version: 66.13
glider: 203
mission: 13
dive: 58
start: 7 14 117 23 16 20
data:
$ID,203
$MISSION,13
$DIVE,58
$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,35
$R_STBD_OVSHOOT,24
$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
$GPS1,140717,230117,4743.5435,-12505.4941,3,1.5,8,16.1,0.5,177.7,7,8.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.8
$GPS2,140717,231601,4743.4409,-12505.5742,2,1.0,25,16.1,0.5,238.2,8,3.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,231.9,8442,-17.5,-10.000,-21.06,2227
$D_GRID,245
$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,-146.0,184,2798,1141,1080,0.0,0.0,0,68,0.00,0.00,-52.10,0.000,16386,0.000,0.000,184,2798,2466,2512,2421,0,0,0,0,0,0,26.57,28.83,26.65
$GC,70,-1.04,-146.0,184,2798,2512,2422,3.2,-5.6,5,107,7.20,1.77,-25.05,0.000,18724,0.226,1.273,2019,3857,3537,3605,3470,0,0,0,0,0,0,25.81,25.00,26.15
$GC,111,-1.04,-146.0,2018,3858,3606,3471,9.7,-13.0,13,117,0.00,1.65,0.00,0.000,1030,0.000,0.031,2020,2790,3537,3606,3469,0,0,0,0,0,0,26.36,26.34,26.39
$GC,421,-1.04,-146.0,2019,2790,3606,3476,50.8,-12.2,45,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2791,3540,3605,3475,0,0,0,0,0,0,26.77,26.85,26.84
$GC,722,-1.04,-146.0,2020,2791,3608,3476,84.3,-11.3,55,727,0.00,2.15,0.00,0.000,516,0.000,0.034,2019,1380,3541,3607,3476,0,0,0,0,0,0,26.90,26.58,26.96
$GC,801,-1.04,-146.0,2020,1381,3608,3476,92.9,-10.6,71,807,0.05,2.25,0.00,0.000,3078,0.171,0.041,2027,2801,3541,3607,3475,0,0,0,0,0,0,26.34,26.53,26.43
$GC,1112,-1.04,-146.0,2026,2801,3608,3475,125.0,-10.8,83,1117,0.00,2.17,0.00,0.000,516,0.000,0.036,2028,1386,3541,3606,3476,0,0,0,0,0,0,27.00,26.64,27.06
$GC,1201,-1.04,-146.0,2027,1387,3606,3476,134.4,-10.2,101,1208,0.00,2.22,0.00,0.000,1030,0.000,0.041,2024,2801,3541,3606,3476,0,0,0,0,0,0,26.67,26.62,26.72
$GC,1532,-1.04,-146.0,2024,2802,3608,3476,169.3,-10.4,117,1538,0.00,2.17,0.00,0.000,516,0.000,0.037,2024,1384,3541,3606,3476,0,0,0,0,0,0,27.07,26.71,27.13
$GC,1632,-1.04,-146.0,2023,1384,3604,3476,179.5,-10.1,137,1639,0.00,2.22,0.00,0.000,1030,0.000,0.041,2017,2797,3540,3606,3475,0,0,0,0,0,0,26.72,26.67,26.77
$GC,1953,-1.04,-146.0,2018,2798,3606,3476,209.2,-8.5,151,1954,0.00,0.00,0.00,0.000,38,0.000,0.000,2017,2797,3539,3604,3475,0,0,0,0,0,0,27.12,27.20,27.18
$GC,2253,-1.04,-146.0,2020,2797,3604,3475,237.2,-10.2,161,2259,0.00,2.17,0.00,0.000,516,0.000,0.037,2017,1379,3538,3602,3475,0,0,0,0,0,0,27.14,26.76,27.21
$STATE,2332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2332,begin apogee
$GC,2337,-0.25,0.0,2014,2617,3604,3476,245.3,-10.4,177,2486,0.82,0.00,140.38,1.082,10246,0.117,0.000,2282,2616,2941,2972,2911,0,0,0,0,1,0,26.47,24.89,24.13
$STATE,2488,end apogee,CONTROL_FINISHED_OK
$STATE,2488,begin climb
$GC,2489,1.04,146.0,2282,2618,2980,2912,253.7,0.0,181,2641,1.12,2.05,143.15,0.623,10500,0.041,0.055,2712,3847,2335,2360,2311,0,0,0,0,0,0,25.14,24.88,24.56
$GC,2815,1.07,168.6,2711,3848,2344,2294,241.5,9.0,247,2841,0.00,1.98,19.38,0.614,9254,0.000,0.035,2720,2604,2244,2270,2219,0,0,0,0,0,0,25.91,25.87,25.08
