version: 66.13
glider: 203
mission: 13
dive: 20
start: 7 13 117 12 29 13
data:
$ID,203
$MISSION,13
$DIVE,20
$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,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,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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,130717,122439,4752.7441,-12458.5303,2,1.3,13,16.2,0.4,251.0,11,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.5
$GPS2,130717,122854,4752.7183,-12458.5430,3,1.4,4,16.2,0.4,0.0,10,10.0
$SPEED_LIMITS,0.178,0.281
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,231.5,25988,-16.5,-10.256,-20.08,2529
$D_GRID,96
$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,-170.3,189,2592,1137,1078,0.0,0.0,0,62,0.00,0.00,-52.30,0.000,16386,0.000,0.000,190,2592,2464,2508,2421,0,0,0,0,0,0,26.50,28.83,26.57
$GC,64,-0.99,-170.3,189,2592,2507,2422,3.5,-5.9,5,102,7.15,2.35,-25.60,0.000,19236,0.228,1.255,2019,1192,3638,3702,3574,0,0,0,0,0,0,25.84,24.79,26.17
$GC,121,-0.79,-170.3,2019,1193,3704,3575,13.5,-12.1,16,127,0.22,2.25,0.00,0.000,3206,0.135,0.040,2086,2602,3639,3703,3575,0,0,0,0,0,0,26.08,26.24,26.29
$GC,312,-0.79,-170.3,2086,2602,3705,3575,34.0,-10.0,36,317,0.00,1.98,0.00,0.000,292,0.000,0.060,2080,3860,3638,3703,3574,0,0,0,0,0,0,26.67,26.35,26.73
$GC,396,-0.79,-170.3,2080,3861,3705,3576,43.3,-11.4,53,404,0.00,1.95,0.00,0.000,1030,0.000,0.034,2079,2593,3639,3703,3575,0,0,0,0,0,0,26.53,26.48,26.54
$GC,581,-0.79,-170.3,2080,2594,3705,3577,61.2,-9.3,64,587,0.00,2.15,0.00,0.000,548,0.000,0.039,2079,1194,3639,3703,3576,0,0,0,0,0,0,26.82,26.53,26.88
$GC,626,-0.84,-170.3,2078,1195,3703,3577,65.5,-9.6,73,633,0.00,2.20,0.00,0.000,1190,0.000,0.038,2073,2604,3639,3703,3576,0,0,0,0,0,0,26.59,26.54,26.63
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,794,-0.25,0.0,2074,2605,3705,3577,80.0,-8.7,81,896,0.60,0.00,95.12,0.830,10246,0.117,0.000,2266,2604,2938,2967,2910,0,0,0,0,1,0,26.42,25.24,24.60
$STATE,897,end apogee,CONTROL_FINISHED_OK
$STATE,897,begin climb
$GC,899,0.99,170.3,2266,2605,2979,2911,84.7,0.0,84,1125,1.12,2.12,216.98,0.491,11012,0.065,0.054,2667,3854,2237,2264,2211,0,0,0,0,0,0,25.36,25.24,24.83
$GC,1349,1.00,290.5,2667,3854,2252,2193,72.9,5.4,177,1426,0.00,1.98,63.08,0.766,9382,0.000,0.034,2676,2597,1755,1790,1720,0,0,0,0,1,0,26.11,26.08,24.62
$GC,1605,1.06,352.5,2675,2597,1802,1720,54.8,7.7,198,1655,0.00,2.12,41.10,0.688,8484,0.000,0.056,2676,3844,1501,1540,1462,0,0,0,0,1,0,26.26,25.48,24.86
$GC,1879,1.06,352.5,2675,3845,1552,1469,22.4,11.9,253,1887,0.00,1.95,0.00,0.000,1030,0.000,0.035,2680,2600,1510,1552,1468,0,0,0,0,0,0,26.21,26.17,26.23
$GC,2065,1.35,466.4,2679,2600,1552,1469,8.4,5.6,272,2127,0.28,2.08,57.12,0.159,10660,0.057,0.056,2806,3848,1036,1080,992,0,0,0,0,0,0,26.37,26.14,25.94
$STATE,2145,end climb,SURFACE_DEPTH_REACHED
$STATE,2145,begin surface coast
$FINISH,0.2,1.009145
$STATE,2165,end surface coast,CONTROL_FINISHED_OK
$STATE,2165,begin surface
$SM_CCo,2240,0.00,0.000,0,0,1039,466.56
$SM_GC,0.90,6.90,1.98,0.00,0.040,0.035,0.000,196,2596,1039,-6.68,1.05,466.56,0,0,0,0,0,0,26.25,26.27,26.31
$IRIDIUM_FIX,4751.70,-12423.24,130717,114334
$TT8_MAMPS,0.053179,0.268142
$HUMID,52.55
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.60,11.642
$10V_AH,10.23,6.866
$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,16.275,25.100,473.400,0.000,0.000,0.000,0.000,174.350,0.000,0.000,6.405,0.000,1209.496,482.933,743.724,63.135,0.000,963.721,0.000,425.755,0.000,0.549,0.000
$DEVICE_MAMPS,227.970,1255.365,830.025,0.000,0.000,0.000,0.000,90.270,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2171.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.605,0.000,0.000,0.000
$MEM,278172
$DATA_FILE_SIZE,10131,291
$CAP_FILE_SIZE,37095,0
$CFSIZE,1024393216,996114432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.126,165.52,1
$GPS,130717,130655,4752.477,-12458.645,1,1.7,6,16.2,0.3,134.5,8,9.4