version: 66.13
glider: 203
mission: 13
dive: 52
start: 7 14 117 15 56 36
data:
$ID,203
$MISSION,13
$DIVE,52
$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,21
$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
$GPS1,140717,155018,4745.2012,-12503.9404,3,1.1,5,16.1,0.4,79.8,8,7.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.9
$GPS2,140717,155616,4745.1943,-12503.8740,2,1.1,3,16.1,0.1,0.0,8,6.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,241.1,11729,-17.5,-10.000,-21.06,2227
$D_GRID,146
$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,-146.0,186,2788,1138,1084,0.0,0.0,0,68,0.00,0.00,-52.58,0.000,16386,0.000,0.000,185,2787,2446,2491,2402,0,0,0,0,0,0,26.55,28.83,26.62
$GC,70,-1.04,-146.0,186,2788,2493,2402,3.3,-5.4,5,106,7.28,1.80,-24.65,0.000,18724,0.230,1.276,2020,3860,3538,3606,3470,0,0,0,0,0,0,25.79,24.99,26.14
$GC,185,-1.04,-146.0,2020,3861,3606,3472,21.8,-11.4,28,192,0.00,1.62,0.00,0.000,1030,0.000,0.032,2021,2804,3539,3607,3472,0,0,0,0,0,0,26.41,26.39,26.43
$GC,371,-1.04,-146.0,2021,2805,3609,3472,43.2,-12.3,47,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2804,3540,3608,3473,0,0,0,0,0,0,26.74,26.82,26.79
$GC,551,-1.04,-146.0,2020,2804,3606,3475,63.2,-10.6,57,557,0.00,2.17,0.00,0.000,516,0.000,0.036,2021,1381,3540,3607,3474,0,0,0,0,0,0,26.83,26.51,26.89
$GC,692,-1.04,-146.0,2021,1382,3609,3475,77.6,-10.2,85,698,0.08,2.20,0.00,0.000,3078,0.219,0.041,2027,2803,3540,3607,3474,0,0,0,0,0,0,26.34,26.51,26.50
$GC,882,-1.04,-146.0,2026,2803,3607,3475,97.7,-10.7,93,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2803,3540,3607,3474,0,0,0,0,0,0,26.94,27.01,26.99
$GC,1062,-1.04,-146.0,2028,2803,3607,3475,115.0,-9.2,99,1067,0.00,2.17,0.00,0.000,548,0.000,0.036,2027,1361,3540,3606,3474,0,0,0,0,0,0,26.98,26.65,27.04
$GC,1187,-1.04,-146.0,2028,1362,3609,3475,127.8,-10.5,124,1193,0.00,2.25,0.00,0.000,1030,0.000,0.041,2024,2817,3540,3607,3473,0,0,0,0,0,0,26.72,26.61,26.76
$STATE,1391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1391,begin apogee
$GC,1394,-0.25,0.0,2027,2572,3606,3475,148.1,-9.8,135,1543,0.80,0.00,135.57,1.000,10246,0.116,0.000,2286,2571,2945,2979,2912,0,0,0,0,1,0,26.44,24.94,24.20
$STATE,1545,end apogee,CONTROL_FINISHED_OK
$STATE,1545,begin climb
$GC,1546,1.04,146.0,2285,2571,2985,2913,156.0,0.0,140,1705,1.15,2.25,148.20,0.559,11012,0.050,0.040,2720,1214,2332,2354,2310,0,0,0,0,0,0,25.23,25.12,24.67
$GC,1755,1.14,235.0,2721,1215,2346,2301,156.7,5.9,177,1851,0.00,2.28,91.25,0.535,9254,0.000,0.036,2720,2614,1981,2010,1952,0,0,0,0,0,0,25.59,25.56,24.71