$GC,3145,1.11,203.8,2719,2604,2253,2205,213.8,8.4,263,3182,0.00,0.00,34.97,0.608,8230,0.000,0.000,2720,2605,2108,2136,2080,0,0,0,0,0,0,26.48,25.75,25.27
$GC,3475,1.11,203.8,2719,2604,2117,2061,183.0,9.7,274,3482,0.00,2.05,0.00,0.000,260,0.000,0.057,2720,3852,2088,2117,2060,0,0,0,0,0,0,26.56,26.22,26.63
$GC,3611,1.11,203.8,2719,3852,2116,2060,167.5,11.6,301,3616,0.00,1.95,0.00,0.000,1030,0.000,0.036,2729,2602,2088,2116,2060,0,0,0,0,0,0,26.50,26.41,26.52
$GC,3926,1.14,232.9,2730,2603,2117,2059,137.0,8.7,314,3962,0.00,2.22,30.95,0.590,8740,0.000,0.045,2738,1190,1983,2011,1955,0,0,0,0,0,0,26.82,26.14,25.62
$GC,4001,1.14,232.9,2735,1191,2003,1947,130.0,9.9,329,4007,0.00,2.25,0.00,0.000,1030,0.000,0.038,2737,2607,1973,2001,1946,0,0,0,0,0,0,26.29,26.25,26.32
$GC,4317,1.14,232.9,2738,2606,1998,1941,95.3,11.2,342,4323,0.00,2.25,0.00,0.000,516,0.000,0.044,2746,1193,1969,1998,1941,0,0,0,0,0,0,26.75,26.43,26.82
$GC,4367,1.14,232.9,2747,1194,1999,1941,89.9,10.8,352,4373,0.00,2.20,0.00,0.000,1030,0.000,0.038,2746,2593,1968,1997,1940,0,0,0,0,0,0,26.51,26.46,26.54
$GC,4677,1.14,232.9,2746,2595,1996,1940,59.8,10.0,364,4683,0.00,2.22,0.00,0.000,516,0.000,0.045,2751,1193,1968,1997,1939,0,0,0,0,0,0,26.89,26.55,26.96
$GC,4732,1.15,243.9,2752,1194,1998,1940,54.4,9.5,375,4739,0.00,2.20,3.17,0.467,9254,0.000,0.037,2751,2604,1942,1971,1913,0,0,0,0,0,0,26.63,26.58,25.56
$GC,5037,1.20,289.5,2752,2603,1992,1915,28.3,7.9,402,5065,0.00,2.28,23.15,0.211,8740,0.000,0.044,2756,1189,1757,1787,1727,0,0,0,0,0,0,26.96,26.47,26.13
$GC,5155,1.26,337.5,2754,1189,1803,1729,18.6,7.8,425,5187,0.00,2.17,24.40,0.191,9254,0.000,0.037,2756,2611,1561,1594,1528,0,0,0,0,0,0,26.66,26.58,26.12
$STATE,5449,end climb,SURFACE_DEPTH_REACHED
$STATE,5450,begin surface coast
$FINISH,0.2,1.010906
$STATE,5480,end surface coast,CONTROL_FINISHED_OK
$STATE,5480,begin surface
$SM_CCo,5494,55.22,0.150,0,0,1103,450.13
$SM_GC,1.35,6.70,0.30,55.22,0.043,0.070,0.150,191,2798,1103,-6.73,-0.96,450.13,0,0,0,0,0,0,26.64,26.59,26.14
$IRIDIUM_FIX,4744.43,-12503.98,140717,230802
$TT8_MAMPS,0.054677,0.308588
$HUMID,52.91
$INTERNAL_PRESSURE,8.6162
$TCM_TEMP,18.70
$XPDR_PINGS,0
$PM_FREEKB_00,124818048
$PM_FREEKB_01,93985408
$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,24.13,14.710
$10V_AH,10.17,9.076
$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,15.900,46.850,419.550,55.225,0.000,0.000,0.000,550.875,0.000,0.000,27.100,0.000,4280.947,548.406,1501.552,116.535,0.000,1508.671,0.000,666.543,0.000,0.548,0.000
$DEVICE_MAMPS,226.440,1272.960,1082.475,149.940,0.000,0.000,0.000,95.625,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5488.000,5501.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.013,41.921,0.000,0.000
$MEM,278140
$DATA_FILE_SIZE,16724,461
$CAP_FILE_SIZE,64718,0
$CFSIZE,1024393216,991838208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.022,76.60,1
$GPS,150717,004939,4743.195,-12506.257,4,1.3,12,16.1,0.7,255.2,8,4.8