version: 66.13
glider: 203
mission: 13
dive: 45
start: 7 14 117 9 2 10
data:
$ID,203
$MISSION,13
$DIVE,45
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$D_ABORT,500
$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,70
$T_MISSION,85
$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,46
$R_STBD_OVSHOOT,19
$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
$GPS1,140717,085601,4746.6826,-12502.1436,2,1.4,16,16.1,0.7,240.0,7,2.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.9
$GPS2,140717,090151,4746.6411,-12502.1855,1,1.4,3,16.1,0.1,0.0,7,5.7
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,236.9,14951,-16.1,-10.000,-19.78,2593
$D_GRID,125
$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,-1.20,-170.3,179,2784,1133,1080,0.0,0.0,0,68,0.00,0.00,-52.47,0.000,16386,0.000,0.000,179,2783,2453,2497,2409,0,0,0,0,0,0,26.49,28.83,26.56
$GC,70,-1.20,-170.3,181,2784,2500,2410,3.3,-5.5,5,112,7.22,1.88,-26.65,0.000,18724,0.233,1.276,1988,3866,3639,3707,3571,0,0,0,0,0,0,25.82,24.72,26.15
$GC,246,-1.20,-170.3,1987,3867,3706,3573,31.9,-13.8,40,253,0.00,1.62,0.00,0.000,1030,0.000,0.031,1988,2807,3640,3707,3573,0,0,0,0,0,0,26.39,26.36,26.41
$GC,451,-1.20,-170.3,1989,2808,3709,3575,57.1,-12.0,57,457,0.00,2.17,0.00,0.000,516,0.000,0.037,1988,1391,3640,3707,3573,0,0,0,0,0,0,26.73,26.44,26.79
$GC,681,-1.20,-170.3,1987,1392,3708,3574,85.7,-13.7,103,687,0.05,2.22,0.00,0.000,3078,0.155,0.040,1995,2797,3641,3708,3574,0,0,0,0,0,0,26.34,26.51,26.43
$GC,871,-1.20,-170.3,1996,2798,3709,3574,107.8,-10.9,111,877,0.00,2.17,0.00,0.000,516,0.000,0.037,1996,1388,3640,3707,3574,0,0,0,0,0,0,26.91,26.60,26.97
$STATE,1011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1011,begin apogee
$GC,1016,-0.31,0.0,1993,2530,3710,3575,125.0,-13.1,139,1133,0.90,0.00,107.68,0.875,10246,0.122,0.000,2282,2529,2942,2972,2912,0,0,0,0,1,0,26.40,25.13,24.42
$STATE,1135,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1137,1.20,170.3,2282,2530,2976,2913,132.0,0.0,143,1329,1.33,2.17,181.40,0.532,10500,0.042,0.053,2786,3846,2232,2255,2210,0,0,0,0,0,0,25.36,25.21,24.77
$GC,1528,1.21,183.5,2785,3846,2242,2194,112.1,9.5,222,1539,0.00,2.12,3.90,0.487,9254,0.000,0.034,2797,2500,2191,2218,2165,0,0,0,0,0,0,26.06,26.03,25.22
$GC,1733,1.21,183.5,2797,2501,2237,2168,91.8,9.6,233,1739,0.00,2.22,0.00,0.000,516,0.000,0.044,2806,1103,2201,2235,2167,0,0,0,0,0,0,26.51,26.21,26.56
$GC,1763,1.25,217.7,2805,1104,2235,2167,89.1,8.6,239,1839,0.00,2.20,67.20,0.503,9254,0.000,0.036,2806,2495,2047,2074,2021,0,0,0,0,0,0,26.30,26.26,25.20
$GC,2034,1.25,217.7,2805,2494,2065,2010,60.8,10.7,263,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2495,2037,2065,2009,0,0,0,0,0,0,26.43,26.51,26.50
$GC,2213,1.25,217.7,2805,2495,2063,2009,41.1,9.9,273,2219,0.00,2.17,0.00,0.000,260,0.000,0.054,2806,3846,2035,2063,2008,0,0,0,0,0,0,26.62,26.30,26.68
$GC,2428,1.25,217.7,2806,3847,2065,2008,24.2,10.1,316,2435,0.00,2.10,0.00,0.000,1030,0.000,0.034,2816,2487,2033,2060,2007,0,0,0,0,0,0,26.55,26.51,26.57
$GC,2614,1.42,365.0,2817,2488,2065,2008,14.2,4.2,335,2686,0.08,0.00,64.70,0.174,10534,0.131,0.000,2850,2487,1448,1484,1413,0,0,0,0,0,0,26.66,26.27,26.03
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2783,begin surface coast
$FINISH,0.2,1.022586
$STATE,2802,end surface coast,CONTROL_FINISHED_OK
$STATE,2803,begin surface
$SM_CCo,2817,40.20,0.148,0,0,1101,450.13
$SM_GC,0.96,7.05,0.52,40.20,0.047,0.054,0.148,185,2798,1101,-6.80,-0.85,450.13,0,0,0,0,0,0,26.46,26.41,26.06
$IRIDIUM_FIX,4745.35,-12501.36,140717,080318
$TT8_MAMPS,0.053928,0.308588
$HUMID,51.77
$INTERNAL_PRESSURE,8.6348
$TCM_TEMP,18.80
$XPDR_PINGS,0
$PM_FREEKB_00,124818176
$PM_FREEKB_01,115843392
$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,24.42,13.573
$10V_AH,10.19,8.085
$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,16.625,25.375,424.875,40.200,0.000,0.000,0.000,228.400,0.000,0.000,5.714,0.000,1672.923,501.335,958.894,89.545,0.000,1070.776,0.000,519.986,0.000,0.549,0.000
$DEVICE_MAMPS,233.325,1276.020,875.160,148.410,0.000,0.000,0.000,91.035,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2808.000,2821.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.117,41.774,0.000,0.000
$MEM,278260
$DATA_FILE_SIZE,10127,358
$CAP_FILE_SIZE,44543,0
$CFSIZE,1024393216,993492992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.102,114.91,1
$GPS,140717,095101,4746.412,-12502.252,13,0.8,36,16.1,0.2,0.0,10,1.6