 203
mission: 13
dive: 23
start: 7 13 117 14 36 2
data:
$ID,203
$MISSION,13
$DIVE,23
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,80
$D_ABORT,200
$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,26
$T_MISSION,40
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52418
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$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,450
$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,15
$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,2360
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$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,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,36
$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,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$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,-167.37723
$PRESSURE_SLOPE,0.00010878081
$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,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,1
$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,0.0
$GPS1,130717,143142,4752.0166,-12458.9521,1,1.1,3,16.2,0.5,271.4,7,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.2
$GPS2,130717,143543,4752.0073,-12458.9482,3,1.1,4,16.2,0.3,123.6,7,7.1
$SPEED_LIMITS,0.178,0.281
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,229.7,24660,-16.5,-10.256,-20.08,2529
$D_GRID,96
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.99,-170.3,200,2603,1142,1077,0.0,0.0,0,62,0.00,0.00,-52.33,0.000,16386,0.000,0.000,199,2603,2481,2521,2441,0,0,0,0,0,0,26.53,28.83,26.61
$GC,64,-0.99,-170.3,199,2603,2523,2442,3.8,-6.8,5,100,7.15,2.10,-24.83,0.000,18724,0.230,1.274,2013,3853,3635,3700,3571,0,0,0,0,0,0,25.87,25.08,26.20
$GC,110,-0.75,-170.3,2014,3854,3703,3572,12.6,-14.1,14,117,0.28,1.95,0.00,0.000,3206,0.138,0.034,2100,2597,3636,3701,3571,0,0,0,0,0,0,26.10,26.32,26.20
$GC,296,-0.80,-170.3,2100,2597,3704,3573,30.2,-9.3,33,301,0.00,2.15,0.00,0.000,676,0.000,0.038,2100,1185,3637,3702,3573,0,0,0,0,0,0,26.69,26.41,26.75
$GC,376,-0.86,-170.3,2099,1185,3702,3573,37.8,-9.4,49,382,0.00,2.20,0.00,0.000,1190,0.000,0.037,2095,2598,3637,3702,3572,0,0,0,0,0,0,26.51,26.46,26.53
$GC,566,-0.92,-170.3,2094,2599,3702,3574,55.5,-9.0,65,573,0.00,2.20,0.00,0.000,676,0.000,0.040,2094,1186,3637,3702,3573,0,0,0,0,0,0,26.83,26.54,26.89
$GC,612,-1.00,-170.3,2093,1186,3702,3574,59.7,-9.1,74,618,0.12,2.20,0.00,0.000,5286,0.085,0.037,2023,2624,3637,3702,3573,0,0,0,0,0,0,26.55,26.55,26.63
$STATE,805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,805,begin apogee
$GC,809,-0.25,0.0,2023,2624,3703,3574,80.8,-11.0,83,912,0.75,0.00,95.85,0.827,10246,0.119,0.000,2263,2624,2938,2967,2909,0,0,0,0,1,0,26.40,25.25,24.60
$STATE,913,end apogee,CONTROL_FINISHED_OK
$STATE,913,begin climb
$GC,914,0.99,170.3,2263,2625,2978,2910,85.8,0.0,86,1033,1.12,2.33,104.53,0.759,10756,0.064,0.041,2676,1193,2245,2274,2217,0,0,0,0,1,0,25.37,24.98,24.34
$GC,1257,1.02,273.9,2675,1194,2284,2218,74.6,6.0,156,1349,0.00,2.22,77.65,0.666,9382,0.000,0.033,2676,2606,1824,1860,1788,0,0,0,0,1,0,26.09,26.06,24.60
$GC,1538,1.05,299.6,2677,2607,1868,1788,51.3,9.2,182,1582,0.00,2.08,34.53,0.516,8484,0.000,0.056,2676,3850,1717,1753,1681,0,0,0,0,1,0,26.27,25.68,25.04
$GC,1606,1.02,312.5,2677,3851,1766,1684,45.1,9.7,195,1618,0.00,2.00,7.28,0.233,9382,0.000,0.037,2683,2599,1663,1700,1626,0,0,0,0,0,0,25.91,25.87,25.53
$GC,1803,1.05,343.8,2682,2599,1714,1631,28.4,9.0,216,1825,0.00,2.20,15.70,0.207,8740,0.000,0.044,2688,1192,1537,1577,1497,0,0,0,0,0,0,26.43,26.07,25.77
$GC,1864,1.12,377.4,2687,1193,1585,1499,22.8,8.9,228,1887,0.00,2.22,17.15,0.194,9382,0.000,0.035,2688,2599,1398,1440,1357,0,0,0,0,0,0,26.22,26.18,25.80
$GC,2065,1.35,483.8,2688,2599,1449,1359,8.7,5.9,250,2122,0.22,2.22,52.28,0.160,10916,0.064,0.042,2802,1186,965,1005,925,0,0,0,0,0,0,26.37,26.06,25.94
$STATE,2156,end climb,SURFACE_DEPTH_REACHED
$STATE,2156,begin surface coast
$FINISH,0.2,1.022744
$STATE,2175,end surface coast,CONTROL_FINISHED_OK
$STATE,2175,begin surface
$SM_CCo,2250,0.00,0.000,0,0,968,484.22
$SM_GC,1.07,6.78,2.25,0.00,0.031,0.034,0.000,202,2610,968,-6.66,-0.90,484.22,0,0,0,0,0,0,26.28,26.27,26.34
$IRIDIUM_FIX,4749.15,-12449.01,130717,135058
$TT8_MAMPS,0.053179,0.289863
$HUMID,52.48
$INTERNAL_PRESSURE,8.6162
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.34,11.860
$10V_AH,10.22,6.939
$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,16.425,30.325,404.950,0.000,0.000,0.000,0.000,161.550,0.000,0.000,5.614,0.000,1278.603,444.467,707.587,64.978,0.000,889.762,0.000,398.203,0.000,0.548,0.000
$DEVICE_MAMPS,229.500,1273.725,826.965,0.000,0.000,0.000,0.000,91.035,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2181.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.068,0.000,0.000,0.000
$MEM,278172
$DATA_FILE_SIZE,10165,272
$CAP_FILE_SIZE,39978,0
$CFSIZE,1024393216,995868672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.169,177.86,1
$GPS,130717,151409,4751.770,-12459.177,1,0.9,21,16.2,0.5,154.4,11,2.8