$GC,2055,1.15,246.1,2719,2614,1986,1924,130.7,9.5,207,2061,0.00,2.00,0.00,0.000,292,0.000,0.056,2719,3841,1955,1987,1923,0,0,0,0,0,0,26.19,25.89,26.25
$GC,2145,1.15,246.1,2721,3842,1988,1923,121.6,10.1,225,2153,0.00,1.92,3.05,0.419,9222,0.000,0.037,2728,2621,1934,1966,1902,0,0,0,0,0,0,26.15,26.11,25.16
$GC,2357,1.17,257.7,2728,2620,1979,1904,101.5,9.5,237,2384,0.00,2.25,21.48,0.542,8740,0.000,0.042,2734,1190,1886,1918,1854,0,0,0,0,0,0,26.55,25.83,25.49
$GC,2543,1.17,257.7,2735,1188,1908,1847,83.5,10.3,274,2548,0.00,2.22,0.00,0.000,1030,0.000,0.036,2734,2601,1876,1907,1845,0,0,0,0,0,0,26.31,26.27,26.34
$GC,2748,1.19,278.9,2733,2602,1906,1845,64.5,9.0,285,2785,0.00,2.00,31.17,0.532,8484,0.000,0.058,2734,3845,1798,1830,1767,0,0,0,0,0,0,26.70,26.06,25.56
$GC,2874,1.19,278.9,2735,3846,1823,1757,51.5,9.9,310,2879,0.00,1.92,0.00,0.000,1030,0.000,0.037,2741,2591,1791,1825,1758,0,0,0,0,0,0,26.32,26.27,26.35
$GC,3060,1.26,342.6,2742,2592,1823,1758,36.3,7.1,331,3091,0.10,0.00,29.62,0.223,10790,0.106,0.000,2799,2590,1542,1576,1508,0,0,0,0,0,0,26.48,26.16,25.86
$GC,3269,1.26,342.6,2798,2591,1589,1516,12.5,10.9,353,3275,0.00,2.15,0.00,0.000,516,0.000,0.044,2805,1192,1552,1589,1516,0,0,0,0,0,0,26.70,26.39,26.75
$GC,3324,1.26,342.6,2805,1193,1588,1516,6.4,10.3,364,3331,0.00,2.20,0.00,0.000,1030,0.000,0.036,2806,2599,1552,1589,1515,0,0,0,0,0,0,26.48,26.44,26.51
$STATE,3388,end climb,SURFACE_DEPTH_REACHED
$STATE,3388,begin surface coast
$FINISH,0.3,1.022383
$STATE,3418,end surface coast,CONTROL_FINISHED_OK
$STATE,3418,begin surface
$SM_CCo,3432,53.80,0.151,0,0,1103,450.13
$SM_GC,1.50,6.97,0.32,53.80,0.051,0.068,0.151,183,2799,1103,-6.74,-0.88,450.13,0,0,0,0,0,0,26.52,26.46,26.05
$IRIDIUM_FIX,4745.35,-12501.36,140717,145010
$TT8_MAMPS,0.051681,0.310835
$HUMID,52.32
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,18.60
$XPDR_PINGS,0
$PM_FREEKB_00,124818176
$PM_FREEKB_01,105645184
$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,24.20,14.155
$10V_AH,10.18,8.564
$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,16.375,34.100,460.350,53.800,0.000,0.000,0.000,234.025,0.000,0.000,5.403,0.000,2199.002,557.253,1007.130,97.502,0.000,1145.663,0.000,542.636,0.000,0.549,0.000
$DEVICE_MAMPS,230.265,1276.020,999.855,150.705,0.000,0.000,0.000,91.035,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3426.000,3439.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.309,41.772,0.000,0.000
$MEM,278172
$DATA_FILE_SIZE,13466,374
$CAP_FILE_SIZE,51095,0
$CFSIZE,1024393216,992624640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.100,159.14,1
$GPS,140717,165539,4744.906,-12504.263,2,1.0,20,16.1,0.4,85.8,10,2.3