version: 66.13
glider: 203
mission: 13
dive: 21
start: 7 13 117 13 11 54
data:
$ID,203
$MISSION,13
$DIVE,21
$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,37
$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
$GPS1,130717,130655,4752.4766,-12458.6445,1,1.7,6,16.2,0.3,134.5,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.1
$GPS2,130717,131135,4752.4648,-12458.6211,3,1.6,8,16.2,0.2,0.0,8,9.9
$SPEED_LIMITS,0.178,0.281
$TGT_NAME,SHELF
$TGT_LATLONG,4742.000,-12512.000
$TGT_RADIUS,2500.000
$MHEAD_RNG_PITCHd_Wd,226.2,25567,-16.5,-10.256,-20.08,2529
$D_GRID,94
$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,-170.3,196,2596,1082,998,0.0,0.0,0,62,0.00,0.00,-52.28,0.000,16386,0.000,0.000,196,2594,2364,2407,2322,0,0,0,0,0,0,26.51,28.83,26.58
$GC,64,-0.99,-170.3,198,2596,2410,2323,3.1,-5.4,5,105,7.12,0.00,-29.83,0.000,18726,0.227,0.000,2019,2596,3638,3703,3574,0,0,0,0,0,0,25.86,25.00,26.19
$GC,280,-0.90,-170.3,2018,2596,3703,3576,34.0,-11.6,31,282,0.12,0.00,0.00,0.000,2182,0.168,0.000,2052,2595,3639,3703,3575,0,0,0,0,0,0,26.27,26.44,26.39
$GC,480,-0.90,-170.3,2052,2596,3703,3576,54.7,-11.8,49,486,0.00,2.15,0.00,0.000,516,0.000,0.037,2053,1193,3639,3703,3576,0,0,0,0,0,0,26.78,26.51,26.84
$GC,520,-0.90,-170.3,2052,1193,3703,3576,59.5,-11.6,57,526,0.00,2.20,0.00,0.000,1030,0.000,0.037,2048,2601,3639,3703,3576,0,0,0,0,0,0,26.56,26.52,26.59
$GC,720,-0.90,-170.3,2049,2602,3705,3576,78.5,-9.0,67,726,0.00,2.00,0.00,0.000,292,0.000,0.059,2041,3853,3640,3704,3576,0,0,0,0,0,0,26.87,26.53,26.94
$STATE,739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,739,begin apogee
$GC,744,-0.25,0.0,2042,2598,3705,3576,80.4,-9.8,71,847,0.70,0.00,94.72,0.815,10246,0.119,0.000,2266,2596,2940,2971,2910,0,0,0,0,1,0,26.40,25.25,24.60
$STATE,848,end apogee,CONTROL_FINISHED_OK
$STATE,848,begin climb
$GC,849,0.99,170.3,2265,2597,2981,2911,84.9,0.0,74,1067,1.12,2.12,202.50,0.486,11012,0.063,0.055,2665,3843,2250,2282,2219,0,0,0,0,1,0,25.37,25.23,24.56
$GC,1291,1.00,298.6,2665,3844,2302,2226,73.5,5.0,166,1383,0.00,1.95,82.30,0.730,9382,0.000,0.036,2675,2605,1722,1757,1687,0,0,0,0,1,0,26.13,26.09,24.53
$GC,1582,1.00,298.6,2674,2606,1768,1687,47.7,10.3,194,1588,0.00,2.03,0.00,0.000,260,0.000,0.056,2675,3840,1726,1768,1685,0,0,0,0,0,0,26.27,25.99,26.32
$GC,1677,1.01,301.6,2676,3840,1770,1687,37.9,10.1,213,1685,0.00,1.95,0.00,0.000,1062,0.000,0.037,2681,2602,1727,1768,1686,0,0,0,0,0,0,26.22,26.19,26.25
$GC,1862,1.05,345.1,2679,2603,1768,1687,22.3,8.5,232,1890,0.00,2.00,22.48,0.197,8484,0.000,0.054,2680,3856,1530,1570,1490,0,0,0,0,0,0,26.60,26.08,25.92
$GC,1929,1.06,357.9,2680,3857,1578,1494,16.4,9.7,245,1941,0.00,1.98,7.12,0.183,9254,0.000,0.038,2685,2596,1478,1518,1438,0,0,0,0,0,0,26.37,26.33,25.96
$GC,2126,1.35,493.9,2684,2597,1529,1442,4.9,4.7,266,2175,0.22,0.00,46.00,0.152,10914,0.063,0.000,2797,2596,1109,1155,1063,0,0,0,0,0,0,26.48,28.83,26.51
$STATE,2175,end climb,SURFACE_DEPTH_REACHED
$STATE,2175,begin surface coast
$FINISH,0.2,1.011595
$STATE,2198,end surface coast,CONTROL_FINISHED_OK
$STATE,2198,begin surface
$SM_CCo,2211,1.25,0.204,0,0,1105,450.13
$SM_GC,1.02,6.75,0.00,1.25,0.032,0.000,0.204,195,2596,1105,-6.66,-0.11,450.13,0,0,0,0,0,0,26.36,26.66,26.08
$IRIDIUM_FIX,4752.71,-12459.78,130717,122609
$TT8_MAMPS,0.051681,0.288365
$HUMID,52.08
$INTERNAL_PRESSURE,8.6255
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.53,11.716
$10V_AH,10.22,6.890
$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,16.050,20.325,455.125,1.250,0.000,0.000,0.000,197.525,0.000,0.000,9.456,0.000,1215.875,469.039,751.308,62.454,0.000,963.299,0.000,406.727,0.000,0.550,0.000
$DEVICE_MAMPS,227.205,58.905,815.490,204.255,0.000,0.000,0.000,84.915,420.000,0.000,12.730,0.000,2.190,19.900,49.860,67.830,0.000,11.560,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2204.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.758,0.000,0.000,0.000
$MEM,278156
$DATA_FILE_SIZE,10166,278
$CAP_FILE_SIZE,37012,0
$CFSIZE,1024393216,996032512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.139,176.89,1
$GPS,130717,134931,4752.203,-12458.788,27,1.0,27,16.2,0.6,259.5,8,4.4