version: 66.13
glider: 203
mission: 13
dive: 11
start: 7 13 117 6 7 15
data:
$ID,203
$MISSION,13
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,80
$D_ABORT,200
$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,26
$T_MISSION,40
$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,175
$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,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,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,2360
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,52
$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,0.001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,1
$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
$GPS1,130717,060143,4754.5791,-12457.2979,1,0.8,2,16.2,0.5,132.0,10,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-54.1
$GPS2,130717,060656,4754.5205,-12457.3193,2,0.8,4,16.2,0.1,0.0,10,4.3
$SPEED_LIMITS,0.178,0.281
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,240.1,29538,-16.5,-10.256,-20.08,2529
$D_GRID,88
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.99,-170.3,196,2613,560,524,0.0,0.0,0,92,0.00,0.00,-81.82,0.000,16386,0.000,0.000,197,2612,2699,2739,2659,0,0,0,0,0,0,26.49,28.83,26.56
$GC,94,-0.99,-170.3,198,2613,2741,2660,4.4,-7.3,8,126,7.12,2.12,-18.77,0.000,18724,0.226,1.273,2016,3830,3637,3701,3574,0,0,0,0,0,0,25.86,24.74,26.17
$GC,186,-0.83,-170.3,2015,3831,3701,3574,21.6,-12.3,26,191,0.22,1.85,0.00,0.000,3206,0.148,0.033,2078,2601,3638,3701,3575,0,0,0,0,0,0,26.09,26.33,26.25
$GC,377,-0.83,-170.3,2078,2602,3701,3575,38.4,-9.2,46,381,0.00,2.15,0.00,0.000,548,0.000,0.040,2078,1187,3638,3701,3576,0,0,0,0,0,0,26.70,26.41,26.77
$GC,415,-0.83,-170.3,2080,1189,3703,3577,42.9,-11.4,54,421,0.00,2.17,0.00,0.000,1030,0.000,0.039,2074,2575,3638,3701,3576,0,0,0,0,0,0,26.48,26.42,26.51
$GC,606,-0.83,-170.3,2073,2576,3701,3577,62.1,-9.5,66,611,0.00,2.03,0.00,0.000,292,0.000,0.058,2066,3845,3638,3701,3576,0,0,0,0,0,0,26.83,26.46,26.89
$GC,675,-0.83,-170.3,2068,3846,3703,3577,68.5,-9.5,80,681,0.00,1.90,0.00,0.000,1062,0.000,0.035,2067,2603,3639,3701,3577,0,0,0,0,0,0,26.63,26.60,26.66
$STATE,814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,814,begin apogee
$GC,817,-0.25,0.0,2067,2604,3701,3577,81.1,-9.0,88,908,0.62,0.00,81.38,0.884,10246,0.119,0.000,2268,2603,2943,2976,2911,0,0,0,0,1,0,26.39,25.31,24.65
$STATE,909,end apogee,CONTROL_FINISHED_OK
$STATE,909,begin climb
$GC,910,0.99,170.3,2268,2603,2984,2912,85.3,0.0,91,1088,1.15,2.28,162.62,0.562,10756,0.065,0.044,2678,1198,2247,2275,2220,0,0,0,0,1,0,25.44,25.09,24.42
$GC,1239,1.04,299.2,2677,1199,2284,2221,83.4,5.0,147,1429,0.00,2.17,181.95,0.483,9382,0.000,0.035,2678,2602,1716,1751,1682,0,0,0,0,0,0,26.01,25.95,24.87
$GC,1628,1.09,349.6,2677,2603,1736,1666,50.5,8.2,195,1682,0.00,2.10,44.30,0.542,8484,0.000,0.057,2678,3853,1512,1552,1473,0,0,0,0,1,0,26.27,25.58,24.93
$GC,1722,1.13,388.9,2678,3853,1566,1482,42.1,8.7,213,1749,0.10,1.95,19.92,0.233,11302,0.106,0.038,2724,2600,1353,1395,1311,0,0,0,0,0,0,25.82,25.86,25.50
$GC,1933,1.21,470.6,2723,2600,1406,1321,20.5,6.9,237,1981,0.00,2.25,39.78,0.190,8740,0.000,0.044,2729,1195,1019,1068,970,0,0,0,0,0,0,26.42,26.01,25.74
$GC,2130,1.45,570.9,2729,1195,1073,984,7.5,6.2,276,2184,0.20,2.20,49.00,0.158,11430,0.043,0.035,2828,2595,611,625,597,0,0,0,0,0,0,26.29,26.27,25.89
$STATE,2197,end climb,SURFACE_DEPTH_REACHED
$STATE,2197,begin surface coast
$FINISH,0.2,1.011293
$STATE,2218,end surface coast,CONTROL_FINISHED_OK
$STATE,2218,begin surface
$SM_CCo,2231,10.02,0.152,0,0,538,588.97
$SM_GC,1.39,6.90,0.00,10.02,0.034,0.000,0.152,196,2595,538,-6.68,-0.14,588.97,0,0,0,0,0,0,26.23,26.54,25.92
$IRIDIUM_FIX,4753.76,-12455.31,130717,051730
$TT8_MAMPS,0.05243,0.265146
$HUMID,52.12
$INTERNAL_PRESSURE,8.5883
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.42,10.936
$10V_AH,10.23,6.640
$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,16.325,25.650,578.950,10.025,0.000,0.000,0.000,233.775,0.000,0.000,6.120,0.000,1090.546,602.484,798.051,69.300,0.000,1156.258,0.000,423.614,0.000,0.549,0.000
$DEVICE_MAMPS,226.440,1272.960,883.575,152.235,0.000,0.000,0.000,86.445,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.613,0.000,0.000,0.000
$MEM,278192
$DATA_FILE_SIZE,10104,290
$CAP_FILE_SIZE,39614,0
$CFSIZE,1024393216,996851712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.168,161.61,1
$GPS,130717,064457,4754.319,-12457.564,2,1.7,3,16.2,0.3,128.7,7,6.1