version: 66.13
glider: 203
mission: 17
dive: 4
start: 10 7 117 22 13 44
data:
$ID,203
$MISSION,17
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,1010
$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,120
$T_MISSION,150
$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,52747
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.014
$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,600
$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,5
$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,2540
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,3200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,161
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3400
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00132
$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,3
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,10
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,127.5
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$MAXI_24V,1
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-167.43977
$PRESSURE_SLOPE,0.00010878081
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_PING_N,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,1.0
$GPS1,071017,221012,1937.7427,-15603.2139,1,1.3,2,9.5,0.7,323.2,8,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.6
$GPS2,071017,221324,1937.7806,-15603.2178,2,1.3,3,9.5,0.6,345.4,8,8.3
$SPEED_LIMITS,0.173,0.222
$TGT_NAME,SHELF1
$TGT_LATLONG,1940.500,-15603.600
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,348.4,5080,-20.2,-10.000,-24.22,2231
$D_GRID,1010
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.07,-146.0,187,2384,533,544,0.0,0.0,0,107,0.00,0.00,-91.85,0.000,16386,0.000,0.000,186,2384,3196,3242,3150,0,0,0,0,0,0,27.20,28.83,27.27
$GC,110,-1.07,-146.0,185,2384,3242,3150,4.0,-6.4,9,137,7.43,2.00,-13.55,0.000,18980,0.205,1.181,2179,1104,3964,4005,3924,0,0,0,0,0,0,26.21,25.16,26.55
$GC,292,-1.07,-146.0,2180,1105,4005,3928,39.3,-15.7,45,297,0.00,1.88,0.00,0.000,1030,0.000,0.028,2173,2399,3965,4003,3927,0,0,0,0,0,0,26.94,26.88,26.97
$GC,603,-1.04,-146.0,2172,2399,4002,3927,91.2,-17.1,61,608,0.10,2.10,0.00,0.000,2436,0.178,0.043,2188,3795,3965,4004,3927,0,0,0,0,0,0,26.92,26.77,26.98
$GC,648,-1.04,-146.0,2188,3796,4004,3928,98.4,-15.2,70,653,0.00,1.90,0.00,0.000,1030,0.000,0.023,2188,2412,3965,4003,3927,0,0,0,0,0,0,27.01,26.98,27.04
$GC,964,-1.14,-146.0,2187,2413,4002,3931,140.5,-12.7,83,969,0.00,2.12,0.00,0.000,388,0.000,0.045,2177,3805,3966,4001,3931,0,0,0,0,0,0,27.34,26.77,27.40
$GC,1133,-1.25,-146.0,2179,3806,4003,3933,160.9,-11.9,117,1139,0.05,1.92,0.00,0.000,5254,0.072,0.023,2123,2378,3965,3999,3932,0,0,0,0,0,0,26.88,27.03,26.92
$GC,1445,-1.30,-146.0,2122,2376,4000,3933,201.2,-13.0,129,1451,0.00,2.17,0.00,0.000,388,0.000,0.046,2113,3797,3966,4000,3933,0,0,0,0,0,0,27.39,26.77,27.44
$GC,1571,-1.34,-146.0,2113,3798,4001,3935,218.8,-14.7,154,1576,0.00,1.85,0.00,0.000,1158,0.000,0.023,2112,2432,3967,4001,3934,0,0,0,0,0,0,27.08,27.03,27.11
$GC,1927,-1.39,-146.0,2111,2433,4000,3935,265.3,-12.4,168,1931,0.00,2.10,0.00,0.000,388,0.000,0.047,2102,3802,3967,4000,3934,0,0,0,0,0,0,27.39,26.74,27.46
$GC,2067,-1.39,-146.0,2101,3803,3999,3935,282.7,-11.7,196,2071,0.00,1.90,0.00,0.000,1030,0.000,0.023,2102,2370,3966,3999,3934,0,0,0,0,0,0,27.08,27.03,27.10
$GC,2407,-1.44,-146.0,2103,2370,3999,3934,319.3,-10.9,209,2412,0.00,2.20,0.00,0.000,388,0.000,0.047,2091,3794,3965,3997,3933,0,0,0,0,0,0,27.39,26.71,27.46
$GC,2517,-1.44,-146.0,2089,3794,3993,3934,332.7,-12.0,231,2522,0.00,1.90,0.00,0.000,1030,0.000,0.024,2091,2449,3963,3994,3933,0,0,0,0,0,0,27.03,27.00,27.05
$STATE,2766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2766,begin apogee
