version: 66.13
glider: 203
mission: 14
dive: 12
start: 9 7 117 4 20 42
data:
$ID,203
$MISSION,14
$DIVE,12
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,140
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52314
$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,588.77728
$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,2440
$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,2600
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3362
$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
$LOITER_D_NO_PUMP,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$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,-167.29401
$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,0.0
$GPS1,070917,041548,4807.0142,-12222.9785,2,1.2,3,15.8,0.1,0.0,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-61.0
$GPS2,070917,042023,4807.0264,-12223.0078,2,1.2,3,15.8,0.1,0.0,8,9.8
$SPEED_LIMITS,0.173,0.223
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,140.5,2273,-20.2,-10.000,-24.20,2229
$D_GRID,105
$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,-146.6,207,2588,996,931,0.0,0.0,0,120,0.00,0.00,-103.95,0.000,16386,0.000,0.000,206,2588,3547,3592,3502,0,0,0,0,0,0,26.62,28.83,26.71
$GC,122,-1.04,-146.6,206,2588,3594,3502,3.0,-4.2,10,144,7.43,2.33,-9.65,0.000,18980,0.224,1.227,2089,1187,3960,4007,3914,0,0,0,0,0,0,25.81,24.58,26.15
$GC,368,-1.00,-146.6,2088,1186,4007,3921,31.4,-10.6,59,375,0.08,2.22,0.00,0.000,3206,0.151,0.036,2104,2610,3963,4005,3921,0,0,0,0,0,0,26.14,26.44,26.22
$GC,684,-1.00,-146.6,2104,2610,4007,3922,62.5,-9.8,83,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2610,3964,4005,3923,0,0,0,0,0,0,26.96,27.04,27.03
$GC,983,-1.00,-146.6,2104,2611,4006,3924,91.8,-9.7,93,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2104,2608,3963,4005,3922,0,0,0,0,0,0,27.05,27.13,27.11
$STATE,1131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1131,begin apogee
$GC,1135,-0.22,0.0,2104,2796,4006,3923,106.0,-9.4,98,1243,0.77,0.00,100.38,0.773,10246,0.119,0.000,2352,2797,3362,3408,3316,0,0,0,0,1,0,26.06,25.34,24.56
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1246,1.04,146.6,2353,2797,3420,3316,109.6,0.0,101,1394,1.15,1.80,142.20,0.493,11012,0.069,0.054,2759,3860,2759,2799,2719,0,0,0,0,0,0,25.49,25.39,24.92
$GC,1484,0.97,146.6,2759,3860,2788,2709,95.4,10.0,138,1491,0.00,1.62,0.00,0.000,1158,0.000,0.024,2766,2788,2748,2787,2709,0,0,0,0,0,0,26.03,26.01,26.04
$GC,1795,0.99,161.1,2766,2789,2786,2709,66.4,9.3,150,1815,0.00,1.77,13.20,0.483,8484,0.000,0.054,2766,3861,2697,2736,2658,0,0,0,0,0,0,26.70,26.15,25.58
$GC,1960,0.92,161.1,2766,3862,2730,2654,49.3,10.3,183,1966,0.08,1.58,0.00,0.000,5254,0.159,0.025,2754,2790,2691,2729,2653,0,0,0,0,0,0,26.13,26.51,26.20
$GC,2265,1.00,198.1,2753,2790,2730,2652,23.2,8.3,215,2288,0.00,1.73,14.57,0.182,8612,0.000,0.055,2752,3851,2556,2596,2516,0,0,0,0,0,0,26.91,26.30,25.96
$GC,2417,1.02,213.1,2752,3851,2615,2517,8.8,9.3,245,2430,0.00,1.55,7.93,0.153,9254,0.000,0.025,2758,2792,2490,2530,2450,0,0,0,0,0,0,26.69,26.68,26.02
$STATE,2506,end climb,SURFACE_DEPTH_REACHED
$STATE,2506,begin surface coast
$FINISH,0.5,1.019414
$STATE,2526,end surface coast,CONTROL_FINISHED_OK
$STATE,2526,begin surface
$SM_CCo,2541,155.18,0.135,0,0,957,588.97
$SM_GC,0.92,6.78,0.22,155.18,0.047,0.047,0.135,189,2590,957,-6.91,2.15,588.97,0,0,0,0,0,0,26.58,26.74,25.93
$IRIDIUM_FIX,4804.71,-12221.84,070917,033055
$TT8_MAMPS,0.053928,0.253911
$HUMID,55.71
$INTERNAL_PRESSURE,8.6813
$TCM_TEMP,18.80
$XPDR_PINGS,0
$PM_FREEKB_00,116432576
$PM_FREEKB_01,124830656
$PM_FREEKB_02,124831168
$PM_FREEKB_03,124830464
$PM_FREEKB_04,124830720
$PM_FREEKB_05,124830784
$PM_FREEKB_06,124829824
$PM_FREEKB_07,124829184
$PM_ACTIVECARD,0
$24V_AH,24.56,0.807
$10V_AH,10.11,0.739
$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,16.275,15.125,278.275,155.175,0.000,0.000,0.000,167.275,0.000,0.000,4.960,0.000,1649.024,531.483,730.285,77.792,0.000,936.186,0.000,382.378,0.000,0.549,0.000
$DEVICE_MAMPS,224.145,1227.060,773.415,135.405,0.000,0.000,0.000,96.390,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2530.000,2537.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.513,31.828,0.000,0.000
$MEM,188308
$DATA_FILE_SIZE,6830,257
$CAP_FILE_SIZE,37976,0
$CFSIZE,1024393216,996425728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.027,156.81,1
$GPS,070917,050631,4806.810,-12222.766,3,1.8,16,15.8,0.2,0.0,7,3.5