version: 66.13
glider: 203
mission: 13
dive: 50
start: 7 14 117 13 50 55
data:
$ID,203
$MISSION,13
$DIVE,50
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$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,220
$T_MISSION,250
$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,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,2380
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,20
$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
$GPS1,140717,134453,4745.5879,-12503.3711,1,1.1,2,16.1,0.1,0.0,7,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.0
$GPS2,140717,135035,4745.6104,-12503.3525,3,1.1,4,16.1,0.3,31.0,7,8.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,235.7,12684,-17.5,-10.000,-21.06,2227
$D_GRID,140
$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,-1.04,-146.0,197,2784,1134,1079,0.0,0.0,0,68,0.00,0.00,-52.53,0.000,16386,0.000,0.000,195,2784,2446,2490,2403,0,0,0,0,0,0,26.52,28.83,26.59
$GC,70,-1.04,-146.0,197,2785,2492,2403,3.3,-5.6,5,106,7.25,1.80,-24.35,0.000,18724,0.230,1.274,2022,3862,3538,3606,3470,0,0,0,0,0,0,25.79,24.99,26.13
$GC,161,-1.04,-146.0,2021,3862,3606,3472,19.6,-15.4,23,166,0.00,1.65,0.00,0.000,1030,0.000,0.033,2022,2795,3539,3607,3472,0,0,0,0,0,0,26.36,26.34,26.39
$GC,350,-1.04,-146.0,2022,2797,3609,3474,43.3,-12.7,43,356,0.00,1.73,0.00,0.000,260,0.000,0.059,2014,3860,3540,3607,3473,0,0,0,0,0,0,26.71,26.36,26.77
$GC,375,-1.04,-146.0,2016,3861,3608,3474,46.6,-13.5,48,382,0.00,1.62,0.00,0.000,1030,0.000,0.034,2015,2801,3540,3607,3473,0,0,0,0,0,0,26.51,26.48,26.53
$GC,560,-1.04,-146.0,2014,2801,3607,3475,68.3,-11.1,57,567,0.08,2.17,0.00,0.000,2564,0.214,0.037,2027,1384,3540,3606,3475,0,0,0,0,0,0,26.51,26.51,26.56
$GC,596,-1.04,-146.0,2026,1385,3607,3475,72.1,-10.5,64,602,0.00,2.25,0.00,0.000,1030,0.000,0.042,2026,2798,3540,3606,3475,0,0,0,0,0,0,26.51,26.46,26.55
$GC,801,-1.04,-146.0,2025,2798,3607,3476,93.9,-10.8,75,807,0.00,2.17,0.00,0.000,516,0.000,0.039,2027,1394,3540,3606,3475,0,0,0,0,0,0,26.90,26.56,26.96
$GC,947,-1.04,-146.0,2026,1395,3607,3475,109.2,-10.1,104,953,0.00,2.22,0.00,0.000,1030,0.000,0.041,2022,2803,3541,3607,3475,0,0,0,0,0,0,26.62,26.57,26.73
$GC,1132,-1.04,-146.0,2021,2803,3607,3475,126.4,-9.1,111,1132,0.00,0.00,0.00,0.000,38,0.000,0.000,2022,2802,3541,3607,3475,0,0,0,0,0,0,26.98,27.05,27.05
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1284,-0.25,0.0,2021,2570,3607,3475,141.9,-10.5,116,1419,0.82,0.05,126.97,0.989,10246,0.118,0.164,2289,2610,2940,2968,2912,0,0,0,0,1,0,26.42,24.96,24.25
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1422,1.04,146.0,2289,2611,2979,2913,148.5,0.0,120,1583,1.12,2.12,149.65,0.562,10500,0.037,0.055,2724,3849,2332,2356,2309,0,0,0,0,0,0,25.22,25.14,24.69
$GC,1807,1.10,200.9,2725,3850,2346,2297,134.9,7.5,198,1870,0.00,1.92,57.35,0.539,9254,0.000,0.034,2733,2626,2117,2143,2092,0,0,0,0,0,0,26.06,26.03,25.06
$GC,2048,1.14,237.1,2732,2626,2124,2071,114.8,8.3,216,2109,0.00,2.33,48.97,0.507,8740,0.000,0.044,2741,1183,1970,1999,1942,0,0,0,0,1,0,26.31,25.63,25.01
$GC,2333,1.17,263.4,2740,1184,2011,1943,90.6,8.8,273,2390,0.00,2.25,52.30,0.519,9254,0.000,0.035,2741,2608,1866,1898,1835,0,0,0,0,0,0,26.21,26.20,25.21
$GC,2590,1.17,263.4,2740,2608,1882,1819,65.9,10.0,294,2595,0.00,2.25,0.00,0.000,516,0.000,0.044,2745,1185,1850,1881,1819,0,0,0,0,0,0,26.43,26.14,26.49
$GC,2820,1.25,327.7,2747,1185,1880,1820,46.9,7.0,340,2853,0.00,2.22,27.98,0.247,9254,0.000,0.035,2746,2604,1601,1635,1568,0,0,0,0,0,0,26.41,26.38,25.78
$GC,3030,1.27,353.8,2747,2605,1654,1579,28.2,8.8,364,3053,0.10,2.28,14.30,0.209,10788,0.105,0.043,2813,1189,1494,1530,1458,0,0,0,0,0,0,26.49,26.25,25.91
$GC,3277,1.38,446.5,2814,1189,1545,1469,4.6,5.7,413,3327,0.00,2.20,45.28,0.155,9250,0.000,0.034,2813,2609,1137,1177,1097,0,0,0,0,0,0,26.53,26.49,26.56
$STATE,3327,end climb,SURFACE_DEPTH_REACHED
$STATE,3327,begin surface coast
$FINISH,0.2,1.004162
$STATE,3345,end surface coast,CONTROL_FINISHED_OK
$STATE,3345,begin surface
$SM_CCo,3359,4.70,0.164,0,0,1102,450.13
$SM_GC,1.84,6.93,0.30,4.70,0.044,0.067,0.164,191,2793,1102,-6.73,-1.02,450.13,0,0,0,0,0,0,26.39,26.36,26.04
$IRIDIUM_FIX,4748.11,-12503.20,140717,124628
$TT8_MAMPS,0.053928,0.306341
$HUMID,52.12
$INTERNAL_PRESSURE,8.6348
$TCM_TEMP,18.80
$XPDR_PINGS,0
$PM_FREEKB_00,124818176
$PM_FREEKB_01,108756928
$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,24.25,13.971
$10V_AH,10.18,8.421
$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,16.300,33.875,522.800,4.700,0.000,0.000,0.000,217.100,0.000,0.000,5.761,0.000,2014.586,540.641,1070.724,96.048,0.000,1162.252,0.000,616.067,0.000,0.548,0.000
$DEVICE_MAMPS,230.265,1274.490,989.145,164.475,0.000,0.000,0.000,95.625,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3352.000,3365.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.506,41.786,0.000,0.000
$MEM,278260
$DATA_FILE_SIZE,13450,426
$CAP_FILE_SIZE,51934,0
$CFSIZE,1024393216,992886784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.071,165.74,1
$GPS,140717,144800,4745.452,-12503.644,23,0.9,23,16.1,0.4,72.8,7,4.6