version: 66.13
glider: 203
mission: 13
dive: 37
start: 7 14 117 2 7 50
data:
$ID,203
$MISSION,13
$DIVE,37
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,105
$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,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,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,2400
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,27
$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,0.00113
$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,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,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,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,0.0
$GPS1,140717,015909,4748.8794,-12500.6270,6,0.9,22,16.2,0.2,0.0,9,3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-56.2
$GPS2,140717,020731,4748.8433,-12500.6201,4,0.7,22,16.2,0.5,149.6,12,3.2
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,231.8,19021,-16.1,-10.000,-19.78,2593
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.20,-170.3,185,2792,1134,1082,0.0,0.0,0,72,0.00,0.00,-51.80,0.000,16386,0.000,0.000,183,2791,2465,2509,2422,0,0,0,0,0,0,26.56,28.83,26.64
$GC,74,-1.20,-170.3,185,2792,2514,2424,3.5,-6.1,5,111,7.20,1.85,-25.70,0.000,18724,0.233,1.271,1989,3861,3639,3707,3571,0,0,0,0,0,0,25.86,24.74,26.20
$GC,130,-1.20,-170.3,1990,3861,3708,3572,13.8,-16.3,16,137,0.00,1.62,0.00,0.000,1030,0.000,0.031,1988,2801,3639,3707,3571,0,0,0,0,0,0,26.39,26.37,26.41
$GC,315,-1.20,-170.3,1988,2801,3706,3572,38.9,-11.6,35,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2801,3639,3706,3573,0,0,0,0,0,0,26.72,26.79,26.79
$GC,495,-1.20,-170.3,1987,2801,3706,3574,63.2,-13.3,47,500,0.00,2.15,0.00,0.000,516,0.000,0.034,1990,1387,3640,3706,3574,0,0,0,0,0,0,26.82,26.52,26.87
$GC,641,-1.20,-170.3,1988,1387,3707,3574,80.8,-10.6,76,647,0.03,2.22,0.00,0.000,3078,0.116,0.040,2002,2797,3640,3707,3573,0,0,0,0,0,0,26.34,26.53,26.51
$GC,825,-1.20,-170.3,2001,2797,3707,3572,101.6,-11.8,83,830,0.00,2.17,0.00,0.000,516,0.000,0.036,2002,1384,3640,3707,3574,0,0,0,0,0,0,26.94,26.63,26.99
$STATE,854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,854,begin apogee
$GC,859,-0.31,0.0,2001,2523,3709,3574,105.1,-11.9,89,977,0.88,0.00,105.80,0.811,10246,0.123,0.000,2281,2523,2944,2977,2912,0,0,0,0,1,0,26.39,25.20,24.53
$STATE,980,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,982,1.20,170.3,2282,2524,2987,2913,112.3,0.0,93,1182,1.35,2.35,190.65,0.521,11012,0.056,0.042,2786,1096,2235,2257,2214,0,0,0,0,0,0,25.43,25.22,24.78
$GC,1287,1.20,170.3,2785,1097,2241,2201,102.9,9.8,150,1292,0.00,2.20,0.00,0.000,1030,0.000,0.032,2786,2501,2220,2241,2199,0,0,0,0,0,0,25.89,25.83,25.91
$GC,1487,1.26,227.4,2786,2502,2243,2196,86.1,7.7,160,1584,0.00,0.00,94.95,0.496,8230,0.000,0.000,2786,2502,2013,2040,1986,0,0,0,0,0,0,26.41,25.46,25.06
$GC,1757,1.28,246.0,2787,2503,2026,1967,62.0,9.3,169,1788,0.00,0.00,26.40,0.500,8230,0.000,0.000,2786,2502,1933,1964,1902,0,0,0,0,0,0,26.32,25.64,25.35
$GC,1966,1.28,246.0,2785,2502,1953,1892,38.5,12.6,182,1973,0.00,2.25,0.00,0.000,516,0.000,0.041,2793,1101,1922,1954,1891,0,0,0,0,0,0,26.45,26.17,26.51
$GC,2062,1.31,266.3,2794,1101,1954,1892,28.1,9.2,201,2075,0.00,2.20,8.05,0.187,9254,0.000,0.033,2793,2499,1852,1883,1821,0,0,0,0,0,0,26.32,26.29,25.84
$GC,2260,1.35,305.5,2794,2500,1908,1834,10.3,8.4,222,2287,0.08,2.25,19.83,0.169,10788,0.127,0.044,2835,1102,1690,1724,1657,0,0,0,0,0,0,26.51,26.28,26.01
$GC,2461,1.52,452.7,2836,1103,1743,1666,2.3,4.2,262,2474,0.08,2.17,9.27,0.153,11298,0.060,0.031,2897,2503,1620,1654,1587,0,0,0,0,0,0,26.41,26.48,26.48
$STATE,2475,end climb,SURFACE_DEPTH_REACHED
$STATE,2475,begin surface coast
$FINISH,0.2,1.011194
$STATE,2513,end surface coast,CONTROL_FINISHED_OK
$STATE,2513,begin surface
$SM_CCo,2530,59.20,0.148,0,0,1101,450.13
$SM_GC,1.54,7.25,0.45,59.20,0.054,0.056,0.148,180,2786,1101,-6.80,-1.30,450.13,0,0,0,0,0,0,26.50,26.44,26.03
$IRIDIUM_FIX,4747.72,-12458.73,140717,020111
$TT8_MAMPS,0.053179,0.279377
$HUMID,53.15
$INTERNAL_PRESSURE,8.672
$TCM_TEMP,18.90
$XPDR_PINGS,0
$PM_FREEKB_00,124818176
$PM_FREEKB_01,124584256
$PM_FREEKB_02,124834944
$PM_FREEKB_03,124834944
$PM_FREEKB_04,124834944
$PM_FREEKB_05,124834944
$PM_FREEKB_06,124834944
$PM_FREEKB_07,124834944
$PM_ACTIVECARD,1
$24V_AH,24.53,12.968
$10V_AH,10.23,7.593
$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,16.850,25.675,454.950,59.200,0.000,0.000,0.000,304.575,0.000,0.000,23.497,0.000,1531.612,562.219,925.624,86.980,0.000,1143.548,0.000,398.356,0.000,0.549,0.000
$DEVICE_MAMPS,233.325,1270.665,810.900,147.645,0.000,0.000,0.000,89.505,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2517.000,2533.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.177,49.492,0.000,0.000
$MEM,278184
$DATA_FILE_SIZE,10103,272
$CAP_FILE_SIZE,42862,0
$CFSIZE,1024393216,994410496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.101,181.43,1
$GPS,140717,025140,4748.601,-12500.930,2,0.9,4,16.2,0.4,113.6,12,6.7