$GC,2771,-0.22,0.0,2086,3203,3991,3934,360.8,-11.2,237,3070,1.12,0.00,293.58,0.493,10246,0.112,0.000,2455,3202,3398,3436,3360,0,0,0,0,0,0,26.15,25.86,25.39
$STATE,3071,end apogee,CONTROL_FINISHED_OK
$STATE,3071,begin climb
$GC,3073,1.07,146.0,2454,3202,3434,3359,381.6,0.0,242,3191,1.10,2.08,110.03,0.649,10756,0.044,0.021,2894,1824,2795,2830,2761,0,0,0,0,0,0,26.05,25.75,25.15
$GC,3221,1.34,430.6,2893,1825,2821,2755,390.9,-3.1,272,3452,0.17,2.12,219.50,0.635,11430,0.072,0.041,2974,3200,1630,1675,1586,0,0,1,0,0,0,26.13,26.14,25.17
$GC,3794,1.26,430.6,2973,3200,1659,1568,317.0,15.7,331,3798,0.00,1.05,0.00,0.000,388,0.000,0.054,2974,3847,1613,1660,1567,0,0,0,0,0,0,26.98,26.53,27.05
$GC,4023,1.16,430.6,2973,3848,1657,1565,281.4,14.6,377,4029,0.15,0.85,0.00,0.000,5254,0.158,0.027,2933,3238,1611,1657,1565,0,0,0,0,0,0,26.35,26.89,26.46
$GC,4335,1.16,430.6,2932,3238,1653,1562,238.7,14.0,385,4340,0.00,1.00,0.00,0.000,260,0.000,0.056,2932,3843,1607,1652,1562,0,0,0,0,0,0,25.74,26.38,26.13
$GC,4564,1.16,430.6,2932,3844,1650,1562,207.9,12.6,431,4570,0.00,0.93,0.00,0.000,1030,0.000,0.026,2935,3209,1605,1650,1560,0,0,0,0,0,0,27.02,26.97,27.04
$GC,4875,1.16,430.6,2934,3209,1647,1559,172.9,11.4,443,4880,0.00,1.05,0.00,0.000,260,0.000,0.056,2935,3849,1602,1647,1558,0,0,0,0,0,0,27.24,26.61,27.31
$GC,5019,1.16,430.6,2934,3849,1644,1558,155.5,12.1,472,5026,0.00,0.95,0.00,0.000,1030,0.000,0.026,2940,3203,1601,1645,1557,0,0,0,0,0,0,27.02,25.79,27.04
$GC,5326,1.19,430.6,2939,3203,1642,1556,124.6,9.3,483,5326,0.00,0.00,0.00,0.000,134,0.000,0.000,2940,3203,1599,1642,1556,0,0,0,0,0,0,27.30,27.38,27.37
$GC,5626,1.24,430.6,2941,3204,1644,1556,98.8,8.3,493,5631,0.00,1.05,0.00,0.000,388,0.000,0.054,2940,3833,1598,1641,1555,0,0,0,0,0,0,27.31,26.61,27.38
$GC,5856,1.28,430.6,2938,3833,1641,1555,80.9,7.5,539,5861,0.00,0.90,0.00,0.000,1158,0.000,0.027,2944,3198,1598,1641,1555,0,0,0,0,0,0,27.05,27.03,27.07
$GC,6167,1.35,430.6,2943,3199,1641,1555,57.4,8.7,551,6172,0.00,1.05,0.00,0.000,388,0.000,0.054,2944,3837,1598,1642,1555,0,0,0,0,0,0,27.33,26.59,27.41
$GC,6397,1.40,430.6,2945,3838,1643,1556,35.9,9.2,597,6403,0.05,0.90,0.00,0.000,3206,0.071,0.026,2994,3193,1598,1641,1555,0,0,0,0,0,0,26.88,27.06,26.91
$GC,6708,1.40,430.6,2993,3192,1641,1556,6.6,9.3,629,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,3193,1598,1641,1555,0,0,0,0,0,0,27.36,27.46,27.43
$STATE,6756,end climb,SURFACE_DEPTH_REACHED
$STATE,6756,begin surface coast
$FINISH,0.2,1.021898
$STATE,6777,end surface coast,CONTROL_FINISHED_OK
$STATE,6777,begin surface
$SM_CCo,6792,68.12,0.124,0,0,951,600.00
$SM_GC,1.00,7.03,1.10,68.12,0.029,0.026,0.124,181,2326,951,-7.23,2.01,600.00,0,0,0,0,0,0,27.01,27.01,26.48
$IRIDIUM_FIX,1935.48,-15604.81,071017,220752
$TT8_MAMPS,0.053179,0.333305
$HUMID,56.57
$INTERNAL_PRESSURE,9.1556
$TCM_TEMP,27.20
$XPDR_PINGS,235
$PM_FREEKB_00,56332608
$PM_FREEKB_01,62343040
$PM_FREEKB_02,62343040
$PM_FREEKB_03,62343040
$PM_FREEKB_04,62343040
$PM_FREEKB_05,62343040
$PM_FREEKB_06,62343040
$PM_FREEKB_07,62343040
$PM_ACTIVECARD,0
$24V_AH,25.15,5.225
$10V_AH,10.46,1.265
$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,17.200,40.225,623.100,68.125,0.000,0.000,0.000,0.000,58.750,0.000,5.171,0.000,4705.888,753.972,1396.735,71.390,0.000,1298.501,0.000,1091.714,0.000,0.556,0.000
$DEVICE_MAMPS,205.020,1181.160,648.720,123.930,0.000,0.000,0.000,0.000,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6768.000,6778.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.820,40.435,0.000,0.000
$MEM,331616
$DATA_FILE_SIZE,20087,636
$CAP_FILE_SIZE,84235,0
$CFSIZE,1024393216,1022230528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.068,239.69,1
$GPS,081017,000909,1938.358,-15603.378,25,1.3,26,9.5,0.2,0.0,7,9.6